臺灣博碩士論文加值系統

本論文提出一個利用比例積分微分類神經網路估測器之以凸極式反電動勢為基礎之速度估測法，以改善內藏式永磁同步馬達應用在變頻壓縮機驅動系統之估測性能。此外本論文將提出兩種無感測技術，其一為高頻方波電壓注入法結合利用比例積分微分估測器之以凸極式反電動勢為基礎之速度估測法，其二為高頻方波電壓注入法結合利用比例積分微分類神經網路估測器之以凸極式反電動勢為基礎之速度估測法。以上兩種無感測控制機制皆是使用高頻方波電壓注入法作為馬達之啟動策略，以達成弦波啟動之目的。當馬達逐漸加速至預設的轉速時，系統會切換到利用比例積分微分估測器之以凸極式反電動勢為基礎之速度估測法或利用比例積分微分類神經網路估測器之以凸極式反電動勢為基礎之速度估測法。本文將詳細的分析高頻方波電壓注入法、利用比例積分微分估測之以凸極式反電動勢為基礎之速度估測法。此外，比例積分微分類神經網路的網路架構、線上學習法則、以及收斂性分析將在本文被詳細的討論。最後將以DSP實現變頻壓縮機驅動系統，並且以實驗結果驗證所提出方法之可行性。

A saliency back EMF based proportional-integral-derivative neural network (PIDNN) estimator is proposed in this study to improve the speed estimating performance of the interior permanent magnet synchronous motor (IPMSM) used in inverter-fed compressor drive systems. Two sensorless control schemes are designed for the IPMSM drive system. One is the square wave type voltage injection method combined with the conventional saliency back EMF based speed estimation method using PID estimator, and the other is the square wave type voltage injection method combined with the saliency back EMF based speed estimation method using PIDNN estimator. Both sensorless control schemes use square wave type voltage injection method as the start-up strategy to achieve sinusoidal starting. When the motor speed gradually increases to a preset speed, the sensorless drive will switch to the conventional saliency back EMF based speed estimation method using PID estimator or the saliency back EMF based speed estimation method using PIDNN estimator for medium and high speed control.　The theories of the square wave type voltage injection method and the conventional saliency back EMF based speed estimation method are introduced. Moreover, the network structure, the online learning algorithms and the convergence analyses of the PIDNN are discussed in detail. Furthermore, a DSP-based control system is developed to implement the sensorless inverter-fed compressor drive system. Finally, some experimental results are given to verify the feasibility of the proposed control schemes.

中文摘要 I
英文摘要 II
致謝 III
目錄 IV
圖目錄 VII
表目錄 XIII

第一章 緒論 1
第二章 空調系統介紹 10
第三章 變頻驅動器硬體介紹 27
第四章 內藏式永磁同步馬達數學模型介紹 43
第五章 高頻方波電壓注入法 63
第六章 利用比例積分微分估測器之以凸極式反電動勢為基礎之
速度估測法 71
第七章 利用比例積分微分類神經網路估測器之以凸極式反電動
勢為基礎之速度估測法 80
第八章 模擬結果 88
第九章 實驗結果 109
第十章 結論與未來研究方向 135

參考文獻 137
作者簡歷 142

[1]經濟部能源局，2010能源產業技術白皮書，民國99年4月。
[2]經濟部能源局，98年能源統計手冊，民國98年。
[3]陳加偉，冷凍空調節能技術之發展規劃，民國98年12月。
[4]張護繼，「無感測器直流變頻壓縮機驅動系統之研製」，中央大學電機工程系，碩士論文，民國99年7月。
[5]Jang J.H., Ha J.I., Ohto M., Ide K., Sul S.K.: ‘Analysis of permanent-magnet machine for sensorless control based on high-frequency signal injection’, IEEE Trans. Industry Applications, 2004, 40, (6), pp. 1595-1604
[6]Yoon Y.D., Sul S.K. Morimoto S., Ide K.: ‘High-bandwidth sensorless algorithm for AC machines based on square-wave-type voltage injection’, IEEE Trans. Industry Applications, 2011, 47, (3), pp. 1361-1370
[7]Piippo A., Salomäki J., Luomi J.: ‘Signal Injection in Sensorless PMSM drivers equipped with inverter output filter’, IEEE Trans. Industry Applications, 2008, 44, (5), pp. 1614-1620
[8]Consoli A., Musumeci S., Raciti A., Testa A.: ‘Sensorless vector and speed control of brushless motor drives’, IEEE Trans. Industrial Electronics, 1994, 41, (1), pp. 91-96
[9]French C., Acarnley P.: ‘Control of permanent magnet motor drives using anew position estimation technique’, IEEE Trans. Industry Applications, 1996, 32, (5), pp. 1089-1097
[10]Degner M.W., Lorenz R.D.: ‘Using multiple saliencies for the estimation of flux, postion and velocity in AC machine’, IEEE Trans. Industry Applications, 1998, 34, (5), pp. 1097-1104
[11]Comanescu M., Xu L.,: ‘An improved flux observer based on PLL frequency estimation for sensorless vector control of induction motors’, IEEE Trans. Industrial Electronics, 2006, 53, (1), pp. 50-56
[12]Tomita M., Senjyu T., Doki S., Okuma S.: ‘New sensorless control for brushless DC motors using disturbance observers and adaptive velocity estimations’, IEEE Trans. Industrial Electronics, 1998, 45, (2), pp. 274-282
[13]Chen Z., Tomita M., Ichikawa S., Doki S., Okuma S.: ‘Sensorless control of interior permanent magnet synchronous motor by estimator of an extended electromotive force’, Proc. IECON 00’, 2000, pp. 1814-1819
[14]Ichikawa S., Tomita M., Doki S., Okuma S.: ‘Sensorless control of synchronous reluctance motors based on an extended EMF model and initial position estimation’, Proc. IECON 03’, 2003, pp. 2150-2155
[15]Ichikawa S., Tomita M., Doki S., Okuma S.: ‘Sensorless control of synchronous reluctance motors based on an extended EMF models considering magnetic saturation with online parameter identification’, IEEE Trans. Industry Applications, 2006, 42, (5), pp. 1264-1274
[16]Kim H., Harke M.C., Lorenz R.D.: ‘Sensorless control of interior permanent magnet machine drives with zero-phase lag position estimation’, IEEE Trans. Industry Applications, 2003, 39, (6), pp. 1726-1733
[17]Harnefors L., Nee H.P.: ‘A general algorithm for speed and position estimation of AC motor’, IEEE Trans. Industrial Electronics’, 2000, 47, (1), pp. 77-83
[18]Wallmark O., Harnefors L.: ‘Sensorless control of salient PMSM drives in the transition region’, IEEE Trans. Industrial Electronics, 2006, 53, (4), pp. 1179-1187
[19]Burgos R.P., Kshirsagar P., Lidozzi A., Jang J., Wang F., Boroyevich D., Rodriguez P., Sul S.K.: ‘Design and evaluation of a PLL-based position controller for sensorless vector control of permanent-magnet synchronous machines’, Proc. IECON 06’, 2006, pp. 5081-5086
[20]Shinnaka S.: ‘A new speed-varying ellipse voltage injection method for sensorless driver of permanent magnet synchronous motors with pole saliency-–new PLL method using high-frequency current component multiplied signal’, IEEE Trans. Industry Applications, 2008, 44, (3), pp. 777-788
[21]Patten K.W.V., Lorenz R.D.: ‘High-resolution velocity estimation for all-digital, ac server drives’, IEEE Trans. Industry Applications, 1991, 27, (4), pp. 701-705
[22]Jansen P.L., Lorenz R.D.: ‘Transducerless position and velocity estimation in induction and salient AC machines’, IEEE Trans. Industry Applications, 1995, 31, (2), pp. 240-247
[23]Corley M.J., Lorenz R.D.: ‘Rotor position and velocity estimation for a salient-pole permanent magnet synchronous machine at stand still and high speeds’, IEEE Trans. Industry Applications, 1998, 34, (4), pp. 784-789
[24]Crowe J.: ‘PID Control : New identification and design methods’, Vienna, Austria, Springer-Verlag , 2005
[25]Ren T.J., Chen T.C.: ‘Motion control for a two-wheeled vehicle using a self-tuning PID controller’, Control Engineering Practice, 2008, 16, (3), pp. 365-375
[26]Tan K.K., Huang S., Ferdous R.: ‘Robust self-tuning PID controller for nonlinear systems’, Proc. IECON 01’, 2001, 1, pp. 758-763
[27]Parvez S., Gao Z.: ‘A wavelet-based multire solution PID controller’, IEEE Trans. Industrial Applications, 2005, 41, (2), pp. 537-543
[28]Parra-Vega V., Arimoto S., Liu Y.H., Hirzinger G., Akella P.: ‘Dynamic sliding PID control for tracking of robot manipulators: theory and experiments’, IEEE Trans. Robotics and Automation, 2003, 19, (6), pp. 967-976
[29]Cong S., Liang Y.: ‘PID-like neural network nonlinear adaptive control for uncertain multivariable motion control systems’, IEEE Trans. Industrial Electronics, 2009, 56, (10), pp. 3872-3879
[30]Cengal Y.A., Boles M.A.: ‘Theorm dynamics an engineering approach’, New York, McGraw-Hall, 1998
[31]Chen Y.C., Teng C.C.: ‘A model reference control structure using a fuzzy neural network’, Fuzzy Sets and System, 1995, 73, pp. 291-312
[32]Lin F.J., Wai R.J., Hong C.M.: ‘Recurrent neural network control for LCC-resonant ultrasonic motor drive’, IEEE Trans. Ultrason. Ferroelect., Freq. Contr., 2000, 47, (3), pp. 737-749
[33]郭文瑋，「變頻空調系統中無感測值流無刷馬達技術之研究」，元智大學電機工程系，碩士論文，民國95年6月。
[34]張哲銘，「應用於冷凍設備無位置感測永磁同步馬達驅動系統之開發」，國立清華大學電機工程系，碩士論文，民國97年6月。
[35]曾偉智，「高效率變頻空調壓縮機驅動器之研製」，國立中山大學電機工程系，碩士論文，民國91年6月。
[36]陳世杰，「中央空調直接負載控制績效分類與評估系統」，中原大學電機工程系，碩士論文，民國94年7月。
[37]徐圍琪，廖建順，「我國變頻空調機之SEER發展現況介紹」，工業技術研究院冷凍空調與熱交換雙月刊第83期。
[38]亞得力科技股份有限公司，http://www.prt-powerasis.com/customer.php
[39]東元電機股份有限公司, http://www.teco.com.tw
[40]曾百由，dsPIC數位訊號控制器原理與應用，宏友圖書開發股份有限公司，民國94年5月。
[41]Texas Instruments，AM26LS32ACN datasheet.
[42]Microchip，MCP4922 datasheet.
[43]瑞智精密股份有限公司, http://www.rechi.com
[44]劉昌煥，交流電機控制，東華書局，民國92。