臺灣博碩士論文加值系統

虛擬工具機技術是當今發展趨勢，因為此技術可有效降低研發時程以及生產成本，對於台灣產業之發展是一項重要技術。故本論文將針對虛擬工具機技術中，伺服控制迴路之建構進行探討。透過系統鑑別的方式，得出系統之頻率響應函數，並以曲線擬合方式，求得伺服控制迴路中之未知參數，並於MATLAB / Simulink中建立模型。伺服控制迴路的構成，是由最基本的PI控制架構所組成，而模型是從最內層之電流迴路開始建立，接著再加入外層之速度迴路以及位置迴路。當伺服控制迴路模型建構完成後，再將其餘非線性單元依序建立於其中，如前饋控制、摩擦力模型以及濾波器等等。透過單位步階實驗的結果，可得知速度迴路之結果，其中一組參數，其模擬與實驗的上升時間誤差較大為8.7％，而其餘誤差皆在為4%以下；位置迴路之誤差為1%以下。透過弦波追隨的結果，可得知前饋及摩擦力模型誤差小於2 %。

The virtual machine tool technology is the development trend in nowadays. Because this technology can reduce the development time and production cost effectively, it is becoming an important technique for Taiwan’s machine tool industry. In this thesis, we are focusing on the construction of the servo-control loop for the virtual machine tool. Through the system identification, the frequency response function of the system was acquired. The unknown parameters of the servo-control loop are obtained by using curve fitting method. The MATLAB/Simulink software is used to construct the system’s control model. The structure of the servo control loop is consisted of PI controller with inner current loop followed by velocity loop and position loop. After that the non-linear elements such as, feed-forward controller, model of friction and filters are added to complete the full model of servo controller. From the unit step experiment results, it is found that the error between the simulation model and actual values are less than 4% (except for test II 8.7% in rising time) for velocity loop; while, for position loop, it is less than 1%. In sine wave tracking experiment, the errors are less than 2% for both feed-forward controller & friction model.

致謝 i
摘要 ii
Abstract iii
目錄 iv
圖目錄 vii
表目錄 xii
符號表 xiii
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 研究目的 8
1.4 論文架構 9
第二章 伺服控制系統理論推導 10
2.1 伺服控制 10
2.1.1 伺服系統架構 11
2.1.2 迴路控制器 12
2.2模型推導 15
2.2.1直流馬達模型[15] 15
2.2.2電流迴路系統轉移函數推導 19
2.2.3速度迴路系統轉移函數推導 21
2.2.4位置迴路系統轉移函數推導 22
2.3 摩擦力模型 23
2.3.1 傳統摩擦力模型[16] 23
2.3.2 Karnopp 摩擦力模型[17] 24
2.3.3 Tustin 摩擦力模型[18] 25
2.3.4 Bristles 摩擦力模型[19] 26
2.4 前饋控制 27
2.5 濾波器 29
2.5.1 低通濾波器（Low-pass filter） 29
2.5.2 帶拒濾波器（Notch filter） 31
2.5.3 移動平均濾波器（Moving-Average Filter）[20] 32
第三章 伺服系統實驗規劃 33
3.1 實驗架設 33
3.2 實驗流程 35
3.2.1 訊號分析 35
3.2.2 馬達摩擦力模型之建立 40
第四章 伺服系統實驗 42
4.1 實驗參數分析 42
4.1.1 實驗重複性檢視 42
4.1.2 輸入訊號之振幅 47
4.1.3 訊號解析度 54
4.1.4 馬達共振 56
4.2 伺服迴路鑑別 58
4.2.1 電流迴路 58
4.2.2 速度迴路 63
4.2.3 位置迴路 66
4.2.4 馬達參數 68
4.2.5 濾波器 70
4.3單位步階測試 74
4.3.1電流迴路 74
4.3.2速度迴路 75
4.3.3位置迴路 77
4.4 馬達摩擦力模型建立 78
4.5 速度迴路前饋測試 82
第五章 模擬結果與比較 83
5.1模擬分析 83
5.1.1電流迴路 83
5.1.2速度迴路 85
5.1.3位置迴路 88
5.1.4 前饋及摩擦力 91
5.1.5 濾波器單元 94
5.2參數調整 98
第六章 結論與未來展望 101
6.1 結論 101
6.2 未來展望 102
參考文獻 103

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