DSP Based運動控制法則之研究-PID控制器、前饋控制器設計與調適

Abstract

本論文主要之目的為發展DSP Based運動控制系統中，伺服控制迴路的參數自動調適法則。其實現方法是利用DSP運動控制卡當受控端，配合PC當主控端，以PC上親和的人機界面來幫助使用者作控制器的參數自動調適工作。在伺服控制迴路上，採用－PI-D型的控制器，配合前饋控制器，以使系統能夠達到較好的效能；在個人電腦方面，利用Borland公司的C++ Builder編譯器，在Windows95作業系統下發展一人機界面來完成控制器的參數設計與調適。整個設計流程可分為系統鑑別、PI-D控制器設計與調適以及前饋控制器設計與調適。

The objective of this thesis is to develop a high performance parameters tuning algorithm of servo control loop which are based on the DSP Based motion-control system. The tuning algorithm will be realized on dual-CPU architecture - master CPU and slave CPU. The master CPU is PC which handles the man-machine interface (MMI) and parameters tuning of feedback and feedforward controller. And the slave CPU is DSP which handles the feedback and feeaforward servo control. The design procedure of thesis includes the follows (1) investigation and software realization of system identification, (2) the design and realization of PI-D feedback controller and feedforward controller, (3) the parameters tuning of PI-D feedback and feedforward controller. Finally, the experimental verification for the above works is done and the MMI using C++ Builder is developed to aid user to tune parameters.