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研究生:范啟尉
研究生(外文):Chii-Wey Fann
論文名稱:線性脈波馬達背進式適應性控制系統之研製
論文名稱(外文):Adaptive backstepping control for linear pulse motor drive
指導教授:丁振聲丁振聲引用關係
指導教授(外文):Chen-Sheng Ting
學位類別:碩士
校院名稱:國立虎尾科技大學
系所名稱:電機工程研究所
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:2009
畢業學年度:97
語文別:中文
論文頁數:92
中文關鍵詞:線性脈波馬達背進式控制座標轉換Lyapunov穩定度分析適應性控制
外文關鍵詞:linear pulse motorbackstepping controlcoordinate transformationLyapunov stability analysisadaptive control
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本文旨在應用32位元浮點運算數位訊號處理器(DSP),以實現適應性背進式理論設計線性脈波馬達(LPM)之位置控制系統。根據系統分析與電腦模擬建立完整的控制理論,發展精密的伺服控制技術。系統理論的研究是由現有的馬達數學模式,考慮線性脈波馬達的齒槽效應力,利用座標轉換的觀念建立一個有效的動態模型,然後應用Lyapunov穩定度分析的方法及背進式控制理論(Backstepping Control Theory),考慮馬達負載干擾,以推導適應性背進式控制(Adaptive Backstepping Control)法則。根據電腦模擬的結果以驗證控制理論之正確性,將完備的控制演算法則撰寫成DSP-數位訊號處理器程式,組合馬達的驅動架構與感測器,進行實體的控制實驗,評估控制成效與修正參數,最後完成控制系統的實體製作。
The dissertation is to develop backstepping adaptive control system for linear pulse motor. The developed control scheme is realized via a 32-bit DSP controller TMS320C32, which has the capability of floating-point mathematic calculation. Based on the system analysis and computer simulation, the complete control theory is formulated to achieve precision servo control of linear pulse motor. The system model has included the effect of cogging force and load disturbance. With the idea of coordinate transformation and Lyapunov stability analysis, we propose backstepping adaptive control method and build experimental test bed for realization of derived control criterion. Finally, the effectiveness of the proposed control scheme is verified by both the simulated and experimental results.
中文摘要…………………………………………………………………… i
英文摘要…………………………………………………………………… ii
目錄………………………………………………………………………… iii
表目錄……………………………………………………………………… v
圖目錄……………………………………………………………………… vi
符號索引…………………………………………………………………… xi
第一章 緒論……………………………………………………………… 01
1.1前言……………………………………………………………… 01
1.2研究目的………………………………………………………… 01
1.3研究方法………………………………………………………… 02
1.4論文大綱………………………………………………………… 03
第二章 線性脈波馬達數學模型………………………………………… 05
2.1前言……………………………………………………………… 05
2.2線性馬達簡介…………………………………………………… 05
2.3線性脈波馬達數學模式………………………………………… 10
2.4齒槽效應力……………………………………………………… 14
2.5座標軸轉換……………………………………………………… 17
2.6驅動方式………………………………………………………… 20
第三章 背進式控制器設計……………………………………………… 24
3.1前言……………………………………………………………… 24
3.2背進式控制器設計……………………………………………… 24
3.3適應性背進式控制系統設計…………………………………… 27
3.4模擬結果………………………………………………………… 31
第四章 硬體架構與軟體規劃…………………………………………… 43
4.1前言……………………………………………………………… 43
4.2硬體架構………………………………………………………… 43
4.2.1功率級板………………………………………………… 45
4.2.2正弦脈寬調變策略……………………………………… 48
4.2.3盲時電路………………………………………………… 54
4.2.4位置相位檢測…………………………………………… 56
4.2.5 STC-32數位控制板……………………………………… 58
4.2.6 STC-4AD4DA擴充模組…………………………………… 61
4.3 軟體規劃與程式流程…………………………………………… 63
4.3.1 數位濾波器……………………………………………… 67
第五章 實驗結果………………………………………………………… 69
5.1前言……………………………………………………………… 69
5.2實測結果………………………………………………………… 69
第六章 結論與未來發展………………………………………………… 81
參考文獻…………………………………………………………………… 83
作者簡介…………………………………………………………………… 92
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