臺灣博碩士論文加值系統

本論文旨在發展永磁同步馬達無位置感測器驅動之啟動技術，其一為高頻電壓訊號脈衝估測法，其二為適用於低轉速區的高頻電壓訊號注入法，並整合適用於中、高轉速區的滑動模式電流觀測器。高頻電壓訊號注入法是利用內藏式永磁同步馬達的凸極效應來估測轉子位置，而滑動模式電流觀測器是藉由反電動勢來估測轉子位置。然而當永磁同步馬達於靜止或低轉速時，因反電動勢太小無法估測轉子位置，故需透過轉子定位與開迴路起動將轉速強制帶到門檻轉速後，再切換成滑動模式電流觀測器。為解決前述問題，本論文由定子鐵芯磁飽和之原理，得知轉子位置與電感大小有關，可在馬達靜止時估測轉子位置，避免因轉子定位而造成的短暫反轉現象；而將高頻電壓訊號注入法應用於起動，相較一般變壓變頻開迴路啟動更具強健性、抗干擾性，並可進一步提升轉速控制的範圍。本論文透過低成本之16位元微控制單晶片dsPIC33FJ32MC304實現內藏式永磁同步馬達無位置感測器磁場導向控制驅動，並進行相關實驗以驗證本論文所提出的架構之可行性。

This thesis aims at developing a permanent magnet synchronous motor (PMSM) drive for starting up a PMSM motor without using any position sensor. The technology developed in this thesis is composed of three different methods: the first one is the high-frequency pulse voltage signal estimation method; the second one is the high-frequency voltage signal injection method for the low-speed zone; and the last one is the sliding mode current control method, which is implemented by using a sliding mode current observer, for the medium-speed zone and the high-speed zone. The high-frequency voltage signal injection method uses the saliency of an interior PSMS to estimate the rotor position. In contrast, the sliding mode current observer uses the back electromotive force (EMF) to estimate the rotor position. However, when the PMSM is stationary or rotates in low speed, the sliding mode observer based approach cannot estimate the rotor position because the value of back EMF is too small. As a result, the rotor position of the PMSM needs to be aligned and open loop startup needs to be carried out. After the PMSM reaches to the threshold speed, the sliding mode current observer is then switched on to estimate the rotor position. In order to cope with the aforementioned problem, in this thesis the relationship between the rotor position and the size of the inductor that can be known from the principle of magnetic saturation of the stator core is exploited to estimate the rotor position of the motor when stationary, and to avoid a temporary inversion phenomenon caused by aligning the rotor position. After the initial rotor position is detected, the high-frequency voltage signal injection method is used for starting up a PMSM. Compared to the commonly used variable voltage variable frequency (VVVF) open loop startup method, the proposed method is more robust and has better ability in noise suppression, in which it can further expand the range of speed control. The thesis uses a low-cost 16 bits single-chip microcontroller dsPIC33FJ32MC304 to realize the position sensorless field oriented control drive for interior PMSMs. Several experiments have been conducted to verify the feasibility of the proposed architecture.

中文摘要 III
EXTENDED ABSTRACT IV
誌謝 IX
目錄 XI
表目錄 XIV
圖目錄 XV

第一章 緒論 1
1.1 前言 1
1.2 研究動機與文獻回顧 2
1.3 論文架構 7
第二章 永磁同步馬達驅動系統 8
2.1 永磁同步馬達 8
2.2 磁場導向控制介紹(Field Oriented Control, FOC) 9
2.2.2 永磁同步馬達等效電路模型 15
2.2.3 空間向量脈波寬度調變(SVPWM) 17
2.3滑動模式電流觀測器 23
第三章 高頻電壓脈衝訊號估測法 28
3.1 電感量變化與定子鐵芯磁飽和效應的關係 29
3.2 電流與轉子位置的關係 31
3.3 轉子位置估測策略說明 33
3.3.1六個電壓脈波注入 33
3.3.2四個電壓脈波注入 37
第四章 高頻電壓訊號注入估測法 40
4.1 高頻訊號注入法原理說明 40
4.2 電流訊號解析位置資訊步驟 46
4.3 轉子位置估測器及速度估測器 47
4.4 數位濾波器的設計與實現 48
4.4.1 FIR與IIR數位濾波器 49
4.4.2 低通與帶通濾波器設計 50
第五章 實驗平台架構與實驗結果 57
5.1 實驗系統介紹 57
5.1.1驅動器硬體規格 58
5.1.2馬達硬體規格 60
5.2 無位置感測驅動系統流程 61
5.3 無位置感測驅動實驗結果與討論 64
5.3.1高頻電壓脈衝訊號估測法 64
5.3.2高頻電壓訊號注入法 69
5.3.3 傳統開迴路與高頻電壓訊號注入法在啟動性能之分析與比較 74
5.3.4 啟動高可靠特性與調速範圍廣的無位置感測向量控制之實現 79
第六章 結論以及未來研究規劃 83
6.1 結論 83
6.2 未來研究規劃 83
參考文獻 85

[1] 經濟部，高效率馬達與應用技術國際研討會講義，2012。
[2] 曾仁志，無感測器驅動系統於薄型馬達之設計與實現，碩士論文，國立成功大學機械工程學系，2007。
[3] Dae-Woong Chung, Jun-Koo Kang, Seung-Ki Sul, Initial rotor position detection of PMSM at standstill without rotational transducer, in Proc. IEEE Electric Machines and Drives, 1999, pp.785-787.
[4] Noguchi T., Yamada K., Kondo S., Takahashi I., Initial rotor position estimation method of sensorless PM synchronous motor with no sensitivity to armature resistance, IEEE Trans. Industrial Electronics, vol.45, pp.118-125, 1998.
[5] Ji-Hoon Jang, Seung-Ki Sul, Jung-Ik Ha, Ide K., Sawamura, M., Sensorless drive of surface-mounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency, IEEE Trans. Industry Applications, vol.39, pp.1031-1039, 2003.
[6] Ji-Hoon Jang, Jung-Ik Ha, Ohto M., Ide K., Seung-Ki Sul, Analysis of permanent-magnet machine for sensorless control based on high-frequency signal injection, IEEE Trans. Industry Applications, vol.40, pp.1595-1604, 2004.
[7] Degner, M.W., Lorenz, R.D., Using multiple saliencies for the estimation of flux, position, and velocity in AC machines, IEEE Trans. Industry Applications, vol.34, no.5, pp.1097-1104, 1998.
[8] Wen-Chun Chi and Ming-Yang Cheng, “Implementation of a Sliding-Mode-Based Position Sensorless Drive for High-Speed Micro Permanent-Magnet Synchronous Motors, ISA Transactions, vol 53, pp. 444-453, 2014.
[9] Kim J.S., Seung-Ki Sul, New stand-still position detection strategy for PMSM drive without rotational transducers, in Proc. IEEE Applied Power Electronics Conference and Exposition, 1994 pp.363-369.
[10] Schmidt P.B., Gasperi M.L., Ray C., Wijenayake A.H., Initial rotor angle detection of a nonsalient pole permanent magnet synchronous machine, IEEE Trans. Industry Applications, vol.1, pp.459-463, 1997.
[11] Wook-Jin Lee, Seung-Ki Sul, A New Starting Method of BLDC Motors Without Position Sensor, IEEE Trans. Industry Applications, vol.42, pp.1532-1538, 2006.
[12] Schmidt P.B., Gasperi M.L., Ray C., Wijenayake A.H., Initial rotor angle detection of a nonsalient pole permanent magnet synchronous machine, in Proc. IEEE Industry Applications, vol.1, 1997, pp.459-463.
[13] Jang G.H., Park J.H., Chang, J.H., Position detection and start-up algorithm of a rotor in a sensorless BLDC motor utilising inductance variation, in Proc. IEEE Electric Power Applications, vol.149, no.2, 2002, pp.137-142.
[14] Yen-Shin Lai, Fu-San Shyu, Shau-Shian Tseng, New initial position detection technique for three-phase brushless DC motor without position and current sensors, in Proc. IEEE Industry Applications, vol.3, 2002, pp.1653-1660.
[15] Sugawara J., Kaimori T., Nishikata S., A Novel and Simple Inital Rotor Position Detecting Method for PMSMs, in Proc. IEEE Power Electronics and Drives Systems, vol.1, 2005, pp.612-617.
[16] Champa P., Somsiri P., Wipasuramonton P., Nakmahachalasint P., Initial Rotor Position Estimation for Sensorless Brushless DC Drives, IEEE Trans. Industry Applications, vol.45, pp.1318-1324, 2009.
[17] F. Blaschke, The principle of field orientation as applied to the new TRANSVECTOR closed loop control system for rotating field machines, Siemens Rev., pp. 217-220, 1972.
[18] 劉昌煥，交流電機控制─向量控制與直接轉矩控制原理，東華書局，2005。
[19]D. Y. Ohm, “Dynamic model of PM synchronous motors, Drivetech, Inc., Blacksburg, Virginia. www. drivetech. com, 2000.
[20] 申秉弘，永磁無刷馬達之新型無轉軸偵測器定位控制與其應用，碩士論文，國立成功大學機械工程學系，2002。
[21] 許溢适，劉昌煥，AC伺服系統的理論與設計實務，文笙書局，1999。
[22] Krishnan R., Ghosh R., Starting algorithm and performance of a PM DC brushless motor drive system with no position sensor, in Proc. IEEE Power Electronics Specialists, 1989, pp.815-821.
[23] Wen-Chun Chi, Ming-Yang Cheng, Cheng-Lin Li, Ke-Han Su, Wen-Hong Li, Motor parameter auto-identification based on sensorless startup procedure for PMSM drives, in Proc. IEEE Industrial Electronics Society, 2014, pp.3861-3866.
[24] Yen-Chuan Chang, Ying-Yu Tzou, A New Sensorless Starting Method for Brushless DC Motors without Reversing Rotation, in Proc. IEEE Power Electronics Specialists, 2007, pp.619-624.
[25] Chen Ning, Wang Zhihong, Yu Shouyi, Gui Weihua, Guo Yuqian, A new starting method of sensorless PMSM motors based on STM32F103B, in Proc. IEEE Chinese Control Conference (CCC), 2010, pp.4964-4968.
[26] Gun-Myoung Kim, Byoung-Gun Park, In-Soung Jung, Dong-seok Hyun, An improved back-EMF based initial rotor position estimation for IPMSM, in Proc. IEEE Power Electronics and ECCE Asia, 2011, pp.1244-1249.
[27] Mengjia Jin; Luk P.C.K., Jianqi Qiu, Cenwei Shi, Ruiguang Lin, A Neural Network Based Initial Position Detection Method To Permanent Magnet Synchronous Machines, in Proc. IEEE Power Electronics and Motion Control, vol.3, 2006, pp.1-5.
[28] Chiao-Chien Lin, Ying-Yu Tzou, Robust startup control of sensorless PMSM drives with self-commissioning, in Proc. IEEE Power Electronics, 2014, pp.3072-3078.
[29] Nakashima, S., Inagaki Y., Miki I., Sensorless initial rotor position estimation of surface permanent-magnet synchronous motor, IEEE Trans. Industry Applications, vol.36, pp.1598-1603, 2000.
[30] Tursini M., Petrella R., Parasiliti F., Initial rotor position estimation method for PM motors, IEEE Trans. Industry Applications, vol.39, pp.1630-1640, 2003.
[31] Nakashima S., Inagaki Y., Miki I., Sensorless initial rotor position estimation of surface permanent-magnet synchronous motor, IEEE Trans. Industry Applications, vol.36, pp.1598-1603, 2000.
[32] 張護繼，無感測器直流變頻壓縮機驅動系統之研製，碩士論文，國立中央大學電機工程學系，2010。
[33] 王帝傑，以高頻電壓注入偵測永磁交流馬達轉角之策略探討，碩士論文，國立台北科技大學電機工程學系，2011。
[34] Corley M.J., Lorenz R.D., Rotor position and velocity estimation for a salient-pole permanent magnet synchronous machine at standstill and high speeds, IEEE Trans. Industry Applications, vol.34, pp.784-789, 1998.
[35] Jung-Ik Ha, Ide K., Sawa T., Seung-Ki Sul, Sensorless rotor position estimation of an interior permanent-magnet motor from initial states, IEEE Trans. Industry Applications, vol.39, pp.761-767, 2003.
[36] Jong-Kun Lee, Jul-Ki Seok, Dong-Choon Lee, Sensorless speed control of nonsalient permanent magnet synchronous motor using rotor position tracking PI controller, in Proc. IEEE Power Electronics Specialists, vol.5, 2004, pp.4024-4029.
[37] Bianchi, N., Bolognani, S., Ji-Hoon Jang, Sul, S.K., Advantages of inset PM machines for zero-speed sensorless position detection, in Proc. IEEE Industry Applications, vol.1, 2006, pp.495-502.
[38] Junggi Lee, Jinseok Hong, Kwanghee Nam, Ortega, R., Praly, L., Astolfi A., Sensorless Control of Surface-Mount Permanent-Magnet Synchronous Motors Based on a Nonlinear Observer, IEEE Trans. Power Electronics, vol.25, pp.290-297, 2010.
[39] Omrane I., Etien E., Bachelier O., Dib W., A simplified least squares identification of permanent magnet synchronous motor parameters at standstill, in Proc. IEEE Industrial Electronics Society, 2013, pp.2578-2583.
[40] Ji-Hoon Jang, Seung-Ki Sul, Jung-Ik Ha, Ide K., Sawamura M., Sensorless drive of SMPM motor by high frequency signal injection, in Proc. IEEE Applied Power Electronics and Exposition, vol.1, 2002, pp.279-285.
[41] 陳瑞霖，以高頻信號注入法進行內藏式永磁同步電動機的轉軸角度估測及驅動系統研製，博士論文，國立台灣科技大學電機工程學系，2012。
[42] Wen-Chun Chi, Ming-Yang Cheng, Cheng-Hu Chen, Position-sensorless method for electric braking commutation of brushless DC machines, IET Electric Power Applications, vol.7, no.9, pp.701-713, 2013.
[43] 李政霖，具電氣參數自動量測功能之永磁同步馬達無位置感測驅動控制器之研製，碩士論文，國立成功大學電機工程學系，2013。
[44] 劉子瑜，基於弦波電流驅動於永磁同步馬達電流迴路控制之研究，碩士論文，國立成功大學電機工程學系，2009。
[45] 施慶隆，李文猶，機電整合控制–多軸運動設計與應用，全華科技圖書股份有限公司，2002。
[46] 張碩，自動控制系統，鼎茂圖書出版股份有限公司，2001。
[47] 巫昌圜，內藏式永磁同步馬達弱磁控制於電動載具速度提升之探討與實現，碩士論文，國立成功大學電機工程學系，2004。