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研究生:黎少榆
論文名稱:以DSP為基礎發展具不確定參數永磁式同步電動機之適應性控制設計
論文名稱(外文):DSP-Based Adaptive Control Design for Permanent Magnet Synchronous Motor with Uncertain Parameters
指導教授:曾仲熙曾仲熙引用關係
學位類別:碩士
校院名稱:明新科技大學
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:2011
畢業學年度:99
語文別:中文
論文頁數:98
中文關鍵詞:不確定參數PMSM驅動系統適應性控制線性矩陣不等式DSP為基礎全數位控制器
外文關鍵詞:uncertain parametersPMSM drive systemadaptive controlLMI formulationDSP-basedfully digital controller
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本論文提出永磁式同步電動機(Permanent Magnet Synchronous Motor, PMSM)之不確定參數以線性矩陣不等式(Linear Matrix Inequalities, LMIs)的方法設計適應性控制之方案。使用適應性控制器的目的是補償PMSM驅動系統中的不確定項。本論文是針對具不確定參數之PMSM驅動系統提出一新型的適應控制架構。在此架構下,具不確定參數之PMSM系統的穩定性條件可藉由LMI的型式表示,這個LMI的問題(LMI Problem, LMIP)可有效地由可Matlab LMI Toolbox解決。
eZdsp TMS320F28335為德州儀器所推出C2000系列之新式套件,其架構雖然龐大且複雜但功能強大。eZdsp TMS320F28335提供了增強型脈波寬度調變(Enhanced Pulse Width Modulator, ePWM)模組、類比/數位轉換(Analog-to-Digital Converter, ADC)模組、增強型正交脈衝編碼器(Enhanced Quadrature Encoder Pulse, eQEP)模組、串列週邊介面(Serial Peripheral Interface, SPI)模組等週邊功能。並可依需要設定通用輸入/輸出(General Purpose Input/Output, GPIO)接腳來改變接腳功能以提供使用者使用。eZdsp TMS320F28335之優點除了有許多週邊提供使用者使用外,其運算處理速度快並可支援負號及浮點運算,非常適合應用於複雜之計算、電路整合及產品之開發上。
本論文的數位控制器以eZdsp TMS320F28335執行,其設計裝配是專門為了以DSP全數位控制器在PMSM驅動系統中不確定參數執行而設計。並由此實驗結果,能夠預期的達到使用所提出之適應性控制方案的性能。相對於試誤法(Trial and error method),在速度迴圈和電流迴圈的控制增益可以從解相對應的LMIs中獲得。本論文提出之方法簡單且適合用於實際電動機驅動控制設計。

In this thesis, an adaptive control scheme is proposed for the permanent magnet synchronous motor (PMSM) with uncertain parameters using an LMI approach. The adaptive control scheme is used to compensate some uncertain terms in the PMSM drive system. In this study, a novel formulation for the uncertain PMSM drive system is developed. By the formulation, the stability condition for the closed-loop uncertain PMSM drive system with the proposed controllers can be characterized in terms of some linear matrix inequalities (LMIs). The LMIs problem (LMIP) can be efficiently solved.
eZdsp TMS320F28335 launched for the Texas Instruments C2000 series of new kit, its architecture is ambitious and complex but powerful. eZdsp TMS320F28335 provides enhanced pulse width modulation (ePWM) modules, analog/digital conv- erter (ADC) module, enhanced quadrature encoder pulse (eQEP) modules, serial peripheral interface (SPI) module and other peripheral functions. Users can set the general-purpose input/output (GPIO) pins by changing the pin functions. eZdsp TMS320F2833 has many advantages including high-speed computation, negative- sign operation and floating point calculation. Therefore, eZdsp TMS320F2833 is very suitable for complex calculation, circuit integration and product for develop- ment.
In this thesis, eZdsp TMS320F28335 is used to implement the fully digital controller for the PMSM drive system with uncertain parameters. Form the exper- imental results, the expected performance can be achieved by the proposed adaptive control scheme. Differently form the trial and error method, the control gains for both speed loop and current loop can obtained simultaneously by solving the corresponding LMIs.

Keywords: uncertain parameters, PMSM drive system, adaptive control, LMI formulation, DSP-based, and fully digital controller.

摘 要 i
Abstract iii
致 謝 iv
目 錄 v
表目錄 vii
圖目錄 viii
第1章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 論文架構 4
第2章 永磁式同步電動機之基本原理 5
2.1 永磁式同步電動機之數學模型 5
2.2 二軸模型 10
2.2.1 靜止參考座標 10
2.2.2 同步參考座標 11
2.3 永磁式同步電動機之二軸數學模型 13
第3章 以LMI方法設計適應性控制器 15
3.1 模型架構 15
3.2 動態誤差方程式 17
3.3 動態誤差方程式 21
3.4 穩定性分析 27
3.5 Matlab模擬結果 31
第4章 無刷同步電動機簡介及硬體電路架構 41
4.1 信濃永磁式同步電動機7CB30-2DE7F簡介 41
4.1.1 信濃永磁式同步電動機7CB30-2DE7F參數 41
4.1.2 SBY-20-5ME-88-058-13編碼器 43
4.2 電源電路 46
4.3 驅動電路 48
4.3.1 反流器電路 48
4.3.2 光耦合隔離電路 49
4.3.3 正弦波寬度調變原理 51
4.3.4 死區延遲 54
4.4 驅動電路 56
4.5 編碼器迴授電路 58
4.6 控制介面電路 60
第5章 eZdsp TMS320F28335功能介紹及軟體架構 62
5.1 eZdsp TMS320F28335的主要特點 62
5.2 記憶體架構 64
5.3 類比/數位轉換(ADC)模組 66
5.4 增強型脈波寬度調變(ePWM)模組 69
5.5 增強型正交脈衝編碼器(eQEP)模組 71
5.6 串列週邊介面(SPI)模組 73
5.7 中斷取樣時間設定及電動機轉速運算 74
第6章 閉迴路實測結果 76
第7章 結論 95
參考文獻 96
作者簡介 98

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[23] TMS320x2833x Serial Peripheral Interface (SPI) Reference Guide, TI Inc.

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