臺灣博碩士論文加值系統

傳統直接轉矩控制(DTC)定子電壓向量可供選擇數目有限，且較不易估測出誤差的大小，因此透過磁滯控制器選擇電壓向量，但電壓向量會造成漣波過大或響應過慢等現象。為了使系統穩定度上升，且在穩態下提升轉矩、磁通、電流和速度的響應速度，本論文針對磁滯控制器進行模糊化，並將其提升為七階的模糊磁滯控制器，將處理過後的磁通、轉矩值做誤差模糊化後，通過改良型離散型多重向量電壓表(MDMVV)得到所需要選擇的電壓向量。速度命令及實際值之誤差經由模糊PID控制器轉換成轉矩命令值，而磁通與轉矩係由命令值及估測值的誤差，做為模糊化的歸屬函數，再透過MDMVV切換表選擇一組向量組合訊號。MDMVV切換表與傳統切換表之不同在於，傳統DTC每隔一個系統周期產生一次定子電壓向量，而MDMVV則於每隔一個系統周期產生四次合成的定子電壓向量，每組的電壓向量組合均能減少漣波大小，增加控制系統的穩定性。
本論文使用Verilog撰寫控制系統運作程式碼，再使用FPGA板驗證語法與功能正確無誤後，藉由台積電(TSMC0.18um)製程之元件庫與Synopsys和Cadence的最佳化軟體完成電路合成、自動佈局繞線、功能測試等設計流程，完成具模糊七階磁滯與模糊PID速度控制器之直接轉矩控制晶片設計與實現，本論文所設計之晶片大小為1.193*1.190mm2，頻率為10Mhz，消耗功率為5.014mW。

This thesis presents a modified Direct Torque Control (DTC), which includes fuzzy PID and seven-stage hysteresis controller, to improve the ripple problem induced with a limited vector voltages and slow response of speed in traditional DTC. To have a stable control system, one needs to increase the response on torque, flux, current and speed. This work not only proposes a fuzzy PID for speed response but also promoted a seven-stage hysteresis controller. Both flux and torque errors pass through the modified discrete multiple vector voltages (MDMVV) to obtain the required vector voltage; and the speed error is converted into a torque command after passing the fuzzy PID controller. According to the proposed MDMVV switching table, two hundred and ninety four combination vectors are available for selecting suitable vector voltage to be sent to the inverter. Note that four voltage vectors of stator are generated in a cycle for the proposed MDMVV, whereas a vector voltage for traditional DTC. The proposed modified DTC not only reduces the ripples in torque and flux but also enhances the stability of control system.
In this thesis, the hardware description language is used to write the source code of the control system; and that the programmable logic gate array (FPGA) device is considered to verify the function and syntax. Then the TSMC (0.18um CMOS) process is adopted to simulate the designed function. By using the component libraries in Synopsys and Cadence software, the source code is completed with circuit synthesis, automatic layout winding and functional testing process. Finally, the direct torque control ASIC is implemented with fuzzy hysteresis and discrete multiple vector voltages. Simulations demonstrate that the proposed DTC ASIC is implemented in 0.18m CMOS technology with the chip area of 1.1931.190 mm2 at the operating frequency of 10 MHz, the supplied voltage of 1.8 V and the power consumption of 5.014 mW.

摘　要 i
ABSTRACT iii
誌　謝 v
目錄 vi
表目錄 x
圖目錄 xi
第一章 緒論 1
1.1研究動機 1
1.2研究方法 3
1.3研究目的 4
第二章 直接轉矩控制系統 6
2.1前言 6
2.2變頻器架構原理介紹 7
2.3感應馬達原理 11
2.4感應馬達數學模型 12
2.5電動機狀態方程式 18
2.6定子磁通量計算 22
2.6.1計算d-q 軸磁通量 22
2.6.2計算d-q 軸合成磁通量 23
2.7轉矩計算 23
2.8磁通角度計算 24
2.9回授速度計算 26
第三章 模糊控制與預測控制系統 27
3.1前言 27
3.2 模糊控制理論 27
3.3模糊控制系統 29
3.3.1模糊化 30
3.3.2規則庫 31
3.3.3模糊推論引擎 32
3.3.4解模糊化 35
3.4模糊磁滯控制器 36
3.4.1定義輸入及輸出變數 36
3.4.2模糊化與歸屬函數 36
3.4.3模糊控制規則 39
3.4.4模糊推論 44
3.4.5解模糊化 48
3.5 Fuzzy PID 控制系統設計 48
3.5.1 簡述 48
3.5.2 PID控制器 49
3.5.3 Fuzzy PID控制器 53
3.6改良型離散多重向量電壓切換表 56
3.7預測控制系統 65
第四章 直接轉矩控制系統實作 66
4.1系統架構介紹 66
4.2電壓估測計算 69
4.3電流估測計算 69
4.4電流ADC轉換 70
4.5 ds–qs磁通計算 72
4.6合成磁通計算 72
4.7轉矩計算 72
4.8角度區間選擇 73
4.9模糊磁滯控制器 73
4.10 改良型離散多重向量電壓切換表 75
4.11預測型控制法則 77
4.12速度回授電路 77
4.13 Fuzzy PID 控制器 78
第五章 晶片設計與驗證 80
5.1簡介 80
5.2標準單元基礎設計流程 80
5.3暫存器轉換階層(RTL)設計 81
5.4合成電路 81
5.5閘階層模擬(Gate-Level Simulation) 83
5.6電路佈局與繞線 84
5.6.1 初始佈局(floorplan) 85
5.6.2時序分析 86
5.6.3繞線(routing) 86
5.7晶片打線 87
5.8製程電路驗證(DRC&LVS) 88
第六章 模擬與驗證 89
6.1軟體模擬與驗證 89
6.2 文獻比較 96
第七章 結論與未來研究 99
7.1 結論 99
7.2 未來研究工作 100
參考文獻 101

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