將滑動模態 (sliding mode)理論應用於感應馬達之轉速控制，在系統到達順滑面 (sliding surface) 後，對於參數的變動具有強健性的優點。然而，在未達順滑面之前或系統受負載變動而偏離滑動面時，系統對於雜訊干擾會很靈敏，以致使得響應較差。為了改善系統的追蹤 (tracking) 能力及 對增加負載變動的強健性 (robust)。因此，本論文提出將滑動模態控制器結合倒傳遞類神經網路 (back-propagation algorithm) 之控制器。
本論文中的控制力除了滑動模態控制器所產生之等效控制力 (equivalent control, )及切換控制力 (switching control, ) ，另外再加上倒傳遞類神經網路控制器所產生之控制力 ( )。在類神經網路控制器之輸入上，利用順滑函數 (sliding equation) 使得系統能儘速到達順滑面以提升系統之強健性。再者，利用轉速誤差來增加系統的追蹤能力。並且，利用等效控制力及類神經網路控制力來修正控制力設計上的誤差。
理論實現方面是以 DSP 320C32 具浮點算功能之 32 位元數位訊號微處理機來作為感應電動機速度控制器與間接磁場導向控制器之軟體設計。硬體部分是以 110 伏持之市電源、轉換器 (converter)電路、換流器 (inverter) 電路、電流量測電路、軸轉換電路、 脈衝寬度調電路 (PWM) 、智慧型電力模組之控制與保護電路作為電子電路之設計。
由模擬及實驗的結果顯示，本論文所提之控制架構，不論在速度及負載變動上都有較佳的響應，此結果驗證了本論文所提的控制架構之可行性。

This is a comprehensive usage using sliding mode in speed control of the induction motor. The output has parameter robustness when the system reaches the sliding surface. However, the system is sensitive beyond the sliding surface or load variation. To improve the tracking and load variation robustness, a sliding mode controller with a back-propagation algorithm is presented in this thesis.
The control forces presented in this thesis combine the control forces from the sliding mode controller, equivalent control ( ) and switching control ( ), and the control forces from a back-propagation algorithm controller. In the back-propagation algorithm controller, the inputs are a sliding equation to allow the system to sliding quickly and have robustness. To enhance the tracking property, equilibrium control force and the control force from the back-propagation algorithm are used to revise the control force error.
The proposed control scheme and the indirect field-oriented control were implemented using a 32-bits TMS320C32 microprocessor. The induction motor drive, consisting of the converter, the inverter, the current measuring circuit, the sin/cos generator circuit, the coordinated translator circuit and the current comparator circuit, was implemented using an electronic circuit.
Simulations and experimental results demonstrated that the proposed control scheme has good tracking and load variation robustness.

摘要……………………………………………………………..I
誌謝…………………………………………………………...III
目錄…………………………………………………………...IV
表索引………………………………………………………...VI
圖索引………………………………………………………..VII
符號…………………………………………………………XVI
第一章 緒論……………………………………………………1
1-1 研究動機……………………………………………………..1
1-2 本文大綱……………………………………………………..3
第二章 感應馬達數學模式及控制方法………………………4
2-1 感應馬達數學模式…………………………………………...4
2-2 間接磁場導向控制法………………………………………...6
2-3 軸轉換………………………………………………………...7
2-4 脈波寬度調變………………………………………………...8
第三章 滑動模態控制器…………………………………………..10
3-1 順滑模態原理…………………………………………….…10
3-2 等效控制力原理…………………………………………….12
3-3 順滑模態控制器之設計…………………………………….16
第四章 倒傳遞類經網路控制器…………………………………21
4-1 倒傳遞類神經網路的架構………………………………….22
4-2 切換控制力 之修正及穩定度證明……………………23
4-3 類神經網路之運算………………………………………….26
第五章 模擬結果……………………………………………………32
5-1 馬達參數規格及實驗項目………………………………….32
5-2 感應馬達轉速控制之計算機模擬………………………….33
第六章 控制系統之實現…………………………………………..52
6-1 實驗系統之架構……………………………………………..52
6-2 硬體設備與控制系統各部分電路說明……………………..54
6-2-1 DSP PC/C32 系統控制板……………………………..54
6-2-2 AD/DA 與轉速量測介面卡…………………………..58
6-2-3 控制驅動及電路………………………………………67
6-2-4 功率驅動級電路………………………………………71
6-2-5 IPM 電力模組控制、啟動、停止與短路防止電路……75
6-2-6 三相電流量測電路……………………………………80
6-2-7 直流電源供應系統……………………………………82
6-3 軟體發展工具與控制程式…………………………………..84
6-3-1 軟體發展工具…………………………………………84
6-3-2 控制程式流程…………………………………………86
第七章 實驗結果與討論…………………………………………..89
第八章 結論與未來展望………………………………….……...120
參考文獻………………………………………….………………….122
簡歷…………………………………………………………………...125

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