臺灣博碩士論文加值系統

雙馬達的控制及應用已成為機器人學中一門新興的課題。本研究
目的在控制使用雙直流馬達及三個傘齒輪組成的機械手臂。這種設計
使關節得以有效率地利用兩顆馬達讓關節加減速，進而讓手臂可以做
快速往返的運動。本研究針對手臂關節速度作了實驗的量測。
基於雙馬達的致動作用，規劃給予兩顆馬達轉速以控制手臂的擺
動是此篇研究的精髓所在。當感測器發現手臂將衝撞物體時，就能夠
令一顆馬達加快轉速而另一顆馬達減速，達到手臂快速折返的效果。
這也使得折返所需的時間較單馬達手臂大大減少。
本研究為關節的速度控制設計了一組自調適模糊控制器，實驗比
較了單一馬達的性能以及雙馬達的性能。利用NI-9631運動控制卡，
即時控制一或兩顆馬達，然後經過傘齒輪組驅動機械手臂，實驗證實
機器人關節達到良好的速度控制。

Dual motor application and control has been an emerging technology
in robotics in recent years. The objective of this research is to control a
novel dual-motor robot, which consists of two motors and three bevel
gears at each robot joint. This design allows the robot arm to reverse
rapidly and effectively accelerate or decelerate by controlling the
difference of speeds between two motors. This study carries out
experiments to demonstrate the performance of velocity control.
The use of speed difference between two DC motors to control the
joint motion is carried out in this research. When touch sensors determine
impact is about to happen, a motor speeds up, whereas the other slows
down, such that the mechanical arm can reverse quickly. Hence, the
capability of dual-motor robot reduces time in slowdown and reverses in
comparison with the use of single motor.
This thesis designed a self-tuning fuzzy controller to achieve dual
motor robot joint velocity control. This thesis compares the performance
of a single motor and dual motor, using NI-9631 motion control card,
real-time controlling one or two motors, and then using the bevel gear set to drive mechanical arms. Experimental results show that dual motor
robot joint achieves fine velocity control.

摘要.............................................................................................................................. I
Abstract....................................................................................................................... II
誌謝..............................................................................................................................IV
TABLE OF CONTENTS..............................................................................................V
LIST OF FIGURES ...................................................................................................VII
CHAPTER 1 INTRODUCTION...................................................................................1
1.1 Background and Literature Survey ..................................................................1
1.2 Objective and Scope ........................................................................................3
CHAPTER 2 EQUATION OF MOTION......................................................................6
2.1 DC Brushed Motor...........................................................................................6
2.2 Bevel Gears......................................................................................................6
2.3 Motors Used in Robot Joint .............................................................................7
2.4 Bevel Gears Set Used in Robot Joint...............................................................8
CHAPTER 3 VELOCITY MEASUREMENT............................................................11
3.1 Velocity Measurement and Analysis ..............................................................11
3.2 Velocity Measurement with Constant Load...................................................22
CHAPTER 4 FUZZY CONTROLLER DESIGN AND SIMULATION RESULTS...27
4.1 Fuzzy Logic ...................................................................................................27
4.2 Structure of Fuzzy Controller ........................................................................27
4.3 Fuzzy Controller for Dual Motor Robot Joint ...............................................30
4.4 Simulation Results .........................................................................................34
4.5 Self-Tuning Fuzzy Controller ........................................................................37
CHAPTER 5 EXPERIMENTAL RESULTS ...............................................................43
5.1 Velocity Control Experimental Setup ............................................................43
VI
5.2 Velocity Control Experimental Results..........................................................45
CHAPTER 6 CONCLUSION......................................................................................58
REFERENCES ............................................................................................................59

Fei, H. and Limei, W., Research on Synchrodrive Technique of Dual
Motor Based on Decoupling Control and Internal Model Control, IEEE
Control and Decision Conference, pp.5334-5337, June 17-19 ,2009.
Guo, Q.D. and Sun, Y.B., H, robust adaptive control for linear permanent
magnet synchronous servo motor, Trans. of China, Electrotechnical
Society, Vol. 15, No.4, pp.1-4, Aug. 2000.
Guo, Q. D., Sun, Y. B., and Wang, L. M., Modern Permanent Magnetic
Motor AC Servo System, Chinese Electric Power Press, Beijing, China,
2006.
Guo, Q.D., Sun, Y.B., and Zhao X., The Study of Self-tuning Robust
Control in Dual Linear Motors Synchronous Servo System, ICEMS
2005.
Guo, Q. D. and Wang, C.Y., Precision Control Technology or Linear AC
Servo System, Machine Industry Press, Beijing, 2000.
Kelecy, P.M., and Lorenz, R.D., Control Methodology for Single Stator,
Dual-Rotor Induction Motor Drives for Electric Vehicles, IEEE Power
Electronics Specialists Conferences, Vol. 1, pp. 572-578, Jun 18-22, 1995.
Matui, C., Taufik S.T., and Anwari, M., Efficiency Study of Adjustable
Speed Drive with Dual Motor Connection, The International Power
Engineering Conference, 2007.
Nohmi, M., Development of Space Tethered Autonomous Robotic
Satellite, IEEE conference, 2007.
Rahman, M. A., Advances of Modern IPM Motor Drives for High
Performance Applications, ICEMS, 2006.
Robertz S. and Halt L., Precise Robot Motions Using Dual Motor Control,
IEEE International Conference on Robotics and Automation, 2010.
Valentine, R.D. and Trasky, J.G., Load Sharing of Dual Motor Grinding
Mill Drives, IEEE Transactions on Industry Applications, Vol. IA-13, No.
2, pp. 161-167, 1977.
Yang, H., Jian, Z. and Xuhui, W., High Power Dual Motor Drive System
Used in Fuel Cell Vehicles, IEEE Vehicle Power and Propulsion
Conference, pp. 1-4, September 3-5, 2008.
Yu, D., Guo, Q., Hu, Q., and Jiang L., Position Synchronized Control of
Dual Linear Motors Servo System Using Fuzzy Logic, Proceedings of the
6th World Congress on Intelligent Control and Automation, June 21 - 23,
2006.
Yu, D., Guo, Q., and Hu, Q., Synchronized Control of Dual Linear
Motors Position Servo System Based on Fuzzy Self-learning
Compensation, IEEE Proceedings of the First International Conference
on Innovative Computing, Information and Control,2006.
Zadeh, L., A., Fuzzy sets, Information and Control, Vol.8, 1965.
Zadeh, L., A., A Ratonale for Fuzzy Control, Journal of Dynamics
Systems, Measurement, and Control, Vol. 3, Vol. 4, 1972.
Zhao, X. M., Guo, Q. D., Synchronous Control of Gantry Moving Type
Boring Milling Machining Centers Based on Disturbance Observer,
Proceeding of the 8th International Conference on Electrical Machines
and Systems, Nanjing, China, pp. 1573-1575, 2005.
Zhao X. and Guo Q., H∞ Robust Control for Dual Linear Motors Servo
System, IEEE IPEMC, 2006.
蘇君誠，“具有齒隙雙馬達驅動系統的智慧型控制”，臺灣大學電機工
程學研究所，碩士論文，2001。
楊峰偉，“具有齒隙及不匹配雙馬達驅動系統的分析與控制器設計”，
臺灣大學電機工程學研究所，碩士論文，2005。
趙茂翔，“運動控制系統之摩擦力補償”，中華工學院，碩士論文，
1997。
江峰誌，“雙軸運動控制系統中路徑誤差之交錯耦合PID 控制”， 中
華大學電機工程學系碩士班，碩士論文，2005。
賴擁成， 感應電動機之自調適模糊轉速控制器設計”，國立海洋大
學電機工程學系碩士班，碩士論文，2000。