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研究生:顏睿廷
研究生(外文):Jui-Ting Yen
論文名稱:FIR速度最佳化設計應用於永磁同步馬達電梯自動門控制系統
論文名稱(外文):FIR Speed Optimizations for the Real-time Permanent Magnet Synchronous Motor on Automatic Door Control System of Elevator
指導教授:陳金聖陳金聖引用關係
口試委員:黃明熙黃仲欽
口試日期:2012-07-23
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:自動化科技研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:中文
論文頁數:84
中文關鍵詞:自動門機FIR濾波器永磁同步馬達系統參數鑑別
外文關鍵詞:Automatic door controlFIR filterPermanent magnet synchronous motorReal-time operation system.
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自動門機簡稱門機,常出現於百貨公司大門、捷運車廂,或電梯車廂等應用中。近年來,門機已由傳統的直流機連桿驅動,轉變為永磁同步馬達(PMSM)直接驅動的方式發展。但有些建築設計應用上,因自動門機使用不同的材料或結構不同,而造成門機負載的變動,使得傳統控制器,無法適時調整控制參數,導致速度響應不佳。本論文中將提出一種方式,利用FIR濾波器設計出一具備加減速過程的速度曲線,減少因加速度過大導致機構上產生的撞擊與震動的問題,且提出利用權重修正來適時的最佳化速度曲線,讓門機控器不會因系統改變,造成速度追隨誤差,而發生撞門或夾傷人員現象。
另外,近年來各式各樣嵌入式作業系統或是RTOS,慢慢使用在控制領域中,但對於部分需大記憶體或快速程式執行速度要求的嵌入式作業系統,較難應用於低階的控制系統中,因此本論文中,將設計一簡易的排程器與程式監控器,並規劃出系統與驅動程式、應用程式之間的介面模式,使得複雜度較高的程式開發上,提供一快速開發與溝通的環境。


The automatic door is often applied in the different applications, such as doors of department store, car of MRT, or the elevator system. Recently, the structure of automatic door has changed from using the traditional DC motor with multi-link mechanism into using permanent magnet synchronous motor (PMSM), which has improved the operation performance of automatic door. However, the automatic door will be made by different materials or structures considering some special applications or needs, thus the load of door is varied. Moreover, the traditional controller is unable to adjust the control parameters immediately when the load is change. This thesis proposes a scheme, using the FIR filter to reshape the velocity profile with the process of acceleration/ deceleration to reduce the impact and vibration. In the deceleration period, the weighting of FIR filter will be modified to optimize the speed profile which can reduce the following error to avoid the collision of automatic door.
Recently, the embedded operation system and real-time operation system are widely used in the control applications. However, almost all the above systems occupy a lot of resources from system resulting in difficult to be applied for low-level control system. Therefore, this thesis designs a simple scheduler and a real-time program design tool, this will provide a rapid development environment for the complex real-time control program.


中文摘要.........................................i
英文摘要.........................................ii
誌謝.............................................iv
目錄.............................................v
表目錄...........................................vii
圖目錄...........................................viii
第一章 緒論.....................................1
1.1 研究動機與目的...............................1
1.2 文獻回顧.....................................3
1.3 本文架構.....................................5
第二章 系統軟硬體架構與實驗平台.................6
2.1 簡易即時嵌入式系統...........................6
2.1.1軟硬體架構..................................7
2.1.2背景與前景程式..............................9
2.1.3工作優先權設計..............................10
2.1.4工作元(task)狀態與排程器設計................11
2.1.5系統監視設計................................15
2.2 實驗硬體平台.................................21
2.2.1 主要硬體項目與功能簡介.....................21
2.2.2 DSP處理晶片簡介............................22
2.2.3 模擬自動門機與馬達規格.....................25
第三章 永磁同步馬達數學模型.....................26
3.1 永磁同步馬達簡介.............................26
3.2 馬達數學模型建立.............................29
3.2.1 座標軸定義.................................29
3.2.2 三相靜止座標軸數學模型.....................31
3.2.3 兩相同步旋轉座標軸數學模型.................32
3.3 永磁同步馬達閉迴路控制方塊...................35
第四章 參數鑑別.................................36
4.1 d、q軸電感與相電阻鑑別.......................36
4.2收斂證明......................................42
4.3電流環控制器設計..............................47
第五章 FIR濾波器改變權重最佳化速度命令...........49
5.1 FIR原理......................................49
5.2限制條件決定與加速度曲線設計..................51
5.3 設計減速時最佳加速度值.......................53
5.3.1馬達走行位置介於減速第三區時之殘距離推導....55
5.3.2馬達走行位置介於減速第二區時之殘距離推導....57
5.3.3馬達走行位置介於減速第一區時之殘距離推導....59
5.3.4最佳化減加速度與速度........................61
第六章實驗結果...................................62
6.1 永磁同步馬達參數鑑別.........................62
6.2 FIR最佳化速度命令實驗........................67
第七章 結論......................................81
7.1 結論.........................................81
7.2 未來方向與建議...............................81
參考文獻.........................................82



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