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題名 | 自控型交流伺服馬達在滑動模式控制下之探討 |
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作者 | 詹美郎; 李祖添; | 書刊名 | 宜蘭農工學報 |
卷期 | 6 1993.06[民82.06] |
頁次 | 頁80-107 |
分類號 | 448.942 |
關鍵詞 | 交流伺服馬達; 滑動模式; 自控型; 抖動減緩; Self-controlled; Sliding mode; Chattering alleviation; |
語文 | 中文(Chinese) |
中文摘要 | 本文採用滑動模式,對自我控制型交流伺服馬達做位置控制。以輸入目標值加到 系統上,取轉速和位置的回授信號,經滑動模式產生控制信號,使系統達到滑動條件,並沿 著滑動線滑動,而達成位置控制。 本文提出等加速系統在滑動模式下,卻得到較完整之滑動,其滑動點之斜率必須大於滑動線 之斜率,且滑動距離至少需為最短時間控制之減速距離的兩倍。並依此設計控制器,以實驗 印證之。 此外,對抖動現象的減緩及離散時間的滑動模式控制方面,亦有深入之探討。尤其離散分析 ,使吾人在設計控制器時,對回授增益值範圍之選定,能有較明確的根據。 |
英文摘要 | In this paper, we apply the sliding mode control to achieve the position control of a self-controlled AC servo motor. Specifically, based on the input position command and feedback position and speed signals, the sliding mode control generates a control signal and feeds it to the system to ensure that the system shall achieve the sliding condition and stay on the sliding curve until the desired position has been achieved. The system possesses robustness against parameter variations and load changes in the sliding mode. It is shown that the actual path shall follow the preset trajectory faithfully. The undesired phenomenon of chattering is a serious problem, due to the sampling period, the slope of the sliding line and the switching gains. So, the chattering alleviation and the discrete time sliding mode controller are also investigated. |
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