- 學位論文
應用於無刷直流馬達之模糊增益規劃比例-積分控制器設計
Design of a Fuzzy Gain Scheduling of Proportional-Integral Controller for BLDC Motor Applications
摘要
無刷直流馬達在轉動電機上的應用越來越廣，然其因有限霍爾元件所造成的變取樣現象與因負載改變造成受控特性的改變，一直沒有最佳的解決方法。本論文詳細探討應用於無刷直流馬達的控制器，以比例-積分控制器為基礎、結合模糊控制理論，提出模糊增益規劃比例-積分控制器，嘗試解決上述兩個問題。 文獻記載模糊控制器的發展多半以一階輸入速度為主，較高階的處理則會將輸入微分，形成兩個變數，以達成高階模糊控制。此外亦有文獻記載著兩個輸入的二階控制器，如直接轉矩控制，除了回授轉速之外，也將電流予以回授以達成更穩定的轉速響應，相對的也提高了設計控制器的難度。 本論文提出一模糊增益規劃比例-積分控制器，採用轉速與負載轉矩為輸入，負載則藉由量測定子電流與轉速估測而得，估測方式將在論文中詳述。該控制器具有設計簡單的優點，既無設計高階控制器之困難度又能具有快速的響應。系統的模擬將在論文中詳述，並提供實驗結果加以驗證。
並列摘要
Brushless DC Motor (BLDC) Drive has been more and more popular in Electric Motors. However, there is no best solution for the variable sampling caused by limited Hall sensors and the alteration of plane characteristics resulted from the change of load. Control method will be discussed in this thesis. Based on Proportional-Integral（PI） controller and Fuzzy Control theory, a Fuzzy Gain Scheduling Controller is proposed in this thesis. Most of the papers on Fuzzy PI Controller discussed only about one input, and some advanced applications may use the derivation of input to make it become two inputs. Literature also stated that two-order controllers with two inputs, such as Direct Torque Control (DTC), in addition to the feedback of speed, will also send current as a feedback in consideration of achieving a better speed response. However, in doing so, the difficulty of designing the controller will be raised, too. A Fuzzy Gain Scheduling PI Controller, monitors the speed and load torque as inputs, is proposed in this thesis. Load torque is estimated by measuring the speed and current of stator, the estimation will be discussed in this thesis. The advantage of Fuzzy Gain Scheduling PI Controller proposed in this thesis is easier to design. Moreover, it could keep the fast speed response. The simulations and experiment results will be given in this thesis.