| 摘要: | 本計畫研究之目的在發展利用永磁線型同步馬達之龍門式精密定位平台之驅動與智慧型控制，以達到精密工業製程所需之具有強健性之精密定位控制之目的。所採用之龍門式精密定位平台是由二部無鐵心永磁線型同步馬達組成，此系統適合應用於需要高精密度與高加減速之應用場合如LED 模組檢測、wire-bonding 及其它電子封裝技術上。本計畫首先針對由兩台無鐵心單軸永磁線型同步馬達所組成的龍門式精密定位平台研製兩套由電壓源電流控制的脈波寬度調變反流器、磁場導向機構及保護電路所組成的磁場導向的單軸水磁線型同步馬達伺服驅動系統，然後利用數位訊號處理器控制板同時執行兩套磁場導向的控制法則與座標轉換的運算。為了使龍門式精密定位平台能在參數變化、摩擦力、外來干擾與多軸系統中交叉耦合干擾的影響下具備強建之控制性能，本計畫設計了第二型區間模糊類神經網路控制器、適應性第二型區間模糊類神經網路控制器，並結合交叉耦合控制器，分別控制龍門式精密定位平台，以符合所設計之軌跡命令的追隨規格。上述各控制系統之有效性均由模擬和實測結果來加以驗証。在履行上採用以TMS320VC33 符點運算數位訊號處理器為基礎之單板控制電腦，以C 語言撰寫磁場導向及各智慧型控制法則，並配合電壓源電流控制反流器以控制雙軸永磁線型同步馬達，以達到工業界所需要的加減速及精密定位需求。本計畫並發展雙軸運動之軌跡規畫，以配合各種龍門式精密定位平台之應用。 The purpose of this project is to develop drive and intelligent control system for a gantry precisioning position table using permanent magnet linear synchronous motors (PMLSMs) to achieve precision control with robustness. The adopted gantry precisioning position table is consisted of two coreless PMLSMs and is very suitable for the industrial applications where high precision and high acceleration/deceleration are required such as LED module’s testing, wire-bonding, and other IC package technologies. In this project, first, two field-oriented control coreless PMLSM servo drive systems, which consist of ramp comparison current-control pulse-width-modulated voltage-source inverters (PWM VSIs), field-orientation mechanisms, coordinate translators and protect circuits, are developed for the gantry precisioning position table. Next, a digital signal processor (DSP) control board is developed to implement the field-oriented mechanisms and the coordinate transformations simultaneously. Then, an interval type-2 fuzzy neural network control system, an adaptive interval type-2 fuzzy neural network control system and cross coupling control system are developed to confront the parameter variations, external disturbance, cross-coupled interference and friction force, and to improve the control performance of a gantry precisioning position table to meet the required specifications. Finally, the effectiveness of the proposed control schemes will be demonstrated by some simulated and experimental results. In order to make the proposed techniques suitable for industrial applications, a TMS320VC33 floating point DSP control system, which combines powerful I/O and fast calculating capabilities, is adopted in this project to implement the field-oriented and intelligent control algorithms using C language. The DSP control system combined with the current-control PWM VSIs to control the two-axis PMLSM servo drives can meet the required specifications of acceleration/deceleration for a gantry precisioning position table. Moreover, contour planning of two-axis motion control is also developed for the industrial applications using the gantry precisioning position table. 研究期間：9908 ~ 10007 |
