| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系 === 92 === As the motion control technology advances, higher resolution position feedback devices are becoming more important to the industry. The resolution of the feedback devices, such as linear encoders, can be improved by having more lines in the optical disk of the devices. But, cost of the encoders also gets higher. Another method to improve the resolution of linear encoders is using the estimation techniques. The most popular estimation technique is the so called the position division. This technique gives good estimated position when the motor is at steady speed. However, when the motor is in acceleration or deceleration, estimated position lags behind the actual position due the dynamics of the motor. In this thesis, we proposed to use a position observer for motor position estimation. Because the motor dynamics are considered in the observer, zero position tracking error can be achieved not only at steady- state but also when the motor is in acceleration and deceleration. Besides the theoretical analysis and simulations, experimental results are provided in the thesis to verify the proposed scheme.
|
|---|
