臺灣博碩士論文加值系統

在本論文中，提出一個具有磁通量估測器之加強式模糊滑動控制器系統以用於實現線性感應馬達之位置追蹤控制。首先，介紹線性感應馬達的動態模型，並將端點效應及摩擦力考慮進以估測器為基礎之補償設計中，以用於克服時變之不確定因素。接著，介紹一個基於步階控制技術的滑動模式控制法，並將此控制器與兩個模糊邏輯控制器結合，用於改善線性感應馬達之效能。第一個呈現之模糊邏輯控制器為根據受控系統之狀態，使用模糊邏輯單元對滑動模式控制器中之滑動平面斜率進行動態調整。此外為了緩和對於總集不確定因素上界之需求，便提出第二個模糊邏輯控制器，藉由使用模糊推理機制估測出總集不確定因素之上界值。根據所提出之加強式模糊滑動控制器，線性感應馬達之動子即使在系統參數未知及具有不確定因素情況下，仍可於追蹤週期性參考軌跡時擁有良好之效能表現及強健性。並且，利用數種場景進行電腦模擬與實作，用以證明所提出控制器之有效性。

In this thesis, an enhanced fuzzy sliding mode control system (EFSMC) with a flux observer is proposed for a linear induction motor (LIM) to achieve the position tracking. First, the dynamic model of LIM is introduced, and the end effect and the friction force are also considered in the observer-based compensation design to cope with the time-varying uncertainties. Then, a sliding mode control (SMC) based on the backstepping control technique is presented. This controller is combined with two fuzzy logic controllers to improve the tracking performance of the LIM. The first fuzzy logic controller is proposed, through a dynamic tune of the sliding surface slope constant of the SMC according to the controlled system states by a fuzzy logic unit. To relax the need of the upper bound of the lumped uncertainties in the SMC, the second fuzzy logic controller is presented, in which the upper bound of the lumped uncertainties can be estimated by a fuzzy inference mechanism. With the proposed EFSMC, the mover of the LIM achieves the good performance and robustness in the tracking of periodic reference trajectories, even with unknown system parameters and/or uncertainties. Also, the computer simulations and experiments for several scenarios are conducted to demonstrate the effectiveness of the proposed controller design.

Abstract (In Chinese) i
Abstract ii
Acknowledge iii
Contents iv
List of Tables vi
List of Figures vii
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Schemes of Other Researchers 1
1.3 Main Task and Organization 4
Chapter 2 System Description 6
2.1 Introduction to Liner Induction Motors 6
2.2 Indirect Field-Oriented Control of the LIM Drive 8
2.2.1 Dynamic Model of the LIM Drive Considering End Effect 8
Chapter 3 Observer Design for Compensating the End Effect Phenomenon 13
3.1 Flux Observer Design 13
3.2 The Compensation Scheme for End Effect Phenomenon 16
Chapter 4 Enhanced Fuzzy Sliding Mode Control System 19
4.1 Sliding Mode Control 19
4.1.1 Sliding Mode Controller Design 19
4.2 Fuzzy Sliding Mode Control 23
4.2.1 Fuzzy Logic Control 24
4.2.2 Enhanced Fuzzy Sliding Mode Controller Design 26
4.2.2.1 The Fuzzy Inference Mechanism for Sliding Surface Slope 27
4.2.2.2 The Fuzzy Inference Mechanism for uncertainty boundary 29
Chapter 5 Simulation and Experimental Results 33
5.1 Introduction to Experiment Equipments 34
5.2 The Operation Principle for the LIM System 35
5.3 The Implementation of Control Algorithm in Simulink 36
5.4 Simulation Results 39
5.4.1 Sinusoidal Reference Signal Tracking 40
5.4.2 Triangular Reference Signal Tracking 45
5.4.3 Trapezoidal Reference Signal Tracking 50
5.5 Experimental Results 55
5.5.1 Sinusoidal Reference Signal Tracking 55
5.5.2 Triangular Reference Signal Tracking 60
5.5.3 Trapezoidal Reference Signal Tracking 65
Chapter 6 Conclusions and Future Works 70
6.1 Conclusions 70
6.2 Future Works 71
References 72

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