臺灣博碩士論文加值系統

由於無位置感測之直流無刷馬達驅動系統在很多工業應用上具有較高之潛力，因此本論文旨在開發一以數位信號處理器為主之無位置感測直流無刷馬達驅動系統，以及一些關鍵技術以改善其驅動性能。首先建立一實驗用之馬達驅動系統，以利所開發控制方法之實現及從事其性能之評估測試。所建構之驅動系統，馬達係由其適當隔離驅動之變頻器供電；電腦控制系統係由DSP TMS320C240及一特殊之ASIC組成，以促成馬達驅動系統之全數位化控制。
雖然至今已存在有很多直流無刷馬達之無感測控制技術，但其所得之控制性能仍頗受系統參數及工作點變動之影響。為改善此影響，本論文提出一智慧型調控之無位置感測控制方法。在此法中，首先由感測之馬達端電壓估得用以產生切換控制信號之轉子位置信號，再利用所提之智慧調控技術調整切換信號之換向時刻，以獲得較佳之馬達轉矩產生特性，調控之進行係以馬達線引入電流之最小化為性能指標。
除換相之正確與否外，馬達線圈之電流波形亦深深地影響直流無刷馬達之轉矩產生特性。一般而言，任何形式之直流無刷馬達如採行電流模式控制，將具有較佳之驅動控制特性。因此，本論文亦發展一強健型電流控制架構，使直流無刷馬達具有快速且強健之電流追蹤特性。
由於馬達靜止時應電勢為零，無法由端電壓產生換相切換信號，因此需有適當之啟動方法。在本論文所提之啟動方法，將直流無刷馬達先以同步馬達運轉方式穩定且平順地帶到穩定速度後，再切換至無位置感測控制模式。此外，為了從事馬達之速度監視與控制，本論文亦發展一速度估測技術，進而基於估測之速度，從事驅動系統速度迴路之動態模式之估測，並設計一具傳輸延遲補償之速度控制器。
最後，為了使驅動器之交流側具有良好之引入電流電力品質，本論文設計一切換式整流器做為此驅動器之輸入級。採用所開發之強健輸出電壓漣波補償及輸入電流控制器，可在合理之輸出電容值下獲得具高功因及低諧波之輸入電流波形。
所提控制方法之有效性及所建立無感測器直流無刷馬達驅動系統之性能均有實測結果予以驗証。

Since the brushless DC motor (BDCM) drive with position sensorless control possesses higher capability in many industry applications, the major purpose of this dissertation is to establish a DSP-based sensorless BDCM drive, and to develop some key technologies for improving its driving control performance. For facilitating the implementation of the developed sophisticated control rules and the performance test, an experimental motor drive is first constructed. The motor is powered by a voltage source inverter with properly designed isolating drive circuits. The TMS320C240 DSP augmented with a specific ASIC is utilized to build up the digital control computer. This configuration makes the fully digital control for motor drives become possible.
Although many BDCM sensorless control methods have been proposed till now, their performances are rather sensitive to the variations of system parameters and operating condition. To improve this, an intelligent sensorless control strategy is developed in this dissertation. The rotor position for making commutation is first roughly estimated by a proposed switching signal generation scheme using motor terminal voltages. Then the commutation instant is finely adjusted to yield better torque generating capability. This is achieved by a simple but stable self-tuning algorithm for seeking the minimization of motor line drawn current.
In addition to the proper commutation, the winding current waveform also significantly affects the torque generating performance of a BDCM. As generally recognized, better motor driving control performance can be obtained for any type of BDCMs if the current-mode PWM control is applied. Accordingly, a robust current-mode control scheme is developed to let the BDCM drive possess fast and robust winding current tracking response.
Since no commutation signals are available from the sensed motor terminal voltages at standstill, a suitable means is indispensable for starting a sensorless BDCM drive. A simple method is developed to start the BDCM stably and smoothly like a synchronous motor until a steady-state speed is reached. As to the speed monitoring and control, a speed estimation approach is proposed. And based on the estimated speed, the dynamic model is estimated and a speed controller considering the effect of system dead-time is developed.
Finally, a switch-mode rectifier is employed as the input stage of the inverter for drawing power with good power quality from utility grid. The robust voltage ripple cancellation and current control approaches are developed such that good tracking control performance in input current waveform is obtained even if the output filtering capacitor with reasonably small value is used.
The effectiveness of all the developed control approaches and the driving performance of the established sensorless BDCM drive are demonstrated experimentally.

封面
中文摘要
致謝
目錄
第一章 簡介
第二章 以DSP為主之直流無刷馬達驅動系統
第三章 無位置感測及智慧調控
第四章 強健電流模式控制
第五章 啟動、速度估測及控制
第六章 具強健鏈波消去及輸入電流控制之切換式整流器
第七章 結論
附錄

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