臺灣博碩士論文加值系統

傳統可變結構控制（Variable Structure Control，VSC）之滑動模式（sliding mode）會發生震顫現象，使系統產生不想要的高頻成分，甚至造成不穩定。模糊理論應用在滑動模式控制器上，所形成的模糊滑動模式控制器（Fuzzy Sliding Mode Controller，FSMC），雖然可改善震顫現象，卻會造成穩態誤差。因此，本文提出模糊積分型滑動模式控制器（Fuzzy Based Integral Sliding Mode Controller，FISMC）來改善以上問題。其中，積分器可有效消除系統穩態誤差，並提升系統控制穩定度；滑動模式控制器具有系統參數變動及雜訊干擾之不敏性，擁有強健性控制；模糊控制的加入可簡化設計系統之複雜性且其控制法則簡單，易於實現，且在動態方面利用狀態點與滑動面之距離，進行適應性控制增益之動態調整，使狀態點能快速到達滑動面並且降低超越量，以提升系統之暫態響應。此法先經Matlab-Simulink軟體模擬，再以個人電腦為基礎的馬達驅動控制器發展系統來驗證。由模擬和實驗結果可知，本文所提出的控制方法除能達到精確的感應馬達速度控制外，對系統的參數變動及外界負載干擾也具有很好的強健性。為了進一步突顯模糊積分型滑動模式控制器相對於其他方法的優越性，本文以傳統PID控制器作為比較對象，針對絕對誤差積分（Integral Absolute Error, IAE）、最大超越量、收斂時間等各項控制性能加以評比，結果皆顯示本文所提方法確實具有較佳的控制性能。

The sliding mode causes high speed chattering phenomenon in the traditional Variable Structure Control （VSC）, and it may also produce unwanted high frequency oscillation in the system and even create instability. By applying fuzzy theory to sliding mode controller to develop Fuzzy Sliding Mode Controller （FSMC）, the chattering can be improved; but, it would cause the steady state error. For this reason, this paper proposes Fuzzy Based Integral Sliding Mode Controller （FISMC）. The integral controller can effectively improve error in the steady state; the sliding mode controller is not sensitive to system parameter variation and noise, thus it has good robust characteristic in control. The fuzzy logic controller decreases the difficulty in system design, control gain can be regulated by the distance between state point and sliding surface. In this way, the state point can reach the sliding surface rapidly, so the reduced overshoot. Therefore, the transient response of the system can be improved. This method is first simulated by Matlab and Simulink, then a PC-based experimental scheme is used to test and verify this method. Simulation and experimental results demonstrate that the proposed scheme can achieve accurate speed control of an induction motor, and the system is robust against parameter variations and disturbances. In order to identify the advantage relative to the other control algorithms, a traditional PID controller is also tested. The speed responses to different types of changes in the input command and the load torque illustrate that the performances of the fuzzy based integral sliding mode controller are better than the PID type controller.

摘要 Ⅰ
ABSTRACT Ⅱ
致謝 Ⅲ
目錄 Ⅳ
表目錄 Ⅵ
圖目錄 Ⅶ
符號表 Ⅹ
第一章 緒論.........................................1
1-1 簡介................................1
1-2 研究動機............................1
1-3 內容大綱............................3
第二章 感應電動機向量控制理論.......................4
2-1 簡介................................4
2-2 三相感應電動機兩軸法之數學模型......4
2-3 間接轉子磁場導向控制................8
2-4 間接轉子磁場導向控制系統架構.......12
第三章 可變結構系統................................14
3-1 簡介...............................14
3-2 可變結構原理.......................14
3-2-1 可變結構控制........................14
3-2-2 滑動模態控制........................15
3-2-3 滑動模態控制器設計..................19
第四章 模糊控制理論.................................21
4-1 簡介................................21
4-2 模糊控制器原理......................21
4-2-1 模糊化..............................22
4-2-2 模糊規則............................24
4-2-3 模糊推論............................25
4-2-4 解模糊化............................26
第五章 模糊積分型滑動模式控制器.....................29
5-1 簡介................................29
5-2 積分型滑動模式控制器之設計..........29
5-2-1 Ueq之控制量........................31
5-2-2 Ut之控制量.........................31
5-2-3 負載估測器.........................32
5-3 模糊積分型滑動模式控制器用於感應馬達速度控制 ..........................................34
5-3-1 模糊化....................................37
5-3-2 計算模糊控制規則..........................41
5-3-3 解模糊化..................................42
第六章 模擬與實驗結果.....................................44
6-1 實驗系統..................................44
6-1-1 軟體部分..................................45
6-1-2 硬體部分..................................45
6-2 模擬結果..................................48
6-2-1 積分型滑動模式控制器模擬結果..............48
6-2-2 模糊積分型滑動模式控制器模擬結果..........55
6-3 實驗結果..................................63
6-4 實驗結果之比較............................70
第七章 結論與建議.........................................74
7-1 結論......................................74
7-2 建議......................................74
參考文獻....................................................75
附錄........................................................79

[1] M. V. Aware, S. G. Tarnekar, A.G. Kothari, ”Unity Power Factor and Efficiency Control of A Voltage Source Inverter-Fed Variable-Speed Induction Motor Drive,” Electric Power Applications, 147(5), Sept. 2000, pp.422-430.
[2] D. Xu, D. Zhu, B. Wu, ”High Performance Induction Motor Drive with Optimized Excitation Current Control, ”Industry Applications Conference Record of the IEEE, Vol. 3, Oct. 2001, pp.1673-1678.
[3] M. Salo, H. Tuusa, ”Experimental Results of The Current-Source PWM Inverter Fed Induction Motor Drive with An Open-Loop Stator Current Control,” Eighteenth Annual IEEE on Applied Power Electronics Conference and Exposition, Vol. 2, Feb. 2003, pp.839-845.
[4] U. Itkis, Control Systems of Variable Structure, New York: John Wieley, 1976.
[5] F. Cupertino, A. Lattanzi, L. Salvatore, ”Sliding Mode Control of an Induction Motor,” Eighth International Conference on Power Electronics and Variable Speed Drives, 2000, pp.206-211.
[6] A. G. Loukianov, J. M. Canedo, O. Serrano, V. I. Utkin, S. Celikovsky, ”Adaptive Sliding Mode Block Control of Induction Motors,” Proceedings of the American Control Conference, Vol. 1, 2001, pp.149-154.
[7] L.-G. Shiau, J.-L. Lin, ”Stability of Sliding-Mode Current Control for High Performance Induction Motor Position Drives,” IEE Proceedings-Electric Power Applications, 148(1), Jan. 2001, pp.69-75.
[8] 陳永平, 可變結構控制設計, 全華科技圖書股份有限公司, 1997.
[9] A. Damiano, G. Gatto, I. Marongiu, ”A Sliding Mode Control Technique for Direct Speed Control of Induction Motor Drives,” IEEE 31st Annual on PESC ,Vol. 3, 2000, pp.1106-1111.
[10] T.C. Chen, J.U. Hsu, “A Fuzzy Sliding Mode Controller for Induction Motor Position Control,” International Conference on Industrial Electronics, Control and Instrumentation, 1994, pp.44 -49.
[11] T. Lubin, E. Mendes, C. Marchand, “Fuzzy Controller in AC Servo Motor Drive,” Seventh International Conference on Electrical Machines and Drives, 1995, pp. 320-324.
[12] 王文俊, 認識Fuzzy, 全華科技圖書股份有限公司, 1997.
[13] 孫宗瀛, 楊英魁, Fuzzy控制理論、實作與應用, 全華科技圖書股份有限公司, 1997.
[14] L. Zheng, “A Practical Guide to Tune of Proportional and Integral(PI) Like Fuzzy Controllers,” IEEE International Conference on Fuzzy Systems, 1992, pp. 633-640.
[15] M. Golob, B. Tovornik, “Identification of Non-Linear Dynamic Systems with Decomposed Fuzzy Models,” IEEE International Conference, Vol. 5, Oct. 2000, pp. 3520–3525.
[16] W. Hongwei, H. Hangen, H. Kedi, “A Method of Fuzzy Modeling for Non-Linear Systems,” Proceedings of the 3rd World Congress on Intelligent Control and Automation, 2000, pp.2163–2166.
[17] K. Kouzi, L. Mokrani, M.-S. Nait-Said, ”A New Design of Fuzzy Logic Controller with Fuzzy Adapted Gains Based on Indirect Vector Control for Induction Motor Drive,” Proceedings of the 35th Southeastern Symposium on System Theory, March 2003, pp.362-366.
[18] A. Kaletsanos, S. H. Xepapas, S. N. Manias, ”A Novel Sliding Mode Fuzzy Logic Control Technique for Induction Motor Drive Systems,” IEEE 32nd Annual on PESC, Vol. 2, June 2001, pp.1209-1214.
[19] F. Barrero, A. Gonzalez, A. Torralba, E. Galvan, L. G. Franquelo, ”Speed Control of Induction Motors Using a Novel Fuzzy Sliding-Mode Structure,” IEEE Transactions on Fuzzy Systems, 10(3 ), June 2002, pp.375-383.
[20] 林信成, 模糊滑動模式控制器設計, 碩士學位論文, 大同工學院, 1992.
[21] 徐正煜, 模糊滑動模式控制器之研究及於感應電動機位置控制之應用, 碩士學位論文, 國立成功大學, 1994.
[22] 簡御偉, 應用模糊-滑動平面整合閥控液壓缸系統伺服控制與負載感測控制之研究, 碩士學位論文, 台灣科技大學, 2001.
[23] 莊峰誌, 船載衛星天線平台之模糊控制器與模糊滑動模式控制器設計, 碩士學位論文, 中原大學, 2001.
[24] 張冠文, 模糊推論積分型滑動模式之小腦模型控制器設計, 碩士學位論文, 臺灣師範大學, 2002.
[25] 洪欽銘, 張冠文, 賴玉彬, 模糊推論之全狀態變數積分型滑動模式控制器設計, 2002中華民國自動控研討會.
[26] 王順源, 廖東成, 電動機控制, 臺灣培生教育出版, 2002年, 5月.
[27] 劉昌煥, 交流電機控制, 東華書局, 2001年, 9月.
[28] G.. C. Hwang and S. C. Lin, “A Stability Approach to Fuzzy Control Design for Nonlinear Systems”, Fuzzy Sets and Systems 48(1992), pp.279-287.
[29] G.. C. Hwang, A. P. Wang and S. C. Lin, “Application of Fuzzy Sliding Mode Control to Pneumatic Servo Systems”, Proc. Natl. Sci. Counc. ROC(A), Vol.16, 1992, pp.340-346.
[30] L.A. Zadeh, “Fuzzy Sets,” Information and Control, Vol. 8,1965, pp. 338-353.
[31] E.H. Mamdani, “Application of Fuzzy Logic to Approximate Reasoning Using Linguistic Synthesis,” IEEE Transactions on Computers, C-26(28), 1977, pp. 1182-1191.
[32] P.M. Larsen, “Industrial Application of Fuzzy Logic Control,” Int. J. Man, Mach, Studies, 12(1), 1980, pp.3-10.
[33] Y. Tsukamoto, “An Approach to Fuzzy reasoning Method,” Advance in Fuzzy Set Theory and Applications, North-Holland, 1979, pp.137-149.
[34] C.C. Lee, “Fuzzy Logic in Control systems: Fuzzy Logic Controller. Part I & Part II,” IEEE Transactions on Systems, Man and Cybernetics, 20(2), March-April 1990, pp.404-435.
[35] S. Kawaji, N. Hatsunaga, “Generation of Fuzzy Rules for Servomotor,” Proceedings of the IEEE International Workshop on Intelligent Motion Control, August 1990, pp.77-82.
[36] H.A.F. Mohamed, W.P.Hew, ”A fuzzy logic vector control of induction motor,” Proceedings TENCON, 2000, pp.324 -328
[37] 蒙以正, MATLAB 5專業設計技巧, 碁峰資訊股份有限公司, 2001.
[38] G. Klir and B. Yuan, Fuzzy Set and Fuzzy Logic Theory and Applications, Prentice-Hall, 1995, pp.44-49.
[39] The MathWorks, Inc., MATLAB Function Reference, Version 5, January 1999.
[40] The MathWork, Inc., Using Simulink, Version 3, January 1999.
[41] 鄭聖傳, 向量控制式感應電動機三種速度控制器特性之研究與比較, 碩士學位論文, 國立高雄應用科技大學, 2003.
[42] 王偉修, 劉昌煥, PC-Based馬達控制器即時發展系統 Simu-Drive, 微鋒自動科技公司, 1998.