新式高頻訊號注入法應用於電動自行車輪轂馬達無感測控制之研究

A Novel High-frequency Signal Injection Method Based Electrically Power Assisted Bicycle In-wheel PMSM Sensorless Controller Design and Implementation

周楚軒(Chun-Hsuen Jou)

指導教授 ： 江茂雄

共同指導教授 ： 陳義男

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2013年)

https://doi.org/10.6342/NTU.2013.00407

摘要

本論文針對電動自行車用輪轂馬達之無感測控制，提出一新式方波高頻注入方法，能夠避免以往弦波式注入法在提高注入信號頻率時，可能因注入波形失真導致頻率受限的問題。並藉由將注入信號頻率提高至人類聽覺不敏感之區域，改善以往可聽見噪音伴隨著訊號注入而來的缺點。
永磁同步輪轂馬達控制方面，本研究設計並製作以單一微控器為基礎之輪轂馬達控制器，由馬達數學模型分析開始，依據電動自行車的控制需求選擇了直接扭力控制方法，加速轉把之旋轉量直接正比於馬達輸出之扭力，搭配空間向量調變直接轉矩控制法(SVM-DTC)驅動永磁同步式輪轂馬達。同樣根據模型設計了合適的混合式無感側轉子位置估測法，於零速與低速時使用新式高頻方波注入法、中速與高速時利用馬達反電動勢估測馬達之連續轉子位置，達成全轉速範圍向量弦波式無感測馬達控制之目的。
實驗系統方面，本研究於市售一般自行車上安裝永磁同步式輪轂馬達、輪轂馬達控制器、電動自行車用鋰電池、監控面板及帶電子訊號之加速轉把與煞車，將其改裝為電動自行車。本實驗用電動自行車除最高行駛速度未使用軟體限制之外，其餘各方面皆依照中華民國對於電動自行車之規範設計改裝。最後經由實驗證實所採用之無感測方法從零速至高速皆可確實估測出馬達轉子位置，搭配空間向量調變直接轉矩控制法達到良好的控制效果。

關鍵字

電動自行車 ； 輪轂馬達 ； 無感測 ； 高頻訊號注入 ； 空間向量調變 ； 直接轉矩控制

並列摘要

This thesis is mainly concerned with the sensorless in-wheel permanent magnet synchronous motor (PMSM) control of electrically power assisted bicycles (EPABs). A novel square type high-frequency signal injection method is presented. Compare to sinusoidal type injection methods, the injection frequency of square type injection method can be much higher. In this thesis, by increasing the injection frequency higher than a specific level, the corresponding hearable signal injection noise can be much reduced.
To control the in-wheel PMSM of EPAB, a motor controller based on a single microcontroller unit (MCU) is designed and implemented. The dynamic model of PMSM is analyzed, and the space vector modulation direct torque control (SVM-DTC) is chosen to control the torque of PMSM directly. A hybrid sensorless PMSM rotor position estimation method is employed to control the PMSM without position feedback sensor. In zero and low speed the novel square type high-frequency injection method is used, and in middle and high speed switched to back-EMF based sensorless method. Therefore, a sensorless full speed range closed-loop PMSM vector controller for EPAB is designed and implemented. Finally, the proposed sensorless method combined with SVM-DTC is proven to perform well in full speed range.
The test rig in this thesis was originally a standard man-powered bicycle, by installing an in-wheel PMSM, an in-wheel PMSM controller, a lithium battery, a display panel, a throttle, and brakes with electric signal, it is remodeled to be an EPAB. This EPAB basically follows the regulation of Taiwan E-bike except the maximum speed limitation which is not yet limited by the software.

並列關鍵字

In-wheel motor ； hub motor ； E-bike ； sensorless ； high-frequency injection ； space vector modulation ； direct torque control

參考文獻

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