| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 104 === With rapid industrial development, quality and speed become the common goal of precision mechanical equipment. Therefore, a servomotor that enables precise motion becomes the key component of precision mechanical equipment; the precise motion control required by the servomotor becomes the key technology in precision mechanical equipment. A major topic of servomotor precise motion control design is how to overcome machine friction and external disturbance. In this work, by operating the servomotor at different speeds and measuring the corresponding friction values, the steady-state friction model of the servomotor is constructed. Then, the built friction model is further categorized from the perspective of external disturbance. Compensators for each type of disturbance are designed accordingly, namely, disturbance observer and compensator, Coulomb friction compensator, and commutation current compensator. The disturbance observer and compensator is used to overcome viscous friction and common external disturbance, the Coulomb friction compensator is used to overcome Coulomb friction and weight of payload, and the commutation current compensator is used to overcome the static friction caused by rotational direction changes of the servomotor, as well as to reduce the backlash motion time of the transmission mechanism. This study is mainly divided into two parts. Part one introduces the servomotor test bed, which can be used to simulate and test the various control and compensation issues in the practical application of the servomotor. Part two discusses the precise motion control technology of the servomotor, and designs different kinds of compensators based on the steady-state friction of the servomotor model to reduce the adverse effects of friction and external disturbance on servomotor motion. The designed compensators are then written into the servomotor driver. Motion control tests are eventually conducted on the servomotor test bed to assess and verify the servomotor-motion performance improvement achieved by the motion controller designed in this study.
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