臺灣博碩士論文加值系統

本文主要研究永磁式線性同步馬達無感測器位置伺服控制技術，擷取馬達三相電流與電壓估測出α-β軸靜止座標上的磁通鏈。以磁通估測法估測馬達的位置與速度，改善磁通鏈估測架構，加入修正因子提升磁通鏈估測之正確性。本文所提出的控制法與傳統直接推力控制法類似，皆以定子磁通鏈及電磁推力作為控制目標，而在控制法則的規劃是完全不同的，命令磁通鏈與電磁推力為背進式控制策略所推導，並以李亞普諾夫函數分析，確保控制系統之漸進穩定特性，同時保持位置控制的精確度。在實驗上，使用具多功能且高效的數位訊號處理器TMS320F28377做為控制核心，透過撰寫系統控制程序、組裝硬體，測試不同運動軌跡下的控制成效。由模擬與實驗結果驗證，本文所提出之控制法，為創新有效的無感測直接推力控制策略。

This study focuses on the sensorless position servo control of permanent magnet linear synchronous motor (PMLSM). The three-phase currents and voltages of the motor are used to estimate the flux linkage on the α-β stationary frame. A modified stator flux estimator with an adaptive mechanism and correction factors is implemented to observe the mover’s position and speed. Similar to the conventional direct torque/thrust control method, the stator flux linkage and thrust are the control targets. However, the development of the control scheme is quite different. The commanding flux and thrust are generated in the framework of backstepping control strategy. Based on the Lyaponove functional analysis, the global control system is guaranteed to be asymptotically stable, while maintaining satisfactory precision of position servo control. In the experiment, the digital signal processor TMS320F28377 is implemented as the system control core for it is a high-performance controller with multiple functions and I/O capabilities. The experiment is carried out through writing the system control program, assembling the hardware, performing physical control, and testing controlling effects on various motion trajectories. Shown by computer simulation and experimental results, the proposed approach is a novel and effective strategy to the sensorless direct thrust control of PMLSM.

摘要…i
Abstract…ii
誌謝…iii
目錄…iv
表目錄…vii
圖目錄…viii
符號索引…x
第一章 緒論…1
1.1前言…1
1.2研究動機與目的…1
1.3研究方法…2
1.4論文大綱…2
第二章 永磁式線性同步馬達與數學模型…3
2.1前言…3
2.2永磁式線性同步馬達簡介…3
2.3 座標轉換…5
2.4馬達數學模型…6
第三章 直接推力控制系統設計…8
3.1前言…8
3.2直接推力控制系統設計…9
3.3磁通估測法…11
3.3.1磁通估測架構性能比較…15
3.4方塊圖說明…16
3.5 最佳化控制法…18
第四章 硬體架構與軟體規劃…20
4.1前言…20
4.2硬體架構…20
4.2.1 TMS320F28377 數位訊號處理器…21
4.2.2 驅動電路板…22
4.2.3 電壓感測電路…25
4.2.4 馬達位置相位檢測…26
4.3系統架構…27
4.3.1無感測背進式直接推力控制系統…27
4.3.2無感測傳統直接推力控制系統…28
4.3.3最佳化控制系統…29
4.4程式流程…30
4.4.1無感測背進式直接推力控制程式流程…30
4.4.2無感測傳統直接推力控制程式流程…31
4.4.3最佳化控制程式流程…32
第五章 模擬與實驗結果…33
5.1前言…33
5.2控制系統模擬與實驗…33
5.2.2無感測傳統直接推力控制…40
5.2.3最佳化控制…46
5.2.4 模擬結果分析與討論…52
5.3.1無感測背進式直接推力控制…53
5.3.2無感測傳統直接推力控制…59
5.3.3最佳化控制…65
5.3.4 實驗結果分析與討論…71
第六章 結論與未來發展…72
6.1結論…72
6.2未來發展…72
參考文獻…73
附錄一…76
附錄二…77
Extended Abstract…80

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