精密伺服系統之主從控制應用

The Study of Master-Slave Control for Precision Servo System

許嘉豪(Chia-Hao Hsu)

指導教授 ： 王世明

中原大學/工學院/機械工程研究所/碩士(2004年)

https://doi.org/10.6840/cycu200400576

摘要

工具機為了提升高速切削性能，由雙軸馬達驅動單軸進給經被採用於CNC工具機的設計上，然而在快速動作下，若各伺服系統之間存在同動誤差，則機械結構可能因此產生機構變形或反而使進給加速性能惡化，切削精度差。因此，精密主從控制便成為此型機器的關鍵核心技術。由於機械結構系統具有遲滯反應特性，各獨立軸相互之間因而產生同動延滯現象，研究中透過同動延滯控制器對時間差異作訊號整合送發，以減少延滯現象產生的同動誤差量。
對於各獨立伺服系統的自身系統響應控制，則利用 NCD Block對其PID參數進行最佳化調校，以確保獨立伺服系統響應最佳化。此外，研究中主從控制法則乃是採用模型參考控制原理，再以可變結構方法進行同動誤差控制，對從動伺服軸系統作快速調整控制以降低主動與從動伺服系統間的位置誤差。研究中以精密雙馬達伺服平台為對象，藉由模擬模型與系統鑑別，設計出具有及時修正拉回動作的主從控制器，即時線上改善主/從伺服系統作動時產生的同動誤差。
經由實機測試的結果證明，本研究所發展的控制方法與系統可明顯改善主/從伺服系統的同動精度。研究中也透過同時開發之遠端網路控制功能，讓使用者可透過網路直接進行遠端監控，使本系統具有分散網絡式控制的功能。

關鍵字

同動精度 ； 主從控制 ； 遠端網路監控

並列摘要

In order to enhance the high speed machining capability, two driving systems simultaneously driving machine for movement along one axis is usually adopted for CNC machines. If the movement difference exists between the two driving systems, it will cause the deformation on the machine and deteriorate the machine’s acceleration ability and accuracy. Thus, precision master-slave control becomes the important core technology for this type of machines. In the study, first the movement difference caused by the different delay time of the driving systems are resolved by regulating the signal-emission time for the two driving system. Subsequently, using NCD block technology to optimally tuning the PID control parameters to obtain optimal transient and steady-state response and to pre-minimize the difference of response characteristics was employed. Finally, the model reference control theory was adopted with Variable Structure control (VSC) method to on-line minimize the movement differences between the two driving systems. In the control method, one driving system is regarded as the reference model and the other driving system is regarded as the following system. The movement and velocity differences between the two systems were instantly and on-line minimized by the designed VSC control law. Through both of theoretical and experimental work, the control algorithm and controller were developed. The experimental results have shown the good feasibility and effectiveness of the developed control system. It significantly improves the driving accuracy of the machine. Furthermore, an internet remote control function was also developed for the control system so that the user can execute the control from internet. The function makes the system is possible to apply to the distributed and remote manufacturing system.

並列關鍵字

driving accuracy ； master-slave control ； an internet re

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