馬達轉速控制系統常仰賴轉軸速度估測以作為控制迴路之回授信號，而目前工業界多藉由計算編碼器取樣時間之脈波個數來換算平均轉速，並將此值作為轉速控制之回授信號。由於此方式所取得之轉速於低速控制時會造成誤差，而導致控制迴路的不穩定。另外，在不同工作條件下馬達參數可能會隨外在環境而改變，且實際運轉時外加負載對馬達控速性能影響亦大。因此文中將運用適應性卡爾曼濾波器估測瞬間轉速與等效擾動轉矩，並由遞迴式最小均方法線上估測馬達機械參數，再藉此估測值調整比例積分(Proportional-Integral, PI)控制器與適應性卡爾曼濾波器之參數；最後經由模擬與實驗以驗證低速控制性能的改善。

Motor speed control often relies on the use of the shaft speed as the feedback signal. Typically, the average speed is estimated by calculating the finite difference between two consecutive encoder readings. Such a method, however, is subject to sampling effect and encoder resolution, especially when the speed is low. In addition, the control performance depends on the variation of the motor parameters and load conditions. To account for the variations and low-speed characteristics, an adaptive Kalman filter is used in the thesis to estimate the instantaneous speed, equivalent disturbance torque, as well as motor mechanical parameters. This results in an adaptive proportional-integral control scheme for low speed motor control. By simulations and experiments, the proposed scheme is verified for the improvement of low speed control performance.

[1] M. F. Benkhoris and M. Ait-Ahmed, “Discrete Speed Estimation from a Position Encoder for Motor Drives,” in Proc. IECON, No.429, 1996, pp. 283-287.

[2] R. Brown and S. Schneider and M. Mulligan, “Analysis of Algorithms for Velocity Estimation from Discrete Position Versus Time Data,” IEEE Trans. on Industrial Electronics, Vol. 39, Feb. 1992, pp.11-19.

[3] R. Brown and S. Schneider, “Velocity Observation from Discrete Position Encoder,” in Proc. IECON, 1987, pp.1111-1118.

[4] dSPACE, Floating-Point Controller Board DS1102 User’s Guide, dSPACE digital signal processing and control engineering GmbH Technologiepark 25 D-33100 Paderborn Germany, 1999.

[5] dSPACE, MLIB-MTRACE Interface and Trace Libraries, dSPACE GmbH, Technologiepark 25 D-33100 Paderborn Germany, 1999.

[6] dSPACE, DS1102 Installation and Configuration Guide, dSPACE GmbH, Technologiepark 25 D-33100 Paderborn Germany, 1999.

[7] dSPACE, Real-Time Interface to SIMULINK User’s Guide, dSPACE digital signal processing and control engineering GmbH Technologiepark 25 D-33100 Paderborn Germany, 1999.

[8] Y. Dote, Servo Motor and Motion Control Using Digital Signal Processors, Prentice-Hall, Inc., U.S.A., 1990.

[9] G. F. Franklin, J. D. Powell and M. L. Workman, Digital Control of Dynamic Systems, Second Edition, Addison-Wesley Publishing Company, Inc., U.S.A., 1990.

[10] M. S. Grewal and A. P. Andrews, Kalman Filtering Theory and Practice, Prentice-Hall, Inc., U.S.A., 1993.

[11] Y. Hori, “Robust and Adaptive Control of a Servomotor using Low Precision Shaft Encoder,” in Proc. IECON, Vol.1, 15-19, 1993,pp. 73-78.

[12] J. K. Ji and S. K. Sul, “DSP-Based Self-Tuning IP Speed Controller with Load Torque Compensation for Rolling Mill DC Drive,” IEEE Trans. on Industrial Electronics, Vol.42, No.4, Aug 1995, pp. 382-386.

[13] H. W. Kim, J. W. Choi and S. K. Sul, “Accurate Position Control for AC Servo Motor Using Novel Speed Estimator,” in Proc. IECON, Vol.1, 6-10, ,1995, pp. 627-632.

[14] H. W. Kim and S. K. Sul, “A New Motor Speed Estimator using Kalman Filter in Low Speed Range,” IEEE Trans. on Industrial Electronics, Vol.43, No.4, Aug. 1996, pp. 498-504.

[15] B.C. Kuo, Automatic Control Systems, Sixth Edition, Prentice-Hall, Inc., U.S.A., 1991.

[16] T. J. Kweon and D. S. Hyun, “Hight-Performance Speed Control of Electric Machine Using Low-Precision Shaft Encoder,” IEEE Trans. on Power Electronics, Vol.14, No.5, Sep. 1999, pp. 838 –849.

[17] C. L. Phillips and H. T. Nagle, Digital Control System Analysis and Design, Second Edition, Prentice-Hall, Inc., U.S.A., 1990.

[18] S. I. Sakai and Y. Hori, “Ultra-Low Speed Control of Servomotor using Low Resolution Rotary Encoder,” in Proc. IECON, Vol.1, 6-10, 1995, pp. 615-620.

[19] T. Senjyu, S. Ashimine and K. Uezato, “Robust Speed Control Method for DC Servomotor using Adaptive Gain Law,” in Proc. ISIE, Vol.1, 17-20, 1996, pp. 254-259.

[20] L.S. Shieh, W.M. Wang and M.K. A. Panicker, “Design of PAM and PWM Digital Controllers for cascaded Analog Systems,” ISA Trans., Vol.37, No.3, July 1998, pp. 201-213.

[21] L.S. Shieh, W. Wang and J.S.H. Tsai, “Optimal Digital Design of Hybrid Uncertain Systems using Genetic Algorithms,” IEE Proc.-Control Theory Appl., Vol.146, No.2, Mar. 1999, pp. 119-130.

[22] S. M. Yang and S. J. Ke, “Performance Evaluation of a Velocity Observer for Accurate Velocity Estimation of Servo Motor Drives,” IEEE Tran. on Industry Applications, Vol.36, No.1, Jan./Feb. 2000, pp. 98-104.

[23] K. Zhou and J. C. Doyle, Essentials of Robust Control, Prentice-Hall, Inc., U.S.A., 1998.

[24] 莊智清, 黃國興, 電子導航, 全華科技圖書股份有限公司, 2001.

[25] 柳振堯, 吳永春, 數位式直流伺服馬達模糊PID位置控制器之研製, 國立交通大學控制工程研究所碩士論文, 1994.

[26] 陳柏延, 莊智清, 數位訊號處理器於伺服控制及音訊處理之應用, 國立成功大學電機工程學系碩士論文, 2001.