利用函數連結放射狀基底函數網路於適應性步階迴歸控制六相永磁同步馬達定位驅動系統

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陳世剛(Shih-Gang Chen) 查詢紙本館藏

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論文名稱

利用函數連結放射狀基底函數網路於適應性步階迴歸控制六相永磁同步馬達定位驅動系統
(Adaptive Backstepping Control of Six-Phase PMSM Position Drive System using Functional Link Radial Basis Function Network)

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摘要(中)

本論文的研究目的是研製以數位訊號處理器為基礎之適應性步階迴歸控制，並利用函數連結放射狀基底函數網路當作不確定性觀測器，用於六相永磁同步馬達定位驅動系統。首先，本研究先推導出六相永磁同步馬達以磁場導向控制的動態模型。接著，將所設計好的步階迴歸控制系統應用於定位驅動系統控制上作馬達轉子機械位置命令的追隨。由於六相永磁同步馬達定位系統上所存在的不確定項是難以預先得到的，因此在實際應用上要設計一有效益之步階迴歸控制系統是很困難的。有鑒於此，本研究提出了適應性步階迴歸控制系統，利用適應律來估測步階迴歸控制系統中的總集不確定項。但之後為了增加六相永磁同步馬達定位驅動系統的強健及精確性，使用函數連結放射狀基底函數網路當作總集不確定項之觀測器，並以補償控制器來消除其最小重建誤差。除此之外，利用李亞普諾夫穩定性理論推導出線上學習演算法，並藉由線上訓練的方式來更新函數連結放射狀基底函數網路之參數。最後，本研究以32位元浮點運算數位訊號處理器TMS320F28335完成所提出之六相永磁同步馬達定位驅動系統，且利用實驗結果來驗證所提出之智慧型適應性步階迴歸控制系統的強健控制成效。

摘要(英)

An adaptive backstepping control (ABSC) using a functional link radial
basis function network (FLRBFN) uncertainty observer is proposed in this study
to construct a high-performance six-phase permanent magnet synchronous
motor (PMSM) position servo drive system. The dynamic model of a
field-oriented six-phase PMSM position servo drive is described first. Next, a
backstepping control (BSC) system is designed for the tracking of the position
reference. Since the lumped uncertainty of the six-phase PMSM position servo
drive system is difficult to obtain in advance, it is very difficult to design an
effective BSC for practical applications. Therefore, an ABSC system is
designed using an adaptive law to estimate the required lumped uncertainty in
the BSC system. To further increase the robustness of the six-phase PMSM
position servo drive, an FLRBFN uncertainty observer is proposed to estimate
the lumped uncertainty of the position servo drive with a compensated
controller to eliminate the minimum reconstructed error. In addition, an onl ine
learning algorithm is derived using Lyapunov stability theorem to learn the
parameters of the FLRBFN online. Finally, the proposed position control
system is implemented in a 32-bit floating-point DSP, TMS320F28335. The
effectiveness and robustness of the proposed intelligent ABSC system are
verified by some experimental results.

關鍵字(中)

★ 適應性步階迴歸控制
★ 函數連結放射狀基底函數網路
★ 數位訊號處理器
★ 六相永磁同步馬達
★ 總集不確定項
★ 李亞普諾夫穩定性

關鍵字(英)

★ Adaptive backstepping control
★ functional link radial basis function network
★ digital signal processor
★ six-phase permanent magnet synchronous motor
★ lumped uncertainty
★ Lyapunov stability

論文目次

中文摘要 ................................................................................................................. I
英文摘要 ............................................................................................................... II
誌謝 ...................................................................................................................... III
目錄 ...................................................................................................................... IV
圖目錄 ................................................................................................................ VII
表目錄 .................................................................................................................. XI
第一章緒論 ........................................................................................................ 1
1.1 研究動機與目的 ............................................................................. 1
1.2 文獻回顧 ......................................................................................... 3
1.3 論文大綱 ......................................................................................... 6
1.4 論文貢獻 ......................................................................................... 7
第二章六相永磁同步馬達驅動系統之控制板 ................................................ 8
2.1 前言 ................................................................................................. 8
2.2 TMS320F28335 數位訊號處理器簡介 .......................................... 9
2.3 TMS320F28335 周邊功能 ............................................................ 12
2.3.1 脈波寬度調變模組 ............................................................. 12
2.3.2 中斷訊號 ............................................................................. 14
2.3.3 類比/數位轉換模組 ........................................................... 15
2.3.4 正交編碼器脈衝模組 ......................................................... 16
2.3.5 串列周邊介面模組 ............................................................. 18
2.4 以DSP 為基礎的六相永磁同步馬達控制系統 ......................... 20
2.4.1 TMS320F28335 控制卡 ...................................................... 20
2.4.2 TMS320F28335 介面板 ...................................................... 21
2.4.3 周邊電路擴充控制板 ......................................................... 22
2.5 周邊擴充控制板之電路 .............................................................. 23
2.5.1 類比/數位轉換電壓準位轉換電路 ................................... 23
2.5.2 脈波寬度調變轉換電路..................................................... 24
2.5.3 過電流保護電路 ................................................................. 25
2.5.4 數位/類比轉換電路 ........................................................... 26
2.5.5 編碼器之解碼電路 ............................................................. 27
第三章六相永磁同步馬達驅動系統 .............................................................. 28
3.1 前言 ............................................................................................... 28
3.2 六相永磁同步馬達....................................................................... 30
3.3 六相永磁同步馬達數學動態模型 .............................................. 31
3.4 座標轉換之電壓及電磁轉矩方程式 .......................................... 32
3.5 空間向量脈波寬度調變 .............................................................. 36
3.6 六相永磁同步馬達控制架構 ...................................................... 48
第四章六相永磁同步馬達之適應性步階迴歸控制系統 .............................. 51
4.1 前言 ............................................................................................... 51
4.2 步階迴歸控制系統....................................................................... 52
4.2.1 步階迴歸控制 .................................................................... 52
4.2.2 步階迴歸控制法則及穩定性證明 .................................... 55
4.2.3 實驗結果與討論 ................................................................ 56
4.3 適應性步階迴歸控制系統 ........................................................... 63
4.3.1 適應性步階迴歸控制 ......................................................... 63
4.3.2 適應性步階迴歸控制法則及穩定性證明 ......................... 64
4.3.3 實驗結果與討論 ................................................................. 66
第五章六相永磁同步馬達之適應性步階迴歸控制利用函數連結放射狀基
底函數網路不確定性觀測器 .............................................................. 71
5.1 前言 ............................................................................................... 71
5.2 類神經網路與模糊邏輯 .............................................................. 72
5.3 函數連結放射狀基底函數網路 ................................................... 76
5.4 適應性步階迴歸控制利用函數連結放射狀基底函數網路不確定
性觀測器 ........................................................................................ 81
5.5 適應性步階迴歸控制利用函數連結放射狀基底函數網路不確定
性觀測器控制法則及穩定性證明 ............................................... 83
5.6 實驗結果與討論 ............................................................................ 86
第六章結論與未來展望 .................................................................................. 91
6.1 結論 ............................................................................................... 91
6.2 未來展望 ....................................................................................... 93
參考文獻 .............................................................................................................. 94
作者簡歷 ............................................................................................................ 101

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指導教授

林法正(Faa-Jeng Lin)

審核日期

2016-8-24

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