永磁交流伺服馬達參數自動鑑別與控制增益自動調整

永磁交流馬達目前已被廣泛運用於高性能的伺服控制系統，為工具機及自動化產業關鍵的零組件之一。永磁交流馬達控制系統通常包含電流及伺服等兩個控制迴路，為了達到穩定和快速的響應，這些控制器的調整極為重要。傳統使用人工調整通常需要在電機及控制領域具有相當知識的人員及使用專業的儀器，這除了會降低競爭力之外，調整之控制系統的性能一致性亦有疑慮。本文提出一個自動調整永磁交流伺服馬達驅動器的方法，控制器首先產生一些測試信號以自動量測馬達的電氣及機械參數，接著利用這些參數及需求的性能計算電流及伺服控制迴路的增益。最後，在馬達正常運轉之後，亦可持續量測馬達的機械參數以修正伺服控制迴路的增益，維持需求的動態響應。本文包含提出之方法的理論說明及實驗驗證，實驗結果顯示大約在7秒左右即可完成控制系統設定並且開始運作。

關鍵字

永磁交流伺服馬達；參數自動鑑別；控制增益自動調整

並列摘要

Permanent magnet AC motors are widely used in high-performance servo control systems for machine tools and industrial automations. The control system includes current and servo control loops. Tuning of the controllers is extremely important for these motor drives to achieve stable and fast responses. Conventional manual tuning requires skilled technician with electrical machines and control background. Increased labor cost and setup time renders a less cost-competitive control system. In this thesis, a scheme for automatic tuning of PMAC servo drives is presented. The controller produces a series of test signals to measure motor electrical and mechanical parameters automatically. Then, the gains for the required control performance are calculated and setup based on the measured parameters. Finally, in normal operations, motor mechanical parameters can be measured continuously to adjust servo controller gains for the required dynamic responses. Both the theoretical analysis and the experimental verifications are included in the thesis. According the experimental results the control systems can be setup within 7 seconds.

並列關鍵字

PMAC Servo Motor ； Automatic Parameters Identification ； Auto-tuning of Control Gains

參考文獻

[32] 許清翔，內藏型永磁交流馬達無轉軸位置感測器控制及其在壓縮機之應用，碩士論文，國立台北科技大學電機工程研究所，臺北，2010。

[30] S. M. Yang and Y. J. Deng, “Observer-Based Inertial Identification for Auto-Tuning Servo Motor Drives”, Proceedings of the 4th International Conference on Industry Applications, Oct. 2005, pp. 968-972.

[7] C. D. Schauder and R. Caddy, “Current Control of Voltage-source Inverter for Fast Four-quadrant Drive Performance”, IEEE Transactions on Industry Application, Vol. IA-18, no. 2, 1982, pp. 163-171.

[8] Y. S. Lai, J. C. Lin, and J. J. Wang, “Direct Torque Control Induction Motor Drives with Self-Commissioning Based on Taguchi Methodology”, IEEE Transactions on Power Electronics, Vol. 15 , no. 6, Jun. 2000, pp. 1065-1071.

[9] J. W. Choi and S. K. Sul, “Inverter Output Voltage Synthesis Using Novel Dead Time Compensation”, IEEE Transactions on Power Electronics, Vol. 11, no. 2, 1996, pp. 221 -227.

國際替代計量

永磁交流伺服馬達參數自動鑑別與控制增益自動調整

全文下載

主題瀏覽