以終端滑模估測器實現感應馬達無感測器之速度控制

Sensorless Speed Control of Induction Motors via Terminal Sliding Mode Observer

陳弘明(Hung-Ming Chen)

指導教授 ： 邱謙松

中原大學/工學院/電機工程研究所/碩士(2013年)

https://doi.org/10.6840/cycu201300127

摘要

為了增加感應馬達的可靠度及降低成本，無速度感測之感應馬達控制成為本論文之研究重點。一般在無速度感測系統(Sensorless System)驅動控制方面，容易受到外界溫度變化而造成系統內部電阻系數的不確定性情形，導致在轉速及磁通估測的準確性大大降低。因此在估測器的方面，本文提出終端滑模估測器(Terminal Sliding
Mode Observer, TSMO)來對轉子磁通及轉速進行估測，其優點不僅使能在有限的時間內收歛及消除因滑模函數產生切跳現象，也能在參數變動及外界干擾訊號下，保有一定的強健性，皆利用(Lyapunov Method)來證明其收斂性和穩定性分析。另外控制方面，本文提出超螺旋控制法(Super Twisting Control )來進行轉速控制設計，此控
制器設計為相當於二階滑模設計結構，其優點系統有相當良好的暫態響應和穩態響應，最後使用Matlab-Simulink 和Simu-Drive 的軟體系統，來實現感應馬達驅動控制，藉由模擬及實作驗證其控制的可行性。

關鍵字

超螺旋控制法 ； 無速度感測系統 ； 終端滑模估測器 ； 感應馬達

並列摘要

For enhancing the reliability and decreasing the cost of induction motors, speed
sensorless control is the concerned topic in this thesis. Due to the parameters uncertainty
of induction motors (e.q., internal electrical resistance changing by environmental
temperature) the control precision of motor speed and flux is reduced (i.e., a residual
control error exists in traditional methods) Therefore, we propose a terminal sliding mode
observer (TSMO) for estimating the rotor speed and flux. The proposed TSMO assures
the finite-time convergence of estimation errors and high robustness to system uncertainty.
Based on the developed speed and flux estimation, the super-twisting control algorithm
and virtual desired variable design is applied to speed sensorless control. The fast and
robust control performance is obtained, while the chattering phenomena is dropped.
Finally, the simulation and experiments are carried out by Matlab and Simu-Drive to
verify the validity of the proposed method.

並列關鍵字

Lyapunov criterion ； Super Twisting algorithm ； Induction motor ； terminal sliding mode observer ； sensor-less motor-drive control system

參考文獻

[23] 洪振堯，“旋轉式與線性式感應馬達之適應性控制”， 私立中原大學電機系碩士學位論文，2002。

[2] Paul A.S. Dewit, R. Ortega and I. Mareels,“ Indirect Field-oriented Control of Induction Motors is Robustly Globally Stable, ” Automatic Control, vol. 32, no. 10, pp. 1393-1402, 1996.

[5] W. Leonhard, Control of Electrical Drives. Berlin: Springer-Verlag, 1985.

[7] Y. N. Lin and C. L. Chen, “Automatic IM Parameter Measurement Under Sensorless Field-Oriented Control,” IEEEISIE’96 Conf. Rec., pp.894-899, 1996.

[10] Y. C. Li, J. C. Hwang and S. N. Yeh, “Design and Implementation of an Induction Motor Control System without Speed Sensor, ” The 18th Symposium on Electrical Power Engineering, pp.738-742, 1997.