基於速度回授之馬達控制設計

Speed-Feedback-Based Motor Control Design

張恩豪(En-Hao Chang)

指導教授 ： 吳俊德

國立暨南國際大學/科技學院/電機工程學系/碩士(2017年)

摘要

在現今的社會上，人們倚賴大量的機器人去完成大多數的事情，而如今高齡化人口的社會是我們一直以來都在面對的問題，此時以服務為導向的機器人就非常的重要。目前市場上的搬運機器人就是一個非常好的例子，但有鑑於在搬運物品時速度控制這一塊是很重要的一環，目前看到還是有許多機器人是無法百分之百做速度回授控制。
本論文針對此問題提出一種解決方案，使用Verilog Hardware Description Language (Verilog HDL) ，搭配編碼器去達到速度回授控制，我們使用了三組的PWM速度做設定，當機器運轉時可以隨意切換輪子的轉速，並且經由編碼器所傳遞的數值到我們實驗室自有CPU上的LED燈顯示出轉速。

關鍵字

機器人自走車 ； 脈衝寬度調變 ； 回授控制 ； 速度控制

並列摘要

In today's society, people rely on a large number of robots to complete most of the things, and now the aging population of the community is that we have been faced with the problem, this time in the service-oriented robot is very important. The current handling robot on the market is a very good example, but in view of the speed of control when moving goods this piece is a very important part of the current to see there are still many robots can not be 100% speed feedback control.
This thesis presents a solution to this problem, using the Verilog Hardware Description Language (Verilog HDL), with the encoder to achieve speed feedback control, we use the three sets of PWM speed. When the machine can be free to switch the wheel speed, and then deliver the value of the encoder to our laboratory CPU.

並列關鍵字

robot self-propelled vehicle ； PWM ； feedback control ； speed control

參考文獻

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