臺灣博碩士論文加值系統

高精度定位控制在工具機、雕刻機、工業機器人、太空設備等等的應
用上，佔有相當重要的一環；而線型馬達由於具有高定位精度、快速直線
運動、構造簡單等等優點，已逐漸被工業界採用。本文即是以永磁式無刷
線型直流馬達為控制主體，主要目標是能快速控制線型馬達的定位精度在
光學尺的最小刻度內，即定位精度為正負零個編碼器的解析度內。然而大
部份的機械系統存在著物體間的摩擦力，而定位控制中摩擦力的影響非常
顯著，本文亦將討論靜摩擦的現象。 本文首先介紹線型馬達的相關概
念及業界的發展情況，並發展一套線型直流馬達參數識別的方法以建立系
統完整的數學模型；再者，對系統做微觀分析且建立靜摩擦力的模型；並
由可行性分析與實驗探討達到研究目標的可能性。 經由上述的探討後
，針對系統的巨觀與微觀模型，設計三階段控制器，成功的將線型直流馬
達定位精度控制在感測器的最小解析度內。

Precision positioning is critical to the performance of many
applications, such as NC machine carving machine robot satellite
positigtc. And then linear motor has the properties of
precision position fast linearly motion and easy structure. So
it is general used in industry. This paper discussed the
precision position control of brushless PM DC motor system. The
objective to control the position error of linear brushless PM
DC motor within the smallest resolution of system encoder, in
other word, it is 0 count.However, for the most mechanical
system, the friction force existingin two contactting bodies.
The friction force and induced nonlinearbehavior has important
effects for heigh precision positioning control. It is obvious
that, we will discuss both the macroscopicand microscopic
behavior for control design purposes. In this thesis, we first
introduce a general idea of linear motor. And develop a whole
identification method to identify the parameters of linear
brushless PM DC motor system. Then we model the static friction
model of linear motor. And from the results of feasibility
experiements, we discuse this possibility of prision position
control is positive. After a series of systematic approach, we
analyze both of the macroscopic and microscopic behavior to
design ultra precise controller. By the above consequences, we
designed three stages positioning controller. Finally, we have
controlled the position error of linear motor within the
smallest resolution of system encoder.