臺灣博碩士論文加值系統

本論文利用Matlab/Simulink設計適應控制器以進行感應馬達的位置控制，在同步旋轉座標系統下且假設馬達的電氣參數為已知，則不需要轉子磁通估測器，即可分析感應馬達具有耗散性，且當轉子磁通誤差收斂至零時，感應馬達就如同是分激式直流馬達，可簡化位置控制器之設計。此外，所設計的適應法則可以估測感應馬達的轉動慣量、黏滯摩擦係數與負載轉矩，實驗的結果與PI控制器做比較，顯示適應位置控制器有較佳的位置追蹤能力，且對於系統機械參數變化與外部干擾有強健性，故本文所提出之控制法是有效與可行的，且可以證明整體位置控制系統為全域穩定。

This thesis uses Matlab/Simulink to design the adaptive controller and control the position of an induction motor. Assuming the electrical parameters of the motor are known and in the synchronously rotating reference frame, there is no need a flux observer to estimate the rotor flux. Then, the induction motor can be analyzed to have the passivity property. When the flux tracking error converges to zero, the dynamics of the induction motor is rather similar to that of a separately excited DC motor, and control effort can be reduced. Furthermore, the adaptive law can estimate the moment of inertia, viscous friction coefficient, and load torque. We make a comparison between the adaptive controller and the PI controller for the output responses. Experimental results are provided to show that good position tracking can be obtained by employing the adaptive controller which is robust to the variations of the mechanical parameters and external disturbances. Therefore, the proposed method is verified to be effective and feasible. Finally, the overall position control system is proven to be globally stable.

摘要...i
Abstract...ii
誌謝...iii
表目錄... v
圖目錄... vi
第一章 緒論...1
1.1 研究背景與動機...1
1.2 相關文獻回顧...2
1.3 研究目的與大綱...3
第二章 感應馬達之數學模型...4
2.1 簡介...4
2.2 感應馬達之動態數學模型...4
2.3 座標軸轉換...7
2.4 磁場導向概念...13
第三章 感應馬達之位置控制器設計...15
3.1 簡介...15
3.2適應位置控制器設計...16
第四章 適應位置控制系統方塊圖之設計...22
4.1 簡介...22
4.2 以Ｍatlab/Simulink建構位置控制系統之方塊圖...22
第五章 實驗與結論...33
5.1 實驗硬體架構...33
5.2 實驗結果...36
5.3 結論和未來展望...48
參考文獻...49
Extended Abstract
簡 歷

[1]劉昌煥，「交流電機控制」，東華書局，中華民國94年9月。
[2]F. Blaschke, “The Principle of Field Orientation Applies to The New Transvector Closed- loop Control System for Rotating Field Machines,” Siemens Review, Vol. 39, No.5, pp. 217-220, 1972.
[3]C. Y. Chen, F. Hsieh, S. H. Yu and M. H. Cheng, “Adaptive Position Control of Integrated Linear Actuator and Flexure Mechanism,” Proceedings of IEEE Conference on Industrial Electronices, pp. 2492-2496, 2009.
[4]J. Lau and M. N. Uddin, “Nonlinear Adaptive Position Control of an Interior Permanent Magnet Synchronous Motor,” Proceedings of IEEE International Conference on Electric and Drives, pp. 688-695, 2005.
[5]B. Wang, C. Zhang and L. Jia, “Study of Fuzzy Logic Based Adaptive Position Control Used for AC Servo System,” Proceedings of the Sixth World Congress on Intelligent and Automation, Vol. 2, pp. 8132-8135, 2006.
[6]H. Song, Y. Y. Qu, D. J. Liu and Z. X. Zhou, “Position Control System of AC-PMSM Based on Self Adaptive Inverse Control System,” Proceedings of IEEE Conference on Control and Decision, pp. 5354-5358, 2009.
[7]T. H. Liu, H. T. Pu and C. K. Lin, “Implementation of an Adaptive Position Control System of a Permanent-Magnet Synchronous Motor and Its Application,” IEEE Transactions on Electric Power Applications, Vol. 4, No. 2, pp. 121-130, 2009.
[8]J. L. Shi, T. H. Liu and Y. C. Chang, “Adaptive Controller Design for a Sensorless IPMSM Position Control System,” Proceedings of IEEE Conference on Industrial Electronics, pp. 1326-1331, 2006.
[9]H. A. Mintsa, J. P. Kenne and R. Venugopal, “Adaptive Control of an Electrohydraulic Position Servo System,” Proceedings of AFRICON, pp. 1-6, 2009.
[10]B. K. Bose, Modern Power Electronics and AC Drives, Prentice-Hall, New York, U.S.A., 2002.
[11]S. Chapman, Electric Machinery Fundamentals, Fourth Edition, McGraw Hill, New York, U.S.A., 2005.
[12]曾憲鈺，「感應馬達參數自動量測與轉子時間常數線上調適」，台灣科技大學，電機工程學系，碩士論文，中華民國88年。
[13]P. C. Krause, Analysis of Electric Machinery, McGraw-Hill, New York, 1987.
[14]B. K. Bose, Power Electronics and AC Drives, Prentice-Hall, New Jersey, 1986.
[15]D. W. Novotny and T. A. Lipo, Vector Control and Dynamics of AC Drives, Clarendon Press, Oxford, New York, 1996.
[16]王俊傑，「感應馬達之複合型適應伺服控制器之研究」，台灣科技大學，電機工程學系，博士論文，中華民國86年。
[17]L. U. Gokdere and A. Simaan, “A Passivity-Based Method for Induction Motor Control,” IEEE Transactions on Industrial Electronics, Vol. 44, No. 5, pp. 688-695, 1997.
[18]C. I. Byrnes, A. Isidori and J. C. Willems, “Passivity, Feedback Equivalence, and the Global Stabilization of Minimum Phase Nonlinear Systems,” IEEE Transactions on Automatic Control, Vol. 36, No. 11, pp. 1228-1240, 1991.
[19]H. K. Khalil, Nonlinear Systems, Prentice-Hall, New Jersey, 1996.
[20]W. J. Wang and C. C. Wang, “Composite Adaptive Position Controller for Induction Motor Using Feedback Linearisation,” IEE Proc. Control Theory Appl., Vol. 145, No. 1, pp. 25-32, 1998.
[21]C. A. Desoer and M. Vidyasagar, Feedback System: Input-Output Properties, Academic Press, New York , 1975.
[22]J.-J. E. Slotine and W. Li, Applied Nonlinear Control, Prentice-Hall, New Jersey, 1991.