伺服控制

Constant Angular Velocity mode and Constant Linear Velocity mode are integrated to build a single spindle motor control module to incorporate with long-seek servo. CAV mode and CLV mode are performed to show its feasibility. The experiment results showed that the pick-up-head can perform arbitrarily track-jump command, quite well.

此外，在主轴马达伺服部分，提出以跨轨旗标讯号来决定使用『碰-碰』控制法则让主轴马达转速变化的执行时间，也将主轴马达伺服中的等角速度控制模组与等线速度控制模组整合成功，形成单一的主轴马达控制模组，使与长寻轨伺服结合而更易於操作，让不论内、外寻轨的任意跨轨命令皆可以达成定线速度或是等角速度的控制目标。

As a result, a simple control method can not improve the dynamic performance of speed servo system. Integrated the advantages of self-adaptive control, fuzzy control and PID control, an intelligent dual module NC servo controller, called self-adaptive fuzzy PID controller is designed according to the modular design principle.

在光干涉弹流油膜测量系统中，速度伺服系统的控制参数和结构参数是影响速度伺服系统性能的主要因素，且具有时变性和不确定性，采用单一的控制策略很难达到提高速度伺服系统的动态性能的目的。

In this study, the architecture of the remote alert system is:(1) the inner controller of the factory mechanical equipment connects to the webpage control server,(2) the webpage control server conveys the operation state of the equipment controller to the remote alert system by the network,(3) the fore-end process module of the alert system receives the equipment abnormal messages, according to the user define parameters, the rear-end process module of the alert system issues the alert.

本研究之示警系统架构为：(1)工厂机械设备之内部控制器接至网页控制伺服器，(2)网页控制伺服器经乙太网将设备控制器之重要运转态传送至示警系统伺服器，(3)示警系统之前置处模组接收设备常资讯，并依据设定之服务，调阅系统中引模组，并透过系统之讯息执模组进警示资讯的发布。

Based on the characteristics of the electrohydraulic servo system,the transient optimal control method using the p Q character of servo valve as constraint condition of inequality is presented.

文章分析了线性二次型最优控制不适用于电液伺服主动抗振系统的原因，并根据电液伺服抗振系统特点，提出了以伺服 p- Q特性各不等式约束条件的瞬时最优控制方法。

The servo controller regards TI Company DSP chip TMS320LF2407A as the main chip,has adopted standard ISA bus structure,has high -integration and high-agility,has accomplished in real-time complex boolean calculation and control algo- rithms during motion control,and can be used to realize high-speed and high-accuracy servo control for mul- tiple axis.

O前言以DSP为核心的多轴伺服控制器越来越广泛地应用在运动控制系统中，上位机只需对被控对象实施总体的控制和管理，而位置反馈信号的采集，闭环控制计算及控制量的输出均由伺服控制器完成，具有运算速度快，支持复杂的运动算法的特点，能实现高速度、高精度的位置伺服或轨迹

Firstly, this thesis makes an introduces on the developement of PMSM servo system based on DSP. According to the control theory of AC PMSM servo system, this paper analyzes the coordinate transformation, the rotor magnetic field orientation and the current control strategy of AC servo system. The control strategy is i_d=0. The system is orientates towards rotor magnetic field. Then the mathmatic models of PMSM in d-q coordinate are set up.

本文首先对基于DSP的永磁同步电机伺服系统的发展概况进行了介绍；根据永磁同步交流伺服系统的基本控制理论，分析了交流伺服系统坐标变换原理、常用的磁场定向方式及电流控制策略，并给出i_d=0电流控制策略及永磁同步电机按转子磁场定向的控制方式，从而建立永磁同步电机d-q坐标系下的数学模型。

Considering the inconvenience of regulation and difficulty of parameter tunning as AC servo system in practical situation, three ways of intelligent control approach to realize auto-tuning and autorecognization of AC servo system, are proposed, which is a robust controller based on two-degrees-offreedom with no tuning to controller, a auto-tuning controller based on fuzzy reasoning with no inertia recognization but tuning parameter of controller, a strategy recognizing inertia of servo system and tuning parameter or structure of controller automatically. In the same time, these control strategies are analyzed from the theory and reliability. The comparative analysis of three measures on strong and weak points is made by simulation and experiment results.

针对交流伺服系统在实际应用中存在的系统调试不便、参数调整困难等问题，提出了实现交流伺服系统自调整和自识别等智能化控制策略的三条途径：一是具有控制器无调整特点的二自由度鲁棒性控制器；二是惯量无识别但需自动调整控制器参数的模糊推理自调整控制器，三是自动识别伺服系统转动惯量并自动调整控制器参数和结构的方案，从理论分析和可实现性两方面对这些控制方案进行了论述，并通过仿真和实验研究，对比分析了各种方案的优缺点，得到了一些有益的结果。

Straight drives the type battery solution servosystem use exchange servo electrical machinery to replace traditional the electrohydraulic servo valve, through changes the pump the rotational speed to change its delivery rate, synthesized above the two merit, has the energy conservation highly effective, the volume small, the structure simple, requests to the fat liquor filtration precision low also easy to realize the computer control and so on the remarkable merit, is one of present hydraulic control recent development directions.

直驱式电液伺服系统使用交流伺服电机代替传统的电液伺服阀，通过改变泵的转速来改变其输出流量，综合了以上二者的优点，具有节能高效、体积小、结构简单、对油液过滤精度要求低且易于实现计算机控制等显著优点，是目前液压控制新的发展方向之一。

From the experiment and analysis, it can be seen that friction limits realization of high accuracy electro-hydraulic position servo system, movement of any gimbal brings disturbance moment to servo system of other gimbals and the disturbance moment causes error, and, resolution ratio error and setting error of feedback measurement element are directly added to servo system output.

通过实验和仿真可以看出，摩擦阻碍了转台电液位置伺服系统商精度控制的实现，任何一个框架的运动都会对其余框架的伺服驱动系统产生干扰力矩并引起伺服系统误差，反馈测量元件的分辨率误差和安装误差直接反映在伺服系统输出上，对伺服系统的精度有直接影响。

To achieve high-performance PMSM position servo system, advanced control scheme, which is static precision, transient responses and self-adaptation and anti-disturbances, is needed in practice. Based on the analysis on the features and control principles of PMSM, this thesis established its math model using id=0 vector control method. Three close loops control system, which includes current loop, velocity loop and position loop, was built up. For position loop, the main feedback loop, we chose a new adapted-fuzzy CMAC intelligent controller, which includes self-learn ability of neural net and quick response merit of fuzzy controller. Finally, the author simulates PMSM position servo system by the simulink of matlab, an advanced computer simulation tool.

本文对PMSM的控制机理和特性作了较为深入的分析；建立了PMSM的数学模型，并采用了id=0的矢量控制策略；对控制系统组成及控制方式作了分析和比较，在此基础上建立了电流环、速度环和位置环的三闭环控制系统，对作为反馈主回路的位置环采用了模糊CMAC神经网络控制方法，该方法兼具模糊控制器的快速性和神经网络的自学习能力；构建了针对PMSM位置伺服系统的模糊CMAC控制器结构及其相应的算法；利用先进的计算机仿真工具（Matlab下的Simulink）对所提出的控制策略进行了数字仿真和分析；仿真和实验结果表明本文所提出的控制策略对PMSM位置伺服系统进行控制具有良好的鲁棒性能和快速性。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。