臺灣博碩士論文加值系統

相較於其它馬達，永磁式同步馬達(Permanent magnet synchronous motor, PMSM)具有高功率密度、高效率以及高加速能力等優點，使其已逐漸被廣泛地應用。本論文之目的在於從事以DSP為主全數位永磁同步馬達驅動系統之建立與其操控性能之改善研究。為了熟悉馬達之驅動運轉特性，首先探究其結構與主導方程式。在變頻馬達驅動系統之分析及設計上，馬達之等效電路參數是不可或缺者，本論文應用實用估測法以獲得PMSM之參數。為了從事所擬研究之性能測試，本論文建構一以數位處理器ADMC401為主之PMSM驅動系統，並配以感測器、信號處理電路及控制機構，使其能具有媲美於直流馬達之運轉操控性能。
馬達之動態響應特性深受其線圈電流波形之影響，本論文設計實現在abc及dq框之CCPWM機構，並評估比較兩者之控制性能。另外，亦設計強健電流控制器，使PMSM之線圈電流追踨控制性能較不受馬達參數變化與反電動式擾動之影響。再者，為了使驅動器之交流側具有較佳之引入電流電力品質並獲得可調控電壓之直流鏈，本論文設計一低頻切換式整流器做為此驅動系統之前級。在有關PMSM之調控研究上，首先由分析及實驗觀察場激磁及換相時刻調控對PMSM操控性能之影響及兩者間之等值性，據此，本論文發展一智慧型調控機構來自動決定換相時刻，以獲得最小之電流命令及等值之最佳轉矩產生能力。本論文所提所有控制方法之有效性均由實驗結果予以驗証。

Permanent magnet synchronous motor (PMSM) possesses the advantages of high power density, high efficiency and excellent acceleration ability, etc, and it has been extensively applied in many applications. The purpose of this thesis is to establish a fully digitally DSP-based PMSM drive with variable-voltage DC link and perform its driving performance improvement studies. In order to familiarize with the driving characteristics of a PMSM, its structure and governing equations are first studied. It is known that the motor circuit parameters are necessary for making the analysis and design of an inverter-fed motor drive. This thesis employs a practical estimation approach to obtain the parameters of the studied PMSM. For performing the experimental tests, a DSP ADMC401-based PMSM drive is established. By properly establishing the necessary sensors, signal conditioners and control schemes, it can be operated to have performances being comparable to those of a DC motor.
As generally recognized, the dynamic performance of a motor is much affected by its winding current waveforms. In the thesis, both the current-controlled PWM (CCPWM) in abc- and dq-domains are designed and implemented, and their control performances are comparatively evaluated. A robust current controller is developed to let the winding current tracking control response be rather insensitive to the changes of motor parameters and back EMF disturbance. Next, for obtaining well-regulated and variable DC-link voltage with better power quality in line drawn current, a LF-SMR is developed and applied to the established PMSM drive. As far as the tuning control for PMSM drive is concerned, the effects of field excitation and commutation instant tunings on the PMSM drive performances are first observed experimentally. Then, an intelligent tuning approach is developed to automatically determine the advance of commutation instant. The minimum current command is achieved to obtain better torque generating capability equivalently. Effectiveness of all the control schemes developed in this thesis is validated experimentally.

ACKNOWLEDGEMENT I
ABSTRACT II
LIST OF CONTENTS III
LIST OF FIGURES V
LIST OF TABLES XII

CHAPTER 1 INTRODUCTION 1
CHAPTER 2 FUNDAMENTALS OF PERMANENT MAGNET SYNCHRONOUS MOTORS 8
2.1 Introduction8
2.2 Classification of BDCMs 8
2.3 Structure of PMSMs 9
2.4 Governing Equations 12
2.5 Parameter Estimation for PMSM 19
2.5.1 Back-EMF Constant 20
2.5.2 Winding Resistance and Inductance20
CHAPTER 3 DSP- BASED PMSM DRIVE SYSTEM 23
3.1 Introduction 23
3.2 Some Practical Digital Control Issues 23
3.3 DSP-Based PMSM Drive System 27
3.4 Some Measured Results 36
CHAPTER 4 WINDING CURRENT PWM SWITCHING CONTROL 43
4.1 Introduction 43
4.2 System Configuration and Control Methodology 43
4.3 Robust Current Control 45
4.3.1 System Configuration 45
4.3.2 Current Control Loop Modeling 48
4.3.3 Design of System Components 49
4.3.4 Design Results of Robust Control Scheme 52
4.4 Experimental Results 52
CHAPTER 5 DESIGN AND IMPLEMENTATION OF AN AC-SWITCH BASED FRONT- END BOOST CONVERTER 65
5.1 Introduction 65
5.2 Circuit Configuration and Problem Statements 67
5.3 Circuit Operation of Low-Frequency SMR 69
5.4 Design of SMR Circuit 73
5.5 Some Simulation and Measured Results 78
5.6 Dynamic Voltage Control 98
5.7 Performance Evaluation from Field Measurements 101
CHAPTER 6 TUNING CONTROL STRATEGIES FOR PERMANENT-MAGNET SYNCHRONOUS MOTOR DRIVES 114
6.1 Introduction 114
6.2 Some Key Parameters of a PMSM Drive 114
6.3 PAM and PWM Switching Controls 116
6.4 The Commonly Used Tuning Strategies for PMSMs 117
6.5 Performance Evaluation for PMSM Drive under PAM Control 121
6.6 Commutation and Field Excitation Tuning Controls For PMSM 131
6.6.1 Manual Tuning 131
6.6.2 Automatic Tuning 146
CHAPTER 7 CONCLUSIONS 154
REFERENCES 156

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