無刷馬達平台之內部模型控制器初始值補償

Abstract

本文針對內部模型控制（Internal Model Control, IMC）應用於低阻尼受控體（lightly damped plants）會有超越量或震盪的問題，進行控制器初始值補償（Initial Value Compensation, IVC）之設計。內部模型控制器具有容易設計的優點，透過初始值補償之設計可以明顯地降低超越量或震盪現象的發生，藉此能夠提升控制系統的暫態性能。 本文的實驗平台是以無刷伺服馬達結合導螺桿而成的線性平台，進行線性運動定位控制的實驗。訊號處理部分採用美國德州儀器公司（Texas Instruments, TI）生產之TMS320C6713 DSP搭配FPGA自製擴充子板與Xilinx可程式閘陣列（FPGA）結合而成之控制器硬體核心，以C語言與硬體描述語言（VHDL）作為控制器設計之發展工具。經由實驗結果可得知，加入初始值補償之控制器，能有效的改善傳統控制器的缺點，改善系統的暫態響應。

This thesis presents a solution to the overshoot and oscillation problems when the Internal Model Control (IMC) is applied to the lightly damped plants. By using Initial Value Compensation (IVC), the plant’s output overshoot and oscillation can be significantly reduced, thus, improving the performance of the control system. The experimental system consists of a brushless servo motor and a ball screw for experimental verification. The C language and VHSIC Hardware Description Language (VHDL) are tools for developing a control system. The experimental results show that the IVC can effectively reduce the output overshoot and oscillation caused by the conventional IMC.