強健前濾波PID控制器應用於線型馬達之設計與實現

A Design and Realization of an Application of a Robust Prefiltering PID Controller to Linear Motors

胡永柟(Yung-Nan Hu) ； 張富傑(Fu-Jie Jang) ； 周寶華(Pao-Hua Chou) ； 李明諒(Mang-Liang Li) ； 楊茂榮(Mau-Zone Yang)

《大葉學報》 9卷2期 (2000/12) Pp. 85-92

https://doi.org/10.7119/JDYU.200012.0085

摘要

以前工業界大多採用滾珠導螺桿，來做為旋轉式馬達圓週運動轉換為直線運動的元件，但滾珠導螺桿因有背隙而產生非線性、響應性不佳等缺點，導致控制過程繁複且精確度不易提高。近幾年，世界各國對線型馬達的研究都投入了大量的人力、物力，希望能利用線型馬達的高精度定位、高響應度、直接傳動等優點，取代傳統滾珠導螺桿的間接傳動。我國目前亦積極對線型馬達進行研發，希望藉此提升傳動零組件技術，進而改善生產設備之精密度。本論文之研究重點，首在於利用系統鑑別求出線型馬達之轉移函數，以MATLAB/SIMULINK 輔助設計其控制器；然後使用四軸D/A介面卡來實現各種控制法則。由於本研究之控制器硬體架構以PC-base為主，且整體控制器架構皆以數位型式為之，故所設計之步階強健前濾波PID控制器應利用數位控制理論轉換至Z平面，然後以Turbo C語言實現。最後，再比較各種控制器特性及優缺點，選擇具有「強健性」及「穩定性」之控制器，以發揮線型馬達高速、高精密之運動特性。雖然「步階強健前濾波PID控制器」系統隨著時間會有時變的情況產生，但其步階響應皆保持在一範圍內，暫態及穩態響應均良好，幾乎沒有超越量，且穩態誤差為零，相較之下是一特性良好之線型馬達控制器。

關鍵字

線型馬達 ； 強健前濾波PID控制器

並列摘要

Traditionally the transformation of circular motions of a rotary motor into linear motions has been achieved by the utilization of machine elements such as ball screws. However, ball screws, along with other necessary parts of the system, introduce backlashes, which result in nonlinear effects in the motion, reduce the responsiv eness of the system, complicate control processes and make higher precision in the machinery difficult to attend to.A recent global trend in linear motion system design is to replace the indirect, ball screw-rotary motor combination with direct, linear motion motor systems. The mechanically simpler design has the advantage of high-precision positioning, improved responsiveness, and direct power transmission. Similarly, Taiwan has seen a rise in the research and development of linear motor systems. Potentially, this new design will allow advances in power transmission system technology and increased precision in industrial machinery.The main objectives of this study are: (1) to identify the transfer function of linear motor systems; (2) to design a linear motor controller with the assistance of software tools such as MATLAB and SIMULINK; (3) to apply controller functions through a D/A interface card in a PC system; and, (4) to characterize several controllers and compare their advantages/disadvantages. Results from these analyses may help researchers to identify linear motor controllers that are robust and stable and better utilize the high speed, high precision advantages of linear systems.

並列關鍵字

linear motor ； robust prefiltering PID (proportional integral derivative) controller