臺灣博碩士論文加值系統

永磁式線性同步馬達(PMLSM)是近年來廣泛使用的伺服馬達控制系統。由於它較傳統利用旋轉轉換成直線的方式簡單，且所產生的推力直接作用於驅動對象，又能得到高效率的傳動，現在已經開始應用於高科技產業之伺服控制上。
一般文獻中，有關永磁式線性同步馬達的數學模型只針對三相電壓(電流)輸入作討論，很少對兩相電壓(電流)輸入之永磁式線性同步馬達作探討。因此，本文在一般的假設下，利用相電壓方程式與能量守恆原理推導兩相永磁式線性馬達之數學模型。利用非線性曲線擬合等方式求出模型未知參數，並將模型轉成等效轉移函數形式。最後，利用以極零點配置法為基礎的RST多項式控制器，以實驗方式來達到控制線性馬達定位、抗干擾的目的。

In recent years, permanent magnet linear synchronous motors (PMLSM) are widely used in servo motor control system. It drives objects simpler than traditional method that using rotation convert to direction, and the thrust generated by PMLSM directly applies at the driven object, we can obtain more efficient power transmission. Nowadays, PMLSM has been applied in servo control of high technique productions.
Several papers had present the mathematical model of PMLSM with three phase voltage (current) input, but less research discussed in two phase voltage (current) input. Therefore, this thesis provides a mathematical model of PMLSM, which is driven by using phase voltage equation and energy conservation on general assumption. We estimate the model unknown parameters by using nonlinear curve fitting, and linearize the model to equivalent transfer function form. Finally, we use the RST controller based on the polynomial pole-placement method to achieve the position control and disturbance rejection of PMLSM by experiments.

中文摘要i
英文摘要ii
誌謝iii
目錄iv
目錄iv
表目錄ix
符號說明x
第一章 緒論1
1.1 研究動機與目的1
1.2 文獻回顧2
1.3 論文大綱4
第二章 線性馬達系統模型5
2.1 線性伺服馬達的數學模型5
2.1.1 電路方程式6
2.1.2 磁推力方程式7
2.1.3 運動方程式8
2.1.4 數學模型9
2.2 系統參數鑑別9
2.2.1 系統參數量測方法10
2.2.2 參數鑑定結果11
2.2.3 推導模型與真實模型之比較14
第三章 數位控制器設計16
3.1 等效模型16
3.2 RST多項式控制設計法則程序20
3.2.1 防止積分飽和 (Anti-windup)24
3.3 RST多項式控制器設計25
第四章 實驗結果與討論31
4.1 電腦輸入位置命令實驗31
4.2 外加干擾實驗35
第五章 結論與建議38
附錄A 實驗設備39
參考文獻43

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