永磁無刷馬達之相依性矯正控制

謝孟儒

doi:10.6342/NTU201702176

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永磁无刷马达之相依性矫正控制

Position Dependent Correction of a PMLSM Control

谢孟儒 , 硕士　　导师：颜家钰　　

繁体中文 DOI： 10.6342/NTU201702176

气浮运动平台；永磁无刷线性马达；强健控制； H∞控制； Luenberger估测器；干扰估测器； air-bearing motion stage ； PMLSM ； robust control ； H∞ control ； Luenberger observer ； disturbance observer

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摘要 │ 参考文献 (38) │ 国际计量

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This thesis addresses the fundamental problem of improving the Luenberger ob-server (LO)-based feedback control so that it can deal with a wide range of uncertainties, caused by both internal and external disturbances. The augmented states are added to conventional Luenberger observer to estimate the external and internal disturbances, so called total disturbance. As a result, the low-frequency disturbances can be rejected with disturbance compensation. Moreover, the state estimation error caused by the total dis-turbance in conventional Luenberger observer can be eliminated.
The system is a dual-axis air-bearing motion stage system consists of four perma-nent magnet brushless linear motors. For simplicity, in this thesis the complex system is decoupled to three single input single output (SISO) systems. Since the system is unsta-ble, the closed-loop system identification is required. System identification are con-ducted in both time domain and frequency domain. In time domain, system identifica-tion is conducted using the embedded function, “Parameter estimation” under Simulink environment. In frequency domain, the time domain experimental data of the system input and output are converted to frequency domain data by Fast Fourier Transform (FFT).
The Luenberger observer is installed to estimate the states, which are not able to be measured by sensor for the state feedback control to stabilize the system. Furthermore, the augmented states are added to estimate total disturbances for disturbance compen-sation. The Pseudo Derivative Feedback (PDF) control structure is implemented and the overall control theory is based on the Robust and Optimal control to calculate the opti-mal control gains in Chain Scattering Description (CSD), restricting the H-infinite norm of the system in a specific range. Since speed control and position control have different bandwidth, which causes undesired transient response in “Speed and Position Switching Control”. Thus, the previously proposed “Access and Positioning Control” by our labor-atory team is implemented. “Access and Positioning Control” includes the reference speed and position for input command together at the same time so that switching be-tween two control methods is not necessary.

参考文献 ( 38 ) 〈TOP〉

[1] T. HU, "Design and control of a 6-degree-of-freedom levitated positioner with high precision," PhD, Mechanical Engineering, Texas A&M University, 2005.
连结：
[2] M. Gruzman, H. I. Weber, and L. L. Menegaldo, "Time domain simulation of a target tracking system with backlash compensation," Mathematical Problems in Engineering, vol. 2010, 2009.
连结：
[3] C.-J. Huang, J.-Y. Yen, and S.-S. Lu, "Stability of PDF controller with stick-slip friction device," in American Control Conference, Proceedings of the 1995, 1995, pp. 3289-3293.
连结：
[4] M. Nordin and P.-O. Gutman, "Controlling mechanical systems with backlash—a survey," Automatica, vol. 38, pp. 1633-1649, 2002.
连结：
[5] V. Van Geffen, "A study of friction models and friction compensation," DCT, vol. 118, p. 24, 2009.
连结：

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引用含有DOI的文献

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。 如想对DOI的使用与概念有进一步了解，请参考 （ ） 。

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。如想对DOI的使用与概念有进一步了解，请参考（）。