臺灣博碩士論文加值系統

感應馬達伺服系統本身為一多階非線性時變耦合系統，若使用傳統之線性控制方法，則系統無法獲得強健的全域控制，本篇論文為配合真實系統情況採用定子座標參考系統之五階非線性模式，主要研究感應馬達部分參數未知及轉子狀態變數不易量測情況下，利用向量控制之分析及適應控制來設計感應馬達的速度及位置控制器。
本論文中，吾人將分析感應馬達的物理特性及探討向量控制的工作原理，釐清馬達控制的一些概念。在第三章中，根據這些特性及原理，結合two-stage 設計步驟及virtual desired variables的觀念，將感應馬達速度追蹤問題轉換成轉矩追蹤問題，並配合一般所熟知的PI電流內迴路控制器，重新陳述了在機械參數及轉子電阻未知，且不使用轉子磁通觀測器情況下，速度及位置控制器之設計方式。接著，在第四章中，吾人結合backstepping method與virtual desired variables的觀念，並為了使系統在參數不確定性與外部的擾動影響下仍然能維持閉迴路響應的追蹤性質，於是設計滑模控制器取代上述的PI電流內迴路控制器，並考慮真實系統的某些狀態不可量測時，提出Extended Kalman filter 當作狀態估測器並以此估測器來濾除外在雜訊的干擾，使系統有良好的響應，進而完成控制器之設計。由各章的模擬結果，可明顯看出所設計之控制器，均具有不錯的暫態及穩態響應。
我們除了對上述方法做一完整闡述及理論證明外，並且將整個感應馬達的速度及位置控制系統，以dSPACE systems的架構來實現，其中包含了高速的數位信號處理器（TMS320C31），而控制器則用SIMULINK來編寫，經由Real-Time Workshop（RTW）將SIMULINK所設計之系統控制法則方塊模組直接轉換成C程式，配合dSPACE systems所提供的即時線上監督程式（TRACE 31）來做線上監視狀態變化與儀表板（COCKPIT 31）做線上參數的更改，並結合個人電腦及感應馬達驅動裝置來達成控制的目的，於第五章中，由實作結果證明，這些具有適應性之非線性控制器的確具有其實用價值。

On the basis of measurable rotor speed, stator current and stator voltage, the control design methodology for speed tracking and torque tracking problems of induction motors with unknown rotor resistance and loading torque is proposed in this paper. The proposed nonlinear adaptive controller is developed by integrating the design methods of a two-stage design approach and virtual desired variables. Based on the two-stage approach, the speed tracking problem is transformed to an equivalent control problem for torque tracking. The virtual desired variables include desired stator currents and desired rotor fluxes, which are naturally determined under the conditions induced from the principles for vector control.
In Chapter 3, we first consider the model of a current-fed induction motor. In the case, a measurable auxiliary signal will be introduced to relate the rotor flux error, whereby the direct feedback of the rotor flux can be avoided. Then the control inputs are chosen for the purpose of steering the state variables toward the desired ones. Under the condition of persistent excitation, this controller structure will provide the properties of asymptotic speed tracking and exponential torque tracking in physical operating conditions, whereas all of the internal signals are bounded. It is worth remarking that no explicit observer for the rotor flux will be constructed in the controller. In Chapter 4, the sliding mode controller is used to substitute the PI-controller. This will maintain good tracking performance when system uncertainty and external disturbance exists. Also, an Extended Kalman Filter is used to estimate the states that are not measurable in the practical system. The results of simulation are shown to demonstrate good transient and steady state responses of the proposed control algorithm.
Finally, we make a complete statement and theory proof. The whole induction motor speed and position control system is implemented by using a high-speed digital signal processor TMS320C31 in the dSPACE environment. An induction motor of driver module is used to achieve the control task. We can see from experiments, that these adaptive nonlinear controllers have good performances.

第一章 緒論1
1.1 簡介1
1.2 研究動機4
1.3 論文架構4
第二章 感應馬達之數學模型6
2.1 前言6
2.2 三相系統至二維正交座標系統之轉換7
2.3 二維正交座標系統之轉換10
2.4 感應馬達動態方程式之建立12
2.4.1 定子座標參考系統12
2.4.2 同步旋轉座標參考系統15
2.5 感應馬達之物理特性17
2.5.1 Cascade System17
2.5.2 Passivity Workless Term18
2.5.3 最佳轉矩的產生（Optimal generated torque）18
2.5.4 轉子磁通重建（Reconstruction of Rotor Flux）20
2.6 向量控制21
2.7 Virtual Desired Variables25
第三章 轉子電阻未知情況下的感應馬達簡化模式之適應控制27
3.1 前言27
3.2 Two-Stage Design Method28
3.3 速度控制29
3.3.1 轉速控制器之設計30
3.3.2 適應性的轉矩控制器之設計32
3.4 位置控制40
3.5 模擬結果43
3.5.1 速度控制44
3.5.2 位置控制45
第四章 轉子電阻未知情況下的感應馬達完整模式之適應控制57
4.1 前言57
4.2 卡門濾波理論58
4.2.1 Kalman Filter58
4.2.2 Extended Kalman Filter62
4.3 以Extended Kalman filter為基礎之速度控制66
4.3.1 適應性的轉矩控制器之設計66
4.3.2 以Sliding mode Control為基礎的電流內迴路控制器71
4.4 位置控制77
4.5 模擬結果78
4.5.1 速度控制79
4.5.2 位置控制80
第五章 控制器軟硬體設計環境與實作結果97
5.1 dSPACE systems97
5.1.1 硬體架構介紹97
5.1.2 軟體設計100
5.1.3 Real-Time Workshop（RTW）101
5.1.4 即時線上監視（TRACE 31）102
5.1.5 儀表板（COCKPIT 31）103
5.2 實作硬體規劃104
5.3 實作結果107
5.3.1 感應馬達簡化模式之適應控制107
5.3.2 感應馬達完整模式之適應控制110
第六章 結論及未來展望131
6.1 結論131
6.2 未來展望132
參考文獻133

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