基于DSP的贴片机的非线性自适应逆控制的研究

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1、西南交通大学硕士学位论文基于DSP的贴片机的非线性自适应逆控制的研究姓名：胡勇申请学位级别：硕士专业：电工理论与新技术指导教师：龙绪明20070501西南交通大学硕士研究生学位论文第lI页AbstractMotioncontrolisoneofthekeytechnologiesforSMTmounter．MostcommercialmountersystemcurrentlyequippedwithconventionalPIDcontrollersduetotheirsimplestructureandeasydesi

2、gn．Infact，SMTmount—headerisamechanicalarmwithfourjoints．anddynamicequationsofamechanicalarmaretightlycoupled，highlynonlinearanduncertain．UsingaPIDcontrol，however，itisdifficulttoachieveamotioncontrolperformance．Withthedevelopmentofmoderncontroltheories，moreandmorec

3、ontrolmethodsareappliedtosolvingthisproblem．TheadaptiveinversecontroltheoryisahovelmethodthatisyetnotmatureandperfecttheorysystemproposedanddeveloppedbyWidrow．Inrecentyears，it’sresearchhasyieldedthesubstantialresultinsomecontrolfieldsofcomplexsystem，soitssuperiori

4、tywasdisplayedsharplyBecausethistheoryinvolvesalotsprofoundmathematicsknowledge。manyformulationsandconceiveisyetopen，whichthedepthandthebreadthofthetheoryresearchhavealsotheverybigspace，andthedepthandthebreadththetheoryapplicationresearchhavehugespace．Thepaperhass

5、tudiedthenon-1inearadaptiveinversecontroltheoryandmountersystem，almlngatinauguratlnganoveladaptlveinversecontrolmethodformounter，alSOsimultaneouslygiyesadaptiveinversecontroltheorydemonstrationsupportandrichthetheorysystem．Thepaperpresentedanovelmethodthathasuseds

6、tructureofnonlinearadaptedfiItertocarrymounteradaptireplantmodelling，theinversemodellingandobtainedthecontroller，andpresentedonekindofnon—linearadaptiveinversecontrolsystemwithaadaptivenoisecanceller．Accordingtotheadaptiveinversetheoryinsomeheuristicquestions，prop

7、osedmounter’ssynchronizationcontrolalgorithmaswellasimprovedthefiitered一￡LMSalgorithm．Thesimulationresultindicatedthatthemodellingmethodisadvancedandtheeffectisgood．Thiskindofnon一1inearadaptiveinversecontrolsystemconvergencespeedisextremelyfast，andeliminatestheper

8、turbationabilityisverystrong．Thecontrolofplant’sdynamicresponseandplant7sdisturbanceerasionisrespectivelydone．Theydon’timpacteachother．thatmayenhancethe