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研究生:郭灌力
研究生(外文):Guan-Li Guo
論文名稱:感應馬達直接轉矩控制系統之小波小腦模型控制器設計
論文名稱(外文):Design of a Wavelet Cerebellar Model Articulation Controller for IM Direct Torque Control System
指導教授:王順源王順源引用關係
口試委員:黃仲欽曾傳蘆
口試日期:2007-07-10
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:電機工程系研究所
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:2007
畢業學年度:95
語文別:中文
論文頁數:73
中文關鍵詞:小波小腦模型比例積分控制器投影演算法直接轉矩控制
外文關鍵詞:Wavelet Cerebellar Model Articulation PI ControllerProjection AlgorithmDirect Torque Control
相關次數:
  • 被引用被引用:2
  • 點閱點閱:182
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
本研究結合適應性理論之投影演算法(projection algorithm)和以小波函數為基底的小腦模型控制器成為小波小腦模型比例積分控制器(Wavelet Cerebellar Model Articulation PI Controller, WCMAPIC),此小波小腦模型控制器能線上調整PI參數值,除了可提高系統之適應性和動態特性外,還可以改善傳統PI控制器參數固定的缺點。
本論文是利用直接轉矩控制(Direct Torque Control, DTC)理論實現感應電動機速度控制,其優點為動態響應快、系統架構簡單和容易計算。本研究不使用遲滯型磁通及轉矩控制器,進而採用PI控制器結合空間電壓向量調變技術,可改善轉矩漣波和噪音等問題。此外,本研究利用轉速估測器以實現無速度量測器控制,轉速估測器之設計是根據電壓型磁通估測器求得 軸定子磁通量,進而得到定子磁通角,最後計算出感應電動機電氣角頻率。採用轉速估測器之優點,除了可以節省成本外,還可避免破壞馬達之結構。
經實驗結果證明,在馬達負載為8Nm,轉速控制範圍在36rpm至1800rpm時,小波小腦模型PI控制器都擁有優異的控制性能,且系統的動態響應也有顯著的改善,達到感應馬達精確控制之目的。
In this thesis, the Wavelet Cerebellar Model Articulation Proportional Integral Controller (WCMAC), designed by the wavelet cerebellar model articulation controller with the projection algorithm in adaptive theory, is proposed. The controller can on-line adjust the PI parameters, and increase the adaptation ability and dynamical performance of the considered system. Moreover, the drawbacks of the traditional fixed-parameter PI controller are overcome.
Based on the direct torque control (DTC), the speed control algorithm is implemented for induction motors. The resulted system has fast system response, simple structure and less computation time. The hysteresis-type flux and torque controllers are not adopted in this research. In stead, the space voltage vector modulation technique is used to solve the problems of torque ripples and noise. Also, this research utilizes the speed estimator to realize the speed sensorless control. The advantages of speed sensorless control are cost-effectiveness and avoiding the unnecessary destruction of motors. According to the stator flux of d-q axis estimated by the voltage-type flux estimator, the stator flux angle and the electrical angle of the induction motor can be calculated.
From the experimental results, with the range of motor speed varying from 36rpm up to 1800rpm with 8-Nm load, it is seen that the performance of the WCMAC outperforms the conventional controller. The dynamic response is significantly improved and the precision control of induction motor is achieved.
中文摘要i
英文摘要ii
誌謝iii
目錄iv
表目錄vii
圖目錄viii
第一章緒論1
1.1研究動機1
1.2論文大綱2
第二章小腦模型控制器理論 3
2.1前言3
2.2小腦模型控制器3
2.2.1小腦模型控制器架構4
2.2.2小腦模型控制器之工作原理5
2.2.2.1輸入狀態層映射至聯想記憶體層5
2.2.2.2聯想記憶體層映射至真實記憶體層5
2.2.2.3真實記憶體層至輸出層7
2.2.3小腦模型控制器之學習法則8
2.2.4小腦模型控制器之特性9
2.3結語9
第三章小波小腦模型控制器設計10
3.1前言10
3.2控制器架構與設計10
3.2.1小波小腦模型控制器10
3.2.1.1小波函數之介紹11
3.2.1.2小波小腦模型控制器11
3.2.2投影演算法13
3.2.3小波小腦模型PI控制器設計15
3.3小波小腦模型PI控制器模擬分析17
3.4結語26
第四章感應電動機直接轉矩控制系統27
4.1前言27
4.2感應電動機數學模型28
4.3直接轉矩控制理論32
4.3.1直接轉矩控制原理32
4.3.2空間向量調變原理和技術34
4.3.3速度估測器之設計36
4.4結語37
第五章感應馬達直接轉矩控制實驗38
5.1實驗設備介紹38
5.2系統架構40
5.3實驗結果41
5.4均方根誤差比較結果64
5.5結語64
第六章結論與建議65
6.1結論65
6.2建議65
參考文獻67
附錄A 實驗設備照片70
符號彙編71
作者簡介73
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