本論文主要目的是針對線性伺服系統作運動特性的分析與重覆性控制器設計的實現。在運動特性分析方面,設計適當的速度函數以作為線性直流無刷馬達欲追隨的速度命令,並藉由速度函數的變,觀察線性伺服系統對於各種速度命令的輸出響應,並分析出適合作為線性伺服系統速度命令的連續性運動特性曲線。在速度控制面,利用串級補償型態的比例-積分控制器,來改善系統追隨速度命令時所產生的穩態誤差,進而發展出具有相位超前補償概念的重覆性控制器,使得重覆性控制系統在含有連續性的速度命令下,能有良好的運動特性響應與穩態誤差的消除,達到最佳的馬達速度控制,進而加強系統對於外界非線性干擾的消除及強健性。
The subject of this thesis is focused on motion characteristic analysis and the repetitive controller implementation for linear servo system. With regard to the motion characteristic analysis, the velocity curve function is designed to be a set of reference input command for the linear DC brushless servo motor. The optimal motion curve is obtained by the system response for the difference type of velocity command. The PI structure, the repetitive control theory and the phase advance technique are applied to motion controller design to reduce the tracking error and disturbance rejection. The relative stability of the linear servo system is examined here using a set of reference motion curve inputs. Experimental results show that the repetitive controller can effectively eliminate the frequency modes of the periodic error.