# 臺灣博碩士論文加值系統

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 本論文研究目的在於建立一個切換式磁阻馬達(SRM)之伺服控制系統，利用換流器的導通角調變方法，達成速度及位置控制。 為了模擬及實作方便起見，作者建立兩種切換式磁阻馬達系統的模型。一個是根據馬達的電流、電壓及轉矩之數學式所建立;另一模型乃是基於其開迴路響應，計算其上升時間及穩態速度，得到其近似之一階模型。 本文分別用了比例-積分控制法及可變結構控制法達成速度控制，並完成其穩定度分析。另外，利用內外迴路方法，建立一個位置控制系統，並完成其模擬。
 The aim of this thesis is to develop a servo system with speed and position control of switched reluctance motor (SRM) by modulating turn-on angle of converter circuit. Two models of SRM system were developed for simulation and experimentation. One is based on the mathematical descriptions of current, voltage and torque generated by the motor. The other was built as a first-order type by calculating the rise time and steady state speed of open loop response. Proportional-integral (PI) control and variable structure control (VSC) were used to implement speed control. Stability analysis is based on the model of SRM system. Position control system with inner and outer loop was built and simulated.
 Contents Chinese Abstract i English Abstract ii Acknowledgments iii Contents iv List of Figures viii Notations x Chapter 1: Introduction 1 1.1 Motivation 1 1.2 Literature Review 2 1.3 Goals of the Thesis 6 1.4 Organization of the Thesis 6 Chapter 2: Structure and Descriptions of SRM 8 2.1 Structure of SRM 8 2.2 Machine Topologies 9 2.3 Rotation Principle 12 2.4 Linearized Inductance 14 2.5 Mathematical Model of SRM 15 Chapter 3: DSP Application for SRM 19 3.1 TMS320F240 Overview 19 3.2 Even Manager Module (EV) 21 3.2.1 General-Purpose (GP) Timers 21 3.2.2 Asymmetric Waveform Generation 23 3.2.3 Output Logic 24 3.2.4 QEP-Based Clock Input 24 3.3 Dual 10-Bit Analog-to-Digital Converter (ADC) Module 25 Chapter 4: Hardware Configurations 26 4.1 Hardware System 26 4.2 Converter Circuit 26 4.3 Photo Isolation 27 4.4 Optical Encoder 29 Chapter 5: Control Strategies and Results 32 5.1 Commutation Events and Experimental Results 32 5.2 System Modeling and Results 32 5.2.1 System Model Based on Mathematical Descriptions of SRM 37 5.2.2 System Model Based on Measured Speed Response of SRM 39 5.3 Speed Control System with PI Controller 40 5.4 Speed Control System with Variable Structure Controller 44 5.5 Two-loop Control System 48 Chapter 6: Conclusions and Suggestions 52 References 54
 References[1] F. R. Salmasi, B. Fahimi, H. Gao, and M. Ehsani, “Robust sensorless rotor position detection in switched reluctance motors for low speed applications,” IEEE Transactions on Power Electronics, vol.16, no.8, pp.839-843, 2001.[2] R. M. Davis, “Variable reluctance rotor structures-their influence on torque production,” IEEE Transactions on Industrial Electronics, vol.39, no.2, pp.168-174, 1992.[3] H. C. Lovatt and J. M. Stephenson, “Influence of number of poles per phase I switched reluctance motors,” IEE Proceedings Electric Power Applications, vol. 139, no.4, pp. 307-314, 1992.[4] R. Robinovici, “Scaling of switched reluctance motors,” IEE Proceedings- Electric Power Applications, vol. 142, no 1, pp.1-4, 1995.[5] B. C. Mecrow, “New winding configurations for doubly salient reluctance machines,” IEEE Transactions on Industry Applications, vol. 32, no. 6, pp. 1348-1356, 1996.[6] A. C. Clothier and B. C. Mecrow, “Inverter topologies and current sensing methods for short pitched and fully pitched winding SR motors,” Darnell Group Inc. 2000.[7] C. Pollock and B. W. Williams, “A unipolar converter for a switched reluctance motor,” IEEE Transactions on Industry Applications, vol. 26, no. 2, pp. 222-228, 1990.[8] M. Ehsain, I. Husdin, K. R. Ramini and J. H. Galloway, “Dual-decay converter for switched reluctance motor drives in low-voltage applications,” IEEE Transactions on Power Electronics, vol. 8, no. 2, pp. 224-230, 1993.[9] R. Krishnan and P. N. Materu, “Design of a single-switched-per-phase converter for switched reluctance motor drives,” IEEE Transactions on Industrial Electronics, vol. 37, no. 6, pp. 469-476, 1990.[10] S. Chan and H. R. Bolton, “Performance enhancement of single-phase switched-reluctance motor by dc link voltage boosting,” IEE Proceedings Electric Power Applications, vol. 140, no. 5, pp.912-921, 1997.[11] S. Mir, I. Husain and M. E. Elbuluk, “Energy-efficient c-dump converters for switched reluctance motors,” IEEE Transactions on Power Electronics, vol. 12, no. 5, pp. 912-921, 1997.[12] S. K. Panda and P. K. Dash, “Application of nonlinear control to switched reluctance motors: a feedback linearization approach,” IEE Proceeding Power applications, vol. 143, no. 5, pp. 371-379, 1996.[13] S. K. Panda, X. M. Zhu and P. K. Dash, “Fuzzy gain scheduled PI speed controller for switched reluctance motor drive,” IEEE Proc. IECON’97, vol. 3, pp. 989-994, 1997.[14] M. Ehsani and K. R. Ramani, “Direct control strategies based on sensing inductance in switched reluctance motors,” IEEE Transactions on Power Electronics, vol. 11, no. 1, pp. 74-82, 1996.[15] Benjamin C. Kuo, Automatic control systems, Prentice-Hall, pp.336, 1991.[16] P. Laurent, M. Gabsi, B. Multon, “A new indirect position sensing with resonant method for switched reluctance motor,” Proceedings of PCIM’93, Nurnberg, pp. 324-331, June 1993.[17] Henrik Huovila and Olavi Karasti, “A sensorless SR motor position measurement method,” Machine Automation, VTT Automation, Finland, 2003.[18] Greg Paula, “The rise of VSR motors,” Mechanical Engineering Magazine on Line, May 2003, [19] 王順泰, “數位控制之開關式磁阻馬達驅動系研製”, 國立台灣科技大學碩士論文, 91年6月.[20] 林宜遠, “切換式磁阻馬達之伺服控制晶片設計”, 國立中興大學碩士論文, 91年6月.[21] 陳永平, “可變結構控制設計”, 全華科技圖書公司, 88年9月.[22] T. J. E. Miller, “Switched reluctance motors drives,” Intertec Communications Inc., California, 1988.[23] H. K. Bae and R. Krishnan, “A study of current controllers and development of a novel current controller for high performance SRM drivers,” IEEE Transactions on Power Electronics, vol. 11, no. 9, pp. 68-75, 1996.[24] TMS320F/C240 DSP Controllers Reference Guide -- Peripheral Library and Specific Devices, Texas Instruments, June 1999.[25] TMS320F/C240 DSP Controllers CPU, System, and Instruction Set, Texas Instruments, June 1999.
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 1 數位控制之開關式磁阻馬達驅動系統研製 2 改良比例積分與模糊控制器於線性壓電陶瓷馬達位置控制 3 切換式磁阻馬達之變結構控速系統設計與研製 4 切換磁阻馬達之低成本可變結構最短時間電流控制器 5 磁流式動力計之研製

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