應用於模組化輕型電動車之類神經網路控制六相永磁同步馬達驅動系統

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研究生：	黃治瑋 Jhih-Wei Huang
論文名稱：	應用於模組化輕型電動車之類神經網路控制六相永磁同步馬達驅動系統 DSP-Based Neural Network Control of Six-Phase PMSM Drive for Modularized LEV
指導教授：	林法正 Faa-Jeng Lin
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 電機工程學系 Department of Electrical Engineering
畢業學年度：	98
語文別：	中文
論文頁數：	92
中文關鍵詞：	數位訊號處理器、輕型電動車、類神經網路、六相永磁同步馬達
外文關鍵詞：	Light Electric Vehicle, Digital Signal Processor, Six-Phase Permanent
相關次數：	點閱：8 下載：0
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本論文的目的是發展一個以數位訊號處理器為基礎之類神經網路
控制模組化輕型電動車之六相永磁同步馬達驅動系統。首先，介紹模
組化輕型電動車的概念，再來介紹包含不確定項之輕型電動車和六相
永磁同步馬達的動態。接著利用一個32位元的定點運算數位訊號處理
器(TMS320F2812)來實現本論文所提出的控制器及控制一六相馬達驅
動器。由於包含滾動阻力、空氣阻力、參數變化、外力干擾和摩擦力
的負載轉矩會影響控制的準確性，因此本論文提出具有線上學習能力
以及良好的強健性的Elman類神經網路控制器與機率模糊類神經網路
控制器兩種智慧型控制器，來達到輕型電動車應用所需求高的控制效
能。最後，根據實驗結果來驗證本論文提出的模組化輕型電動車之六
相永磁同步馬達驅動系統之性能。

The purpose of this thesis is to develop a digital signal processor
(DSP)-based neural network controlled in-wheel motor system using a
six-phase permanent magnet synchronous motor (PMSM) drive for
modularized light electric vehicle (LEV). First, the concept of
modularized LEV is introduced. Then, the dynamics of modularized LEV
and six-phase PMSM drive system with a lumped uncertainty are briefly
introduced. Next, a 32-bit fix-point DSP, TMS320F2812, is adopted for
the implementation of the proposed control system and to control a
six-phase PMSM drive. Moreover, the control accuracy is much
influenced by the load torque form the rolling resistance, the air drag, the
parameter variations, the external disturbances, and the friction force.
Therefore, two intelligent controllers, Elman neural network control
(ENN) and probabilistic fuzzy neural network (PFNN) controller with
on-line learning capability and robust control characteristics, are
proposed to achieve the required high control performance of LEV.
Finally, some experimental results are illustrated to show the validity of
the proposed control schemes of six-phase PMSM drive system for
modularized LEV.

目 錄
中文摘要................................................................................................ I
英文摘要............................................................................................... II
誌謝.....................................................................................................III
目錄.....................................................................................................IV
圖目錄................................................................................................ VII
表目錄..................................................................................................XI
第一章緒論..........................................................................................1
1.1 研究動機與目的...............................................................1
1.2 國內外電動車發展現況....................................................2
1.3 文獻回顧...........................................................................3
1.4 論文大綱...........................................................................5
第二章模組化輕型電動車...................................................................6
2.1 簡介..................................................................................6
2.2 系統說明...........................................................................9
2.2.1 行車控制主機板模組.............................................9
2.2.2 輪內馬達模組.......................................................12
2.2.3 輪內永磁同步馬達驅動模組................................13
2.2.4 車用智能型電池管理系統....................................14
2.2.5 行車動態控制模組...............................................16
2.3 行車動態模型.................................................................17
第三章以DSP2812為基礎之六相永磁同步馬達控制晶片.................20
3.1 TMS320F2812數位訊號控制器簡介.............................20
3.1.1 DSP TMS320F2812簡介........................................20
3.1.2 記憶體規劃..........................................................22
3.2 TMS320F2812事件管理器模組....................................26
3.2.1 脈波寬度調變模組...............................................26
V
3.2.2 四倍頻編碼電路模組...........................................28
3.3 類比/數位訊號轉換器...................................................29
3.4 串列同步通訊介面SPI模組...........................................30
3.5 增強型控制區域網路介面eCAN模組...........................32
第四章以DSP2812為基礎之六相永磁馬達驅動系統........................35
4.1 六相永磁同步馬達..........................................................35
4.1.1 轉子座標系統轉換之電壓及轉矩方程式.............38
4.2 六相永磁同步馬達驅動系統...........................................40
4.2.1 電流感測電路......................................................41
4.2.2 電壓感測電路......................................................41
4.2.3 光學編碼器..........................................................42
4.2.4 DSP 2812 擴充電路.............................................42
4.2.4.1 ADC準位轉換電路..................................43
4.2.4.2 PWM輸出電路.........................................44
4.2.4.3 Encoder電路.............................................44
4.2.4.4 CAN Bus電路...........................................45
4.2.4.5 DAC電路..................................................45
4.2.4.6 OCP電流保護電路...................................46
4.2.5 空間向量脈波寬度調變控制................................46
4.3 比例積分控制六相永磁馬達驅動系統之實現................53
第五章以DSP2812為基礎之Elman類神經網路控制六相永磁馬達驅動
系統.......................................................................................59
5.1 簡介..............................................................................59
5.2 Elman類神經網路控制器..............................................59
5.2.1 Elman類神經網路之描述...................................59
5.2.1 線上學習法則.....................................................62
5.3 Elman類神經網路控制器之實現..................................63
第六章以DSP2812為基礎之機率模糊類神經網路控制六相永磁同步
VI
馬達驅動系統.......................................................................69
6.1 簡介..............................................................................69
6.2 機率模糊類神經網路控制器.........................................69
6.2.1 機率模糊類神經網路之描述..............................69
6.2.1 線上學習法則.....................................................72
6.3 機率模糊類神經網路控制器之實現.............................74
第七章結論與未來展望.....................................................................80
7.1 結論..............................................................................80
7.2 未來研究方向...............................................................82
附錄A...................................................................................................84
參考文獻..............................................................................................88
作者簡歷..............................................................................................92

                                

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