臺灣博碩士論文加值系統

由於以變頻器驅動交流感應馬達時，其瞬間啟動或轉速劇烈變化等暫態響應，電流與速度特性將與穩態時不同，影響馬達運轉特性。針對向量控制方式，本文提出I-PD型控制器不但結合PD控制器提升暫態響應特性，並保有PI控制器改善穩態誤差功能。經由實驗結果證實，本文所提之控制器，不但可以改善感應馬達暫態現象，對馬達運轉特性亦具有良好的效果。
本文採用實作方式來證明I-PD控制器效果。實驗系統將透過變頻器驅動並控制感應馬達，分別將控制法則實現到變頻器內部單晶片，透過步階響應、負載變動響應分析與觀察感應馬達轉速上的變化，與電流瞬間的最大值來比較其性能優異。最後透過感應馬達於運轉時的震動指數與溫昇數據，比較控制器對馬達保護的差異。
關鍵字 : I-PD控制器、向量控制、暫態響應、馬達驅動.

Abstract
When the inverter drives AC induction motor, the transient response of instant state or speed changed quickly will affect the current and speed character. It is different from steady state character. In this paper, we proposed an I-PD type controller, it is not only improve the transient response of PD controller, but also improve the steady state error of PI controller. The experimental results are provided to confirm the performance and effectiveness of the proposed control scheme.
We will proof the I-PD controller which one is the best by experiment. The experimentation are made PI, PID, I-PD controller and designed into inverter that drive AC induction motor, and via step response and load change response for analyze variation in speed of AC induction motor, and watch line current of motor. Finally we will check vibrating and temperature of motor when running.

Keywords: I-PD controller, vector control, transient response,
motor driver.

目　錄
頁次
誌 謝………………………………………….…….……….i
中文摘要……………………………….………………………iii
英文摘要……………………………………………………….iv
目 錄………………………………………………………..v
表 目 錄...……………………………………………………viii
圖 目 錄……………………………………………………….ix
第一章 緒論……………………………………………………..1
1-1前 言……….....……………………………………..1
1-2研究動機……….....……………………………………..2
1-3文獻回顧……….....……………………………………..3
1-4內容架構……….....……………………………………..6
第二章 交流感應馬達與向量控制………………..…………...8
2-1交流感應馬達….....……………………………………..8
2-1-1等效電路….....…………………….…………….10
2-1-2數學模型….....…………………….……………12
2-1-3特性曲線….....…………………….…………….13
2-2向量控制……….....…………………………………….17
2-2-1基本原理….....…………………….…………….18
2-2-2數學模型….....…………………….…………….19
2-2-3控制方塊圖.....…………………….…………….22
第三章 控制器之設計……………………………..…………..28
3-1控制系統的特性…….………………………………….28
3-1-1暫態與穩態特性……………………..………….29
3-1-2時間響應………………………….….………….31
3-1-3頻率響應….....…………………….…………….32
3-2 I-PD控制器…….....……………………………………34
3-2-1基本原理….....…………………….…………….35
3-2-2參數調整法則.…………………….…………….39
3-3模擬分析……….....…………………………………….40
3-3-1時域分析….....…………………….…………….41
3-3-2頻域分析….....…………………….…………….43
第四章 系統架構…………………………………..…………..45
4-1變頻器……………….………………………………….45
4-1-1 SV300………….……………………..…………47
4-1-2驅動系統與控制系統設計……….….………….49
4-2監控系統……….....…………………………………….50
4-2-1監控軟體…………………………..…………….52
4-2-2監控系統設計.…………………….…………….53
第五章 組裝測試與討論…………………………..…………..61
5-1系統組裝與驗證…….………………………………….61
5-1-1系統組裝…………..……………………………62
5-1-2系統驗證…………..……………………………63
5-2暫態響應測試……..……………………………………66
5-2-1步階響應測試.…………………………………..67
5-2-2負載干擾測試.…………………….…………….68
5-2-3馬達溫度測試……………………..…………….70
5-2-4馬達振動測試.…………………….…………….71
第六章 結論…………………………………………………...73
6-1 研究成果…….....…………………………………….73
6-2 未來展望…….....…………………………………….74
參考文獻……………………………………………….………76

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