工業用無刷伺服馬達驅動器之設計與性能評能

Design and Performance Evaluation of Industrial Brushless Servomotor Drives

本文針對工業用無刷伺服馬達驅動器進行設計與製作，延伸頻率區域法分別設計比例積分控制之增益值，以自我條件技術完成比例積分速度控制之反捲起設計，並依據速度性能準則之參數，如控制迴路頻寬、慣量標么值、雜訊靈敏度等，進行驅動器之性能評估。最後由實驗結果驗證反捲起設計之有效性，以及控制迴路頻寬之設計值與動態訊號分析儀量測值非常相近。

This paper aims at the design, implementation and evaluation of an industrial brushless servomotor drive. The proportional-plus-integral (PI) speed control with gains tuned by an extension of the frequency-zone method and anti-windup PI speed control based on self-conditioning techniques are studied. The parameters of speed performance criteria, control loop bandwidth, per normal (PN) inertia, and noise sensitivity are employed to evaluate the performance of the drive. Finally, experimental results are presented to demonstrate the effectiveness of anti-windup PI control and the closeness of the control loop bandwidth as verified by dynamic signal analyzer.