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研究生:林彥瑋
研究生(外文):Yan-Wei Lin
論文名稱:開關磁阻馬達之切換及速度控制改善研究
論文名稱(外文):ON THE PERFORMANCE IMPROVEMENT STUDIES OF SWITCHING AND SPEED CONTROLS FOR SWITCHED RELUCTANCE MOTOR
指導教授:廖聰明廖聰明引用關係
指導教授(外文):Chang-Ming Liaw
學位類別:碩士
校院名稱:國立清華大學
系所名稱:電機工程學系
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:2004
畢業學年度:92
語文別:中文
論文頁數:181
中文關鍵詞:開關磁阻噪音振動速度
外文關鍵詞:vibrationacousticnoisespeedcontrol
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本論文旨在於建立一以數位訊號處理器(Digital signal processor, DSP)為主之開關磁阻馬達(switched reluctance motor, SRM)驅動系統,並從事其切換及速度控制性能改善研究。首先探究馬達驅動系統組成及DSP數位控制實務,然後據以設計組立一以DSP為主之實驗用SRM驅動系統。接著在有關噪音及振動消除之研究方面,先探究其產生之來源、效應及暨有減輕噪音及振動之方法。然後研究及應用五種控制策略於所建構之馬達驅動系統上,並比較評估其效果和限制。這些策略含隨機頻率脈寬調變、導通及截止角度同步前移、截止角之隨機化改變,電流下降波形控制、及電流下降波形結合換相位置前移。最後一種為最有效之控制策略,可在噪音及振動消除與能量轉換效率綜合考量上得到最佳效能。
最後在速度控制方面,先在所選定之工作點從事所組馬達驅動系統之動態模式估測。再根據所給定的速度控制規格設計一雙自由度控制器及一線性模式追蹤控制器,使馬達驅動系統在系統參數或工作點變動下仍具有所欲之速度控制特性。為了進一步增加速度控制性能之強健性,設計了一個可變結構系統控制機構以決定模式追蹤控制器中之誤差增益值。模擬及實測結果顯示所提之具可變結構系統調適之模式追蹤速度控制機構具有良好之控制性能。
In this thesis, a digital signal processor (DSP)-based switched reluctance motor (SRM) drive is established, and its switching and speed control performance improvements are studied. First, the fundamentals about SRM drive and DSP-based control issues are understood. And accordingly an experimental DSP-based motor drive is designed and implemented. Second, in the studies concerning the reduction of acoustic noise and vibration, their sources, effects and existing mitigation approaches are first surveyed. Then five approaches are studied and applied to the established SRM drive to comparatively evaluate their effectiveness and limitations. These approaches include random frequency pulse width modulation (RFPWM), advanced turn-on and turn-off angles with fixed dwell angle, randomizing turn-off angle, current tail profiling, current tail profiling with advanced shift. The last approach is the most effective means to yield the compromised performance in acoustic noise and vibration reductions and energy conversion efficiency.
Finally, in the speed control aspect, a nominal dynamic model of the established SRM drive is first estimated. Then a two-degrees-of-freedom controller (2DOFC) and a linear model following controller (LMFC) are designed to let the motor driver possess prescribed speed control performance under varying system parameters and operating conditions. For further enhance the robustness of speed control performance, a VSS controller is designed to determine the feedback error gain in the model following control scheme. The effectiveness of the proposed VSS-adapted model following speed control scheme is verified by some simulated and experimental results.
ACKNOWLEDGEMENTS ……………………………………….………………. I
ABSTRACT ……………………………………………………….……………… II
LIST OF CONTENTS …………………………………………….………………. III
LIST OF FIGURES ……………………………………………….………………. VI
LIST OF TABLES ..……………………………………………….………………. XIII
CHAPTER I INTRODUCTION …...………………………………………. 1
CHAPTER II FUNDAMENTALS OF SRM DRIVE ………………………. 6
2.1 Introduction .……….………………………………………… 6
2.2 Structure, Operation and Governing Equations of SRM ……. 6
2.3 Hard-Switching Converters ………………………………….. 13
2.4 Soft-Switching Converters ………………………................... 28
CHAPTER III DSP-BASED SRM DRIVE …………………….…………… 48
3.1 Introduction .…………………………………………………. 48
3.2 Some Practical Issues of Digital Control ……….…………… 48
3.3 The Established DSP-Based SRM Drive …….……………… 50
3.3.1 Power Circuit ……………………………………….. 53
3.3.2 DSP-Based Control Environment …………………... 53
3.3.3 Interface Circuits …………………………………… 57
3.3.4 Control Flowcharts …………………………………. 66
3.4 Some Measured Results …………………………………….. 66
CHAPTER IV REDUCTION OF ACOUSTIC NOISE AND VIBRATION EFFECTS VIA IMPROVED SWITCHING CONTROLS ….. 76
4.1 Introduction .…………………………………………………. 76
4.2 Sources of Acoustic Noise and Vibration …………………… 76
4.3 Mitigation of Acoustic Noise and Vibration Via Random PWM Switching ……..…………………………………………….. 83
4.3.1 Intuitive Spectral Analysis ….....………........……… 83
4.3.2 The Proposed Random Switching Scheme ……....… 85
4.3.3 Experimental Results ………………………………. 87
4.4 Mitigation of Acoustic Noise and Vibration Via Commutation Tuning ……..…………………………………………..…….. 92
4.4.1 Theoretical Analysis ….…..………........…………… 92
4.4.2 The Proposed Commutation Tuning Scheme ……..... 92
4.4.3 Experimental Results ………………………………. 95
4.5 Mitigation of Acoustic Noise and Vibration Via Random Commutation Tuning ……..……………...…………..…….. 95
4.5.1 Theoretical Analysis ….…..………........…………… 95
4.5.2 The Proposed Random Commutation Tuning Scheme 104
4.5.3 Experimental Results ………………………………. 104
4.6 Mitigation of Acoustic Noise and Vibration Via Current Tail Profiling …....…………………………………………..…….. 104
4.6.1 Theoretical Analysis ….…..………........…………… 104
4.6.2 The Proposed Current Tail Profiling Scheme ……… 112
4.6.3 Experimental Results ………………………………. 115
4.7 Comparative Evaluation ……………………………………... 125
CHAPTER V MODEL FOLLOWING SPEED CONTROL ….……………. 126
5.1 Introduction .…………………………………………………. 126
5.2 Dynamic Model Estimation …………………….…………… 126
5.3 2DOF Speed Controller ……………………………………… 133
5.3.1 Analysis and Design ………………………………... 133
5.3.2 Simulation and Experimental Results ……………… 138
5.4 Linear Model Following Controller ...…...…………………... 141
5.4.1 Analysis and Design ………………………………... 141
5.4.2 Simulation and Experimental Results ……………… 145
5.5 Model Following Controller with VSS-Adapted Output Following Error Regulation ………………............................. 146
5.5.1 Analysis and Design ………………………………... 151
5.5.2 Simulation and Experimental Results ……………… 153
CHAPTER VI CONCLUSIONS ………………………..…………………… 168
REFERENCES …………………………………………….……….…………… 169
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G. Speed control
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[95] K. T. Chau, S. W. Chung and C. C. Chan, “Neuro-fuzzy speed tracking control of traveling-wave ultrasonic motor drives using direct pulsewidth modulation,” IEEE Trans. on Electronics System, vol. 39, no. 4, pp. 1061-1069, 2003.
H. Digital signal processing
[96] F. Nekoogar and G. Moriarty, Digital Control Using Digital Signal Processing, Prentice Hall PTR, New Jersey, 1999.
[97] J. G. Bollinger and N. A. Duffie, Computer Control of Machines and Processes, Addison-Wesley, Massachusetts, 1988.
[98] G. F. Franklin, J. D. Powell and M. L. Workman, Digital Control of Dynamic Systems, 2nd Edition, Addison Wesley, New York, 1990.
[99] D. Krakauer, Single Chip DSP Motor Control Systems Catching on in Home Appliances, Analog Devices Inc., USA, 2000.
[100] S. Y. R. Hui, I. Oppermann and S. Sathiakumar, “Microprocessor-based random PWM schemes for DC-AC power conversion,” IEEE Trans. on Power Electronics, vol. 12, no. 2, pp.253-260, 1997.
I. Random switching
[101] T. Tanaka, T. Ninomiya and K. Harada, “Random-switching control in DC-to-DC converters,” Power Electronics Specialists Conference, PESC '89 Record, Vol. 1, pp. 500-507, 1989.
[102] A. M. Trzynadlowski, F. Blaabjerg, J. K. Pedersen, R. L. Kirlin and S. Legowski, “Random pulse width modulation techniques for converter fed drive systems-a review,” Industry Applications Society Annual Meeting, Conference Record of the 1993, vol. 2, pp. 136-1143, 1993.
[103] G. A. Covic and J. T. Boys, “Noise quieting with random PWM AC drives,” IEE Proc. Electric Power Applications, vol. 145, no. 1, pp. 1-10, 1998.
[104] K. K. Tse, H. S. H. Chung, S. Y. R. Hui and H. C. So, “A comparative study of using random switching schemes for DC/DC converters,” APEC '99, vol. 1, pp. 893-898, 1999.
[105] C. M. Liaw and Y. M. Lin, “Random slope PWM inverter using existing system background noise: Analysis, design and implementation,” IEE Proc. Electric Power Applications, vol. 147, no. 1, pp. 45-54, 2000.
[106] R. L. Kirlin, M. M. Bech and A. M. Trzynadlowski, “Analysis of power and power spectral density in PWM inverters with randomized switching frequency,” IEEE Trans. on Industrial Electronics, vol. 49, no. 2, pp. 486-499, 2002.
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