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研究生:戴良州
研究生(外文):Dai, Liang-Jhou
論文名稱:基於電壓窄波注入之切換式磁阻馬達無位置感測控制
論文名稱(外文):POSITION SENSORLESS CONTROL OF SWITCHED-RELUCTANCE MOTOR DRIVE BASED ON NARROW VOLTAGE PULSE INJECTION
指導教授:廖聰明廖聰明引用關係
指導教授(外文):Liaw, Chang-Ming
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:2010
畢業學年度:98
語文別:英文
論文頁數:157
中文關鍵詞:切換式磁阻馬達無位置感測控制窄波注入切換式整流器功因校正降-升壓轉換器升壓電流控制速度控制數位訊號處理器
外文關鍵詞:Switched-reluctance motorposition sensorless controlnarrow pulse injectionswitch-mode rectifierpower factor correctionbuck-boost convertervoltage boostingcurrent controlspeed controlDSP
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本論文旨在研製以數位訊號處理器為主具降-升壓切換式整流器前級之無位置感測切換式磁阻馬達驅動系統。為瞭解切換式磁阻馬達之驅動控制關鍵實務,首先設計建構一標準切換式磁阻馬達驅動系統,並實測評估其性能。藉由適當設計之電力電路、感測電路、電流控制脈寬調變機構及動態控制,所建驅動系統具良好之操控特性。接著,建構一降-升壓切換式整流器前級以建立可升壓及具良好調節特性之直流鏈電壓,以改善馬達驅動系統之驅控特性並具良好交流入電品質,文中並實測比較切換式整流器操作於不連續導通模式和連續導通模式下之操控性能。為達控制機構之小型化,以一共通數位訊號處理器實現切換式磁阻馬達驅動系統及其切換式整流器前級之所有數位控制法則。

最後,本文開發基於電壓窄波注入之切換式磁阻馬達無位置感測控制技巧。經由數位訊號處理器內建之脈寬調變通道,注入適當頻率及導通時間之脈波電壓於馬達之非激磁相線圈,由感測之轉子位置調幅波狀線圈電流經訊號處理獲得估測之霍耳訊號。在無位置感測操控上,馬達先以步進馬達方式起動,俟建立適當轉速後,即切換至切換式磁阻馬達操作模式。在速度迴授控制方面,馬達之轉速利用所提之估測機構由感測之四相線圈電流估算得之。此外,應用換相前移技巧以提升無位置感測切換式磁阻馬達之轉矩產生能力,亦即強化共轉矩-安培比。一些實測評估顯示所建構之無位置感測切換式磁阻馬達驅動系統具寬廣速度範圍之良好驅控性能。

This thesis presents the development of a digital signal processor (DSP) based position sensorless switched reluctance motor (SRM) drive with buck-boost switch-mode rectifier (SMR) front-end. First, for comprehending the key issues in making the SRM driving control, a standard SRM drive is designed, implemented and evaluated. Satisfactory operating characteristics are obtained via properly treating its power circuit, sensing scheme, current controlled PWM switching scheme and dynamic control. Next, to let the developed SRM drive fed from mains have improved operating performance, a buck-boost SMR front-end is employed to establish boostable and well-regulated DC-link voltage with good AC input power quality. The SMRs under both discontinuous conduction mode (DCM) and continuous conduction mode (CCM) operations are comparatively evaluated their performances. The SRM drive and SMR front-end are realized in a common DSP to achieve the miniaturization of control environment.

Finally, a novel SRM position sensorless control approach based on narrow pulse voltage injection is developed. The voltage pulses with suited frequency and duration are injected into the unenergized phase winding via the embedded DSP PWM channel. The resulted amplitude modulated winding currents are sensed and signal processed to yield an observed Hall signal. In sensorless control operation, the motor is initially started in stepping motor mode. As the speed is established to a reasonably high value, the operation is changed to switched-reluctance motor mode using the observed Hall signal. And the speed feedback control is conducted using the observed speed, which is obtained from the sensed four winding currents. Moreover, the commutation advanced shift is applied to yield the improved torque generating capability, i.e., the enhanced torque-per-ampere characteristics. The experimental evaluation shows that the developed position sensorless controlled SRM drive possesses good driving performance under a reasonably wide speed range.


CHAPTER 1 INTRODUCTION

CHAPTER 2 DSP-BASED STANDARD SWITCHED-RELUCTANCE MOTOR DRIVE
2.1 Introduction
2.2 Motor Structure and Switching Operation
2.3 Physical Modeling
2.4 Some Typical Converters
2.5 Capability Overview of Some Existing DSPs
2.6 Establishment of an Experimental Standard DSP-based SRM Drive
2.6.1 System Configuration
2.6.2 Interface Circuits
2.6.3 Control Flowchart
2.7 Performance Evaluation for the Established SRM Drive

CHAPTER 3 THE DEVELOPED CCM AND DCM BUCK-BOOST SWITCHED-MODE RECTIFIERS
3.1 Introduction
3.2 Some Existing Single-Phase Switch-Mode Rectifiers
3.3 The Buck-Boost SMR under CCM
3.3.1 Power Circuit
3.3.2 Control Scheme
3.3.3 Performance Evaluation
3.4 The Buck-Boost SMR Front-End under DCM
3.4.1 Power Circuit
3.4.2 Voltage Feedback Controller
3.4.3 Performance Evaluation

CHAPTER 4 SWITCHED-RELUCTANCE MOTOR DRIVE WITH DIFFERENT SWITCH-MODE RECTIFIER FRONT-ENDS
4.1 Introduction
4.2 The SRM Drive with CCM Buck-Boost SMR Front-end
4.3 The SRM Drive with DCM Buck-Boost SMR Front-end
4.4 The SRM Drive with Diode Rectifier Front-end
4.5 Experimental Comparative Performance Evaluation

CHAPTER 5 SRM POSITION SENSORLESS CONTROL BASED ON NARROW VOLTAGE PULSE INJECTION
5.1 Introduction
5.2 Some Existing Position Sensorless Control Methods
5.3 The High-frequency Signal Injection SRM Position Sensorless Control Concept
5.4 The Proposed Rectifier-fed Sensorless SRM Drive
5.5 The Developed DCM SMR-fed Sensorless SRM Drive
5.6 The Developed CCM SMR-fed Sensorless SRM Drive

CHAPTER 6 CONCLUSIONS

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C. Power Semiconductor Modules
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D. Modeling and Parameter Estimation
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E. Current and Speed Controls
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F. Commutation Instant Tuning
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G. Single-Phase Switch-Mode Rectifiers
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H. Position Sensorless Control
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[93]H. Iqbal, “Indirect rotor-position estimation techniques for switched reluctance motors- a review,” www.ecgf.uakron.edu/husain/personal/pdf/96emon_rom.pdf.
[94]M. Ehsani and B. Fahimi, “Elimination of position sensors in switched reluctance motor drives: state of the art and future trends,” IEEE Trans. Ind. Electron., vol. 49, no. 1, pp. 40-47, 2002.
[95]G. Suresh, B. Fahimi and M. Ehsani, “Improvement of the accuracy and speed range in sensorless control of switched reluctance motors,” in Proc. IEEE APEC, 1998, vol. 2, pp. 770-777.
[96]G. Suresh, B. Fahimi, K. M. Rahman, M. Ehsani and I. Panahi, “Four-quadrant sensorless SRM drive with high accuracy at all speeds,” in Proc. IEEE APEC, 1999, vol. 2, pp. 1226-1231.
[97]P. Bishop, A. Khalil and I. Husain, “Low level amplitude modulation based sensorless operation of a switched reluctance motor,” in Proc. IEEE PESC, 2004, vol. 5, pp. 3347-3352.
[98]E. Kayikci, M. C. Harke and R. D. Lorenz, “Load invariant sensorless control of a SRM drive using high frequency signal injection,” in Proc. IEEE IAS, 2004, vol. 3, pp. 1632-1637.
[99]S. M. Ahmed and P. W. Lefley, “A new simplified sensorless control method for a single phase SR motor using HF signal injection,” in Proc. IEEE UPEC, 2007, pp. 1075-1078.
[100]E. Bassily, “New rotor-position estimation technique for sensorless switched reluctance motor,” in Proc. IEEE AMC, 2008, pp. 399-404.
[101]G. Gallegos-lopez, P. C. Kjaer and T. J. E. Miller, “High-grade position estimation for SRM drives using flux linkage current correction model,” IEEE Trans. Ind. Appl., vol. 35, no. 4, pp. 859-869, 1999.
[102]I. Miki, H. Noda and R. Moriyama, “A sensorless drive method for switched reluctance motor based on gradient of phase inductance,” in Proc. IEEE ICEMS, 2003, pp. 615-618.
[103]A. Komatsuzaki, K. Yoshida and I. Miki, “A position sensorless drive technique considering magnetic saturation for switched reluctance motor,” in Proc. IEEE SPEEDAM, 2006, pp. 1002-1007.
[104]A. Komatsuzaki, T. Bamba and I. Miki, “A position sensorless control for switched reluctance motor,” in Proc. IEEE PCC, 2007, pp. 867-873.
[105]A. Komatsuzaki, T. Banba and I. Miki, “A position sensorless drive using estimation of turn-off angle under regenerative braking in switched reluctance motor,” in Proc. IEEE ICEMS, 2007, pp. 450-455.
[106]I. Husain and M. S. Islam, “Observers for position and speed estimations in switched reluctance motors,” in Proc. IEEE Decision and Control, 2001, vol. 3, pp. 2217-2222.
[107]A. D. Cheok and N. Ertugrul, “High robustness and reliability of fuzzy logic based position estimation for sensorless switched reluctance motor drives,” IEEE Trans. Power Electron., vol. 15, no. 2, pp. 319-334, 2000.
[108]C. A. Hudson, N. S. Lobo and R. Krishnan, “Sensorless control of single switch based switched reluctance motor drive using neural network,” IEEE Trans. Ind. Electron., vol. 55, no. 1, pp. 2349-2354, 2008.
[109]E. Mese and D. A. Torrey, “An approach for sensorless position estimation for switched reluctance motors using artificial neural networks,” IEEE Trans. Power Electron., vol. 17, no. 1, pp. 66-75, 2002.
[110]S. Saha, K. Ochiai, T. Kosaka, N. Matsui and Y. Takeda, “Developing a sensorless approach for switched reluctance motors from a new analytical model,” in Proc. IEEE IAS, 1999, vol. 1, pp. 525-532.
[111]G. Hongwei, F. R. Salmasi and M. Ehsani, “Inductance model-based sensorless control of the switched reluctance motor drive at low speed,” IEEE Trans. Power Electron., vol. 19, no. 6, pp. 1568-1573, 2004.
[112]G. Gallegos-Lopez, P. C. Kjaer and T. J. E. Miller, “A new sensorless method for switched reluctance motor drives,” IEEE Trans. Ind. Appl., vol. 34, no. 4, pp. 832-840, 1998.
[113]J. Bekiesch and G. Schroder, “Sensorless operation of the switched reluctance machine,” in Proc. IEEE EPE, 2007, pp. 1-8.
[114]D. H. Lee, T. H. Kim and J. W. Ahn, “A simplified novel sensorless control of SRM,” in Proc. IEEE IAS, 2006, vol. 4, pp. 2001-2005.
[115]T. Wakasa, H. J. Guo and O. Ichinokura, “A simple position sensorless driving system of SRM based on new digital PLL technique,” in Proc. IEEE IECON, 2002, vol. 1, pp. 502-507.
[116]H. Gao, F. R. Salmasi and M. Ehsani, “Sensorless control of SRM at standstill,” in Proc. IEEE APEC, 2001, vol. 2, pp. 850-856.
[117]A. Komatsuzaki, T. Bamba and I. Miki, “A position sensorless speed control for switched reluctance motor at low speeds,” in Proc. IEEE PES, 2007, pp. 1-7.
[118]J. Bekiesch, G. Schroder, T. H. Kim and J. W. Ahn, “A simple excitation position detection method for sensorless SRM drive,” in Proc. IEEE EPE, 2007, pp. 1-8.
[119]K. Trakrancharoungsook and S. Kittiratsatcha, “Position estimation technique of a switched reluctance motor at standstill,” in Proc. IEEE PCC, 2007, pp. 264-270.
[120]M. Krishnamurthy, C. S. Edrington and B. Fahimi, “Prediction of rotor position at standstill and rotating shaft conditions in switched reluctance machines,” IEEE Trans. Power Electron., vol. 21, no. 1, pp. 225-233, 2006.
[121]H. J. Guo, M. Takahashi, T. Watanabe and O. Ichinokura, “A new sensorless drive method of switched reluctance motors based on motor's magnetic characteristics,” IEEE Trans. Magnetics, vol. 37, no. 4, pp. 2831-2833, 2001.
[122]H. J. Guo, W. B. Lee, T. Watanabe and O. Ichinokura, “An improved sensorless driving method of switched reluctance motors using impressed voltage pulse,” in Proc. IEEE PCC, 2002, vol. 3, pp. 977-980.
[123]A. Khalil, S. Underwood, I. Husain, H. Klode, B. Lequesne, S. Gopalakrishnan and A. M. Omekanda, “Four-quadrant pulse injection and sliding mode observer based sensorless operation of a switched reluctance machine over entire speed range including zero speed,” IEEE Trans. Ind. Appl., vol. 43, no. 3, pp. 714-723, 2007.
[124]S. Kachapornkul, P. Somsiri, N. Chayopitak, K. Tungpimolrut, R. Pupadubsin and P. Jitkreeyan, “Sensorless control of switched reluctance motor for three-phase full-bridge inverter drive,” in Proc. IEEE ICEMS, 2008, pp. 3321-3326.

I. Others
[125]R. W. Erickson and D. Maksimovic, Fundamentals of power Electronics, 2nd ed., Kluwer Academic Publishers, Norwell Massachusetts, 2001.
[126]H. C. Chang and C. M. Liaw, “On the establishment of three-phase power module based converter and its control for switched-reluctance motor,” Proc. of 28th National Symposium on Electrical Power Engineering, ROC, Taiwan, pp. 1406-1411, 2008.
[127]H. C. Chang and C. M. Liaw, “Development of a compact switched-reluctance motor drive for EV propulsion with voltage boosting and PFC charging capabilities,” IEEE Trans. Vehicular Technology, vol. 58, no. 7, pp. 3198-3215, 2009.
[128]Y. H. Lin, “A switched-reluctance motor drive with buck-boost power factor correction front-end,” Master Thesis, Department of Electrical Engineering, National Tsing Hua University, ROC, 2009.
[129]Y. C. Chang, “Development of a switched-reluctance generator and its application to the establishment of microgrid system” Ph.D. Dissertation, Department of Electrical Engineering, National Tsing Hua University, ROC, 2010.

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