| Summary: | 碩士 === 大同大學 === 機械工程研究所 === 89 === Abstract --- In this thesis, a DSP-chip-based discrete variable structure tracking control (DCBDVSTC) is developed for a brushless permanent magnet AC (PMAC) motor. Although the relation between the angular position of PMAC motor and the corresponding control input possesses nonlinearities, a linear discrete-time model is first employed to represent its dynamics. By using a dead-beat control technique, the discrete variable structure tracking control (DVSTC) is developed for the proposed PMAC motor subject to input disturbance, payload, measurement noise and uncertainty. The proposed DVSTC includes two parts: equivalent control and switching control. Based on the internal model principle, the input disturbance and the measurement noise modeled as pulse transfer functions, are rejected by the equivalent control. Owing to the subjection of input disturbance or payload or measurement noise or uncertainty, a poor response occurs. Under these circumstances, a switching control based on Lyapunov redesign is applied to reinforce the system performance. Finally, the experiments of the PMAC motor for different amplitude and frequency of reference input, and payload, are arranged to evaluate the usefulness of the proposed control scheme.
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