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In this thesis position feedback is used to construct the control structure, as opposed to the conventional approach for designing an inner/outer loop multi-feedback control structure. This is so that the restrictions of multi-loop control structure can be relaxed. A two degree-of-freedom (2DOF) servo system is proposed, in which the integrator is effective in rejecting the tracking error. The robust control law is adopted to design a two input/one output controller. In Addition, S-curve profiling is incorporated into the step moving command to provide smoother motion control. This is achieved by reducingthe jerk in acceleration and deceleration portions of the move profile. A gain tuning approach is also proposed to deal with the inertia change of the servo system. The control structure is simulated using MATLAB computer software before being implemented into the DSP module and the motor installation. The experimental results are analyzed to prove the control structure is appropriate and practical.
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