永磁交流伺服馬達數位運動與伺服控制器之設計與實現

Abstract

永磁交流伺服馬達在工業上的應用已經相當廣泛，有關運動控制的系統響應與精確度要求也逐漸提升，並隨著微電子及相關技術的發展，數位化的高性能伺服運動控制系統是未來發展的主要趨勢。本文主要針對位置與速度迴路分別提出一種控制架構，並依據所要求的系統規格訂定出控制器參數的決定過程，並藉由MATLAB/Simulink軟體進行控制架構的模擬與分析，以期所設計的控制系統能達到高精度的定位與速度控制。實驗系統中採用本實驗室發展的全數位式伺服驅動器，內含德州儀器公司所製造的單晶片定點式數位信號處理器(TMS320F240)，將所提出的控制架構分成電流控制迴路、伺服控制迴路等幾個控制模組分別實現。實驗結果顯示，所設計的控制架構可符合系統要求之規格，並與模擬結果相符合。

PMAC servo motors have been widely used in industry for manufacturing automation. Requirements in the dynamic response of a precision motion control system are very stringent. Digital servos have been the development trend in precision motion control systems. This thesis proposes a practical servo control scheme and develops a systematic design procedure. The proposed control scheme has been realized using a single-chip fixed-point DSP controller. The control parameters can be determined by a set of design specifications. The simulation and analysis of the digital controller have been verified by using the MATLAB/Simulink simulation and design tools. Analysis-oriented comparison and realization of the field-oriented control (FOC) and direct torque control (DTC) for the decoupling control PM ac servo motors have also been carried out. These control schemes are compared both in the computer simulation and DSP realization process. Realization issues of the torque control scheme for PM ac servo motors have been discussed. Design and realization issues of the servo loop controller and torque controller for a high-performance PM ac servo drive have been studied in a systematic approach. Experimental results are also given for verification and comparison.