以可程式控制器為核心之伺服馬達定位控制方法

The Position of Motor Based on Programming Logic Controllers

陳盟吉(Meng-Chi Chen)

指導教授 ： 黃昭明

崑山科技大學/工程學院/電機工程研究所/碩士(2010年)

https://doi.org/10.6828/KSU.2010.00054

摘要

在自動化的生產過程中，經常須由輸送帶將產品傳送至固定位置。在傳送過程中，容易因輸送帶劣化或長期磨損等問題，造成產品未能精確地傳送至固定位置。為改善此問題，本論文提出以可程式控制器為核心之伺服馬達定位控制方法。以PLC為基礎的馬達控制技術具有良好的運轉品質及能提供較佳的控制性能，因此，若屬於一般用途之馬達驅動控制，產業界均習慣採用以PLC為基礎之控制方法取代傳統的驅動方式，以精簡控制電路元件，滿足控制上的需求。本論文所提出的方法主要於現有的內迴路PID控制之外，增加一組外迴路模糊控制器，當輸送帶位置產生偏移時能適時予以修正。模糊理論採用人類語言取代繁雜的數學模式，對於一般高度非線性系統或微分方程不易獲得場合，模糊控制器能提供一種較簡化的控制方式。由實驗結果顯示，本論文所提出的方法能實際改善輸送帶偏移問題。

關鍵字

可程式控制器 ； 伺服馬達 ； 模糊控制器 ； PID控制器

並列摘要

n the process of production automation, it is very frequently to transport the products to the fixed position by the conveyer belt. However, in the course of conveying, the conveyer belt may be the reason of degradation or wearing and tearing for a long time that causes the products unable to accurately transport to the fixed position. To improve this problem, this thesis proposes an effective method for position control of servo motor based on programmable logic controllers (PLC). The PLC-based motor control technique has the advantages of good operation quality and superior control performance during on-off instant. Hence, provided that it is the general purpose of motor drive and control, the industrial circles are used to utilize the PLC-based control method to substitute for the traditional driving technique, simplify the control circuit components, and satisfy the control requirements. In addition to the existing inner-loop PID controller, this thesis develops an outer-loop fuzzy controller to modify the conveyer belt position once the position of conveyer belt shifts from the original position. The fuzzy theory adopts the human language to replace the complicated mathematics model. For a highly non-linear system or in which the differential equation is not easy to be obtained, the fuzzy controller can offer a simpler control method. The experiment results show the proposed method can improve the problem of position deviation for any conveyer belt systems.

並列關鍵字

Programmable logic controller ； Servo motor ； Fuzzy controller ； PID controller

參考文獻

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