臺灣博碩士論文加值系統

本論文旨在探討不具轉軸偵測元件之矩陣轉換器永磁同步電動機驅動系統的設計及研製。文中首先提出轉子位置估側方法。其次，提出雙自由度PI控制器來改善系統之響應，以使系統能獲得良好的的暫態響應及加載特性。相關的控制器參數使用頻域最佳化的方法來求得。最後，以德州儀器公司所生產數位訊號處理器 TMS320C40晶片，作為永磁同步電動機無量測器速度控制的基礎，完成32位元微處理器之全數位化驅動系統。

This thesis proposes the design and implementation for a matrix converter-PMSM drive system without shaft sensor. In this thesis, first, a rotor position estimating technique is proposed. Next, a two-degree-of-freedom PI controller is proposed to improve the performance of the system. The whole drive system has good transient responses and good load disturbance responses. In addition, the parameters of the PI controller are calculated by using frequency-domain parameter optimization technique. Finally, the implementation of a sensorless speed controller of the PMSM drive is discussed. The system is based on a 32 bit digital signal processor, TMS320C40, which was made by Texas Instruments. A fully digital drive system has been implemented in this thesis.

中文摘要I
英文摘要II
目錄III
圖目錄V
表目錄VIII
符號索引IX
第一章 緒論1
1.1 研究動機及目的1
1.2 大綱4
第二章 永磁同步電動機6
2.1 簡介6
2.2 結構及特性6
2.3 數學模式8
第三章 矩陣轉換器15
3.1 簡介15
3.2 電路工作原理17
3.3 切換原理20
3.3.1直接轉換型20
3.3.2間接轉換型23
第四章 轉軸角度估測方法27
4.1 簡介27
4.2 低速角度估測方法27
4.3 中/高速角度估測方法31
第五章 控制器設計35
5.1 簡介35
5.2 回授控制器設計36
5.3 負載補償器設計41
第六章 系統設計及製作48
6.1 簡介48
6.2 硬體電路設計49
6.2.1 驅動級和功率級電路50
6.2.2 緩衝級電路和延時電路53
6.2.3 回授偵測電路54
6.2.4 數位訊號處理器界面電路60
6.3 軟體程式設計62
6.3.1 數位訊號處理器62
6.3.2 程式設計流程63
第七章 模擬與實測68
7.1 簡介68
7.2 電腦模擬68
7.3 模擬及實測結果70
第八章 結論與建議86
附錄A n階系統性能指標最小化的解析解88
參考文獻93
作者簡介99

[1] P. Pillay and R. Krishnan, " Application characteristics of permanent magnet synchronous and brushless DC motors for servo drives," IEEE Transactions on Industry Applications, vol. 27, no. 5 , pp. 986 -996, Sep./ Oct. 1991.
[2] S. Rajaram, S. K. Panda, and L. K. Sang, "Performance comparison of feedback linearied controller with PI controller for PMSM speed requlation," Proceeding of the 1996 International Conference on Power Electronics, Drives and Energy System for Industrial Growth, pp. 353-359, Jan. 1996.
[3] D. A. Staton, T. J. E. Miller, and S. E. Wood, "Maximising the salience ratio of the synchronous reluctance motor," IEE Proceedings- Electric Power Applications, vol. 140, no. 4, pp. 249-259, July 1993.
[4] R. S. Colby, "Classification of inverter driven permanent magnet synchronous motors," IEEE Proceedings of Industry Applications Society Conference, pp. 1-6, Oct. 1988.
[5] N. Burany, "Safe control of four-quadrant switches," IEEE Proceedings of Industry Applications Society Conference, pp. 1190-1194, Oct. 1989.
[6] M. Tomita, T. Senjyu, S. Doki, and S. Okuma, " New sensorless control for brushless DC motors using disturbance observers and adaptive velocity estimations," IEEE Transactions on Industry Electronics, vol. 45, no. 2, pp. 274-282, Apr. 1998.
[7] R. B. Sepe and J. H. Lang, " Real-time observer-based (adaptive) control of a permanent-magnet synchronous motor without mechanical sensors," IEEE Transactions on Industry Applications, vol. 28, no. 6, pp. 1345-1352, Nov./ Dec. 1992.
[8] S. Bolognani, R. Oboe, and M. Zigliotto, " Sensorless full-digital PMSM drive with EKF estimation of speed and rotor position," IEEE Transactions on Electronics, vol. 46, no. 1, pp. 184-191, Feb. 1994.
[9] N. Ertugrul and P. P. Acarnley, " Indirect rotor position sensing in real time for brushless permanent magnet motor drives," IEEE Transactions on Power Electronics, vol. 13, no. 4, pp. 608-616, July 1998.
[10] W. Leonhard, Control of Electrical Drives, Berlin: Spring-Verlag, 1996.
[11] T. M. Jahns and W. L. Soong, "Pulsating torque minimization techniques for permanent magnet AC motor drives - a review," IEEE Transactions on Industrial Electronics, vol. 43, no. 2, pp. 321-330, Apr. 1996.
[12] P. Pillay and R. Krishnan, " Modeling of permanent magnet motor drives," IEEE Transactions on Industrial Electronics, vol. 35, no. 4, pp. 537 -541, Nov. 1988.
[13] P. Pillay and R. Krishnan, "Modeling, simulation, and analysis of Permanent magnet synchronous motor drives: the permanent magnet synchronous motor drive," IEEE Transactions on Industry Applications, vol. 25, no. 2, pp. 265-273, Mar./ Apr. 1989.
[14] L. Gyugyi and B. R. Pelly, Static Power Frequency Chargers : Theory, Performance, and Application, New York : Wiley, 1976.
[15] S. Kim, S. K. Sul, and T. A. Lipo, "AC/AC power conversion based on matrix converter topology with unidirectional switches," IEEE Transactions on Industry Applications, vol. 36, no. 1, pp. 139-145, Jan./ Feb. 2000.
[16] A. Alesina and M. Venturini, "Solid state power conversion: a Fourier analysis approach to generalized transformer synthesis," IEEE Transactions on Circuits Systems, vol. 28, no. 4, pp. 319- 330, Apr. 1981.
[17] A. Alesina and M. G. B. Venturini, "Analysis and design of optimum-amplitude nine-switch direct AC-AC converters," IEEE Transactions on Power Electronics, vol. 4, no. 1, pp. 101- 112, Jan. 1989.
[18] L. Huber, D. Borojevic, and N. Burany, "Analysis, design and implementation of the space-vectors modulator for forced-commutated cycloconvertors," IEE Proceedings-Electric Power Applications, vol. 139, no. 2, pp. 103-113, Mar. 1992.
[19] L. Huber, D. Borojevic, "Space vector modulated three-phase to three-phase matrix converter with input power factor correction, " IEEE Transactions on Industry Applications, vol. 31, no. 6, pp. 1234-1246, Nov./Dec. 1995.
[20] C. L. Neft and C. D. Schauder, "Theory and design of a 30-hp matrix converter," IEEE Transactions on Industry Applications, vol. 28, no. 3, pp. 546-551, May/ June 1992.
[21] N. Matsui, "Sensorless PM brushless DC motor drives," IEEE Transactions on Industrial Electronics, vol. 43, no. 2, pp. 300-308, Apr. 1996.
[22] N. Matsui, " Sensorless operation of brushless DC motor drives," IEEE Proceedings of Industrial Electronics, Control, and Instrumentation Conference, pp. 739 -744, Apr. 1993.
[23] N. Matsui and M. Shigyo, " Brushless DC motor control without position and speed sensors," IEEE Transactions on Industry Applications, vol. 28, no. 1, pp. 120-129. Jan./ Feb. 1992.
[24] T. H. Liu and C. P. Cheng, "Adaptive control for a sensorless permanent-magnet synchronous motor drive," IEEE Transactions on Aerospace and Electronic Systems, vol. 30, no. 3, pp. 900-909, July 1994.
[25] T. H. Liu and C. P. Cheng, "Adaptive control for a sensorless permanent-magnet synchronous motor drive," IEE Proceedings-Electric Power Applications, vol. 140, no. 6, pp. 369-378, Nov. 1993.
[26] K. Rajani and N. R. Pal, "A robust self-tuning scheme for PI- and PD- type fuzzy controllers," IEEE Transactions on Fuzzy System, vol. 7, no. 1, pp. 2-16, Feb. 1999.
[27] S. Tzafestas and N. P. Papanikolopoulos, "Incremental fuzzy expert PID control," IEEE Transactions on Industrial Electronics, vol 37, no. 5, pp. 365-371, Oct. 1990.
[28] C. C. Hang, K. J. Astron, and W. K. Ho, "Refinements of the Ziegler-Nichols tuning formula," IEE Proceedings- Control Theory and Applications, vol. 138, no. 2, pp. 111-118, Mar. 1991.
[29] H. B. Shin, "New anti-windup PI controller for variable-speed motor drives," IEEE Transactions on Industrial Electronics, vol. 45, no. 3, pp. 445-450, June 1998.
[30] F. Parasiliti, M. Tursini, and D. Zhang, "On-line self-tuning of PI controller for high performance PMSM drives," IEEE Proceedings of Industry Applications Society Conference, pp. 1619-1625, Oct. 1996.
[1] C. F. Yung, Y. P. Lin, and F. B. Yeh, "A family of nonlinear H∞output feedback controller," IEEE Transactions on Automatic Control, vol. 41, no. 2, pp. 232-236, Feb. 1996.
[32] F. J. Lin and C. M. Liaw, "Reference model selection and adaptive control for induction motor drives," IEEE Transactions on Automatic Control, vol. 38, no. 10, pp. 1594-1600, Oct. 1993.
[33] R. B. Sepe and J. H. Lang, "Real-time adaptive control of the permanent-magnet synchronous motor," IEEE Transactions on Industry Applications, vol. 27, no. 4, pp. 706-714, July/ Aug. 1991.
[34] B. Singh, C. L. Putta Swamy, B. P. Singh, A. Chandra, and K. Al-Haddad, "Performance analysis of fuzzy logic controlled permanent magnet synchronous motor drive," IEEE Proceedings of Industrial Electronics Society Conference, pp. 399-405, Nov. 1995.
[35] P. Guillemin, "Fuzzy logic applied to motion control," IEEE Transactions on Industry Applications, vol. 32, no. 1, pp. 51-65, Jan./ Feb. 1996.
[36] J. S. Low, Y. Z. Peng, and X. L. Guo, "Two-degree-of-freedom control of a PMSM drive without mechanical drive," IEEE Proceedings of Industrial Electronics Society Conference, pp. 498-502, Aug./ Sep. 1998.
[37] F. J. Lin, C. M. Liaw, Y. S. Shieh, R. J. Guey, and M. S. Hwang, "Robust two-degree-of-freedom control for induction motor servo drive, " IEE Proceedings-Electric Power Applications, vol. 142, no. 2, pp. 79-86, Mar. 1995.
[38] R. Dhaouadi, K. Kudo, and M. Tobise, "Two-degree-of-freedom robust speed controller for high-performance rolling mill drives," IEEE Transactions on Industry Applications, vol. 29, no. 5, pp. 919-925, Sep./ Oct. 1993.
[39] A. C. Riddle and B. D. Anderson, "Spectral factorization-computational aspects," IEEE Transactions on Automatic Control, pp. 764-765, Oct. 1966.
[40] K. J. Astrom, E. L. Hury, R. G. Agniel, "A numerical method for the evaluation of complex integrals," IEEE Transactions on Automatic Control, pp. 468-471, Aug. 1970.
[41] S. Komada, K. Nomura, M. Ishida, and T. Hori, " Motion control by disturbance observer considering disturbance model," Proceedings of the IEEE International Conference on Recent Advances in Mechatronics, pp. 1036-1041, 1995.
[42] TMS320C40 User Guide, Texas Instruments, 1993.
[43] TMS320C40 Parallel Processing Development System Technical Reference, Texas Instruments, 1993.
[44] TMS320C40 Emulator Installation Guide, Texas Instruments, 1993.