泛用型直流伺服驅動之自我啟動與即時自調適應控制之研究

Abstract

本論文發展具有實用性的泛用型伺服驅動器之自我啟動與參數自調法則， 以DSP軟體控制方式實現，並以一個一匹馬力的直流伺服馬達進行實測驗 證。本文發展出以直流伺服馬 達為對象的自我啟動程序，可自動偵測馬 達之相關參數。驅動器控制架構採用電流與速 度迴路串級的雙迴路控制 架構，其中可調參數為電流與速度控制器參數。電流迴路控制 策略為預 測型電流控制，並加入dead-time補償以消除功率放大器的非線性現象； 速度迴路則使用相位領先/落後控制器，可藉由極零點擺設位置的不同， 而使速度控制器成為相位領先或落後的形式。實驗系統是建構在以雙DSP( TMS320C14與TMS320C52)為基礎之數位控制板，配合以智慧型功率模組( intelligent power module, IPM)為核心的功率放大器，來進行實驗與驗 證。實驗的結果顯示，本文所提之伺服驅動器架構與控制器參數自調方法 ，可使驅動器具有電流與速度控制器自調的功能並達到良好的電流與速度 響應。 This thesis presents the self-commissioning and real-time auto- tuning adaptive control scheme of a universal servo drive. An 1-hp dc servo motor is used to verify the proposed method. The main control structure of the servo drive is formed by two cascade loops, which are the current inner loop and the velocity outer loop. The current loop control strategy is a predictive current control-ler with dead-time compensation. The speed loop control strategy is a phase lead/lag controller. The self- commissioning are conducted by firstly identifyi -ng the motor electrical parameters and then based on the identified parameterssetting the initial value of the controllers, and tuning the parameters of current and speed controller automatically. The tuning rule continuously searchsthe optimal solution on the parameters plan base on the modified IAE crition.The experimental system is constructed with a dual DSP- based(TMS320C14 and TMS-320C52) digital control board and a voltage source inverter based on an intel-lgent power module (IPM). The experimental results show that with the proposedscheme the parameters of current and speed controllers can be tuned automatical-ly and, hence, the performance of current and speed control can be guaranteed.