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研究生:張哲明
研究生(外文):Che-Ming Chang
論文名稱:應用於冷凍設備無位置感測永磁同步馬達驅動系統之開發
論文名稱(外文):Development of a position sensorless permanent-magnet synchronous motor drive for freezer applications
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:2008
畢業學年度:96
語文別:中文
論文頁數:142
中文關鍵詞:永磁同步馬達無感測控制功率因素校正
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本論文旨在研發應用於冷凍冷藏設備之無位置感測永磁同步馬達驅動系統,並從事其控制研究。首先,建構一以數位信號處理器為主之標準永磁同步馬達驅動系統,具必要之感測裝置及控制機構,其變頻器係以市售智慧型功率模組組立,並妥善設計供給各子系統所需之輔助電源。接著建立一單相前端切換式整流器,在具有優良交流入電電力品質下,建立良好調控與可升壓特性之直流鏈電壓。為了更增進切換式整流器之效能,提出一強健控制遲滯帶電流控制脈寬調變機構,大幅改善電流在交流週期零交越點處之波形追控特性。此外,進一步開發隨機切換策略,應用於傳統遲滯帶與正弦遲滯帶之電流控制脈寬調變機構,以得較均勻分佈之電流諧波頻譜。
其次開發一以內部模型模式追蹤控制器為主之永磁同步馬達反電動勢估測機構,以估測之反電動勢從事永磁同步馬達之無感測向量控制。馬達先以同步機模式啟動,當達到足夠速度,即依估測反電動勢之相角為參考從事永磁同步馬達換相向量控制。經適當之操作模式安排,所建馬達驅動系統可穩定操作,並具有良好操控性能。
最後,本文從事所建無感測永磁同步馬達驅動系統於冷凍冷藏壓縮機之驅動應用研究,並以一些實測結果評估其驅動效能。為增進冷凍冷藏設備在高速下之驅控效能,本文亦從事直流鏈電壓提升與換相前移控制策略之有效性探究。在控制實現方面,所組立系統之前級切換式整流器與後級馬達驅動系統之數位控制法則皆在一共通數位信號處理器中實現,以利於總體驅動系統之小型化。
This thesis presents the development and control of a position sensorless permanent-magnet synchronous motor (PMSM) drive for freezer applications. First, a digital signal processor (DSP) based PMSM drive with necessary sensing devices and control schemes is designed and implemented. The off-the-shelf intelligent power module is employed to construct the inverter, and the auxiliary power supplies for the constituted subsystems are properly designed. Secondly, a single-phase front-end switch mode rectifier is established to provide the well-regulated and/or boostable DC-link voltage for the motor drive with good line drawn power quality. To further enhance the operating performance of the SMR, a robust hysteresis current-controlled pulse width modulation (HCC-PWM) scheme is proposed to yield closer current waveform tracking around zero-crossing points of AC cycles. Moreover, the random switching methods for classical fixed-band and sinusoidal-band HCC-PWM schemes are developed to yield more uniformly distributed current harmonic spectrum.
Thirdly, an internal model following controller based PMSM back electromotive force (EMF) estimator is devised for performing the sensorless vector control of PMSM. As the motor is started in synchronous motor mode and reaches a sufficient speed, the estimated and suitably compensated back-EMF is utilized for making the PMSM vector control. Through proper mode operation arrangement, very stable operation and good driving performance are obtained.
Finally, the application of the developed sensorless PMSM drive in freezer compressor driving is studied with some experimental results being provided to evaluate its driving performance. To enhance the performance in high-speed of a freezer, the voltage boosting and commutation advanced shift control strategies and their effectiveness are also explored. In the realization of control schemes, all the developed control algorithms of SMR and motor drive are implemented in a command DSP to facilitate the miniaturization of whole motor drive system.
致謝…………………………………………………………………... i
摘要…………………………………………………………………... ii
英文摘要……………………………………………………………... iii
目錄…………………………………………………………………... iv
圖目錄………………………………………………………………... vi
表目錄………………………………………………………………... xvi
第一章、簡介……………………………………………………….. 1
第二章、永磁同步馬達及直流無刷馬達…………………………... 7
2.1 簡介…………………………………………………… 7
2.2 永磁式同步馬達之定轉子結構特徵………………... 7
2.3 永磁同步馬達之向量控制…………………………… 11
2.4 弦波永磁同步馬達之主導方程式………………….. 13
2.5 PMSM之等效電路參數估測……………………. 19
2.6 所採永磁同步馬達之關鍵參數量測……………….. 23
第三章、DSP數位控制標準弦波永磁同步馬達驅動系統之建構 27
3.1 簡介…………………………………………………… 27
3.2 數位控制器實務……………………………………… 27
3.3 以DSP為主之標準PMSM驅動系統…………..….. 29
3.4 所建PMSM驅動系統之操控特性測試評估... …… 36
第四章、參考模式應電勢估測之無位置感測弦波永磁同步馬達
驅動系統…………………………………………………...
57
4.1 簡介…………………………………………………… 57
4.2 參考模式應電勢估測之無位置感測弦波控制策略 57
4.3 所提無感測控制架構於測試用永磁同步馬達之特
性評估…………………………………………………
59
4.4 所提無感測控制於PMSM驅動壓縮機之操控特性
評估…………………………………………………
76
4.5所提無感測控制架構於冷凍櫃壓縮機驅動性能實測
評估…………………………………………………
79
第五章、具可變遲滯電流控制前端切換式整流器之無位置感測
永磁同步馬達驅控系統…………………………………...
84
5.1簡介…………………………………………………… 84
5.2具遲滯電流控制PWM之升壓型切換式整流器. …… 84
5.3升壓型SMR之電路元件設計……………………… 86
5.4可能之遲滯電流控制PWM………………………… 89
5.5電壓迴授控制器之設計…………………………….. 104
5.6具前端SMR之無位置感測永磁同步馬達驅動系統 107
第六章、結論………………………………………………………... 132
參考資料…………………………………………………………… 133
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B. Analysis, design and modeling of PMSMs
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C. Switching control methods, current and speed controls
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D. Tuning control and filed-weakening control
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G. Sensorless control
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