臺灣博碩士論文加值系統

馬達傳動系統中，各個驅動及傳動元件的剛性未必相同，可能是高剛性或是低剛性之元件，而低剛性的元件常會造成明顯的扭矩振動現象，進一步導致產品的瑕疵；較常見的解決方式是利用觀測器作回授補償，降低扭矩振動。本文利用適應性IIR 陷波濾波器偵測系統振動頻率，並自動調變速度回路上陷波濾波器的濾波頻率，用以抑制扭矩上的振動，使整個速度閉迴路的頻寬能不被扭矩振動所限制住；另一方面再利用模糊控制來改變陷波濾波器的帶阻寬度，讓暫態速度響應能更平滑。適應性IIR 陷波濾波器能偵測扭矩振動的振動頻率，並自動的調整速度回路上的陷波濾波器之參數，來達到自動調整而非手動的功能。由模擬與實驗之結果可得知，本文所提出之控制架構是有其可行性的。

In motor transition system, different components, such as coupling, gears, and shaft are having different stiffness; they may be high or low. The low stiffness component will cause torsional vibration clearly, this phenomenon results in defect of products. There are several ways to solve this event, the popular one is using an observer and feedback compensator to reduce the torsional vibration. In this thesis, an adaptive IIR notch filter is utilized to suppress the torsional oscillation, and then improve the bandwidth of the speed control loop; at the same time, the fuzzy controller is used to change the band stop width of the notch filter on the speed loop in order to smooth the transient speed response. Adaptive IIR notch filter can
auto-search the vibration frequency and auto-tuning the parameter of the notch filter, achieving the objective of auto-suppressing torsional vibration. From the results of the simulation and experiment, the proposed control structure in this thesis is a workable method.

目錄
摘要................................................................................................................................ I
Abstract.......................................................................................................................II
誌謝............................................................................................................................. III
目錄............................................................................................................................. IV
表目錄........................................................................................................................ VI
圖目錄.......................................................................................................................VII
第一章 緒論........................................................................................................1
1.1 前言..................................................................................................................1
1.2 研究動機..........................................................................................................2
1.3 文獻回顧..........................................................................................................4
第二章 永磁式同步伺服馬達與負載系統.......................................................6
2.1 永磁同步馬達數學模型..................................................................................6
2.2 永磁同步馬達解藕控制法............................................................................11
2.3 馬達-負載系統..............................................................................................14
2.3.1 雙慣性系統之數學模型.....................................................................14
2.3.2 傳動軸扭矩剛性特性.........................................................................19
2.3.3 現實系統之頻率響應.........................................................................21
第三章 陷波濾波器.........................................................................................22
3.1 陷波濾波器對系統之影響............................................................................23
3.2 適應性IIR 陷波濾波器數學模型[21]、[22]...............................................25
3.3 適應性IIR 陷波濾波器模擬測試................................................................28
3.4 適應性IIR 陷波濾波器系統模擬................................................................31
3.4.1 控制迴路架構.....................................................................................31
3.4.2 控制迴路模擬.....................................................................................33
第四章 模糊控制器.........................................................................................38
4.1 模糊控制器簡介............................................................................................40
4.1.1 模糊集合與歸屬函數.........................................................................40
4.1.2 模糊控制器之結構.............................................................................42
4.2 模糊控制器設計............................................................................................44
4.3 模糊控制器模擬測試....................................................................................46
第五章 實驗架構設計與實驗結果分析.........................................................49
5.1 適應性IIR 陷波濾波器模塊實現................................................................53
5.2 馬達系統扭矩振動抑制實驗........................................................................59
第六章 結論與未來研究方向.........................................................................64
參考文獻.....................................................................................................................65
附錄A 陷波濾波器轉移函數-類比轉數位..................................................67
附錄B DSP 控制模塊...................................................................................69
附錄C 機械元件規格圖................................................................................78

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