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研究生:張天浩
研究生(外文):Tien-Hao Chang
論文名稱:應用離散時間可變結構控制於直流無刷馬達驅動
論文名稱(外文):A Discrete-time Variable Structure Control for Brushless DC Motor Drives
指導教授:劉志文劉志文引用關係
指導教授(外文):Chih-Wen Liu
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:電機工程學研究所
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:2005
畢業學年度:93
語文別:中文
論文頁數:87
中文關鍵詞:離散時間可變結構控制直流無刷馬達滑順模式控制
外文關鍵詞:Discrete-time variable structure controlBLDC motorSliding mode control
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本論文主要以DSP TMS320F243 based實現非均一時間取樣(Non-Uniform Sampling)的直流無刷馬達離散時間可變結構控制(Discrete time variable structure control)。由於系統的狀態訊息(位置與速度)是隱含在軌跡中,並由霍爾感測器所取得,如此,量測的時機與系統速度密切相關,形成了一個不固定的取樣頻率。另外馬達參數會因為溫度、或是一些外在因素而造成變動,因此本論文採用具有強健性(Robust)的離散時間可變結構控制,並將非均一取樣時間的現象加入考慮。藉由量測換流器(Inverter)直流匯流排(DC Bus)電流計算狀態變數,並由霍爾感測器回授信號計算目前速度,以離散時間可變結構控制得到電流命令值,控制流過直流匯流排的電流,達到速度控制。研究過程以MATLAB/SIMULINK模擬為基礎,DSP為控制器實現速度控制系統,驗證這樣的系統確實能夠達到穩定,並且能準確的觀察到速度值。
This thesis realizes non-uniform sampling discrete time variable structure control for brushless dc motor by DSP TMS320F243. Because the system information (the position and speed ) is implied in the trajectory and obtained through Hall sensor device, thus, the opportunity of measurement is closely related to speed of the system, have formed a non-uniform sampling time. The parameters of the motor will cause the change because of temperature , or some external factors in addition, so this thesis adopts discrete time variable structure control. The most salient feature of this control method is its robustness to the system uncertainties, and the phenomenon of non-uniform sampling will be considered. We obtain the state variable by feedback the dc bus current of inverter, and calculate motor speed by Hall sensor signal, then get the ordering value of dc bus current with the discrete time variable structure control, adjust the current flowing through the dc bus, reach the speed control. Simulation result is based on MATLAB/SIMULINK. Experimental results obtained from the implementation on a DC brushless motor. To prove smooth and accurate control can be achieved.
摘要....................................................I
英文摘要................................................II
目錄....................................................III
圖目錄..................................................VI
表目錄..................................................X
第一章 緒論............................................1
1.1研究動機.............................................1
1.2文獻回顧.............................................3
1.3章節概要.............................................4
第二章 直流無刷馬達系統介紹............................6
2.1直流無刷馬達簡介.....................................6
2.2霍爾感測器、脈波寬度調變法以及換流器構造的說明.......8
2.2.1霍爾感測器簡介.....................................8
2.2.2脈波寬度調變法簡介.................................12
2.2.3換流器(Inverter)簡介...............................13
2.2.4直流無刷馬達的驅動.................................15
第三章 可變結構控制理論及馬達控制器設計................20
3.1可變結構控制理論概要.................................20
3.2連續時間型態和離散時間型態可變結構控制理論差異.......24
3.2.1可變結構控制的問題描述.............................24
3.2.2連續時間型態可變結構控制...........................25
3.2.3離散時間型態可變結構控制...........................26
3.3離散時間可變結構控制在直流無刷馬達速度控制的推導.....28
3.3.1連續時間型態的馬達空間狀態方程式...................28
3.3.2離散時間型態的馬達空間狀態方程式...................29
3.3.3控制輸入u的設計....................................31
3.3.4近滑順模式帶寬範圍的討論...........................33
3.4離散時間可變結構控制系統模擬結果.....................35
3.4.1速度響應、近滑順模式帶寬以及強健性的模擬結果.......35
3.4.2參數e、ρ、c1的影響討論.............................44
3.4.3 PI控制器的模擬結果討論............................50
3.5速度誤差範圍的討論...................................52
3.5.1 速度誤差範圍的計算................................52
3.5.2 系統參數對速度誤差範圍的影響......................56
第四章 實驗架構及流程..................................59
4.1基於霍爾感測器的離散時間可變結構控制之架構...........59
4.2數位訊號處理器TMS320F243簡介.........................61
4.3程式流程規劃.........................................64
4.4 電流迴授類比數位轉換模組............................68
4.5霍爾感測器訊號迴授與速度計算.........................71
4.6 離散時間的可變結構控制演算法........................74
4.7 離散時間的可變結構控制實驗結果......................76
第五章 結論與未來展望...................................83
參考文獻................................................84
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