臺灣博碩士論文加值系統

本文推導α-β軸靜止座標軸上的五階背進式控制模式，根據此模式進行系統化的分析與控制法則設計。觀測器設計方面，應用平方項總和(sum of squares，SOS)方法推導穩定的觀測條件，得到觀測回授增益是為多項式矩陣，與一般常數性矩陣不同，因此測試器本質上為非線性且時變。從量測α-β軸上的電壓向量與電流向量，就能進行系統狀態估測，其估測值包含對於馬達位置、速度與電流的估測。
完成五階馬達動態觀測器設計後，接著本文分別從電壓控制策略、電流控制策略、強健控制策略探討控制理論，並結合先前完成的SOS觀測器，進行系統控制的設計。為驗證理論正確，應用Matlab SOSTOOLS工具箱求得觀測回授增益的解，然後就上述三種系統控制方法進行實驗，證明本文所提出控制理論的正確性與實用性。

This thesis derived the fifth-order dynamic model of PMLSM on the static axis of the α-β axis, and conducting systematic analysis and designing control rules are based on this model. In terms of the design of the observer, the sum of squares (SOS) method is used to deduce the conditions of stable observation, the observation feedback to get a polynomial matrix, which is different from the general constant matrix. Therefore, the tester is essentially non-linear and time-varying. From measuring the voltage vector and current vector on the α-β axis which are able to estimate the state of the system. The estimated value includes the estimation of the motor position, speed and current.
After completing the design of the fifth-order motor dynamic observer, this thesis discusses the control theory from the voltage control strategy, current control strategy, and robust control strategy respectively, and combines the previously completed SOS observer to carry out system control design .In order to verify the correctness of the theory, Matlab SOSTOOLS toolbox Obtain the solution of observation feedback, physical experiments were carried out on the above three system control methods to prove the correctness and practicality of the control theory proposed in this thesis.

摘要------------------------------------i
Abstract-------------------------------ii
誌謝----------------------------------iii
目錄-----------------------------------iv
表目錄---------------------------------vi
圖目錄--------------------------------vii
符號索引------------------------------viii
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--------4
2.1前言---------------------------------4
2.2永磁式線性同步馬達簡介-----------------4
2.3座標轉換------------------------------6
2.4馬達數學模型--------------------------7
第三章 控制系統設計-----------------------9
3.1前言----------------------------------9
3.2平方項總和非線性觀測器------------------9
3.3電壓控制設計--------------------------12
3.4電流控制設計--------------------------15
3.5強健控制設計--------------------------17
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程式流程------------------------------27
4.3.1無感測背進式電壓控制程式流程----------27
4.3.2無感測背進式電流控制程式流程----------28
4.3.3無感測背進式強健控制程式流程----------29
第五章 實驗結果---------------------------30
5.1前言----------------------------------30
5.2控制系統實驗---------------------------30
5.2.1運動軌跡與量化指標--------------------30
5.2.2無感測背進式電壓控制策略實驗-----------31
5.2.3無感測背進式電流控制策略實驗-----------35
5.2.4無感測背進式強健控制策略實驗-----------39
5.3實驗結果分析與討論----------------------44
第六章 結論與未來發展----------------------45
6.1結論-----------------------------------45
6.2未來發展-------------------------------45
參考文獻----------------------------------46
英文論文大綱------------------------------49
個人簡歷----------------------------------54

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