線性脈波馬達輸出回授背進式控制系統之研製

Output feedback backstepping position control for linear pulse motor

張勝昆(Sheng-Kun Chang)

指導教授 ： 丁振聲

國立虎尾科技大學/電機資訊學院/電機工程研究所/碩士(2010年)

摘要

本論文旨在應用32位元浮點運算數位訊號處理器（數字信號處理器，數字信號處理） ，實現輸出回授背進式理論設計線性脈波馬達（防止山泥傾瀉計劃，線性脈衝馬達）之位置控制系統。根據系統分析與模擬的結果，建立完整的控制理論，發展精密的伺服控制技術。控制系統設計根據馬達數學模式，利用座標轉換的原理，建立一個有效的動態模型，然後應用李亞普諾夫穩定度分析方法及背進式控制理論，推導輸出回授背進式控制法則（輸出反饋反推控制算法） ，由電腦模擬的結果，驗證控制理論之正確性，並結合數字信號處理器與硬體電路，進行實體控制實驗，完成整體控制系統之研製。

關鍵字

輸出回授背進式 ； 線性脈波馬達 ； 座標轉換 ； DSP控制器 ； Laypunov 函數 ； 精密位置控制

並列摘要

The dissertation is devoted to output feedback backstepping control approach for position control using linear pulse motor. The developed control system is realized via a 32-bit dsp controller TMS320C32, which has the capability of floating-point mathematic calculation. Based on the system analysis and computer simulation, the complete control theory is formulated to achieve precision servo control of linear pulse motor. Based on the principle of coordinate transformation and Lyapunov stability analysis, we propose output feedback backstepping control method and build experimental test bed for realization of derived control criterion.The correctness of proposed control scheme is verified via computer simulation. The global control system is constructed via integration of DSP controller and hardware circuit.

並列關鍵字

output feedback backstepping control ； linear pulse motor ； coordinate transformation ； digital signal processing controller ； Laypunov function ； precision position control

參考文獻

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