臺灣博碩士論文加值系統

本研究之目的是提出考慮功能和節能需求的衝床輸入軌跡最佳化方法。首先，進行運動分析以求得運動狀態。接下來，建立系統之機電方程式。此外，經由多目標最佳化獲得輸入軌跡。接著設計動態權重因子。然後，使用MATLAB軟件進行數值模擬。 最後，進行實驗測試，由模擬與實驗結果顯示，所提出的方法可有效地減少電力消耗，並滿足運動要求。

The objective of this study is to propose an input trajectory optimization method for a press system with six links considering functional and energy-saving requirements. Firstly, kinematic analysis is performed to find the states of motion. Next, the electro-mechanical equations are formulated. Furthermore, the optimized input speed trajectory is obtained by using a multi-objective optimization method. Next, the dynamic weighting factor is designed, and then simulation is performed by employing MATLAB software. Finally, the experiment is conducted. The experimental results show that the proposed approach can meet the kinematic requirements and minimize the electric power consumption.

Chinese Abstract.............................................i
English Abstract.............................................ii
Acknowledgements.............................................iii
Table of Contents.............................................iv
List of Tables.............................................vi
List of Figures.............................................vii
Chapter 1 Introduction.............................................1
1.1 Background.............................................1
1.2 Motivation.............................................1
1.3 Literature Survey.............................................2
1.4 Objective.............................................4
1.5 Outline.............................................4
Chapter 2 Basic Principles.............................................6
2.1 The Studied Press.............................................6
2.2 Permanent Magnet Synchronous Motor (PMSM).............................................7
2.3 Lagrange’s Equation.............................................10
2.4 Bézier Curve.............................................11
Chapter 3 Kinematic and Dynamic Analysis.............................................14
3.1 Kinematic Analysis.............................................14
3.1.1 Position Analysis.............................................15
3.1.2 Velocity Analysis.............................................17
3.1.3 Acceleration Analysis.............................................18
3.2 Dynamic Analysis.............................................19
3.2.1 Constraint Equation.............................................20
3.2.2 Kinetic Energy and Potential Energy.............................................21
3.2.3 Generalization.............................................24
3.2.4 Equation of Motion.............................................26
Chapter 4 Input Trajectory Optimization.............................................31
4.1 A Six-link Press Mechanism System.............................................31
4.2 Electromechanical System.............................................33
4.3 The Canonical Form of Optimization.............................................33
4.3.1 Design Variables.............................................34
4.3.2 Objective Function.............................................34
4.3.3 Design Constraints.............................................35
4.3.4 Canonical Form.............................................35
4.4 Dynamic Weighting Factor Design.............................................36
Chapter 5 Design and Simulation.............................................39
5.1 Dimensions and Parameters of the Press System.............................................39
5.2 Input Speed Trajectory with Constant Weighting Factors.............................................40
5.3 Input Speed Trajectory with Dynamic Weighting Factor.............................................43
5.4 Discussion.............................................45
Chapter 6 Experiment.............................................46
6.1 Prototype and Experimental Setup.............................................46
6.2 Results and Discussions.............................................48
Chapter 7 Conclusions.............................................52
References.............................................54
Extended Abstract.............................................59

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