如今的工業界有許多領域需要達到同步運作或者彼此之間的協同配合，例如空間軌跡加工運用之CNC機台、多軸機械手臂的同時運作、攻牙機…等，而其中在各軸的運動控制，其響應因裝設不同馬達而有所差異，本論文以兩軸響應不同之馬達，分別為感應馬達以及伺服馬達，來做雙軸同步控制。 由於兩軸之響應有著極大的差異，導致兩軸會有嚴重的同動誤差，使得需要在精度極為精細的攻牙機，或者是在空間軌跡加工之CNC機台中，會產生崩牙或者嚴重的加工偏差，在此本研究於兩軸的扭矩控制模式下，做雙軸的同步控制。主要在電流迴路加入DOB干擾觀測器、位置迴路導入交叉耦合控制器(cross-coupled control, CCC)及前饋控制器，藉由這些補償器，消除兩軸因不同暫態響應而造成的同步誤差。在許多加工運作裡，馬達的做動會因摩擦力而在暫態響應有嚴重的差異，這使得雙軸同動時會有嚴重的誤差，本論文在扭矩迴路下加上DOB補償以消除摩擦力對於加工時所造成的影響。 本論文之伺服控制架構，將以自己所架設之實驗平台做模擬以及驗證，呈現伺服馬達與感應馬達於伺服迴路的控制下所得到的效果，並於所架設之平台分析其中的缺陷以及不足。 ;Nowadays, there are many applications in the industry that require to achieve synchronized operation, such as of space trajectory tracking control processed by CNC machine, multi-axis robotic arms, tapping machine and so on. The response of each axis varies due to the using of different type of motor. This paper use two type induction motors and servo motors to achieve synchronously control. Since the responses of two motors exist huge difference, serious contour error in two axes will occur. This huge contour error may results in collapse or severe processing error when preforming rigid tapping or processing space trajectory tracking in CNC machine. In this paper we construct the controller to current loop. The controllers we use in our system are the DOB controller, the Cross-Coupling controller and Feedfoward controller. By using those controller we can eliminate the contour error due to different transient responses between two motors. In many processing operation, the static friction will affect extremely on transient response and cause serious deviation in the biaxial synchronous system. To solve this problem we establish DOB controller to eliminate the influence of static friction. In this paper, the servo control algorithm will be verified by our own experimental platform a servo motor and an induction motor are used to demonstrate the effects of the proposed controller. Finally defects and deficiencies of our experimental platform are discussed.
