Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6698
標題: 針對一類PWM驅動馬達/齒輪箱旋轉運動系統之模式建立分析與強健重覆控制
Modeling, Analysis, and Robust Repetitive Control for a Class of PWM Driven Motor/Gearbox Rotary Motion Systems
作者: 林浩群
Lin, Hao-Chun
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
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摘要: 
直流無刷馬達使用上最大的缺點在於其轉矩廉波,其產生的原因有許多如直流無刷馬達使用驅動器切換、電流與反電動勢的波形或者是馬達中裝置的缺失如以及霍爾元件位置偏移與相線圈位置偏移…等等。在實際使用上馬達常與齒輪共同連接,齒輪的好處,可改變轉動的方向亦可改變轉速或是轉矩,但齒輪常常對整個控制系統增加許多不確定性,齒輪的偏心以及其齒輪齒誤差會增加系統產生許多額外週期性的干擾。齒輪與直流無刷馬達的缺點,皆會對整個系統產生更多週期性的干擾,在許多精密控制上會有很大的問題;且在時間領域這些週期性的干擾會因為整個旋轉系統轉速快慢,而有所改變,在使用重覆控制來消減這些週期性的干擾時會有很大的問題。
本篇論文就上述的直流無刷馬達缺點來做研究與分析,利用數學解析模式,推導、分析電流與反電動勢的波形或者是馬達中裝置的缺失如以及霍爾元件位置偏移與相線圈位置偏移所造成的轉矩廉波,分析出轉矩廉波造成的干擾頻率以及對整個轉矩大小的影響;接著利用模擬方式分析驅動器切換造成的轉矩廉波,以及加入齒輪箱模擬分析整個系統所產生的干擾。在空間領域這些週期性的干擾,不會因為整個旋轉系統轉速快慢而有所改變,故針對這些週期性的干擾,我們延伸推倒實驗室先前的控制器理論,推倒出控制方法,以空間領域加上重覆控制來抑制上述的週期性干擾。

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.
URI: http://hdl.handle.net/11455/6698
其他識別: U0005-1808201118151700
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