| Summary: | 碩士 === 國立臺北科技大學 === 自動化科技研究所 === 95 === Industrial motion controller is usually developed in two phases: motion control design and real-time implementation. For first phase, this thesis presents a digital servo driver that realizes a novel feedback controller based on position, velocity and acceleration feedback using optical encoder information. Compared with the conventional cascade control system, this novel control scheme has high bandwidth and robustness. For second phase, this thesis develops an embedded motion controller based on TI TMS320C6711 DSP, XILINX Spartan-II XC2S50 FPGA and multitasking real-time kernel.
Acceleration feedback can improve the performance of motion control in motor drives. Acceleration control is, however, seldom implemented in practical drive systems due to the unsatisfactory results of most acceleration measurement methods. A multirate digital state observer is firstly proposed to estimate the velocity and acceleration of DC motor in this thesis. Then, we design a disturbance observer and adaptive control in the acceleration feedback loop to compensate the influence of disturbance and estimate the variation of inertia and viscous damping constant respectively. When the DC servo motor is controlled by the proposed multirate digital acceleration feedback control system, the total servo system from acceleration to position becomes the acceleration controlled system which is fixed to a nominal double integral dynamics in the presence of parameter variation and torque disturbance. Hence, the fast and precise position control can be carried out easily.
In this thesis, the control scheme is implemented based on the TI TMS320C6711 DSP and XILINX Spartan-II XC2S50 FPGA. The DSP take the main task of control firmware and FPGA take the tasks of communication handshake and interface to DC motor amplifier. The proposed acceleration feedback controller and PD position feedback controller are evaluated on the DSP, which is ported a multi-tasking real-time operation system (RTOS), controlled DC servo motor positioning system. The experimental results show that this digital servo system is flexibility, robustness and remarkably reduces the tracking error.
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