本研究主要目的是針對伺服馬達控制實務上會發生的轉矩飽和問題，提出一種基於數位孿生之模型預測控制方法。於伺服馬達轉速控制架構中，比例-積分控制器因結構簡單及參數設計容易被廣泛使用，當驅動器在有電流保護限制下運轉時，轉速響應會比設計的理想情況慢，造成積分器累積過大誤差值，導致轉矩命令易超過限制值而飽和，產生積分終結問題，而導致轉速響應不如預期。本研究提出基於數位孿生之模型預測控制，藉由實際控制系統的數位分身，預測系統未來的轉矩命令，始能提前得知飽和發生時機，並根據預測的轉矩命令，使用模型預測控制法則計算最佳的補償值，能於飽和前預先降低積分器累積值，達到抑制轉矩飽和之目的。所提之方法除了能抑制轉矩飽和外，相比於一般反積分終結方法易有較佳轉矩命令及轉速響應。本研究分別採用硬體在環迴路及真實伺服系統進行實驗，以驗證所提之控制策略的可行性，並比較其能有效改善轉矩命令及轉速響應。

In motor speed control, the proportional-integral controller is widely used because of its simple structure and design process. However, regarding the current limitations of a practical motor driver, it often leads to a large accumulation in the integrator, which causes the serious torque saturation, namely, the integral windup, and undoubtedly degrades the control performance. To improve the torque saturation, this paper proposes a digital twin based model predictive control (DT-MPC) strategy aiming at the prediction of the future torque command and further the preemptive compensation of the integrator. Compared with the conventional anti-windup methods, which are passive strategies activated by feedback after encountering the torque saturation, the DT-MPC can reduce the redundant accumulation in advance by a feedforward compensation; therefore, the system has the better performance of the torque command and speed response via the DT-MPC. To verify the control performance of the proposed strategy, an experimental platform consisted of a real motor driver with a permanent magnet synchronous motor (PMSM) was adopted.

[1] M. Abassi, A. Khlaief, O. Saadaoui, A. Chaari and M. Boussak, "Performance Analysis of FOC and DTC for PMSM Drives Using SVPWM Technique," 2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), pp. 228-233, 2015.
[2] 吳懿軒，「現實機台因電流限制所造成積分飽和之控制方法分析與比較」，馬達電子報第739期，成大馬達科技研究中心，2017。
[3] A. Visioli, "Modified Anti-Windup Scheme for PID Controllers," IEE Proceedings - Control Theory and Applications, vol. 150, pp. 49-54, 2003.
[4] G. S. John and A. T. Vijayan, "Anti-Windup PI Controller for Speed Control of Brushless DC Motor," 2017 IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI), pp. 1068-1073, 2017.
[5] R. H. Guerra, R. Quiza, A. Villalonga, J. Arenas and F. Castaño, "Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction," IEEE Access, vol. 7, pp. 93462-93472, 2019.
[6] Y. Zhu, G. Xu, J. Yin and Y. Liu, "Speed Control of Permanent Magnet Synchronous Motor Drives Based on Model Predictive Control," 2017 International Conference on Computer Technology, Electronics and Communication (ICCTEC), pp. 908-913, 2017.
[7] 吳俊儒，「抑制永磁同步馬達頓轉扭矩之位置依據型重複扭矩觀測器設計」，碩士論文，國立成功大學機械工程研究所，2018。
[8] 洪啟峯，「永磁同步馬達的設計」，碩士論文，國立宜蘭大學機械與機電工程學系研究所，2014。
[9] 劉昌煥，「交流電機控制」，東華書局，民國95年9月四版。
[10] 劉子瑜，「基於弦波電流驅動於永磁同步馬達電流迴路控制之研究」，碩士論文，國立成功大學電機工程學系，2009。
[11] http://www.shinwe.com.tw/wpcontent/uploads/2018/06/ASDA-A2.pdf.
[12] http://www.feu.edu.tw/edu/mse/web/%E5%B0%88%E9%A1%8C%E6%
BC%94%E8%AC%9B/%E4%BA%A4%E6%B5%81%E4%BC%BA%E6%9C%8D%E5%8E%9F%E7%90%86%E7%B0%A1%E4%BB%8B.pdf?fbclid=IwAR1w-iMaUJABadfbVxxLKRFIpwsPa0nl7tcCOyj-aArDxJNOJW_LG3fh
REE.
[13] https://www.bnext.com.tw/article/54895/digital-twin-will-reverse-manufacturing.
[14] https://en.wikipedia.org/wiki/Mathematical_optimization
[15] Wu, Chun-Ju, Mi-Ching Tsai and Lon-Jay Cheng, "Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM," Applied Sciences, vol. 10(1), 96, 2020.
[16] Gene F. Franklin, J. David Powell and Michael Workman, Digital Control of Dynamic Systems, Canada: Addison-Wesley, 1997.
[17] K. Sakata and H. Fujimoto, "Perfect Tracking Control of Servo Motor Based on Precise Model with PWM Hold and Current Loop," 2007 Power Conversion Conference - Nagoya, pp. 1612-1617, 2007.
[18] 魏漢樹，「適應性多取樣頻率直流伺服馬達數位控制器之設計與實現」，碩士論文，國立臺北科技大學自動化科技研究所，2007。
[19] Lilit Kovudhikulrungsri and Takafumi Koseki, "Performance Improvement of a Linear Encoder by Multirate Sampling Observer," Proceedings of the 4th International Symposium on Linear Drives for Industry Applications, pp. 509-512, 2003.
[20] 盧俊男，「模型預測控制設計及於雙線姓伺服系統之應用」，碩士論文，國立成功大學機械工程學系，2008。
[21] K. W. Lim and K. V. Ling, "Generalized predictive control of a heat exchanger," in IEEE Control Systems Magazine, vol. 9, no. 6, pp. 9-12, 1989.
[22] https://www.gathertech.net/mr2.