本論文研究目的在介紹透過具有能量回收功能的C-dump換流器(C-dump Converter)做為切換式磁阻馬達(Switched Reluctance motor, SRM)的驅動器設計技術，並以架構在可程式規劃閘陣列(Field Programming Gate Array, FPGA)晶片上的PCI介面運動控制卡，對切換式磁阻馬達做位置與速度控制器設計控制。藉由最佳控制(Optimal Control)以及可變結構系統 (Variable Structure Sysrem, VSS)，實現切換式磁阻馬達的位置控制。在驅動器設計部分，本研究所設計驅動器改善了使用R-dump換流器時效率較低的問題，並藉由能量的回收，可以省卻為解決換相時線圈殘存能量所需電阻，以及有不必選用耐電壓較大的IGBT與蕭特基二極體的優點。在介面卡設計部分，本研究利用Altera公司FPGA，完成PCI運動控制介面卡的設計。並藉由此PC-based運動控制發展系統，將所設計位置與速度控制器實際實現在切換式磁阻馬達上。藉由模擬分析以及實驗驗證，本位置與速度控制系統可以確實達成所需的控制性能。

A PC-based switching reluctance motor (SRM) drive system is designed in this paper. To get a higher efficiency drive system, a C-dump converter is designed. By way of the process of energy restore, it doesn’t need dump resistor, and has fast switching property. The drive system is designed under the control of PC-based system. Data is got in and out of PC controller by through the PCI interface. An FPGA-based motion control card with PCI interface protocol is designed. Controllers are developed and programmed in C language. To improve the control performance of position and velocity mode for switching reluctance motor, optimal control with integral action and variable structure control are designed. Simulations and experimental results show that the drive system has good performance as desired.

目錄
中文摘要 I
英文摘要 II
目錄 III
圖目錄 VI
表目錄 IX
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 文獻回顧 4
1.4 論文架構 5
第二章 切換式磁阻馬達特性與換流器 7
2.1 切換式磁阻馬達結構 7
2.2 轉矩產生原理 11
2.3 切換式磁阻馬達動作原理 13
2.4 切換式磁阻馬達數學模式 16
2.5常用切換式磁阻馬達換流器(Converter)種類 18
2.6 馬達特性與憂缺點及應用 23
第三章 切換式磁阻馬達驅動器 26
3.1 R-dump換流器動作原理 28
3.2 C-dump換流器動作原理 31
3.3 R-dump換流器與C-dump換流器之比較 34
3.4 換流器電路實現 34
3.4.1功率元件與RCD緩衝電路 35
3.4.2低壓電源整流、濾波與穩壓電路 37
3.5控制電路 38
3.5.1磁滯控制器 39
3.5.2光耦合隔離元件 41
3.6回授量測電路 41
3.6.1霍爾電流感測器 41
3.6.2隔離電壓放大器 42
3.6.3馬達轉速量測 43
第四章PCI介面電路設計與製作 45
4.1介面卡主要電路元件介紹 45
4.1.1 類比與數位轉換器 47
4.1.2 可程式規劃閘陣列(FPGA) 48
4.1.3 PLX 9052 48
4.1.4 電源元件選用介紹 51
4.2以Altera Cyclone II之FPGA的數位電路設計 51
4.2.1數位濾波器 55
4.2.2 4x Encoder 57
4.2.3馬達正反轉判斷 59
4.2.4 Interrupt 訊號產生器 60
第五章 位置控制器設計 62
5.1 LQR控制器 62
5.2 Modified LQR控制器 65
5.3全不變性可變結構控制 67
第六章 系統模擬與實作 70
6.1 系統模擬 71
6.2系統實作 81
第七章 結論 91
參考文獻 92
附錄 95

參考文獻

[1] H. S. Lim and R. Krishnan, “Ropeless elevator with linear switched reluctance motor drive actuation systems,” IEEE Trans. on Ind. Electro., vol. 54, no. 4, pp. 2209-2218, Aug. 2007.
[2] C. G. Chen, T. H. Liu, M. T. Lin, and C. A. Tai, “Position control of a sensorless synchronous reluctance motor,” IEEE Trans. on Ind. Electron., vol. 51, no. 1, pp. 15-25, Feb. 2004.
[3] S. Sirsukprasert, J. S. Lai, and T. H. Liu, “Optimum harmonic reduction with a wide range of modulation indexes for multilevel converters,” IEEE Trans. on Ind. Electron., vol. 49, no. 4, pp. 875-881, Aug. 2002.
[4] T. H. Liu, Y. C. Yang, and M. T. Lin, “A novel switching scheme and nonlinear controller Design for synchronous reluctance drives,” 2004 Symp. on Electric Power Eng., pp. 1875-1880, Tainan, Taiwan, Nov. 2004.
[5] M. Moallen, C. M. Ong, and L. E. Unnewehr, “Effect of rotor profiles on the torque of a switched reluctance motor,” in Conf. Rec. IEEE/IAS Annual Meeting, vol. 1, pp. 247-253, Oct. 1990.
[6] K. K. Shyu and H. J. Shieh, “A new switching surface sliding-mode speed control for induction motor drive systems,” IEEE Trans. on Power Electron., vol. 11, no. 4, pp. 660–667, July 1996.
[7] K. K. Shyu and J. C. Hung, “Totally invariant variable structure control systems,” Proc. of 23rd IECON’97 on Ind. Electron., Cont. and Instrument., vol. 3, no. 3, pp. 1119-1123, Nov. 1997.
[8] K. K. Shyu, G. K. Lai, and Y. W. Tsai, “Optimal position control of synchronous reluctance motor via totally invariant variable structure control,” IEE Proc. on Cont. Theory and Appl., vol. 147, no. 1, pp. 28-36, Jan. 2000.
[9] R. Krishnan and R. A. Bedingfield, “Dynamic analysis of an SRM drive system,” in Conf. Rec. IEEE/IAS Annual Meeting, vol. 1, pp. 265-271, Sept./Oct. 1991.
[10] G. E. Dawson, A. R. Eastham, and J. Mizia, “Switched-reluctance motor torque characteristics: finite-element analysis and test results,” IEEE Trans. on Ind. Appl., vol. IA-23, no. 3, pp. 532-537, May/June 1987.
[11] D. E. Cameron, J. H. Lang, and S. D. Umans, “The origin and reduction of acoustic noise in doubly salient variable-reluctance motors,” IEEE Trans. on Ind. Appl., vol. 28, no. 6, pp. 1250-1255, Nov./Dec. 1992.
[12] M. Ehsani and J. E. Miller, “Development of a unipolar converter for variable reluctance motor drives,” IEEE Trans. on Ind. Appl., vol. IA-23, no. 3, pp. 545-553, May/June 1987.
[13] A. M. Hava and V. Blasko, “A modified C-dump converter for variable- reluctance machines,” IEEE Trans. on Ind. Appl., vol. 28, no. 5, pp. 1017-1022, Sep./Oct. 1992.
[14] I. Husain and M. E. Elbuluk, “Energy-efficient C-dump converter for switched reluctance motor,” IEEE Trans. on Power Elec., vol. 12, no. 5, pp. 912-921, Sep. 1997.
[15] M. O. Bilgic, V. Ozbulur, and A. Sabanovic, “Torque ripple minimization of a switched reluctance motor,” in Proc. APEC’95, vol. 1, no. 0, pp. 406-410, March 1995.
[16] S. Mir, I. Husain, and M. E. Elbuluk, “Energy-efficient C-dump converters for switched reluctance motor,” IEEE Trans. on Power Electron., vol. 12, no. 5, pp. 912-921, Sept. 1997.
[17] S. Bolognani and M. Zigliotto, “Fuzzy logic control of a switched reluctance motor drive,” IEEE Trans. on Ind. Appl., vol. 32, no. 5, pp. 1063-1068, Sept./Oct. 1996.
[18] Y. H. Kim, H. S. Lyoo, S. Kim, and J. Lee, “Advanced torque control of switched reluctance motor,” IEEE Inter. Sym. on Ind. Electron., vol. 3, pp. 1798-1803, June 2001.
[19] C. Elmas and H. Zelaya-De La Parra, “Application of a full-order extened luenberger observer for a position sensorless operation of a switched reluctance motor drive,” IEE Proc. Contr. Theory Appl., vol. 143, no. 5, pp. 401-408, Sept. 1996.
[20] S. K. Panda and G. A. J. Amaratunga, “Waveform detection technique for indirect rotor-position sensing of switched reluctance motor drive part1: analysis,” IEE Proc.-B, vol. 140, no. 1, pp. 80-88, Jan. 1993.
[21] S. K. Panda and G. A. J. Amaratunga, “Waveform detection technique for indirect rotor-position sensing of switched reluctance motor drive part2: experimental results,” IEE Proc.-B, vol. 140, no. 1, pp. 89-96, Jan. 1993.
[22] I. Husain and M. Ehsani, “Rotor position sensing in switched reluctance motor drive by measuring mutually induced voltage,” IEEE Trans. on Ind. Appl., vol. 30, no. 3, pp. 665-672, May/June 1994.
[23] 林瑞德，模糊控制於外轉式切換磁阻馬達降低轉矩漣波之研究，國立成功大學，碩士論文，2003。
[24] 劉連聰，切換式磁阻馬達之變結構控速系統設計與研製，國立中央大學，碩士論文，1998。
[25] 石益銘，切換式磁阻馬達換向位置與速度估測系統之設計與研製，國立中央大學，碩士論文，1999。
[26] 謝坤穆，切換式磁阻馬達之轉子位置估測方法，國立中央大學，碩士論文，1998。
[27] AD7862 data sheet, http://www.analog.com/.
[28] AD7547 data sheet, http://www.analog.com/.
[29] Cyclone II Device Handbook, vol. 1, http://www.altera.com/.
[30] PLX 9052 data sheet, http://www.plxtech.com/.
[31] Kim, Min-Huei; Baik, Won-Sik; Kim, Dong-Hee; Choi, Kyeong-Ho; “A High Performance Position Control System of Switched Reluctance Motor,” IEEE Power Conversion Conference, pp. 249 - 252, April 2007.