# 臺灣博碩士論文加值系統

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 本論文針對線性感應馬達，提出考慮端點效應(end effects)的數學模型，並利用步階迴歸滑動模式控制與適應性步階迴歸滑動模式控制來設計位置追蹤控制器。在設計控制器時需要選取合適滑動平面與控制器輸入；同時設計控制器的方法經由數學証明可得知其能確保系統軌跡進入滑動平面後，能收斂至系統均衡點上。我們使用步階迴歸滑動模式控制與適應性步階迴歸滑動模式控制之方法來實現設計控制器，因此所設計的控制器不但兼具有滑動模式控制的優點而且能夠確保系統的狀態變數能漸近趨向系統的均衡點。步階迴歸滑動模式控制設計，使系統不受干擾，依然能達到位置追蹤效果和好的強健性特性。適應性步階迴歸滑動模式控制設計，則不需預先獲得外界干擾及系統參數變動的最大值，使所設計的控制器對於實際上依然能達到位置追蹤效果和好的強健性。我們使用Lyapunov理論來證明系統的穩定性。並藉著系統模擬的結果，以確定步階迴歸滑動模式控制與適應性步階迴歸滑動模式控制來設計的控制器能達到位置追蹤效果。
 This thesis is based on the mathematical model of an LIM where the end effect is considered, and then two controllers, namely backstepping sliding mode controller and adaptive backstepping sliding mode controller, are proposed to design the LIM position tracking controller. The design procedure of the controller includes to choose an appropriate sliding surface and present a control input. The stability of the proposed controller is also proved to guarantee that the system states will approach to the sliding surface and reach the system equilibrium point. Using backstepping sliding mode controller and adaptive backstepping sliding mode controller, we can not only drive the system state variables to reach and retain in the sliding mode, but the system state variables also reach the system equilibrium point asympotically. The backstepping sliding mode controller is robust to external disturbance. The proposed controller can achieve good position tracking results with strong robustness and/or system uncertainty. The adaptive backstepping sliding mode controller is used to release requirement of a known bound of the uncertainity maximum of parameters. The performance of the developed adaptive controller is also satisfied.Lyapunov theory is used to analyize the stability of the closed-loop systems. In this thesis, system simulation results are illustrate to demonstrate that the proposed backstepping sliding mode controller and adaptive backstepping sliding mode controller can achieve good position tracking results.
 中文摘要...........................................i英文摘要..........................................ii誌謝.............................................iii目錄..............................................iv表目錄............................................vi圖目錄...........................................vii第一章 序論.......................................11.1 前言..........................................11.2 研究動機與文獻回顧............................21.3 內容簡介......................................4第二章 線性感應馬達控制簡介.......................52.1 d-q軸原理.....................................52.2 磁場導向控制法................................72.3 線性感應馬達的運作與原理......................72.4 線性感應馬達控制器設計........................72.5 線性感應馬達驅動系統.........................10第三章 步階迴歸滑動模式控制器設計................113.1 步階迴歸滑動模式.............................113.2 步階迴歸滑動模式控制器設計...................123.3 步階迴歸滑動模式控制器設計步驟...............133.4 步階迴歸滑動模式控制器系統模擬及討論.........163.4.1 參考訊號為正弦波….........................183.4.2 參考訊號為三角波...........................41第四章 適應性步階迴歸滑動模式控制器設計..........644.1 適應性步階迴歸滑動模式控制器設計步驟.........644.2 適應性步階迴歸滑動模式控制器系統模擬及討論...674.2.1 參考訊號為正弦波….........................694.2.2 參考訊號為三角波…........................101第五章 結論與未來研究方向.......................135參考文獻.........................................136