Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method

• Main Authors: CHEN,PO-HAO, 陳柏豪
• Other Authors: Chou,Jyh-Horng
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/61211138130567074996

碩士 === 國立高雄應用科技大學 === 電機工程系博碩士班 === 104 === In this paper, we use Interactive Learning Control(ILC) to improve the position or velocity contour error of the servo motor controller. With the purpose of minimizing the contour error while limiting the number of iterations, the proposed method performs compensation with the upcoming command based on the calculated error of feedback positioning signals and the previous output command. At the same time, we applied a Kalman Filter to the presented iterative learning controller in this paper to prevent the learning process from the high frequency noise comes from control or feedback signals. These features and their performance was verified with the experimental results in the Chapter 3. Besides, the Taguchi Methods is used to analyze the influences of the controller parameters to the contour error convergence and the parameter optimization is also discussed in the paper.