永磁式同步馬達系統之無感測器速度追蹤控制

Sensorless Speed Tracking Control for Permanent Magnet Synchronous Motor Systems

傅秉元(Ping-Yuan Fu)

指導教授 ： 林容杉

國立暨南國際大學/科技學院/電機工程學系/碩士(2008年)

https://doi.org/10.6837/NCNU.2008.00205

摘要

近年來，永磁式同步馬達被廣泛的應用在現代工業上，被廣泛應用的交流同步馬達可根據下列特點將之區分為永磁式同步馬達與直流無刷同步馬達，其區分方式是依磁通分步、梯型或是弦波型的反電動勢。而永磁式同步馬達的優點在轉距和電流上的高效率比，因此永磁式同步馬達受到各界的熱愛。相量控制原理運用在永磁式同步馬達的系統動態上，使永磁式同步馬達在不同座標軸上可藉由電流回授法去追蹤馬達的轉子速度。首先，我們必須討論這個非線性永磁式同步馬達的系統動態，再透過所提出的控制演算法使系統能夠達到轉速的追蹤。此外，我們探討系統參數不明確時，我們所運用的非線性速度追蹤控制器，藉由適應性理論的協助，來達成我們控制目的，此時的非線性控制器都是在馬達速度是可量測的情況下完成。一般而言，永磁式同步馬達速度追蹤是需要角速度的量測才能達成控制目的。但是，大多數的永磁式同步馬達是無法量測到系統角速度。因此，我們這邊採用觀察器的設計並藉由遞迴步階控制法則來設計之，以達成角速度的量測，來達成我們追蹤控制。此外，我們探討如果系統無法設計速度的觀察器，並且系統參數是不明確的條件下，在這無感測器的速度追蹤控制不使用觀察器之下，我們所採取的控制策略是適應性遞迴步階控制法則來解決此問題。最後，完美的系統響應證實了我們所設計的控制器是可行的。

關鍵字

順滑模態 ； 非線性遞迴步階設計 ； 適應性控制 ； 無感測器控制 ； 永磁式同步馬達

並列摘要

At present, lots of permanent magnet synchronous motors (PMSM) are commonly utilized in modern industries. Synchronous AC motors could be simply classified as PMSM and brushless DC motors according to sinusoidal or trapezoidal flux distribution, respectively. The advantages of a PMSM include superior high power density, large torque to inertia ratio and high efficiency, so it has been widely employed for many industrial drives.
The vector control scheme can decouple the system dynamics of PMSM on various reference frames and it can apply current feedback control to track the reference rotor velocity. First of all, the nonlinear control design of PMSM systems is considered, and the proposed methodology incorporates the sliding mode algorithm to track the rotor speed. In addition, the nonlinear speed tracking controller is developed for a PMSM system based on adaptive sliding mode approach to cope with system uncertainties. So far, these nonlinear control designs are attained with the assumption of measurable rotor speed.
In general, the PMSM speed tracking design requires the measurement of angular velocity to achieve control goals, but most PMSM systems do not have speed measurement devices. Therefore, the nonlinear backstepping controller with observer, which is employed to estimate the unmeasurable angular velocity, is proposed to achieve speed tracking control. Furthermore, if the system cannot have velocity observer and system parameters are unknown, the sensorless speed tracking control design without observer is developed for a PMSM system based on adaptive backstepping design scheme. As a result, the excellent performance of the nonlinear controller design scheme can be illustrated through comparative simulations applied to a PMSM.

並列關鍵字

sliding mode ； nonlinear backstepping, ； adaptive control, ； sensorless control ； PMSM

參考文獻

[1] P. Pillay and R. Krishnan, “Application Characteristics of Permanent Magnet Synchronous and Brushless DC Motors for Servo Drives,” IEEE Transactions on Industry Applications, vol. 27, pp. 986-996, 1991.

[2] P. Pillay and R. Krishnan, “Modeling, Simulation and Analysis of Permanent-Magnet Motor Drives. I. The Permanent-Magnet Synchronous Motor Drive,” IEEE Transactions on Industry Applications, vol. 25, pp. 265-273, 1989.

[3] P. Pillay and R. Krishnan, “Modeling, Simulation and Analysis of Permanent- Magnet Motor Drives. II. The Brushless DC Motor Drive,” IEEE Transactions on Industry Applications, vol. 25, no. 2 pp. 274-279, 1989. 1988.

[4] P. Pillay and R. Krishnan, “Modeling of Permanent Magnet Motor Drives,”IEEE Transactions on Industrial Electronics, vol. 35, pp. 537-541, 1988.

[5] C. Li and M. Elbuluk, “A Sliding Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motors,” IEEE Transactions on Industry Applications, vol. 2, pp. 1273-1278, 2001.