臺灣博碩士論文加值系統

中文摘要
本論文之目的在於發展滑動模式線性化迴授控制系統以及適應性最佳化控制系統，並應用於線型感應馬達精密定位控制上。首先發展驅動電路並利用非線性解耦技術以處理線型感應馬達推力與磁通大小的耦合關係，且設計滑動模式線性化迴授控制系統，以增加線型感應馬達驅動控制系統之強健性。為了解決滑動模式線性化控制系統解耦時需要二次側磁通之問題，本論文提出適應性磁通估測器以估測二次側磁通，且利用里亞普諾穩定理論加以驗證即使線型感應馬達具有系統不確定量時，滑動模式線性化迴授控制系統依然具有漸進穩定特性。更進一步提升系統最佳化控制性能，本論文亦設計適應性最佳化控制系統，此控制系統提出適應性不確定量估測器估側不確定量之邊界值以克服傳統最佳化控制系統之缺失，且其控制法則皆由里亞普諾穩定分析的推導過程中獲得，因此可以保證系統漸進穩定之特性。最後本論文以數值模擬與實作結果來驗證所設計控制系統之有效性。

Abstract
The purpose of this thesis is to develop a sliding-mode feedback linearization control (SMFLC) system and an adaptive optimal control(AOC) system for the high-precision position control of a linear induction motor (LIM). First, the driving cricuit of the LIM is developed and the nonlinear decoupled control technique is adopted to decouple the thrust force and the flux amplitude of the LIM. Then, a SMFLC system, which is comprised of a sliding-mode flux and a sliding-mode position controllers, is designed in order to increase the robustness of LIM drive system. Moreover, to relax the requirement of the secondary flux in the SMFLC system, an adaptive flux observer is proposed to estimate the secondary flux. The control laws of the SMFLC system are derived in the sense of Lyapunov stability theorem such that the asymptotically stability of the control system can be guaranteed even under the possible occurrence of uncertainties. In addition, an AOC system is designed to increase the system control performance. In the AOC system, an adaptive uncertainty observer is used to estimate the bound of uncertainties for confronting the shortcoming in the traditional optimal control system. The control laws of the AOC system also are derived in the sense of Lyapunov stability theorem, so that system-tracking stability can be guaranteed. Finally, the effectiveness of the proposed control schemes is verified by both numerical simulation and experimental results.

目錄
中文摘要Ⅰ
英文摘要Ⅱ
致謝Ⅲ
目錄Ⅳ
第一章緒論1
1.1研究動機與目的1
1.2控制問題簡介2
1.3控制方法簡介3
1.4論文大綱5
第二章系統架構7
2.1簡介7
2.2伺服計算機8
2.3驅動系統9
2.4 線性感應馬達10
2.5 智慧型功率驅動模組11
第三章驅動電路模組13
3.1簡介13
3.2合成電路14
3.3介面轉換電路15
3.4 比例積分電路16
3.4.1比例電路分析17
3.4.2積分電路分析18
3.5 脈波寬度調變電路18
3.6 三角波產生電路19
3.7 互鎖電路22
3.8 電壓檢測電路23
第四章滑動模式控制25
4.1前言25
4.2滑動模式控制簡介26
4.3理想線性化迴授控制系統30
4.4滑動模式線性化迴授控制系統32
4.4.1 滑動模式磁通控制器34
4.4.2 滑動模式位置控制器36
4.5適應性磁通估測器38
第五章適應性最佳化控制43
5.1前言43
5.2最佳化控制簡介43
5.3非線性解耦控制46
5.4適應性最佳化控制系統48
第六章數值模擬與實作結果53
6.1 實驗裝置53
6.2 滑動模式線性化迴授控制系統數值模擬53
6.3 滑動模式線性化迴授控制系統實作60
6.4 適應性最佳化控制系統數值模擬62
6.5 適應性最佳化控制系統實作70
第七章結論72
參考文獻74
作者簡歷

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