臺灣博碩士論文加值系統

本研究基於適應性參考模型系統之適應性定子磁通估測器架構，設計出適應性轉速估測器與定子電阻估測器，並將Takagi-Sugeno-Kang(TSK)模糊系統與投影演算法植入估測器中，以實現具有定子電阻調適能力之感應馬達無速度感測器驅動系統。另外，以適應性TSK模糊控制器(adaptive TSK fuzzy controller, ATSKFC)作為系統之轉速控制器，此控制器具有線上學習的功能，並且結合改良型補償控制器，以提升馬達的暫態響應。
本研究採用直接轉矩控制(direct torque control, DTC)理論實現感應馬達控制，其優點為動態響應快、系統架構簡單和容易計算，並且應用電壓空間向量調變技術，來改善傳統直接轉矩控制系統的轉矩漣波及噪音等問題。
經模擬及實驗結果證明，將適應性TSK模糊轉速與定子電阻估測器及適應性TSK模糊控制器植入感應馬達直接轉矩控制系統中，在馬達負載轉矩為 ，轉速控制範圍在36 rpm至2000 rpm時，皆具有優異的轉速動態響應且能夠準確的估測出轉速和定子電阻。

This thesis aims for implementing the speed and stator resistance estimator which is based on adaptive stator flux estimator of model reference adaptive system (MRAS). This structure of adaptive stator flux estimator integrates the TSK fuzzy theory and projection algorithm into the speed and stator resistance estimator in order to realize the speed-sensorless induction motor drive with real-time stator resistance identification.
In addition, an adaptive TSK fuzzy controller (ATSKFC) is developed for speed control of direct torque control (DTC) system of induction motor. This controller has on-line learning ability. Moreover, the ATSKFC with an auxiliary compensator is capable of offering more flexible compensation effort to improve transient responses for the induction motor.
The DTC is implemented in induction motor drives to gain the classic merits, including fast system responses, simple structure and low computation complexity. In order to solve the problems of torque ripple and noise caused by the conventional DTC scheme, the voltage space vector pulse width modulation (VSVPWM) technique is chosen in this research.
As demonstration in simulated and experimental results, it is observed that excellent speed tracking performance and the accurate estimation of speed and stator resistance are shown in wide speed range (36 rpm-2000 rpm).

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 研究動機與目的 1
1.2 內容大綱 3
第二章 感應馬達直接轉矩控制理論 4
2.1 前言 4
2.2 感應馬達數學模型 5
2.3 直接轉矩控制 13
2.3.1 傳統直接轉矩控制 13
2.3.2 電壓空間向量波寬調變之直接轉矩控制 17
2.4 結語 22
第三章 模糊控制理論 23
3.1 前言 23
3.2 模糊理論基本原理 24
3.3 模糊集合之基本運算 25
3.4 模糊邏輯控制系統 27
3.4.1 模糊化 28
3.4.2 知識庫 29
3.4.3 模糊推論 31
3.4.4 解模糊化 32
3.5 Takagi-Sugeno-Kang模糊系統 33
3.6 投影演算法 34
3.7 投影演算法應用設計 37
3.8 結語 38
第四章 適應性TSK模糊控制器設計 39
4.1 前言 39
4.2 適應性TSK模糊控制器設計 39
4.2.1 TSK模糊控制器設計 39
4.2.2 適應性TSK模糊轉速控制器設計 42
4.2.3 改良型補償控制器設計 46
4.2.4 轉速控制器穩定性分析 47
4.3 結語 48
第五章 適應性TSK模糊估測器設計 49
5.1 前言 49
5.2 適應性定子磁通估測器 50
5.2.1 感應馬達定子磁通估測器架構 50
5.2.2 適應性轉速與定子電阻估測器 52
5.2.3 估測器回授增益矩陣設計 55
5.3 適應性TSK模糊轉速與定子電阻估測器設計 56
5.4 感應馬達直接轉矩控制系統模擬 60
5.5 結語 64
第六章 直接轉矩控制系統實驗 65
6.1 實驗設備 65
6.2 實驗結果 67
6.3 實驗結果討論 86
6.4 結語 88
第七章 結論與未來研究方向 89
7.1 結論 89
7.2 未來研究方向 90
參考文獻 91
符號彙編 96
附錄 實驗設備照片 98
作者簡介 99

[1]劉昌煥，交流電機控制：向量控制與直接轉矩控制原理；第四版，台北：東華書局，2008。
[2]J. W. Finch and D. Giaouris, "Controlled AC electrical drives," IEEE Transactions on Industrial Electronics, vol. 55, no. 2, 2008, pp. 481–491.
[3]F. Blaschke, "The principle of field orientation as applied to the new TRANSVECTOR closed loop control system for rotating field machines," Siemens Rev., vol. 34, 1972, pp. 217–220.
[4]A. B. Plunkett, "Direct flux and torque regulation in a PWM inverter induction motor drive," IEEE Transactions on Industry Applications, vol. Ia-3, no. 2, 1977, pp. 139-146.
[5]A. Tripathi, A. M. Khambackone and S. K. Panda, "Torque ripple analysis and dynamic performance of a space vector modulation based control method for AC-drives," IEEE Transactions on Power Electronics, vol. 20, no. 2, 2005, pp. 485-492.
[6]E. H. Mamdani, "Application of fuzzy algorithms for control of simple dynamic plant," Proceedings of the IEEE, vol. 121, 1974, pp. 1585-1588.
[7]L. X. Wang, A Course in Fuzzy Systems and Control, Taipei：Pearson Education Taiwan Ltd, 2005.
[8] 汪惠健譯，模糊理論與應用，台北：全威圖書有限公司，2006，第299-301頁。
[9]H. Kubota, K. Matsuse and T. Nakano, "DSP-based speed adaptive flux observer of induction motor," IEEE Transactions on Industry Applications, vol. 29, no. 2, 1993, pp. 344-348.
[10]葉志鈞，感應馬達直接轉矩控制系統之適應性監督式高斯小腦模型控制器設計，博士論文，國立臺北科技大學電機工程系，台北，2011。
[11]G. C. Goodwin and K. S. Sin, Adaptive Filtering Prediction and Control, New Jersey, Englewood Cliffs : Prentice-Hall, Inc., 1984, pp. 49-54.
[12]V. Solo, "Adaptive filtering prediction and control," IEEE Transactions on Automatic Control, 1985, pp. 1259-260.
[13]T. C. Chen and T. T. Sheu, "Model reference neural network controller for induction motor speed control," IEEE Transactions on Energy Conversion, vol. 17, no. 2, 2002, pp. 157-163.
[14]C. H. Yu and T. C. Chen, "Robust control for a biaxial servo with time delay system based on neural network," IEEE International Conference on Systems, Man and Cybernetics, vol. 3, 2006, pp. 2553-2558.
[15]D. W. Novotny and T. A. Lipo, Vector Control and Dynamic of AC Drives, New York Oxford University Press Inc., 1996, pp. 56-77 and 304-313.
[16]S. S. Perng, Y. S. Lai and C. H. Liu, "Sensorless vector controller for induction motor drives with parameter identification," IEEE Proceedings of 24th Annual Conference of Industrial Electronics Society, vol. 2, 1998, pp. 1008-1013.
[17]王偉修、劉昌煥，PC-Based馬達控制器及時發展系統Simu-Drive，台北：微鋒自動科技股份有限公司，1998。
[18]H. Le-Huy, "Comparison of field-oriented control and direct torque control for induction motor drives," Conference Record of 34th IEEE Industry Applications Society Annual Meeting, 1999, pp. 1245–1252.
[19]P. Vas, Sensorless Vector and Direct Torque Control, New York, Oxford Univ. Press, Inc., 1998.
[20]王順忠、陳秋麟，電機機械基本原理；第四版，台北：東華書局，2006，第547-575頁。
[21]Y. S. Lai and C. J. Lin, "New hybrid fuzzy controller for direct torque control induction motor drives," IEEE Transactions on Power Electronics, vol. 18, no. 5, 2003, pp. 1211–1219.
[22]K. K. Shyu, L. J. Shang, H. Z. Chen and K. W. Jwo, "Flux compensated direct torque control of induction motor driver for low speed operation," IEEE Transaction on Power Electronics, vol. 19, no. 6, 2004, pp. 1608–1613.
[23]劉國穎，適應性模糊小腦模型控制器於直接轉矩控制系統之設計，碩士論文，國立臺北科技大學電機工程系，台北，2008。
[24]C. Lascu, I. Boldea and F. Blaabjerg, "A modified direct torque control for induction motor sensorless drive," IEEE Transactions on Industry Applications, vol. 36, no. 1, 2000, pp. 122–130.
[25]D. Casadei, G. Serra and A. Tani, "Implementation of a direct torque control algorithm for induction motors based on discrete space vector modulation," IEEE Transaction on Power Electronics, vol. 15, no. 4, 2000, pp. 769–777.
[26]A. Purcell and P. Acarnely, "Enhanced inverter switching for fast response direct torque control," IEEE Transactions on Power Electronics, vol. 16, no. 3, 2001, pp. 382–389.
[27]G. S. Buja and M. P. Kazmiekowski, "Direct torque control of PWM inverter-fed AC motors - a survey," IEEE Transactions on Industrial Electronics, vol. 51, no. 4, 2004, pp. 744–757.
[28]林正浩，三相感應電動機之DSP直接轉矩控制系統研製，碩士論文，國立臺灣大學電機工程研究所，台北，2001。
[29]K. Lee, S. H. Huh, J. Y. Yoo and F. Blaabjerg, "Performance improvement of DTC for Induction motor-fed by three-level inverter with an uncertainty observer using RBFN," IEEE Transactions on Energy Conversion, vol. 20, 2005, pp. 276-283.
[30]L. A. Zadeh, "Fuzzy sets," Information and Control, vol. 8, 1965, pp. 338-353.
[31]孫宗瀛、楊英魁，Fuzzy控制理論實作與應用，台北：全華科技圖書股份有限公司，1994。
[32]王文俊，認識Fuzzy；第三版，台北：全華圖書有限公司，2007。
[33]Z. L. Sun, K. F. Au and T. M. Choi, "A neuro-fuzzy inference system through integration of fuzzy logic and extreme learning machines," IEEE Transactions on Systems, Man, and Cybernetics-part B, vol. 37, no. 5, 2007, pp. 1321-1331.
[34]施汶宗，具適應性TSK模糊速度控制器之感應馬達直接轉矩控制系統設計，碩士論文，國立臺北科技大學電機工程系，台北，2009。
[35]S. Y. Wang, C. L. Tseng and S. C. Chien, "Adaptive fuzzy cerebellar model articulation control for switched reluctance motor drive," IET Electric Power Applications, vol. 6, no. 3, 2012, pp. 190–202.
[36]韓曾晉，適應控制系統，台北：科技圖書股份有限公司，2002，第279-340。
[37]彭世興，具線上參數調適之無測速器感應馬達驅動技術，博士論文，國立臺灣科技大學電機研究所，台北，1999。
[38]蔡建年，具有適應性定、轉子電阻線上辨識之無量測器直接轉矩控制感應馬達驅動器，碩士論文，國立勤益科技大學電機工程系，台中，2008。
[39]Z. Zhang, R. Tang, B. Bai and D. Xie, "Novel direct torque control based on space vector modulation with adaptive stator flux observer for induction motors," IEEE Transactions on Magnetics, vol. 46, no. 8, 2010, pp. 3133–3136.
[40]F. R. Salmasi and T. A. Najafabadi, "An adaptive observer with online rotor and stator resistance estimation for induction motors with one phase current sensor," IEEE Transactions on Energy Conversion, vol. 26, no. 3, 2011, pp. 959–966.
[41]Y. N. Lin and C. L. Chen, "Adaptive pseudoreduced-order flux observer for speed sensorless field-oriented control of IM," IEEE Transactions on Industry Applications, vol. 46, no. 5, 1999, pp. 1042-1045.
[42]邱俊榮，使用Takagi-Sugeno-Kong模糊轉速估測器之感應馬達向量控制系統設計，碩士論文，國立臺北科技大學，台北，2009。