中 文 摘 要

近幾年來，高性能數控工具機（CNC）的發展一直受到工業界的重視，主要訴求是其運動控制器要能夠實現高精密度與高速度的加工方式。有鑑於此，本論文提出摩擦力前饋補償器及命令前饋控制器，以期達成高加工速度與高加工精度之目標。本研究首先針對由滾珠螺桿所組成之實驗平台進行摩擦力鑑別實驗，並採用Karnopp模型近似。再根據所求得之近似摩擦力模型，提出摩擦力前饋補償器，以消除因摩擦力所導致之加工誤差。此外本研究使用前加減速規劃與速度命令前饋控制器，用以降低輪廓誤差及因伺服落後所產生之循跡誤差。本研究之所有實驗皆以DSP運動控制卡作即時實現。實驗結果顯示，在同一實驗平台且高速進給時，本論文所提之控制架構比一般控制架構能獲得更高之精密度。

ABSTRACT
Recently, the developments of high-performance CNC machines have attracted much attention from the industry. The main concern is that the motion controllers of CNC machine tools must be capable of achieving high speed and highly accurate machining. Hence, the aim of this thesis is to develop appropriate servo control structures such that the goal of high speed and highly accurate machining can be achieved. In this study, an experiment is first conducted to identify the friction disturbance model of a two-axis ball-screw table, in which the Karnopp model is used to approximate the actual friction disturbance. Then, based on the approximate friction model, a friction disturbance feed-forward compensator is proposed to reduce the machining error due to friction disturbance. In addition, “motion planning before interpolation” and a command feed-forward controller are employed to reduce the contouring error and the tracking error resulting from the servo lag. All the experiments conducted in this study are implemented using DSP-based motion card. According to the experimental results, it is found that the proposed servo control structure exhibits better performance than the conventional ones.

目 錄
中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
表目錄 VI
圖目錄 VII
符號說明 X
第一章　緒論 1
1.1　研究動機與目的 1
1.2　文獻回顧 2
1.2.1　摩擦力補償相關文獻 2
1.2.2　命令前饋控制相關文獻 4
1.3　本文架構 4
第二章　摩擦力前饋控制 5
2.1　常見的摩擦力數學模式介紹 5
2.2　實驗系統架構 9
2.2.1　軟體設備 10
2.2.2　硬體設備 12
2.3　摩擦力模式建立實驗 15
2.4　非線性系統分析 24
2.4.1　系統數學模式量測 24
2.4.2　速度迴路模式建立 26
2.4.3 非線性元件之描述函數 28
2.4.4　系統穩定性分析 31
2.5　摩擦力前饋控制器 37
第三章　命令前饋控制 38
3.1　命令前饋控制器參數設計 39
3.1.1　速度迴路之命令前饋控制器設計 40
3.1.2　位置迴路之命令前饋控制器設計 41
3.2　頻域分析 44
3.2.1　速度迴路頻域分析 44
3.2.2　位置迴路頻域分析 47
3.3　系統飽和與頻寬分析 49
第四章　系統控制架構 55
4.1　實驗系統伺服控制架構 55
4.1.1　摩擦力前饋控制器 55
4.1.2　命令前饋控制器 56
4.2　加減速架構 57
4.3　速度曲線規劃 59
4.4　負載慣量調變增益 62
第五章　實驗與結果分析 65
5.1　實驗一 65
5.2　實驗二 68
5.2　實驗三 74
第六章　結論與建議 86
6.1　結論 86
6.2　建議 86
參考文獻 88

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