Servo System Design with SERCOS Interface

• Main Authors: WANG TSO-LIN, 汪佐霖
• Other Authors: Jia-yush Yen
• Format: Others
• Language: zh-TW
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/89636823482900215194

碩士 === 國立臺灣大學 === 機械工程學研究所 === 88 === All-digital servo loop enjoys the robustness characteristics inherited with the sampled-data system as well as the flexibility of software programming. In addition, all-digital servo requires relatively simple wiring, which is also desirable in the complicated servo systems. With these desired features, all-digital servo still suffers from the lack of performance due to the slower network-sampling rate. More recent effort from the SERCOS protocol has somewhat improved on the sampling rate issue; however, this protocol is very complicate and is difficult to use. In an effort to make SERCOS more accessible to general servo engineers, this thesis provides a detailed description on its use. The protocol is realized on a Sercon410B chip. A servo design procedure based on state feedback control strategy is then carried out to illustrate the effectiveness of the control.