具有齒隙及不匹配雙馬達驅動系統的分析與控制器設計

Abstract

雙馬達驅動系統之優點在於能提供較大的扭力以及抑制齒隙效應，但在控制上也變的比較複雜。本論文針對在位置控制與速度控制中因齒隙效應導致系統產生的問題加以探討，並設計PID控制器及引入預力控制法則設法解決齒隙效應。

本論文首先建立三齒輪碰撞模型與馬達模型，並以此為基礎，架構具齒隙之雙馬達驅動系統模型，以作為控制器設計的模擬平台。最後利用硬體完成雙馬達驅動系統的位置控制與速度控制，並討論控制器與預力控制法則對系統性能造成的影響。硬體實驗是在Windows 2000 professional○R 作業系統下，使用BCB 6.0○R 製作人性化操作介面的環境而完成。

The dual-motor driving system is able to deliver more power, and has the potential to suppress the backlash effect in the gear system, but the control of such system is more complicated. This thesis discusses the position and velocity control problems of dual-motor driving systems, with emphasis on the backlash effect. PID controllers augmented by the balanced control laws are designed to improve the system performance.

Firstly a dynamic model of a dual-motor driving system with gear backlash effect is derived, and the control laws are designed for simulation. The position and velocity control of the dual-motor driving system are implemented in hardware experiments. According to the experimental results, this thesis also discusses the influence on the system performance caused by different control laws. The hardware experiments are implemented with a friendly graphical user interface written in BCB 6.0○R under the Windows 2000 professional○R operating system.