線性伺服馬達之系統鑑別與定位控制

System Identification and Position Control of Linear Servo Motor

許鴻文(Hung-Wen Hsue)

指導教授 ： 陳傳生

元智大學/工程學院/機械工程學系/碩士(2000年)

摘要

永磁式線性同步馬達(PMLSM)是近年來廣泛使用的伺服馬達控制系統。由於它較傳統利用旋轉轉換成直線的方式簡單，且所產生的推力直接作用於驅動對象，又能得到高效率的傳動，現在已經開始應用於高科技產業之伺服控制上。
一般文獻中，有關永磁式線性同步馬達的數學模型只針對三相電壓(電流)輸入作討論，很少對兩相電壓(電流)輸入之永磁式線性同步馬達作探討。因此，本文在一般的假設下，利用相電壓方程式與能量守恆原理推導兩相永磁式線性馬達之數學模型。利用非線性曲線擬合等方式求出模型未知參數，並將模型轉成等效轉移函數形式。最後，利用以極零點配置法為基礎的RST多項式控制器，以實驗方式來達到控制線性馬達定位、抗干擾的目的。

關鍵字

線性馬達 ； 伺服馬達 ； 永磁式線性同步馬達 ； 定位控制

並列摘要

In recent years, permanent magnet linear synchronous motors (PMLSM) are widely used in servo motor control system. It drives objects simpler than traditional method that using rotation convert to direction, and the thrust generated by PMLSM directly applies at the driven object, we can obtain more efficient power transmission. Nowadays, PMLSM has been applied in servo control of high technique productions.
Several papers had present the mathematical model of PMLSM with three phase voltage (current) input, but less research discussed in two phase voltage (current) input. Therefore, this thesis provides a mathematical model of PMLSM, which is driven by using phase voltage equation and energy conservation on general assumption. We estimate the model unknown parameters by using nonlinear curve fitting, and linearize the model to equivalent transfer function form. Finally, we use the RST controller based on the polynomial pole-placement method to achieve the position control and disturbance rejection of PMLSM by experiments.

並列關鍵字

Linear motor ； Servo motor ； Permanent Magnet Linear synchronous motor ； Position control

參考文獻

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