模糊小腦模型控制器於高性能感應馬達控制系統之設計

Design of Fuzzy Cerebellar Model Articulation Controllers for High Performance Induction Motor Vector Control System

曾俊翰(Chun-Han Tseng)

指導教授 ： 王順源

國立臺北科技大學/機電學院/機電整合研究所/碩士(2006年)

https://doi.org/10.6841/NTUT.2006.00233

摘要

本論文設計一模糊小腦模型PI控制器，並植入感應馬達向量控制系統中作速度控制。此外，利用另一小腦模型控制器來作參數的估測。此模糊小腦模型PI控制器一樣具有小腦模型控制器之快速學習、結構簡單、線上訓練和非線性之學習能力等優點，再加上以投影演算法作為學習架構，即可進行線上控制。由於模糊小腦模型，是一種將模糊概念引入小腦模型的一種控制方式，因此它的輸入層的值可以是0到1之間的任意實數，如此一來，便可提高其系統誤差收斂的準確度。
在參數估測方面，本文之感應馬達向量控制系統結合直接轉子磁場導向與適應性控制法則，提出一適應性虛擬降階型磁通估測器(Adaptive Pseudo-reduced-Order Flux Observer)，來植入無轉速量測器之三相感應電動機向量控制系統中，以調適感應電動機的參數變動，並利用小腦模型PI控制器作轉速與轉子電阻估測，完成無轉速量測器控制與避免轉子磁通值漂移。
最後經由實驗證明，此模糊小腦模型控制器加入感應馬達向量控制系統中，運轉在2%到100%之額定轉速，負載為8Nm時轉速皆能快速響應及保持良好的強健性。

關鍵字

小腦模型控制器 ； 模糊小腦模型控制器 ； 參考模型適應性系統 ； 適應性磁通估測器

並列摘要

In this thesis, a Fuzzy Cerebellar Model Articulation PI controller (FCMAPIC) is proposed and embedded into the induction motor vector control system to control speed. Moreover, the system parameters are estimated by using an additional cerebellar model articulation controller. Same as conventional CMAC, the advantages of the FCMAPIC include rapid learning convergence, simple structure, on-line training, and non-linear learning ability. With the aid of projection algorithm, the FCMAC is applicable for on-line control. Essentially, FCMAC is a control method by introducing the fuzzy logic concept into the CMAC. Therefore, the value of input layer can be arbitrary real number in the interval between 0 and 1, and hence can increase the convergence accuracy of system error.
To estimate the system parameters, the induction motor drives adopt the Direct Field Orientation Control (DFOC) and adaptive control law to conduct the adaptive pseudo reduced order flux observer, for the sensorless induction motor vector control system considered in this thesis, to adjust the parameters according to the variations of IM characteristics. To establish the sensorless control and prevent the drift of rotor flux, the CMAPIC is used to control the speed and estimate the rotor resistance.
From the experimental results, in the operation conditions: the range of speed is set from 2% to 100% of rated speed, and the load condition is 8Nm, it is seen that the speed response of induction motor vector control system equipped with the FCMAPIC outperforms and the robustness to parameter variations is retained .

並列關鍵字

Cerebellar Model Articulation Controller ； Fuzzy Cerebellar Model Articulation Controller ； Model Reference Adaptive System ； Adaptive Flux Observer

參考文獻

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