臺灣博碩士論文加值系統

本論文針對直接磁場導向控制的感應馬達速度驅動系統，提出一個PID模糊速度控制器。我們根據Ziegler-Nichols (Z-N)規則法來得到PID控制器，但在多變的操作情況下，一個固定的PID控制器無法有一個很好的表現。為了增加PID控制器的能力，我們應用了智慧型的模糊控制器來改善系統的表現。我們獲得PID模糊控制器的過程是簡單且有系統的，模糊控制器的輸入、輸出分別只使用三個模糊函數來降低計算的負擔，並且可以有很好的結果。模擬和實驗結果顯示，所提出的控制器在負載操作下有很好的強健性，並且在直接式磁場導向感應馬達趨動下可以有重大地改善。

In this paper, we present a PID-Fuzzy Logic (PID-FL) controller for the speed control of a direct field-oriented induction motor (DFOIM). Our PID controller is derived based on the Ziegler-Nichols (Z-N) method. The performance of fixed gains PID is not well under all operating conditions. In order to increase the performance of PID, we apply a fuzzy logic to improve the performance. The process to obtain the PID-FL is easily, systematic and only with three membership functions are used for each input and output for low computational burden, which can achieve very good results. The experimental results show that the proposed controller is robust under the load torque operation, and it can significantly improve the controlled speed performance of a DFOIM.

ABSTRACT (Chinese) …………………………………………………Ⅰ
ABSTRACT (English)………………………………………………………Ⅱ
ACKNOWLEDGEMENT…………………………………………………Ⅲ
LIST OF FIGURES…………………………………………………………Ⅵ
LIST OF TABLES…………………………………………………………Ⅷ
SYMBOLS…………………………………………………………………………Ⅸ
CHAPTER 1 INTRODUCTION………………………………………………1
CHAPTER 2 INDUCTION MOTOR AND
CONTROL STRUCTURE……………………………………3
2-1
Induction Motor Dynamic Equations………………………………3
2-2
Rotor Flux Estimation………………………………4
2-3
Direct Field-Oriented Control System Structure………… 5
2-3-1 Field-Oriented Control………………………… 5
2-3-2 Control Structure…………………………5
CHAPTER 3 THE PROPOSED PID-FUZZY
LOFIC CONTRLLER……………………………………7
3-1
Ziegler-Nichols tuning method.………………………………… 7
3-2
Modified Ziegler-Nichols tuning method……………………………… 8
3-3
Fuzzy Logic Control…………………………………………………9
V
CHAPTER 4 SIMULATION AND EXPERIMENTAL RESULTS…………16
4-1
Simulation Results…………………………………………………18
4-2
Experiment Results…………………………………………………22
CHAPTER 5 SUMMARY…………………………………………………26
REFERENCE………………………………………………………………………27
APPENDIX…………………………………………………………………………29
VITA…………………………………………………………………………………31


LIST OF FIGURES
Figure 1 Current model-voltage series model for rotor flux estimation………………………..5
Figure 2 Direct Field-Oriented Control structure………………………………………………6
Figure 3 Velocity control loop………………………………………………………………….7
Figure 4 Nyquist curve of the plant G(s), the identified point A and the specified point B……8
Figure 5 Step response of the closed-loop system...................................................................... 9
Figure 6 Configuration of fuzzy control system……………………………………………... 12
Figure 7 Fuzzy logic design block diagram…………………………………………………..13
Figure 8 Membership functions for fuzzy controller…………………………………………15
Figure 9 The performance of IFC disturbance rejection
(a)
The tradition PID controller…………………………………………………….. 16
(b)
The Fuzzy controller…………………………………………………………….17
(c)
The PID-Fuzzy controller……………………………………………………….17
Figure 10 Four-quadrant reference speed………………………………………………………18
Figure 11 Simulation speed responses without torque disturbance
(a)
The transient response for various controllers…………………………………..19
(b)
The speed tracking performance for various controllers………………………..19
Figure 12 Simulation error performances of the various controllers
(a)
The error performance of Z-N PID controller…………………………………... 20
(b)
The error performance of modified Z-N PID controller………………………... 20
(c)
The error performance of best trial and error PID controller……………………20
(d)
The error performance of Z-N PID FL controller……………………………….20
(e)
The error performance of modified Z-N PID FL controller……………………. 20
(f)
The error performance of best trial and error PID FL controller……………….. 21
Figure 13 Simulation speed responses with torque disturbance
(a)
The load to the shaft constantly at 5.5 sec……………………………………… 21
(b)
The load to the shaft constantly at 8 sec………………………………………... 22
Figure 14 Experimental setup…………………………………………………………………..23
Figure 15 Experimental speed responses without torque disturbance
(a)
The transient response for various controllers………………………………….. 24
(b)
The speed tracking performance for various controllers……………………….. 24
Figure 16 Experimental speed responses with torque disturbance
(a)
The load to the shaft constantly at 5.5 sec………………………………………25
(b)
The load to the shaft constantly at 8.3 sec………………………………………25


LIST OF TABLES
Table 1 PID design based on the Z-N step response method………………………………….7
Table 2 PID design based on the modified Z-N method………………………………………8
Table 3 Fuzzy rule base……………………………………………………………………... 14
Table 4 Motor Parameter Values…………………………………………………………….. 25

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