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研究生:吳至鴻
研究生(外文):Chih-Hung Wu
論文名稱:永磁交流伺服馬達數位運動與伺服控制器之設計與實現
論文名稱(外文):Design and Realization of a Digital Motion and Servo Controller for AC Servo Motors
指導教授:鄒應嶼鄒應嶼引用關係
指導教授(外文):Ying-Yu Tzou
學位類別:碩士
校院名稱:國立交通大學
系所名稱:電機與控制工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:92
中文關鍵詞:伺服控制器數位運動永磁交流伺服馬達設計實現
外文關鍵詞:Servo ControllerDigital MotionAC Servo MotorsDesignRealization
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  • 被引用被引用:1
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  • 收藏至我的研究室書目清單書目收藏:1
永磁交流伺服馬達在工業上的應用已經相當廣泛,有關運動控制的系統響應與精確度要求也逐漸提升,並隨著微電子及相關技術的發展,數位化的高性能伺服運動控制系統是未來發展的主要趨勢。本文主要針對位置與速度迴路分別提出一種控制架構,並依據所要求的系統規格訂定出控制器參數的決定過程,並藉由MATLAB/Simulink軟體進行控制架構的模擬與分析,以期所設計的控制系統能達到高精度的定位與速度控制。實驗系統中採用本實驗室發展的全數位式伺服驅動器,內含德州儀器公司所製造的單晶片定點式數位信號處理器(TMS320F240),將所提出的控制架構分成電流控制迴路、伺服控制迴路等幾個控制模組分別實現。實驗結果顯示,所設計的控制架構可符合系統要求之規格,並與模擬結果相符合。

PMAC servo motors have been widely used in industry for manufacturing automation. Requirements in the dynamic response of a precision motion control system are very stringent. Digital servos have been the development trend in precision motion control systems. This thesis proposes a practical servo control scheme and develops a systematic design procedure. The proposed control scheme has been realized using a single-chip fixed-point DSP controller. The control parameters can be determined by a set of design specifications. The simulation and analysis of the digital controller have been verified by using the MATLAB/Simulink simulation and design tools. Analysis-oriented comparison and realization of the field-oriented control (FOC) and direct torque control (DTC) for the decoupling control PM ac servo motors have also been carried out. These control schemes are compared both in the computer simulation and DSP realization process. Realization issues of the torque control scheme for PM ac servo motors have been discussed. Design and realization issues of the servo loop controller and torque controller for a high-performance PM ac servo drive have been studied in a systematic approach. Experimental results are also given for verification and comparison.

目 錄
中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表列 vi
圖列 vii
第一章 緒論 1
1.1 研究動機與目的 1
1.2 研究背景與發展概況 2
1.3 研究方法與系統描述 3
1.4 論文架構 5
第二章 系統規格與馬達數學模型推導 6
2.1 系統規格 6
2.1.1 速度迴路系統規格 6
2.1.2 位置迴路系統規格 8
2.2 永磁交流伺服馬達之數學模型推導 10
2.2.1 座標轉換 10
2.2.2 永磁交流伺服馬達之數學模型 12
2.2.3 永磁交流伺服馬達之磁場導向向量控制法則 14
第三章 伺服控制迴路的分析與設計 16
3.1 電流控制驅動器模型簡化 16
3.2 速度控制器的分析與設計 19
3.2.1 I-PD與PID控制架構的分析與比較 19
3.2.2 速度控制器的設計 29
3.3 位置控制器的分析與設計 37
3.3.1 比例控制器 38
3.3.2 比例控制器加前饋控制器 39
第四章 電流控制迴路的分析與設計 44
4.1 電流控制迴路規格設定 44
4.2 電流控制器的分析與設計 48
第五章 扭矩控制器的分析與設計 54
5.1 直接轉矩控制器 55
5.2 轉矩控制器的分析與比較 61
第六章 伺服控制架構的DSP實現 69
6.1 以數位方式實現的數值考量 70
6.2 電流控制迴路的數位實現方式 73
6.3 伺服控制迴路的數位實現方式 78
第七章 實驗結果與分析 83
7.1 實驗系統硬體架構說明 83
7.2 伺服控制架構的實驗結果分析 84
7.2.1 速度控制迴路 84
7.2.2 位置控制迴路 87
7.3 電流控制迴路的實驗結果分析 90
第八章 結論 92
附錄A 永磁交流伺服馬達參數規格 A-1
參考文獻 R-1
作者簡介 AU-1

參考文獻
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