臺灣博碩士論文加值系統

本文探討工業用交流伺服馬達之即時重覆性控制器之設計及控制實驗，來證實即時重覆性控制之理論應用在工業級交流伺服馬達控制上之可行性與實用價值。研究中，以PC-Based個人電腦作為主要的運動控制之CPU，配合I/O程式設計以馬達為主之實驗機台為主要控制的系統。藉由系統鑑別得知系統的頻率響應，進而設計即時重覆性控制器去執行系統控制。以馬達接受週期性的命令及承受週期性與非週期性的外界擾動，作為去執行重覆性控制的條件。即時重覆性控制器可視為一種控制訊號，且為前饋控制的方式加之於傳統的PI/PID控制器上，此控制理論類似人類學習之模式，致使所控制之系統經由前幾次的過程而具有學習功能。本篇經由實驗結果驗証可得到，即時重覆性控制器之設計應用於工業用交流伺服馬達是可行的，且可將傳統控制器所得之誤差追蹤軌跡降低而得到令人滿意的結果。

The design and experiment of real time repetitive controller applied with industrial AC servomotor is examined in this paper. Feasibility of the integral control based learning/repetitive control theory is implemented in real time control. The learning and repetitive control is based on the use of integral control action operation in the repetition domain for each time step of the repetitive process, in order to produce zero tracking error. Numerical and experimental experience with iterative learning control algorithm together with compensator designs are shown to be very useful in engineering practice. Repetitive control has been shown to be very effective in eliminated tracking errors of feedback control system subjected to periodic disturbance. The PC based repetitive controller applied with the industrial existing servo interface is connected, setup and examined in this paper. The term learning is used because the development of the feedforward controller algorithm design is based on the human learning ability to improve machine skill through training process. The purpose of this study is to find and implement the developing control algorithm, which was able to have flexibility in modifying the learning law in a short time with little programming to be implemented into the existing industrial servo systems. Results show that the repetitive control algorithm together with feedforward filter compensation is good in tracking accuracy when the learning signal is optimally frozen.

中文摘要…………………………………………………Ⅰ
英文摘要…………………………………………………Ⅱ
目錄………………………………………………………Ⅲ
圖次………………………………………………………Ⅵ
表次……………………………………………………ⅩⅥ
符號說明………………………………………………ⅩⅧ
第一章緒 論……………………………………………..1
1-1前言……………………………………………...1
1-2著床式電腦簡介…………………………………3
1-3個人電腦為發展平台之需求…………………5
1-4研究緣起與目的…………………………………6
1-5相關文獻回顧…………………………………….7
1-6內容概述…………………………………………16
第二章即時伺服實驗系統的建置……………………18
2-1實驗機台的建立………………………………..18
2-1-1數位式交流伺服馬達實驗系統…………20
2-1-2伺服磁粉式電磁剎車系統………………..29
2-2即時(Real Time)運動控制器的軟、硬體建置……………30
2-2-1即時運動控制器的動作原理………………30
2-2-2人機界面(Man Machine Interface)模組….33
2-2-3回授界面模組……………………………….39
2-3實驗系統之系統鑑別…………………………..42
2-3-1 PI控制器與馬達之開回路系統鑑別……42
第三章學習/重覆控制器的數學模式與軟體建置.46
3-1學習/重覆控制簡介……………………………46
3-1-1學習/重覆控制名詞釋意…………………..46
3-1-2學習/重覆控制的技術與履行……………47
3-2時間領域為基礎的學習控制理論……………51
3-3頻率領域(Frequency Domain)為基礎的學習暨重覆控制理論…….55
3-4交替符號的學習控制理論……………………64
3-5前饋式學習/重覆控制器的軟體建置……….69
第四章重覆控制器於伺服系統之動態特性分析….73
4-1學習/重覆控制器在無外界擾動時之動態特性…………………………73
4-2學習/重覆控制器在有週期性外界擾動時之動態特性………86
4-2-1短週期外界擾動項對……………………….86
4-2-2長週期外界擾動項………………………….93
4-3學習次數對學習/重覆控制器的影響……….101
4-4不同增益值對學習/重覆控制器的影響……107
4-5週期的外界擾動項與非週期的外界擾動同時載入控制系統時對學習/重覆控制器的影響………………116
4-6載入一交替符號 的學習訊號於學習/重覆控制器時的動態特性……………………124
4-7由動態訊號分析儀觀察學習/重覆控制器的動態特性………………………………………….130
第五章結論與建議……………………………………134
5-1結論…………………………………………….134
5-2建議……………………………………………..136
參考書目……………………………………………….137
附錄…………………………………………………….142
附錄一…………………………………………………142

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