臺灣博碩士論文加值系統

本論文之主旨為發展以FPGA(Field Programmable Gate Array)為基礎之強健性放射狀基底函數網路控制線型感應馬達驅動系統。本文亦使用結合步階迴歸控制與放射狀基底函數網路之適應性步階迴歸控制器，以克服馬達運動控制中所出現包含摩擦力之不確定項。首先推導出間接磁場導向線型感應馬達的動態模型，並利用FPGA發展模組、D/A轉換器、三角波比較電流控制之驅動電路以及IGBT功率模組，完成以FPGA控制之線型感應馬達驅動系統，再設計強健性放射狀基底函數網路控制器。然而在實際應用上，總集不確定項之值是很難事先得知的，因此提出結合步階迴歸控制與放射狀基底函數網路來估測總集不確定項之適應性步階迴歸控制器，以使馬達達到良好的追隨響應與強健性。最後由模擬與實作結果驗證之。

The purpose of the thesis is to develop a field programmable gate array (FPGA)-based robust radial basis function network (RBFN) control for linear induction motor drive. An adaptive backstepping control system with RBFN observer is also adopted to confront the uncertainties including the friction force in this thesis. First, the dynamic model of an indirect field-oriented LIM drive is derived. Next, an FPGA-based LIM drive system, which consists of FPGA development board, D/A converters, a ramp comparison current-controlled PWM, and IGBT inverter, is implemented. Then, a robust RBFN controller is designed. However, the lumped uncertainty is difficult to obtain in advance in practical applications. Therefore, an adaptive backstepping control system with RBFN observer is derived to adapt the value of the lumped uncertainty in real time, and it is designed to make the LIM drive possessing the advantages of good transient control performance and robustness. Finally, the effectiveness can be verified using the simulated and the experimental results.

中文摘要 I
英文摘要 II
目錄 III
圖目錄 VI
表目錄 XI
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻整理 4
1.3 論文大綱 7
第二章 線型感應馬達與其驅動系統電路 9
2.1 簡介 9
2.2 線型感應馬達結構介紹 9
2.3 線型感應馬達之驅動系統 11
2.3.1 電流感測電路 11
2.3.2 三角波比較電流控制電路 13
2.3.3 IGBT互鎖與觸發電路 16
2.3.4 IGBT模組 19
2.3.5 過電流保護電路 20
2.3.6 完整驅動控制電路圖 22
2.4 馬達編碼器介面電路 22
2.5 D/A介面電路 22
2.6 線型感應馬達控制與驅動系統之實體圖 26
第三章 以FPGA為基礎之線型感應馬達控制晶片 29
3.1 簡介 29
3.2 FPGA內部結構 31
3.2.1 Configurable Logic Block 34
3.2.2 Block SelectRAM 35
3.2.3 Multiplier 36
3.2.4 Digital Clock Management 37
3.2.5 Routing Resource 38
3.3 線型感應馬達間接磁場導向控制 38
3.4 FPGA控制晶片其設計架構 44
3.4.1 位置與速度編碼器 45
3.4.2 命令產生器 47
3.4.3 間接磁場導向控制模組 47
3.4.4 資料與D/A控制器 50
3.4.5 控制器模組 54
3.5 數值系統 55
第四章 以FPGA設計強健性放射狀基底函數網路控制器 56
4.1 簡介 56
4.2 強健性放射狀基底函數網路控制法則 56
4.3 強健性放射狀基底函數網路控制器之實現 64
4.4 模擬結果 72
4.4 實測結果 77
第五章 以FPGA設計放射狀基底函數之適應性步階迴歸控制器 87
5.1 簡介 87
5.2 放射狀基底函數之適應性步階迴歸控制法則 87
5.3 放射狀基底函數之適應性步階迴歸控制器之實現 95
5.4 模擬結果 102
5.5 實測結果 108
第六章 結論與未來的研究方向 114
參考文獻 116
作者簡歷 121

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