| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 105 === In this Thesis, the auto-tuning method by applying the automata approach were successfully applied to all industrial servo motors, the CNC XZ table, and the CNC turning machine tool. In servo motor control, the PI auto-tuning system was realized, and the developed technology can be applied to the servo motors through Modbus communication and the C# user-friendly interface. By applying the trapezoidal signal command, multiple parameters of the speed loop and the position loop can be tuned simultaneously. Furthermore, the present auto-tuning system can be applied to servo motors with a CNC XZ table. Because the loop gains of the biaxial servo control do not match each other, a practical approach was developed by tuning only one axis to match another axis with a newly-defined error function, and all parameters leading to matched two-axis system can be thus obtained. With the federate command 1200 mm/min, the present auto-tuning system reduces roundness from 20.1μm to 9.6μm on the CNC XZ table. To further reduce the friction effect, the present auto-tuning system has applied to the F filter in the velocity loop of a CNC turning machine tool and its roundness reduces from18.7 μm to 10.4 μm. Moreover, applications of the auto-tuning system including the exponential current compensator (ECC) improves the reversal spikes also caused by the friction from 6.6 μm to 2.2 μm.
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