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研究生：	林幸緯 Lin, Xing-Wei
論文名稱：	基於模型融合之線性馬達精密運動控制 Model-Fusion-Based Precision Motion Control of Linear Motors
指導教授：	田思齊 Tien, Szu-Chi
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2013
畢業學年度：	101
語文別：	中文
論文頁數：	95
中文關鍵詞：	線性馬達、模型融合、精密運動控制
外文關鍵詞：	Linear motor, model fusion, precision motion control
相關次數：	點閱：112 下載：8
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本論文提供一套基於模型融合的線性馬達精密運動控制。藉由論文中的實驗觀察發現，線性馬達在小範圍時的運動情形與在大範圍時有所不同，其主要的差別是源至於線性馬達在不同運動範圍下產生不同的摩擦力。因此，在本論文中選用了兩種摩擦力模型。首先，以黏滯摩擦力來描述線性馬達在動摩擦區的摩擦力現象;接著，以非線性彈簧與阻尼器模擬線性馬達在靜摩擦區的摩擦力現象。藉由不同的實驗可以得出線性馬達在不同摩擦力下的摩擦力參數，並且藉由這些參數建立動摩擦區模型與靜摩擦區模型。最後根據上述兩摩擦力模型設計對應之前饋與反饋控制器，並以干擾估測器提高系統的強健性。實驗結果顯示，依線性馬達運動時所屬之區域(動摩擦區域與靜摩擦區域)切換對應的控制器可提高其追蹤性能，同時定位精度可達到感測器之解析度。

This thesis provides a model-fusion-based method for precision motion control of linear motors.With experimental investigation,it can be found that a linear motor exhibits different motion behaviors in different regions because it encounters different friction forces in these regions. Therefore, two friction models are utilized in this research to depict friction forces in different regions. First, in the kinetic friction region, the friction force is simulated with a nonlinear spring and a damper. Once all parameters in these two friction models are derived by experiment and system identification, corresponding feedforward and feedback controllers can be designed. Besides, a disturbance observer is integrated to enhance the system robustness. Experimental results show that, tracking performance is improved by switching the corresponding controller alternately according to where the linear motor is (i.e., the static friction region or kinetic friction region).Moreover, the positioning accuracy can achieve the sensor resolution.

圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
符號表. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
第一章緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
第二章問題分析. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1 摩擦力的現象. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 靜摩擦區動態實驗. . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 靜摩擦區靜態實驗. . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 動摩擦區動態實驗. . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 靜摩擦區潛變(Creeping)實驗. . . . . . . . . . . . . . . . . . . . . 16
2 摩擦力模型. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.1 靜摩擦力模型. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 動摩擦力模型. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3 摩擦力模型參數估測. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1 非線性彈簧參數估測. . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 阻尼參數估測. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
第三章電路設計及軟體實現. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1 感測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2 控制與訊號處理. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.1 弦波切分(Sin/D Converter)單元. . . . . . . . . . . . . . . . . . . 28
2.2 正交解碼單元. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.3 運動控制卡. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3 執行機構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4 驅動與動力源. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5 硬體極限. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
第四章控制器設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
1 動摩擦區控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
1.1 干擾估測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
1.2 微分估測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
1.3 PI控制器Gcv設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
1.4 PID控制器Gcp n1設計. . . . . . . . . . . . . . . . . . . . . . . . . 54
1.5 前饋控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
1.6 狀態估測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
2 靜摩擦區控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
2.1 PID控制器Gcp n2之穩定性分析. . . . . . . . . . . . . . . . . . . . 61
2.2 前饋控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
第五章實驗與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
1 斜坡訊號之定位與追蹤. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
1.1 Gcv與Gcp n1控制器. . . . . . . . . . . . . . . . . . . . . . . . . . . 69
1.2 Gcv與Gcp n1控制器+DOB . . . . . . . . . . . . . . . . . . . . . . . 71
1.3 Gcv與Gcp n1控制器+DOB+FF1 . . . . . . . . . . . . . . . . . . . . 73
1.4 不同摩擦力模型之切換控制. . . . . . . . . . . . . . . . . . . . . . 74
1.5 討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
第六章結論與展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
2 展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
附錄A　誤差方程式之拉氏轉換. . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
附錄B　以積分法求得Lypunov函數. . . . . . . . . . . . . . . . . . . . . . . . . . 94
                                    

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