Design and Implementation of Servo Drives with Self-Commissioning

• Main Authors: MinHsien Ho, 何旻憲
• Other Authors: YenShin Lai
• Format: Others
• Language: en_US
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/hb8k4a

碩士 === 國立臺北科技大學 === 電機工程系所 === 104 === System bandwidth and dynamic response related to controller gains are generally regarded as performance index for servo motor drives. In addition, servo control loop gains are derived based on motor electrical and mechanical parameters. Hence, the objective of this thesis is to implement a self-commissioning scheme for servo motor drives. In general, servo drives control consisting of current, speed and position control, and the cascade structure is implemented in this thesis. In order to tune the current loop, winding resistance and self-axis inductances have to be identified at standstill. Once the current controllers are established, motor starts spinning and further back-EMF constant, torque constant, frictional coefficient and inertia are estimated under operating state. Speed and position control loops can be tuned once the mechanical parameters are determined. Generally, bandwidth of servo motor drives is mainly limited by the delays in digital control system. Furthermore, the delays include current and position sampling delay, calculation delay and PWM switching delay. Thus, delays are considered in the controller design and the optimized bandwidth can be determined. This thesis is completed by theoretical investigations of self-commissioning scheme, design of servo controller and experimental verification. The studied self-commissioning scheme is verified by two motors, and the estimation error are less than 10%. The derived control loop bandwidth is verified by both sinusoidal excitation and network analyzer. Note that all the control loops and algorithms are digitalized via Renesas RZ/T1. In conclusion, experimental results in this study fully support the self-commissioning scheme and servo control algorithm.