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研究生:楊上凱
研究生(外文):Shang-Kai Yang
論文名稱:強健性線型永磁馬達離散位置控制器
論文名稱(外文):A Robust Discrete Position Controller for Linear Permanent Magnet Motor Drivers
指導教授:潘晴財
指導教授(外文):Ching-Tsai Pan
學位類別:碩士
校院名稱:國立清華大學
系所名稱:電機工程學系
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:2006
畢業學年度:94
語文別:中文
論文頁數:123
中文關鍵詞:線型永磁同步馬達滑模控制離散時間數位訊號處理器負載擾動估測器
外文關鍵詞:Linear permanent magnet synchronous motorsSliding mode controlDiscrete timeDigital signal processorLoad disturbance observer
相關次數:
  • 被引用被引用:3
  • 點閱點閱:184
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
線型馬達由於其本身架構上的簡單且具有直接驅動、安靜性、高可靠性、低磨損以及高加減速能力,近年來已逐漸地應用於各種工業控制上,如精密之半導體製程設備與裝置、高速之運輸工具、自動化控制以及醫療設備等。然而,由於線型馬達移動過程易受漣波力、參數變化、外來負載干擾和摩擦力等環境干擾而影響其操作性能。是故不少文獻提出各種強健性控制以克服此困境。此外,由於近幾年來數位電子元件的快速發展與微處理器的廣泛應用,各種離散控制器之應用研究也愈來愈熱門。因此本論文主要研究目標即在於應用實驗室先進們所發展之離散型定結構滑模控制以設計與製作一全數位化之強健性線型永磁同步馬達位置驅動器。

基本上,本論文之主要貢獻可分為三點:第一點,針對線型永磁同步馬達之電流控制迴路及位置控制迴路分別設計其所屬之離散型定結構滑模控制器,以此消除傳統滑模控制的切跳現象,同時達到雙重之強健控制效果,而且有利於數位化之製作與應用。第二點,利用線型永磁同步馬達的數學模型,由動量不滅定律觀念設計一適應性負載估測器,使系統能在不連續擾動影響下有較佳的軌跡追蹤及暫態特性。第三點,本論文最後並實際製作一雛型驅動系統以驗證所提控制策略之可行性。其中控制器並以TI公司新近推出之DSP TMS320F2812加以實現所提控制理論,不但可以減少硬體電路之體積而且方便維護及修改控制法則。
Linear permanent magnet synchronous motors (LPMSM), due to their merits of simple structure, direct drive capability, less noisy, high reliability, low frictional loss, high acceleration and deceleration capability, have now been gradually applied to various industrial control areas, such as high precision semiconductor manufacturing process equipment, and high speed transportation, automation control and medical device,…, etc. However, the dynamic performance of a LPMSM is still affected by the parameter variations, load disturbances as well as the friction force. Hence, various robust control strategies were proposed in literature to overcome this dilemma. In addition, in recent years digital electronic components are developed fastly and the microprocessors are widely applied. Therefore, various discrete-time control methods have gradually been developed for different applications. In this thesis, a fully digital robust control is proposed for LPMSM drives.

Basically, the major contributions of this thesis may be summarized as follows. First, a double discrete-time fixed structure sliding mode controller is proposed for the robust control of both electrical and mechanical subsystems of LPMSM drives and the chattering effect are eliminated simultaneously. Second, by using the derived mathematical model of the LPMSM, the author proposes an adaptive load disturbance observer (ALDO) by using the concept of the law of momentum conservation to achieve a better tracking response. Finally, a prototype is also constructed to verify the validity of the proposed control. The proposed controller is implemented fully digitally using (DSP) TMS320F2812 to reduce hardware complexity, volume and to simplify the maintenance problems.
中文摘要 ----------------------------------------------- Ⅰ
英文摘要 ----------------------------------------------- Ⅱ
誌 謝--------------------------------------------------- Ⅲ
目 錄 ------------------------------------------------- IV
圖目錄 ------------------------------------------------- VI
表目錄 ------------------------------------------------- XI
第一章 緒論 ---------------------------------------------- 1
1.1 研究動機 ------------------------------------- 1
1.2 相關文獻回顧 --------------------------------- 2
1.3 本論文之貢獻 --------------------------------- 3
1.4 本論文之內容概述 ----------------------------- 4
第二章 線型永磁馬達數學模型 ------------------------------ 6
2.1 前言 ----------------------------------------- 6
2.2 線型馬達簡介 --------------------------------- 6
2.3 線型馬達操作原理 ---------------------------- 10
2.4 線型永磁馬達數學模型 ------------------------ 14
第三章 強健性線型永磁馬達離散位置控制器 -------------- 33
3.1 前言 ---------------------------------------- 33
3.2 離散式定結構滑模控制理論簡介 ---------------- 33
3.3 強健性線型永磁馬達離散位置控制器 ------------ 43
3.4 模擬結果 ------------------------------------ 62
第四章 實體電路製作與實測結果 --------------------------- 88
4.1 前言 ----------------------------------------- 88
4.2 硬體系統之實體製作 --------------------------- 88
4.3 數位控制器設計 ------------------------------- 93
4.4 實测結果 ------------------------------------- 96
第五章 結論 -------------------------------------------- 109
參考文獻 ----------------------------------------------- 112
附錄一 控制程式----------------------------------------- 117
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