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標題: 永磁式直流有刷馬達之無感測速度估測器設計與可變結構控制
Permanent Magnet DC Motor Sensorless Speed Estimation and Variable Structure Control Design for a PMDC Motor
作者: 游博翔
Yu, Po-Hsiang
關鍵字: output feedback;輸出回授;variable structure systems;sensorless speed estimation;可變結構系統;無感測速度估測器
出版社: 電機工程學系所
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控制方法是使用可變結構控制理論中的順滑模態控制,系統的順滑曲面是由電樞電流和馬達角速度的線性組合而成的。又因馬達的角速度信號可以用後置濾波器來估測,接下來系統的順滑變數就可以直接藉由一個新的後置濾波器,以馬達的電樞電流來重建。切換型式的可變結構控制將使系統進入順滑模態時伴隨著切跳現象,為了減少順滑模態下切跳現象,我們使用飽和函數(saturation function)來取代原本的符號函數(signum function)來抑制切跳現象的產生。
除了使用後置濾波器來估測馬達的角速度之外,我們另外也使用了全階的狀態估測器和降階的狀態估測器來估測馬達角速度。由實驗結果可以看出我們所提出的後置濾波器方法效能比全階估測器和降階估測器來得優越。系統的實驗平台是使用SANYO V730-012EL8永磁式直流電動機來驗證本論文所提出之無感測速度預估方法的可行性。

In this thesis, we propose a post-filtering approach to output feedback variable structure control of a permanent magnet DC servo motor. The post-filter states the dynamical relationship between the armature current and the angular velocity. It is derived from the system model. The output signal is the armature current, which is fed into the post-filter to yield the angular of the motor. Thus, the post-filter can be used to estimate the angular velocity of the motor by the output current data. Therefore, the purpose of sensorless speed estimation is achieved.
The sliding surface is designed as a linear combination of the armature current and angular velocity. Since the angular velocity can be obtained from the output of the post-filter, the sliding variable can then be constructed directly from a new post-filter with the armature current as the input. Applying a switching type of variable structure control law renders sliding mode with chattering effects. To reduce chattering, we employ a saturation function to substitute the signum function for the sliding variable in the control loop.
In addition to the post-filter for estimating the angular velocity of the motor, we also use state observers in both full- and reduced-order forms. It is seen that the proposed post-filtering approach outperforms those with the observers. The experiments are conducted on a SANYO V730-012EL8 PMDC motor to validate feasibility of the proposed methods.
其他識別: U0005-2007201116515900
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