臺灣博碩士論文加值系統

本論文的目的是要發展感應馬達無感測器之轉速估測方法。我們由狀態方程式推導轉速估測器，所需輸入為電流、電壓、及轉子磁通三個狀態變數。為了簡化硬體架構，我們僅迴授兩個電流值，電壓與轉子磁通採用估算方式。
電壓部分是應用DSP240軟體輸出之PWM切換狀態進行估測；而轉子磁通採用電壓型轉子磁通觀測器。電壓型磁通觀測器在高頻時參數變化的影響較小，因此，適用於高轉速估測。對於低轉速運轉時，擬使用磁通命令補償方式，使過零轉速平順。
電壓，磁通採用估測方式有很多優點，可以用估測器過濾外部雜訊干擾，提昇系統的強健性；硬體的簡化則可降低機構的負擔和製作成本；低轉速時可提供較大轉矩。
無感測器轉速估測的實現，軟體部分使用TI公司DSP240發展伺服控制器；硬體部分搭配工研院功率版，以驅動東元公司一匹功率馬達。試驗結果顯示能有效估測不同運作狀態的馬達轉速。

The objective of this thesis is to develop a sensorless speed estimator for induction motor drives. From the state equations of the induction motor, we derive the estimation algorithm of which inputs include stator currents and voltages, and rotor flux. In order to reduce the hardware burden, only currents of two phases are measured by using hardware sensors, while the voltages and rotor flux are determined by using software estimates.
For the voltage estimation, we utilize the PWM switching states that are created by a DSPC240 controller. On the other hand, a voltage model observer is used for the rotor-flux observation. Because of the insignificant variation of parameters in high frequencies, the voltage model is usually applied in high-speed operation. For the situation of low-speed operation, we propose a compensation method for the flux command. Therefore the zero-crossover speed will be quite smoothly.
There are many advantages to measure currents, voltages, and rotor flues by using estimates. We can filter out the external noise by the software estimates and increase the robustness of the system. Furthermore, the omission of the hardware sensor will simplify the system mechanism and reduce the cost price. With the estimated rotor speed, we can form a closed-loop velocity control system that will provide larger torque outputs in low-speed operation than those by a pure V/F control.
We develop the servo-controller by using TI DSPC240 to implement the sensorless speed control algorithm. The control command is sent to a power drive made by ITRI, which would regular the motion of an 1-HP induction motor. Experimental results show that the proposed estimates can efficaciously provide the rotor speed in various operational situations.

目 錄
中文摘要
英文摘要
目錄….. I
圖表目錄 Ⅲ
符號說明 Ⅴ
第1章 緒論 1
1.1 研究背景與目的 1
1.2 文獻回顧 2
1.2 1 無感測器相關文獻 2
1.2 2 磁通估測相關文獻 4
1.2 1 其它相關文獻 4
1.3 研究範圍 5
1.4 論文架構 5
第 2 章 感應馬達向量控制 6
2.1 間接轉子磁場導向向量控制 6
2.2 電流控制器 8
2.3 轉速控制 12
第 3 章 無感測器速度控制 14
3.1 應用轉子磁通之感應馬達轉子轉速估測 14
3.2 轉子磁通觀測器 19
3.3 電壓估測 23
第 4 章 模擬與分析 25
4.1 無速度感測器之感應馬達向量控制模擬與分析 25
第5章 實測結果與分析 29
5.1 系統硬體架構 29
5.2 轉子磁通估測 30
5.3 無速度感測器之速度控制 33
第6章 結論與建議 35
6.1 結論 35
6.2 建議 36
參考文獻 37
附錄A 狀態方程推導 40
附錄B 電流迴路波德圖 43
附錄C 電流型轉子磁通估測波德圖 44
附錄D 向量控制下解耦後電流迴路波德圖馬達參數 45
附錄E 介面電路 46
圖 表 目 錄
圖2. 1 固定座標三相電流控制器 9
圖2. 2 同步座標感應馬達模型 9
圖2. 3 向量控制感應馬達方塊圖 11
圖2. 4 電流控制前饋方塊圖 11
圖2. 5 速度迴路控制架構圖 12
圖2. 6 控制系統方塊圖 13
圖3. 1 轉子磁通座標圖 15
圖3. 2 利用轉子磁通估測轉速方塊圖 18
圖3. 3 無速度感測器系統架構圖 18
圖3. 4 轉子磁通電壓模型方塊圖 20
圖3. 5 電壓模型開迴路轉子磁通觀測器頻率響應圖 21
圖3. 6 加入高通濾器後轉子磁通觀測器 22
圖3. 7 修正後電壓型轉子磁通估測器 22
圖3. 8 變頻器開關架構圖 24
圖4. 1 無速度感測器開迴路模擬架構 26
圖4. 2 開迴路轉子速度估測模擬圖 26
圖4. 3 無速度感測閉迴路速度控制模擬架構 27
圖4. 4 無速度感測器架構速度閉迴路控制模擬 28
圖5. 1 實驗硬體架構 29
圖5. 2 電壓型轉子磁通與轉速命令(編碼器回授) 31
圖5. 3 採用速度估測迴授時電壓型轉子磁通與轉速命令 31
圖5. 4 無速度感測器架構加上d軸磁通迴路後電壓型轉子磁通與轉速命令 32
圖5. 5 滑差項次加上補償架構圖 32
圖5. 6 無速度感測器架構加上滑差補償迴路後電壓型轉子磁通與轉速命令 32
圖5. 7 無載時採用速度估測迴授時四象限之轉速命令與實際轉子速度 33
圖5. 8 馬達加負載後採用速度估測迴授時四象限之轉速命令與實際轉子速度 34
圖5. 9採用速度估測迴授之步接命令、實際轉子速度，與同步座標d-q軸的迴授電流 34

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