高精度定位系統之系統鑑別與控制器設計

Abstract

高精度的定位系統，已經廣泛的使用在現代以電腦為基礎的控制器上，系統的機械結構、控制器的設計以及感測元件的效能，都深深的影響了控制的精準度與所能達到的最大解析能力；本篇論文所要探討的主題是要說明，因摩擦力而造成的死區效應，如何影響了本平台的控制精度，並且用實驗結果說明平台目前所能達到的解析度；在此定位平台使用了兩套回授系統，而本文內容是由系統鑑別開始，當闡明了馬達死區的影響情形後，接著對此鑑別出的系統數學模式，設計PID以及可變結構控制器，並且可以由實驗的結果，來探討馬達死區對於本定位系統的影響。

High-accuracy positioning is applied in a variety of modern computer-controlled machines. The achievable precision is not only determined by the mechanical properties of the systems but strongly depends on the utilized control algorithms and the quality of the sensor signals. The objective of this paper is to demonstrate how motor’s dead-band influences the performance of a controller design and what resolution can be achieved in present work. Two different sensor systems for a x-y positioning table are considered. After setting up the system hardware, identification and controller design are introduced. In the system identification, the dead-band influences are presented. Further, according to the given model the PID and VSS controllers are designed. Finally, by using experiment results the influences caused by the motor’s dead-band is discussed.