具智慧非反向起動強健無位置感測永磁同步馬達驅動系統之研製

Design and implementation of a robust sensorless permanent-magnet synchronous motor drive with intelligent non-reversible starting

陳煥璋(Huan-Jhang Chen)

指導教授 ： 廖聰明

國立清華大學/電機資訊學院/電機工程學系/碩士(2008年)

摘要

本論文旨在研發一具智慧非反向起動之無位置感測永磁同步馬達(Permanent-magnet synchronous motor, PMSM)驅動系統。首先，建構一具有前端單相切換式整流器之標準永磁同步馬達驅動系統，經由適當之必要控制機構設計，在具有良好之馬達驅動特性下，亦兼有良好交流入電電力品質。特定言之，藉由所提簡易強健電流追控誤差消除控制，可得緊密之電流波形命令追控特性。在數位控制方面，以一共通數位信號處理器(Digital signal processor, DSP)實現所建馬達驅動系統中兩組成電力電路之全數位控制法則。特定言之，本論文採用國產數位信號處理器，解決且提升其於交流馬達之驅動控制能力。
眾所皆知，轉矩漣波及振動之降低有助於馬達驅動系統之噪音降低。因此，本論文接著探究PMSM之轉矩漣波及振動之可能發生源，以及一些降低方法。然後從事一些影響所建PMSM驅動系統速度漣波及振動關鍵因素之實測研究。另外，亦提出一轉矩電流命令注入令補償降低控制方法並評估其效用。
最後，本論文開發一無位置感測之永磁同步馬達驅動系統。永磁同步馬達轉子之磁極位置先由所提之智慧型策略偵測判定，然後設定電流控制脈寬調變機構之啟始相位，使PMSM以同步馬達模式非反向起動。在馬達運轉之同時其反電動勢由所提之強健電流控制機構估出，並據以從事PMSM之無位置感測向量控制。所提非反向起動之理論、運轉特性及性能改善控制法則等事務文中均詳予介紹。除此之外，本論文亦設計換相調控機構以得等值之最大單位電流轉矩產生特性。

關鍵字

永磁同步馬達 ； 無位置感測控制 ； 強健控制 ； 數位信號處理器 ； 應電勢估測 ； 換相調控 ； 初始位置偵測 ； 非反向啟動 ； 切換式整流器 ； 隨機脈寬調變切換 ； 振動降低 ； 速度漣波降低

並列摘要

This thesis is mainly concerned with the development of a position sensorless permanent-magnet synchronous motor (PMSM) drive with intelligent non-reversible starting. First, a standard PMSM drive with single-phase switch-mode rectifier (SMR) front-end is established. The necessary control schemes are designed to yield satisfactory motor driving performance with good line drawn power quality. Specifically, a simple robust current error cancellation controller is applied to yield closer current waveform tracking control. In digital control aspect, the control algorithms of two power stages are realized in a common digital signal processor (DSP) based digital control environment. And more specifically, the domestic manufactured DSP is employed to promote its application ability in AC motor drive.
As generally recognized, torque ripple and vibration reductions are helpful in the reduction of acoustic noise of a motor drive. Hence next in this thesis, the possible origins of torque ripple and vibration of PMSMs are explored, and some remedies in their reductions are also understood. Then the experimental studies concerning some affecting factors for the established PMSM drive are made. And the reduction control approach via robust torque current command injection is proposed and evaluated its effectiveness.
Finally, a sensorless control scheme for PMSM drive is developed in this thesis. The PMSM rotor magnet polarity is first identified using the proposed intelligent approach. Then it is smoothly started in synchronous motor mode in unidirection. Meanwhile the motor back-EMF is estimated by the developed robust current control scheme, and it is employed for performing the PMSM sensorless vector control. Theoretic basis of the proposed non-reversible starting approach, its operation characteristics and possible improvements in methodology and scheme are described in detail. And furthermore, a commutation instant tuning scheme is designed to yield equivalent maximum torque per ampere characteristics.

並列關鍵字

Permanent-magnet synchronous motor ； sensorless control ； robust control ； DSP ； back-EMF estimation ； commutation tuning ； initial rotor position estimation ； unidirectional starting ； switch-mode rectifier ； random PWM switching ； vibration reduction ； speed ripple reduction

參考文獻

[34] J. Bastos, A. Monti and E. Santi, “Design and implementation of a nonlinear speed

A. AC Motors and PMSMs

[2] B. K. Bose, Modern Power Electronics and AC Drives, New Jersey: Prentice Hall

Inc., 2002.

Prentice Hall, 2001.