臺灣博碩士論文加值系統

相較於其它馬達，內置磁石式永磁同步馬達(Interior permanent magnet synchronous motor, IPMSM)具有高功率密度、高加速能力以及低噪音等優點，使其逐漸被廣泛地應用在許多場合。本論文之目的在於從事內置磁石式永磁同步馬達驅動系統之操控性能改善及其無感測控制。為了熟悉馬達之轉矩產生特性，首先研習其結構及主導方程式。在變頻馬達驅動系統之分析及設計上，馬達之等效電路參數是不可或缺者，然而準確之參數很難直接由推導獲得，為了解決此問題，本論文提出了實用之IPMSM參數估測方法。為了從事所擬研究之性能測試，本論文建構一以數位處理器為主之IPMSM驅動系統，配上感測器、信號處理電路及控制機構使其能具有直流無刷馬達模式之運轉操控性能。
馬達之動態響應特性深受其線圈電流波形之影響。因此，本論文亦設計一簡單之強健電流控制器，以改善IPMSM線圈電流之追踨控制響應。在有關IPMSM之調控控制研究上，首先由分析及實驗觀察場激磁及換相時刻調控對IPMSM於速度開迴路及閉迴路下之操控性能影響，並推導証明此兩種調控方式間之等效性。據此，本論文發展一智慧型調控機構來自動決定換相時刻，以獲得最小之電流命令及等值之最佳轉矩產生能力。至於IPMSM之無感測控制，為了避免在估測應電勢時所用微分器之雜訊問題，本論文提出利用線圈端電壓之無感測控制技術，而存在端電壓及應電勢間相位差之影響及馬達驅動性能之提升，將由所提換相調控機構予以補償。另外，馬達之啟動與速度之估測均經適當之設計。最後，本論文亦探討利用轉子初始位置估測以執行單一方向啟動之可行性。本論文所提所有控制方法之有效性均由實驗結果予以驗証。

Compared with other motors, the interior permanent magnet synchronous motor (IPMSM) possesses the advantages of high power density, excellent acceleration ability and low noise, etc, and it is gradually applied to industrial applications. The purpose of this thesis is to perform the operating performance improvement and the sensorless control for an IPMSM drive. In order to familiarize with the torque generating characteristics of an IPMSM, its structure and governing equations are first studied. The equivalent circuit parameters of an IPMSM are necessary for making the analysis and design of inverter-fed motor drive. However, they are difficult to obtain accurately via derivation owing to their nonlinear and variant properties. To solve this problem, the practical estimation approaches are developed. For performing the experimental tests, a DSP-based IPMSM drive is established, the necessary sensors, signal conditioners and control schemes are properly arranged to let it can be normally operated as a brushless DC motor (BDCM).
As generally recognized, the dynamic performance of a motor is much affected by its winding current waveforms. A simple robust current controller is developed to improve the winding current tracking control response. As far as the tuning control for IPMSM drive is concerned, the effects of field excitation and commutation instant tunings on the IPMSM drive performances under speed open-loop and closed-loop conditions are first observed analytically and experimentally. The equivalence between these two types of tunings is derived. Then accordingly, an intelligent tuning approach is developed to automatically determine the advance of commutation instant. The minimum current command is achieved to obtain better torque generating capability equivalently. As to the sensorless control for the IPMSM, for avoiding the undesired noise effects caused by the time derivative in making the back electromotive force (back EMF) estimation, a sensorless control approach based on the sensed winding terminal voltage is proposed. The effects of phase difference between terminal voltage and back EMF and the driving performance improvement of the IPMSM drive will be covered by the proposed commutation tuning control. The starting and the speed estimation schemes for the sensorless IPMSM drive are also properly designed. Finally, the feasibility of uni-directional starting based on rotor initial position detection is studied. Effectiveness of all the control approaches developed in this thesis will be demonstrated experimentally.

誌謝……………………………………………………………… I
摘要……………………………………………………………… II
目錄………………………………………………………………… III
第一章、簡介……………………………………………………… IV
第二章、內置磁石式永磁同步馬達之結構及主導方程式……… V
第三章、等效電路之參數估測…………………………………… VI
第四章、以DSP為主之馬達驅動系統…………………………… VII
第五章、強健電流控制器及換向調控………………………… VIII
第六章、內置磁石式永磁同步馬達之無感測驅動控制……… IX
第七章、結論…………………………………………….……… X
附錄: 英文本論文………………………………………………… XI

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