臺灣博碩士論文加值系統

本論文主要研究無感測直接轉矩控制系統應用於感應馬達伺服系統上，利用感應馬達靜態d-q軸模型推導估測轉子轉速方程式。無感測直接轉矩控制技術需要使用精確的馬達參數，因此對馬達參數之測量，提出參數自動量測技術。本文使用Matlab/Simulink來進行無感測直接轉矩控制法則的設計，以方便控制法則的分析與驗證；並藉由TeraSoft 公司xPC-MC240 PCI I/O Card發展伺服控制器來加以實現。論文中詳述xPC系統軟硬體部分及MC240 PCI I/O Card與變頻器的連結。經由模擬與實驗驗證本文所提出之無感測直接轉矩控制可行性。

In this thesis, we researched the sensor-less direct torque control system applied to an induction motor servo system, using the induction motor stationary d-q axis model to deduce the rotor speed. Because the sensor-less direct torque control system needed accurate motor parameters, we proposed an automatic parameter measuring technique. To analyze and verify the control rules, We used the Matlab/Simulink to design the sensor-less direct torque control system. In addition to the above, we realized the hardware configuration by the xPC-MC240 PCI I/O Card development servo controller, made by TeraSoft corporation. We described the connections among the xPC soft/hardware, MC240 PCI I/O Card and the inverter in detail. By the simulation and the experiment, we demonstrated the feasibility of the proposed sensor-less direct torque control.

中文摘要……………………………………………………………………………….i
英文摘要………………………………………………………………………………ii
誌謝…………………………………………………………………………………...iii
目錄…………………………………………………………………………………...iv
表目錄……………………………………………………………………………….viii
圖目錄……………………………………………………………………………….. ix
符號表………………………………………………………………………………..xiv
第一章 緒論…………………………………………………………………………...1
1.1 研究動機……………………………………………………………………..1
1.2 研究目的……………………………………………………………………..2
1.3 論文架構……………………………………………………………………..2
第二章 感應馬達之數學模型………………………………………………………...4
2.1 簡介…………………………………………………………………………..4
2.2 參考座標轉換系統…………………………………………………………..5
2.3 感應馬達數學模型之推導…………………………………………………..7
2.3.1電壓方程式……………………………………………………………..7
2.3.2轉矩方程式……………………………………………………………15
2.3.3馬達機械轉矩方程式…………………………………………………17
第三章 直接轉矩控制系統………………………………………………………….18
3.1簡介………………………………………………………………………….18
3.2直接轉矩控制原理………………………………………………………….18
3.3靜止參考座標轉換………………………………………………………….22
3.4比例積分PI控制器…………………………………………………………23
第四章 無感測量測控制原理……………………………………………………….25
4.1簡介………………………………………………………………………….25
4.2轉子轉速估測之推導……………………………………………………….25
第五章 感應馬達之參數自動量測………………………………………………….31
5.1簡介………………………………………………………………………….31
5.2直流試驗(DC Test)………………………………………………………….33
5.3堵轉試驗(Locked-Rotor Test)………………………………………………35
5.4無載試驗(No-Load Test)……………………………………………………40
第六章　xPC Target無感測直接轉矩控制系統……………………………………45
6.1 簡介………………………………………………………………………....45
6.2 軟體架構介紹……………………………………………………………....45
6.2.1 xPC Target系統簡介………………………………………………….46
6.2.2 xPC Target之環境設定與開機片製作……………………………….47
6.2.3 Real-Time Workshop(RTW)簡介……………………………………..54
6.3 xPC Driver安裝步驟與TeraSoft xPC-MC240 PCI I/O卡之Block介紹及說明……………………………………………………………………………...57
6.3.1 xPC Driver安裝步驟………………………………………………….57
6.3.2 TeraSoft xPC-MC240模塊介紹及功能說明…………………………59
6.4 硬體架構介紹………………………………………………………………64
6.4.1 整體架構與TeraSoft xPC-MC240 PCI I/O Card介紹……………64
6.4.2 TeraSoft xPC-MC240 PCI I/OCard與變頻器之連結與溝通說明…67
第七章 模擬與實驗結果…………………………………………………………….73
7.1 參數自動量測實驗結果……………………………………………………73
7.2 無感測量測實驗結果………………………………………………………75
7.3 無感測直接轉矩控制模擬與實驗程式…………………………………....85
7.4 模擬與實驗結果……………………………………………………………87
7.4.1 正轉無載模擬與實驗結果…………………………………………...87
7.4.2 正反轉無載模擬與實驗結果………………………………………...94
7.5 實驗結果討論………………………………………………………………99
第八章 結論………………………………………………………………………...100
參考文獻…………………………………………………………………………….101
附錄………………………………………………………………………………….105

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