永磁交流馬達於靜止時轉子角度之估測

由於增量型編碼器及無轉軸感測器方法，無法於靜止時估測馬達轉子角度，故需利用馬達本身特性及注入特定信號，得知其轉子角度資訊，然而並非所有無轉軸感測器，所使用的控制方法皆可適用於馬達靜止時之狀態，完成轉子角度估測的目的。例如在靜止時，馬達並無反電動勢，故無法使用反電動勢法進行轉子角度估測。本論文利用電感與轉子角度之關係及電感飽和的原理，施加兩種不同電壓脈衝於馬達線圈，量測其電流響應，經計算後得知馬達轉子角度的資訊，而此法可於靜止時完成馬達轉子初始位置的估測。本論文首先推導永磁交流馬達之數學模型與說明其控制原理，接著說明電壓脈衝法所利用之電感物理特性，並推導電壓脈衝法之數學模型，最後說明如何利用電壓脈衝法對永磁交流馬達於靜止時進行轉子角度之估測。

關鍵字

永磁交流馬達；轉子初始角度估測；電壓脈衝法

並列摘要

Incremental encoders or sensorless control methods are incapable to detect the rotary angle when a motor is at stationary status. As a result, a specific signal sent to the motor is required to obtain information of the rotary angle. However, the control method above for achieving the rotary angle is not suitable to all sensorless controllers when the motor is at stationary status. For example, a motor at stationary has none back-EMF, making measuring methods based on back-EMF useless. This study uses the inductance-rotary angle relation and the principle of inductor saturation to solve the above issue. Information of the motor’s rotary angle may be obtained by applying two voltage pulses of different values and measuring the current response. This method is suitable to measure the initial position of the motor when at stationary. The study begins by first describing the mathematical model of a permanent magnet AC (PMAC) motor and its control principles, followed by describing the physical characteristics of inductance applied this pulse-voltage method. The mathematical model for the pulse-voltage method is then derived. Finally, the method of applying pulse voltage to obtain the rotary angle at stationary status for a PMAC motor is described.

並列關鍵字

Permanent magnet AC Motors ； Detection of Initial Rotor Position ； Voltage Pulse Method

參考文獻

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[5] J. I. Ha, K. Ide, T. Sawa and S. K. Sul, “Sensorless rotor position estimation of an interior permanent-magnet motor from initial states,” IEEE Trans. on Ind. Appl., Vol. 39 , No. 3, 2003, pp. 761-767.

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[7] M.J. Corley and R.D. Lorenz, “Rotor position and velocity estimation for a salient-pole permanent magnet synchronous machine at standstill and high speeds,” IEEE Trans. Ind. Appl., vol. 34, no. 4, 1998, pp. 784-789.

國際替代計量

永磁交流馬達於靜止時轉子角度之估測

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