智慧型錯誤容忍控制六相永磁同步馬達驅動系統之開發

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蔡孟庭(Meng-ting Tsai) 查詢紙本館藏

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電機工程學系

論文名稱

智慧型錯誤容忍控制六相永磁同步馬達驅動系統之開發
(Development of Intelligent Fault Tolerant Control for Six-Phase Permanent Magnet Synchronous Motor Drive System)

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摘要(中)

本論文研究的目的是研製與發展以數位訊號處理器為基礎之智慧型錯誤容忍控制六相永磁同步馬達驅動系統，其適用於電動載具及電動機需持續運轉之特殊應用場合。六相永磁同步馬達驅動系統為高度非線性之系統，且對於系統參數變化和外來干擾相當敏感，尤其是發生馬達繞組斷線或是反流器故障時，不平衡電流將使馬達轉矩抖動，導致馬達無法平順運轉，故提出錯誤偵測與運轉決策判斷方法，以防止馬達造成進一步擴大毀損。然而系統穩定性與錯誤容忍控制為六相永磁同步馬達驅動控制系統最重要的發展議題，因此本論文提出以下兩種智慧型控制系統：非對稱歸屬函數之TSK型模糊類神經網路控制器和智慧型互補式滑動模態控制器，以改善控制性能，且達到錯誤容忍控制六相永磁同步馬達驅動系統之穩定性要求。本論文將詳細介紹智慧型控制的架構以及線上學習法則，最後以DSP (TMS320F28335)實現六相永磁同步馬達驅動系統，並且以實驗結果驗證所提出方法之可行性。

摘要(英)

The objective of this thesis is to develop and implement a digital signal processor (DSP) based fault tolerant control of six-phase permanent magnet synchronous motor (PMSM) drive system. This system is suitable for industrial applications such as mechanical tools, electric vehicles and some specific applications. The six-phase PMSM drive system is highly nonlinear and is very sensitive to parameter variations and external disturbance. When the motor winding or the respective inverter is broken, the torque fluctuation will appear due to unbalanced current and the motor will operate under non-smooth situation. Therefore, the fault detection and operating decision method is proposed in the thesis to prevent serious broken. Since, the stability and the fault tolerant control are the most important issues of the six-phase PMSM drive and control system, therefore, two intelligent control systems, which can improve the control performance and the requirements of stability of fault tolerant control of six-phase PMSM drive system, are proposed: a Takagi-Sugeno-Kang type fuzzy neural network with asymmetric membership function (TSKFNN-AMF) controller and an intelligent complementary sliding-mode controller (ICSMC). The network structure and the online learning algorithms of the intelligent controller are introduced in detail. Moreover, the proposed control systems are implemented in a TMS320F28335 DSP to verify the feasibility of the proposed control schemes.

關鍵字(中)

★ 互補式滑動模態控制
★ 六相永磁同步馬達
★ 非對稱歸屬函數之TSK型模糊類神經網路
★ 數位訊號處理器
★ 錯誤容忍控制

關鍵字(英)

★ complementary sliding-mode control
★ Takagi-Sugeno-Kang type fuzzy neural network wit
★ Six-phase permanent magnet synchronous motor
★ fault tolerant control
★ digital signal processor

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 1
1.3 論文大綱 6
第二章以TMS320F28335為基礎之六相永磁同步馬達控制晶片 7
2.1 前言 7
2.2 TMS320F28335數位訊號處理器簡介 7
2.3 TMS320F28335週邊功能介紹 10
2.3.1 脈波寬度調變模組 10
2.3.2 中斷處理之流程 12
2.3.3 正交編碼器脈衝電路模組 13
2.3.4 類比/數位訊號轉換器 14
2.3.5 串列同步通訊介面模組 16
第三章六相馬達驅動器硬體介紹 18
3.1 六相馬達驅動器 18
3.2 感測元件 21
3.2.1 電流感測電路 21
3.2.2 電壓感測電路 21
3.3 光學編碼器 22
3.4 固態繼電器 22
3.5 可調型電阻式負載 24
3.6 eZdsp F28335 25
3.7 控制板週邊電路 26
3.7.1 電流回授比例準位轉換電路 26
3.7.2 過電流保護電路 27
3.7.3 脈波寬度調變比例準位轉換輸出電路 28
3.7.4 光學編碼器之差動緩衝電路 29
3.7.5 數位對類比轉換電路 31
第四章錯誤容忍控制六相永磁同步馬達驅動系統 33
4.1 六相永磁同步馬達 33
4.2 六相永磁同步馬達數學模型 35
4.3 座標轉換之電壓及轉矩方程式 37
4.4 空間向量脈波寬度調變控制 39
4.5 永磁同步馬達機械參數之量測 48
4.6 六相馬達控制架構 53
4.7 錯誤容忍控制 55
4.7.1 錯誤偵測與運轉決策 55
4.7.2 錯誤偵測之實測結果 58
4.8 系統軟體架構 60
4.9 實作結果與討論 61
第五章非對稱歸屬函數之TSK型模糊類神經網路控制器設計之錯誤容忍控制六相永磁同步馬達驅動系統 68
5.1 簡介 68
5.2 非對稱歸屬函數之TSK型模糊類神經網路控制器 68
5.2.1 非對稱歸屬函數之TSK型模糊類神經網路之描述 68
5.2.2 非對稱歸屬函數之TSK型模糊類神經網路線上學習法則 72
5.3 系統軟體架構 74
5.4 實作結果與討論 75
第六章智慧型互補式滑動模態控制器設計之錯誤容忍控制六相永磁同步馬達驅動系統 82
6.1 簡介 82
6.2 六相永磁同步馬達之動態模型 82
6.3 互補式滑動模態控制器 83
6.4 非對稱歸屬函數之TSK型模糊類神經網路估測器 87
6.5 智慧型互補式滑動模態控制器設計 89
6.6 系統軟體架構 93
6.7 智慧型互補式滑動模態控制器之實現 94
第七章應用於電動車之錯誤容忍控制六相永磁同步馬達驅動系統 101
7.1 簡介 101
7.2 行車動態模型 101
7.3 實作結果 103
第八章結論與未來研究方向 108
參考文獻 110
作者簡歷 116

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指導教授

林法正(Faa-jeng Lin)

審核日期

2012-8-22

推文