結論

7

本論文完成以 DSP2812 為控制核心的永磁式交流同步伺服馬達驅動器，

可接收並列輸出的編碼器，亦可以接收 Tamagawa 特定幾款串列輸出的編碼 器，並將驅動器的硬體與軟體加以模組化，以便研究人員能夠容易的複製硬 體，並且對伺服控制架構能夠快速的上手。

本文以擾動觀測器進行轉動慣量與黏滯係數的自動估測，正確地估測出 負載慣量比，以提供速度 PI 控制器增益的調整資訊，使系統的響應保持原有 的性能。另外電流回授所引起的速度 ripple 與外部擾動，都可透過文中提出 的擾動觀測器有效地抑制，使伺服馬達的剛性大幅提升。

在 CNC 機台的單軸位置控制上加入 ZPETC 後，其位置追跡誤差，不論 是最大追跡誤差還是追跡誤差平均值都大大地被改善；另外本文之非線性補 償器是由 off-line 的方法識別出之非線性曲線來加以補償，可以有效地降低 系統摩擦力造成的 stick-slip 現象，使輪廓精密度大幅提升。

最後本文將擾動觀測器及非線性摩擦力補償器加入伺服控制架構，進行 實際機台的循圓實驗，其真圓度偏差量由 13.327 mμ 改善至 2.004 mμ ， 輪廓誤差有效值由 2.209 mμ 改善至 0.521 mμ ；另外擾動觀測器加入伺服 控制架構後，不論有無負載，其輪廓誤差的表現幾乎相近，這表示擾動觀測 器可以將性能強制鎖住，增加系統的重現性。

另外本文成功地透過Ethernet 與 RS-232 實現伺服馬達遠端監控系統，提 供遠端獲得系統模型、摩擦力曲線與負載慣量比等資訊。特別是遠端可藉由 觀察 DOB 的輸出，來判別負載有無變化，當察覺到負載變化時，遠端可重 新啟動Auto-tuning，使驅動器估測到正確的負載慣量比與自動調整到適當的 控制器增益，使系統響應保持原有的性能。

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