| Summary: | 碩士 === 逢甲大學 === 資訊電機工程碩士在職專班 === 98 === Design high performance motion controller of the research to develop Coordinate Measuring Machine in three-axis motion control. The major part of the hardware of the controller is TMS320C6713 and motor controller is TMS320F2812 and each chip can communicate data through the CPLD and the motor driver includes H-bridge composed of MOSFET. The DC motor is driven by PWM signal, sequence protecting and over-current circuit by opening in order. Each shaft of the PID controller consists of current, speed and position feedback.
During the experiment, we''ve found frequency response using the Swept Sine of the system identification and get the data of frequency response utilizing the language auxiliary invfreqs of the Matlab program. Therefore, the transfer model which been loaded into SISO Design tool in order to design the parameters of the controller in the closed-loop of the test system can be established. This parameters was desigened by frequency-
domain and time-domain for the sake of the practical characteristics of machine. After finishing the position-loop, use the S-curve of trajectory command to verify whether the controller can reach the demands or not in the steady-state error, following-error and settling-time.
In experiment, steady-state error was less than ±3um and the settling time was less than 3sec with the motor including encoder. Besides, the steady-state error was less than ±10um and the settling time was less than 3sec with the motor including Tacho. The errors of the following-error were different depending on the different speed. However, they all were within ranges during controlling.
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