直流伺服馬達的轉矩控制和即時實現

Abstract

本論文主要的目的在於探討直流伺服馬達的轉矩控制，以便推廣至機器人反動態控制(InverSeDyn血CScontrolo)的應用上。首先，我們必須使馬達和驅動器具有轉矩追蹤(Torque Tracking)的能力。這要視馬達的驅動器型式而定。若驅動器是電流型，那麼理想狀況下，只要在順向控制路徑中加入一增益便可使馬達轉矩等於加於驅動器的轉矩命令。若馬達驅動器為電壓型，那麼就必須作電流回授，同時設計一個轉矩控制器來改善轉矩追蹤的能力。 我們利用一個位置控制器和動態補償器來提供所需之轉矩命令，亦即驗證馬達系統在定位控制之下，轉矩追蹤的能力。理論分析的模擬是以PC-SMNON來完成。接著，為了實現即時控制，我們也發展了一套控制軟體，以硬體中斷的技術同時作即時控制和即時響應(Real-Time Response)的顯示。我們以二套馬達系統來作比對。一套是使用電流驅動器，另一套則用脈寬調變(PWM)電壓驅動器。經分析、模擬和實驗顯示，只要轉矩追蹤可以成立，那麼兩者會有相同的定位控制特性和能力。 最後，為了克服系統靜止區(Dead Zone)的非線性現象以及負載干擾的問題，我們提出靜止區補假和負載補償的構想，模擬和實驗均證實，這兩種補償方法都很有效。

This thesis deals with the real-time implementation of torque control of a DC servo motor in order to provide a torque-tracking mechanism for the inverse dy- namics control of a robot arm. If a current amplifier is used, then ideally the motor and its amplifier will be capable of tracking the torque command. If a voltage amplifier is used, we must make a current feedback and construct a torque controller to improve the performance of torque tracking. A position controller is used to provide the desired torque command. We use PC-SIMNON to perform the simulation. A software for real-time control and monitoring is also developed. Two motor systems have been used, one is driven by a current amplifier, the other is driven by a PWM amplifier. If the torque control can be achieved, both of them would have the same characteristics and ability for position control. Finally, for problems associated with the inherent dead zone and load disturbance, we propose a dead-zone compensation and a load compensation r spectively. Simulation and experiment verify their effectiveness.