Trajectory Control Design for Multi-Axis Motion Platform

• Main Authors: Chia-Han Chen, 陳佳漢
• Other Authors: Wei-Lung Mao
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/80493176545622252629

碩士 === 國立雲林科技大學 === 電機工程系 === 102 === A PC-Based 3-axis XYZ control system is developed in this thesis. The Real-Time Workshop (RTW) tool in Matlab/Simulink software is used to execute the motion control. The time domain system identification method is applied here to obtain the X-axis and Y-axis system model. The Ziegler-Nichols rule is used to design the PID controller parameters. We also develop a Visual Basic software interface to control the platform with ADLINK motion control card. The P-command and V-command mode control are designed to evaluate the system performances. Four contour trajectories, like square, triangle, star and circle, are conducted successfully. It is shown that our proposed method provide the better performances on average tracking error and standard deviation for different contour tracking.