Implementation of Iterative Learning Control on Compensation of Cogging Force in Servo Motor

• Main Authors: Chia-Hsing Hsu, 徐嘉星
• Other Authors: An-Chen Lee
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/71127141787134791135

碩士 === 國立交通大學 === 機械工程系所 === 94 === In this thesis, a servo motor controller is designed based on Iterative Learning Control（ILC） algorithm to compensate the cogging force generated by the rotation of the servo motor. By using the digital signal processor（TMS320VC33） produced by Texas Industrial as the kernel processor of the system, μC/OSII as the real-time multitasking operating system, and Code Composer v3.0 as the development environment, the command generation, acceleration and deceleration control through the motion card are realized, and the Iterative Learning Controller is implemented. The Iterative Learning Control must be used on a repeatable or a peridocital system. By using motion time and iteration times as the two orthogonal vectors, a two-dimensional control system is construct, which can discribe the attribute of the dinamic behavior and learning process completely. The next control input is updated by the Iterative Learning Controller through the history data of motion on PC, and a well motion control result is achieved in limited experiments.