| Summary: | 碩士 === 中原大學 === 電機工程研究所 === 86 === The purpose of this thesis is to design and implement a high-performance AC servo motor drive. A co-processor structure, which is based on a personal computer (PC) and a digital signal processor (DSP), is presented in this thesis. Using IGBT modules and other control and protect circuits to implement an inverter, a 20 kW heavy load AC motor drive system is completed. The drive system can accomplish high precision of velocity and position control for induction and permanent magnet synchronous motors. In order to reduce the influences of plant parameter variations and external load disturbances to the motor drive system, a robust field-oriented AC motor drive is presented in this thesis.An integral-proportional (IP) controller and its systematic design procedure is introduced first. Next, a recursive least square (RLS) estimator with unbiased characteristics, which composes of a RLS algorithm and a proposed torque observer, is introduced. The rotor inertia constant, the damping constant, and the disturbed load torque of the AC motor drive are estimated by the proposed RLS estimator. Then the IP position controller is real-time designed to match the time-domain command tracking specifications under the condition of parameter variations, and the observed disturbance torque is fed forward to increase the robustness of the AC motor drive. The theoretical basis of the proposed controller and estimator are derived in detail, and the effectiveness of the proposed AC motor drive system is confirmed by the simulation and experimental results.
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