| Summary: | 碩士 === 國立雲林科技大學 === 機械工程系碩士班 === 95 === This thesis presents the position control of a brushless servo system and build perfect environment of feedback signal. In perfect environment of feedback signal, this paper proposes high performance accelerometer and velocity estimate structure that be provide accurate feedback signal.
To obtain accurate acceleration information, a high performance accelerometer is designed with the combine advantage of capacitive accelerometer and piezoelectric accelerometer. To show the effectiveness of the high performance accelerometer, it is experimentally compared with some standard accelerometer.
To obtain accurate velocity information, a dynamically compensated velocity observer (DCVO) is designed with the aid of acceleration measurement. To show the effectiveness of the DCVO, it is experimentally compared with some standard approaches.
In disturbance compensation, this paper proposes a sliding-mode repetitive learning control (SMRLC) scheme with an integral sliding-mode perturbation observer (ISMPO) for repetitive tracking control tasks. The three control strategies which are synthesized to yield excellent tracking performance are: 1) the pole-placement feedback control to specify the desired error dynamics; 2) ISMPO-based feedback compensation as the robust part; and 3) a feedforward learning component that refines the control to improve system performance through repetitive trials.
In the experimental setup, we utilized TI’s TMS320C6711 DSP with a FPGA as our control kernel. Moreover, we establish an interface to rotate encoder, ADCs and DACs using hardware description language (VHDL). The programs for implementing control laws are written in C/C++ language.
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