利用基因演算法之滑動模式控制 感應馬達伺服驅動系統

Sliding-Mode Controlled Induction Motor Servo Drive via Genetic Algorithm

周旻德(Wen-Der Chou)

指導教授 ： 林法正 ； 洪穎怡

中原大學/工學院/電機工程研究所/博士(2003年)

https://doi.org/10.6840/cycu200300018

摘要

本論文主旨為設計與發展利用基因演算法之滑動模式控制磁場導向感應馬達伺服驅動系統，以達到強健控制的目的。本論文利用個人電腦、伺服控制卡、數位信號處理器、電流控制脈寬調變之驅動電路，完成電腦控制磁場導向控制之感應馬達伺服驅動系統，並提出以即時基因演算法滑動模式控制器為基礎的控制器。首先應用一個簡易的適應演算法則來估測系統總集不確定量的邊界值，並使用基因演算法來尋求理想的適應參數與切換參數，完成基因演算法適應滑動模式控制器之設計。其次以模糊推論機制來估測不確定量的邊界值，並以基因演算法線上調整模糊推論機制的參數，完成結合滑動模式控制、模糊推論與基因演算法等優點的基因演算法模糊滑動模式控制器之設計。最後提出應用在增量運動控制之基因演算法多段滑動模式控制系統，使控制系統滿足等加速度、等速度與等減速度的需求，並且使用基因演算法調整控制增益。上述各控制系統，因為使用了基因演算法，所以可以降低滑動模式控制中電流命令的切跳現象，並且保持系統原有的控制性能與強健性。各控制器之有效性均由模擬與實測結果來加以驗證。

關鍵字

感應馬達 ； 基因演算法 ； 滑動模式控制

並列摘要

The purpose of this dissertation is to develop sliding-mode controllers (SMCs) based on real-time genetic algorithm (GA) for a field-oriented induction motor (IM) servo drive system to achieve robust control performance. The digital controlled IM servo drive system consists of PC, servo control card, digital signal processor (DSP), and a ramp comparison current-controlled PWM. First, an adaptive SMC based on GA is proposed. An adaptive algorithm is utilized to estimate the bound of uncertainties, and a real-time GA is developed to search the favorable adaptive parameter and switching parameter. Next, a GA-based fuzzy SMC system is proposed, which combines the merits of the SMC, the fuzzy inference mechanism and the GA. The fuzzy inference mechanism is utilized to estimate the bound of uncertainties, and the parameters of fuzzy inference mechanism are on-line tuning via GA. Then, a particular incremental motion control problem, which is specified by the trapezoidal speed command profile using GA-based multi-segment sliding-mode control (MSSMC), is proposed to control the IM servo system to match the desired speed or acceleration of speed command profile. Moreover, a GA is developed to search the favorable control gain of MSSMC. The chattering phenomena in the torque current commands are much reduced and robust tracking response can be obtained for the proposed control schemes. Finally, the effectiveness is demonstrated by some simulated and experimental results.

並列關鍵字

Induction Motor ； Sliding-Mode Control ； Genetic Algorithm

參考文獻

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