應用於電動轉向系統之智慧型控制六相永磁同步馬達驅動系統

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阮開駿(Kai-Chun Juan) 查詢紙本館藏

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電機工程學系

論文名稱

應用於電動轉向系統之智慧型控制六相永磁同步馬達驅動系統
(Intelligent Control of Six-Phase Permanent Magnet Synchronous Motor Drive System for Electric Power Steering System)

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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智慧型控制六相永磁同步馬達驅動系統，其應用在電動轉向系統上。由於電動轉向系統是一個非線性與時變的系統，控制的準確性對於整個電動轉向系統的參數變化、外力干擾與摩擦力相當敏感。然而電動轉向系統的穩定性是目前最重要的發展議題，因此本論文提出兩種智慧型控制系統，一個是具有線上調整學習速率的改良型差分演化演算法之非對稱歸屬函數之小波模糊類神經網路控制器，另一個是智慧型二階滑動模態控制器，利用非對稱歸屬函數之小波模糊類經網路的線上學習能力與快速收斂的特性來估測電動轉向系統的不確定項，以達到電動轉向系統所需求高的控制性能。最後以DSP(TMS320F28335)實現六相永磁同步馬達驅動系統，並且以實驗結果來驗證所提出的智慧型控制器之可行性。

摘要(英)

The purpose of this thesis is to develop a digital signal processor (DSP) based intelligent control of six-phase permanent magnet synchronous motor (PMSM) drive system for electric power steering (EPS) system. Due to the EPS system is a nonlinear and time-varying system, the control accuracy is very sensitive to the parameter variations and external disturbances. Since the stability of EPS system is the most important issue, two intelligent control systems are proposed in this thesis. First, an improved differential evolution wavelet fuzzy neural network with asymmetric membership function (IDE WFNN-AMF) is proposed, in which the learning rates of IDE WFNN-AMF are adapted online. Then, an intelligent two-order sliding-mode controller (I2OSMC) is proposed, in which the uncertainties of the EPS system is estimated using the WFNN-AMF with online learning and fast convergence capabilities. The above two intelligent controllers can achieve the required high control performance of the EPS system. Finally, the six-phase PMSM drive system is implemented by the DSP TMS320F28335, and some experimental results are illustrated to verify the validity of the proposed intelligent controllers.

關鍵字(中)

★ 六相永磁同步馬達
★ 電動轉向系統
★ 數位訊號處理器
★ 非對稱歸屬函數之小波模糊類經網路
★ 改良型差分演化演算法之非對稱歸屬函數之小波模糊類神經網路
★ 智慧型二階滑動模態控制器

關鍵字(英)

★ Six-phase permanent synchronous motor
★ Electric power steering system
★ Digital signal processor
★ Wavelet fuzzy neural network with asymmetric membership function
★ Improved differential evolution wavelet fuzzy neural network with asymmetric membership functio

論文目次

中文摘要 I
英文摘要 II
誌謝 IV
目錄 V
圖目錄 VIII
表目錄 XII
第一章緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 1
1.3 論文大綱 4
1.4 論文貢獻 5
第二章六相永磁同步馬達控制系統之硬體介紹 6
2.1 前言 6
2.2 TMS320F28335數位訊號處理器簡介 6
2.3 TMS320F28335週邊功能介紹 9
2.3.1 脈波寬度調變模組 9
2.3.2 中斷訊號 10
2.3.3 類比/數位轉換模組 11
2.3.4 正交編碼器脈衝模組 12
2.3.5 串列周邊介面模組 14
2.4 以DSP為基礎的六相永磁同步馬達控制系統 16
2.4.1 DSP28335控制卡 17
2.4.2 DSP28335介面板 17
2.4.3 週邊電路擴充控制板 18
2.5 週邊擴充控制板之電路 19
2.5.1 類比/數位轉換電壓準位轉換電路 19
2.5.2 脈波寬度調變電壓準位轉換電路 20
2.5.3 過電流保護電路 21
2.5.4 數位/類比轉換電路 23
2.5.5 編碼器之解碼電路 24
第三章應用於電動轉向系統之六相永磁同步馬達驅動系統 25
3.1 前言 25
3.2 六相永磁同步馬達 26
3.3 六相永磁同步馬達數學動態模型 28
3.4 座標轉換之電壓及電磁轉矩方程式 30
3.5 空間向量脈波寬度調變 33
3.6 六相永磁同步馬達控制架構 43
3.7 電動轉向系統 45
3.8 電動轉向系統之數學動態模型 47
3.9 實驗結果與討論 50
第四章利用改良型差分演化演算法之非對稱歸屬函數之小波模糊類神經網路控制系統 58
4.1 前言 58
4.2 改良型差分演化演算法之非對稱歸屬函數之小波模糊類神經網路控制系統 58
4.2.1 非對稱歸屬函數之小波模糊類神經網路 58
4.2.2 非對稱歸屬函數之小波模糊類神經網路線上學習法則 63
4.2.3 使用改良型差分演化演算法作學習速率的調整 67
4.3 實驗結果與討論 72
第五章智慧型二階滑動模態控制系統 84
5.1 前言 84
5.2 電動轉向系統之六相永磁同步馬達數學動態模型 84
5.3 二階滑動模態控制器 86
5.4 非對稱歸屬函數之小波模糊類神經網路估測器 88
5.5 智慧型二階滑動模態控制 91
5.6 實驗結果與討論 99
第六章結論與未來展望 106
6.1 結論 106
6.2 未來展望 108
參考文獻 109
作者簡歷 116

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指導教授

林法正(Faa-Jeng Lin)

審核日期

2013-8-9

推文