基於霍爾感測器之改良型轉子角度估算法應用於內藏式永磁同步馬達之驅動控制

An Improved Angular Displacement Estimation Based on Hall-Effect Sensors for Driving an Interior Permanent Magnet Synchronous Motor

丁奕元(Yi-Yuan Ding)

指導教授 ： 陽毅平

國立臺灣大學/工學院/機械工程學研究所/碩士(2011年)

https://doi.org/10.6342/NTU.2011.00420

摘要

本研究提出基於霍爾感測器的改良型轉子角度估算系統，可即時偵測直流無刷馬達的轉子角度，不論是方波驅動法、弦波驅動法、或是最佳波形驅動法等各種電流波形驅動法，只要馬達具備霍爾感測器，皆能使用本研究的估算法計算出轉子角度，達成馬達的驅動以及電流相位領先的弱磁控制。傳統的霍爾感測器估算法系使用控制器的捕捉中斷功能，搭配計時器週期中斷功能，經過精密運算後，獲得馬達當下的轉子角度，但捕捉中斷功能為了要準確捕捉霍爾訊號狀態改變的瞬間，其對於外部訊號的靈敏度極高，容易受到雜訊干擾，因此本研究提出抗雜訊能力較強的改良型估測法，只需使用控制器的計時器週期中斷功能，搭配簡易的運算，即可獲得馬達當下的轉子角度。
本研究使用電動車用內藏式永磁同步馬達做為驅動控制的驗證對象，馬達的反電動勢波形接近梯型，為了控制實現的簡化，採用方波驅動法搭配本研究建構的改良型霍爾感測器轉子角度估算系統，實現馬達驅動以及電流相位領先控制，由實驗結果可得知，本研究的估測法相較於傳統估測法，更節省系統資源、運算速度提升2.9倍，以及抗雜訊能力獲得提升。

關鍵字

內藏永磁同步馬達 ； 霍爾感測器 ； 轉子角度估算 ； 無刷馬達驅動控制

並列摘要

This research proposes an improved method of angular displacement estimation based on Hall-effect sensors for driving a permanent magnet motor, no matter which kind of waveform is for its back electromotive force (EMF). The control current with a phase lead angle from the back EMF is then determined to drive the motor. Traditionally, the change of Hall-effect signals were measured both by the capture interrupt and timer-period interrupt functions before the angular displacement was estimated by precise operations in a digital signal processor. Unfortunately, the capture interrupt action was highly sensitive to external noises. The improved method retains the timer-period interrupt function and simplifies the estimation operation so that the controller becomes more robust in terms of the rejection of external disturbances.
A 50 kW interior permanent magnet synchronous motor for an electric vehicle is used to verify the proposed angular displacement estimation method for driving the motor, whose back EMF waveform is close to a trapezoidal function. Therefore, the six-step square wave is applied and the proposed angular displacement estimation is used for driving the motor with adjustable phase lead angles. The experimental results show that the improved angular displacement estimation based on the Hall-effect sensors saves so much system resources that the operational speed of estimation is 2.9 times higher than the traditional one. The proposed estimation method has also higher anti-noise ability.

並列關鍵字

Interior permanent magnet synchronous motor ； Hall-effect sensor ； Angular displacement estimation ； Brushless DC motor drive

參考文獻

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