多軸向線性馬達驅動技術控制策略研究

Research on Control Strategy For Multi-Axis Linear Motor System

康威遠(Wei-Yuan Kang)

指導教授 ： 吳昌暉

元智大學/工程學院/機械工程學系/碩士(2005年)

摘要

無資料

關鍵字

工具機 ； 線性馬達 ； 系統鑑別 ； Tandem Control

並列摘要

In this thesis, we focus on the linear motors applied to the machine tool. We tested all kinds of framework applied to the machine tool, and also tried to build system model. Finally we analysis every framework and compare the advantage and disadvantage.
In the beginning, we derive the dynamic equations of the single axis single linear motor system by using discrete Fourier transform (DFT) to transform an ordered sequence of data samples in the step experiment from the time domain into the frequency domain. When moving single-axis-two-linear-motors system we found that the current is inverting. The imperfection will reduce the thrust and bandwidth, and also affect tracking error. For the question, we used two control methods trying to solve it. One is tandem control method, the other is current/torque equalizing technique (current equalizer). In experiment, the imperfection made reduce by two control methods. And the current equalizer on tracking error and bandwidth is better than tandem control method.

並列關鍵字

Machine tool ； Linear motor ； System identification ； Tandem control method ； Current equalizer

參考文獻

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[4] L. Feng, Y. Koren, and J. Borenstein, “Cross-coupled motion controller for mobile robots,” IEEE Control Systems, December 1993.

[5] P. Van den Braembussche, H. Van Brussel, and P. Vanherck, “Accurate tracking control of linear synchronous motor machine tool axes,” Mechatronics, Vol. 6, No. 5, pp. 507-521, 1996.