線性馬達的定位控制

Position Control of Linear Motor

林仁智(Lin Ren-Chih)

指導教授 ： 陳傳生

元智大學/工程學院/機械工程學系/碩士(1998年)

摘要

以近幾年來看，高科技產業使用線性馬達的比例是有愈來愈高的趨勢，對於線上運作方面，馬達定位的精準度是相當重要的。以往傳統的方式，是利用旋轉式馬達再加上導螺桿來作定位，構造複雜且費時費力；而線性馬達的構造則簡單多了，只有動子與定子兩個部份，使用起來省時又省力，因此研究線性馬達的控制的方法，逐漸成為新的趨勢。
本論文的目的在於找出一種控制方法，使得線性馬達能夠快速並準確的定位。首先，利用推力及電路方程式來推導出線性步進馬達的多項式轉移函數，經過線性化後，再利用RST多項式控制法則來設計控制器，進而用來控制馬達系統，最後透過電腦模擬來確認可行性。
在控制器設計上，利用以極點配置法為基礎的RST多項式控制器，來達到控制線性馬達定位、抗干擾以及提升反應速度的目的。由模擬結果顯示出來，此控制器確實能達到我們的目的。

關鍵字

線性步進馬達 ； RST控制器 ； 定位控制

並列摘要

In recent years, the ratio by using linear motor to traditional notary motors is increasing in high technique production. For operation on line, the accuracy of position control of linear motor is very important. Before, traditional method used traditional motor to connect leadscrew to receive position. Not only its structure is very complex, but also it waste time and energy. But, the structure of linear motor is very simple, because it only has two parts, mover and stator, so it can save time and energy by using linear motor. So, more and more people research the control method of linear motor, it become new tide gradually.
The purpose of this paper is to find a method to make the response of a linear stepper motor faster and more accurate on the position control. First, we derive the transfer function of a linear stepper motor by using force and circuit equations. After linearization it, we design controller by the RST control method. Then we use this controller to control a motor system. Finally, we check its practicability by using simulation on the computer.
On the controller design, we use a RST controller based on the Pole-Placement method, to achieve the goal of position control on the linear stepper motor, disturbance rejection and develop its response speed. From the final simulation results, we prove this controller design acheive the desired performance and response.

並列關鍵字

linear stepper motor ； RST controller ； position control

參考文獻

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