混合時域與頻域最佳化之伺服控制器設計

Abstract

本論文利用混合頻域與時域之最佳化方法設計前饋與回饋控制器，並 應用於伺服運動控制系統。首先，我們基於機電整合的觀念，根據系統規 格選擇適當的伺服馬達以及滾珠螺旋桿，對於此一運動控制系統架構，我 們藉著含入摩擦力參數的模型做系統辨識，並且在控制時做摩擦力補償希 望達成系統線性化的目的，再者，將系統性能要求轉為對系統範數的限制 ，並且以有限維向量空間表示，可以將一些頻域及時域的系統設計問題變 成有限維convex programming的問題，求解此數學問題即可得到滿足要求 的控制器參數，對於控制器的設計形式，我們分別探討回饋控制器設計、 前饋制器設計以及前饋與回饋控制器混合設計，並做多組實驗比較其結果 。 In this thesis, mixed time and frequency optimization methods are used to design optimal feedforward and feedback controllers for servo motion control system. First, we select suitable servo motor and ball screw according to system specifications from the mechatronics viewpoint. As regards this motion control system structure,we identify system by increasing friction parameters into model and compensate friction on control. We holp to make system linear. Moreover make system performance requestions become sytem norm constraint and express it in finite dimension vector space. We can make some time and frequency design problems as finite dimension convex programming problems and get the controller parameters which satisfy requestions by solving this mathematic problems.As regards controller design form,we respectively explore the feedback controller design, the feedforward controller design and the feedforward and feedback controller mixed design. Then we do much experiment and compare its result.