以內部模型原理為基礎之控制器初始值補償及其於精密線性平台之應用

Abstract

本文針對內部模型為基礎之控制器會有超越量(Overshoot)或振盪(Oscillation)的問題進行控制器初始值補償(Initial Value Compensation, IVC)設計。內部模型原理為基礎之控制器具有抑制已知干擾模型的優點，透過IVC之設計可降低超越量或振盪的產生，大大地提升控制器的性能；本文並利用數位訊號處理器(DSP)與可程式邏輯閘陣列(FPGA)實現於精密線性平台系統。 本文實驗平台之架構上，採用美國德州儀器公司(Texas Instruments, TI)所生產之TMS320C6713 DSP搭配具FPGA之自製擴充子板為實驗平台。在FPGA方面，以硬體描述語言(VHDL)撰寫Encoder, A/D與D/A等週邊界面程式；在控制器實現上，利用TI所提供的Code Composer Studio (CCS)環境下以C/C++撰寫控制器程式並下載到DSP上執行。經由實驗結果證實，透過初始值補償之控制器，能有效改善傳統控制器設計的缺點，改善系統的暫態響應，並且可以消除穩態誤差。This thesis presents a solution to the overshoot and oscillation problem in Internal Model Principle-based (IMP-based) controllers by using the Initial Value Compensation (IVC). By using IVC the plant can smoothly, fast and accuarately reach the desired position. The experimental system for IMP-based controllers consists of a commercially avariable single axis linear stage, a brushless servo motor and a DSP/FPGA system that is the control kernel. We use C language and very-high- speed hardware description language (VHDL) as tools for developing a servo control system. Experimental results confirm the effectiveness of the presented schemes. Keywords: , oscillation, ,