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研究生:許伯綸
研究生(外文):Bo-Lun Syu
論文名稱:感應馬達向量控制之模糊滑動模式控制器設計
論文名稱(外文):Design of Fuzzy Sliding Mode Controller for Induction Motor Vector Control System
指導教授:王順源王順源引用關係
口試委員:曾煥雯黃仲欽曾傳蘆
口試日期:2012-07-12
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:電機工程系所
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:2012
畢業學年度:100
語文別:中文
論文頁數:113
中文關鍵詞:滑動模式控制器參考模型適應性系統模糊小腦理論向量控制
外文關鍵詞:sliding modemodel reference adaptive systemfuzzy cerebellar model articulationvector control
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本研究主要實現一具有可變滑動面之滑動模式控制器(sliding mode controller, SMC),應用於感應馬達無速度感測器之直接式磁場導向控制系統。而為改善驅動器之性能和強健性,將模糊理論結合滑動模式控制,以模糊滑動面取代固定斜率常數滑動面,藉此縮短迫近模式下系統軌跡到達滑動面之時間,同時減少高頻切跳的現象。此外,基於參考模型適應性系統理論,設計適應性虛擬降階型磁通估測器,用來估測馬達磁通值,以達成適應性向量控制之目的。為增加磁通估測的強健性,利用模糊小腦模型理論設計出適應性模糊小腦模型定轉子電阻估測器,以實現感應馬達線上參數估測之能力。
最後,將模糊滑動模式控制器及適應性模糊小腦模型定轉子電阻估測器植入感應馬達向量控制系統實驗架構中。並經實驗和模擬結果得知,馬達操作於36 rpm至2000 rpm轉速範圍且8Nm負載的條件下,系統的動態表現不但優於固定斜率參數的系統,亦能有效提升系統抗參數擾動之能力。

In this thesis, a sliding mode controller (SMC) with fuzzy sliding surface for speed-sensorless direct field orientation control system of induction motor is implemented. Combine sliding mode control with fuzzy theory to improve the driver’s performance and robustness. In place of using the fixed sliding surface, the fuzzy-varying sliding surface makes the shorter reaching time of system trajectory, and reduces the chattering of SMC.

To achieve adaptive vector control, the flux is estimated by the adaptive pseudo-reduced-order flux observer (APRO), which is based on model reference adaptive system theory. Under the structure, the fuzzy cerebellar model articulation theory is applied to the stator and rotor resistance estimators, which are realized for on-line parameter identification of induction motor.

The experimental results indicate that, in contract to the fixed slop constant of the sliding surface, the fuzzy sliding mode controller not only performs well dynamic responses in a wide speed range (36 rpm to 2000 rpm) with 8-Nm torque load, but also has better robustness against parameter variations of induction motor.


中文摘要 i
英文摘要 ii
誌 謝 iv
目 錄 v
表目錄 viii
圖目錄 ix
第一章 緒論 1
1.1 研究動機 1
1.2 內容大綱 4
第二章 感應馬達向量控制理論 5
2.1 前言 5
2.2 感應馬達數學模型 7
2.3 座標轉換 11
2.4 向量控制 12
2.5 結語 15
第三章 模糊控制理論 16
3.1 前言 16
3.2 模糊控制系統 17
3.2.1 模糊化 18
3.2.2 知識庫 18
3.2.3 模糊推論引擎 21
3.2.4 解模糊化 22
3.3 模糊小腦模型原理與架構 23
3.4 投影演算法 26
3.5 結語 30
第四章 滑動模式理論 31
4.1 前言 31
4.2 滑動模式控制理論 33
4.3 模糊滑動模式控制器設計 38
4.4 結語 44
第五章 參考模型適應性系統 45
5.1 前言 45
5.2 適應性磁通估測器設計 46
5.2.1 適應性降階型磁通估測器 47
5.2.2 適應性電流型磁通估測器 49
5.3 適應性模糊小腦模型定轉子電阻估測器設計 51
5.4 同步轉速估測器 57
5.5 系統模擬 58
5.6 結語 62
第六章 向量控制系統實驗 63
6.1 實驗設備簡介 63
6.2.1 實驗一 68
6.2.2 實驗二 89
6.2.3 實驗三 96
6.3 實驗結果討論 99
6.4 結語 102
第七章 結論與建議 103
7.1 結論 103
7.2 未來研究方向 104
參考文獻 105
附錄A 符號彙編 111
附錄B 實驗設備照片 113


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