單晶片DSP為基礎的雙軸交流伺服控制器之研製

Abstract

在交流伺服驅動(AC Servo Drive)之協調運動控制(Coordinated Motion Control)系統中,協調控制與伺服控制往往是獨立設計的,而隨著微處理器 的日新月異,我們利用一個數位信號處理器(Digital Signal Processor) 的快速計算能力以軟體的方式整合協調控制與伺服控制,使系統具有較大 的彈性,利用補偏(Interpolation)產生足夠精度(Precision)的軌跡指令, 然後以往覆式控制(repetitive control algorithm)針對各獨立軸的週期 性追隨誤差信號做補償,因而達到協調運動軌跡的精度控制o The coordinated motion control and the servo motion control are always designed individual in the two-axis AC Servo Drive system. Here, we integrated the interpolation and the servo control into a software program and realized by a digital signal processor(DSP) because of its fast computational capability. The precision is one of the most important index in the contouring control. Here, the interpolation generate the coordinated motion command and a repetitive control algorithm is proposed to compensate the periodic following-error signal of the individual servo axis. The precision of the contouring can be improved by this method.