臺灣博碩士論文加值系統

表面黏著式永磁同步馬達已經被廣泛使用於工具機、機械手臂和機械人中；在這些應用領域中，快速的動態響應和高效率常是被強調的重點，因而具備強健特性及最大轉矩使用能力的永磁式同步馬達驅動器是本論文研究的主要目標。基本上，本論文之主要貢獻可總結如下：首先，基於李亞普諾夫定理，提出一個可以改善驅動器強健特性的適應性速度控制器。第二，藉整合前饋轉矩邊界計算器和閉迴路電流命令產生器，所提出之新型弱磁控制策略可以達成全操作區域之最小銅損工作目標。第三，以數位信號處理器為基礎，建構實現所提控制策略，藉相關實驗結果驗證所提策略之效能。

Surface-mounted permanent magnet synchronous motors(SMPMSM) has been widely adopted for various applications, such as machine tools, manipulators and robotics. Fast dynamic response and high-efficiency operation are often emphasized on these applications. Therefore, robust performance as well as full utilization of maximum torque capability is the focus of this proposed SMPMSM drive. Basically, the major contributions of this dissertation can be summarized as follows: First, an adaptive speed controller based on Lyapunov theory is proposed to improve the robustness performance of the drive. Second, a novel field-weakening control strategy, which combines the feed-forward torque bound calculator and a closed-loop current command generator, is proposed to achieve minimum copper loss over the entire operation range. Third, a DSP-base digital controller is constructed to implement the proposed control strategy and the corresponding experimental results are given to verify the validity of the proposed strategy.

摘 要 i
Abstract ii
誌 謝 iii
目 錄 iv
圖目錄 vi
表目錄 ix
第1章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 2
1.3 論文貢獻 3
1.4 論文大綱 4
第2章 永磁式同步馬達數學模型 5
2.1 前言 5
2.2 座標轉換 5
2.3 永磁式同步馬達數學模型 8
2.4 向量控制 11
2.5 永磁式同步馬達操作區分類 13
2.6 結論 17
第3章 速度控制器之適應性控制策略 18
3.1 前言 18
3.2 適應性控制理論 18
3.3 適應性速度控制器之設計 20
3.4 速度控制器之適應性閉迴路控制系統 24
3.5 模擬結果 31
3.6 結論 38
第4章 新型弱磁控制策略 39
4.1 前言 39
4.2 新型弱磁控制策略理論推導 39
4.3 模擬結果 47
4.4 結論 54
第5章 硬體電路架構與實驗結果 55
5.1 前言 55
5.2 實體電路 55
5.2.1 數位信號處理器 56
5.2.2 光編碼器信號處理電路 58
5.2.3 隔離功率驅動電路 59
5.2.4 電流感測器介面電路 59
5.3 程式設計 60
5.4 實驗結果 63
5.5 結論 74
第6章 結論與未來研究方向 75
6.1 結論 75
6.2 未來研究方向 75
參考文獻 76

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