Automated Parameter Tuning for multi-axis motion control system

• Main Authors: Rui -Young, Lai, 賴瑞勇
• Other Authors: Wei-Shiu Wang
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/85570291892854418366

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 multi-axis motion control system (a design of current loop in the internal part to velocity loop in the external) as it’s core and using PI controller for it’s current and velocity loop. The parameter adjustment of the controller uses the C6713 digital controller in the laboratory to produce different sine waves and calculate system transfer function from its feedback, then uses Kp and Ki for pole placement. In position track, a track loop was added on the outer layer of the velocity loop, that is, PID controller was used. In digital motor control, 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. For the whole motor controller system, the main purpose of using MATLAB/SIMULINK for designing the law of controlling is the convenience of the analysis and testing of motor control law. Besides, the DSP on the digital control board has abundant of peripheral and also elastic stylization design, so that the variability of control law designed in PC could be proven.