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研究生:張益華
研究生(外文):Yih-hua Chang
論文名稱:微型永磁同步電動機驅動系統的控制器及轉軸角度估測器的研製
論文名稱(外文):Design and Implementation of a Controller and Rotor Position Estimator for Micro Permanent Magnet Synchronous Motor Drive Systems
指導教授:劉添華
指導教授(外文):Tian-hua Liu
學位類別:博士
校院名稱:國立臺灣科技大學
系所名稱:電機工程系
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:2007
畢業學年度:95
語文別:中文
論文頁數:176
中文關鍵詞:微型永磁同步電動機強健控制器轉軸角度估測器數位訊號處理器
外文關鍵詞:rotor position estimatorrobust controllermicro permanent magnet synchronous motordigital signal processor
相關次數:
  • 被引用被引用:1
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  • 下載下載:129
  • 收藏至我的研究室書目清單書目收藏:1
本論文提出微型永磁同步電動機驅動系統的強健控制器設計及其轉軸角度估測器。文中探討以狀態回饋控制法則,應用在微型永磁同步電動機的速度及位置控制上。此外,採用基因演算法來決定強健控制系統的權重函數。本文中使用100光學編碼器,以完成微型永磁同步電動機閉迴路定位系統,且達成快速響應及良好之負載斥拒能力。

其次,本文提出一種轉軸角度估測器,藉由偵測反電勢,可獲得微型電動機的轉軸角度。當電動機操作在低轉速範圍時,定子電流為不連續,可在電流為零處,直接偵測反電勢。當電動機操作在中、高轉速下,定子電流為連續時,可經由計算求出反電勢,以獲得電動機的轉軸角度位置。

文中所研製之系統以數位訊號處理器TMS320F2407為控制核心,分別執行控制法則及轉軸角度估測的運算,實測結果與電腦模擬十分接近,說明本文理論的正確性及可行性。
This dissertation proposes a robust controller design and a position estimator for micro permanent magnet synchronous motor drive systems. In the dissertation, an H∞ state feedback controller is used in the speed control and the position control for a micro permanent magnet synchronous motor. In addition, the genetic algorithms are used to determine the weighting functions of the H∞ controller. An optical encoder with 100 pulses/revolution is used to achieve the rotor position of micro permanent magnet synchronous motor, which has fast response and good load disturbance rejection capability.

Next, a rotor position estimator is proposed. By detecting the back electromagnetic force (EMF), the rotor position of micro motor can be obtained. When the motor is operated in low speed range, the stator current is discontinuous, and then the back emf can be detected directly while the stator current is zero. On the other hand, when the motor is operated in middle to high speed range, the stator current is continuous. The back emf can be computed. Finally, the rotor position can thus be obtained.

The digital signal processor TMS320LF2407 is used as the control center to execute the estimation and control algorithms. Experimental results validate the theoretical analysis to show the correctness and feasibility of this dissertation.
中文摘要 I

英文摘要 II

目錄 III

圖目錄 VII

表目錄 XIII

符號說明 XIV

第一章 緒論 1

1.1動機 1

1.2文獻回顧 3

1.3目的 6

1.4大綱 9

第二章 微型永磁同步電動機 10

2.1簡介 10

2.2結構及特性 11

2.3數學模式 19

2.4驅動原理 24

2.4.1方法一 24

2.4.2方法二 27

第三章 驅動系統介紹 29

3.1簡介 29

3.2功率轉換器 30

3.2.1功率轉換器工作原理 32

3.2.2驅動方法一 34

3.2.3驅動方法二 35

3.3定轉矩控制 37

3.4弱磁控制 41

3.5四象限控制 49

第四章 控制器的設計 50

4.1簡介 50

4.2狀態回饋控制器設計 51

4.2.1控制法則介紹 51

4.2.2速度控制器設計 53

4.2.3位置控制器設計 62

4.2.4權重因子的設計 65

4.2.5以基因演算法尋找權重因子最佳參數的方法 71

4.3控制器性能分析 73

第五章 轉軸角度估測方法及其閉迴路驅動系統 78

5.1簡介 78

5.2轉軸角度估測原理 79

5.2.1反電勢估測法則 80

5.2.2轉軸角度位置與速度估測 86

5.2.3閉迴路控速系統 87

5.3轉軸角度估測器設計 89

5.4估測角度解析度分析 91

5.5靜止狀態啟動方法 93

第六章 系統設計及製作 95

6.1簡介 95

6.2硬體電路製作 96

6.2.1功率轉換器 97

6.2.2回授及偵測電路 99

6.2.3類比/數位轉換電路 101

6.3軟體程式設計 103

6.3.1簡介 103

6.3.2數位訊號處理器架構 104

6.3.3方法一的程式設計 109

6.3.4方法二的程式設計 114

第七章 模擬及實測 118

7.1簡介 118

7.2電腦模擬 119

7.2.1方法一 119

7.2.2方法二 121

7.3模擬及實測結果 126

第八章 結論及建議 161

參考文獻 163

作者簡介 174
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