| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系 === 107 === The purpose of this thesis is to optimize the parameter design of the motor controller. The controller is designed and compared by the frequency response method and the electric feedback method. The hardware structure of the experiment uses the TMS320F28335 digit produced by TI. As the core of the signal processor, the PID controller with current, speed and position feedback is designed and verified with a complete motor drive control development platform.
In this experiment, Matlab simulink was used to build the system architecture, and then it was converted into C language to generate the .out file. When establishing the frequency response method, you can define the frequency range, amplitude and sampling frequency of the test signal, input the test signal to a system to be tested, collect the output steady-state frequency response data, establish a transfer function model of the unknown system, and then analyze Whether the model is in a stable and controllable state, and find the order with the smallest error from the actual data as the approximate transfer function of the system. Then based on the approximate transfer function, the robust controller is designed using the Robust adaptation method of Matlab sisotool.
In the part of establishing the electric feedback method, the system is subjected to limit oscillation through the on-off method, and the oscillation period and the limit gain value of the system are obtained, and the controller parameters are adjusted by the Ziegler-Nichols method.
Finally, in order to reduce the error of the motor starting moment, try to add the feedforward compensator to the parameters of the above two controller parameters to adjust the most suitable motor controller parameters.
Keyword：Matlab、feedforward compensator、transfer function estimation
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