臺灣博碩士論文加值系統

衛星反應輪又俗稱動量輪，是人造衛星姿態控制的主要動力來源，反應輪由飛輪和馬達組成，透過控制反應輪的角動量，即使有相當大的力矩干擾，也能在太空中實現衛星姿態控制，衛星反應輪開發由構想推斷、設計分析、控制系統、測試設計到反應輪製造驗證等多方面來執行。
考量到太空應用，動態響應、重量和力矩漣波是主要考慮因素。為了實現快速響應和低力矩漣波，定子採用無齒槽繞線，但是，無齒槽繞組會導致漏磁通，降低轉矩輸出。本論文進行馬達尺寸最佳化來集中磁通鏈來減少漏磁通。首先，利用雙轉子拓撲集中氣隙磁通密度，將無齒槽繞線所引起的漏磁通最小化。再來，選擇Halbach陣列弦波充磁來以實現正弦波磁通分布，且分析不同的Halbach陣列弦波充磁角度使轉矩漣波最小化。最後，研究無齒槽雙轉子馬達的氣隙位置，進一步減少漏磁通。並以實驗測試反應輪馬達原型來驗證馬達最佳化設計。
此外在高效率馬達驅動方面，採用弦波向量控制可以降低力矩漣波，但是因為衛星空間有限無法加裝編碼器，需改以霍爾感測器獲取角度資訊。本論文提出結合霍爾感測差值式弦波控制和反電動勢無位置感測弦波驅動合成控制方法，試圖改善傳統衛星使用的霍爾感測差值式弦波控制，所以驅動方法將以實驗驗證。

The reaction wheel is referred as the momentum wheel. It is the primary power source for the satellite attitude control. Reaction wheel consists of a flywheel and a motor. By manipulating the angular momentum of reaction wheel, the satellite attitude control can be achieved in the aerospace even with considerable disturbance torques. The development of reaction wheel is a multidisciplinary research including geometric design, system analysis, prototype manufacture and evaluation.
Considering aerospace applications, the dynamic response, weight and torque ripple are primarily concerns. To achieve the fast response and low torque ripple, a stator with slotless windings is designed. However, slotless windings contain visible leakage fluxes which decrease the torque production. In this thesis, motor geometric design methods are proposed to decrease leakage fluxes by concentrating the flux linkage. First, leakage fluxes are minimized through the dual-rotor topology. Second, Halbach array magnets are chosen to realize the sinusoidal flux linkage distribution. Different array angles are analyzed to minimize the torque ripple. The air gap position is finally adjusted to minimize leakage fluxes. A motor prototype is built for experimental tests to verify the motor geometric optimization.
In addition for the high performance motor control, field-oriented control (FOC) is preferred to reduce the torque ripple. However due to the limitation on the satellite size, it is a challenge to install an encoder. Instead, Hall sensors are used to obtain the position information. This thesis combines both Hall-based FOC and electromotive force (EMF)-based FOC to realize a full region FOC drive. The improved control performance is concluded comparing to conventional Hall-based FOC. All the control methods are verified based on experimental tests.

口試委員會審定書 iii
中文摘要 v
ABSTRACT vii
目錄 ix
表目錄 xiii
圖目錄 xv
符號列表 xxi
第1章 緒論 1
1.1 研究背景 1
1.2 文獻回顧 3
1.2.1 無齒槽式定子設計 3
1.2.2 Halbach陣列弦波充磁轉子設計 7
1.2.3 雙轉子設計 10
1.2.4 方波vs.弦波控制 12
1.2.5 無位置感測器控制 13
1.2.6 霍爾感測位置估測器 18
1.3 研究目的 20
1.3.1 選擇馬達拓樸以符合太空環境要求 20
1.3.2 雙環反應輪馬達氣隙尺寸最佳化 20
1.3.3 全速度域估測器設計 20
1.4 論文大綱 22
第2章 馬達結構設計與驗證 23
2.1 馬達設計目標 23
2.2 選擇定子與轉子構造 24
2.3 Halbach 陣列充磁設計 28
2.4 馬達轉子幾何最佳化 32
2.4.1 設計氣隙中心處半徑 33
2.4.2 調整氣隙寬度 36
2.4.3 最佳化前後性能比較 38
2.5 反應輪馬達雛形製造 40
2.6 實驗平台 41
2.7 反電動勢實驗驗證 43
第3章 全速度域估測器設計 45
3.1 弦波控制架構 45
3.1.1 霍爾感測差值式弦波控制原理 45
3.1.2 反電動勢無位置感測器弦波控制原理 50
3.2 弦波控制性能比較 51
3.3 全速度域估測器架構 57
3.3.1 Weighting based blending observer 57
3.3.2 Filter-based blending observer 58
3.4 全速度域估測器性能比較 60
第4章 結論及未來工作 69
4.1 結論 69
4.1.1 馬達尺寸最佳化 69
4.1.2 全速度域估測器 69
4.2 未來工作 70
4.2.1 繞線方式 70
4.2.2 非接觸式力矩器 71
參考文獻 73

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