永磁式線性同步馬達伺服驅動系統於靜止座標下之強健控制設計

本文應用強健背進式控制原理設計永磁式線性同步馬達伺服驅動系統，針對永磁式線性同步馬達於α-β靜止座標軸的動態模式，進行系統化的分析與控制演算法則設計，由模糊類神經網路預測系統的未定值，並予以即時的補償，以確保系統強健性與穩定性。此外，將系統的動態描述為五階非線性的數學模型，根據此模型採平方項總合(sun of squares, SOS)的方法設計觀測器，做為未來無感測器驅動系統研究的基礎。在實現控制理論方面，使用數位訊號處理器做為系統控制核心，撰寫系統控制程式，組裝硬體、進行實體控制，再經由電腦模擬與實作測試控制器對於各種運動軌跡的控制成效，驗證控制理論的可行性與正確性，完成馬達驅動系統之設計。

關鍵字

永磁式線性同步馬達；強健背進式控制；靜止座標軸；模糊類神經網路；無感測器驅動系統

並列摘要

This study is focused on the robust backstepping control design of a permanent magnet linear synchronous motor (PMLSM) drive system. The system is systematically analyzed and synthesized on the basis of PMLSM mode in α-β stationary coordinate frame. To ensure the control robustness, the technique of fuzzy neural network is employed to estimate the lumped uncertainty and provides the necessary compensation. Moreover, an SOS nonlinear observer, which is based on a fifth-order motor model, is investigated and the exploring result is dedicated to the future development on the issue of sensorless control of PMLSM. To realize the proposed control scheme, a digital signal processor is used as the core of experimental platform, where the controls with various motion trajectories are carried out. The correctness and validity of the proposed approach are verified via the computer simulation and practical experiments.

並列關鍵字

permanent magnet linear synchronous motor ； robust backstepping control ； stationary coordinate frame ； fuzzy neural network ； sensorless control

參考文獻

[27] 吳建宏，「永磁式線性同步馬達應用輸出回授之SOS控制系統設計」，碩士論文，國立虎尾科技大學電機工程研究所，2014年7月。

[25] 許伯緯，「永磁式線性同步馬達背進式控制系統研製」，碩士論文，國立虎尾科技大學電機工程研究所，2013年7月。

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國際替代計量

永磁式線性同步馬達伺服驅動系統於靜止座標下之強健控制設計

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