Abstract
本文主要內容是針對伺服驅動器提出一套系統化設計法則提高其伺服性能,整個設計步驟分成兩In this dissertation, systematic design procedures areproposed for high performance motor drives. The designprocedures can be divided two steps: Firstly, developed analgorithm in the inner loop to decouple and linearize thedynamics of motor drive to match with the dynamic performance ofa dc drive. Secondly, a robust controller in the outer loop canthen be developed and anticipated to bear inevitable parameteruncertainties and load disturbances. The robust control schemewas developed using perturbation estimator to enhance therobustness of the pole-placement design. This estimator consistsof two parts, i.e., an one-step backward estimation scheme and anonlinear compensation term. The basic idea behind this one-stepbackward estimation scheme is to lump the dynamics ofdisturbance into a pre-assigned function, then use the timedifference of the function to calculate the disturbance on-line.A nonlinear compensator is then incorporated with the controllerduring the steady-state period to further enhance the servoaccuracy. Notably, the proposed scheme does not require taking ameasurement of the time derivative of state vector or theprecise knowledge of associated system parameters . Threedifferent experimental servo drives system, i.e. inductionmotor, LVRM, and USM, were set up for the purpose of verifyingthe proposed controller under various type perturbations suchas, external disturbances, significant load, and parametersvariations. Experimental results validated the effectiveness ofthe proposed controller under various types of perturbations,such as parameter variations as well as external disturbances. Ahigh performance motor drive can be obtained through abovedesign procedures.