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Modeling, Analysis, and Robust Repetitive Control for a Class of PWM Driven Motor/Gearbox Rotary Motion Systems
|關鍵字:||直流無刷馬達;BLDC motor;脈波寬度調變;PWM||出版社:||電機工程學系所||引用:|| R. A. Guinee and C. Lyden, "Accurate modeling and simulation of a DC brushless motor drive system for high performance industrial applications," in Circuits and Systems, 1999. Proceedings of the 1999 IEEE International Symposium on ISCAS ''99, 1999, pp. 106-109 vol.5.  H. S. Chuang, K. Yu-Lung, and Y. C. Chuang, "Analysis of commutation torque ripple using different PWM modes in BLDC motors," in Industrial & Commercial Power Systems Technical Conference - Conference Record 2009 IEEE, 2009, pp. 1-6.  T. Nehl, F. Fouad, and N. Demerdash, "Digital simulation of power conditioner-machine interaction for electronically commutated DC permanent magnet machines," IEEE Transactions on Magnetics, vol. 17, pp. 3284-3286, 1981.  K. Sewoong, "Modeling and fault analysis of BLDC motor based servo actuators for manipulators," 2008. ICRA 2008. IEEE International Conference on Robotics and Automation, 2008, pp. 767-772.  W. Jin, Z. Libing, T. 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Chiu, "Spatially Periodic Disturbance Rejection With Spatially Sampled Robust Repetitive Control," Journal of Dynamic Systems, Measurement, and Control, vol. 130, pp. 021002-11, 2008.||摘要:||
The main drawback of BLDC motor is torque ripple, and which generate by many reasons such as transistors switching in inverter, the waveform of phase currents and back-EMF, and position bias of Hall sensors and position bias of phase winding which are the defects of BLDC motor. In practical, motors often connect with gears. The advantages of gears are that gears can change the rotary direction, rotary velocity, and total torque. However gears often generate uncertain dynamics into systems, and the eccentricity error and tooth profile error of gears generate additional periodic frequencies disturbances into system. The same drawbacks of BLDC motor and gear are that its generate more periodic frequencies disturbances into system. BLDC motor and gear are not suitable for many Precision controls. And in time domain, the values of periodic frequencies disturbances which above-mentioned change according to the rotary speed of rotary system. From this phenomenon the rejection of periodic frequencies disturbances in repetitive control isn't useful in varying speed rotary system.
In this thesis, we analyze the drawback of BLDC motor. The analytic mathematical models are used to analyze, deduce torque ripple generated by the waveform of phase currents and back-EMF, and position bias of Hall sensors and position bias of phase winding. We find out the disturbance frequencies of torque ripple and the magnitude of total torque influence by torque ripple, then analyze the torque ripple generated by transistors switching by simulate model. Finally, the gearbox is considered into the simulate model, and we analyze the hole disturbances in hole system. In spatial domain, values of periodic frequencies disturbances won't change in varying speed rotary system .From this phenomenon, we deduce the control methods which contain repetitive control in spatial domain to reject these periodic frequencies disturbances.
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