臺灣博碩士論文加值系統

本論文研究的目的是發展以dsPIC為基礎之模糊類神經網路控制線性超音波馬達驅動系統的輸出，以達到定位控制之目的。此系統分為兩部份，一為驅動系統部份，另一為控制系統部份。在驅動系統部份，本論文設計單級高功因半橋與單級高功因E類驅動電路來驅動線性超音波馬達。單級高功因半橋驅動電路，電路架構由降升壓轉換器和半橋共振換流器所組成。當電路切換頻率固定，讓降升壓轉換器操作在不連續工作模式來得到高功率因數。利用非對稱脈波寬度調變的控制機制，調整傳遞到負載共振換流器的有效電壓來改變輸出電壓。並在工作範圍內確保功率開關元件可以達到零電壓或零電流導通。單級高功因E類驅動電路，電路的架構是由降升壓轉換器與E類共振換流器所組成。當電路切換頻率固定，讓降升壓轉換器操作在不連續工作模式來得到高功率因數。利用脈波寬度調變的控制機制，調整傳遞到負載共振換流器的有效電壓來改變輸出電壓。並在工作範圍內確保功率開關元件可以達到零電流導通。
　　由於線性超音波馬達的總集數學模型不易獲得，且馬達參數具非線性且時變特性，易受溫度、負載轉矩及加在定子、轉子的彈簧靜壓力影響，而智慧型控制系統不需受控體之詳細數學模型，利用對受控體之瞭解，而提出推理機制與學習法則，達到系統之強健控制目的，並可提昇控制系統之精密度。因此在控制系統部份，本論文提出利用模糊類神經網路控制器來控制線性超音波馬達運動平台系統，藉以得到良好的命令追隨響應。本論文最後經由實測結果來應證所提出方法之有效性。

The purpose of this thesis is to develop a dsPIC-based fuzzy neural networks driver for a linear ultrasonic motor (LUSM) which can achieve position control. The developed systems can be separated into two parts, one is the driver system, and the other is the positioning control system. As for drivers, a single-stage high-power-factor half bridge resonant inverter and a single-stage high-power-factor class E resonant inverter are developed to drive the LUSM. The single-stage half bridge resonant one is originated from a buck-boost converter integrated with a half bridge resonant inverter. With asymmetrical pulse-width-modulation (APWM), the output voltage can be effectively regulated. The single-stage class E resonant driver is integration of a buck-boost converter and class E resonant inverter. For both of the drivers, the power switches exhibit either zero-voltage-switching (ZVS) or zero-current-switching (ZCS) over the operating range to enhance the circuit efficiency. The buck-boost converter is operated at discontinuous conduction mode (DCM) to provide nearly unity power factor at a fixed frequency.
Since the exact mathematical model of LUSM is not easy to figure out. A fuzzy neural network (FNN) controller is developed in this thesis to regulate the single-axis platform. With the proposed intelligent controllers, the position response of the mover of the single-axis platform possesses the advantages of good transient control performance and robustness to uncertainties for the tracking of periodic reference trajectories. Finally, the effectiveness of the proposed control schemes is verified by some experimental results.

摘要 I
英文摘要 II
誌謝 IV
目錄 V
圖目錄 VIII
表目錄 XI
第一章 緒論 1
1.1 概論 1
1.2 內容大綱 5
第二章 線性超音波馬達系統 7
2.1 超音波馬達簡介 7
2.2 線性超音波馬達工作平台 8
2.2.1 線性超音波馬達之架構 9
2.2.2 工作原理 10
2.2.3 線性超音波馬達規格 14
2.3 超音波馬達系統之文獻探討 14
2.3.1 超音波馬達驅動電路文獻探討 14
2.3.2 超音波馬達智慧型控制文獻探討 15
第三章 dsPIC數位訊號控制器 17
3.1 dsPIC數位訊號控制器簡介 17
3.2 dsPIC數位訊號控制器中央處理單元之架構 21
3.3 dsPIC數位訊號控制器各部功能操作原理及說明 22
3.3.1 馬達控制PWM模組 22
3.3.2 定位編碼器介面模組 22
3.3.3 類比數位訊號轉換器 23
3.4 dsPIC數位訊號控制器設計架構 23
第四章 單級高功因半橋驅動電路 25
4.1 單級高功因半橋驅動電路架構 25
4.2 單級高功因半橋驅動電路工作模式分析 26
4.3 單級高功因半橋驅動電路分析 31
4.3.1 單級高功因半橋驅動電路之功因修正電路 31
4.3.2 單級高功因半橋驅動電路之負載共振換流器 33
4.4 單級高功因半橋驅動電路參數設計 36
4.4.1 單級高功因半橋驅動之降升壓電感Lb的決定 36
4.4.2 單級高功因半橋負載共振電路Ls和Cs的設計 36
4.5 單級高功因半橋驅動電路實驗量測 37
第五章 單級高功因E類驅動電路 41
5.1 單級高功因E類驅動電路架構 41
5.2 單級高功因E類驅動電路工作模式分析 43
5.3 單級高功因E類驅動電路分析 48
5.3.1 單級高功因E類驅動電路之功因修正電路 49
5.3.2 E類共振換流器電路分析 51
5.4 單級高功因E類驅動電路參數設計 54
5.4.1 單級高功因E類驅動之降升壓電感Lb的決定 54
5.4.2 單級高功因E類負載共振電路Ls、Cs和C1的設計 54
5.5 單級高功因E類驅動電路實驗量測 58
第六章 應用模糊類神經網路控制於線性超音波馬達系統 63
6.1 簡介 63
6.1.1 模糊控制系統之結構 63
6.1.2 類神經網路 65
6.1.3 倒傳遞類神經網路 66
6.1.4 線上倒傳遞類神經網路 66
6.2 模糊類神經網路控制系統 67
6.2.1 模糊類神經網路控制系統之描述 67
6.2.2 線上學習演算法則 70
6.3 線性超音波馬達實測系統 73
6.4 實作結果 74
第七章 結論 77
參考文獻 79

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