| Summary: | 碩士 === 國立高雄第一科技大學 === 系統與控制工程研究所 === 95 === This paper utilizes the Field Programmable Gate Array (FPGA) and Nios II embedded processor technologies to design a controller IC for a micro-positioning Scott-Russell (SR) mechanism, which is driven by a piezoelectric actuator (PA). The analog to digital (A/D) and digital to analog (D/A) conversion circuits are important role to achieved the communicated objective with the FPGA. In system identification, the main objective is to identify the hysteresis effect of the piezoelectric element (PE), and shows its influence on the dynamic responses of the SR mechanism. The identification method based on real-coded genetic algorithm (RGA) has the advantages to identify the parameters of the SR mechanism and the Bouc-Wen hysteresis model simultaneously. For the controller design, the adaptive backstepping fuzzy control (ABFC) method is developed to achieve the motion control and the fuzzy logic method (FLM) is utilized to find the best adaptation gain of the adaptation law and control gain of the stabilization controls. This ABFC controller method can improve the transient and asymptotic tracking performances, and make the SR mechanism keep good working performance when external disturbances exist in the control system. Finally, we successfully apply the system-on-a-programmable-chip (SoPC) technologies to develop the motion controller IC, and achieve the advantages of reduce space, high performance and low cost.
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