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題 名 | 直流無刷馬達定位控制=Position Control of DC Brushless Motor |
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作 者 | 蔡志明; 林欽忠; 林明贊; | 書刊名 | 東南學報 |
卷 期 | 28 2005.06[民94.06] |
頁 次 | 頁165-174 |
分類號 | 448.22 |
關鍵詞 | 直流無刷馬達; H∞強健控制器; DC brushless motor; H∞controller; |
語 文 | 中文(Chinese) |
中文摘要 | 本文旨在利用H∞強健控制理論建立一個直流無刷馬達的定位控制系統,直流無刷馬達的好處在於他有類似永磁式直流電動機系統中速度與轉矩之特性,亦具有低慣量及較少的火花問題。然而,也因為非線性特性導致複雜的控制問題,使得成為直流無刷馬達的缺點。比例積分控制器常常被使用在直流無刷馬達控制中,但是往往無法得到較佳之結果;因此,利用系統輸出誤差訊號的擴增矩陣作為新的狀態來作為定位控制狀態變數回授的解。另外,選擇適當的權重函數來滿足系統強健性能及穩定性。最後,本文將列出相關模擬與實驗之波形,以證明本H∞控制器的可行性。 |
英文摘要 | This paper is proposed a brushless DC(BLDC) motor position controller by H∞ control theory. The advantage of using a BLDC motor is that it can be controller to have the speed-torque characteristics similar to that of a permanent magnet DC motor. In addition, the BLDC motor has the lower inertia and fewer spark problems. The disadvantages are the high cost and more complex controller caused by nonlinear characteristics. The BLDC motor control is that the PI control is usually employed, which is simple in realization but difficult to obtain a sufficient high performance. It is however, know that the position controller problem using a state variable feedback can be simply solved by the augmentation of the output error as a new state. In addition, the proposed work comprises an H∞ controller design problem for a class of stable/ unstable plants and selecting suitable weighting functions such that which satisfies both robust performance and robust stability. Finally, the waves of related simulation will be showed to prove the feasibility of this H∞ controller system. |
本系統中英文摘要資訊取自各篇刊載內容。