臺灣博碩士論文加值系統

　　感應馬達由於擁有轉速穩定、結構簡單、花費低以及機械特性穩定等優點，被廣泛的應用在工業上。而解耦合控制是近年發展出的一種新控制方法，其主要想法為降低感應馬達ｄ－ｑ軸之間相互影響的耦合效應。本論文中提到的動態解耦合控制器是一種比起許多傳統控制器擁有更佳控制效能的解耦合控制策略，但其缺點為當控制器中所使用的馬達估測參數有誤差時，解耦合控制效能將會大幅下降。為解決此問題本論文提出了將模糊理論應用在增加解耦合控制器之控制效能的方法。

　　本篇論文所提出依據模糊理論所設計出的模糊控制器其主要功用在於產生耦合補償電壓來調整由解耦合控制器產生的ｄ－ｑ軸電壓命令。經由適當的模糊規則與輸入／輸出的歸屬函數之選擇可以得到更好的解耦合控制效能與馬達系統響應。結合論文中所提出的解耦合加上模糊控制器以及全數位化脈寬調變演算法來產生三相電壓控制訊號給感應馬達驅動器。實作上以具定點運算功能的32位元數位訊號處理器TMS320F2812與感應馬達驅動電路來實現以上所提出的控制架構。由模擬及實作結果可證明所提出的控制方法之控制效能優於傳統的解耦合控制器。

　　The induction motor is widely utilized in industry because its advantages including stability of rotating speed, simple structure, low cost, and mechanical robustness. Decoupling control is one kind of control strategies developed in recent years for induction motor drives. Its main idea is to reduce coupling between d-q current dynamics of the induction motor. A dynamic decoupling controller mentioned in this thesis is one kind of decoupling control schemes that has better decoupling control performance than many kinds of conventional controllers. It still has disadvantage, as when there are motor parameter estimation errors, decoupling control performance would be reduced sharply. To solve this problem, application of fuzzy theorem is proposed to enhance control performance of the decoupling controller.

　　The fuzzy controller generates coupling compensation voltages to adjust the voltage commands produced by the decoupling controller. Through appropriate fuzzy rules and input/output membership functions setting, better decoupling control performance and system responses can be obtained. Combining the proposed decoupling controller after fuzzy controller is added and the digitalized PWM algorithm to generate three-phase voltage control signals to the induction motor drive. A 32-bit TMS320F2812 digital signal processor and motor driver circuit are used to implement this whole control scheme. Simulation and experiment results demonstrate that the proposed control scheme is superior to the original decoupling controller.

摘要...........................................................................I
Abstract......................................................................II
Acknowledgements.............................................................III
Contents......................................................................IV
List of Figures and Tables....................................................VI
Symbols......................................................................XII
Chapter 1 Introduction.........................................................1
1.1 Motivation...............................................................1
1.2 Outline..................................................................5
Chapter 2 The Proposed Decoupling Control Method with Compensating Fuzzy Controller.....................................................................6
2.1 Induction Motor Model....................................................6
2.2 Coupling Compensation Methods............................................8
2.2.1 Feedforward Decoupling Controller....................................8
2.2.2 Cross-Coupling Decoupling Method....................................10
2.2.3 The Dynamic Decoupling Controller...................................11
2.3 Compensating Fuzzy Controller.........................................13
2.4 Overall Control Block Diagram...........................................18
Chapter 3 Simulation and Experimental Control Program Algorithm...............20
3.1 Digitalized Pulse Width Modulation......................................20
3.1.1 Flux Linkage Vector.................................................21
3.1.2 The Frequency and Voltage Control...................................23
3.2 Simulation Program Flows................................................26
3.3 Experimental Program....................................................27
3.3.1 Fuzzy Controller Experimental Program...............................27
3.3.2 The Main Program and Other Registers’Settings......................29
3.4 Experiment Hardware Architecture........................................34
Chapter 4 Simulation and Experiment Results...................................36
4.1 Simulation Results......................................................36
4.1.1 Simulation—Constant Speed Command..................................37
4.1.2 Simulation—Changing Speed Command..................................49
4.2 Experiment Results......................................................61
4.2.1 Experiment—Constant Speed Command..................................61
4.2.2 Experiment—Changing Speed Command..................................70
Chapter 5 Conclusions.........................................................76
5.1 Conclusions.............................................................76
5.2 Suggestions.............................................................77
Reference.....................................................................79
Appendix—A...................................................................82
Vita..........................................................................88

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