臺灣博碩士論文加值系統

伺服控制系統被廣泛的使用於工業應用上，如機械手臂、工具機…等，由於這些伺服控制系統經常使用高的控制增益，及搭配具有彈性的耦合器做為傳動，而導致機械振動的發生，這些振動會造成速度、位置的誤差，及系統的損壞。有鑑於此，本文提出一個新的伺服控制系統之機械振動偵測的方法並搭配凹陷濾波器來達到抑制的效果。此方法利用速度誤差及帶通濾波器進行振動頻率追蹤，當追蹤到正確的振動頻率後，利用串接於速度回授的凹陷濾波器進行振動抑制。最後，藉由理論分析與實驗結果驗證所提出的方法可有效的偵測機械振動並抑制。

Servo control systems are used in a wide range of industrial applications such as robotics, and machine tools. Due to the elastic nature of mechanical linkages and high servo gains mechanical vibration may occurs in servo control systems. These vibrations may introduce velocity and positioning errors and may be harmful to the mechanical components. Therefore, a novel mechanical vibration detection and suppression by notch filter scheme in servo control system is presented in this thesis. The scheme uses velocity error and band pass filters to track resonance frequencies. After the detection a notch filter cascaded to the velocity feedback can be set to suppress the vibration. The theorem and experimental result shows that the proposed scheme can detect and suppress mechanical vibrations effectively.

中文摘要 i
英文摘要 ii
序 iii
目錄 iv
圖目錄 v
第一章 緒論 1
1.1 研究背景 1
1.2 文獻回顧 2
1.3 論文目的 2
1.4 論文大綱 3
第二章 永磁交流馬達數學模型 4
2.1 馬達定子電壓方程式 4
2.2 複數向量轉換 6
2.3 d-q座標系統之馬達數學模型 8
第三章 振動頻率偵測 11
3.1 振動來源介紹 11
3.2 振動頻率偵測 16
3.3 振動頻率偵測掃描之演算法 19
3.4 振動頻率偵測追蹤之演算法 24
3.5 數位濾波器 28
第四章 實驗平台與實驗結果 35
4.1 實驗平台 35
4.2 振動頻率偵測掃描實驗 38
4.3 振動頻率偵測追蹤實驗 44
第五章 結論與未來研究方向 58
5.1 結論 58
5.2 未來研究方向 58
參考文獻 60
符號彙整 64

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