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研究生： 黃彥霖
Huang, Yan-Lin
論文名稱： 步進馬達扭矩控制方法之研究
Study on the Torque Control Methods of Stepper Motors
指導教授： 藍兆杰
Lan, Chao-Chieh
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： 2020
畢業學年度： 109
語文別： 中文
論文頁數： 168
中文關鍵詞： 步進馬達 、串聯彈性致動器 、無感測器扭矩控制 、摩擦補償 、阻抗控制
外文關鍵詞： Stepper motor, Series elastic actuator, sensorless torque control, impedance control, friction compensation, harmonic drive
相關次數： 點閱：203  下載：0 
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    • 為了使機器人在與環境或人的互動過程中能提供較高的安全性，致動器需具備高度順應性運動以及力量感測的功能，因此本文開發一使用步進馬達之旋轉串聯彈性致動器，以達成順逆向驅動等順應性運動之需求。串聯彈性致動器透過驅動源與彈簧等撓性元件的結合，藉由量測並控制彈簧變形量間接控制輸出至機構輸出端的力量，相較於剛性致動器能達到更高準確度的輸出扭矩與阻抗控制，因此更加適用於人機互動領域。除了串聯彈性致動器外，由於馬達電流與輸出扭矩間存在關係，因此本文提出步進馬達之無感測器扭矩控制方法，透過量測馬達電流估測端效器外力，達到力量感測與控制功能。
    目前關於串聯彈性致動器或應用電流感測於扭矩控制的研究大多使用直流有刷或無刷馬達作為驅動源，步進馬達的優勢尚未探索利用。相較於其他電磁馬達，步進馬達具備高可靠度且相對便宜，亦有更高的扭矩重量比及扭矩轉子慣量比。本文選用步進馬達作為驅動源並建立步進馬達數學模型，接著以具備高迴圈速度與運算能力之嵌入式控制器NI CompactRIO®，設計驅動與感測電路以進行馬達回授控制。為了比較旋轉串聯彈性致動器與電流感測回授控制的性能表現，首先設計旋轉串聯彈性致動器並進行彈簧勁度校正，接著建立電流感測回授控制的模型並校正電流感測器係數，由於系統受減速機構摩擦力影響，因此建立摩擦補償模型，透過實驗鑑別模型中的各項參數。分別針對兩種致動器建立扭矩控制器與阻抗控制器等控制架構，並完整分析系統之穩定性，同時利用商用軟體MATLAB®中的Simulink®建立模擬模型，比較實驗與模擬的結果以驗證本文建模的正確性。透過撰寫程式將控制架構實現於實驗平台中，進行順逆向驅動實驗達成本文期望之功能，最後比較兩種致動器各自的優勢。

    Actuators that can produce controllable compliant output motion are suitable for robots that need to interact safely with humans or the environment. To obtain the accurate output torque required to control the compliant motion, the conventional rigid actuators use torque sensor to measure the interaction force of the end effector. However, the rigid actuators are low backdrivable and require extra space to accommodate the torque sensor and its related bridge circuit. In contrast to the rigid actuators, the series elastic actuators (SEA) are highly backdrivable and provide more accurate torque control. By adding an elastic spring between electromagnetic motor and the output and then measuring the deformation of the spring using encoders, the actuator torque can be indirectly obtained and controlled. Aside from SEAs, sensorless torque control method is another option to generate compliant motion. For DC motors, the magnitude of motor current is proportional to the motor output torque and thus to estimate output torque. This paper compares the performance of the rotary SEA and the sensorless torque control method of stepper motors to achieve the forward and inverse torque/impedance tracking control. Stepper motors are used because of their high availability and reliability. They also have a much higher torque-to-weight ratio and torque-to-rotor-inertia ratio than other DC motors. It is expected that the result here can present the merits of the respective torque control method in compliant motion control.

    摘要 I English Abstract II 致謝 XV 目錄 XVI 表目錄 XX 圖目錄 XXIII 符號說明 XXXIV 第一章 緒論 1 1.1 背景介紹 1 1.2 文獻回顧 3 1.2.1 串聯彈性致動器文獻回顧 3 1.2.2 電流感測文獻回顧 6 1.2.3 摩擦補償文獻回顧 10 1.3 動機與目標 12 1.4 論文架構 12 第二章 旋轉串聯彈性致動器控制與建模 14 2.1 前言 14 2.2 旋轉串聯彈性致動器原型設計改善 14 2.2.1 旋轉串聯彈性致動器原型設計 14 2.2.2 減速箱選用 16 2.2.3 彈簧設計及分析 18 2.2.4 改良型旋轉串聯彈性致動器設計與改善結果 21 2.3 旋轉串聯彈性致動器驅動方式 26 2.3.1 軟硬體配置 26 2.3.2 馬達數學模型 28 2.3.3 交軸驅動法 31 2.3.4 馬達驅動電路 34 2.4 旋轉串聯彈性致動器模型建立 36 2.4.1 時域模型 36 2.4.2 頻域模型 38 2.5 本章小結 39 第三章 扭矩控制 41 3.1 前言 41 3.2 扭矩控制器模型建立 41 3.2.1 扭矩控制模型 41 3.2.2 扭矩控制器穩定性分析 44 3.2.3 扭矩控制系統鑑別 44 3.2.4 扭矩控制模擬模型建立與實驗結果 48 3.3 應用電流回授於扭矩控制 52 3.3.1 電流感測電路與校正 53 3.3.2 步進馬達輸出扭矩與電流變化關係 57 3.3.3 電流回授扭矩控制模型建立 60 3.3.4 電流回授扭矩控制器穩定性分析 63 3.4 電流回授扭矩控制實驗驗證 64 3.4.1 扭矩常數校正 64 3.4.2 電流回授扭矩控制模擬模型建立 67 3.4.3 步階響應實驗 68 3.4.4 弦波響應實驗 77 3.4.5 調頻響應實驗 79 3.5 本章小結 85 第四章 阻抗控制 86 4.1 前言 86 4.2 旋轉串聯彈性致動器式阻抗控制器性能分析 86 4.2.1 旋轉串聯彈性致動器式阻抗控制模型建立 86 4.2.2 旋轉串聯彈性致動器式阻抗控制穩定性分析 88 4.2.3 旋轉串聯彈性致動器式阻抗控制模擬模型 92 4.3 旋轉串聯彈性致動器式阻抗控制器實驗驗證 96 4.3.1 旋轉串聯彈性致動器之順向驅動位置控制實驗 96 4.3.2 旋轉串聯彈性致動器之零阻抗控制實驗 100 4.3.3 旋轉串聯彈性致動器之虛擬勁度控制實驗 106 4.4 電流回授致動器式阻抗控制器 108 4.4.1 電流回授致動器式阻抗模型建立 108 4.4.2 電流回授致動器式阻抗控制穩定性分析 110 4.4.3 電流回授致動器式阻抗控制模擬架構 113 4.4.4 電流回授致動器式零阻抗控制實驗 115 4.5 電流回授致動器式阻抗控制器之摩擦補償 118 4.5.1 電流回授致動器式阻抗控制器之摩擦補償模型建立 118 4.5.2 電流回授致動器式阻抗控制器之摩擦補償穩定性分析 124 4.5.3 電流回授致動器式阻抗控制器之摩擦補償參數鑑別實驗 128 4.5.4 電流回授致動器式阻抗控制器之摩擦補償零阻抗控制實驗 139 4.5.5 電流回授致動器之順向驅動位置控制實驗 142 4.5.6 電流回授致動器之虛擬勁度控制實驗 148 4.6 本章小結 153 第五章 結論與未來工作 155 5.1 結論 155 5.2 未來工作 157 參考文獻 159

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