本研究提出一套結合軟體式速度觀測器的高階交叉耦合控制器，用以改善兩軸伺服機構運動控制的精密度。交叉耦合控制器是根據路徑誤差模式所建立，其增益值的設計則是求解六個非線性代數方程式而得。速度觀測器則使用系統驅動電流與位置輸出構成閉迴路以觀測速度。模擬與實測結果顯示高階交叉耦合控制器在高速運動時能有效降低路徑誤差。本文所提控制法則可應用於製造系統精密運動控制。 A high-order cross-coupled controller and a software-type velocity observer are porposed to improve the motion accuracy of two-axis servomechanisms. The cross-coupled controller is based on the contour-error model and its gains are designed by solving a set of six nonlinear algebraic equations. The velocity observer utilizes the driving current and position output of the system to form a closed-loop for velocity observation. The simulation and experimental results show that the high-order cross-coupled controller can reduce the contour error in high speed motions. The proposed control algonthms have potential usages for precision motion controls of multi-axis servomechanisms in manufacturing applications.
