臺灣博碩士論文加值系統

滑動模式控制(Sliding Mode Control,簡稱SMC) 因為有對系統參數變化之強健性、良好的抗干擾能力及速度響應快等優點，近年來已經廣泛地運用在永磁同步馬達的控制系統中；但也因為控制條件不斷地切換，導致控制系統產生令人詬病的抖振現象(chattering)，嚴重時甚至可能會對系統造成硬體上的傷害。故本論文將使用模糊積分式滑動控制器的方法，適應性地調整控制增益值，使得系統狀態不僅可以快速到達滑動面並且改善到達滑動面後的抖振現象。
為了能夠控制永磁同步馬達的輸出轉矩，馬達電流閉迴路控制是不可或缺的。而具有快速響應的電流控制迴路且沒有穩態誤差，是電流控制設計的目標。一般常見的電流控制為先將三相座標軸透過座標轉換成d-q二軸後再進行控制，然而多了座標轉換的步驟，這也使得整體運算時間變長，不利於使用價格較低廉之微控制器來實現。為克服此一困難，故本論文直接在三相座標軸下使用模糊積分式滑動控制器來執行電流控制，不只省去座標轉換的步驟，其電流控制效果也令人滿意。

The Sliding Mode Control (SMC) has been widely adopted in control system of Permanent Magnet Synchronous Motors (PMSM) because of its robustness to change in system parameters, good disturbance rejection ability and fast velocity response. However, because the control condition is switched regularly, the chattering phenomenon occurs at the same time in which it may damage the hardware. Therefore, this thesis employs the fuzzy integral sliding mode control method to adaptively adjust the value of control gain so that the system state can not only reach the sliding surface quickly but also eliminate the chattering phenomenon.
In order to control the output torque of PMSM, the current control loop is indispensable. Generally, a rapid dynamic response without steady state error is the goal in current loop control design. Most current loop control approaches have to transform three-phase axis into d-q axis. However coordinate transformation will lead to a longer computation time, in which it is not suitable for implementing the current loop control using a cost effective microcontroller. In order to cope with this problem, this thesis uses the fuzzy integral sliding control to implement the current loop control of PMSM in three-phase axis. The proposed approach does not need coordinate transformation and its control performance is satisfactory.

摘 要......................................I
Abstract...................................II
目錄.......................................IV
表目錄....................................VII
圖目錄...................................VIII
符號表.....................................XV
第一章 緒論.................................1
1.1研究背景與動機...........................1
1.2研究目的與方法...........................2
1.3 文獻回顧................................3
1.4 章節概述................................4
第二章 永磁同步馬達之數學模型...............6
2.1永磁同步馬達數學模型的建立與推導.........6
2.1.1 三相靜止座標表示法....................6
2.1.2永磁同步馬達三相數學模式...............6
2.1.3 d-q軸旋轉座標表示法..................11
2.1.4 同步旋轉與靜止座標轉換...............12
2.2 永磁同步馬達之驅動方法.................16
2.2.1 正弦脈波寬調變(SPWM).................16
2.2.2 三相弦波電壓命令訊號.................17
第三章 模糊-滑動控制介紹...................20
3.1 滑動模式控制...........................20
3.1.1可變結構控制的由來....................20
3.1.2 滑動模式控制的介紹...................21
3.1.3 滑動模式控制的原理...................21
3.1.4 逼近條件與滑動條件...................24
3.1.5 等效控制.............................26
3.2 模糊控制...............................29
3.2.1 模糊控制的由來.......................29
3.2.2 模糊控制器原理.......................29
第四章 永磁同步馬達電流控制之設計..........38
4.1 永磁同步馬達之三相電流模糊滑動控制.....38
4.1.1 說明需要電流控制的原因...............38
4.1.2 三相模糊滑動電流控制的推導...........39
4.2永磁同步馬達之三相電流模糊積分式滑動控制46
4.2.1 積分式滑動控制.......................46
4.2.2 模糊積分式滑動電流控制的推導.........46
4.3 永磁同步馬達弦波電流控制之模擬與分析...48
第五章 實驗架構與實驗結果..................58
5.1 實驗硬體架構...........................58
5.1.1實驗所使用的永磁同步馬達..............58
5.1.2電源模組..............................60
5.1.3電流偵測電路..........................60
5.1.4 驅動控制電路.........................62
5.1.5 動力計量測平台.......................63
5.2軟體程式流程............................64
5.2.1 軟體執行流程.........................64
5.2.2軟體方塊流程圖........................65
5.3實驗結果與比較..........................69
第六章 結論與未來研究方向..................96
6.1 結論...................................96
6.2未來研究建議............................96
參考文獻...................................98

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