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研究生:陳進益
研究生(外文):Jenn-Yih Chen
論文名稱:基於被動性之感應馬達位置控制與轉子電阻估測
論文名稱(外文):Passivity-Based Position Control and Rotor Resistance Estimation for an Induction Motor
指導教授:王文智
指導教授(外文):Wen-Jieh Wang
學位類別:博士
校院名稱:國立臺灣科技大學
系所名稱:電機工程系
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:2002
畢業學年度:90
語文別:中文
論文頁數:151
中文關鍵詞:被動性適應控制滑動模式控制感應馬達轉子電阻輸入輸出線性化轉子磁通估測器位置控制
外文關鍵詞:passivityadaptive controlsliding mode controlinduction motorrotor resistanceinput-output linearizationrotor flux observerposition control
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本論文提出基於被動性之適應控制器及滑動模式控制器,以進行感應馬達的位置控制。首先將三相感應馬達的數學模式,經由座標轉換關係推導出以同步旋轉座標為參考座標的數學模式,在假設感應馬達電氣參數為已知,且不需要轉子磁通估測器之條件下,依據被動性理論以分析感應馬達、適應控制器及滑動模式控制器的被動性。此外,我們亦設計一轉子電阻估測器及滑動模式控制器以分別估測感應馬達轉子電阻及進行位置控制,在轉子座標系統下,先利用輸入輸出線性化理論完成馬達轉角與轉子磁通大小的解耦合,以簡化控制器的設計,再使用一磁通估測器估測轉子磁通,且依據被動性理論以分析轉子電阻估測器結合磁通估測器及滑動模式控制器的被動性,並不需要定義Lyapunov函數即可驗證整體位置控制系統穩定性。
最後在個人電腦為控制主體的架構下,以C語言撰寫控制程式以實現不同控制法則並應用於600瓦的三相感應馬達定位控制系統。由實驗結果顯示,本論文所提出的複合型適應位置控制器相對於傳統適應位置控制器具有較佳的位置響應及較快的參數收斂速度;積分型或積分-比例型適應法則之滑動模式位置控制器則可大幅降低傳統滑動模式位置控制器中控制輸入的顫震現象,且具有優異的位置追蹤能力;結合轉子電阻估測器及積分型適應法則之滑動模式位置控制器,對於轉子電阻受操作溫度影響而變化時,亦可有效地估測轉子電阻及負載大小,且具有良好的定位控制響應。
This dissertation presents passivity-based adaptive control and sliding mode control schemes for the position control of an induction motor. First, the mathematical model of the induction motor in the synchronously rotating reference frame is derived from the three-phase circuit via the coordinate transformation. There is no need to design a rotor flux observer when the electrical parameters of the induction motor are known. The dynamics of the induction motor and the position controllers are analyzed to be passive by the passivity theorem. Furthermore, one can also design a rotor resistance observer and a sliding mode controller to estimate the rotor resistance and control the position of the induction motor. First, the input-output linearization theory is employed to decouple the rotor position and the flux amplitude in the rotor reference frame. Then, a flux observer is adopted to estimate the rotor flux. The passive properties of the rotor resistance observer with the flux observer and the sliding mode position controller are analyzed by the passivity theorem. The stability analysis of the overall position control system is carried out by using the passivity theorem instead of Lyapunov-type arguments.
Finally, the C language is used to implement the proposed control algorithm on a PC-based controller, and applied to a three-phase induction motor for the position control purpose. Experimental results are provided to show good position response and fast convergent speed of the estimated parameters for the composite adaptive controller. The proposed sliding mode position controller with an adaptive law is valid for eliminating the chattering effects associated with a conventional sliding mode position controller. When the rotor resistance is varied with the temperature, the proposed rotor resistance observer with a sliding mode controller are effective in estimating the rotor resistance, load torque disturbances and tracking the rotor position.
中文摘要..………………………………………………………………………………….. I
英文摘要.…………………………………………………………………………………... ii
誌 謝..……………………………………………………………………………….… iii
目 錄…………………………………………………………………………………... iv
符號索引..………………………………………………………………………………… vii
圖表索引..…………………………………………………………………………………. x
第一章 緒論……………………………………………………………………………….. 1
1.1 研究動機……………………………………………………………………….… 1
1.2 相關文獻之回顧………………………………………………….……………… 3
1.3 研究目的及大綱…………………………………..…………….……………… 12
第二章 感應馬達之數學模式…………………………………………………………. 13
2.1 前言………………………………………………….………………………… 13
2.2 感應馬達之電氣方程式………………………………………………….…… 13
2.2.1 直接法………………………………………………….…………………. 13
2.2.2 兩軸法………………………………………………….…………………. 17
2.3 感應馬達之機械方程式………………………………………………….…… 21
2.4 被動性之感應馬達模式………………………………………………….…… 22
2.4.1 被動性理論…………………………………………….…………………. 22
2.4.2 同步旋轉座標系統之感應馬達模式……………………….……………24
第三章 適應位置控制器與穩定度分析……………………………..………….……… 27
3.1 前言…………………………………………….……………………………… 27
3.2 適應控制系統…………………………………………….…………………… 27
3.2.1 傳統適應位置控制器………………………………………….………… 28
3.2.2 複合型適應位置控制器……………………………………….………… 31
第四章 滑動模式位置控制器與穩定度分析..……………..………..………….……… 36
4.1 前言…………………………………………….……………………………… 36
4.2 滑動模式位置控制器…………………………………….…………………… 37
4.2.1 積分型適應法則之滑動模式位置控制器…………………….………… 37
4.2.2 積分-比例型適應法則之滑動模式位置控制器..…………….………… 40
第五章 轉子電阻估測器與滑動模式控制器..……………..………..………….……… 44
5.1 前言…………………………………………….……………………………… 44
5.2 輸入輸出線性化…………………………………….………………………… 44
5.3 轉子電阻估測器…………………….………………………………………… 46
5.4 積分型適應法則之滑動模式位置控制器…………………….……………… 49
第六章 感應馬達實驗系統與結果……………….…………………………………….. 53
6.1 前言…………………………………………….……………………………… 53
6.2 感應馬達定位控制實驗系統……………………………………….………… 53
6.2.1 感應馬達規格與參數……………………………………….…………… 54
6.2.2 整流濾波電路……………………………………….……………………. 54
6.2.3 電壓源變頻器……………………………………….……………………. 55
6.2.4 功率晶體模組……………………………………….……………………. 56
6.2.5 霍爾元件電流檢出……………………………………….……….……… 57
6.2.6 速度回授介面電路……………………………………….……………… 57
6.2.7 輸入/輸出介面卡……………………………………….………………… 57
6.3 實驗結果……………………………………….……………………………… 58
6.3.1 適應位置控制器…………………………………….…………………… 58
6.3.2 滑動模式位置控制器…………………….……………………………… 85
6.3.3轉子電阻估測器與滑動模式控制器..……………....………….………... 99
6.4 討論……………………………………….………………………………….. 128
第七章 結論及建議……………………………………….…………………………… 132
7.1 研究成果……………………………………….…………………………..… 132
7.2 未來發展方向……………………………………….……………………..… 133
參考文獻……………………………………….……………………………………….. 134
作者簡介……………………………………….……………………………………….. 148
授 權 書……………………………………….……………………………………….. 150
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