本論文提出具有時間延遲之滑動模式控制器與轉子角位置追蹤估測器應用在永磁同步馬達無感測轉速控制上。根據磁場導向原理，設計磁通滑動模式控制器以達成快速的磁通控制，接著提出具有時間延遲之轉速滑動模式控制器，並以直接轉矩控制系統架構為主與比例－積分控制器及滑動模式控制器相比較，模擬驗證所提出的無感測強健滑動模式控制器能夠達成良好的轉速控制性能，甚至是在系統參數變動及外部負載擾動等因素的影響下。

Sliding mode controllers (SMC) with time delay and a rotor position observer are designed for the sensorless speed control of permanent magnet synchronous motor (PMSM) are proposed in this paper. Based on field-oriented principle, a flux SMC is designed to achieve quick flux control. And then a speed SMC with time delay is presented and compared with PI controller in the direct torque control framework. The effectiveness of the proposed control scheme under the load disturbance and parameter uncertainties is verified by simulation results.

目錄

摘要(中) i
摘要(英) i
誌謝 ii
目錄 iii
表目錄 v
圖目錄 vi
第一章 緒論 1
1.1 研究動機與背景 1
1.2 文獻回顧 2
1.3 本文大綱 5
第二章 永磁同步馬達之數學模型 6
2.1 前言 6
2.2 座標轉換 6
2.3 永磁同步馬達數學模型推導 9
2.4永磁同步馬達數學模型動態模擬 18
第三章 控制系統架構 23
3.1 前言 23
3.2 比例－積分向量控制系統架構 23
3.2.1 定轉矩角控制 (Constant torque angle control) 25
3.2.2 最大轉矩電流比控制 (Maximum torque per ampere control) 25
3.2.3 單位功因控制 (Unity power factor control) 26
3.2.4 弱磁控制 (Flux weakening control) 27
3.3 比例－積分直接轉矩控制系統架構 31
3.4 空間向量調變技術 34
3.4.1 計算各基本電壓空間向量切換的維持時間 37
3.4.2 合成電壓向量的區域判斷 38
3.4.3 各臂開關PWM信號的切換時間 39
3.5 比例－積分控制器設計 39
3.5.1 磁通控制器設計 41
3.5.2 轉矩控制器設計 42
3.5.3 轉速控制器設計 43
3.6 滑動模式控制器設計 44
3.6.1 定子磁通滑動模式控制器 44
3.6.2 轉速滑動模式控制器 46
3.6.3 具有時間延遲之轉速滑動模式控制器 48
3.6.4 無感測轉子角位置之追蹤估測器 49
第四章 轉速控制系統模擬及結果 53
4.1 控制系統模擬分析 53
4.1.1 無變動量下之正轉模擬測試 56
4.1.2 負載TL變動下之正轉模擬測試 70
4.1.3機械轉動慣量J、負載TL變動下之正轉模擬測試 78
4.1.4定子電阻rs變動下之正轉模擬測試 84
4.1.5無變動量下之軌跡追蹤模擬測試 88
4.2 模擬結果與討論 94
第五章 結論與未來方向 96
5.1 結論 96
5.2 未來改進與方向 97
參考文獻 98

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