以干擾觀測器補償永磁式線性馬達之鈍齒效應包含DSP即時多工控制系統之移植

Abstract

在本論文中主要研究運動控制卡即時多工系統的移植，並且補償永磁式線性馬達(PMLM)系統中Cogging force以及其他干擾所造成的影響。文中將採用德州儀器(TI)開發的TMS320C6722浮點運算DSP及使用DSP/BIOS取代先前的μC/OS II作為即時核心，並搭配TI提供的DSP開發軟體 - Code Composer Studio以及Microsoft的Visual C++程式語言來移植即時多工核心程式，以進行即時命令產生、加減速規劃、Blended 路徑規劃及伺服迴路控制。Cogging Force在馬達驅動控制中是很重要的干擾力，此外，系統還會受到其它干擾(如摩擦力、磁阻力、力矩波漣、輸出干擾等)、雜訊以及系統參數不確定性之影響而使機台無法達到精密定位，因此我們將討論伺服馬達鈍齒效應並進行補償。在本文中將以干擾觀測器(Disturbance Observer , DOB)的架構來補償永磁式線性馬達(PMLM)所受到干擾、雜訊以及系統不確定性造成的影響，並且提出實驗室發展的一套DOB改良架構 – DCF DOB架構，來進行伺服迴路控制補償。

This study focuses on two topics, 1) porting of the real-time multitasking motion control system for a new DSP board, 2) compensation of the cogging for permanent-magnet linear motors(PMLMs). The TMS320 C6722 DSP used in this study is a floating-point DSP which is produced by Texas Instruments(TI). The DSP/BIOS is a real-time kernel which is used to instead of μC/OS II in the RTOS. There is a DSP development tool which is called Code Composer Studio(CCS), and CCS is provided by TI to help users develop the RTOS. Besides, Microsoft Visual C++ is used in the porting of the real-time multitasking motion control system. There are real-time command generation, acceleration and deceleration planning, and servo loop control implelemented in the new RTOS. Cogging force of the permanent-magnet motors is an important disturbance for motion control system. Besides, there are friction force, torque ripple, output disturbance, measurement noise, and system uncertainties that decrease the positioning accuracy. Hence we have to compensate these disturbances with Disturbance Observer(DOB) and Doubly Coprime Factorization DOB(DCF DOB) which was developed by our lab in this study.