Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6829
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
引用: [1]董勝源, DSP TMS302LF2407與C語言控制實習, 長高出版社, 2004. [2]李宜達, 控制系統設計與模擬, 全華出版社,1998. [3]陳永平, 張浚林, 可變結構控制設計, 全華科技圖書股份有限公司, 2006. [4]Marvin J. Fisher, Power Electronics, PWS-KENT publishing company, pp.290-300, 1991. [5]TEXAS INSTRUMNET, TMS320LF/LC240Xa DSP Controllers Reference Guide, Literature Number: SRRU357B Revised, TEXAS, Dec. 2001. [6]Stephen J. Chapman, Electric Machinery and Power System Fundamentals, McGraw-Hill, Inc, 2001. [7]M. S. Grewal, A. P. Andrews, Kalman Filtering and Practice Using MATLAB, John Wiely, 2001. [8]G. F. Franklin, J. D. Powell ,and A. Emami-Naeini, Feedback Control of Dynamic Systems, New Jersey: Prentice-Hall, 2002. [9]K. Morris, Introduction to Feedback Control, Orlando Florida: Harcourt/Academic Press, 2001. [10]K. H. Liou, A Post-Filtering Approach to Variable Structure Output Feedback Control, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taichung, July. 2010. [11]C. F. Lin, W. C. Su, and K. H. Liou, “Post-Filtering Output Feedback Variable Structure Control,” Proceedings of American Control Conference, Jun. 2005. [12]V. I. Utkin, “Variable Structure Systems with Sliding Modes,” IEEE Transactions on Automatic Control, vol. 22, no. 2, Apr. 1997. [13]I. Haskara, U. Ozguner, and V. I. Utkin, “On Variable Structure Observers,” Proceedings of IEEE International Workshop on Variable Structure Systems, pp. 193-198, Dec. 1996. [14]A. J. Koshkouei, A. S. I. Zinober, “Sliding Mode Controller-Observer Design for SISO Linear Systems,” International Journal of Systems Science, vol.29, no.12, pp. 1363-1373, 1998. [15]C. Edwards, S. K. Spurgeon, and C. P. Tan, On the Development and Application of Sliding Mode Observers Variable Structure Systems, vol. 274, pp. 253-282, LNCIS, Jan. 2002. [16]G. Györök, “Sensorless DC Motor Control,” Proceedings of International Carpatian Control Conference, pp. 71-74 , May 2010 [17]G. Györök, “The FPAA Realization of Analog Robust Electronic Circuit,” Proceedings of IEEE International Conference on Computational Cybernetics, pp. 179-183, Nov. 2009. [18]R. Brains, “Sensorless Control For PMDC Motors,” Power Electronics Technology, Feb. 2005. [19]Hung-Jinn Fung, Post-Filtering Approach to Output Feedback Variable Structure Control for Single-Input-Single-Output Sampled-Data System, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, Jul. 2010. [20]D. G. Luenberger, “Observing The State of A Linear System,” IEEE Transactions on Military Electron, vol. 8, pp.74-80, Apr. 1964. [21]D. G. Luenberger, “An Introduction to Observers,” IEEE Transactions on Automatic Control, vol. 16, no. 6, pp. 190-197, Apr. 1971. [22]V. V. S. Sarma and B. L. Deekshatulu, “Optimal Control When Some of The State Variables Are Not Measurable,” International Journal of Control, vol. 7, no.3 , pp. 251-256, 1968. [23]Jin-Jang Chiou, “Observer Design for SISO Systems with High Frequency Measurement Noise”, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, Mar. 2007. [24]R. A. Decarlo, S. H. Zak, and G. p. Matthews, “Variable Structure Control of Nonlinear Multivariable System : A tutorial,” Proceedings of the IEEE, vol.76, no. 3, pp. 212-232, Mar. 1988. [25]Sajju Thomas, “ Variable Structure Model Following Controller Design For Speed Control of DC MOTOR, “ XXXII National Systems Conference, Dec. 2008 [26]J. A. Burton and A. S. I. Zinober, “Continuous Approximation of Variable Structure Control,” International Journal of Systems Science, vol. 17, no. 6, pp. 876-885, 1986. [27]J. J. E. Slotine and S. S. Sastry, “Tracking Control of Nonlinear Systems Using Sliding Surfaces with Application to Robot Manipulators,” International Journal of Control, vol.38, pp. 465-492, 1983. [28]F.L. Lewis and B.L. Stevens, “Implicit Model-Following Regulator Using Output Feedback,” Georgia Tech, School of Electrical Engineering, Sys. Tech. Rep. FLL-87-1, January 1987.
摘要: 
在本篇論文中,我們提出一個後置濾波器的方法,應用在永磁式伺服直流馬達之輸出迴授可變結構控制系統上。後置濾波器是利用電樞電流和角速度之間的動態關係來建構,而這個動態關係可以藉由系統模型推導出來。此控制系統的輸出信號為馬達的電樞電流,送入後置濾波器來計算馬達的角速度。換言之,後置濾波器的使用是以輸出的電樞電流信號來估測馬達的角速度,這個方法將可進一步用來實現永磁式直流馬達無速度感測估測設計。
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.
URI: http://hdl.handle.net/11455/6829
其他識別: U0005-2007201116515900
Appears in Collections:電機工程學系所

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