- 學位論文
伺服系統之全頻帶振動抑制研究
Vibration suppression and anti-resonance of servo system
摘要
機械運動系統普遍存在振動模態，而振動對伺服系統之性能影響甚鉅，因此，國外的伺服系統大廠，如：Fanuc、Yaskawa、Siemens與Mitsubishi 等，於其驅動器中的控制器均提供一系列調機流程以及各種應對措施，不僅提高系統工作性能，並對於各頻帶振動頻率之振動源提供相對應解決方案。本論文提出一全頻帶振動解決方案，首先，研究各伺服系統大廠之調機流程，透過模擬驗證其效益，最後將其實現於實際撓性伺服平台上。本論文釐清各頻帶振動因素，提出相對應的振動抑制手法，所提出之流程能提供全頻帶且系統化的振動抑制，有別於以往僅針對某一頻帶之共振頻率，利用帶拒濾波器抑制系統共振頻率，提高伺服系統之性能。最後，本文所開發之振動抑制方法將使用工研院的IMP-2運動控制卡與自行設計之撓性伺服平台進行驗證。
並列摘要
The vibration or resonances are always implied in the motion mechanism. Unfortunately, that will seriously degrade the performance of servo system. Therefore, the well-known and creative servo system provider, such as Fanuc, Yaskawa, Siemens and Mitsubishi, used different strategies to suppress vibration or resonances yielded from different frequencies. This thesis will provide a total solution to suppress vibration or resonances yielded from different frequencies. Firstly, the advantages and disadvantages of the above mentioned strategies will be analyzed. Furthermore, we will develop the improved methods to overcome the drawbacks. The total solution to suppress the full-band vibration or resonances, not only applied the notch filter to filter out the specified resonances, is finally proposed. And, the above algorithms will be implemented in ITRI’s IMP-2 platform to control a flexible servo mechanism and the experimental results are verified performance assessment.