- 學位論文
以T-S模糊方法為基礎之無感測器永磁同步馬達輸出追蹤控制
Sensorless Output Tracking Control for Permanent Magnet Synchronous Motors Based on T-S Fuzzy Approach
摘要
現今永磁同步馬達與無刷直流馬達被廣泛應用在工業及民生用品 上。因轉子為永久磁鐵，不需要另外的電能激磁，能符合節省能源之時代 要求。不同於傳統直流馬達，永磁同步馬達與直流無刷馬達沒有機械式的 換相機構，取而代之的是電子式的換相方式，在沒有碳刷的條件下，更適 用在一些特殊環境中。位置感測器在一般控制上是必須的元件，這些元件 除了增加成本外，如果在使用中故障時，會減少系統的可靠度。因此，無 感測器控制的研究成為熱門的領域。而另一值得研究的重點是馬達初始位 置的偵測，這對於啟動時不能有反轉情形或要求平順的場合很重要。T-S 模糊模式在解決非線性系統問題已經快速成長，利用解模糊化過程、 Lyapunov 穩定度分析、平行分佈補償器設計、與LMIs 數值分析求解增益 值等…，我們相信這將是一個強而有利的工具。這篇論文以T-S 模糊模式 為基礎，首先介紹適用於非線性系統的輸出追蹤控制器設計。針對無感測 器控制時，我們利用模糊集合之歸屬函數滿足Lipschitz-like 性質，於是可 以分離原理分別設計控制器增益值與估測器增益值。最後以模擬結果呈現 控制器與估測器在速度追蹤與轉子位置估測的響應情形。由控制架構圖 中，可看出我們的估測器的優點是只需要量測馬達兩相輸出電流及使用輸 出控制電壓，而馬達端電壓無須直接量測。
並列摘要
Permanent magnet synchronous motors (PMSM) and brushless DC motors (BLDC) are now very popular in a wide variety of industrial applications, which carry out electronic commutation via rotor sensors. These sensors increase the cost and weight but reduce the reliability of the system. Hence, there have been a great deal of researches in the area of sensorless control. Recently, there has been a rapid growing interesting in using T-S fuzzy model to approximate nonlinear systems. With using this model, the nonlinear system is represented by several fuzzy subsystems in fuzzy IF-THEN rules. When considering the controller and observer design, we use the conception of parallel distributed compensation (PDC) to carry out these designs. We discuss the stability analysis of T-S fuzzy systems by using the Lyapunov's direct method. The su cient conditions are formulated into linear matrix inequalities (LMIs). In this thesis, we adopt the T-S fuzzy model-based approach to deal with the control problem of PMSM. Based on the controller design for sensorless PMSM, the control gains and observer gains are designed separately. Finally, the numerical simulation results are used to illustrate the performance of the proposed controllers.