标题: | 单晶片DSP为基础的双轴交流伺服控制器之研制 Design and Implementation of a DSP-Based Two-Axis AC Servo Drive ith Coordinated Motion Control |
作者: | 王传焜 Chuan-Kun Wang 邹应屿 Ying-Yu Tzou 电控工程研究所 |
关键字: | 协调运动控制;交流伺服驱动;补偏;往覆式控制;Coordinated Motion Control;AC Servo Drive;Interpolation; Repetitive Control Algorithm |
公开日期: | 1993 |
摘要: | 在交流伺服驱动(AC Servo Drive)之协调运动控制(Coordinated Motion Control)系统中,协调控制与伺服控制往往是独立设计的,而随着微处理器 的日新月异,我们利用一个数位信号处理器(Digital Signal Processor) 的快速计算能力以软体的方式整合协调控制与伺服控制,使系统具有较大 的弹性,利用补偏(Interpolation)产生足够精度(Precision)的轨迹指令, 然后以往覆式控制(repetitive control algorithm)针对各独立轴的周期 性追随误差信号做补偿,因而达到协调运动轨迹的精度控制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. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT820327032 http://hdl.handle.net/11536/57748 |
显示于类别: | Thesis |