應用於內藏式永磁同步馬達之智慧型最佳伺服頻寬調整及慣量估測

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姓名

俞韋安(Wei-An Yu) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

應用於內藏式永磁同步馬達之智慧型最佳伺服頻寬調整及慣量估測
(Intelligent Control with Optimal Bandwidth Tuning and Inertia Estimation for IPMSM Drive System)

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摘要(中)

本論文提出一使用兩個雙輸入單輸出之小波模糊類神經網路線上增益調整之內藏式永磁同步馬達驅動系統用以在不同速度命令下達到系統最佳頻寬，為了在不知道馬達參數以及特性的情況下尋找系統最佳頻寬，兩個雙輸入單輸出之小波模糊類神經網路被利用於線上調整PI速度控制器之參數。此外，本論文亦提出使用小波模糊類神經網路對內藏式永磁同步馬達驅動系統線上即時轉動慣量鑑別之技術，估測出之轉動慣量將應用於線上調整內藏式永磁同步馬達驅動系統IP速度控制器參數，並且在不同操作條件下做驗證。最後，本論文亦發展一種機械共振頻率偵測流程。實驗所使用之硬體為應用德州儀器公司生產之浮點數數位訊號處理器TMS320F28075之內藏式永磁同步馬達驅動系統。

摘要(英)

In order to achieve the optimal bandwidth at different speed commands, an online auto-tuning technique using two two-input one-output wavelet fuzzy neural networks (WFNNs) for interior permanent magnet synchronous motor (IPMSM) servo drives is proposed in this thesis. Two two-input one-output four-layer WFNNs are proposed for the online auto-tuning of the gains of a proportional-integral (PI) speed controller of the servo motor drive in order to searching the optimal bandwidth without using the information of plant parameters and the characteristics of the servo motor drive. In addition, a real-time moment of inertia identification technique using wavelet fuzzy neural network for an interior permanent magnet synchronous motor (IPMSM) servo drive is proposed in this thesis. The estimated moment of inertia will be used in the online design of an integral-proportional (IP) speed controller to achieve the gains auto-tuning of the IPMSM servo drive. The WFNN is proposed for the real-time identification of the moment of inertia of the IPMSM servo drive system in order to tune the gains of the IP speed controller online at different operating conditions. Finally, a method for the detection of mechanical resonance frequency is also developed in this thesis. The experimentation using the IPMSM servo drive based on Texas Instruments′ floating point digital signal processor (DSP) TMS320F28075 is presented.

關鍵字(中)

★ 內藏式永磁同步馬達
★ 小波模糊類神經網路
★ 最佳頻寬
★ 線上增益調整

關鍵字(英)

論文目次

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VII
表目錄 XI
第一章緒論 1
1.1 研究動機 1
1.2 文獻回顧與簡介 2
1.3 本文貢獻 6
1.4 論文大綱 7
第二章內藏式永磁同步馬達變頻驅動器硬體介紹 8
2.1 前言 8
2.2 馬達變頻驅動系統 8
2.3 改良式磁粉式煞車 9
2.4 數位訊號處理器 10
2.5 驅動控制電路板 14
第三章內藏式永磁同步馬達數學模型及電磁轉矩方程式 18
3.1 前言 18
3.2 三相座標轉換 20
3.3 內藏式永磁同步馬達在abc座標系下之數學模型 23
3.4 內藏式永磁同步馬達在αβ座標系下之數學模型 25
3.5 內藏式永磁同步馬達在d-q座標系下之數學模型 29
3.6 凸極式反電動勢定義 31
第四章小波模糊類神經網路 35
4.1 前言 35
4.2 小波模糊類神經網路架構 35
4.3 線上學習法則 38
4.4 網路收斂性分析 41
第五章具線上增益調變之最佳速度迴路頻寬與慣量估測之馬達伺服驅動器…………. 43
5.1 前言 43
5.2 內藏式永磁同步馬達驅動系統之轉移函數 43
5.3 內藏式永磁同步馬達驅動系統之速度響應性能分析 46
5.4 智慧型線上轉動慣量估測 46
5.5 內藏式永磁同步馬達驅動系統之IP速度控制器設計 48
第六章共振頻率偵測 51
6.1 前言 51
6.2 動態訊號分析儀 51
6.3 共振頻率偵測流程 53
第七章模擬與實驗結果 57
7.1 前言 57
7.2 線上增益調變之最佳速度迴路頻寬馬達驅動器 59
7.2.1 實驗架構與設計 59
7.2.2 模擬結果 60
7.2.3 實驗結果 68
7.3 智慧型線上轉動慣量估測之馬達驅動器 79
7.3.1 實驗架構與設計 79
7.3.2 模擬結果 80
7.3.3 實驗結果 88
7.4 共振頻率偵測實驗結果 98
第八章結論與未來研究方向 101
參考文獻….. 102
作者簡歷….. 108

參考文獻

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指導教授

林法正(Faa-Jeng Lin)

審核日期

2018-8-21

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