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1
Kratochvila, Lukáš. "Tepelná analýza servo motoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-319488.
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This Master’s thesis is focused on thermal analyses of servomotors per computational modeling with finite element method. The goal was to set the model for the analyses and verify it with experiment and evaluate achieved results.
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Roos, Fredrik. "On design methods for mechatronics : servo motor and gearhead." Licentiate thesis, Stockholm, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-167.
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Tang, Mi. "Torque ripple reduction in a.c. permanent magnet servo motor drives." Thesis, University of Nottingham, 2017. http://eprints.nottingham.ac.uk/43379/.
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Servo systems play an important role in industrial automation. A servo system denotes a closed loop controlled system capable of tracking required demands. One way of achieving high performance servo drive systems is to apply the closed loop control of an a.c. permanent magnet synchronous machine (PMSM). PMSM is a type of machine which rotates once three-phase a.c. voltages are supplied. The usage of permanent magnet materials contributes to the high efficiency of PMSM, and makes it a popular type of machine in industrial applications. However, the interaction between the permanent magnets and the machine stator would generate torque ripple and consequently unsmooth speed. Therefore, torque ripple of PMSM need to be considered carefully in the control of such servo systems. An innovative control scheme combining an enhanced high bandwidth deadbeat current controller and a fractional delay variable frequency angle-based repetitive controller, is developed in this work in order to minimize torque ripple. For the purpose of accurately modelling the cogging torque and flux harmonics in PMSM, a lookup table embedded PMSM model is also proposed. It has been validated by both simulative and experimental tests that the proposed control scheme is able to reduce torque ripple in a PMSM drive system effectively for a wide range of frequencies, and even during transients, which has never been achieved according to the author's knowledge. The proposed method is not only adaptive to variable frequencies, but also adaptive to the variations of electrical and mechanical parameters in normal operating conditions.
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Knight, Matthew John. "Precision control of a sensorless brushless direct current motor system." Thesis, University of Plymouth, 2002. http://hdl.handle.net/10026.1/2565.
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Sensorless control strategies were first suggested well over a decade ago with the aim of reducing the size, weight and unit cost of electrically actuated servo systems. The resulting algorithms have been successfully applied to the induction and synchronous motor families in applications where control of armature speeds above approximately one hundred revolutions per minute is desired. However, sensorless position control remains problematic. This thesis provides an in depth investigation into sensorless motor control strategies for high precision motion control applications. Specifically, methods of achieving control of position and very low speed thresholds are investigated. The developed grey box identification techniques are shown to perform better than their traditional white or black box counterparts. Further, fuzzy model based sliding mode control is implemented and results demonstrate its improved robustness to certain classes of disturbance. Attempts to reject uncertainty within the developed models using the sliding mode are discussed. Novel controllers, which enhance the performance of the sliding mode are presented. Finally, algorithms that achieve control without a primary feedback sensor are successfully demonstrated. Sensorless position control is achieved with resolutions equivalent to those of existing stepper motor technology. The successful control of armature speeds below sixty revolutions per minute is achieved and problems typically associated with motor starting are circumvented.
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Wong, Francis Yee-Hon. "Inductive position/velocity sensor design and servo control of linear motor." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/36084.
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Lo, Kuo-Jung, and 羅國榮. "Micro Servo Motor Circuit Design." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/77370134610017857007.
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碩士中原大學
電子工程研究所
95
The direct current motor is to invent the motor changing the electricity into the mechanical power first, It can trace back to the disc type motor that Michael Faraday invent. Already became main electric mechanical energy and changed the device after reaching 1880 year .Development because of the alternating current later, and has invented the reaction motor and synchronous motor, the importance of the direct current motor is also the reducing.Until 1960, invention because of SCR, improvement of magnet material, carbon brush, insulating material, and the demand for changing speed and controlling increases, add the development of the industrial automation, space that the direct current motor urges the system to be developed again, servo direct current urges the system and becomes key technology of automatic chemical industry and accurate processing by 1980 year. The micro servo motor is used on such uses as the telecontrolled model, robotic arm,etc,The servo system itself closes two ways of the return circuit and half-closed return circuit, so different to some extent as for the function, This is paper using in the article is half-closed return circuit way, can let the micro servo motor just begin movements after the signal each time belong to the zero point effectively, made the pulse signal not produce the error of the signal because of continuous signal, either produced and waved the passing or insufficient phenomenon and took place. The paper sets about from the structure of the device, analyse the difference between bipolar npn and pnp, and design device layout difference component to the bipolar, device characteristic parameter measure and analysis, setting up the parameter model of every device, utilize difference bipolar to improve the micro servo motor circuit, analysis and compare the bandgap circuit on temperature of resistance to effect analysis and compare, use the new bandgap circuit and be able to replace original circuit, and urge the circuit to make simulation analysis to the micro servo motor, make the micro servo motor change direction correctly.
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HUANG, HAO-XIAN, and 黃浩賢. "DC Motor Servo Control Study." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/v5b883.
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碩士南亞技術學院
機械工程系機械與機電工程碩士班
105
As the human’s heart, motor in mechanical system provides power source for running the equipments, so the motor performances such as the responding speed and the stability are very important. In daily life, the applications of DC motors such as rolling doors, pump motors, are able to operate while beyond the static friction force. In the process it will encounter in magnetic saturation as well as the long stable time that causes the system out of control. Therefore nonlinear research has gradually attracted people’s attentions. In this study, firstly, Matlab Simulink software was applied to construct the system control model for stability analysis. Secondly, Routh–Hurwitz(R-H) stability criterion and describe function method are used to obtain the stability parameters of controller. By using PID controller, a verification result of subsequent system shows that the response curve of R-H criterion is not acceptable. On the other hand, for better, the description of system stability by DFM demonstrates that the system can still return to the stable state under external disturbance influence.
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Hsieh, Han-Chih, and 謝漢志. "Servo Driver Design for Piezoelectric Motor." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/06133305032804791584.
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碩士中原大學
機械工程研究所
95
Based upon the previous circuitry design, the focus of this article is to improve its performance by re-designing the power amplifier and the Snubber circuit for driving more load output requirement (more motors) and reducing the noise effect of the piezoelectricity and solving the interference problem in communication. Also, a servo control module is developed and implemented in the driving circuitry in order to increase the system’s stability and steadiness. The drive circuit is comprised of two parts: one is the servo control module and push-pull DC converter, the other one is the full-bridge resonant converter. By using a microchip, servo controller is developed to accomplish stepping control and voltage-feedback control design based on the motor’s driving performance and the switching characteristics of the Full-bridge converter. In Full-bridge converter, Snubber circuit is used to obtain less-noise AC signal, and associated with the inductance and capacity resonant circuitry is designed. Through practical experiment, the proposed circuitry design is verified can provide satisfactory function requirement for driving the piezoelectric motors.
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Kuo, Jia-Hao, and 郭家豪. "Development of Servo Motor Drive Controller." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/27348803576574295694.
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碩士國立雲林科技大學
電機工程系
102
In the increasingly fast paced modern industry and people's livelihood, human life increasingly dependent on automation, basically as long as something dynamic, it is necessary to rely on motor to control, the motor converts electrical energy into mechanical energy, and play an important role, thus this paper is to complete the motor drive control with a combination of hardware and software platform for the rapid development of verification can be directly used to convert the design phase motor control module program to perform real-time control program. Motor control theory is designed to build on MATLAB/Simulink module program, the paper by the rapid development of the motor drive control verification platform to develop motor control algorithms, two main control theories will be experimented in this paper, permanent magnet synchronous motors are six steps square wave drive speed estimator and permanent-magnet synchronous servo motor vector control. This thesis is divided into two parts,the first part is to achieve a permanent-magnet synchronous motor commutation control by Six-Step Square-Wave, and reference sensorless technologies, the use of back-EMF commutation point detection and achieve the speed estimator. The second part is to achieve a permanent magnet synchronous servo motor vector control, and at final the current controller design is applied to complete measurement of the torque constant. Keywords:Permanent-magnet synchronous motor、vector control、six-step square wave.
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Lin, Yu-Chen, and 林育辰. "Servo motor based on Disturbance Observer." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/12769707509122188960.
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碩士元智大學
機械工程學系
104
With the rapid development of manufacturing, and assembly of 3C electronic products in the manufacturing sector, such as: notebook computers, smart phones are fairly common, the manufacturing process of the lock still attached work mostly artificial, not automated, and in the process lock attached to most the impact of external forces will be tightened, and then subjected to external forces wanted to know the size, in addition to the force can be used as external interference, the process for locking attachment urging size basis. This thesis aims to design the size of the external disturbance torque estimator when estimating motor action generated by the external force for motor systems can be regarded as outside interference, paper use dsPIC33FJ128MC804 microcontroller and use Matlab, Simulink to develop the controller, when the control and use of State-Space method to design outside interference estimator, before the experiment using Simulink simulation, simulation estimator of external disturbance for setting whether a correct estimate, the development process, the use of motor physics formulas established motor system model, using State-Space design controller, and finally verify subject to different force when the weight of the motor controller through rs232 to estimate the size of the force out of the back to your computer.
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Lu, Ming-ru, and 呂明儒. "Development of Sensorless Servo Motor Driver." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/30600978537184580880.
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碩士國立中正大學
機械工程所
97
The object of the thesis is to establish sensorless servo motor driver. Firist, the structure and characteristics of the permanent magnet synchronous motor are introduced. Then , the sensorless servo motor is established. Finally , A digital singnal processor (DSP) based sensorless system is implementedly experimentally. The Robustness of sensorless system is proved.
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HSIEH, CHIH-HUNH, and 謝志鴻. "Apply DSP to Servo Motor Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/57624303345786125230.
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碩士義守大學
電機工程學系
90
PID control theory has been developed for many years. Lots of control theories were proposed during these years. Up to now, the PID rule is still the major controller for practice. It can be explained by PID Controller owns simple construct, easy to implement and good performance. To achieve digitalization and high accuracy, the PID control rule is implemented on a DSP chip. The objective in this paper is to implement a DSP-based PID controller on the servomotor control. The whole framework is to use the computer with the assembly language to implement PID rule. Download program to DSP through the interface of RS232. Then, transform PWM signal and output it to full bridge driver in order to control DC servomotor to correct position. The major conclusion of this thesis is the DSP make use of PID theorem with the possibility, and improve disadvantages of traditional PID controller.
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Ding, Jin-Xian, and 丁錦賢. "Servo Control of Linear Stepping Motor." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/29313490512361058082.
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碩士國立交通大學
機械工程系
87
For a linear stepping motor with an air bearing, the air gap between the forcer and the stator is maintained by the pressure generated by the air bearing. As the winding current varies, the changing electromagnetic forces cause the air gap to fluctuate continuously. As a result, the parameters of the linear stepping motor also vary rapidly. In this thesis, the model of a linear stepping motor is derived by using the coenergy method. This model is further simplified and transformed to the d-q frame to facilitate controller design. Then, a nonlinear adaptive control method is developed for the control of the current, the velocity and the position of the linear stepping motor. This method guarantees the parameter estimation as well as the asymptotic convergence of the command tracking error. Experimental results aslo show that this method is very robust when the disturbance loads is present.
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楊順益. "Digital control of AC servo motor." Thesis, 1986. http://ndltd.ncl.edu.tw/handle/94776229607978135592.
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CAI, WEN-BIN, and 蔡文彬. "Controller and driver for brushless servo motor." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/69092586694475299018.
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LI, JIN-XIONG, and 李錦雄. "Stability for nonlinear motor servo control systems." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/60230201640104268437.
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HUANG, GUO-ZHANG, and 黃國彰. "Study of robustness for servo motor controllers." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/89979082148005416214.
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Liu, Yuan-Long, and 劉元隆. "Integrated movement of servo motor controller design." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/00891480223358212856.
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碩士國立雲林科技大學
電機工程系碩士班
99
The purpose of this thesis is to conduct system identifications by DSP F2812 with frequency response analysis (FRA) for brushless dc servo motors. The research methodology is to estimate the transfer function of the motor accurately and use MATLAB/SISOTool on this transfer function to design PI controller for the system responds accordingly to specific needs. Furthmore, this study uses the systematic construction of FPGA-Based X51’s motion control cards and in order to apply to the movement regulation planning use of three-axis coordinate measuring platform. The hardware framework of this controller uses DSP F2812 digital control panel as the core computation processor of single-axis motor control system, this research designs the PI controller of axis current、speed、position, and through S-Curve to validate if the controller is good or not so as to achieve the goal for motor control. This theis proposes to use the intelligent power module (IPM) of Mitsubishi Electric Corporation to replace the original MOSFET as the on-off switch for level part of the motor drive. This module aims to protect the problems of short-current protection、lowering problems of control voltage protection and over temperature protection and in order to make users to care less for protecting circuit and also reduce spaces for drive-level board design. In the part of power drive, use simple bridge rectifier and capacitance to execute rectification and filtering, and with an combination of DC-DC module produced by MEAN WLL Corp., Ltd. and to supply the power needed for drive-level board. This drive-level board can be used for DC servo motor, AC induction motor and AC servo motor.
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Chio, Guo-Wei, and 邱國瑋. "Automated Parameter Tuning for AC Servo Motor." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/59615086870278926623.
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碩士國立雲林科技大學
電機工程系碩士班
95
The main purpose of the study is to design and develop a Automated Parameter Tuning for AC Servo motor,the study utilized the TMS320F2812 digital signal processor manufactured by TI Company as the core system, then connected PC and DSP through USB2.0 and adapted the law of any motor control designed in MATLAB/SIMULINK on the PC to the digital controller for controlling.The parameter adjustment of the controller used DSP-Based to produce Kp,Ki of PI controller. For motor control system,we use the method of frequence response to estimate the relation between input and output,that is transfer function,we use transfer function to find autotuning of AC Servo Motor.we also use method of relay feedback,we use relay in control system to find out ultimate gain and ultimate frequence of control system.and then we use ultimate gain and ultimate frequence to find out autotuning of AC Servo Motor. finally we use vector control method to complete control of position to make machine to roll-line. the input of position control is generated by encoder of AC Servo Motor,The AC Servo motor of position control has 1100rpm to start machine which can roll-line. AC Servo motor stepper-motor of position control has 1100rpm to start machine which can roll-line.
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Ma, Jeng-Liang, and 馬政良. "Design the DSP_Based Controller for Servo Motor." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/33946540461186094301.
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碩士國立雲林科技大學
電機工程系碩士班
89
Design the DSP_Based Controller for Linear Motor Student：Jeng-Liang Ma Advisors：Dr. Wei-Shiu Wang Institute of Electrical Engineering National Yunlin University of Science & Technology ABSTRACT The purpose of this thesis is design the DSP_Based motor controller, the kernel system of this motor controller is a TMS320F240 which is produced from TI , Impose on signal convection between the DSP and PC, we can used MATLAB/SIMULINK on PC to design the motor control law and impose this digital controller to do motor control . An automated commissioning procedure is proposed to tune the electrical and mechanical parameters of a linear permanent magnet synchronous servo motor drive, which is under vector control. The key tuning technique is to utilize a measure on the degree of distortion of controller output waveforms, which is developed from the first-order Walsh function series coefficient. The controller parameters are subsequently tuned based on the identified parameters and the pole-placement technique. An experimental prototype is implemented to test the validity of the proposed approach. Simulation and experimental results confirm the effectiveness of the proposed method in commissioning the vector-controlled linear permanent magnet synchronous motor drive.
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Yang, Jyh Shiaan, and 楊智顯. "Servo Controller Design of AC Induction Motor." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/36398023896972971198.
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Chou, Ping-Kuei, and 周炳奎. "THE VECTOR CONTROL OF INDUCTION SERVO MOTOR." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/32046536009375292433.
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KUO, PIN-HSIN, and 郭品昕. "Optimal Design of Servo Motor and DC Motor in Carriage Control." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/re5837.
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碩士國立高雄科技大學
機械與自動化工程系
107
This paper mainly introduces the application of DC motor and sensor on the self-propelled vehicle control. The development of a self-propelled vehicle with a single chip micro controller (Arduino UNO) is designed to shorten the travel time and achieve the goal of taking a complete map by using the vehicle body structure, drive control, ultrasonic, tracing sensor and servo motor. . The experimental design considerations will maximize the score of the completed task and complete the entire map in an automated manner. The design focuses on the lightweight of the self-propelled vehicle. Therefore, the DC motor is used as the power supply source for the self-propelled vehicle, and the IC is used. The L293D controls the forward and reverse rotation of the motor. Using the concept of the overall mechanism and the design of the car body, the parameters of the control motor are controlled by the control logic in the single-chip (Arduino UNO) to control the behavior of the self-propelled vehicle. In this study, the Taguchi method was used to optimize the factors affecting the average number of maternal groups and the maternal variation, and the results of the analysis developed an optimal design. The optimal level combination of controllable factors is obtained by fuzzy theory to obtain the optimal level of controllable factors for the two quality characteristics, such as the mean number of the parent group and the variance of the parent group. The correctness of the multi-objective parameters is verified by the double-reaction surface method. The experimental results are satifactory.
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楊登凱. "Study of Induction Motor and Servo Motor Applied for CNC Spindle." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/07297563122858132039.
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Wu, Chiang-Chuan, and 吳進全. "Simulation and Application to Visual Servo of Permanent Magnet Synchronous Servo Motor Drives." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/90919313533372129954.
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碩士南台科技大學
電子工程系
90
The study on the permanent magnet synchronous motor (PMSM) and its drive is considered in the dissertation. The sinusoidal pulse-width modulation (SPWM) and voltage space vector PWM (SVPWM) are both applied to the voltage source inverter (VSI), respectively. The branch currents and node voltages in the VSI are investigated and obtained by simulation using Matlab Simulink and switching functions and measured from circuit controlled by TI TMS320F240 DSP chip. The Q12 format and look-up table are adopted to reduce the ROM space. The application to visual servo of the PMSM and drive is shown. The human-machine interface and monitoring software are programmed by Visual C++. The modified motion JPEG is used to compress the image data and the real-time tracking is implemented by PMSM and drive.
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R, K. Lin. "The Realization of Robust Servo Motor Control Systems." 1993. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611363876.
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Huang, Yung-Hsin, and 黃永新. "Study of Permanent-Magnet AC Servo Motor Drive." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/02658311079838325992.
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碩士國立彰化師範大學
電機工程學系
95
Permanent-magnet ac servo motors have the features of high-speed, high torque, fast respond, and high precision. Thus they have been extensively used in industrial equipments. The aim of this research is to inquire the drive principle of permanent-magnet ac servo motors. In order to drive a permanent-magnet ac servo motor, an ac inverter for driving inductance is adopted, and a rotor position detection technique is applied to construct a permanent-magnet ac servo motor driver. Experiment shows that 10% ~ 100% full speed run is achieved by the developed driver system. Keywords: inverter, servo control, permanent-magnet ac servo motors
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Liu, Sung-Chieh, and 劉松傑. "Nonlinear Controller Design for Induction Motor Servo System." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/44655114057767592247.
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June-Horng, Ni, and 倪俊宏. "Servo Driving of Shaft-Sensorless Brushless DC Motor." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/20506959755221980029.
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碩士大同工學院
電機工程研究所
81
The servo control of a brushless DC motor without the shaft position sensor that the back electromotive force is trapezoidal is discussed in this thesis. It contains the motor starting procedure, steady-state drive, and position control method. The implementation of this system is made by the software which is based on the microprocessor and a few hardware. The motor starts and accelerates at stand still according to a set slope. The rotor position is determined by the terminal voltage, and then offer the motor commutation sequence. The motor speed is adjusted by the average motor voltage just like the chopper control of a DC motor. The experimental result show that it just need a short dulation to reach the speed command when a load is added to the motor. Also, a brief field-orientation control method for the rotor to stop at the desire position without adding any other hardware is presented. It can be shown that the rotor will stop at the exact position in a pair of N-S pole.
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Ye, Guo-Jin, and 葉國進. "Tracking Control for Two axes AC Servo Motor." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/y9e3zz.
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碩士國立雲林科技大學
電機工程系碩士班
96
The main purpose of the study is to design and develop a PWM Control Method for AC Servo Motor and AC Induction Motor,study utilized the TMS320F2812 digital signal processor manufactured by TI Company as the core system,the connected PC and DSP through USB2.0 and adapted the law of any motor control designed in MATLAB/SIMULINK on the PC to the digital controller for controlling.The parameter adjustment of the controller used DSP-Based to produce Kp,Ki of PI controller. For motor control system,we use the PWM Control Method to design AC Servo Mot- or and AC Induction Motor controller.This thesis utilized AC Induction Motor deliver position command to AC Servo Motor,the controller is to design current and velocity closed loop. However, AC Servo Motor is to receive AC Induction Motor position command,the controller is to design current,velocity and position closed loop.Finally we use vector control method to complete control of position to make machine to roll-line.The input of position control is generated by encoder of AC Servo Motor,the AC Servo Motor of position control has 1800rpm to start machine which can roll-line.AC Se- rvo Motor stepper-motor of position control has 1800rpm to start machine which can roll-line.
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Chien, Hung-Hsuan, and 簡宏軒. "Implementation of PLC Control Servo Motor Using dsPIC30F4011." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/kmra4j.
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碩士國立虎尾科技大學
電機工程研究所
102
My thesis implements the control of PLC servo motor positioning with a dsPIC30F4011 single chip. This system is different from the traditional PLC control servo motor which requires Axis Control Card and Servo Driver. In addition, it can integrate with controllers which were made from different manufactories. The servo control system that was mentioned above uses voltage space vector modulation technology which is installed in a three-phase inverter with six power switch and controls positioning by space vector table method with six-step square wave to achieve servo motor’s original positioning. After the original positioning, switch to Sinusoidal pulse width modulation control method to control servo motor positioning. As a result, the whole process of the control of servo motor can maintain maximum torque and achieve accurate positioning. My study realizes the implementation of the dsPIC30F4011 single chip control system. As a conclusion, my thesis can substantially reduce costs and size when applying our motor control system.
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Shie, Chi-you, and 謝其佑. "Design of Robust Controllers for DC Servo Motor." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/68817656188573370833.
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碩士國立雲林科技大學
電機工程系碩士班
97
The purpose of the thesis is to design a high performance motion controller which applies to three-axis motion control of 3D Coordinate Measuring Machine. The hardware structure of the motion controller are PMAC2A and TMS320F2812 as motor control kernel, the motor driver is H-bridge which consists of MOSFET, the DC motor is driving by PWM signal, addition circuit with open protection and over-current protection in order. Each axis in PID controller has current, speed and position feedback. After finishing design, we use PMAC2A sending the trajectory that we draw up to TMS320F2812 by DDA signal to attain the purpose of servo motion control. We figure out the frequency response by Swept Sine in system identification method during the experiment and find the data which appropriate the frequency response by using invfreqs equation of Matlab program so that we can construct the transfer function model of the system. Then load the transfer function model of the system to the parameter of close-loop controller designed by SISItool, the parameter that we design should conform to the GM and PM step-response in real characteristic of the machine. After finish the position closed-loop, utilizing S-curve to verify weather the steady-state error, following error and steady-state error are in demand.
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Yeh, Chia-Nien, and 葉佳年. "DSP-Based controller design of dc servo motor and motor drive board develop." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/04346976485137874970.
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碩士雲林科技大學
電機工程系碩士班
98
This thesis is base on FPGA-Based X51 motion control card as system structure which can be applied to three axis motion control platform planning applications. The controller hardware used TMS320F2812 as uniaxial motor control core, and this motor drive is made from IPM (Intelligent power module) by MITSUBISHI ELECTRIC Co., Ltd. The aim is to design a PID controller which contains feedbacks of current, velocity, and position; and then, when the design is complete, we try and verify with TMS320F2812 in order to achieve the purpose of motor control. This thesis states the motor drive design is based on the choices of used voltage, current and driven frequency. Therefore, we use IPM (Intelligent power module) made by MITSUBISHI ELECTRIC Co., Ltd. This IPM contains six groups’ IGBT, six groups’ gate drive circuit, two groups’ drive IC of IGBT’s upper and lower arm and three groups’ protecting circuit used for fault check. IPM can drive three-phase AC servo motor, AC induction motor and DC servo motor. We use this platform to complete control system of motor’s current, velocity, and position. After finishing position closed loop, we try and verify steady-state error with the orbit command named “S-curve”, and trace the error to see if it meets requirements or not.
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Hsieh, Chin-Chiang, and 謝致強. "Design of 2-axies servo motor gantry control system." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/08714629044355923171.
Full textAbstract:
碩士國立高雄應用科技大學
電機工程系博碩士班
96
The Application of servo motor is becoming more and more popular in industry at present. The servo motor is used in all motion with precision and speed. In Taiwan, the industry of LCD grows vigorously and panel size make heavy in recent years. So a lot of mechanism must erect by gantry. The control of gantry of 2-axies servo motor becomes quite important. The control system of servo motor for machine is mainly PLC and PC-Based. Because the personal computer system it is very cheap and quite ripe, the author adopted PC-Based to develop the gantry control system of servo motor. The windows operating system of Microsoft is general type and has some restrictions for real-time control of industry. The 3rd Party Real-Time Extension of MS-Windows XP is used to solve this problem generally. The 3rd Party Real-Time Extension is subsystem for XP to handle Hard Real-Time procedure. The RTX 7.0 is used to promote the function of Hard Real-Time in MS-WINDOWS XP and enhance the ability of real-time of PC. The servo motion card of PC-Based is sold with various types on the market and the popular type is not match the function of gantry control. The author combined the PS400 servo motion card of ICPDAS Inc. and Hard Real-Time function with self-developed device driver in order to meet the function of gantry control. The efforts reached the demand with the minimum hardware cost. The function of gantry control system includes automatic home search synchronously of dual axis, motion stop synchronously of dual axis, forward jog synchronously of dual axis, reverse jog synchronously of dual axis and relative motion synchronously of dual axis. The author constructed the mechanism of gantry system with the above control methods to operation in practice. Some illustrative examples demonstrate that satisfactory performance is achieved.
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邱森泰. "Parameter tuning of permanent-magnet synchronous motor servo drives." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/56142885888615202158.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
90
This thesis is concerned with the study of parameter tuning of permanent-magnet synchronous motor servo drives. In many operations, some parameters of servo drives vary with load and operating condition. Variation of the parameters such as moment of inertia and time constant will degrade drive performance. Specifically, when the moment of inertia and time constant of the motor change beyond acceptable range, the servo system will be unable to maintain good performance and may even lose its stability. The proposed system will calculate the moment of inertia and time constant to tune the speed-controller parameters. In the proposed system, a high performance digital signal processor is used and all the speed and current control loops are implemented with software. Taking advantage of the fast calculation ability of digital signal processor, this thesis also presents an off-line proportional-integral controller turning mechanism, which can detect the moment of inertia and time constant of the servo drive and calculate proportional-integral controller parameters using pole-zero cancellation technique. The experimental results presented have demonstrated that the proposed drive possesses better speed response, while the speed ripple is reduced from 100 rpm to 10 rpm, the current ripple is also reduced to 0.5A, and the response time is improved from 0.16 second to 0.05 second.
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Wei, Hsu-Chia, and 徐家偉. "DC Servo Motor Speed Control with Energy Saving Analysis." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/63447039402034344463.
Full textAbstract:
碩士東南科技大學
機械工程研究所
101
This study designs a DC servo motor speed control system , and utilizes the method for energy saving effect。The PWM signal is applied to the DC drivers, and the inductance of DC motor affect the speed responses with PWM signals is investigated. A direct neural control (DNC) based on back propagation neural networks (BPN) with specialized learning architecture is applied to control and regulate the speed of DC servo motor. The common DNC system usually needs an emulator, but the proposed neural controller is treated as a speed regulator without the specified reference model. A tangent hyperbolic function is used as the activation function, and the back propagation error (BPE) is approximated by a linear combination of error and error’s differential with high convergent speed. The simulation results reveal that the proposed method is available to speed regulator keep motor in constant speed, and the energy consumes also investigated. The comparison of energy consumes between the conventional PID control and the DNC system is investigated by simulation. The simulation results also reveal the DNC system can control the DC motor in accurate speed with less energy consume. Keywords: DC servo motors, Speed regulator, Neural networks, Energy saving controls
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Ting-RuLiang and 梁婷茹. "Hybrid Testing of Servo-Motor Controlled Mass Damper System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/57208810466384011323.
Full textAbstract:
碩士國立成功大學
土木工程學系碩博士班
101
Both real-time hybrid testing framework and pseudo-simulation testing framework are proposed in this study to investigate the interactive control performance and the time-delay effect of an active mass damper (AMD) system. A servo-motor controlled mass damper (SMCMD) system adopted with discrete-time optimal direct output feedback control algorithm considering time-delay effect is applied in this study to validate its feasibility and effectiveness step by step. A real-time integration technique is embedded in the control command calculation procedure to conduct the control performance evaluation through the pseudo- simulation testing framework. The measured stroke of the SMCMD system is interacted with the controlled structure simulated by its numerical model in the computer. Furthermore, the SMCMD is installed on a shaking table which provides the real-time responses of the controlled structure to conduct the proposed hybrid testing. The structural responses can be effectively reduced if the discrete-time control gains considering delay time are correctly adopted.
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Zhang, Zhi-Liang, and 張誌良. "Design and Implementation for Brushless DC Servo Motor Control." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/90539674064879117423.
Full textAbstract:
碩士國立勤益科技大學
資訊與電能科技研究所
95
This thesis presents to design and realize a speed closed loop control system for brushless DC servo motor in order to apply the mobile Robot in early future. This control system makes use of VS-ECD2812 as the controller that takes the responsibility to send the servo commend to the driver. The core of the driver is a digital signal processor dsPIC30F4011 which is produced by Microchip incorporation. It is to take the responsibility to receive the servo command from the controller, using powerful build-in peripheral hardware function to drive the brushless DC servo motor. The hardware part of this thesis consists of the power supply, dsPIC30F4011 peripheral circuit, isolate circuit, frequency converter circuit, phase current measure circuit and the protect circuit. The part of software design is composed of VisSim and MPLAB software packages. The control algorithm of brushless DC servo motor is used the traditional proportional – integral controller and analyzed the speed response of brushless DC servo motor through the experimental results.
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Die, Peter, and 戴信能. "Integrated Control and Motor Design of PMLSM Servo Drive." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/84389749923381490750.
Full textAbstract:
碩士國立中正大學
機械系
88
Cogging force minimization has been the primary design concern for linear motors. This thesis provide two approaches for Permanent Magnet Linear Synchronous Motors (PMLSMs) optimization: (1) On the optimal design of PMLSMs aimed at minimizing the cogging force with least loss in the motor thrust capacity. Particularly, the double-sided PMLSM is considered. The stated design objective is achieved by exploiting the double-sided configuration and through multi-variable constrained optimization. A physical insight into the benefit of the double-sided design on cogging force minimization is analyzed and confirmed using FEM analysis. The optimization is carried out by combining a commercial electromagnetic FEM package with selected optimization algorithm. Specifically, a ''pseudo'' multi-level optimization approach is proposed. Four design variables are considered and classified into two types. One consists of variables particularly associated with the double-sided configuration and the other is made up of those not specifically related to the double-sided design. The proposed optimization approach is successfully applied to a generic double-sided PMLSM. (2) The other approach is integrated control current and motors structure design, we hope to compensate the cogging force and minimize the thrust force ripple. To develop a analytical expression of the thrust force and the cogging force and their optimization solution which involves design variables of current control and slot skew ratio. The integrated optimization approach is closed form method which formulate the optimization problem into linear algebra. We hope to find a solution set that minimize the force ripple and maintain the thrust force.
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Kuo, Jer-Ming, and 郭哲銘. "Position Control of a Servo Motor under Unbalanced Load." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/29068620957835340562.
Full textAbstract:
碩士國立成功大學
航空太空工程學系
83
The scope of this thesis is focused on position control of a sarvo motor under unbalanced load. The linear control theory is well-developed as a systematical approach to determine the stability of a control system. In the design of such a controller, accurate tuning of its parameters determines the control performance. However, it is difficult to apply the theory to wide range controls of a highly nonlinear control system. The conventional linear controller design can only be operated near the operating point. If the operating range is large, it can no longer work well. The fuzzy logic control can simulate the human thinking and be well applied to control the systems with uncertain or unmodelled dynamics. The greatest drawback is the lack of rigorous stability and robustness analysis techniques. Sometimes, it is difficult to obtain adequate fuzzy rules, and have to modify them by trials and errors. In the thesis, the hybrid control method which combines a linear control and a fuzzy control is proposed to deal with wide range control of the unbalanced servo system. The fuzzy logic control is used to overcome the nonlinearity, and the linear control is used to overcome the unstable feature. In step input control, The PI-type FLC monitors the error response and eliminates nonlinearity and gravity effect; in tracking a sine wave signal, the PD-type FLC improves the performance of original PD control system. The experimental results show that the hybrid control system provides better system responses than those of the linear control system and has successfully controlled the unbalanced servo system.
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Ho, Shuo-Wen, and 何碩文. "DC Motor Identification and Servo Control via Genetic Algorithm." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/07442258512365167439.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
93
The main purpose of the thesis is practically applying genetic algorithm (GA) to establish D.C. motor model and servo position control. First, GA is aimed at modeling. We propose several Physics principle to measure the parameter inside the motor in order to save the cost of measuring equipment and promote the reliability of the model. The majority of the regulators used in industry are of the PID type. However, the most popular tuning way is manual trial-and-error method and it is laborious and time consuming. By means of GA, three methods, PID-GA、MRPID-GA, and Embedded GA, are used in the thesis for searching the parameter of PID controller. The experiment of the result shows that GA is not only helping engineers design the controller but also simplifying the complex designing process to only determine the desired response. Furthermore, being realized in single-chip hardware, Embedded GA method saves the cost of equipment, does not need well-known mathematic model in advance, and promotes the security of control program and parameter.
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Long, Wang Sheng, and 王勝龍. "Heavy Load Field-Oriented Control AC Servo Motor Drive." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/27340395548382032882.
Full textAbstract:
碩士中原大學
電機工程研究所
86
The purpose of this thesis is to design and implement a high-performance AC servo motor drive. A co-processor structure, which is based on a personal computer (PC) and a digital signal processor (DSP), is presented in this thesis. Using IGBT modules and other control and protect circuits to implement an inverter, a 20 kW heavy load AC motor drive system is completed. The drive system can accomplish high precision of velocity and position control for induction and permanent magnet synchronous motors. In order to reduce the influences of plant parameter variations and external load disturbances to the motor drive system, a robust field-oriented AC motor drive is presented in this thesis.An integral-proportional (IP) controller and its systematic design procedure is introduced first. Next, a recursive least square (RLS) estimator with unbiased characteristics, which composes of a RLS algorithm and a proposed torque observer, is introduced. The rotor inertia constant, the damping constant, and the disturbed load torque of the AC motor drive are estimated by the proposed RLS estimator. Then the IP position controller is real-time designed to match the time-domain command tracking specifications under the condition of parameter variations, and the observed disturbance torque is fed forward to increase the robustness of the AC motor drive. The theoretical basis of the proposed controller and estimator are derived in detail, and the effectiveness of the proposed AC motor drive system is confirmed by the simulation and experimental results.
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Hsue, Hung-Wen, and 許鴻文. "System Identification and Position Control of Linear Servo Motor." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/17518884649958399596.
Full textAbstract:
碩士元智大學
機械工程研究所
88
In recent years, permanent magnet linear synchronous motors (PMLSM) are widely used in servo motor control system. It drives objects simpler than traditional method that using rotation convert to direction, and the thrust generated by PMLSM directly applies at the driven object, we can obtain more efficient power transmission. Nowadays, PMLSM has been applied in servo control of high technique productions. Several papers had present the mathematical model of PMLSM with three phase voltage (current) input, but less research discussed in two phase voltage (current) input. Therefore, this thesis provides a mathematical model of PMLSM, which is driven by using phase voltage equation and energy conservation on general assumption. We estimate the model unknown parameters by using nonlinear curve fitting, and linearize the model to equivalent transfer function form. Finally, we use the RST controller based on the polynomial pole-placement method to achieve the position control and disturbance rejection of PMLSM by experiments.
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Chen, Peter H., and 陳漢平. "A Study of Servo-Motor and Injection Molding Machine." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/285872.
Full textAbstract:
碩士國立交通大學
管理學院高階主管管理碩士學程
101
This thesis “A Study of Servo-Motor and Injection Molding Machine” is written to support a cooperated project and business model for resolving the Injection Molding Machine (IMM) and High Power Servo Motor for WellWant SOM (System On Modules)/Tatung Company. This thesis does the simulation for mechanical and electrical system by using MATLAB. It effectively resolves the Parameters Optimization of the PID (Proportional, Integrated, Derivative) Controller。This thesis formulates the model of motor and PID control, transform into s-domain by Laplace Transform. It uses the Root-Locus and Bode diagram to observe the system stability and phase delay. It then finds the parameters’ optimal solutions of s-domain. For digital world implementation, the optimal parameter solution from continuous s-domain has to transform into discrete z-domain transform. Finally, those parameters can be successfully plugged into TI’s Grando Algorithm. A sequence of High Power of Tatung Motor (1.1KW ~ 166KW), i.e., Permanent Magnet Synchronous Motor, will be implemented by this methodology.
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Silva, João David Soares. "Development of a Servo Motor Optimised for Robotic Applications." Dissertação, 2017. https://repositorio-aberto.up.pt/handle/10216/102543.
Full textAbstract:
SMORA (Servo-Motor Optimised for Robotic Applications) is a custom built servo-motor comprising several sensors and higher level addressing/communication capabilities. It aims to overcome some of the limitations of current servo-motor technology while following an open-source philosophy. A working prototype will allow for the study and extraction of dynamic model parameters through experimental analysis. A robotic arm is to be built as a proof-of-concept to showcase the servo's features.
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Wu, Cheng-Ying, and 吳城印. "Position Control of Servo Motor and Remote Control System." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/p93t3y.
Full textAbstract:
碩士國立虎尾科技大學
光電與材料科技研究所
99
This thesis proposes a servo motor positioning control and remote monitoring system. The Programmable Logic Controller (PLC) and Human Machine Interface (HMI) are key controllers in equipment side. This system can be entered and stored the route of position coordinate of servo motor in advance. This system also can control many sets of system via the network system by the central control computer in the same time. And it can collect relevant data to set up a database via the central control computer. Generally speaking the remote monitoring system and database system both are very huge. And their setup cost is also very high. This thesis has already set up a simple structure, low cost and easy expandable system.
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賴永杰. "A Study on Servo Motor Controller Automated parameter Tuning." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/17176369250278233549.
Full textAbstract:
碩士國立彰化師範大學
電機工程學系
101
The fixed parameters of a conventional PID controller are obtained using rule-of-thumb rules or specified algorithms that are dependent on the various loads. In cases where the load is significantly changed, the fixed parameters miss their functions. The controller fails to work, and the positioning control experiences vibrations. This study applies conventional algorithms to determinate the appropriate parameters and a torque sensor to measure the motor output toque under different loads and feed back to the controller to establish the controller parameter and load relationships. The controller parameters are auto-tuned to maintain correspondence with loads. The motor controller parameters are auto-adjusted using a torque sensor that gives the controller the ability to control the motor using a time-varying load. The experimental results show the proposed methods obtain good dynamic response while the motor load is varying.
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Su, Yuan Hung, and 蘇芫鋐. "Intelligent Control Design and Implementation of DC Servo Motor." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/62610653635969834641.
Full textAbstract:
碩士遠東科技大學
機電光系統研究所
98
Science and technology nowadays develop rapidly. Many mechanical systems only need the power to be able to complete the movement. Motors are the kind of most widespread application power source, and the present industrial development stresses on motor's power primarily. As far as the industrial sectors are concerned, most of them are still using PID controller as the control method because of its simple structure, easy implementation and easy maintenance. For most kinds of control systems, PID schemes produce high performance; however, they actually pose the PID parameter adjustment problems. This thesis focuses on the position feedback control problem of DC servo motors. A suitable IAE fitness function is selected, and then the methods of GA and EP are used to find the optimal PID control gain constants. Basing on these optimal PID control gain constants, we add an FLC to the constants to make them the fine tuning gain constants. The result shows that a better control response can be obtained by combining the FLC with optimal PID control. Finally, a DC servo motor produced by Quanser Inc. is used to verify its effectiveness.
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Li, Hsing-Ying, and 李杏櫻. "The Study of Real-Time Servo Motor Remote Control." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/39347806322946357250.
Full textAbstract:
碩士國立成功大學
電機工程學系
89
The paper is devoted to develop a real-time servo motor remote control system. Via Internet the server PC receives commands from the remote PC. Then the server PC drives the servo motor and transmits back the feedback signal from the motor to the remote PC through DAQ card. Nevertheless, via Internet the phenomenon of transmission loss due to long distance transmission and line injury, and the influence of Internet jam will lead to the incorrectness and delay to signal receive, which is the key problem for Internet remote control. Therefore, it’s necessary to reconstruct and properly process the transmitting signal in the receiver terminal. In this paper, we explore reconstruction of real-time signal.
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Yeh, Po-Jen, and 葉博仁. "Apply PC Based Control To DC Servo Motor Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/68521720738619461664.
Full textAbstract:
碩士義守大學
電機工程學系
90
Due to the advanced progressivism, performance rising and cost down of Personal Computers (PC), the PC based control has become the hot research topic. At the same time, the PC based control has been the main trend in industrial control because it can achieve the fast data process, network, friendly human machine interface and etc. Many control theories have been developed for several years. From these methods, the PID control is one of the most extensively used methods in the industrial controls, since the calculation of PID control is very simple and easy to realize. After tuning the necessary parameters, one can get a good control performance. By integrating of PC and PID control rule, a DC servo motor position control is implemented through the printer port. The effects of controller parameters are also discussed in this thesis according to experimental results.