| Summary: | 碩士 === 國立雲林科技大學 === 機械工程系 === 104 === This purpose of this study aims at reducing the cyclic error of a novel ball screw
transmission system by employing iterative learning control approach.
Firstly, kinematic and dynamic analyses are performed by using the vectorial loop closure and Lagrange equations. Then, system identification is conducted followed by
controller designs. Moreover, controller parameters are optimized to minimize the error. Finally, the feasibility and the effectiveness of the proposed approach are verified by computer simulation and prototype experiment.
The experimental result shown that the reducing percentage of the square error sum of the output speed is 90.64% by using PID control only. If ILC is applied additionally, the percentage is furtherly reduced to 94.21%. Therefore, the proposed approach is feasible and effective.
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