淡江大學覺生紀念圖書館 (TKU Library)
進階搜尋


下載電子全文限經由淡江IP使用) 
系統識別號 U0002-3006200809432000
中文論文名稱 自動馬達控制系統之電路實現
英文論文名稱 Automation Motor Control System
校院名稱 淡江大學
系所名稱(中) 電機工程學系碩士在職專班
系所名稱(英) Department of Electrical Engineering
學年度 96
學期 2
出版年 97
研究生中文姓名 林毅琪
研究生英文姓名 I-Chi Lin
學號 793350116
學位類別 碩士
語文別 中文
口試日期 2008-06-19
論文頁數 48頁
口試委員 指導教授-李揚漢
委員-曹恆偉
委員-詹益光
委員-余繁
委員-蘇木春
中文關鍵字 馬達伺服器 
英文關鍵字 Motor Servo 
學科別分類 學科別應用科學電機及電子
中文摘要 本論文中的控制系統除了會接收輸入的信號外,也會接收Feed Back Signal及Parameter Setting的信號,Feed Back Signal是一組迴授信號,使系統更穩定且使馬達更精準的轉動,Parameter Setting是調整參數的信號,調整及控制馬達的輸出,達到不需使用外部線路的調整而僅使用輸入的參數設定達到控制馬達的能力,而負責將Parameter Setting輸入的設定完成馬達的調整是本文中所使用的Gain Tuning 1及Gain Tuning 2,Gain Tuning 1主要的功能是將解碼過後的信號有效地提升增益或降低增益,達到輸入信號放大或縮小的目的,而Gain Tuning 2的功能則是將輸入信號與馬達的回饋信號(經ADC轉換後的數位信號),經過比較器後所產生的差值信號,功能與Gain Tuning 1類似相同,可以調整信號的增益。另外,本論文將使用一組控制信號即能控制多組馬達的方式,達到一次控制多組馬達的功能。
英文摘要 Besides receiving input signal, the control system can receive feed-back signal and parameter setting signal, It can make system stably and precise to rotate with motor. Moreover, the parameter setting can adjust system coefficient that tuned and control motor output condition. And the parameter setting doesn’t need to adjust coefficient by external circuit. It just only inputs the parameter setting. In this paper, the Gain Tuning 1 and the Gain tuning 2 have the ability to tune motor setting when Parameter Setting inputs set into the Gain Tuning 1 and the Gain tuning 2. The main function of Gain Tuning 1 can boost or reduce input signal when input signal going through decode circuit. Therefore, they accomplish amplify or shrink input signal gain.Input signal and motor feedback signal both go through comparator to produce a contrast value. The Gain Tuning 2 tune signal is similar with the function of the Gain Tuning 1. The control system also used another input control signal and it will control more motors in one time by a frame signal.
論文目次 目錄
第一章 緒論.............................................................1
1.1 馬達控制............................................................................1
1.1.1 位元擴張.........................................................................4
1.1.2 彈性輸入信號.................................................................5
1.1.3 一對多的控制行為.......................................................10
1.1.4 自我記憶.......................................................................11
1.1.5 信號錯誤碼...................................................................12
第二章 系統設計...................................................14
2.1 系統方塊圖......................................................................14
2.2 電路系統分析..................................................................15
2.2.1 類比電路部份...............................................................15
2.2.2 數位電路部份...............................................................17
2.3 系統流程圖......................................................................21
2.4 增益電路設計分析..........................................................22
2.4.1 Gain Tuning 1 Design.....................................................22
2.4.2 Gain Tuning 2 Design.....................................................23
2.5 雜訊改善方法...................................................................24




第三章 控制器之電路實現與模擬.......................25
3.1 設計流程..........................................................................25
3.2 電路模擬..........................................................................26
第四章 系統測試...................................................34
4.1 系統測試版簡介.......................,,,,,,,,,,,,,,,,,,,,,..................34
4.2 環境與設備....................................,,,,,,,,,,,,,,,,,,,,,.............36
4.3 測試結果...............................,,,,,,,,,,,,,,,,,,,,,......................43
第五章 結論與未來展望.............,,,,,,,,,,,,..............44
5.1 結論........................................,,,,,,,,,,,,,,,,,,,,,.....................44
5.2 未來展望..........................................................................45
參考文獻.....................................................................46
圖目錄
圖1.1 回授系統 2
圖1.2 擴張方式 4
圖1.3 輸入信號方式 5
圖1.4 PWM的基本原理 6
圖1.5 EEPROM 與伺服馬達控制系統(寫入) 9
圖1.6 Digital drive signal的控制方式 10
圖1.7 EEPROM與伺服馬達控制系統(讀出) 11
圖1.8 錯誤檢測電路 13
圖2.1 系統方塊圖 14
圖2.2 增益放大器+ A/D 轉換器 16
圖2.3 馬達驅動電路 16
圖2.4 I2C資料傳輸方式 19
圖2.5 Acknowledge Timing 19
圖2.6 I2C寫入方式…. 20
圖2.7 I2C讀出方式…. 20
圖2.8 資料輸入流程圖…. 21
圖2.9 Gain Tuning 1…. 22
圖2.10 Gain Tunibg 2…. 23
圖3.1 Input Selector真值表…. 26
圖3.2 Input Selector 模擬結果 27
圖3.3 PWM Table…. 28
圖3.4 PWM 輸入模擬結果 28
圖3.5 Digital Comparator 方塊圖 29
圖3.6 Digital Comparator 模擬結果 30
圖3.7 Gain Tuning 1 方塊圖 31
圖3.8 Gain Tuning 1 模擬結果 31
圖3.9 Gain Tuning 2 方塊圖 32
圖3.10 Gain Tuning 2 模擬結果 32
圖3.11 Driver 模擬結果 33
圖4.1 FPGA 實驗板 34
圖4.2 Overview 36
圖4.3 FPGA 實驗板 37
圖4.4 PWM 訊號產生器 37
圖4.5 馬達 38
圖4.6 電源供應器 38
圖4.7 示波器 39
圖4.8 PWM Input=1522us & Output Signal(無動作) 40
圖4.9 PWM Input=2120us & Output Signal(往右轉) 41
圖4.10 PWM Input=950us & Output Signal(往左轉) 42

參考文獻 [1] Charles C. Kemp, Aaron Edsinger, Eduardo Torres-Jara, “Challenges for Robot Manipulation in Human Environments, Developing Robots that Perform Useful Work in Everyday Settings”,©2001 IMAGESTATE. Pp.2~11.
[2] Yongguo Mei, Student Member, IEEE, Yung-Hsiang Lu, Member, IEEE, Y. Charlie Hu, Member, IEEE, C. S. George Lee, Fellow, IEEE,” Deployment of Mobile Robots With Energy and Timing Constraints” IEEE TRANSACTIONS ON ROBOTICS, VOL. 22, NO. 3, JUNE 2006. pp.507~522.
[3] Sean Davies,” Robots and human interaction in manufacturing plants have always been limited by safety concerns, but that anxiety may be a thing of the past”, IET Computing & Control Engineering | August/September 2006. pp.26~29.
[4] E. GARCIA, M.A. JIMENEZ, P. GONZALEZ DE SANTOS, M. ARMADA,” The Evolution of Robotics Research from Industrial Robotics to Field and Service Robotics”, IEEE Robotics & Automation Magazine 2007. pp.2~15.
[5] Z.Cao1, J.H. Patel2, X. Yu3,” An Iterative Learning Controller for Induction Motors“, 2005 3rd IEEE Imitational Conference on Industrial Informatics (INDIN). pp474~477.
[6] HIDEKI HASHIMOTO, HAJIME YAMAMOTO, SHIGEKAZU YANAGISAWA, FUMIO HARASHIMA,” Brushless Servo Motor Control Using Variable Structure Approach”, IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 24, NO. 1, JANUARYI/FEBRUARY 1988. pp.160~170.
[7] Jong-Koo Parkt , Chong-Ho Choit,” Dynamical Anti-Reset Windup Method for Saturating Control Systems with Multiple Controllers and Multiloop Configuration”, Proceedings of the 36th, Conference on Decision & Control San Diego, California USA December 1997. pp.1960~1995.
[8] Daehie Hong, Kazuo Yam&, Steven A. Velinsky,” Flexible Servo Control of a Fully Electric-Driven Wheeled Mobile Robot for Highway Maintenance Automation”, 0-7803-1328-3/94 1994 IEEE. pp.1495~1500.
[9] Jyh-Ching Juang,, Jia-Shing Sheu,” On Adaptive Speed Design in Optical Disc Servo Systems”, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 8, NO. 6, NOVEMBER 2000. pp.971~978.
[10] Carl E. Wick, George E. Piper,” Teaching DSP servo-motor control with extended SHARC evaluation boards; the Pilot-Fish project”, 1999 IEEE November 10 - 13,1999 San Juan, Puerto Rico. pp126b-1~126b-6.
[11] Ahmet Bindal, Sean Jit,Allan Simpson” The Design of Autonomous Mobile Predator and Prey Robots”, 2005 IEEE.
[12] Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, K. Tanie, “Planning walking patterns for a biped robot”, IEEE Trans. on Robotics and Automation, Vol. 17, No. 3, June 2001, pp. 280-289.
[13] F. Plestan, J. W. Grizzle, E. R. Westervelt, G. Abba, “Stable walking of a 7-DOF biped robot”, IEEE Trans.on Robotics and Automation, Vol. 19, No. 4, Aug. 2003, pp. 653-668.
[14] P. G. De Santos, J. A. Galvez, J. Estremera, E. Garcia, “A true walking robot for comparative study of walking machine techniques”, IEEE Robotics and Automation Mag., Dec. 2003, pp. 23-32.
[15] J. E. McInroy, J. C. Hamann, “Design and control of flexure joined hexapods”, IEEE Trans. on Robotics and Automation, Vol. 16, No. 4, Aug. 2000, pp. 372-381.
[16] A. X. H. Dang, I. Ebert-Uphoff, “Active acceleration compensation for transport vehicles carrying delicate objects”, IEEE Trans. on Robotics and Automation, Vol. 20, No. 5, Oct. 2004, pp. 830-839.
[17] M. Almonacid, R. J. Saltaren, R. Aracil, O. Reinoso, “Motion planning of a climbing parallel robot”, IEEE Trans. on Robotics and Automation, Vol. 19, No. 3, June 2003, pp. 485-489.
[18] Nekoogar, F., Moriarty, G., “Digital Control Using Digital Signal Processing”, Prentice-Hall, Upper Saddle River, NJ, 1999.
[19] Dote, Y., “Servo Motor And Motion Control Using”, [SI Stiffer, A.K., Design with Microprocessors for Mechanical Engineers, McGraw-Hill, New York, NY, Digital Signal Processors, Prentice-Hall, Englewood Cliffs, NJ, 1990. 1992.
論文使用權限
  • 同意紙本無償授權給館內讀者為學術之目的重製使用,於2009-07-03公開。
  • 同意授權瀏覽/列印電子全文服務,於2009-07-03起公開。


  • 若您有任何疑問,請與我們聯絡!
    圖書館: 請來電 (02)2621-5656 轉 2281 或 來信