伺服精密定位控制之探討

摘要本文利用PD、PI、PID與特徵結構配置法控制理論來設計控制器以改善系統效能，並且用來評估設計控制器過程中，參數調整影響到系統的相關物理量的情形。實驗應用上也配合PC-Base的方式利用A/D卡跟LabView軟體來做單伺服軸的電壓輸入及加減速的規劃以進行定位控制。研究中配合電腦模擬的系統響應，將模擬之後的結果實際應用於實際伺服系統之中，以改善定位精度。定位控制系統實驗的設計架構，主要是利用A/D轉換卡，配合LabView軟體輸出電壓的方式給伺服馬達驅動器，由AC伺服馬達帶動滾珠螺桿，進行直線驅動控制。為驗證控制結果，所架構的伺服機構也以雷射光學儀器進行定位精度的量測，並根據實驗結果探討影響定位控制精度的原因。

關鍵字

系統響應； A/D轉換卡； LabView ；定位控制

並列摘要

Abstract The study is mainly to explore the implementation of PD, PI, PID control, and Eigen-structure assignment (ESA) method on position control. Simulation analysis was used to estimate the influence of the control gains to the control accuracy. Simulation results were then implemented the real servo system for position control. In addition, a 3-axis servo system consisting of A/D interface, AC motors, and ball screws controlled by PC computer, was constructed to precede the experiments for verification of discussed control methods. A friendly interface by Lab-View was also created to provide easy manipulating environment. According to the experiment results, the discussion on servo errors induced by different error sources was addressed. In the experiments, the position error of the servo system was directly measured by a laser measurement system.