以Matlab/Simulink實現感應馬達之適應位置控制

Adaptive Position Control for Induction Motors by Using Matlab/Simulink

黃慶榮(Qing-Rong Huang)

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(2010年)

摘要

本論文利用Matlab/Simulink設計適應控制器以進行感應馬達的位置控制，在同步旋轉座標系統下且假設馬達的電氣參數為已知，則不需要轉子磁通估測器，即可分析感應馬達具有耗散性，且當轉子磁通誤差收斂至零時，感應馬達就如同是分激式直流馬達，可簡化位置控制器之設計。此外，所設計的適應法則可以估測感應馬達的轉動慣量、黏滯摩擦係數與負載轉矩，實驗的結果與PI控制器做比較，顯示適應位置控制器有較佳的位置追蹤能力，且對於系統機械參數變化與外部干擾有強健性，故本文所提出之控制法是有效與可行的，且可以證明整體位置控制系統為全域穩定。

關鍵字

適應控制 ； 耗散性 ； 適應法則 ； 全域穩定

並列摘要

This thesis uses Matlab/Simulink to design the adaptive controller and control the position of an induction motor. Assuming the electrical parameters of the motor are known and in the synchronously rotating reference frame, there is no need a flux observer to estimate the rotor flux. Then, the induction motor can be analyzed to have the passivity property. When the flux tracking error converges to zero, the dynamics of the induction motor is rather similar to that of a separately excited DC motor, and control effort can be reduced. Furthermore, the adaptive law can estimate the moment of inertia, viscous friction coefficient, and load torque. We make a comparison between the adaptive controller and the PI controller for the output responses. Experimental results are provided to show that good position tracking can be obtained by employing the adaptive controller which is robust to the variations of the mechanical parameters and external disturbances. Therefore, the proposed method is verified to be effective and feasible. Finally, the overall position control system is proven to be globally stable.

並列關鍵字

adaptive control ； passivity property ； adaptive law ； globally stable

參考文獻

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