Title

永磁同步馬達模型建立與控制

Translated Titles

Permanent Magnet Synchronous Motor Modeling and Control

Authors

羅聲喨

Key Words

永磁同步馬達 ; 磁場導向控制 ; 模糊PI控制 ; 前饋式類神經網路 ; 空間向量脈波寬度調變 ; PMSM ; Field-Oriented-Control ; Fuzzy PI Control ; Feedforward Artificial Neural Networks ; SVPWM

PublicationName

中央大學電機工程研究所碩士在職專班學位論文

Volume or Term/Year and Month of Publication

2014年

Academic Degree Category

碩士

Advisor

鍾鴻源

Content Language

繁體中文

Chinese Abstract

本論文係以個人電腦為基礎來設計永磁同步馬達(PMSM)模型建立與控制,首先利用交流電機磁場導向控制理論(FOC)推導永磁同步馬達的數學模型,接著用座標系統轉換與解偶控制做到方程式的化簡。模型建立主要採用MATLAB/Simulink、Psim軟體工具來設計,並發展而建立一個原型化的實驗平台,並在此平台上進行控制設計、理論模擬及驅動驗證。 控制器設計方面,在電流和轉速的回授控制迴路中除了使用比例-積分(PI)控制器並且加入控制補償器方式來改善系統響應效能外,另外加入模糊PI控制器方法,調整kp、ki,最後針對Fuzzy的模糊推理系統(FIS)非線性部分,將採用雙前饋式類神經網路(DFNN)速度PI控制器,並使用尺規因素(scaling factors) 參數調整方式,其調整FIS非線性部分更為平順,最後模擬結果,具有快速響應及抗干擾的優良特性。 驅動器模型建立的目標是要得到減少驅動器的轉矩及速度漣波之影響,採用2種變頻調變方式技術,弦波脈波寬度調變(SPWM),空間向量脈波寬度調變(SVPWM)方法,比較與驗證,最後在這個原型化的實驗平台完成馬達系統測試。

English Abstract

This study is PC-based to design Permanent Magnet Synchronous Motor (PMSM) Modeling Establish and Control. First, the mathematical model of a PMSM motor is derived by the field-oriented control (FOC) theory and then the mathematical model is simplified via the decoupling control and coordinate transformation. Software module tools such as MATLAB/Simulink and PSIM are used to design and establish an experimental platform with model prototyping. The design, simulation and implementation of the driver control can be carried out on this platform. In the controller design, in additional to using proportional and integral (PI) controller in current and speed feedback loop control, another way to improve performance of the system response is by adding a control compensator. Subsequently, the method of fuzzy PI controller is used to adjust kp and ki. The dual feedforward artificial neural network (DFNN) speed PI controller and scaling factors to adjust it smoothly are used for the nonlinear part of the Fuzzy Inference System (FIS). Finally, the simulation results with fast response and excellent in anti-interference features are given. The aim of this driver modeling is to get the driver to reduce ripples of the torque and speed by using two kinds of frequency modulation models. These are sinusoidal width modulation (SPWM), and space vector pulse width modulation (SVPWM) methods used to compare and verify the result of simulation.

Topic Category 資訊電機學院 > 電機工程研究所碩士在職專班
工程學 > 電機工程
Reference
  1. [2] 陳泓傑,“直接轉矩控制於永磁同步馬達之轉矩漣波改善研究” 中央大學電機
    連結:
  2. [3] MUHAMMAD H.RASHID,POWER ELECTRONICS HANDBOOK”,
    連結:
  3. and Dr. S. Suresh Kumar ,” SIMULATION AND COMPARISON OF
    連結:
  4. [8] Seema Chopra, Ranajit Mitra, and Vijay Kumar,” Reduction
    連結:
  5. 438-447, August 2006.
    連結:
  6. Controller for PMSM Servo System”, Proceedings of the
    連結:
  7. IEEE International Conference on Automation and
    連結:
  8. [10]Mavungu Masiala, Student Member, IEEE, Behzad Vafakhah,
    連結:
  9. Andrew M. Knight,85 Senior Member, IEEE,“Fuzzy Self
    連結:
  10. Tuning Speed Control of an Indirect Field-Oriented
    連結:
  11. Control Induction Motor Drive”,IEEE Transactions On
    連結:
  12. Adaptive Control of Permanent Magnet Synchronous Motor,"
    連結:
  13. in Control Conference, 2006.CCC 2006. Chinese, 2006, pp.
    連結:
  14. Control for PM Synchronous Servo Motor Drives," Control
    連結:
  15. Theory and Applications, IEEE Proceedings -, vol. 145,
    連結:
  16. pp. 63-72, 1998.
    連結:
  17. [14]Ieroham S. Baruch, Carlos R. Mariaca-Gaspar, Irving
    連結:
  18. Adaptive Vector Neural Control of a Three-Phase
    連結:
  19. Freedom PID Controllers” International Journal of
    連結:
  20. [18]Umesh Kumar Bansal, Rakesh Narvey,“Speed Control of DC
    連結:
  21. and Electric Engineering, “Inverters”,ISSN 2231-1297,
    連結:
  22. Volume 3, Number 9 (2013), pp.1209-1220.
    連結:
  23. M.,” Modeling and cosimulation of FPGA-based SVPWM
    連結:
  24. Industrial Electronics Society,2005.
    連結:
  25. inverter”IEEE Trans. Power Electronics, pp.1~6 2012.
    連結:
  26. ”Simulation of PMSM Vector Control System Based on
    連結:
  27. [23]Microchip,”Using the dsPIC30F for Vector Control of an
    連結:
  28. [24]蘇裕新, “全數位化永磁同步馬達之直接轉矩控制驅動器研製”,中央大學電
    連結:
  29. [25]PSIM User’s Guide Version 6.0。
    連結:
  30. [29]羅銘翔, “永磁同步馬達調速驅動系統於跑步機之研製”,國立成功大學電機工
    連結:
  31. for AC Induction Motor" Application Note BPRA043.
    連結:
  32. [31]Texas Instruments Europe,” Field Orientated Control of
    連結:
  33. ”Comparison of Pole Placement & Pole Zero Cancellation
    連結:
  34. Method for Tuning PID Controller of A Digital Excitation
    連結:
  35. Research Publications, Vol.3 , Issue 4, April 2013.
    連結:
  36. [33]Seiya Abe, Toshiyuki Zaitsu, Satoshi Obata,Masahito
    連結:
  37. Shoyama and Tamotsu Ninomiya, “Pole-Zero-Cancellation
    連結:
  38. Fuzzy-adaptive PI Controller Based on MRAS”, 2010 Sixth
    連結:
  39. International Conference on Natural Computation (ICNC
    連結:
  40. 立”,明新科技大學 電機工程系。
    連結:
  41. [1] 高效率馬達節能應用技術/鄭詠仁博士機械所/工研院。
  42. 所碩士論文,民國96 年7 月。
  43. “Inverters”,“Motor drives”,pp.183~196, pp.663~727 ACADEM
  44. PRESS.
  45. [4] 劉昌煥編著,交流電機控制第2 版,東華書局,中華民國92年5月版。
  46. [5] 林法正、魏榮宗和著,電機控制,滄海書局,民國91年4月 初版。
  47. [6] R.Krishnan,廖東成,王順源譯,”電動機控制 ELECTRIC MOTOR DRIVES
  48. Modeling,Analysis and Control”,學銘圖書,2009年8月,初版。
  49. [7] K. Vinoth Kumar, Prawin Angel Michael, Joseph P. John
  50. SPWM AND SVPWM CONTROL FOR THREE PHASE INVERTER “, ARPN
  51. Journal of Engineering and Applied Sciences VOL. 5, NO.
  52. 7, JULY 2010.
  53. of Fuzzy Rules and Membership “, International Journal
  54. of Control, Automation, and Systems, vol. 4, no. 4, pp.
  55. [9] Xianqing Cao, Meng Bi,“Self-Tuning Fuzzy PI+PD
  56. Logistics Shenyang, China August 2009.
  57. Student Member, IEEE, John Salmon, Member, IEEE, and
  58. Industry Applications vol. 44, no. 6,November/December
  59. 2008.
  60. [11]Y. Shen, D. Wu, and Z. Ji, "Model Reference Fuzzy
  61. 1522-1527.
  62. [12]F. J. Lin and S. L. Chiu, "Adaptive Fuzzy Sliding-Mode
  63. [13]W.D. Chang, J.J. Yan, J.L. Chen, "On-line PID
  64. Controller Design via a Single Auto-tuning Neuron".
  65. Pavel de la Cruz A., and Oscar Castillo,"Direct Torque
  66. Induction Motor," Neural Networks (IJCNN), The 2010
  67. International Joint Conference on,pp.1~8,2010.
  68. [15]趙健利,“永磁同步馬達智慧型控制之研究”,中央大學電機所碩士論文,民國
  69. 101 年7 月。
  70. [16]Mituhiko Araki and Hidefumi Taguchi,“Two-Degree-of-
  71. Control, Automation, and Systems Vol. 1, No. 4, December
  72. 2003.
  73. [17]張道弘,“PID控制理論與實務”,全華圖書,民國86年1月。
  74. Motor Using Fuzzy PID Controller”,Advance in Electronic
  75. [19]Jiang, S.; Liang, J. ; Liu, Y.; Yamazaki, K.; Fujishima,
  76. control for PMSM”, 31st Annual Conference of IEEE,
  77. [20]Gupta, N.P. ; Gupta, P.,”Performance analysis of direct
  78. torque control of of PMSM drive using SVPWM
  79. [21]Ting-ting Liu ; Yu Tan ; Gang Wu ; Shu-mao Wang,
  80. Matlab/Simulink”,Measuring Technology and Mechatronics
  81. Automation, vol. 12 no.4 pp.343~346 2009.
  82. [22]FUJITSU Cortex M3,”Space Vector Pulse Width
  83. Modulation”,AN706.
  84. ACIM” AN908.
  85. 機所碩士論文,民國96 年7 月。
  86. [26]李宜達,“控制系統設計與模擬“,使用MATLAB/SIMULINK,全華圖書,200年2
  87. 月。
  88. [27]張建章,“視窗化馬達驅動器開發平台之設計”, 逢甲大學電機工程學系碩士論
  89. 文,民國92年5月。
  90. [28]張國明,“永磁式馬達驅動器於電子式重量訓練機之設計與製作”,逢甲大學電機
  91. 工程學系在職專班碩士論文, 民國98年6月。
  92. 程學系碩士論文,民國96年7月。
  93. [30]Texas Instruments,”Digital Signal Processing Solution
  94. 3-Phase AC-Motors”,Literature Number: BPRA073,1998.
  95. [32]Deepak M.Sajnekar, Dr. S.B.Deshpande, Dr.R.M.Mohri,
  96. Control System” ,International Journal of Scientific and
  97. Technique for DC-DC Converter”.
  98. [34]周鵬程,“遺傳演算法與應用,活用MATLAB”,全華圖書,2005年,3月。
  99. [35]王文浚,“認識FUZZY”,全華圖書,2005年6月第三版。
  100. [36]Hui-ying Dong,Wen-guang Li,“Design and Simulation
  101. 2010).
  102. [37]蔡明發,“交流馬達控制模擬及其空間向量波寬調變SIMULINK模擬方式之建