研究生: |
丁鈺峯 Yu-Fong Ding |
---|---|
論文名稱: |
無刷直流馬達之強健控制器設計 Robust Controller Design of Brushless DC Motors |
指導教授: |
黃安橋
An-Chyau Huang |
口試委員: |
黃緒哲
Shiuh-Jer Huang 陳亮光 Liang-kuang Chen |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 機械工程系 Department of Mechanical Engineering |
論文出版年: | 2011 |
畢業學年度: | 99 |
語文別: | 中文 |
論文頁數: | 73 |
中文關鍵詞: | 多層滑動控制器 、無刷直流馬達 |
外文關鍵詞: | multiple surface sliding control, Brushless DC motors |
相關次數: | 點閱:302 下載:24 |
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由於無刷直流馬達具有未知干擾之非匹配式不確定性的系統,所以傳統強健控制無法使用,如滑動控制(Sliding mode control)、PID。故本文提出一個多層滑動面控制器,並使用多層滑動面控制之概念來解決非匹配式不確定性的問題,以改善傳統強健控制之限制。首先,利用多層滑動控制器以改善未知干擾項對無刷直流馬達之影響。接著利用軌跡規劃之設計,使馬達達到期望之軌跡。本文透過多層滑動控制器與軌跡規劃之設計,並且加入不同之範例,以驗證控制器之強健性。由電腦模擬的結果顯示,本文所提出之控制法則對於無刷直流馬達的控制具有優良的工作性能表現。
In this paper, we consider the stabilization of a brushless DC motor subject to a time-varying payload which enters the system in a mismatched fashion. A multiple-surface sliding controller is proposed to deal with the uncertain payload so that good performance can be ensured. The Lyapunov stability method is employed to justify the closed loop stability. Simulation cases are given with satisfactory results.
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