臺灣博碩士論文加值系統

本文旨在探討永磁式同步電動機伺服驅動系統之控制器參數調整。伺服驅動系統的參數會隨著負載特性和操作條件之不同而有所變動。當轉動慣量和時間常數的變動超過伺服驅動系統所接受的範圍時，將使伺服驅動系統無法保持系統響應需求，甚至影響伺服驅動系統的穩定性。因此本系統將根據所計算得到的轉動慣量和時間常數，以調整轉速調節器之比例-積分控制器的參數值。
本文之永磁式同步電動機伺服驅動系統，以數位信號處理器(Digital Signal Processor)為控制核心，並以數位信號處理器的軟體語言完成轉速與電流控制迴路。藉由數位信號處理器快速計算能力，本文於估測出轉動慣量和時間常數後，採用極、零點對消法計算得到控制器參數，以離線方式調整轉速調節器之比例-積分控制器的增益。
實驗結果證實本文之系統具較佳的轉速響應。轉速漣波由100 rpm 降至10 rpm，電流漣波降至0.5A，響應時間由0.16 秒 降至 0.05 秒。

This thesis is concerned with the study of parameter tuning of permanent-magnet synchronous motor servo drives. In many operations, some parameters of servo drives vary with load and operating condition. Variation of the parameters such as moment of inertia and time constant will degrade drive performance. Specifically, when the moment of inertia and time constant of the motor change beyond acceptable range, the servo system will be unable to maintain good performance and may even lose its stability. The proposed system will calculate the moment of inertia and time constant to tune the speed-controller parameters.
In the proposed system, a high performance digital signal processor is used and all the speed and current control loops are implemented with software. Taking advantage of the fast calculation ability of digital signal processor, this thesis also presents an off-line proportional-integral controller turning mechanism, which can detect the moment of inertia and time constant of the servo drive and calculate proportional-integral controller parameters using pole-zero cancellation technique.
The experimental results presented have demonstrated that the proposed drive possesses better speed response, while the speed ripple is reduced from 100 rpm to 10 rpm, the current ripple is also reduced to 0.5A, and the response time is improved from 0.16 second to 0.05 second.

中文摘要 i
英文摘要 ii
誌 謝 iii
目 錄 iv
圖表目錄 vi
符號索引 ix
第一章 緒論 1
1.1 簡介 1
1.2 系統架構 2
1.3 本文大綱 2
第二章 永磁電動機數學模式與參數量測 4
2.1 前言 4
2.2 永磁式同步電動機之交、直軸動態模式 4
2.3 永磁式同步電動機之參數量測 7
2.4 永磁式同步電動機控制特性分析 11
2.5 結語 14
第三章 電流控制器之設計 15
3.1 前言 15
3.2 永磁式同步電動機電流控制 15
3.3 電流調節器之設計 17
3.4 電流調節器之量測結果 19
3.5 結語 27
第四章 轉速控制之調節器參數調整 28
4.1 前言 28
4.2 轉速調節器設計 28
4.3 機械負載參數之量測 29
4.4 轉速調節器參數調整 30
4.5 結語 32
第五章 實體製作及實測結果 33
5.1 前言 33
5.2 實體製作 33
5.2.1 硬體電路 33
5.2.2 軟體規劃 35
5.3 實測結果 38
5.3.1 機械負載參數估測 38
5.3.2 轉速響應測試 38
5.4 結語 40
第六章 結論與建議 49
6.1 結論 49
6.2 建議 49
參考文獻 50
附錄A. 永磁式同步電動機之參數及額定 52
附錄B 永磁式同步電動機調節器增益之單位 53
作者簡介 54

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