伺服馬達及射出機控制器之研究

Abstract

本論文研製之「伺服馬達及射出機控制器之研究」為初創公司(威旺系統模組)及大同公司合作的計劃。它為初創威旺系統模公司組解決資金不足及市場行銷問題、也解決了大同公司解決射出機及高功率伺服馬達的最適化調機參數問題。

本論文利用MATLAB做機械及電機系統模擬，有效的解決PID (Proportional, Integrated, Derivative)伺服控制器的馬達的最適化控制。本文將馬達及控制系統以拉式轉換簡化成s-領域數學式。利用根軌跡及波德圖來觀察系統穩定性及相位差。再求出最適的s-領域的系統參數解。連續式的s-領域的系統參數解再經過z-轉換，轉成離散式的z-領域的系統參數解。最後以德州儀器的數位馬達格蘭道控制程式庫Grando PID演算法來驗證最適化的馬達調機參數。本文所驗證的馬達，目前為小功率(55W)的德州儀器的無刷直流(Brushless DC Motor or BLDC)。由於功率小，價格較便宜、移動力矩也相對小，安全性較高；能量小，受干擾時，比較不易燒毀；演算法比較完整、適合用來做基本原理的驗證。

由小功率，推出的數學模式及方法學，可以順利的擴大推展於射出機用的大同高功率馬達系列 (1.1KW ~ 166KW)的永磁同步馬達。

This thesis “A Study of Servo-Motor and Injection Molding Machine” is written to support a cooperated project and business model for resolving the Injection Molding Machine (IMM) and High Power Servo Motor for WellWant SOM (System On Modules)/Tatung Company.

This thesis does the simulation for mechanical and electrical system by using MATLAB. It effectively resolves the Parameters Optimization of the PID (Proportional, Integrated, Derivative) Controller。This thesis formulates the model of motor and PID control, transform into s-domain by Laplace Transform. It uses the Root-Locus and Bode diagram to observe the system stability and phase delay. It then finds the parameters’ optimal solutions of s-domain. For digital world implementation, the optimal parameter solution from continuous s-domain has to transform into discrete z-domain transform. Finally, those parameters can be successfully plugged into TI’s Grando Algorithm.

A sequence of High Power of Tatung Motor (1.1KW ~ 166KW), i.e., Permanent Magnet Synchronous Motor, will be implemented by this methodology.