- 學位論文
變負載雙線性馬達驅動系統之同動伺服匹配控制研究
The Study of Master-Slave Control for Varying Load for Bi-Linear Motors Servo System
摘要
摘 要 現今工具機為提升切削性能，實現高速高加工精度之需求，直驅式線性馬達成為高速高精度工具機重要之驅動元件，在提昇工具機剛性考量之下，工具機重要的設計趨勢之一是採用Box-in-Box箱體機構，此機構之特色在於使用雙線性伺服馬達驅動單一工作平台產生單一軸向運動，然而在快速動作下，若雙伺服系統之間存在同動誤差，過大同動誤差可能導致機台機械結構上的變形或因雙軸間作用力的相互拉扯使平台進給加速性能惡化，影響機台整體運動加速度，因此，雙軸同動控制便為此型機器的關鍵核心技術。 本論文主要採用混合式可變結構控制法則來改善線性馬達伺服落後並抑制外部非線性之干擾，提升線性馬達平台定位精度，在雙軸同動控制上則採用主從控制法則，藉由模型參考控制原理，再以可變結構方法進行同動誤差控制，針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。本論文以龍門式主從線性馬達機構平台為對象，經由實機測試、證明本論文提出之控制法則可明顯加快系統響應速度、提升平台定位精度，改善主/從伺服系統的同動精度、使平台達到預設之進給加速度期望值。研究中也透過遠端網路控制功能，讓使用者可透過網路直接進行遠端監控。 關鍵字：混合式可變結構控制、主從控制、同動精度、遠端網路監控
並列摘要
Abstract In order to enhance the high speed machining capability, realizing the demand to improve the machining precision and high speed, the linear motor becomes the important driving component of the high speed, high-accuracy machine tool. Under the consideration to promote the rigidity of the machine tool, Box-in-Box case organization is the important designer trend. The characteristic of this organization is using bi-linear servo systems to urge a single workbench to produce the single axial motion. But under the fast movements, if there were the movement difference exists between the two driving systems, it would 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. This thesis adopts the hybrid variable structure control system (HVSS) to improve the linear motor servo lag and suppress the interference with non-linear outside disturbance to improve the accuracy of linear motor platform. In bi-linear driving systems, 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. 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. Key word: hybrid variable structure control system、master-slave control、driving accuracy、an internet remote control