臺灣博碩士論文加值系統

本論文主要在研究間接磁場導向控制之感應電動機的滑差估測法。文中除了介紹傳統滑差估測法，並介紹一種利用定子電壓及定子電流之估測滑差頻率之方法，此方法方可用於無量測向量控制。
然後我們對不同的滑差估測法進行比較，以三相感應馬達的向量控制模型經由電腦進行模擬及硬體實作測試。由模擬的結果顯示以定子電壓及定子電流估測滑差頻率之方法可估測到精確的滑差頻率值並使感應馬達有不錯的速度響應；且在實際感應馬達的測試方面，於低轉速命令無載及加載情況下，此方法可獲致較精確的滑差估測值，且轉速控制較為穩定。

This thesis primarily investigates the slip estimation methods for indirect flux-oriented control of the induction motors. Besides the classical slip estimation method, a method which estimates slip frequency by stator voltages and stator currents for sensorless control will be presented.
Then we make a comparison between this method and classical methods by means of computer simulation and hardware implementation in vector-controlled three-phase induction motor. The simulation results show that good performance for both the slip frequency estimation and speed responses can be achieved by this method. The experiment results show that this method can obtain more accurate slip frequency estimation and better speed control under low speed operation.

1.緒論……………………………………………………………… 1
1.1研究動機…………………………………………………… 1
1.2研究方法與目的…………………………………………… 1
1.3內容大綱…………………………………………………… 2
2.感應馬達的數學模型及磁場導向控制理論…………………… 3
2.1簡介………………………………………………………… 3
2.2感應馬達的數學模型……………………………………… 3
2.2.1參數定義…………………………………………… 3
2.2.2數學模型…………………………………………… 5
2.3磁場導向控制理論………………………………………… 14
2.3.1直接向量控制……………………………………… 15
2.3.2間接向量控制……………………………………… 16
3.轉子磁通模型及滑差估測理論………………………………… 17
3.1簡介………………………………………………………… 17
3.2感應馬達之轉子磁通模型………………………………… 17
3.2.1在同步參考座標系之轉子磁通模型……………… 17
3.2.2在定子參考座標系之轉子磁通模型……………… 20
3.2.2.1由轉子轉速及定子電流組成之轉子磁通
模型………………………………………… 20
3.2.2.2由轉子轉速、定子電壓及定子電流組成
之轉子磁通模型…………………………… 21
3.3滑差估測法則……………………………………………… 23
3.3.1傳統滑差估測法…………………………………… 23
3.3.2加入PI補償器之滑差估測法……………………… 25
3.3.3使用定子電壓、定子電流之滑差估測法………… 26
3.3.3.1定子參考座標系之滑差估測參考模型…. 26
3.3.3.2同步參考座標系之滑差估測參考模型…. 30
4.感應馬達間接式向量控制及電腦模擬………………………… 33
4.1前言………………………………………………………… 33
4.2感應馬達間接式向量控制架構…………………………… 33
4.3 PI控制器設計……………………………………………. 37
4.3.1電流控制器設計…………………………………… 38
4.3.2磁通控制器設計…………………………………… 42
4.3.3速度控制器設計…………………………………… 44
4.4電腦模擬…………………………………………………… 46
4.5分析與討論………………………………………………… 60
5.感應馬達實體測試……………………………………………… 61
5.1實驗系統…………………………………………………… 61
5.2馬達規格及參數…………………………………………… 62
5.3實驗結果…………………………………………………… 63
5.4分析討論…………………………………………………… 63
6.結論與建議……………………………………………………… 76
參考文獻…………………………………………………………… 77
自傳………………………………………………………………… 80

1. J. Holtz, “Speed Estimation and Sensorless Control of Ac
Drives”, IEEE IECON, pp.649-654, 1993.
2. S. Sathikumar and J. Vithayathil, “Digital Simulation of
Field Oriented Control of Induction Motor”, IEEE Trans.
Industrial Electronics, vol.IE-31, no.2, May 1984.
3. H. Nakano and I. Takahashi, “Sensor Less Field Oriented
Control of an Induction Motor Using an Instantaneous Slip
Frequency Estimation Method”, IEEE Power Electronics
Specialists Conference, pp.847-854, 1988.
4. Nicholas P. Rubin and Ronald G. Harley, “Evaluation of
Various Slip Estimation Techniques for an Induction Machine
Operating Under Field Oriented Control Conditions”, IEEE
Trans. Industry Application, vol.28, no.6, vember/December,
1992.
5. H. Kubota and K. Matsuse, “Speed Sensorless Field Oriented
Control of Induction Machine”, IEEE IECON, pp.1611-1615,
1994.
6. K. Matsuse and H. Kubota, “Speed Sensorless Field Oriented
Control of Induction Motor with Rotor Resistance daption”
, IEEE Trans. Industry Application, pp.1219-1224,Sep./Oct.,
1994.
7. M. P. Kamierkowski and H. I. Koepcke, “A Simple Control
System for Current Source Inverter-Fed Induction Motor
Drives”, IEEE Trans. Industry Application, vol.IA-21,
No.3,
pp.617-623, May/June, 1985.
8. M. Beck and D. Naunin, “A New Method for the Caculation of
the Slip Frequency for a Sensorless Speed Control of a
Squirrel-Cage Induction Motor”, IEEE Power Electronics
Specialists Conference, pp.678-683, 1985.
9. A. Abbondani and M. Brennen, “Variable Speed Induction
Motor Drives Use Electric Slip Caculator Based on Motor
Voltages and Currents”, IEEE Trans. Industry Applications,
vol.IA-11, pp.483-488, Step. 1975.
10. R. Jotten and G. Maeder, “Control Methods for Good Dynamic
Performance Induction Motor Drives Based on Current and
Voltage as Measured Auantities”, IEEE Trans, Industry App-
lications, vol.IA-19, pp.356-362, May, 1983.
11. 劉昌煥校訂，許溢适譯著， ”AC伺服系統理論與設計”，文笙書局
，民國八十一年六月。
12. J.B. Wang and C. M. Liaw, “Indirect Field-Oriented Control
of Induction Motor Using Estimated Rotor Flux and High-
Frequency Current Injection”, 中華民國第十八屆電力工程研討
會，論文集(II)，第748頁-第752頁，中華民國八十六年十一月八日
。
13. Peter Vas, “Parameter Estimation, Condition Monitoring,and
Diagnosis of Electrical Machines”, Clarendon Press Oxford,
1993.