劉志文臺灣大學:電機工程學研究所林軍筑Lin, Chun-ChuChun-ChuLin2010-07-012018-07-062010-07-012018-07-062009U0001-2907200913343500http://ntur.lib.ntu.edu.tw//handle/246246/188142無刷直流馬達在轉動電機上的應用越來越廣，然其因有限霍爾元件所造成的變取樣現象與因負載改變造成受控特性的改變，一直沒有最佳的解決方法。本論文詳細探討應用於無刷直流馬達的控制器，以比例-積分控制器為基礎、結合模糊控制理論，提出模糊增益規劃比例-積分控制器，嘗試解決上述兩個問題。獻記載模糊控制器的發展多半以一階輸入速度為主，較高階的處理則會將輸入微分，形成兩個變數，以達成高階模糊控制。此外亦有文獻記載著兩個輸入的二階控制器，如直接轉矩控制，除了回授轉速之外，也將電流予以回授以達成更穩定的轉速響應，相對的也提高了設計控制器的難度。論文提出一模糊增益規劃比例-積分控制器，採用轉速與負載轉矩為輸入，負載則藉由量測定子電流與轉速估測而得，估測方式將在論文中詳述。該控制器具有設計簡單的優點，既無設計高階控制器之困難度又能具有快速的響應。系統的模擬將在論文中詳述，並提供實驗結果加以驗證。Brushless DC Motor (BLDC) Drive has been more and more popular in Electric Motors. However, there is no best solution for the variable sampling caused by limited Hall sensors and the alteration of plane characteristics resulted from the change of load. Control method will be discussed in this thesis. Based on Proportional-Integral（PI） controller and Fuzzy Control theory, a Fuzzy Gain Scheduling Controller is proposed in this thesis.ost of the papers on Fuzzy PI Controller discussed only about one input, and some advanced applications may use the derivation of input to make it become two inputs. Literature also stated that two-order controllers with two inputs, such as Direct Torque Control (DTC), in addition to the feedback of speed, will also send current as a feedback in consideration of achieving a better speed response. However, in doing so, the difficulty of designing the controller will be raised, too. Fuzzy Gain Scheduling PI Controller, monitors the speed and load torque as inputs, is proposed in this thesis. Load torque is estimated by measuring the speed and current of stator, the estimation will be discussed in this thesis. The advantage of Fuzzy Gain Scheduling PI Controller proposed in this thesis is easier to design. Moreover, it could keep the fast speed response. The simulations and experiment results will be given in this thesis.摘要 ibstract ii錄 iii目錄 v目錄 vii一章 緒論 1.1 研究背景 1.2 文獻回顧 1.3 研究目的 2.4 研究貢獻 2.5 章節介紹 2二章 三相六開關直流無刷馬達 4.1前言 4.2直流無刷馬達驅動 4.3三相六開關變頻器切換法則 7.4 小結 11三章 模糊增益規劃比例-積分控制器 12.1前言 12.2 比例-積分控制理論 12.3 模糊增益規劃比例-積分控制器 14.3.1 設計步驟 14.3.2 轉速計算 27.3.3 轉矩估測器 29.4小結 29四章 模擬結果 30.1轉速型模糊增益規劃控制器 30.2轉矩型模糊增益規劃控制器 37.3 模糊增益規劃比例-積分控制器 43.4 小結 58五章 實驗結果及分析 59.1實驗系統架構簡介 59.2 DSP TMS320F2812介紹 61.3濾波器及光耦合隔離 63.4轉速型模糊增益規劃控制器 65.5轉矩型模糊增益規劃控制器 69.6模糊增益規劃比例-積分控制器 73六章 結論與未來展望 86.1結論 86.2未來展望 86考文獻 872864260 bytesapplication/pdfen-US無刷直流馬達模糊增益規劃模糊控制比例-積分控制器Brushless DC MotorFuzzy Gain SchedulingFuzzy ControlPI Controllerthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/188142/1/ntu-98-R96921056-1.pdf