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研究生:王藝錡
研究生(外文):Ci-Yi Wang
論文名稱:以DSP為基礎之永磁同步馬達滑動模式控制設計
論文名稱(外文):DSP-Based Sliding-Mode Control of PMSM
指導教授:王明賢王明賢引用關係
指導教授(外文):Ming-Shyan Wang
學位類別:碩士
校院名稱:南台科技大學
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:2007
畢業學年度:95
語文別:中文
論文頁數:90
中文關鍵詞:交流永磁同步馬達線性永磁同步馬達滑動模式控制模糊停滯帶補償器
外文關鍵詞:Rotary permanent-magnet synchronous motorpermanent-magnet linear synchronous motorsliding-mode controlfuzzy deadzone compe
相關次數:
  • 被引用被引用:4
  • 點閱點閱:406
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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:3
本論文分別針對旋轉型與線型交流永磁同步馬達設計其驅動器系統,並作詳細的分析與討論。快速、平順及無穩態誤差之動態響應一直是控制領域中之主要研究目標,然而在現實上伺服驅動卻包含了參數變異及外界干擾擾動之影響,為了能有效克服這些問題,本論文首先使用滑動模式控制器。滑動模式控制具有對於擾動及變異之不靈敏特性,然而對於不確定量進行估測,衍生出許多對於估測上界之法則,例如模糊控制、適應性控制、類神經網路等。本論文不對不確定量上界進行估測,而是將導入模糊停滯帶補償器(Deadzone Compensator)來克服滑動模式因增益過小而出現穩態誤差之缺點。
馬達驅動器設計包含空間向量脈波寬度調變、閉迴路控制器架構與軌跡規劃,以滑動模式結合停滯帶補償器達成精密定位之效能。本論文所使用之晶片為TI公司所生產之TMS320LF2407數位訊號處理器,運用其高速類比數位器(Analog-to-Digital Converter,ADC)模組作為電流迴路設計,以方形編碼器電路(Quadrature Encoder Pulse, QEP)模組回授馬達編碼器資訊,並且利用內建之空間向量脈波寬度調變模組來實現馬達之驅動,藉以達到縮小體積、易維護、和偵錯之特點。最後,本論文以步階響應與弦波響應分析所設計之馬達驅動器系統效能,並驗證當加入外界擾動時控制器依然具有良好動態響應。
The thesis aims at designing the drives for rotary and linear permanent magnet synchronous motors. Responsiveness, smoothness, and without steady-state error of dynamic response are general requirements of any controlled system. But, there exist uncertainties of parameter variation and external disturbances in the system to bother designers. The sliding-mode control, which provides the merits to overcome deficiency, is first considered in the drive. However, the knowledge of upper bound of the uncertainty has to be assumed such that many control algorithms are proposed to estimate it. In the thesis, instead of estimating this quantity, a fuzzy deadzone compensator is introduced to get rid of the steady-state error due to smaller value of uncertainty bound used in the sliding-mode control drive system.
The designed DSP-based drive includes space vector pulse-width modulation, the combination of sliding-mode control and deadzone compensation, and trajectory planning to obtain precisely positioning. Digital signal processor (DSP) TMS320LF2407 provides built-in analog-to-digital converters (ADCs) to sense currents and quadrature encoder pulse (QEP) to convert the encoder signals to close related loops. Finally, the effectiveness of the designed drive is verified by the step and sinusoidal responses as well as the disturbance rejection.
摘 要 I
Abstrat II
誌 謝 III
目 錄 IV
圖目錄 VII
表目錄 XII
第一章 緒論 1
  1.1 前言 1
  1.2滑動模式介紹 4
1.3 內容大綱 5
第二章 DSP TMS320LF2407簡介 7
  2.1 DSP (Digital Signal Processor) 7
  2.2 中央處裡單元 8
  2.3記憶體架構與輸出輸入空間 10
2.4 類比/數位轉換(ADC) 10
2.5 方形編碼器電路(QEP) 12
第三章 交流永磁同步馬達之數學模型及空間向量控制 15
  3.1三相交流電動機之電路方程式 15
  3.2座標轉換 17
3.3二相交流電動機之電路方程式 18
3.4 d-q座標表示之電路方程式 21
3.5電動機之轉矩 24
第四章 空間向量脈波寬度調變(SVPWM) 25
  4.1弦波式空間向量設計 26
  4.2 SVPWM之合成與推導 27
  4.3波形產生實驗 43
第五章 運動控制器之設計 45
  5.1 比例積分控制器 45
  5.2 滑動模式控制器 46
  5.3 速度軌跡規劃 54
第六章 實驗結果與平台介紹 57
  6.1 系統架構 57
  6.2負載簡介 58
6.3實驗結果與分析 62
    6.3.1旋轉馬達之分析與驗證 62
    6.3.2線型馬達之分析與驗證 76
第七章 結論與未來展望 85
  7.1 結論 85
  7.2 未來展望 85
參考文獻 86
作者簡歷 A-1
[1] P. Pillay and R. Krishnan, “Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives, I: the Permanent-Magnet Synchronous Motor Drive,” IEEE Transactions on Industry Applications, vol. 25﹐no. 2﹐pp. 265-273﹐March-April 1989.
[2] B. K. Bose, Power Electronics and AC Drivers, Prentice-Hall Inc., 1989.
[3] 劉昌煥主編,電機機械,東華書局,台北,1999。
[4] 劉昌煥,交流電機控制-向量控制與直接轉矩控制原理,東華書局,2001。
[5] 劉昌煥校訂,許溢适譯著,AC伺服系統的理論與設計實務,文笙書局,台北,1995。
[6] Q. Guo, L. Wang, and R. Luo, “Completely Digital PMSM Servosystem Based on New Self-tuning PID Algorithm and DSP,” Proc. ICIT, pp. 71-75, 1996.
[7] 張家銘,油電混合式全數位控制系統設計與實現,碩士論文,南台科技大學電機工程研究所,2005。
資料手冊:
[8] 龔應時、陳建武、徐永松,TMS320F/C24x DSP 控制器原理與應用,滄海書局,2001。.
[9] The User Manual of TMS320F2407, TI Inc.
線型馬達控制:
[10] Y.S. Kung, “High Performance PMLSM Drives Using TMS320F2812 DSP Controller,” IEEE Asia-Pacific Conference of Circuits and Systems, vol. 2, pp. 645-648, Dec. 2004.
[11] 鄭其原,數位訊號處理器為基礎之線性馬達驅動器設計與製作,碩士論文,逢甲大學電機工程研究所,2003。
滑動模式:
[12] 陳永平與張浚林,可變結構控制設計,全華科技股份有限公司。
[13] F. J. Lin, C.-H. Lin, and P. H. Shen., “Variable-Structure Control for a Linear Synchronous Motor Using a Recurrent Fuzzy Neural Network,” IEE Proceedings-Control Theory and Applications, vol. 151, no. 4, pp. 395-406, 2004.
[14] F. J. Lin, D. H. Wang, P. K. Huang, “FPGA-based Fuzzy Sliding-mode Control for a Linear Induction Motor Drive,” IEE Proc.-Electr. Power Appl., vol. 152, no. 5, pp. 1137-1148, Sep. 2005.
[15] K. K. Shyu, H. J. Shieh, “A New Switching Surface Sliding-Mode Speed Control for Induction Motor for Induction Motor Drive Systems,” IEEE Transactions on Power Electronics, vol. 11, no. 4, pp. 660-667, July 1996.
[16] K. K. Shyu, C. K. Lai, Y. W. Tsai, and D. I. Yang, “A Newly Robust Controller Design for the Position Control of Permanent-Magnet Synchronous Motor,” IEEE Transactions on Industrial Electronics, vol. 49, no. 3, pp. 558-565, June 2002.
[17] C. M. Lin, C. F. Hsu, T. T. Lee, “Adaptive Fuzzy Sliding-mode Control for Linear Piezoelectric Ceramic Motor,” The 2005 IEEE International Conference on Fuzzy Systems, pp. 507-512, 2005.
[18] C. M. Liaw, Y. M. Lin, and K. H. Chao, “A VSS Speed Controller with Model Reference Response for Induction Motor Drive,” IEEE Transactions on Industrial Electronics, vol. 48, no. 6, pp. 1136-1147, 2001.
[19] C. T. Pan, and T. Y. Chang, “A Fixed Structure Sliding Mode Controlled Induction Motor Drive," Proceedings of the 25th Annual IEEE Power Electronics Specialists Conference, PESC'94, June 20-25, Taipei, Taiwan R.O.C., pp. 243-249, 1994.
[20] Y. Yildiz and A Sabanovic, “Neuro Sliding Mode Control of Timing Belt Servo-System,” The 8th IEEE International Workshop on Advanced Motion Control, AMC '04, March 25-28, Kawasaki International Center, Japan, pp. 159-163, 2004.
Deadzone Conpensation:
[21] J. O. Jang, “A Deadzone Compensator of a DC Motor System Using Fuzzy Logic Control,” IEEE Transactions on Systems, Man, and Cybernetics, Part C : Applications and Review , vol. 31, no. 1, pp. 42-48, Feb. 2001.
[22] J. O. Jang, “Deadzone Compensation of an XY-Positioning Table Using Fuzzy Logic,” IEEE Transactions on Industrial Electronics, vol. 52, no. 6, pp. 1696-1701, Dec. 2005.
[23] J. O. Jang, H.-T. Chung, and G.-J. Jeon, “Saturation and Deadzone Compensation of Systems Using Neural Network and Fuzzy Logic,” IEEE Transactions on Industrial Electronics, vol. 52, no. 6, pp. 1715-1720, Dec. 2005.
[24] S. Y. Oh and D. J. Park, “Design of New Adaptive Fuzzy Logic Controller for Nonlinear Plants with Unknown or Time-Varying Dead Zones,” IEEE Transactions on Fuzzy Systems, vol. 6, no. 4, pp. 481–492, 1998.
[25] J. H. Kim, J. H. Park, S. W. Lee, and E. K. P. Chong, “A Two Layered Fuzzy Logic Controller for Systems with Deadzones,” IEEE Transactions on Industrial Electronics, vol. 41, no. 2, pp. 155-162, 1994.
模糊控制﹕
[26] C. T. Kilian, Modern Control Technology: Components and Systems, Delmar, 2001.
[27] T. K. Podder and N. Sarkar, “Dynamic Trajectory Planning for Autonomous Underwater Vehicle-Manipulator Systems,” IEEE International Conference on Robotics and Automation, vol. 4, pp. 3461-3466, 2000.
[28] M. C. Tsai, “Design and Implementation of Command and Friction Feedforward Control for CNC Motion Controllers,” IEE Journal on Control Theory and Applications, vol. 151, no. 1, pp. 13-20, 2004.
[29] Y. S. Lai and J. C. Lin, “New Hybrid Fuzzy Controller for Direct Torque Control Induction Motor Drives,” IEEE Transactions on Power Electronics, vol. 18, no. 5, pp. 1211-1219, 2003.
[30] C. C. Lee, “Fuzzy Logic in Control Systems: Fuzzy Logic Controller. I,” IEEE Transactions on C.M.C, vol. 20, no. 2, pp. 404-418, 1990.
[31] Y. S. Kung and C. M Liaw, “A Fuzzy Controller Improving a Linear Model Following Controller for Motor Drives,” IEEE Transactions on Fuzzy Systems, vol. 2, no. 3, pp. 194-202, 1994.
[32] H. Kang and, G. Vachtsevanos, “Adaptive Fuzzy Logic Control,” IEEE International Conference of Fuzzy Systems, pp. 407-414, 1992.
[33] Z. Kovacic, S. Bodan, and M. Puncec, “Adaptive Fuzzy Logic Control Based on Integral Criterion,” Proceedings of the IEEE International Symposium of Intelligent Control, pp. 55-60, 2000.
[34] 王文俊,認識Fuzzy,全華科技,1997。
[35] 李允中、王小璠、蘇木春,模糊理論及其運用,全華科技,2003。

X-Y平台﹕
[36] 李建翔,具有速度及加速度限制之多軸運動控制,碩士論文,國立台灣科技大學電機工程研究所,2000。
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