具滑模轉子磁通估測器與滑模電流控制器之感應馬達速度驅動系統研製

Design and Implementation of Sliding Mode Based Rotor Flux Observer and Current Controller for Induction Motor Speed Drives

吳永裕(Yung-yu Wu)

指導教授 ： 蕭霖癸

崑山科技大學/工程學院/電機工程研究所/碩士(2005年)

https://doi.org/10.6828/KSU.2005.00064

摘要

本論文針對直接磁場導向控制的感應馬達速度驅動系統，提出一個基於順滑模態的轉子磁通估測器。在文獻上，用於直接磁場導向控制的磁通估測器所估測磁通的準確度，大部分還是會受到馬達參數或轉速的影響，尤其是轉子時間常數。順滑模態技術可使系統具有快速的動態響應，容易實現，及對參數的變動及外來的雜訊干擾具有良好的強健特性。本論文主要的目的是將順滑模態的技術應用在轉子磁通估測上，去克服馬達參數變動所衍生的問題。所提出的磁通估測器是建立在一個順滑模態定子電流估測器之上。當估測的電流誤差趨近於零時，轉子磁通可直接由電流估測器的控制輸入信號積分得到。因此，在發生順滑模態時，估測磁通並不需要任何馬達的參數或轉速資料。換句話說，它具有對轉子時間常數和轉速不靈敏的特性。
本論文並將上述的順滑模態磁通估測器結合在參考文獻[26]中所提出的順滑模態電流控制器，將它們應用在感應馬達速度驅動系統上。所提出的控制策略先以MATLAB/Simulink軟體去模擬分析，並實際組裝一組以個人電腦為基礎的感應馬達速度控制系統來測試系統的各項特性。由實驗結果證明在轉子時間常數變動及負載變動下，系統仍具有良好的強健特性及轉速追蹤能力。

關鍵字

轉子磁通估測器 ； 感應馬達 ； 轉子時間常數 ； 順滑模態 ； 直接式磁場導向控制

並列摘要

Direct field oriented control (DFOC) for an induction motor (IM) is proposed using sliding mode based rotor flux observer. The flux observers used in DFOC are often sensitive to the machine parameters especially to the rotor time constant. Sliding mode technique has fast dynamic response, easy implementation, and robustness to variations in parameters and exogenous load disturbances. In this thesis, sliding mode technique is applied to overcome the motor parameter variations problem in rotor flux observer. The proposed flux observer is based on a sliding mode stator current observer. Rotor flux is merely integrated from the control input of the current observer when the estimated current error approaches zero. Hence, the flux observer does not require any machine parameters and rotor speed while the sliding mode occurs. In other words, this sliding mode observer is completely insensitive to rotor time constant and rotor speed.
In this thesis, we combine the above sliding mode rotor flux observer with the sliding mode current controller proposed in [26] and apply to an induction motor speed drives. The proposed control scheme has been simulated by MATLAB/Simulink software and implemented by a PC-based controller for IM speed drives. From the experimental results, it is seen that the overall system exhibits robust performance despite the presence of rotor time constant variations and load disturbances , and possesses excellent tracking performance.

並列關鍵字

sliding mode ； rotor flux observer ； induction motor ； DFOC ； rotor time constant

參考文獻

[1] H. Rehman, A. Derdiyok, M. K. Guven and Xu Longya, “A New Current Model Flux Observer for Wide Speed Range Sensorless Control of An Induction Machine,”IEEE Trans. on Power Electronics, Vol. 17, Issue 6, pp. 1041-1048, Nov. 2002.

[2] P. L. Jansen and R. D. Lorenz, “A Physical Insightful Approach to The Design and Accuracy Assessment of Flux Observers for Field Oriented Induction Machine Drives,” IEEE Trans. on Ind. Applicat., Vol. 30, pp. 101-110, Jan./Feb. 1994.

[3] P. L. Jansen, R. D. Lorenz and D. W. Novotny, “Observer-Based Direct Field Orientation: Analysis and Comparison of Alternative Methods,” IEEE Trans. on Ind. Applicat., Vol. 30, pp. 945-953, July/Aug. 1994.

[4] H. Tajima and Y. Hori, “Speed Sensorless Field-Orientation Control of The Induction Machine,” IEEE Trans. on Ind. Applicat., Vol. 29, pp. 175-180, Jan./Feb. 1993.

[5] F. Z. Peng and T. Fukao, “Robust Speed Identification for Speed-Sensorless Vector Control of Induction Motors,” IEEE Trans. on Ind. Applicat., Vol. 30, pp. 1234-1240, Sept./Oct. 1994.