| Summary: | 碩士 === 國立交通大學 === 控制工程研究所 === 78 ===
This thesis deals with the real-time implementation of torque control of a DC servo motor in order to provide a torque-tracking mechanism for the inverse dy- namics control of a robot arm. If a current amplifier is used, then ideally the motor and its amplifier will be capable of tracking the torque command. If a voltage amplifier is used, we must make a current feedback and construct a torque controller to improve the performance of torque tracking. A position controller is used to provide the desired torque command. We use PC-SIMNON to perform the simulation. A software for real-time control and monitoring is also developed. Two motor systems have been used, one is driven by a current amplifier, the other is driven by a PWM amplifier. If the torque control can be achieved, both of them would have the same characteristics and ability for position control. Finally, for problems associated with the inherent dead zone and load disturbance, we propose a dead-zone compensation and a load compensation r spectively. Simulation and experiment verify their effectiveness.
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