| Summary: | 碩士 === 大同大學 === 電機工程研究所 === 90 === ABSTRACT
This thesis proposes a new adaptive control law about speed control of sensorless DC brushless servo motor. The estimation of the rotor speed of motor is based on the error dynamic equations resulted from current control command and feedback current, and the reactive back EMF function of stator and rotor under stationary reference frame. In addition, taking the problems of system parameters vibration and load disturbance into consideration, it offers a adaptive controller by backstepping and virtual desired variable method to transfer the speed tracking problem to torque problem, and then transfer torque tracking problem to current tracking problem by mean of the relationships between torque and current. Using the motor mechanical error dynamic equations and stator current error dynamic equations to estimate the load disturbance and stator resistance to achieve the speed control object. At last, using the Lyapunov equations to prove the stability of the proposed method. The simulations and experimental results, show that under the interference of system parameters vibration and load disturbance, the proposed adaptive controller have a good output response that we expected.
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