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研究生:張富鈞
研究生(外文):Fu-Chun Chang
論文名稱:線性馬達驅動系統之研製
論文名稱(外文):Development of the Linear Motor Drive System
指導教授:吳穎強
指導教授(外文):Ying-Chiang Wu
學位類別:碩士
校院名稱:逢甲大學
系所名稱:自動控制工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2001
畢業學年度:89
語文別:中文
論文頁數:91
中文關鍵詞:線性馬達可變結構控制器滑動模態馬達驅動器
外文關鍵詞:linear motorVariable Structure System controllerSliding ModeMotor Driver
相關次數:
  • 被引用被引用:23
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  • 下載下載:222
  • 收藏至我的研究室書目清單書目收藏:0
在線性驅動的應用上,線性馬達雖具有高加減速能力、低磨損以及優於傳統滾珠導螺桿等特點,但應用設計和驅動技術方面皆不如傳統旋轉馬達廣泛成熟,隨著微電腦計算速度的增加及電力電子技術的成熟,線性馬達驅動系統的改進以及控制器的設計仍然值得研究。
本文建立一線性直流無刷馬達(LBDCM)驅動系統,包括驅動電路及控制器,首先,建構一線性直流無刷馬達驅動平台,並設計一電流控制電壓源PWM變頻之驅動器,包括了電流迴圈PWM產生電路、防止每相功率電晶體同時導通的保護電路,並以光學尺和霍爾元件訊號搭配來偵測線性馬達動部相對於定部的位置和磁極,依動部的位置產生與馬達反電動勢同步的電流命令輸出,使電流命令在動部線圈所產生的磁場與定部永久磁鐵磁場保持垂直以產生最大力矩。
在控制器之設計與分析上,先藉由實驗的方式求得線性直流無刷馬達的系統模型,由於馬達在運轉時通常都會有許多未知的干擾,如摩擦力、負載變化等,因此我們採用可變結構控制器(Variable Structure System controller)進行控制,當系統進入滑動模式後,即不再受參數及外界干擾的影響,使系統具有強健性及有效性。由模擬與實驗結果都證實此控制器比傳統PID控制器具有更佳的性能。
Linear motors give mechanical devices high dynamic speeds and accelerations, high accuracy position and exceptionally smooth motion in linear motion driving application. But the design and driving skills are not as popular as that for traditional rotary motors. With the development of the microcomputer and power electrical industry, the design of the linear motor driver and controller system is still some key issues being worthy of further improvement.
The purpose of this paper is to implement a linear brushless DC motor (LBDCM) driving system, including drive circuits and controller. First, we established a single axis position stage. Then a current-controlled voltage source PWM inverter,including a current-controlled PWM signal generating circuit and a lock-out circuit is properly designed. In order to obtain the information of moving member position, a linear encoder and Hall-effect sensor signals are employed. Finally, the current command is kept in synchronization with the back electromotive forces. In this way, the correct current command is generated to make the primary moving magnetic field in perpendicular to the secondary flux and produce the maximum force.
In this paper, the practical realization of a sliding mode controller based on variable structure systems is applied. The dynamic modeling of the LBDCM system is obtained by estimation from measurement. When the sliding mode occurs, the system will be forced to slide along or near the vicinity of the switching surface. The system became robust and insensitive to the disturbances and variations during the task. Simulation and experimental results demonstrate that the control method has more robust and the valid than a PID control.
誌謝i
中文摘要ii
Abstractiii
目 錄iv
圖目錄vi
表目錄x
第一章 緒論 1
1.1 前言1
1.2 文獻回顧 1
1.3 研究動機 3
1.4 系統架構 3
第二章 線性馬達之特性及數學模型之推導 8
2.1 線性馬達簡介 8
2.2 線性直流無刷馬達 10
2.3 LBDCM 數學模式之推導 14
2.4 系統鑑別 20
2.4.1 電流迴路系統鑑別與PI控制器設計21
2.4.2 速度迴路系統鑑別與PI控制器設計23
第三章 線性直流無刷馬達驅動器之研製30
3.1 簡介30
3.2 LBDCM驅動系統架構圖 30
3.3 變頻器產生正旋PWM動作之原理 33
3.4 馬達動部位置量測之方法 37
3.5 電流控制PWM VSI電路設計 38
4.1 控制器簡介 52
4.2 前濾波步階PID控制器之設計 52
4.3 前濾波斜坡PID控制器之設計 62
4.4 軌跡規劃 63
第五章 可變結構定位控制器之設計 67
5.1 滑動模態設計原理 67
5.2 迫近條件與順滑條件 69
5.3 可變結構控制器推導與設計 72
5.4 穩定度討論 76
5.5 模擬與實驗結果討論 77
5.6 PID與可變結構位置控制器之比較 77
第六章 結論 88
參考文獻 89
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