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)為基礎之適應性步階迴歸控制線型感應馬達驅動系統。本文使用結合適應性機制與步階迴歸控制器優點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。接著設計一比例-積分-微分計算轉矩控制器，然而其命令追隨效果並不是很好，因此又提出步階迴歸與步階迴歸順滑模態兩種控制器，其中此兩種控制器內包含不確定項，且不確定項的上限值必須事先得知。然而在實際應用上，不確定項上限值是很難事先得知的，因此提出適應性機制來估測不確定項上界值之適應性步階迴歸與適應性步階迴歸順滑模態兩種控制器，以使馬達達到良好的追隨響應與強健性。最後由實作結果驗證有適應性機制之步階迴歸控制器比沒有適應性機制之步階迴歸控制器有更好之追隨響應。

An FPGA-based adaptive backstepping controller, which combines both the merits of adaptive law and backstepping control, is proposed in this thesis to control the mover position of a linear induction motor (LIM) drive to compensate the uncertainties including the friction force. 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 proportional-intergral-derivative (PID) computed-torque controller is designed, but the tracking response is not good. Moreover, a backstepping controller and a backstepping sliding-mode controller are presented. The uncertainties are lumped and the upper bound of the lumped uncertainty is necessary in the design of the backstepping controller and the backstepping sliding-mode controller. However, the upper bound of the lumped uncertainty is difficult to obtain in advance in practical applications. Therefore, an adaptive law is derived to adapt the value of the lumped uncertainty in real time, and an adaptive backstepping controller and an adaptive backstepping sliding-mode controller are designed to make the LIM drive possessing the advantages of good transient control performance and robustness. Finally, one can verify that the adaptive backstepping control systems are better than the conventional backstepping control systems from the experimental tracking responses.

中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 XI
第一章 緒論 1
1.1 研究動機與目的 1
1.2 論文大綱 4
第二章 線型感應馬達和其驅動系統電路 6
2.1 簡介 6
2.2 線型感應馬達結構介紹 6
2.3 線型感應馬達之驅動系統 8
2.3.1 電流感測電路 8
2.3.2 三角波比較電流控制電路 10
2.3.3 IGBT互鎖與觸發電路 13
2.3.4 IGBT模組 16
2.3.5 過電流保護電路 17
2.3.6 完整驅動控制電路圖 19
2.4 馬達編碼器介面電路 19
2.5 D/A介面電路 19
2.6 線型感應馬達控制與驅動系統之實體圖 23
第三章 以FPGA為基礎之線型感應馬達控制晶片 26
3.1 簡介 26
3.2 FPGA內部結構 28
3.2.1 Configurable Logic Block 31
3.2.2 Block SelectRAM 32
3.2.3 Multiplier 33
3.2.4 Digital Clock Management 34
3.2.5 Routing Resource 35
3.3 線型感應馬達間接磁場導向控制 35
3.4 FPGA控制晶片其設計架構 41
3.4.1 位置與速度編碼器 41
3.4.2 命令產生器 44
3.4.3 間接磁場導向控制模組 44
3.4.4 資料與D/A控制器 47
3.4.5 控制器模組 51
第四章 以FPGA設計PID計算轉矩控制器 52
4.1 簡介 52
4.2 PID計算轉矩控制法則 52
4.3 PID計算轉矩控制器之實現 55
4.4 PID計算轉矩控制器實測結果 58
第五章 以FPGA設計適應性步階迴歸控制器 61
5.1 簡介 61
5.2 適應性步階迴歸控制法則 61
5.3 適應性步階迴歸控制器之實現 65
5.4 適應性步階迴歸控制器實測結果 68
第六章 以FPGA設計適應性步階迴歸順滑模態控制器 76
6.1 簡介 76
6.2 適應性步階迴歸順滑模態控制法則 76
6.3適應性步階迴歸順滑模態控制器之實現 81
6.4 適應性步階迴歸順滑模態控制器實測結果 85
第七章 結論與未來的研究方向 93
參考文獻 95
作者簡歷 99

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