應用離散時間可變結構控制於直流無刷馬達驅動

A Discrete-time Variable Structure Control for Brushless DC Motor Drives

張天浩(Tien-Hao Chang)

指導教授 ： 劉志文

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2005年)

https://doi.org/10.6342/NTU.2005.10156

摘要

本論文主要以DSP TMS320F243 based實現非均一時間取樣(Non-Uniform Sampling)的直流無刷馬達離散時間可變結構控制(Discrete time variable structure control)。由於系統的狀態訊息(位置與速度)是隱含在軌跡中，並由霍爾感測器所取得，如此，量測的時機與系統速度密切相關，形成了一個不固定的取樣頻率。另外馬達參數會因為溫度、或是一些外在因素而造成變動，因此本論文採用具有強健性(Robust)的離散時間可變結構控制，並將非均一取樣時間的現象加入考慮。藉由量測換流器(Inverter)直流匯流排(DC Bus)電流計算狀態變數，並由霍爾感測器回授信號計算目前速度，以離散時間可變結構控制得到電流命令值，控制流過直流匯流排的電流，達到速度控制。研究過程以MATLAB/SIMULINK模擬為基礎，DSP為控制器實現速度控制系統，驗證這樣的系統確實能夠達到穩定，並且能準確的觀察到速度值。

關鍵字

離散時間可變結構控制 ； 直流無刷馬達 ； 滑順模式控制

並列摘要

This thesis realizes non-uniform sampling discrete time variable structure control for brushless dc motor by DSP TMS320F243. Because the system information (the position and speed ) is implied in the trajectory and obtained through Hall sensor device, thus, the opportunity of measurement is closely related to speed of the system, have formed a non-uniform sampling time. The parameters of the motor will cause the change because of temperature , or some external factors in addition, so this thesis adopts discrete time variable structure control. The most salient feature of this control method is its robustness to the system uncertainties, and the phenomenon of non-uniform sampling will be considered. We obtain the state variable by feedback the dc bus current of inverter, and calculate motor speed by Hall sensor signal, then get the ordering value of dc bus current with the discrete time variable structure control, adjust the current flowing through the dc bus, reach the speed control. Simulation result is based on MATLAB/SIMULINK. Experimental results obtained from the implementation on a DC brushless motor. To prove smooth and accurate control can be achieved.

並列關鍵字

Discrete-time variable structure control ； BLDC motor ； Sliding mode control

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