臺灣博碩士論文加值系統

本論文針對直接磁場導向控制的感應馬達速度驅動系統，提出一個基於順滑模態的轉子磁通估測器。在文獻上，用於直接磁場導向控制的磁通估測器所估測磁通的準確度，大部分還是會受到馬達參數或轉速的影響，尤其是轉子時間常數。順滑模態技術可使系統具有快速的動態響應，容易實現，及對參數的變動及外來的雜訊干擾具有良好的強健特性。本論文主要的目的是將順滑模態的技術應用在轉子磁通估測上，去克服馬達參數變動所衍生的問題。所提出的磁通估測器是建立在一個順滑模態定子電流估測器之上。當估測的電流誤差趨近於零時，轉子磁通可直接由電流估測器的控制輸入信號積分得到。因此，在發生順滑模態時，估測磁通並不需要任何馬達的參數或轉速資料。換句話說，它具有對轉子時間常數和轉速不靈敏的特性。
本論文並將上述的順滑模態磁通估測器結合在參考文獻[26]中所提出的順滑模態電流控制器，將它們應用在感應馬達速度驅動系統上。所提出的控制策略先以MATLAB/Simulink軟體去模擬分析，並實際組裝一組以個人電腦為基礎的感應馬達速度控制系統來測試系統的各項特性。由實驗結果證明在轉子時間常數變動及負載變動下，系統仍具有良好的強健特性及轉速追蹤能力。

Direct field oriented control (DFOC) for an induction motor (IM) is proposed using sliding mode based rotor flux observer. The flux observers used in DFOC are often sensitive to the machine parameters especially to the rotor time constant. Sliding mode technique has fast dynamic response, easy implementation, and robustness to variations in parameters and exogenous load disturbances. In this thesis, sliding mode technique is applied to overcome the motor parameter variations problem in rotor flux observer. The proposed flux observer is based on a sliding mode stator current observer. Rotor flux is merely integrated from the control input of the current observer when the estimated current error approaches zero. Hence, the flux observer does not require any machine parameters and rotor speed while the sliding mode occurs. In other words, this sliding mode observer is completely insensitive to rotor time constant and rotor speed.
In this thesis, we combine the above sliding mode rotor flux observer with the sliding mode current controller proposed in [26] and apply to an induction motor speed drives. The proposed control scheme has been simulated by MATLAB/Simulink software and implemented by a PC-based controller for IM speed drives. From the experimental results, it is seen that the overall system exhibits robust performance despite the presence of rotor time constant variations and load disturbances , and possesses excellent tracking performance.

中文摘要.............................................................................................................i
英文摘要............................................................................................................ii
誌謝..........................................................iii
目錄...................................................................................................................iv
圖表目錄..........................................................................................................vii
第一章 緒論....................................................................................................1
1.1 簡介..........................................................................................1
1.2 研究目的..................................................................................2
1.3 相關論文回顧..........................................................................3
1.4 論文大綱..................................................................................4
第二章 感應馬達的數學模式........................................................................7
2.1 感應馬達的三軸數學模式...........................7
2.2 座標轉換..................................................................................9
2.2.1 靜止參考座標..............................................................10
2.2.2 同步旋轉參考座標......................................................14
2.2.3 兩軸座標間的互換..................................................... 15
2.3 感應馬達的兩軸數學模式................................................... 17
2.3.1 電氣方程式..................................................................17
2.3.2 轉矩方程式................................................................. 21
2.3.3 機械方程式................................................................22
第三章 順滑模態技術..................................................................................23
3.1 順滑模態原理.......................................................................23
3.2 迫近條件和順滑條件...........................................................26
3.3 等效控制...............................................................................27
3.4 感應馬達的順滑模態電流控制器.......................................29
3.4.1 順滑面的決定..............................31
3.4.2 順滑模態控制器的設計......................32
第四章 感應馬達的向量控制原理....................................37
4.1 向量控制...............................................................................37
4.1.1 間接式磁場導向控制........................42
4.1.2 直接式磁場導向控制........................45
4.2 變頻器...........................................46
4.2.1 正弦脈波寬度調變電壓源變頻器..............46
4.2.2 電流控制脈波寬度調變電壓源變頻器..........49
第五章 轉子磁通估測原理.....................................53
5.1 基本的轉子磁通估測器............................53
5.1.1 電流型轉子磁通估測器.......................54
5.1.2 電壓型轉子磁通估測器.......................55
5.1.3 串聯型轉子磁通估測器.......................60
5.1.4 並聯型轉子磁通估測器.......................60
5.2 滑模轉子磁通估測器..........................................................62
5.2.1 滑模定子電流估測..........................62
5.2.2 轉子磁通估測..............................66
第六章 實驗結果..................................................69
6.1 軟硬體介紹.......................................69
6.2 無載起動特性模擬結果.............................72
6.3 實驗結果.........................................73
6.3.1 無載起動特性................................73
6.3.2 強健特性....................................74
6.3.3 轉速追蹤特性................................76
第七章 結論與未來研究方向....................................90
7.1 結論...............................................................90
7.2 未來研究方向.............91
參考文獻..........................................................92

自述

[1] H. Rehman, A. Derdiyok, M. K. Guven and Xu Longya, “A New Current Model Flux Observer for Wide Speed Range Sensorless Control of An Induction Machine,”IEEE Trans. on Power Electronics, Vol. 17, Issue 6, pp. 1041-1048, Nov. 2002.
[2] P. L. Jansen and R. D. Lorenz, “A Physical Insightful Approach to The Design and Accuracy Assessment of Flux Observers for Field Oriented Induction Machine Drives,” IEEE Trans. on Ind. Applicat., Vol. 30, pp. 101-110, Jan./Feb. 1994.
[3] P. L. Jansen, R. D. Lorenz and D. W. Novotny, “Observer-Based Direct Field Orientation: Analysis and Comparison of Alternative Methods,” IEEE Trans. on Ind. Applicat., Vol. 30, pp. 945-953, July/Aug. 1994.
[4] H. Tajima and Y. Hori, “Speed Sensorless Field-Orientation Control of The Induction Machine,” IEEE Trans. on Ind. Applicat., Vol. 29, pp. 175-180, Jan./Feb. 1993.
[5] F. Z. Peng and T. Fukao, “Robust Speed Identification for Speed-Sensorless Vector Control of Induction Motors,” IEEE Trans. on Ind. Applicat., Vol. 30, pp. 1234-1240, Sept./Oct. 1994.
[6] L. Zhen and L. Xu, “A Mutual MRAS Identification Scheme for Position Sensorless Field Orientation Control of Induction Machines,” in Proc. IEEE-IAS Annu. Meeting Conf. Orlando FL, pp. 159-165 Oct. 1995.
[7] L. Harnefors, “Design and Analysis of General Rotor-Flux Oriented Vector Control Systems,” IEEE Trans. on Ind. Electron., Vol. 48, pp. 383-389, Apr. 2001.
[8] Y. R. Kim, S. K. Sul and M. Park, “Speed Sensorless Vector Control of Induction Motor by Using Extended Kalman Filter,” IEEE Trans. on Ind. Applicat., Vol. 30, pp. 1225-1233, Sept./Oct. 1994.
[9] Y. S. Kim, S. U. Kim and L. W. Yang, “Implementation of A Speed Sensorless Vector Control of Induction Machine by Reduced-Order Kalman Filter,” in Proc. IEEE APEC 95 Conf. Dallas TX, pp. 197-203, Mar. 1995.
[10] M. S. Nait Said and M. E. H. Benbouzid, “Induction Motors Direct Field Oriented Control with Robust On-Line Tuning of Rotor Resistance,” IEEE Trans. on Energy Conversion, Vol. 14, Issue 4, pp. 1038-1042, Dec. 1999.
[11] S. Mayaleh and N. S. Bayindir, “On-Line Estimation of Rotor-Time Constant of An Induction Motor Using Recurrent Neural Networks,” Computers in Power Electronics, pp. 219-223, July 1998.
[12] B. Karanayil, M. F. Rahman and C. Grantham, “On-Line Stator and Rotor Resistance Estimation Scheme for Vector-Controlled Induction Motor Drive Using Artificial Neural Networks,”38th IAS Annu. Meeting. Conf. Record, Vol. 1, pp. 132-139, Oct. 2003.
[13] B. Karanayil, M. F. Rahman and C. Grantham, “PI and Fuzzy Estimators for On-Line Tracking of Rotor Resistance of Indirect Vector Controlled Induction Motor Drive,” Electric Machines and Drives Conference, pp. 820-825, 2001.
[14] C. B. Jacobina, J. E. Chaves Fl. and A. M. N. Lima, “On Line Estimation of The Stator Resistance of An Induction Motor,”Power Electronics Specialists Conference, Vol. 2, pp. 979-983, May 1998.
[15] C. Cao, X. Yang and Z. Lu, “A Stator Resistance Estimator of Induction Motors Based on Fuzzy-Neural Networks,”ICEMS 2001 Proceedings of the Fifth International Conference, Vol. 1, pp. 378-380, Aug. 2001.
[16] V. I. Utkin, “Sliding Mode Control Design Principles and Applica-
tions to Electric Drives,” IEEE Trans. on Ind. Electron., Vol. 40, pp. 23-36, Feb. 1993.
[17] Z. Yan, C. Jin and V. I. Utkin, “Sensorless Sliding-Mode Control of Induction Motors,” IEEE Trans. on Ind. Electron., Vol. 47, pp. 1286-1297, Dec. 2000.
[18] F. Parasiliti, R. Petrella and M.Tursini, “Adaptive Sliding Mode Observer for Speed Sensorless Control of Induction Motors,” in Proc. IEEE-IAS Annu. Meeting Conf., pp. 2277-2283, 1999.
[19] A. Benchaib, A. Rachid and E. Auderzet, “Sliding Mode Input–Output Linearization and Field Orientation for Real-Time Control of Induction Motors,” IEEE Trans. on Ind. Electron., Vol. 14, pp. 3-13, Jan./Feb. 1999.
[20] A. Benchaib, A. Rachid, E. Auderzet and M. Tadjine, “Real-Time Sliding-Mode Observer and Control of An Induction Motor,” IEEE Trans. on Ind. Electron., Vol. 46, pp. 128-138, Feb. 1999.
[21] W. Leonhard, Control of Electrical Drives, Ed; Berlin, Germany： Springer-Verlag, 1997.
[22] P. C. Krause, Electric Machinery, New York, NY: Mc Graw-Hill, 1990.
[23] 陳永平，張浚林，可變結構控制設計，全華科技圖書股份有限公司，台北，2002。
[24] E. Baily and A. Arapostathis, “Simple Sliding Mode Control Scheme Applied to Robot Manipulator,”Int. J. Control, Vol. 45, pp. 1197-1209, 1987.
[25] V. I. Utkin, Sliding Modes and Their Application in Variable Structure Systems, Moscow: MIR publishers, 1978.
[26] L. G. Shiau and J. L. Lin, “On Stability and Performance of Induction Motor Speed Drives with Sliding Mode Current Control,”Asian Journal of Control, Vol. 2, No. 2, pp. 122-131, June 2000.
[27] W. Gao and J. C. Hung, “Variable Structure Control of Nonlinear Systems: A New Approach,” IEEE Trans. on Ind. Electron., Vol. 40, No. 1, pp. 45-55, 1993.
[28] B. K. Bose, Modern Power Electronics and AC Drives, Prentice-Hall, 2002.
[29] 林法正，魏榮宗，電機控制，滄海書局，台中，2002。
[30] M. Vasudevan and R. Arumugam, “Different Viable Torque Control Schemes of Induction Motor for Electric Propulsion Systems,” 39th IAS Annual Meeting Conference Record, Vol. 4, pp. 2728-2737, Oct. 2004.
[31] H. U. Rehman, M. K. Gilven, A. Derdiyok and Xu Longya, “A New Current Model Flux Observer Insensitive to Rotor Time Constant and Rotor Speed for DFO Control of Induction Machine,” Power Electronics Specialists Conference, Vol. 2, pp. 1179-1184, June 2001.
[32] 劉昌煥，交流電機控制，東華書局，台北，2003。
[33] J. Hu and B. Wu, “New Integration Algorithms for Estimating Motor Flux over A Wide Speed Range,” IEEE Trans. on Power Electronics, Vol. 13, No. 5, pp. 969-977, 1998.
[34] P. L. Jansen, R. D. Lorenz and D. W. Novotny, “Observer-Based Direct Field Orientation: Analysis and Comparison of Alternative Methods,” IEEE Trans. on Ind. Applicat., Vol. 30, No. 4, pp. 945-953, July/Aug. 1994.
[35] P. L. Jansen and R. D. Lorenz, “A Physically Insightful Approach to The Design and Accuracy Assessment of Flux Observers for Field Oriented Induction Machine Drives,”IEEE Trans. on Ind. Applicat. , Vol. 30, No. 1, pp. 101-110, Jan./Feb. 1994.