永磁式線性同步馬達背進控制系統研製

Design of Adaptive Backstepping Control System for Permanent Magnet Linear Synchronous Motor

許伯緯(Bo-Wei Shi)

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(2013年)

摘要

本文根據強健性背進式原理設計永磁式線性同步馬達之位置控制系統，由系統化的分析與模擬建立完整的控制理論，發展精密的伺服控制技術。利用座標轉換的原理，納入馬達的電路特性，並考慮模式誤差與負載干擾的效應，結合模糊類神經網路的特性和適應調整的觀念，對系統不確定的項做即時補償，使用數位訊號處理器TMS320F28335做為系統控制核心，撰寫控制程式，組裝硬體、進行實體控制，最後經由電腦模擬與實驗過程測試控制器對於各種運動軌跡的控制成效，驗證控制理論的正確性與實用性，完成馬達驅動系統之設計。

關鍵字

永磁同步線性馬達 ； 強健性背進式控制 ； 座標轉換

並列摘要

This thesis is based on the principle of robust backstepping control to develop a position-servo control system for permanent magnet drive system linear synchronous motor (PMLSM). The development of motor servo is carried out via systematic analysis and simulation to establish complete control theory. In the designing procedure, the dynamic model is first constructed by using the concept of field-oriented control, where the coordinate transformation is performed to obtain a compact expression of PMLSM and to facilitate the designing work. Then, the effects of load disturbance and modeling error are considered. The proposed approach combines the characteristic of fuzzy neural network and the concept of adaptive tuning technique to construct the real-time compensation for the lumped uncertainties. To realize the developed control scheme, a digital signal processor (TMS320F28335) is used as the core of control system. Furthermore, various motion trajectories are utilized to examine the performance of the proposed control system. The correctness, validity, and control bustness of the proposed approach are verified via the computer simulation and practical experiment.

並列關鍵字

permanent magnet linear synchronous motor ； robust backstepping control ； coordinate transformation

參考文獻

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