運用估測器干擾抑制控制來實現手動排檔自動離合器

Using Observer-Based Disturbance Rejection to Implement Automatic Clutch Manual Transmission

詹鈞丰(Jun-Feng Zhan)

指導教授 ： 楊士進

國立臺灣大學/工學院/機械工程學研究所/碩士(2017年)

https://doi.org/10.6342/NTU201703022

摘要

現今，直流電機驅動式自動離合器控制系統的技術已被廣泛使用，而直流馬達因為其機械模型有電刷以及換相片，因電刷與換相片為消耗品，因此在使用耐久度以及能量轉換效率上皆有不足，且直流馬達在位置控制精度上也不及伺服交流馬達。基於上述原因，本論文將以永磁交流馬達取代直流馬達以提升其耐久度與控制精度，並透過力矩估測器來進行力矩干擾解耦抑制，並且探討以估測器來進行力矩干擾解耦抑制的效果。
　　而估測器分為傳統的單一力矩兼速度估測器以及雙重的力矩與速度估測器，本論文將比較兩種估測器的數學模型並透過頻率響應來分析(1)無估測器、(2)傳統單估測器、(3)雙重估測器，其力矩干擾對於馬達位置控制的影響，透過實驗驗證的方式比較兩種估測器對交流馬達的控制能力表現。除此之外，估測器的數量以及頻寬的選擇，其原理分析及實驗結果也進行完整的探討。

關鍵字

交流電機 ； 干擾抑制 ； 電機驅動式離合器 ； 控制器設計 ； 估測器設計

並列摘要

Today, the automatic clutch control system using DC motor drive has been widely used. Because DC motors contain brush and slip ring, and they are consumable where the durability of DC motor and energy converted efficiency are its shortage. In addition, the position control of DC motors is not as accurate as servo motors. Due to these reasons, a DC motor is replaced by a permanent magnet synchronous motor in this thesis. The investigation of disturbance rejection based on the disturbance observer is also discussed.
The type of observer can be conventional single-observer and Torque and Speed dual-observer. The mathematical model of two different observer types will be built. And The effect of torque disturbance on the motor position control about (1)no observer, (2)single observer and (3)dual observer will be analyzed by frequency response.
The feasibility and performance for permanent magnet synchronous motor are validated and compared in the experimental results. Moreover, In this thesis, the working principle and experiment results of the number of estimators and the bandwidth selection have been discussed in detail.

並列關鍵字

AC motor ； Disturbance rejection ； Motor drive clutch ； Controller Design ； Observer Design

參考文獻

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