臺灣博碩士論文加值系統

常見的跑步機為馬達調速驅動系統之一種應用，一般多以配置直流馬達為跑台的主要動力來源，但由於碳刷及換向片之間的機械性接觸，會造成換向時有火花產生，且高速運轉時有換向噪音及須定期保養等問題。此外，直流馬達低功率密度也會造成應用場合的限制。反觀永磁同步馬達具有高效率、高功率密度等良好特性，而且沒有碳刷及換向片，所以擁有可高速運轉且免維修等優點。為了有效改善傳統調速驅動系統因採用直流馬達所產生之問題，於本論文中，將改用永磁同步馬達做為跑台的主要動力來源。

本論文之主要目的為實現永磁同步馬達弦波電流驅動系統，並以一16位元數位訊號控制器dsPIC30F4011為核心實現全數位化之調速控制器。本論文所研發之調速控制器特點之一是使用低解析度霍爾感測元件之輸出訊號並搭配插值法，以獲得弦波電流驅動所需之連續轉子位置資訊。因空間向量脈波寬度調變(SVPWM)技術，具有較低的諧波失真、較高的電壓可利用率並適合以數位方式實現，因此在本論文功率開關的控制訊號採用SVPWM技術。相較一般常用的弦波脈波寬度調變(SPWM)技術，提升了變頻器的效率。透過動力計的實測，顯示本論文所研製的調速驅動系統具有良好的性能。

The conventional treadmill uses an adjustable speed motor drive system actuated by a DC motor. However, due to the fact that the DC motor is equipped with carbon brushes and commutator segments, the DC motor has inherent drawbacks such as sparks during commutation, loud noise and maintenance problems. In addition, the low power density of the DC motor causes many restrictions for application. In contrast, the permanent magnet synchronous motor (PMSM) is highly efficient. Since the PMSM does not have brushes and commutators, it can operate quietly at high speeds and is maintenance free. In order to prevent from the drawback of the conventional treadmill system, the PMSM is employed to replace the DC motor as the adjustable speed drive system for the treadmill in this thesis.
The aim of this thesis is to implement a sinusoidal current drive system for the PMSM. The kernel of the whole system is implemented by a 16-bit Digital Signal Controller (dsPIC30F4011). One of the major features of the fully digital speed tuning system developed in this thesis is to use the information obtained from the low resolution Hall effect sensor and numerical differentiation to estimate rotor positions needed in implementing sinusoidal current drives. In addition, compared with the SPWM, the SVPWM has attractive features such as smaller harmonic distortions, higher voltage utilization rate, and is suitable for digital implementation. The control signal of power switches is generated using SVPWM. In addition, the SVPWM yield higher inverter efficiency. The results of dynamometer testing show that the proposed approach presents satisfactory performance.

目 錄
中文摘要..........................................................................................................I
英文摘要.........................................................................................................II
誌謝.................................................................................................................IV
目錄..................................................................................................................V
表目錄.........................................................................................................VIII
圖目錄............................................................................................................IX

第一章 緒論...................................................................................................1
1.1 研究背景與動機....................................................................................1
1.2 研究目的與方法....................................................................................3
1.3 章節概述..................................................................................................7

第二章 永磁同步馬達................................................................................8
2.1 永磁同步馬達簡介...............................................................................8
2.1.1 電動機簡介.........................................................................................8
2.1.2 電動機分類.........................................................................................9
2.2 永磁同步馬達數學模型的建立與推導.......................................12
2.2.1 參考座標軸之定義.........................................................................12
2.2.2 內藏式永磁同步馬達之數學模型.............................................14
2.3 永磁同步馬達之控制方法................................................................20

第三章 永磁同步馬達驅動原理............................................................23
3.1 永磁同步馬達驅動..............................................................................23
3.1.1 方波電流驅動...................................................................................24
3.1.2 弦波電流驅動...................................................................................28
3.1.3 方波與弦波電流驅動之比較.......................................................30
3.2 變頻器基本原理...................................................................................31
3.2.1 弦波脈波寬度調變原理................................................................32
3.2.2 空間向量脈波寬度調變原理.......................................................37
3.2.3 弦波與空間向量脈波寬度調變原理之比較...........................43

第四章 永磁同步馬達調速驅動系統實現..........................................45
4.1 dsPIC30F4011數位訊號控制器之簡介...........................................45
4.2 基於霍爾感測訊號之弦波電流驅動..............................................47
4.2.1 轉速估測策略....................................................................................47
4.2.2 轉子位置插值法................................................................................49
4.3 以dsPIC為基礎之SVPWM實現........................................................51
4.4 速度迴路控制器...................................................................................56

第五章 實驗架構與實驗結果.................................................................58
5.1 實驗硬體架構........................................................................................59
5.1.1 動力量測平台與永磁同步馬達..................................................59
5.1.2 電源模組..............................................................................................60
5.1.3 驅動控制單元...................................................................................60
5.2 軟體程式架構........................................................................................61
5.3 跑步機平台............................................................................................67
5.4 實驗結果.................................................................................................69

第六章 結論與未來研究方向.................................................................81
6.1 結論...........................................................................................................81
6.2 未來研究建議........................................................................................82
參考文獻........................................................................................................83
自述..................................................................................................................88

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