感應馬達之轉子電阻估測器與適應位置控制器設計

Design of Rotor Resistance Estimator and Adaptive Position Controller for Induction Motors

許硯翔(Yan-Siang Syu)

指導教授 ： 陳進益

國立虎尾科技大學/工程學院/創意工程與精密科技研究所/碩士(2012年)

https://doi.org/10.6827/NFU.2012.00069

摘要

本論文主要是使用複合型適應控制器以進行感應馬達的位置控制與參數估測。首先，在轉子參考座標系統下使用輸入輸出線性化理論使得馬達的轉子機械位置及轉子磁通在暫態時得以解耦合。而開迴路電流模型轉子磁通估測器用於估測磁通，適應法則可以估測感應馬達的轉子電阻、轉動慣量、黏滯摩擦係數與負載轉矩。而本論文以被動性理論作為分析基礎對於轉子電阻估測器及適應位置控制器證明其被動性，在未使用Lyapunov函數下經由被動性理論證明整體的位置控制系統為全域穩定。接著再由實驗證明對於馬達之機械參數、轉子電阻、負載轉矩等參數具有強健性。此外，也經由實驗證明控制器擁有良好的位置追蹤響應及參數估測值。

關鍵字

感應馬達 ； 參數估測 ； 轉子電阻估測 ； 複合型適應控制器 ； 被動性理論

並列摘要

This thesis proposes the parameters estimation and position control of induction motors by using the composite adaptation scheme. Firstly, in the rotor reference frame, the input-output linearization theory was employed to decouple the mechanical rotor position and the rotor flux amplitude at the transient state. An open-loop current model rotor flux observer estimates the flux, and then the adaptation laws estimate the rotor resistance, moment of inertia, viscous friction coefficient, and load torque. The passive properties of the flux observer, rotor resistance estimator, and the adaptive position controller were analyzed based on the passivity theorem. According to the properties, the overall position control system is proven to be globally stable without using Lyapunov-type arguments. Experimental results are finally provided to show that the proposed method is robust to variations of the motor mechanical parameters, rotor resistance, and load torque disturbances. Moreover, good position tracking response and parameters estimating characteristic can be obtained.

並列關鍵字

Induction motor ； Parameter estimation ； Rotor resistance estimation ； Composite adaptive controller ； Passivity theorem

參考文獻

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