臺灣博碩士論文加值系統

本論文的目的是以個人電腦與數位信號處理器雙處理器結構為基礎 ，使用絕緣閘極雙載子電晶體模組並配合其它控制與保護線路製成反流 器，完成一套數位控制之二十千瓦大功率交流馬達驅動器及控制系統。 本驅動系統可對感應與永磁同步馬達做高精密之速度與位置控制。為了 改善系統參數變化及外來干擾的影響，本論文提出一個強健型磁場導向 交流馬達驅動系統，首先介紹積分比例控制器與系統性的設計步驟，其 次介紹由修正型之最小平方疊代法法則與轉矩觀測器組成具有無偏差之 最小平方疊代法估測器，藉由修正型之最小平方疊代法估測器估測出交 流馬達的轉子慣量、阻尼常數與負載轉矩干擾，此積分比例位置控制器 可在參數變化之下線上設計，以配合時域命令追隨，並且前饋觀測轉矩 干擾以增加交流馬達驅動的強健性，使得交流馬達在參數變化及外來干 擾下亦能保持良好之速度命令追隨及負載調節等控制特性。整套系統在 速度及位置控制上均具有高保持轉矩，快速響應及穩定性高等特點。由 於最小平方疊代法中有許多矩陣之運算，必須利用計算能力強且適合矩 陣運算之處理器以利線上運算。本論文擬採用以數位信號處理器為主的 控制電腦來控制交流馬達，其中控制電腦用來執行伺服控制、人機界面 軟體及估測法則，而數位信號處理器則用來履行磁場導向。本論文以發 展感應馬達驅動控制為主體；所發展之控制系統亦可成功的應用於永磁 同步馬達之控制上。本文除敘述上述控制器完整的理論基礎外，並利用 模擬與實驗結果驗證所提出之交流馬達驅動系統的有效性與實用性。

The purpose of this thesis is to design and implement a high-performance AC servo motor drive. A co-processor structure, which is based on a personal computer (PC) and a digital signal processor (DSP), is presented in this thesis. Using IGBT modules and other control and protect circuits to implement an inverter, a 20 kW heavy load AC motor drive system is completed. The drive system can accomplish high precision of velocity and position control for induction and permanent magnet synchronous motors. In order to reduce the influences of plant parameter variations and external load disturbances to the motor drive system, a robust field-oriented AC motor drive is presented in this thesis.An integral-proportional (IP) controller and its systematic design procedure is introduced first. Next, a recursive least square (RLS) estimator with unbiased characteristics, which composes of a RLS algorithm and a proposed torque observer, is introduced. The rotor inertia constant, the damping constant, and the disturbed load torque of the AC motor drive are estimated by the proposed RLS estimator. Then the IP position controller is real-time designed to match the time-domain command tracking specifications under the condition of parameter variations, and the observed disturbance torque is fed forward to increase the robustness of the AC motor drive. The theoretical basis of the proposed controller and estimator are derived in detail, and the effectiveness of the proposed AC motor drive system is confirmed by the simulation and experimental results.