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研究生:高旭佳
研究生(外文):KAO, Hsu-chia
論文名稱:向量控制感應馬達驅動系統電腦輔助設計
論文名稱(外文):Computer-Aided Design for Vector-Controlled Induction Motor Drives
指導教授:劉昌煥劉昌煥引用關係
指導教授(外文):Liu Chang-Huan
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:電機工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:1999
畢業學年度:87
語文別:中文
論文頁數:235
中文關鍵詞:惑應馬達向量控制控制器參數調適參數向動量測直接向量控制
外文關鍵詞:Induction MotorVector-ControlledController-Parameter TuningAutomated Parameter MeasurementDirect Vector Control
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本論文發展向量控制感應馬達驅動系統的電腦輔助設計技術,內容包括模擬與實驗的程式設計。本論文所發展的電腦輔助設計方式具有方便、快速的優點,可比較各種不同的控制架構與性能。電腦輔助設計的過程,首先由圖形模組化的模擬程式建立控制系統模式,其次將模擬程式組譯轉換為實作的執行檔,最後將模擬與實作的結果畫圖並列對照,由此可立即的判斷控制理論的可行性與實驗結果的優劣。
本論文實驗的核心為PC-based數位控制板,所有的模擬與實驗程式都在MATLAB、Simulink、Real-Time Workshop下完成。本論文所奠基的系統即由硬體的PC-based控制卡與軟體的MATLAB、Simulink、Real-Time Workshop構成。
本論文由座標轉換與感應馬達模式的建構開始,提出在各種磁通導向下的向量控制架構,接著依序介紹控制器參數設計、磁通估測器設計、轉速與電阻估測器設計、馬達參數鑑定的電腦輔助設計法。論文中針對每一主題提出模擬與實作方塊圖,並將模擬與實作響應並列比較。透過本論文所用的PC-based馬達控制系統,已將感應馬達向量控制的各項關鍵技術做一全貌的介紹與整理,是本論文主要的貢獻。
This thesis develops the computer aided design techniques for vector-controlled induction motor drives, including both the simulation and experimental program design. The computer-aided design methods developed in this thesis provide time-saving and expedient advantages, which can compare various control structure and performance. During the computer-aided design process, the control system models are first constructed using the graphical module-based simulation models. Then, the simulation programs are translated into the execution files for implementation. Lastly, the simulation and experimental results are plotted and arranged in parallel for easy comparison. The feasibility of the proposed control techniques and their performance can then be evaluated.
The hardware core is the PC-based digital control board. All the simulation and experimental program are developed under MATLAB, Simulink, and Real-Time Workshop. The system on which this thesis is based consists of the PC-based hardware board and the MATLAB, Simulink, and Real-Time Workshop software.
The thesis starts form the construction of coordinate transformation and induction motor models. It then presents the vector control structures based on various field orientations. The thesis continues to present the CAD methods of controller parameter tuning, flux estimator design, speed and resistance estimator design, and motor parameter identification. For each topic, the simulation and implementation blocks are developed, along with both the simulation and experimental results. Using the PC-based motor control system, this thesis has contributed to the presentation and organization of the key techniques in the vector control of induction motor drives.
第一章 緒論 1
1.1 研究動機.1
1.2 研究背景與目的2
1.3 內容大綱2
第二章 PC-Based馬達控制系統4
2.1 系統介紹4
2.2 PC-Based馬達控制介面5
2.3 電腦輔助視覺化模組設計7
第三章 座標轉換與感應馬達數學模式9
3.1 簡介 9
3.2 座標轉換9
3.2.1 三相座標與二軸座標轉換11
3.2.2 二維座標間的轉換15
3.2.3 座標轉換電腦輔助設計17
3.3 感應馬達數學模式29
3.3.1 感應馬達空間向量動態數學模式29
3.3.2 感應馬達二軸動態數學模式31
第四章 向量控制架構42
4.1 簡介 42
4.2 閉迴路向量控制原理42
4.2.1 轉子磁通導向(RFO)控制44
4.2.2 定子磁通導向(SFO)控制46
4.2.3 氣隙磁通導向(AFO)控制48
4.2.4 間接式向量控制51
4.2.5 直接式向量控制52
第五章 感應伺服向量控制56
5.1 轉子磁通導向伺服控制56
5.2 轉子磁通導向伺服控制器參數設計 57
5.2.1 根軌跡法60
5.2.2 閉迴路系統頻寬指定法62
5.2.3 電流迴路控制器的設計與模擬70
5.2.3.1 根軌跡法設計電流迴路控制器參數71
5.2.3.2 閉迴路系統頻寬指定法設計電流迴路控制器參數78
5.2.4 磁通迴路控制器的設計與模擬78
5.2.4.1 根軌跡法設計磁通迴路控制器數79
5.2.4.2 閉迴路系統頻寬指定法設計磁通迴路
控制器參數84
5.2.5 速度迴路控制器的設計與模擬85
5.2.5.1 根軌跡法設計速度迴路控制器數86
5.2.5.2 閉迴路系統頻寬指定法設計速度迴路
控制器參數92
5.3 定子磁通導向伺服控制98
5.4 弱磁控制99
5.5 轉子與定子磁通導向伺服控制的比較106
第六章 磁通估測器設計113
6.1 轉子磁通估測器113
6.1.1 電流模型磁通估測器116
6.1.2 電壓模型磁通估測器116
6.1.3 串聯電流-電壓模型磁通估測器117
6.1.4 並聯電流-電壓模型磁通估測器117
6.2 定子磁通估測器142
6.2.1 電流模型磁通估測器143
6.2.2 電壓模型磁通估測器143
6.2.3 串聯電流-電壓模型磁通估測器144
6.2.4 並聯電流-電壓模型磁通估測器145
6.3 頻率響應函數評估準則(FRF)171
6.3.1 轉子磁通電流模型171
6.3.2 轉子磁通電壓模型173
6.3.3 轉子磁通串聯電流-電壓模型174
6.3.4 轉子磁通並聯電流-電壓模型174
6.3.5 定子磁通電流模型175
6.3.6 定子磁通電壓模型176
6.3.7 定子磁通串聯電流-電壓模型178
6.3.8 轉子磁通並聯電流-電壓模型179
第七章 感應馬達轉速與電阻估測180
7.1 無量測器向量控制原理180
7.2 馬達電阻估測器195
第八章 感應馬達參數鑑定201
8.1 簡介 201
8.2 感應馬達等效電路 202
8.3 感應馬達參數對其控制性能的影響 204
8.4 傳統感應馬達參數的量測方法207
8.5 感應馬達自我起始的量測方法212
8.5.1 定子電阻 的量測212
8.5.2 轉子電阻 與漏電感 及 的量測277
8.5.3 定子電感 的量測223
8.5.4 機械轉動慣量J的量測 229
8.6 模擬與實測結果233
第九章 結論與建議 234
9.1 結論 234
9.2 建議 235
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