臺灣博碩士論文加值系統

本論文開發一以變頻供電線型交流馬達驅動及磁浮支撐之精密定位系統。此磁浮定位系統由各組成元件適當地搭配構成，其中雙側式線型永磁同步馬達由所提磁滯電流控制脈寬調制變頻器供電，並根據移動子之位置進行切換控制，以得良好之電磁推力產生特性。磁浮定位系統之動態模式在控制器之分析與設計上是不可或缺的，然精確之動態模式不易由推導獲得，因此本文將採由量測從事動態模式之估測。
一個變頻供電機電系統之驅動特性深受其內迴路電流切換控制性能之影響。磁滯脈寬調制技術具有架構簡單及操控強健等特點，而廣泛地應用於馬達之速度驅動系統。然而其輸出諧波之頻譜分佈特性變動大，而且當電流命令變小時其固定磁滯寬帶相對地變大，使得它不適用於位置伺服驅動。本文主要目的之一在於從事提昇磁滯脈寬調制機構於伺服驅動控制應用之能力。所提方法主要係即時調變磁滯寬帶使其輸出諧波頻譜固定地或散化式地分佈。所開發之電流控制技術先在單相電動振動機上測試其可行性及效能，再將其延伸設計三相電流控制變頻器並應用至所建之磁浮定位系統。模擬與實測結果均顯示在電流追蹤控制、諧波頻譜分佈和定位控制上，所提即時調變磁滯寬帶之脈寬調制技術具有優越之控制性能。
在定位控制器之設計上，為了使定位系統同時具有所欲之命令追蹤和負載調節控制需求，本文提出了一種結合H_inf回授控制、命令前向控制和模式跟隨控制之雙可調度控制技術。首先，採用H_inf迴路整型步驟設計回授控制器，其設計著重於抑制外擾和不確定性因素之影響，並確保閉迴路之穩定性。然後再輔加一個命令前向控制器以構成雙可調度控制架構，藉由前向控制器適當地修飾輸入命令，使所指定之命令追蹤控制性能也可以獨立地被滿足。當操作條件和參數變動時，再採用一個模式跟隨控制器來改善控制性能之劣化，使系統在擾動下仍可保有所預定之控制性能。

A single-stage magnetic suspended positioning stage directly driven by an inverter-fed linear ac motor with precision positioning capability is developed in this dissertation. The magnetic suspension positioning system is established with all constituted parts being properly matched and constructed. In the propulsion system, the double-sided linear permanent magnet synchronous motor (LPMSM) is adopted. The LPMSM is powered by a hysteresis current-controlled PWM inverter with commutation according to the moving member position information. The dynamic model is indispensable for controller design, but it is not easy to obtain accurately from physical derivation. Hence, the estimation approach is employed as an alternative to obtain the estimated one from measurements.
As generally recognized, the driving performance of an inverter-fed electromechanical system is significantly affected by the current switching control performance of its current-controlled PWM scheme, which forms the innermost loop of the multi-loop control system. Owing to its simplicity and robustness, the hysteresis PWM scheme has been widely employed in motor speed driving control. However, it is rarely used for position servo drive, since it possesses varying output harmonic spectrum, and the fixed current error bound becomes comparatively larger as the motor current becomes smaller. In this dissertation, the studies about the promotion of hysteresis PWM inverter for servo application are made. In the proposed control approaches, the error band of hysteresis PWM inverter is tuned to yield the desired constant and random harmonic spectrum distribution characteristics. Effectiveness of the developed control approaches is first tested in a single-phase electrodynamic shaker system. Then the designed three-phase inverter is used to power the magnetic suspension positioning system. Simulated and measured results show that better performances in current tracking control, harmonic spectrum distribution characteristics and position control can be achieved by the proposed varying-band hysteresis current-controlled PWM schemes.
As to the positioning control, in order to obtain the desired robust command tracking and load regulation control requirements simultaneously, a two-degrees-of-freedom (2DOF) control scheme combining the H_inf feedback control, the command feedforward control and the model following control is developed. The loop shaping H_inf design procedure is employed to find the feedback controller, which is emphasized in obtaining the desired disturbance and uncertainty rejection control requirements and the guarantee of closed-loop stability. Then, the H_inf feedback controller is augmented with a command feedforward controller to form the 2DOF control structure. Through properly shaping the command by the feedforward controller, the prescribed command tracking control performance can then be independently satisfied. As the operating condition and parameter changes occurred, a model following tracking error driven control is further employed to improve the control performance degradation. It follows that the prescribed control requirements at nominal case still can be preserved for the disturbed cases.

封面
摘要
誌謝
內容
第一章、簡介
第二章、磁浮定位系統架構與建模
第三章、磁滯寬帶可調式磁滯電流控制脈寬調制變頻器
第四章、電流控制脈寬調制變頻器供電之線型交流馬達
第五章、具模式跟隨響應之磁浮定位系統雙可調度H 位置控制器
第六章、結語
附錄、論文英文本
ABSTRACT
ACKNOWLEDGMENTS
CONTENTS
LIST OF TABLES
LIST OF FIGURES
LIST OF SYMBOLS
CHAPTER 1 INTRODUCTION]
1.1 Motivation
1.2 Literature Survey
1.3 Contributions and Organizations
CHAPTER 2 CONFIGURATION AND MODELING OF THE MAGNETIC SUSPENSION POSITIONING SYSTEM
2.1 Introduction
2.2 System configuration
2.3 Physical Modeling
2.3.1 Inverter-fed linear motor drive
2.3.2 Positioning stage
2.4 Dynamic Model Estimation from Measurements
CHAPTER 3 HYSTERESIS CURRENT-CONTROLLED PWM INVERTER WITH VARYING BAND
3.1 Introduction
3.2 Switchng Characteristics of the Conventional Hysteresis PWM Inverter
3.3 The Proposed Robust Constant Swithcing Frequency Hysteresis PWM Scheme
3.3.1 The proposed hysteresis PWM scheme
3.3.2 The proposed robust constant switching frequency controller
3.3.3 Simulated and measured results
3.4 The Proposed Robust Random Hysteresis PWM Scheme
3.4.1 Design of random hysteresis PWM scheme
3.4.2 The proposed robust spectrum shaping approach
3.4.3 Simulated and measured results
CHAPTER 4 LINEAR AC MOTOR FED BY CURRENT-CONTROLLED PWM INVERTER
4.1 Introduction
4.2 Ramp-Comparison Current-Controlled PWM Inverter
4.2.1 Current command generatng scheme
4.2.2 Ramp-compariso PWM switching scheme
4.2.3 Simulated and measured results
4.3 Constant Harmonic Frequency Hysteresis current-Controlled PWM Inverter
4.3.1 Basic analysis for conventional hysteresis PWM inverter
4.3.2 The proposed robust constant harmonic frequency control approach
4.3.3 Quantitatvie design of the proposed robust hysteresis PWM scheme
4.3.4 Simulated and measured result
4.4 Random Hysteresis current-Controlled PWM Inverter
4.4.1 the proposed random switching hysteresis PWM inverter
4.4.2 The proposed robust harmonic spectrum shaping approach
4.4.3 Simulated and measured results
CHAPTER 5 2DOF H POSITION CONTROLLER WITH MODEL REFERENCE RESPONSE FOR THE MAGNETIC SUSPENSION POSITIONING SYSTEM
5.1 Introduction
5.2 Configuration of the Proposed Position Control Scheme
5.3 Design of H Feedback Controller via Loop Shaping Technique
5.3.1 Loop shaping design method
5.3.2 H controller synthesis based on J-spectral factor ization
5.3.3 The proposed feedback controller design
5.4 Design of Command Feedforward Controller
5.4.1 Model reduction
5.4.2 Command feedforward controller design
5.5 Design of Model following Controller
5.6 Simulated and Measured Results
CHAPTER 6 CONCLUSIONS
REFERENCES
BIOGRAPHICAL NOTE

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