TWI684319B - Control system of motor-driven moveable platform and method of controlling the same - Google Patents

Control system of motor-driven moveable platform and method of controlling the same Download PDF

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TWI684319B
TWI684319B TW108114465A TW108114465A TWI684319B TW I684319 B TWI684319 B TW I684319B TW 108114465 A TW108114465 A TW 108114465A TW 108114465 A TW108114465 A TW 108114465A TW I684319 B TWI684319 B TW I684319B
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speed
pwm
mobile platform
drive signal
value
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TW202040928A (en
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林群棋
嘉榮 朱
陳廷碩
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新世代機器人暨人工智慧股份有限公司
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Abstract

A control system of a motor-driven moveable platform is provided to control speed of the moveable platform. The control system of the motor-driven moveable platform includes a subtractor, a controller, and a signal converter. The subtractor produces an error speed, the controller produces a speed control signal, and the signal converter produces a speed drive signal including an accelerated drive signal and a decelerated drive signal. An acceleration and deceleration control of the moveable platform is implemented by the accelerated drive signal and the decelerated drive signal.

Description

馬達驅動移動平台之控制系統及其控制方法 Control system and control method of motor driven mobile platform

本發明係有關一種移動平台之控制系統及其控制方法，尤指一種無須額外煞車機構的馬達驅動移動平台之控制系統及其控制方法。 The invention relates to a control system and control method of a mobile platform, in particular to a control system and control method of a motor-driven mobile platform without an additional braking mechanism.

對現有具移動平台的機器人而言，主要係透過馬達驅動的方式對移動平台提供前進的動力。當移動平台需要減速時，則可透過額外的煞車機構主動地施加制動力，對移動平台進行煞車減速。又或者，可利用馬達本身不驅動的方式實現被動減速。藉此，達到移動平台的前進與減速的控制。再者，對於承載不同負載的移動平台欲達到平穩的加、減速控制，則通常以人為方式調整加以控制。 For existing robots with mobile platforms, the main purpose is to provide the driving force for the mobile platform through the motor drive. When the mobile platform needs to decelerate, it can actively apply braking force through an additional braking mechanism to brake the mobile platform. Alternatively, passive deceleration can be achieved in a way that the motor itself is not driven. With this, the advancement and deceleration control of the mobile platform are achieved. Furthermore, for mobile platforms carrying different loads to achieve smooth acceleration and deceleration control, they are usually adjusted and controlled by human means.

惟前揭方式對現有移動平台進行驅動、控制所存在的問題在於：對採用馬達本身不驅動的方式進行被動減速者，當移動平台的真實速度超過目標速度而需要減速時，則無法實現減速，仍需要依靠額外的煞車機構所提供的制動力才能實現減速。因此，不僅增加設備成本、維護成本，也提高控制的複雜度。再者，透過人為方式對承載不同負載的移動平台進行加、減速控制，將無法達到自動地、即時地、準確地調整控制。 However, the problem of driving and controlling the existing mobile platform in the pre-revealed way is that for those who use the motor itself to not drive the passive deceleration method, when the actual speed of the mobile platform exceeds the target speed and needs to be decelerated, deceleration cannot be achieved. Still need to rely on the braking force provided by the additional brake mechanism to achieve deceleration. Therefore, it not only increases equipment costs and maintenance costs, but also increases the complexity of control. Furthermore, the acceleration and deceleration control of mobile platforms carrying different loads through artificial means cannot achieve automatic, real-time and accurate adjustment control.

為此，如何設計出一種無須額外煞車機構的馬達驅動移動平台之控制系統及其控制方法，來解決前述的技術問題，乃為本案發明人所研究的重要課題。 Therefore, how to design a control system and control method of a motor-driven mobile platform without an additional braking mechanism to solve the foregoing technical problems is an important subject studied by the inventor of the present case.

本發明之一目的在於解決前揭的技術問題，因此本發明提供一種馬達驅動移動平台之控制系統，用以控制一移動平台之速度。該馬達驅動移動平台之控制系統包含：一減法器、一控制器以及一信號轉換器。該減法器接收一參考速度與一實際速度，且計算該參考速度與該實際速度的差值得到一誤差速度。該控制器接收該誤差速度、該實際速度以及一目標速度的絕對值，且計算出一速度控制信號。該信號轉換器接收該速度控制信號、該實際速度以及該目標速度的絕對值，且計算出一速度驅動信號；其中，該速度驅動信號包含一加速驅動信號與一減速驅動信號。其中，該加速驅動信號與該減速驅動信號對該移動平台提供加、減速控制。 An object of the present invention is to solve the technical problems disclosed above. Therefore, the present invention provides a motor-driven mobile platform control system for controlling the speed of a mobile platform. The control system of the motor-driven mobile platform includes: a subtractor, a controller and a signal converter. The subtractor receives a reference speed and an actual speed, and calculates the difference between the reference speed and the actual speed to obtain an error speed. The controller receives the absolute values of the error speed, the actual speed, and a target speed, and calculates a speed control signal. The signal converter receives the absolute values of the speed control signal, the actual speed and the target speed, and calculates a speed drive signal; wherein the speed drive signal includes an acceleration drive signal and a deceleration drive signal. Wherein, the acceleration driving signal and the deceleration driving signal provide acceleration and deceleration control for the mobile platform.

藉由所提出的馬達驅動移動平台之控制系統，能夠無須額外的煞車機構即可實現移動平台的減速，不僅可減少設備成本、維護成本，也降低控制的複雜度，並且採用對馬達速度的閉迴路控制，可達到自動地、即時地、準確地的速度調整與控制。 The proposed motor-driven mobile platform control system can realize the deceleration of the mobile platform without an additional braking mechanism, which can not only reduce equipment costs and maintenance costs, but also reduce the complexity of control. Loop control can achieve automatic, instant and accurate speed adjustment and control.

本發明之另一目的在於解決前揭的技術問題，因此本發明提供一種馬達驅動移動平台之控制方法，用以控制一移動平台之速度。該控制方法包含：(a)、提供一參考速度、一實際速度以及一目標速度的絕對值；(b)、提供一控制器，該控制器根據該參考速度、該實際速度以及該目標速度的絕對值計算 一速度控制信號；(c)、提供一信號轉換器，該信號轉換器根據該速度控制信號、該實際速度以及該目標速度的絕對值計算一速度驅動信號；其中，該速度驅動信號包含一加速驅動信號與一減速驅動信號；以及(d)、根據該加速驅動信號與該減速驅動信號對該移動平台提供加、減速控制。 Another object of the present invention is to solve the technical problems disclosed above. Therefore, the present invention provides a control method of a motor-driven mobile platform for controlling the speed of a mobile platform. The control method includes: (a), providing a reference speed, an actual speed, and an absolute value of a target speed; (b), providing a controller, the controller according to the reference speed, the actual speed and the target speed Absolute value calculation A speed control signal; (c) providing a signal converter that calculates a speed drive signal based on the absolute values of the speed control signal, the actual speed and the target speed; wherein the speed drive signal includes an acceleration A driving signal and a deceleration driving signal; and (d), providing acceleration and deceleration control for the mobile platform according to the acceleration driving signal and the deceleration driving signal.

藉由所提出的馬達驅動移動平台之控制方法，能夠無須額外的煞車機構即可實現移動平台的減速，不僅可減少設備成本、維護成本，也降低控制的複雜度，並且採用對馬達速度的閉迴路控制，可達到自動地、即時地、準確地的速度調整與控制。 The proposed motor-driven mobile platform control method can realize the deceleration of the mobile platform without an additional braking mechanism, which can not only reduce equipment costs and maintenance costs, but also reduce the complexity of control, and adopt Loop control can achieve automatic, instant and accurate speed adjustment and control.

為了能更進一步瞭解本發明為達成預定目的所採取之技術、手段及功效，請參閱以下有關本發明之詳細說明與附圖，相信本發明之目的、特徵與特點，當可由此得一深入且具體之瞭解，然而所附圖式僅提供參考與說明用，並非用來對本發明加以限制者。 In order to further understand the technology, means and effects of the present invention to achieve the intended purpose, please refer to the following detailed description and drawings of the present invention. I believe the purpose, features and characteristics of the present invention can be obtained in depth and For specific understanding, the accompanying drawings are provided for reference and explanation only, and are not intended to limit the present invention.

10‧‧‧控制機制 10‧‧‧Control mechanism

12‧‧‧減法器 12‧‧‧Subtractor

14‧‧‧控制器 14‧‧‧Controller

16‧‧‧信號轉換器 16‧‧‧Signal converter

20‧‧‧移動平台 20‧‧‧Mobile platform

rk‧‧‧參考速度 r k ‧‧‧ reference speed

ek‧‧‧誤差速度 e k ‧‧‧ error speed

ck‧‧‧速度控制信號 c k ‧‧‧ speed control signal

dk‧‧‧速度驅動信號 d k ‧‧‧ speed drive signal

yk‧‧‧實際速度 y k ‧‧‧ actual speed

yk+1‧‧‧實際速度 y k+1 ‧‧‧ actual speed

|St|‧‧‧目標速度的絕對值 |S t |‧‧‧The absolute value of the target speed

S11~S14‧‧‧步驟 S11~S14‧‧‧Step

圖1係為本發明馬達驅動移動平台之控制系統之示意圖。 FIG. 1 is a schematic diagram of the control system of the motor-driven mobile platform of the present invention.

圖2係為本發明參考速度之示意波形圖。 2 is a schematic waveform diagram of the reference speed of the present invention.

圖3係為本發明馬達驅動移動平台之速度控制的示意波形圖。 3 is a schematic waveform diagram of speed control of a motor-driven mobile platform of the present invention.

圖4係為本發明馬達驅動移動平台之控制方法的流程圖。 4 is a flowchart of a control method of a motor-driven mobile platform of the present invention.

茲有關本發明之技術內容及詳細說明，配合圖式說明如下。 The technical content and detailed description of the present invention are explained below in conjunction with the drawings.

請參見圖1所示，其係為本發明馬達驅動移動平台之控制系統之示意圖。所述速度控制系統(以下簡稱系統)包含控制機制10與移動平台20，即所述控制機制10對移動平台20進行閉迴路(closed-loop)的速度控制，藉此使移動平台20的速度達到預期的目標速度。所述控制機制10包含減法器12、控制器14以及信號轉換器16。以速度控制為例，實際係為對移動平台20的左、右輪進行控制，因此移動平台20係為具有可移動且受控的左、右輪的移動平台20之簡稱。 Please refer to FIG. 1, which is a schematic diagram of the control system of the motor-driven mobile platform of the present invention. The speed control system (hereinafter referred to as the system) includes a control mechanism 10 and a mobile platform 20, that is, the control mechanism 10 performs a closed-loop speed control on the mobile platform 20, thereby enabling the speed of the mobile platform 20 to reach Expected target speed. The control mechanism 10 includes a subtractor 12, a controller 14, and a signal converter 16. Taking speed control as an example, the actual system is to control the left and right wheels of the mobile platform 20. Therefore, the mobile platform 20 is an abbreviation for the mobile platform 20 with movable and controlled left and right wheels.

系統的輸出為移動平台20的實際速度yk，其中實際速度yk可透過速度感測器(圖未示)偵測得到，並且所偵測得到的實際速度yk傳送至減法器12。減法器12另外再接收參考速度rk，其中實際速度yk係追隨參考速度rk進行動態響應。具體地，減法器12接收參考速度rk與實際速度yk，並且將參考速度rk與實際速度yk進行減法運算得到誤差速度ek(即ek=rk-yk)。因此，若誤差速度ek為正值時，表示實際速度yk比參考速度rk慢，反之，若誤差速度ek為負值時，表示實際速度yk比參考速度rk快。故此，控制機制10根據誤差速度ek作為控制器14的輸入，並且配合信號轉換器16的動作(容後說明)，使得實際速度yk加快或減慢，以達到追隨參考速度rk的動態響應。 The output of the system is the actual speed y k of the mobile platform 20, where the actual speed y k can be detected by a speed sensor (not shown), and the detected actual speed y k is sent to the subtractor 12. The subtractor 12 additionally receives the reference speed r k , where the actual speed y k follows the reference speed r k for a dynamic response. Specifically, the subtractor 12 receives the reference speed r k and the actual speed y k , and performs a subtraction operation on the reference speed r k and the actual speed y k to obtain an error speed e k (that is, e k =r k -y k ). Therefore, if the error speed e k is a positive value, it means that the actual speed y k is slower than the reference speed r k , and conversely, if the error speed e k is a negative value, it means that the actual speed y k is faster than the reference speed r k . Therefore, the control mechanism 10 takes the error speed e k as the input of the controller 14 and cooperates with the action of the signal converter 16 (to be described later) to increase or decrease the actual speed y k to achieve a dynamic following the reference speed r k response.

以速度控制為例，控制器14係為一速度控制器，具體地，控制器14為比例-積分(PI)控制器、比例-積分-微分(PID)控制器、模糊(fuzzy)控制器、模糊比例-積分(fuzzy-PI)控制器、模糊比例-積分-微分(fuzzy-PID)控制器、可程式邏輯控制器(PLC)的其中一者。然不以此為限制，舉凡可提供馬達速度調控設計的控制器，皆可作為速度控制器之用。值得一提，由於比例-積分-微分(PID)控制器中的微分控制項對於輸入信號中的高頻信號特別靈敏，因此，在實際應用上， 通常為求在雜訊較大時仍能達到穩態時更加穩定，而省略微分控制項的使用，即以比例-積分(PI)控制器來實現。其中，比例-積分(PI)控制器的離散表示式為：

Figure 108114465-A0305-02-0007-1
Taking speed control as an example, the controller 14 is a speed controller. Specifically, the controller 14 is a proportional-integral (PI) controller, a proportional-integral-derivative (PID) controller, a fuzzy controller, One of fuzzy proportional-integral (fuzzy-PI) controller, fuzzy proportional-integral-derivative (fuzzy-PID) controller and programmable logic controller (PLC). However, this is not a limitation. Any controller that can provide a motor speed control design can be used as a speed controller. It is worth mentioning that, because the differential control term in the proportional-integral-derivative (PID) controller is particularly sensitive to high-frequency signals in the input signal, in practical applications, it is usually necessary to achieve it when the noise is large. It is more stable at steady state, and the use of differential control term is omitted, which is realized by proportional-integral (PI) controller. Among them, the discrete expression of proportional-integral (PI) controller is:
Figure 108114465-A0305-02-0007-1

其中，ck為以誤差速度ek作為控制器14(比例-積分(PI)控制器)的輸入所計算得到的速度控制信號、T為取樣時間、KP為比例項參數、TI為積分項時間參數。 Where c k is the speed control signal calculated using the error speed e k as the input of the controller 14 (proportional-integral (PI) controller), T is the sampling time, K P is the proportional parameter, and T I is the integral Item time parameter.

因此，若將誤差速度ek、實際速度yk以及目標速度的絕對值|St|作為比例-積分(PI)控制器的輸入，透過比例-積分的運算即可求得速度控制信號ck。其中，當前次目標速度的絕對值與此次目標速度的絕對值不同時，則可根據當下的加、減速關係，調整KP、

Figure 108114465-A0305-02-0007-3
和
Figure 108114465-A0305-02-0007-2
ej等值。 Therefore, if the error speed e k , the actual speed y k and the absolute value of the target speed |S t | are used as the input of the proportional-integral (PI) controller, the speed control signal c k can be obtained through the proportional-integral operation . Among them, when the absolute value of the current target speed is different from the absolute value of the target speed this time, K P ,
Figure 108114465-A0305-02-0007-3
with
Figure 108114465-A0305-02-0007-2
e j is equivalent.

在獲得控制器14輸出的速度控制信號ck後，以速度控制信號ck作為信號轉換器16的輸入，並且配合實際速度yk與目標速度的絕對值|St|的關係，以得到速度驅動信號dk，其中，速度驅動信號dk可以加速驅動信號PWMk與減速驅動信號BKk來實現。在本發明的實施例中，速度驅動信號dk的加速驅動信號PWMk與減速驅動信號BKk可定義為： After the speed control signal c k output by the controller 14 is obtained, the speed control signal c k is used as the input of the signal converter 16, and the relationship between the actual speed y k and the absolute value of the target speed | St | to obtain the speed The driving signal d k , wherein the speed driving signal d k can be realized by the acceleration driving signal PWM k and the deceleration driving signal BK k . In the embodiment of the present invention, the acceleration driving signal PWM k and the deceleration driving signal BK k of the speed driving signal d k may be defined as:

一、當移動方向相同，且實際速度大於或者等於目標速度的絕對值的條件下，即，yk

Figure 108114465-A0305-02-0007-38
|St|，並且假設取樣時間為T、最大責任週期(full duty)為Dfull、參數Cmax=1以及參數Cmin=-1。此外，為了實現當實際速度yk與目標速度的絕對值|St|的差異很小或者很大時，能夠精準地、即時地對速度進行控制，因此，進一步地定義煞車參數(brake standard)為BrakeStd，舉例來說，但不以此為限制：當滿足yk-|St|>
Figure 108114465-A0305-02-0007-39
×最大速度：BrakeStd=64；其中，最大速度為5850rpm； 當不滿足yk-|St|>
Figure 108114465-A0305-02-0008-88
×最大速度：BrakeStd=8；若將上揭速度值以正規化(normalization)表示，即最大速度(5850rpm)=1時，則：當滿足yk-|St|>
Figure 108114465-A0305-02-0008-89
：BrakeStd=64；當不滿足yk-|St|>
Figure 108114465-A0305-02-0008-90
：BrakeStd=8。 1. When the moving direction is the same and the actual speed is greater than or equal to the absolute value of the target speed, that is, y k
Figure 108114465-A0305-02-0007-38
|S t |, and assume that the sampling time is T, the full duty is D full , the parameter C max =1 and the parameter C min =-1. In addition, in order to realize that when the difference between the actual speed y k and the absolute value of the target speed |S t | is small or large, the speed can be accurately and instantly controlled. Therefore, the brake parameters are further defined (brake standard) For BrakeStd, for example, but not as a limitation: when y k -|S t |>
Figure 108114465-A0305-02-0007-39
×Maximum speed: BrakeStd=64; Among them, the maximum speed is 5850rpm; When y k -|S t |> is not satisfied
Figure 108114465-A0305-02-0008-88
×Maximum speed: BrakeStd=8; If the value of the top speed is normalized, that is, the maximum speed (5850rpm)=1, then: When y k -|S t |>
Figure 108114465-A0305-02-0008-89
: BrakeStd=64; when y k -|S t |> is not satisfied
Figure 108114465-A0305-02-0008-90
: BrakeStd=8.

因此，速度驅動信號dk的加速驅動信號PWMk與減速驅動信號BKk可根據速度控制信號ck不同的狀況予以定義：1、當Cmax<ck：PWMk=Dfull、BKk=0；2、當Cmax

Figure 108114465-A0305-02-0008-43
ck
Figure 108114465-A0305-02-0008-44
0，可再分為三種狀況：(1)、ck-ck-1<Cmin：PWMk=0、BKk=T；(2)、Cmin
Figure 108114465-A0305-02-0008-45
ck-ck-1<
Figure 108114465-A0305-02-0008-4
：PWMk=0、BKk=T×
Figure 108114465-A0305-02-0008-5
； (3)、ck-ck-1
Figure 108114465-A0305-02-0008-82
：PWMk=Dfull×
Figure 108114465-A0305-02-0008-7
、BKk=0；3、當0>ck
Figure 108114465-A0305-02-0008-46
Cmin：PWMk=0、BKk=T×
Figure 108114465-A0305-02-0008-8
；4、當Cmin>ck：PWMk=0、BKk=T。 Therefore, the acceleration drive signal PWM k and the deceleration drive signal BK k of the speed drive signal d k can be defined according to different conditions of the speed control signal c k : 1. When C max <c k : PWM k =D full , BK k = 0; 2. When C max
Figure 108114465-A0305-02-0008-43
c k
Figure 108114465-A0305-02-0008-44
0, can be further divided into three situations: (1), c k -c k-1 <C min : PWM k =0, BK k =T; (2), C min
Figure 108114465-A0305-02-0008-45
c k -c k-1 <
Figure 108114465-A0305-02-0008-4
: PWM k =0, BK k =T×
Figure 108114465-A0305-02-0008-5
; (3), c k -c k-1
Figure 108114465-A0305-02-0008-82
 : PWM k =D full ×
Figure 108114465-A0305-02-0008-7
, BK k =0; 3, when 0>c k
Figure 108114465-A0305-02-0008-46
C min ：PWM k =0, BK k =T×
Figure 108114465-A0305-02-0008-8
; 4. When C min >c k : PWM k =0, BK k =T.

舉例來說，在移動方向相同，且實際速度大於或者等於目標速度的絕對值的條件下，當Cmax<ck時，表示速度控制信號ck為完全加速的控制，因此，信號轉換器16所輸出速度驅動信號dk的加速驅動信號PWMk=Dfull，而減速驅動信號BKk=0，使得控制移動平台20在完全沒有煞車下，以最大的加速能力進行加速。舉例來說，在移動方向相同，且實際速度大於或者等於目標速度的絕對值的條件下，當Cmax

Figure 108114465-A0305-02-0008-47
ck
Figure 108114465-A0305-02-0008-48
0，且為ck-ck-1<Cmin時，表示速度控制信號ck為完全煞車減速的控制，因此，速度驅動信號dk的加速驅動信號PWMk=0，而減速驅動信號BKk=T，使得控制移動平台20在取樣時間T的時間長度(例如 40毫秒)皆為煞車減速的狀態。舉例來說，在移動方向相同，且實際速度大於或者等於目標速度的絕對值的條件下，當Cmax
Figure 108114465-A0305-02-0009-49
ck
Figure 108114465-A0305-02-0009-50
0，且為Cmin
Figure 108114465-A0305-02-0009-51
ck-ck-1<
Figure 108114465-A0305-02-0009-83
時，表示欲控制移動平台20為間歇性地煞車減速，且每一次煞車減速的時間長度則為取樣時間T的比例，其中所述比例為
Figure 108114465-A0305-02-0009-85
，亦即煞車減速的時間長度則依前、後兩次速度控制信號(即ck-1與ck)的差異決定。因此當前、後兩次速度控制信號的差異越大，則表示控制移動平台20煞車減速的時間長度越長。舉例來說，在移動方向相同，且實際速度大於或者等於目標速度的絕對值的條件下，當Cmax
Figure 108114465-A0305-02-0009-52
ck
Figure 108114465-A0305-02-0009-53
0，且為ck-ck-1
Figure 108114465-A0305-02-0009-86
時，表示欲控制移動平台20以非以完全加速的方式進行加速，且加速的程度則為完全加速(最大責任週期為Dfull)的比例，其中所述比例為
Figure 108114465-A0305-02-0009-12
，亦即加速的程度則依速度控制信號ck決定。因此當速度控制信號ck越大，則表示控制移動平台20加速的程度越大。 For example, under the condition that the moving direction is the same and the actual speed is greater than or equal to the absolute value of the target speed, when C max <c k , it means that the speed control signal c k is a fully accelerated control. Therefore, the signal converter 16 The acceleration driving signal PWM k =D full of the output speed driving signal d k and the deceleration driving signal BK k =0, so that the control mobile platform 20 accelerates with the maximum acceleration capacity without braking. For example, under the condition that the moving direction is the same and the actual speed is greater than or equal to the absolute value of the target speed, when C max
Figure 108114465-A0305-02-0008-47
c k
Figure 108114465-A0305-02-0008-48
0, and c k -c k-1 <C min , it means that the speed control signal c k is the control of complete brake deceleration, therefore, the acceleration drive signal PWM k =0 of the speed drive signal d k and the deceleration drive signal BK k = T, so that the length of the control mobile platform 20 during the sampling time T (for example, 40 milliseconds) is the state of braking deceleration. For example, under the condition that the moving direction is the same and the actual speed is greater than or equal to the absolute value of the target speed, when C max
Figure 108114465-A0305-02-0009-49
c k
Figure 108114465-A0305-02-0009-50
0, and C min
Figure 108114465-A0305-02-0009-51
c k -c k-1 <
Figure 108114465-A0305-02-0009-83
, Indicates that the mobile platform 20 is to be braked intermittently, and the time length of each brake deceleration is the ratio of the sampling time T, where the ratio is
Figure 108114465-A0305-02-0009-85
That is, the length of time for brake deceleration is determined by the difference between the two speed control signals (ie c k-1 and c k ) before and after. Therefore, the greater the difference between the current and the next two speed control signals, the longer the time for controlling the mobile platform 20 to brake and decelerate. For example, under the condition that the moving direction is the same and the actual speed is greater than or equal to the absolute value of the target speed, when C max
Figure 108114465-A0305-02-0009-52
c k
Figure 108114465-A0305-02-0009-53
0, and is c k -c k-1
Figure 108114465-A0305-02-0009-86
 , It means that you want to control the mobile platform 20 to accelerate in a manner other than full acceleration, and the degree of acceleration is the ratio of full acceleration (the maximum duty cycle is D full ), where the ratio is
Figure 108114465-A0305-02-0009-12
, That is, the degree of acceleration is determined by the speed control signal c k . Therefore, the greater the speed control signal c k, the greater the degree of acceleration of the mobile platform 20.

舉例來說，在移動方向相同，且實際速度大於或者等於目標速度的絕對值的條件下，當0>ck

Figure 108114465-A0305-02-0009-54
Cmin，表示欲控制移動平台20為間歇性地煞車減速，且每一次煞車減速的時間長度則為取樣時間T的比例，其中所述比例為
Figure 108114465-A0305-02-0009-13
，亦即煞車減速的時間長度則依速度控制信號ck決定。舉例來說，在移動方向相同，且實際速度大於或者等於目標速度的絕對值的條件下，當Cmin>ck，表示欲控制移動平台20為完全煞車減速，因此，速度驅動信號dk的加速驅動信號PWMk=0，而減速驅動信號BKk=T，使得控制移動平台20在取樣時間T的時間長度(例如40毫秒)皆為煞車減速的狀態。 For example, under the condition that the moving direction is the same and the actual speed is greater than or equal to the absolute value of the target speed, when 0>c k
Figure 108114465-A0305-02-0009-54
C min , which means that the mobile platform 20 is to be controlled to brake intermittently and the time length of each brake deceleration is the ratio of the sampling time T, where the ratio is
Figure 108114465-A0305-02-0009-13
, That is, the length of time the brake decelerates is determined by the speed control signal c k . For example, under the condition that the moving direction is the same and the actual speed is greater than or equal to the absolute value of the target speed, when C min >c k , it means that the mobile platform 20 is to be controlled to fully brake deceleration, therefore, the speed driving signal d k The acceleration driving signal PWM k =0, and the deceleration driving signal BK k =T, so that the length of time during which the mobile platform 20 is controlled during the sampling time T (for example, 40 milliseconds) is in the state of braking deceleration.

二、當移動方向相同，且實際速度小於目標速度的絕對值的條件下，即，yk<|St|，並且假設取樣時間為T、最大責任週期(full duty)為Dfull、參數Cmax=1、參數Cmin=-1以及煞車參數(brake standard)為BrakeStd。因此，速度驅動信 號dk的加速驅動信號PWMk與減速驅動信號BKk可根據速度控制信號ck不同的狀況予以定義：1、當Cmax<ck：PWMk=Dfull、BKk=0；2、當Cmax

Figure 108114465-A0305-02-0010-55
ck
Figure 108114465-A0305-02-0010-56
0，可再分為三種狀況：(1)、ck-ck-1<Cmin：PWMk=0、BKk=0；(2)、Cmin
Figure 108114465-A0305-02-0010-57
ck-ck-1<
Figure 108114465-A0305-02-0010-14
：PWMk=0、BKk=0；(3)、ck-ck-1
Figure 108114465-A0305-02-0010-15
：PWMk=Dfull×
Figure 108114465-A0305-02-0010-16
、BKk=0；3、當0>ck
Figure 108114465-A0305-02-0010-58
Cmin：PWMk=0、BKk=0；4、當Cmin>ck：PWMk=0、BKk=0。 2. When the movement direction is the same, and the actual speed is less than the absolute value of the target speed, that is, y k <|S t |, and the sampling time is assumed to be T, the full duty period is D full , and the parameter C max =1, parameter C min = -1 and brake parameter (brake standard) is BrakeStd. Therefore, the acceleration drive signal PWM k and the deceleration drive signal BK k of the speed drive signal d k can be defined according to different conditions of the speed control signal c k : 1. When C max <c k : PWM k =D full , BK k = 0; 2. When C max
Figure 108114465-A0305-02-0010-55
c k
Figure 108114465-A0305-02-0010-56
0, can be divided into three conditions: (1), c k -c k-1 <C min : PWM k =0, BK k =0; (2), C min
Figure 108114465-A0305-02-0010-57
c k -c k-1 <
Figure 108114465-A0305-02-0010-14
: PWM k =0, BK k =0; (3), c k -c k-1
Figure 108114465-A0305-02-0010-15
 : PWM k =D full ×
Figure 108114465-A0305-02-0010-16
, BK k =0; 3, when 0>c k
Figure 108114465-A0305-02-0010-58
C min : PWM k =0, BK k =0; 4. When C min >c k : PWM k =0, BK k =0.

由於第二種控制狀態與第一種控制狀態僅在於實際速度小於目標速度的絕對值的差異，因此詳細的說明不再贅述，可參見第一種控制狀態相應的記載，值得一提的是，在第二種控制狀態中，速度驅動信號dk的減速驅動信號BKk皆為0，而加速驅動信號PWMk則與第一種控制狀態相同。 Since the second control state differs from the first control state only in the difference between the actual speed and the absolute value of the target speed, the detailed description is not repeated here. Please refer to the corresponding records of the first control state. It is worth mentioning that, In the second control state, the deceleration drive signal BK k of the speed drive signal d k is all 0, and the acceleration drive signal PWM k is the same as the first control state.

綜上說明，透過加速驅動信號PWMk與減速驅動信號BKk二者的結合與調整，可達到移動平台20的前進與後退的加速與減速控制。其中，加速驅動信號PWMk的功能相當於油門的概念，而減速驅動信號BKk的功能相當於煞車的概念。若以控制無刷直流馬達(Brushless DC motor,BLDC motor)為應用，則可以加速驅動信號PWMk控制BLDC的馬達驅動板上的腳位(PWM pin)以及以減速驅動信號BKk控制BLDC的馬達驅動板上的腳位(Start/Brake pin)來實現對移動平台20的前進與後退的加速與減速控制，並且對於移動平台20承載不同負載而言，同樣可以自動調整控制的方式，達到平穩地加、減速控制。 In summary, through the combination and adjustment of the acceleration driving signal PWM k and the deceleration driving signal BK k , the acceleration and deceleration control of the forward and backward movement of the mobile platform 20 can be achieved. Among them, the function of the acceleration drive signal PWM k is equivalent to the concept of throttle, and the function of the deceleration drive signal BK k is equivalent to the concept of braking. If the brushless DC motor (BLDC motor) is used as an application, the drive signal PWM k can be used to control the pins of the BLDC motor drive board (PWM pin) and the deceleration drive signal BK k can be used to control the BLDC motor Start/Brake pin on the driver board to achieve acceleration and deceleration control of the forward and backward movement of the mobile platform 20, and for the mobile platform 20 carrying different loads, the control method can also be automatically adjusted to achieve a smooth Acceleration and deceleration control.

再者，可依據不同硬體的運算處理能力，以無條件進位的方式將減速驅動信號BKk設計為可控制煞車時間(例如5毫秒)的倍數，達到可控制的煞車(brake)段數。此外，在前揭的速度控制中，若移動平台20的實際速度yk小於最低可控速度，且目標速度的絕對值|St|為零，則可直接設定加速驅動信號PWMk=0、減速驅動信號BKk=T。然後，將控制器14(例如比例-積分(PI)控制器)的控制機制重置(reset)作為控制方式。直到目標速度的絕對值|St|非為零，再重新啟動比例-積分(PI)控制器的控制機制，並且再透過信號轉換器16對速度控制信號ck加以轉換，而得到速度驅動信號dk的加速驅動信號PWMk與減速驅動信號BKk，進而驅動移動平台20，而得到速度控制系統的下一次實際速度yk+1。換言之，當輸入參考速度rk後，在取樣時間T到達時，直接取樣系統輸出的速度控制結果，即可得到實際速度yk+1。至終，透過閉迴路的速度控制，使移動平台20的速度達到預期的目標速度。 Furthermore, the decelerating drive signal BK k can be designed to be a multiple of the controllable braking time (for example, 5 milliseconds) in an unconditional carry manner according to the arithmetic processing capability of different hardware, to achieve a controllable number of brake segments. In addition, in the speed control disclosed above, if the actual speed y k of the mobile platform 20 is less than the minimum controllable speed and the absolute value of the target speed |S t | is zero, the acceleration drive signal PWM k =0 can be directly set. Deceleration drive signal BK k =T. Then, the control mechanism of the controller 14 (for example, proportional-integral (PI) controller) is reset as the control method. Until the absolute value of the target speed |S t | is not zero, then restart the control mechanism of the proportional-integral (PI) controller, and then convert the speed control signal c k through the signal converter 16 to obtain the speed drive signal The acceleration driving signal PWM k and the deceleration driving signal BK k of d k in turn drive the mobile platform 20 to obtain the next actual speed y k+1 of the speed control system. In other words, when the reference speed r k is input and the sampling time T is reached, the speed control result output by the system is directly sampled to obtain the actual speed y k+1 . In the end, through the closed-loop speed control, the speed of the mobile platform 20 reaches the expected target speed.

舉例來說，假設取樣時間T=40毫秒(可由選用的微控制器規格所決定)，BLDC馬達的極數=14、BLDC馬達的最小平均速度參數=4，則BLDC馬達的最低可控速度則等於：

Figure 108114465-A0305-02-0011-17
×
Figure 108114465-A0305-02-0011-18
=428.57(rpm)。對應地，根據車輪的尺寸規格，例如車輪的直徑長度可計算出車輪最低可控速度為477.17(0.01cm/s)。 For example, assuming that the sampling time T = 40 milliseconds (which can be determined by the specifications of the selected microcontroller), the number of poles of the BLDC motor = 14, and the minimum average speed parameter of the BLDC motor = 4, the minimum controllable speed of the BLDC motor is equal:
Figure 108114465-A0305-02-0011-17
×
Figure 108114465-A0305-02-0011-18
= 428.57 (rpm). Correspondingly, the minimum controllable speed of the wheel is 477.17 (0.01 cm/s) according to the size of the wheel, such as the diameter and length of the wheel.

若是其他型態的馬達的驅動方式，具有與BLDC的馬達驅動板上相近或相同的PWM pin與Start/Brake pin，則同樣可透過設定加速驅動信號PWMk與減速驅動信號BKk對該馬達進行速度控制。舉例來說，以一般的有刷直流馬達為例，可在其外部增加電路去控制正負極短路，即可達到煞車的控制，而以PWM的控制，就可以實現加速(油門)的控制。再者，以步進馬達為例，可使用慢慢增加固定位置的時間進行煞車，而可對應為在固定位置的時間的長短實現加速(油門)的控制。 If it is another type of motor driving method, which has a PWM pin and Start/Brake pin similar to or the same as the BLDC motor drive board, you can also set the acceleration drive signal PWM k and deceleration drive signal BK k to the motor speed control. For example, taking a general brushed DC motor as an example, an external circuit can be added to control the short circuit of the positive and negative poles to achieve braking control, and PWM control can achieve acceleration (throttle) control. Furthermore, taking a stepping motor as an example, it is possible to brake with a time that slowly increases the fixed position, and the acceleration (throttle) control can be achieved corresponding to the length of time at the fixed position.

請參見圖2所示，其係為本發明參考速度之示意波形圖。圖2旨在於表示參考速度rk的示意，其中橫座標為時間，縱座標為速度值，以正規化表示，因此最大速度(例如5850rpm)=1。時間t0至時間t1表示移動平台20在空(無)載時的加速，而時間t1至時間t2表示移動平台20在加(有)載時的加速。其中，上揭加速時的加載係指移動平台20於時間t1時加入負載(承載)。換言之，在時間t1時若沒有加載，參考速度rk則仍以時間t0至時間t1的波形進行加速控制。值得一提，空載時參考速度rk每兩階之間速度改變的時間較加載時參考速度rk每兩階之間速度改變的時間來得短。在時間t2至時間t3期間，為控制移動平台20在目標速度下進行移動。時間t3至時間t4表示移動平台20在加載時的減速，而時間t4至時間t5表示移動平台20在無載時減速。其中，上揭減速時的空載係移動平台20於時間t4時卸下負載(承載)。換言之，在時間t4時若沒有卸載，參考速度rk則仍以時間t3至時間t4的波形進行減速控制。值得一提，空載時參考速度rk每兩階之間速度改變的時間較加載時參考速度rk每兩階之間速度改變的時間來得短。 Please refer to FIG. 2, which is a schematic waveform diagram of the reference speed of the present invention. FIG. 2 is intended to represent a schematic diagram of the reference speed r k , where the abscissa is time and the ordinate is speed value, which is expressed in a normalized manner, so the maximum speed (eg, 5850 rpm)=1. The time t0 to time t1 represents the acceleration of the mobile platform 20 when there is no (no) load, and the time t1 to time t2 represents the acceleration of the mobile platform 20 when it is loaded (with). Wherein, the loading when the acceleration is accelerated refers to that the mobile platform 20 joins the load (bearing) at time t1. In other words, if there is no load at time t1, the reference speed r k is still controlled for acceleration with the waveform from time t0 to time t1. It is worth mentioning that the time for the reference speed r k to change between every two steps during no-load is shorter than the time for the reference speed r k to change between every two steps during loading. During time t2 to time t3, the mobile platform 20 is controlled to move at a target speed. Time t3 to time t4 represent the deceleration of the mobile platform 20 when it is loaded, and time t4 to time t5 represent the deceleration of the mobile platform 20 when it is unloaded. The unloaded mobile platform 20 when unloading and decelerating unloads (loads) at time t4. In other words, if there is no unloading at time t4, the reference speed r k is still decelerated by the waveform from time t3 to time t4. It is worth mentioning that the time for the reference speed r k to change between every two steps during no-load is shorter than the time for the reference speed r k to change between every two steps during loading.

上述時間t0至時間t5所示的參考速度rk的變化，示意為相同方向的加、減速變化。相應地，若移動平台20從目標速度(時間t3)減速到零(時間t5)而停止，再反方向進行加速時，仍可以相近於圖2所示的參考速度之示意波形圖來表現移動平台20加、減速控制，在此不再贅述。 The change in the reference speed r k shown at the time t0 to the time t5 above is indicative of acceleration and deceleration changes in the same direction. Correspondingly, if the mobile platform 20 decelerates from the target speed (time t3) to zero (time t5) and stops, and then accelerates in the opposite direction, it can still represent the mobile platform with a schematic waveform diagram similar to the reference speed shown in FIG. 2 20 acceleration and deceleration control, will not repeat them here.

請參見圖3所示，其係為本發明馬達驅動移動平台之速度控制的示意波形圖。圖3所示的三個波形分別為參考速度rk的波形C1、速度控制信號ck的波形C2以及實際速度yk的波形C3。配合圖1如前所述，參考速度rk提供了對移動平台20的速度控制需求，透過控制器14，例如比例-積分(PI)的運算產生速度控制信號ck，再透過信號轉換器16對速度控制信號ck進行轉換，以獲得對應的加速驅動信號PWMk與減速驅動信號BKk，進而對移動平台20進行閉迴路 (closed-loop)的速度控制，使得實際速度yk係追隨參考速度rk進行動態響應，藉此使移動平台20的速度達到預期的目標速度。 Please refer to FIG. 3, which is a schematic waveform diagram of the speed control of the motor-driven mobile platform of the present invention. The three waveforms shown in FIG. 3 are the waveform C1 of the reference speed r k , the waveform C2 of the speed control signal c k , and the waveform C3 of the actual speed y k . As described above with reference to FIG. 1, the reference speed r k provides the speed control requirement for the mobile platform 20. The speed control signal c k is generated by the controller 14, such as proportional-integral (PI) operation, and then passed through the signal converter 16 Convert the speed control signal c k to obtain the corresponding acceleration drive signal PWM k and deceleration drive signal BK k , and then perform closed-loop speed control on the mobile platform 20 so that the actual speed y k follows the reference The speed r k performs a dynamic response, whereby the speed of the mobile platform 20 reaches the expected target speed.

請參見圖4所示，其係為本發明馬達驅動移動平台之控制方法的流程圖。所述控制方法的步驟包括：首先，提供參考速度rk、實際速度yk以及目標速度的絕對值|St|(S11)。其中，移動平台20的實際速度yk可透過速度感測器偵測得到，參考速度rk提供了對移動平台20的速度控制需求。 Please refer to FIG. 4, which is a flowchart of the control method of the motor-driven mobile platform of the present invention. The steps of the control method include: first, the reference speed r k , the actual speed y k and the absolute value of the target speed |S t |(S11). Among them, the actual speed y k of the mobile platform 20 can be detected by a speed sensor, and the reference speed r k provides the speed control requirement of the mobile platform 20.

然後，提供控制器14，控制器14根據參考速度rk、實際速度yk以及目標速度的絕對值|St|計算速度控制信號ck(S12)。其中，控制器14可為比例-積分(PI)控制器、比例-積分-微分(PID)控制器、模糊(fuzzy)控制器、模糊比例-積分(fuzzy-PI)控制器、模糊比例-積分-微分(fuzzy-PID)控制器、可程式邏輯控制器(PLC)的其中一者，然不以此為限制。具體地，將參考速度rk與實際速度yk進行減法運算得到誤差速度ek(即ek=rk-yk)，並且配合實際速度yk與目標速度的絕對值|St|作為控制器14的輸入，透過比例-積分的運算(以比例-積分(PI)控制器為例)即可計覦出速度控制信號ck。 Then, a controller 14 is provided, and the controller 14 calculates the speed control signal c k based on the reference speed r k , the actual speed y k, and the absolute value of the target speed |S t | (S12). The controller 14 may be a proportional-integral (PI) controller, a proportional-integral-derivative (PID) controller, a fuzzy controller, a fuzzy proportional-integral (fuzzy-PI) controller, or a fuzzy proportional-integral controller. -One of the fuzzy-PID controller and programmable logic controller (PLC), but not limited to this. Specifically, the reference speed r k and the actual speed y k are subtracted to obtain the error speed e k (that is, e k =r k -y k ), and the absolute value of the actual speed y k and the target speed |S t |as The input of the controller 14 can calculate the speed control signal c k through a proportional-integral operation (taking a proportional-integral (PI) controller as an example).

然後，提供信號轉換器16，信號轉換器16根據速度控制信號ck、實際速度yk以及目標速度的絕對值|St|計算速度驅動信號dk；其中，速度驅動信號dk包含加速驅動信號PWMk與減速驅動信號BKk(S13)。在獲得控制器14輸出的速度控制信號ck後，以速度控制信號ck作為信號轉換器16的輸入，並且配合實際速度yk與目標速度的絕對值|St|的關係，以得到速度驅動信號dk。最後，根據加速驅動信號PWMk與該減速驅動信號BKk對該移動平台20提供加、減速控制(S14)。所述加速驅動信號PWMk可調整為0、Dfull(最大責任週期)或者與Dfull成 比例的大小；所述減速驅動信號BKk可調整為0、T(取樣時間)或者與T成比例的大小，藉此對移動平台20提供精準的、即時的速度控制。 Then, a signal converter 16 is provided, and the signal converter 16 calculates the speed drive signal d k according to the speed control signal c k , the actual speed y k and the absolute value of the target speed | St | where the speed drive signal d k includes acceleration drive The signal PWM k and the deceleration drive signal BK k (S13). After the speed control signal c k output by the controller 14 is obtained, the speed control signal c k is used as the input of the signal converter 16, and the relationship between the actual speed y k and the absolute value of the target speed | St | to obtain the speed Drive signal d k . Finally, acceleration and deceleration control is provided to the mobile platform 20 based on the acceleration driving signal PWM k and the deceleration driving signal BK k (S14). The acceleration drive signal PWM k can be adjusted to 0, D full (maximum duty cycle) or a size proportional to D full ; the deceleration drive signal BK k can be adjusted to 0, T (sampling time) or proportional to T To provide precise and real-time speed control of the mobile platform 20.

綜上所述，本發明係具有以下之特徵與優點： In summary, the present invention has the following features and advantages:

1、無須額外的煞車機構即可實現移動平台的減速，不僅可減少設備成本、維護成本，也降低控制的複雜度。 1. Without additional braking mechanism, the speed of the mobile platform can be reduced, which can not only reduce the cost of equipment and maintenance, but also reduce the complexity of control.

2、採用對馬達速度的閉迴路控制，可達到自動地、即時地、準確地的速度調整與控制。 2. The closed-loop control of the motor speed can be used to achieve automatic, immediate and accurate speed adjustment and control.

以上所述，僅為本發明較佳具體實施例之詳細說明與圖式，惟本發明之特徵並不侷限於此，並非用以限制本發明，本發明之所有範圍應以下述之申請專利範圍為準，凡合於本發明申請專利範圍之精神與其類似變化之實施例，皆應包含於本發明之範疇中，任何熟悉該項技藝者在本發明之領域內，可輕易思及之變化或修飾皆可涵蓋在以下本案之專利範圍。 The above are only the detailed descriptions and drawings of the preferred embodiments of the present invention, but the features of the present invention are not limited to this, and are not intended to limit the present invention. All the scope of the present invention should be based on the following patent applications Subject to the spirit of the patent application scope of the present invention and the embodiments of similar changes should be included in the scope of the present invention, any person familiar with the art in the field of the present invention can easily think of changes or Modifications can be covered in the patent scope of the following case.

10‧‧‧控制機制 10‧‧‧Control mechanism

12‧‧‧減法器 12‧‧‧Subtractor

14‧‧‧控制器 14‧‧‧Controller

16‧‧‧信號轉換器 16‧‧‧Signal converter

20‧‧‧移動平台 20‧‧‧Mobile platform

rk‧‧‧參考速度 r k ‧‧‧ reference speed

ek‧‧‧誤差速度 e k ‧‧‧ error speed

ck‧‧‧速度控制信號 c k ‧‧‧ speed control signal

dk‧‧‧速度驅動信號 d k ‧‧‧ speed drive signal

yk‧‧‧實際速度 y k ‧‧‧ actual speed

yk+1‧‧‧實際速度 y k+1 ‧‧‧ actual speed

Claims (14)

一種馬達驅動移動平台之控制系統，用以控制一移動平台之速度，該馬達驅動移動平台之控制系統包含：一減法器，接收一參考速度與一實際速度，且計算該參考速度與該實際速度的差值得到一誤差速度；一控制器，接收該誤差速度、該實際速度以及一目標速度的絕對值，且計算出一速度控制信號；其中，該控制器為比例-積分控制器、比例-積分-微分控制器、模糊控制器、模糊比例-積分控制器、模糊比例-積分-微分控制器、可程式邏輯控制器的其中一者；及一信號轉換器，接收該速度控制信號、該實際速度以及該目標速度的絕對值，且計算出一速度驅動信號；其中，該速度驅動信號包含一加速驅動信號與一減速驅動信號；其中，該加速驅動信號與該減速驅動信號對該移動平台提供加、減速控制。 A motor-driven mobile platform control system for controlling the speed of a mobile platform. The motor-driven mobile platform control system includes: a subtractor that receives a reference speed and an actual speed, and calculates the reference speed and the actual speed The difference is obtained an error speed; a controller receives the absolute values of the error speed, the actual speed and a target speed, and calculates a speed control signal; wherein, the controller is a proportional-integral controller, proportional- One of integral-derivative controller, fuzzy controller, fuzzy proportional-integral controller, fuzzy proportional-integral-derivative controller, programmable logic controller; and a signal converter that receives the speed control signal, the actual Speed and the absolute value of the target speed, and calculate a speed drive signal; wherein the speed drive signal includes an acceleration drive signal and a deceleration drive signal; wherein, the acceleration drive signal and the deceleration drive signal are provided to the mobile platform Acceleration and deceleration control. 如申請專利範圍第1項所述之馬達驅動移動平台之控制系統，其中當該移動平台的移動方向相同，且該實際速度大於或者等於該目標速度的絕對值時，該加速驅動信號與該減速驅動信號為：當Cmax<ck：PWMk=Dfull、BKk=0；當Cmax
Figure 108114465-A0305-02-0016-59
ck
Figure 108114465-A0305-02-0016-60
0，且ck-ck-1<Cmin：PWMk=0、BKk=T；Cmin
Figure 108114465-A0305-02-0016-61
ck-ck-1<
Figure 108114465-A0305-02-0016-19
：PWMk=0、BKk=T×
Figure 108114465-A0305-02-0016-21
； ck-ck-1
Figure 108114465-A0305-02-0016-87
：PWMk=Dfull×
Figure 108114465-A0305-02-0016-23
、BKk=0；當0>ck
Figure 108114465-A0305-02-0016-62
Cmin：PWMk=0、BKk=T×
Figure 108114465-A0305-02-0016-24
； 當Cmin>ck：PWMk=0、BKk=T；其中，PWMk為該加速驅動信號、BKk為該減速驅動信號、Dfull為一最大責任週期、T為一取樣時間、ck、ck-1為該速度控制信號、Cmax為一速度參數最大值(其值為1)、Cmin為一速度參數最小值(其值為-1)、BrakeStd為一煞車參數。 The control system for a motor-driven mobile platform as described in item 1 of the patent scope, wherein when the mobile platform moves in the same direction and the actual speed is greater than or equal to the absolute value of the target speed, the acceleration drive signal and the deceleration The driving signal is: when C max <c k : PWM k =D full , BK k =0; when C max
Figure 108114465-A0305-02-0016-59
c k
Figure 108114465-A0305-02-0016-60
0, and c k -c k-1 <C min : PWM k =0, BK k =T; C min
Figure 108114465-A0305-02-0016-61
c k -c k-1 <
Figure 108114465-A0305-02-0016-19
: PWM k =0, BK k =T×
Figure 108114465-A0305-02-0016-21
; C k -c k-1
Figure 108114465-A0305-02-0016-87
 : PWM k =D full ×
Figure 108114465-A0305-02-0016-23
, BK k =0; when 0>c k
Figure 108114465-A0305-02-0016-62
C min ：PWM k =0, BK k =T×
Figure 108114465-A0305-02-0016-24
; When C min >c k : PWM k =0, BK k =T; where, PWM k is the acceleration driving signal, BK k is the deceleration driving signal, D full is a maximum duty cycle, T is a sampling time, c k and c k-1 are the speed control signals, C max is the maximum value of a speed parameter (its value is 1), C min is the minimum value of a speed parameter (its value is -1), and BrakeStd is a braking parameter. 如申請專利範圍第1項所述之馬達驅動移動平台之控制系統，其中當該移動平台的移動方向相同，且該實際速度小於該目標速度的絕對值時，該加速驅動信號與該減速驅動信號為：當Cmax<ck：PWMk=Dfull、BKk=0；當Cmax
Figure 108114465-A0305-02-0017-63
ck
Figure 108114465-A0305-02-0017-64
0，且ck-ck-1<Cmin：PWMk=0、BKk=0；Cmin
Figure 108114465-A0305-02-0017-65
ck-ck-1<
Figure 108114465-A0305-02-0017-25
：PWMk=0、BKk=0； ck-ck-1
Figure 108114465-A0305-02-0017-26
：PWMk=Dfull×
Figure 108114465-A0305-02-0017-27
、BKk=0；當0>ck
Figure 108114465-A0305-02-0017-66
Cmin：PWMk=0、BKk=0；當Cmin>ck：PWMk=0、BKk=0；其中，PWMk為該加速驅動信號、BKk為該減速驅動信號、Dfull為一最大責任週期、T為一取樣時間、ck、ck-1為該速度控制信號、Cmax為一速度參數最大值(其值為1)、Cmin為一速度參數最小值(其值為-1)、BrakeStd為一煞車參數。 The control system for a motor-driven mobile platform as described in item 1 of the patent scope, wherein when the mobile platform moves in the same direction and the actual speed is less than the absolute value of the target speed, the acceleration drive signal and the deceleration drive signal For: when C max <c k : PWM k = D full , BK k =0; when C max
Figure 108114465-A0305-02-0017-63
c k
Figure 108114465-A0305-02-0017-64
0, and c k -c k-1 <C min : PWM k =0, BK k =0; C min
Figure 108114465-A0305-02-0017-65
c k -c k-1 <
Figure 108114465-A0305-02-0017-25
: PWM k =0, BK k =0; c k -c k-1
Figure 108114465-A0305-02-0017-26
 : PWM k =D full ×
Figure 108114465-A0305-02-0017-27
, BK k =0; when 0>c k
Figure 108114465-A0305-02-0017-66
C min : PWM k =0, BK k =0; when C min >c k : PWM k =0, BK k =0; where, PWM k is the acceleration drive signal, BK k is the deceleration drive signal, D full Is a maximum duty cycle, T is a sampling time, c k and c k-1 are the speed control signal, C max is a maximum value of the speed parameter (its value is 1), and C min is a minimum value of the speed parameter (its Value is -1), BrakeStd is a braking parameter. 如申請專利範圍第2或第3項所述之馬達驅動移動平台之控制系統，其中該煞車參數係根據該實際速度、該目標速度的絕對值以及一最大速度所決定。 The control system of a motor-driven mobile platform as described in item 2 or 3 of the patent scope, wherein the braking parameter is determined according to the actual speed, the absolute value of the target speed and a maximum speed. 如申請專利範圍第4項所述之馬達驅動移動平台之控制系統，其中 當滿足yk-|St|>
Figure 108114465-A0305-02-0018-91
×vmax，該煞車參數為一第一煞車參數值；當不滿足yk-|St|>
Figure 108114465-A0305-02-0018-92
×vmax，該煞車參數為一第二煞車參數值；其中，該第一煞車參數值大於該第二煞車參數值；其中，yk為該實際速度、|St|為該目標速度的絕對值、vmax為該最大速度。 The control system of the motor-driven mobile platform as described in item 4 of the patent scope, where y k -|S t |>
Figure 108114465-A0305-02-0018-91
×v max , the braking parameter is a first braking parameter value; when y k -|S t |> is not satisfied
Figure 108114465-A0305-02-0018-92
×v max , the braking parameter is a second braking parameter value; wherein, the first braking parameter value is greater than the second braking parameter value; where, y k is the actual speed, |S t | is the absolute value of the target speed The value and v max are the maximum speed. 如申請專利範圍第2或第3項所述之馬達驅動移動平台之控制系統，其中當驅動該移動平台為一無刷直流馬達時，該加速驅動信號係控制一馬達驅動板的PWM pin腳位，該減速驅動信號係控制該馬達驅動板的Start/Brake pin腳位。 The control system for a motor-driven mobile platform as described in item 2 or 3 of the patent scope, wherein when the mobile platform is driven by a brushless DC motor, the acceleration drive signal controls the PWM pin of a motor drive board The deceleration drive signal controls the Start/Brake pin of the motor drive board. 如申請專利範圍第1項所述之馬達驅動移動平台之控制系統，其中當該實際速度小於一最低可控速度，且該目標速度的絕對值為零時，該加速驅動信號與該減速驅動信號為：PWMk=0、BKk=T；其中，PWMk為該加速驅動信號、BKk為該減速驅動信號、T為一取樣時間。 The control system of a motor-driven mobile platform as described in item 1 of the patent scope, wherein when the actual speed is less than a minimum controllable speed and the absolute value of the target speed is zero, the acceleration drive signal and the deceleration drive signal Is: PWM k =0, BK k = T; where, PWM k is the acceleration driving signal, BK k is the deceleration driving signal, and T is a sampling time. 一種馬達驅動移動平台之控制方法，用以控制一移動平台之速度，該控制方法包含：(a)、提供一參考速度、一實際速度以及一目標速度的絕對值；(b)、提供一控制器，該控制器根據該參考速度、該實際速度以及該目標速度的絕對值計算一速度控制信號；(c)、提供一信號轉換器，該信號轉換器根據該速度控制信號、該實際速度以及該目標速度的絕對值計算一速度驅動信號；其中，該速度驅動信號包含一加速驅動信號與一減速驅動信號；及 (d)、根據該加速驅動信號與該減速驅動信號對該移動平台提供加、減速控制。 A motor-driven mobile platform control method for controlling the speed of a mobile platform, the control method includes: (a), providing a reference speed, an actual speed and an absolute value of a target speed; (b), providing a control The controller calculates a speed control signal according to the absolute values of the reference speed, the actual speed and the target speed; (c), provides a signal converter, the signal converter according to the speed control signal, the actual speed and The absolute value of the target speed calculates a speed drive signal; wherein the speed drive signal includes an acceleration drive signal and a deceleration drive signal; and (d) Provide acceleration and deceleration control for the mobile platform based on the acceleration drive signal and the deceleration drive signal. 如申請專利範圍第8項所述之馬達驅動移動平台之控制方法，其中步驟(b)更包含：計算該參考速度與該實際速度的差值以獲得一誤差速度。 The control method of a motor-driven mobile platform as described in item 8 of the patent application scope, wherein step (b) further includes: calculating the difference between the reference speed and the actual speed to obtain an error speed. 如申請專利範圍第8項所述之馬達驅動移動平台之控制方法，其中步驟(d)更包含：當該移動平台的移動方向相同，且該實際速度大於或者等於該目標速度的絕對值時，設定該加速驅動信號與該減速驅動信號為：當Cmax<ck：PWMk=Dfull、BKk=0；當Cmax
Figure 108114465-A0305-02-0019-70
ck
Figure 108114465-A0305-02-0019-71
0，且ck-ck-1<Cmin：PWMk=0、BKk=T；Cmin
Figure 108114465-A0305-02-0019-72
ck-ck-1<
Figure 108114465-A0305-02-0019-28
：PWMk=0、BKk=T×
Figure 108114465-A0305-02-0019-30
； ck-ck-1
Figure 108114465-A0305-02-0019-31
：PWMk=Dfull×
Figure 108114465-A0305-02-0019-32
、BKk=0； 當0>ck
Figure 108114465-A0305-02-0019-73
Cmin：PWMk=0、BKk=T×
Figure 108114465-A0305-02-0019-33
；當Cmin>ck：PWMk=0、BKk=T；其中，PWMk為該加速驅動信號、BKk為該減速驅動信號、Dfull為一最大責任週期、T為一取樣時間、ck、ck-1為該速度控制信號、Cmax為一速度參數最大值(其值為1)、Cmin為一速度參數最小值(其值為-1)、BrakeStd為一煞車參數。 The method for controlling a motor-driven mobile platform as described in item 8 of the patent scope, wherein step (d) further includes: when the moving direction of the mobile platform is the same and the actual speed is greater than or equal to the absolute value of the target speed, Set the acceleration driving signal and the deceleration driving signal as: when C max <c k : PWM k = D full , BK k =0; when C max
Figure 108114465-A0305-02-0019-70
c k
Figure 108114465-A0305-02-0019-71
0, and c k -c k-1 <C min : PWM k =0, BK k =T; C min
Figure 108114465-A0305-02-0019-72
c k -c k-1 <
Figure 108114465-A0305-02-0019-28
: PWM k =0, BK k =T×
Figure 108114465-A0305-02-0019-30
; C k -c k-1
Figure 108114465-A0305-02-0019-31
 : PWM k =D full ×
Figure 108114465-A0305-02-0019-32
, BK k =0; when 0>c k
Figure 108114465-A0305-02-0019-73
C min ：PWM k =0, BK k =T×
Figure 108114465-A0305-02-0019-33
; When C min >c k : PWM k =0, BK k =T; where, PWM k is the acceleration drive signal, BK k is the deceleration drive signal, D full is a maximum duty cycle, T is a sampling time, c k and c k-1 are the speed control signals, C max is the maximum value of a speed parameter (its value is 1), C min is the minimum value of a speed parameter (its value is -1), and BrakeStd is a braking parameter. 如申請專利範圍第8項所述之馬達驅動移動平台之控制方法，其中步驟(d)更包含： 當該移動平台的移動方向相同，且該實際速度小於該目標速度的絕對值時，設定該加速驅動信號與該減速驅動信號為：當Cmax<ck：PWMk=Dfull、BKk=0；當Cmax
Figure 108114465-A0305-02-0020-75
ck
Figure 108114465-A0305-02-0020-76
0，且ck-ck-1<Cmin：PWMk=0、BKk=0；Cmin
Figure 108114465-A0305-02-0020-77
ck-ck-1<
Figure 108114465-A0305-02-0020-34
：PWMk=0、BKk=0； ck-ck-1
Figure 108114465-A0305-02-0020-36
：PWMk=Dfull×
Figure 108114465-A0305-02-0020-37
、BKk=0；當0>ck
Figure 108114465-A0305-02-0020-78
Cmin：PWMk=0、BKk=0；當Cmin>ck：PWMk=0、BKk=0；其中，PWMk為該加速驅動信號、BKk為該減速驅動信號、Dfull為一最大責任週期、T為一取樣時間、ck、ck-1為該速度控制信號、Cmax為一速度參數最大值(其值為1)、Cmin為一速度參數最小值(其值為-1)、BrakeStd為一煞車參數。 The method for controlling a motor-driven mobile platform as described in item 8 of the patent application scope, wherein step (d) further includes: when the moving direction of the mobile platform is the same and the actual speed is less than the absolute value of the target speed, set the The acceleration drive signal and the deceleration drive signal are: when C max <c k : PWM k = D full , BK k =0; when C max
Figure 108114465-A0305-02-0020-75
c k
Figure 108114465-A0305-02-0020-76
0, and c k -c k-1 <C min : PWM k =0, BK k =0; C min
Figure 108114465-A0305-02-0020-77
c k -c k-1 <
Figure 108114465-A0305-02-0020-34
: PWM k =0, BK k =0; c k -c k-1
Figure 108114465-A0305-02-0020-36
 : PWM k =D full ×
Figure 108114465-A0305-02-0020-37
, BK k =0; when 0>c k
Figure 108114465-A0305-02-0020-78
C min : PWM k =0, BK k =0; when C min >c k : PWM k =0, BK k =0; where, PWM k is the acceleration drive signal, BK k is the deceleration drive signal, D full Is a maximum duty cycle, T is a sampling time, c k and c k-1 are the speed control signal, C max is a maximum value of the speed parameter (its value is 1), and C min is a minimum value of the speed parameter (its Value is -1), BrakeStd is a braking parameter. 如申請專利範圍第10或第11項所述之馬達驅動移動平台之控制方法，其中步驟(d)更包含：根據該實際速度、該目標速度的絕對值以及一最大速度設定該煞車參數。 The method for controlling a motor-driven mobile platform as described in item 10 or 11 of the patent application, wherein step (d) further includes: setting the braking parameter according to the actual speed, the absolute value of the target speed and a maximum speed. 如申請專利範圍第12項所述之馬達驅動移動平台之控制方法，其中步驟(d)更包含：設定該煞車參數為一第一煞車參數值，當滿足yk-|St|>
Figure 108114465-A0305-02-0020-94
×vmax；設定該煞車參數為一第二煞車參數值，當不滿足yk-|St|>
Figure 108114465-A0305-02-0020-95
×vmax；其中，該第一煞車參數值大於該第二煞車參數值；其中，yk為該實際速度、|St|為該目標速度的絕對值、vmax為該最大速度。 The control method of a motor-driven mobile platform as described in item 12 of the patent application scope, wherein step (d) further includes: setting the braking parameter to a first braking parameter value, when y k -|S t |> is satisfied
Figure 108114465-A0305-02-0020-94
×v max ; Set the braking parameter to a second braking parameter value, when y k -|S t |> is not satisfied
Figure 108114465-A0305-02-0020-95
×v max ; where the first brake parameter value is greater than the second brake parameter value; where y k is the actual speed, |S t | is the absolute value of the target speed, and v max is the maximum speed. 如申請專利範圍第8項所述之馬達驅動移動平台之控制方法，其中步驟(d)更包含：當該實際速度小於一最低可控速度，且該目標速度的絕對值為零時，設定該加速驅動信號與該減速驅動信號為：PWMk=0、BKk=T；其中，PWMk為該加速驅動信號、BKk為該減速驅動信號、T為一取樣時間。 The method for controlling a motor-driven mobile platform as described in item 8 of the patent scope, wherein step (d) further includes: when the actual speed is less than a minimum controllable speed and the absolute value of the target speed is zero, set the The acceleration driving signal and the deceleration driving signal are: PWM k =0, BK k =T; wherein, PWM k is the acceleration driving signal, BK k is the deceleration driving signal, and T is a sampling time.
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