應用於內藏式永磁同步馬達位置驅動系統之智慧型非奇異點終端滑動模態控制

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姓名

王伯綸(Po-Lun Wang) 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位置驅動系統之智慧型非奇異點終端滑動模態控制
(Intelligent Nonsingular Terminal Sliding Mode Control Applied to IPMSM Position Servo Drive)

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至系統瀏覽論文 (2028-8-1以後開放)

摘要(中)

本論文的研究目是研製精密定位控制的內藏式永磁同步馬達驅動系統，並提出智慧型非奇異點終端滑動模態控制，以改變非線性時變系統固有的非線性和時變控制特性。該研究首先設計了一個非奇異點終端滑動模態控制系統，用於追蹤非線性和時變系統的狀態。實際應用中，因為受控系統的參數變化與外力干擾等不確定項的影響，不確定項的上界難以精確取得，因此本研究提出非對稱歸屬函數之遞迴式派翠機率模糊類神經網路創建一個智慧型控制系統，來近似理想的非奇異點終端滑動模態控制律，並加入自適應補償器，以主動調整非對稱歸屬函數之遞迴式派翠機率模糊類神經網路的計算偏差。此外，本文採用每安培最大轉矩控制方法，除了提高馬達效率之外，為了提升控制迴路的性能和頻寬，亦使用非對稱歸屬函數之遞迴式派翠機率模糊類神經網路速度控制器以增加速度迴路頻寬。最後通過實驗結果驗證了所提出的非對稱歸屬函數之遞迴式派翠機率模糊類神經網路智慧型控制器的有效性和強健性。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伺服驅動系統。

摘要(英)

This study aims to create an intelligent control system to alter the inherent nonlinear characteristics of a nonlinear time-varying system by using an intelligent nonsingular terminal sliding mode control recurrent Petri probabilistic fuzzy neural network (INTSMCRPPFNN) that features an intelligent nonsingular terminal sliding mode control. This study first designs a nonsingular terminal sliding mode control (NTSMC) system to track the states of a nonlinear time-varying system. Creating a working NTSMC for practical applications is quite complex because the detailed system dynamics, which includes the unpredictability of the controlled plant, is not available beforehand. Thus, this study suggests that a recurrent Petri probabilistic fuzzy neural network with asymmetric membership function (RPPFNN-AMF) can act as a close substitute for the ideal NTSMC to resolve its existing complications. Furthermore, this study modifies an adaptive compensator to proactively adjust for the potential calculated deviance of the RPPFNN-AMF. Asymptotical stability is assured by using the Lyapunov stability method, which generates the RPPFNN-AMF’s online learning algorithms. Finally, in the case study, some experimental results of a maximum torque per ampere (MTPA) operated interior permanent magnet synchronous motor (IPMSM) position servo drive are provided to verify the effective and robust qualities of the suggested INTSMCRPPFNN.

關鍵字(中)

★ 內藏式永磁同步馬達
★ 每安培最大轉矩控制
★ 非奇異點終端滑動模態控制器
★ 非對稱歸屬函數之遞迴式派翠機率模糊類神經網路之智慧型控制

關鍵字(英)

★ Interior permanent magnet synchronous motor (IPMSM)
★ nonsingular terminal sliding mode control (NTSMC)
★ recurrent Petri probabilistic fuzzy neural network with asymmetric membership function (RPPFNN-AMF)
★ maximum torque per ampere (MTPA)

論文目次

摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 XII
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 5
1.4 論文大綱 6
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 變頻器 8
2.3 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 19
3.1 前言 19
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 24
3.4 內藏式永磁同步馬達在αβ座標系下之數學模型 26
3.5 內藏式永磁同步馬達在d-q座標系下之數學模型 30
3.6 凸極式反電動勢定義 32
第四章非奇異點終端滑動模態控制 36
4.1 前言 36
4.2 非奇異點終端滑動模態控制器 37
4.3 非奇異點終端滑動模態控制穩定性證明 40
第五章智慧型非奇異點終端滑動模態控制 42
5.1 前言 42
5.2 非對稱歸屬函數之遞迴式派翠機率模糊類神經網路架構 43
5.3 非對稱歸屬函數之遞迴式派翠機率模糊類神經網路控制 47
5.4 非對稱歸屬函數之遞迴式派翠機率模糊類神經網路穩定性證明 50
5.5 內藏式永磁同步馬達之智慧型非奇異點終端滑動模態定位控制 53
5.5.1 內藏式永磁同步馬達定位控制 53
5.5.2 內藏式永磁同步馬達之每安培最大轉矩控制 55
第六章智慧型速度迴路控制之頻寬測量 56
6.1 前言 56
6.2 智慧型速度迴路控制器 56
6.3 頻率響應分析儀介紹 57
6.4 頻率響應分析儀之閉路波德圖量測 58
6.4.1 q軸電流迴路閉路波德圖 58
6.4.2 d軸電流迴路閉路波德圖 58
6.4.3 速度迴路閉路波德圖 60
第七章模擬與實驗結果 61
7.1 前言 61
7.2 模擬結果 64
7.3 模擬結果分析與討論 83
7.4 實驗結果 85
7.5 實驗結果分析與討論 108
第八章結論與未來研究方向 110
8.1 結論 110
8.2 未來展望 111
參考文獻 112
作者簡歷 119

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指導教授

林法正(Faa-Jeng Lin)

審核日期

2023-8-3

推文