| Summary: | 碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 100 === The pneumatic balanced lifting system vertical motion is controlled by servo motor positioning, supplemented by pneumatic cylinder to provide the thrust to support the load platform, which aims to offset the vertical movement of gravity. The gravity issue needs to be considered to reduce the motor drive power consumption of the load required. However, the fixed pressure supply is unable to adapt to the dynamic changes in load. The motor still have to undertake part of the gravity load, and the positioning performance can not be improved.
Therefore, this thesis presents a control method of pneumatic-electro integrated system. The servo motor positioning system is the main control system, and the pneumatic counterweight balance system is regarded as a subsystem. The purpose of servo motor positioning control is to ensure that the load platform is on the setting position. As for pneumatic control, the pneumatic counterweight balances the gravity to reduce the motion friction, and minimize the motor operating current. The pneumatic balanced controller is designed by optimal control of linear quadratic regulator. The pneumatic-electro integration controller is designed by sliding mode control, which has the property of anti-uncertainties.
Both the simulation and experiments results show that for positioning control, the settling time and steady state error of sliding mode control are better than PID(Proportional Integral Derivative) control. As for active pneumatic control, this thesis compares fixed pressure supply with active pneumatic control. Active pneumatic counterweight balance control can lower the power consumption of the motor, and also reduce the settling time to improve the positioning performance.
This thesis provides the pneumatic-electro integrated control design, which enhances the positioning performance and reduces the power consumption of the motor as well. With the power support of active pneumatic balanced control, the motor current consumption can be under the minimum conditions to complete the servo motor positioning control.
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