以數位訊號控制器dsPIC30F4011為基底實現伺服馬達控制

Implementation of Servo Motor Control Based on Digital Signal Controller dsPIC30F4011

張弘為(Hung-Wei Chang)

指導教授 ： 邱國珍

國立虎尾科技大學/電機資訊學院/電機工程研究所/碩士(2015年)

https://doi.org/10.6827/NFU.2015.00190

摘要

本論文應用Microchip公司所生產的數位訊號控制器dsPIC30F4011為基礎實現伺服馬達定位控制。所提架構不同於一般工業界應用可程式邏輯規劃控制器(PLC)完成伺服馬達定位控制時，必須由人機介面(HMI)監控再搭配PLC設計動作程序，以及使用軸控卡與伺服馬達驅動器達到伺服馬達定位控制，此外，受限於PLC型號，每個模組都必須使用同樣廠牌之設備才能應用。所提之伺服馬達定位控制系統可直接由人機介面透過串列傳輸方式與數位訊號控制器交握傳達控制指令，藉由數位訊號控制器內部進行伺服馬達控制程式之運算，再將運算結果以正弦脈寬調變方式應用於驅動所研製之三相六開關換流器上，最後由換流器輸出所規劃之三相交流電壓控制伺服馬達運轉，達到伺服馬達定位控制。
以數位訊號控制器內部運算實現伺服馬達定位控制方面，本論文利用馬達回授電流完成向量控制策略，將三相電流回授訊號與命令電流訊號進行Park正/逆轉換及Clarke正/逆轉換達到d-q軸轉換使伺服馬達全程皆可維持最大轉矩運轉。另外，應用伺服馬達內部光編碼器之A、B、Z三個回授訊號，以Z訊號觸發當作數位訊號控制器內部程式之原點定位位置訊號及伺服馬達旋轉圈數計數訊號，再由A相訊號控制dsPIC30F4011正交編碼器內部位置計數暫存器計數馬達的旋轉位置達成精準位置定位控制。同時將數位訊號控制器內部位置計數暫存器之數值微分轉換成速度回授訊號，再與速度命令訊號相互比較，將速度差訊號經PI控制器後當作電樞電流訊號之控制訊號完成閉迴路速度控制，將可使馬達具有穩定的運轉速度。
本文以數位訊號控制器dsPIC30F4011完成伺服馬達定位控制系統，系統將具有原來PLC控制伺服馬達之穩定速度及精準定位控制，且與傳統PLC定位控制系統比較，本文所提之方法能大幅降低成本並可縮小全系統的體積，此外，也不受到PLC及周邊設備須使用同廠牌之限制，並可以依照伺服馬達特性進行伺服馬達定位控制。

關鍵字

伺服馬達控制 ； 向量控制 ； 換流器 ； 正弦脈波寬度調變控制 ； 可程式邏輯控制器

並列摘要

Based on the digital signal controller dsPIC30F4011, which is generated by Microchip company, the thesis realizes servo motor position control. This implemented control is different from conventional programmable logic controller (PLC) servo motor control, which has the restriction that it needs human–machine interaction (HMI) and PLC sequence control, , axis control card and servo motor driver to work. Besides, every useable PLC module has to be from the same manufacturer. The proposed servo motor control can directly transfer the control instruction via HMI to digital signal controller. The digital signal controller can conduct servo position control program inside, and transfer sinusoidal pulse width modulation signals to drive six power switches of the three-phase inverter. The three-phase voltage will be generated from the inverter, and it can be used to control the servo motor.
In other words, PLC and axis control card are replaced by a digital signal controller. As to simplify servo motor position control using digital signal controller, the thesis adopts vector control strategy with using direct and inverse Park transform, and direct and inverse Clarke transform to achieve d-q axis transformation so that servo motor can operate in the maximum torque during the whole process. The optical encoder of servo motor generates three feedback signals, ‘A’, ‘B’ and ‘Z’. The ‘Z’ signal is activated as an original point position signal of digital signal controller program, and is also used as the counter of servo motor rotate. The ‘A’ signal controls the counter register of counter motor inside of dsPIC30F4011 to achieve the precision position motor control. Meanwhile, by transforming the value in register to velocity feedback signal and calculating it with command velocity signal, we can realize close loop velocity control, which let the motor being able to rotate in steady speed.
In this thesis, We use digital signal controller dsPIC30F4011 to realize servo motor position control system, and the system contains steady velocity control and precise position control toward the servo motor. Comparing to the conventional PLC position control system, the proposed method in thesis can highly decrease the cost and shrink the volume. Furthermore, the restriction of using the same brand devices no longer exist, which means we can perform servo motor position control according to the characteristic of the motors.

並列關鍵字

Servo motor control ； Vector control ； Inverter ； Sinusoidal pulse width modulation ； Programmable logic controller

參考文獻

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[26]屏通科技股份有限公司，PK070-WFT 人機介面型錄/硬體手冊。

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