適應性模糊補償之監督式滑動模式控制器於切換式磁阻馬達驅動系統之設計

由於切換式磁阻馬達驅動系統為非線性系統，因此造成控制器設計困難。故本研究以監督式控制、滑動模式控制以及TSK模糊控制理論來設計適應性模糊補償之監督式滑動模式控制器，以改善速度控制性能及降低控制器設計的困難度。其控制策略是利用具線上學習能力之模糊補償控制器來改善滑動模式控制器的切跳現象並補償滑動模式控制器的誤差。而監督式控制器，可加強對系統之暫態響應監控。本研究以Lyapunov定理推導出適應性模糊補償控制器之權重更新法則以確保控制器於系統中的穩定性。為了驗證所設計控制器之性能及可行性，將適應性模糊補償之監督式滑動模式控制器作為速度控制器，並植入切換式磁阻馬達直接轉矩控制驅動系統。經由實驗結果證明，在馬達負載轉矩為1 Nm，轉速為低、中、高轉速與變轉速下，穩態之轉速誤差皆能維持在 1.4 rpm內，且具有良好的電磁轉矩響應；並將其控制結果與滑動模式控制器、監督式滑動模式控制器之結果以RMSE做比較，證明此控制策略確實能有效提升系統之動態響應與良好的抗外部擾動強健性。

關鍵字

模糊理論；監督式控制器；滑動模式控制；切換式磁阻馬達

並列摘要

The switched reluctance motor (SRM) drive system has non-linear behaviour, hence it is difficult to design controllers. In this study, supervisory sliding mode controller with adaptive fuzzy compensation (AFSSC) is proposed to control the SRM drive system. This control strategy uses the fuzzy compensating controller with online learning ability to improve chattering phenomenon of the sliding mode control (SMC) and to compensate for SMC error which improving the control performance and reducing the implementation difficulty. The supervisory controller confines the tracking error within a predefined bounded range to upgrade system behavior during transient. The weights of adaptive fuzzy compensation controller are adjusted online according to adaptive rules derived in Lyapunov stability theory to ensure system stability. To verify the performance and feasibility of the controllers, this research develops an AFSSC and implements it in a direct torque control system for controlling switched reluctance motor speed. From experimental results show that the speed error in steady state is less than 1.4 rpm and the SRM has desirable torque response in wide speed range with 1 Nm torque load. The AFSSC was compared experimentally with the SMC and supervisory sliding mode controller (SSMC) by RMSE. Experimental results demonstrated that the AFSSC outperformed the SMC and SSMC. The AFSSC can improve system performance and more robustness against external disturbances.

並列關鍵字

fuzzy theory ； sliding mode control ； supervisory control ； switched reluctance motor

參考文獻

[1] R. Krishnan, Switched reluctance motor drives modeling simulation analysis design and applications, New York: CRC Press, 2001, pp. 1-167.

[2] T. J. E. Miller, "Electronic control of switched reluctance machines," IEEE Transactions on Power Electronics, vol. 16, no. 3, 2002, pp. 222-223.

[3] H. Y. Chen and J. W. Liang, "Adaptive sliding control with self-tuning fuzzy compensation for a piezoelectrically actuated X–Y table," IET Transactions on Control Theory & Applications, vol. 4, no. 11, 2011, pp. 2516-2526.

[4] S. J. Huang and W. C. Lin, "Adaptive fuzzy controller with sliding surface for vehicle suspension control," IEEE Transactions on Fuzzy Systems, vol. 11, no. 4, 2003, pp. 550-559.

[5] S. K. Sahoo, S. Dasgupta, S. K. Panda and J. X. Xu, "A Lyapunov function-based robust direct torque controller for a switched reluctance motor drive system," IEEE Transactions on Power Electronics, vol. 27, no. 2, 2012, pp. 555-564

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適應性模糊補償之監督式滑動模式控制器於切換式磁阻馬達驅動系統之設計

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