Realization of Resonance Suppression and Precision Control via the Frequency-Domain Design for Servo Motion Control Systems

• Main Authors: Hsu, Wei-Chih, 徐煒智
• Other Authors: Hsu, Pau-Lo
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/34058466388752756748

碩士 === 國立交通大學 === 電機與控制工程系所 === 97 === This Thesis develops suppression techniques for both the high-frequency resonance and the low-frequency vibration on a flexible arm implemented on a permanent magnet synchronous servo motor. The system identification, vibration suppression, and monitoring are developed in this Thesis based on the output of the encoder and the current. A power stage for the motor driver combined with the DSP-based digital control board has been developed in this Thesis. The compound frequency sequence identification method concerning the benefits of sine-sweep frequency approach and the parameter estimation time approach is developed for identification of resonance in the velocity loop and the vibration in the position loop, separately. The high-frequency resonance and the low-frequency vibration are suppressed by the design of notch filter and the feed-forward notch filter, separately. With the proposed method, the servo motor with the flexible arm can be operated with a higher bandwidth in velocity control and the settling time in position is also significantly reduced. Images captured from the camera mounted on the end of the flexible arm have proven the successful vibration suppression of the proposed method.