以DSP與FPGA實現永磁同步電動機之初始角度估測與驅動系統

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姓名

楊耀焜(Yao-Kun Yang) 查詢紙本館藏

畢業系所

光機電工程研究所

論文名稱

以DSP與FPGA實現永磁同步電動機之初始角度估測與驅動系統
(Implementation of Permanent Magnet Synchronous Motor Driver System and Initial Rotor Angle Estimation with DSP and FPGA)

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至系統瀏覽論文 ( 永不開放)

摘要(中)

本論文主要在研究有轉軸編碼器的表面式永磁同步電動機之驅動系統及轉子初始位置估測。首先比較直流無刷與永磁式同步馬達的架構與差異，再介紹表面式磁與內藏式同步電動機之特性與數學方程式。而相較於其它馬達，永磁式同步馬達(permanent magnet synchronous motor, PMSM)具有高功率密度、高效率以及高加速能力等優點，使其已逐漸被廣泛地應用。
由於本論文主要建構於有轉軸編碼器的情況，故接下來主要探討的方向為馬達內部參數估測、初使轉子位置量測與向量控制法則。在單晶片控制方面，使用DSP2407做主要向量控制運算、伺服控制、電流控制；而FPGA主要產生初始位置估測的觸發訊號及取代DSP之10-bit類比/數位轉換器的外接12-bit類比/數位轉換器的數值前置處理。由於轉軸編碼器在安裝過程中不一定有對應馬達本身電氣角，故在此需要對其轉子磁極的偏量做一修正補償。
為了簡化設計與降低硬體實現之複雜度，本論將主要的控制器都撰寫於DSP2407內。在周邊電路方面，可直接將電流回授經由類比/數位轉換器傳回給FPGA做處理再傳送給DSP；而光學編碼器的訊號直接傳回給DSP2407作控制用。DSP2407可利用匯流排對FPGA做參數及變數的即時(real-time)讀出或寫入。

摘要(英)

The thesis discusses the method of Initial Rotor Position Estimation and the drive system of Surface Permanent Magnet Synchronous Motors (SPMSM) with encoder. First, the brushless DC motor, SPMSM, IPMSM and their characteristic and mathematical model are introduced and compared. The PMSM has high power density, high efficiency and high acceleration, so it becomes popular recently.
Based on the situation of motor with the encoder, we perform the estimation of motor parameter and vector control. DSP2407 is employed to achieve voltage vector control, servo control and current control. FPGA is used to process the data of 12-bit A/D converter and estimate the initial rotor position. When an incremental encoder was assembled on the motor, the electrical angle of motor is still to be determined. So we should calibrate original angle from Z pulse to rotor magnetic pole to amend the rotor angle.
In order to simplify the design and reduce the perplexity of hardware, the thesis adopts module design. In operation, FPGA gets the current feedback signal from current sensors through A/D converter, and DSP2407 gets position signal from the encoder. DSP2407 could observe and modulate the parameters of FPGA, and all of the parameters could be written in or read out online.

關鍵字(中)

★ 驅動器
★ 永磁同步電動機
★ 空間電壓向量寬調變
★ 向量控制

關鍵字(英)

★ Field oriented control
★ SVPWM
★ PMSM
★ driver

論文目次

第一章簡介.................................1
1.1 永磁同步電動機及直流無刷馬達............1
1.2 文獻的回顧..............................5
1.3 大綱....................................7
第二章向量控制理論.........................8
2.1 簡介....................................8
2.2 以abc軸為架構的數學模式.................9
2.3 以d-q軸為架構的數學模式................11
2.4 空間向量脈寬調變.......................14
第三章馬達參數測量........................19
3.1 簡介...................................19
3.2 反電動勢常數...........................19
3.3 線圈電阻及電感.........................19
3.3.1 定子電阻.............................19
3.3.2 定子磁通鏈...........................20
3.3.3 d-q軸電感............................20
3.4 轉子角度修正...........................21
第四章轉子初始位置估測....................24
4.1 簡介...................................24
4.2 估測原理...............................24
4.3 估測方法...............................25
4.4 估測數據...............................27
第五章硬體與軟體架構......................31
5.1 系統架構...............................31
5.2 硬體架構...............................32
5.2.1 IPM電路..............................33
5.2.2 電流回授電路.........................34
5.3 FPGA簡介...............................36
5.4 FPGA程式架構...........................39
5.4.1 12-bit A/D轉換器處理區塊.............40
5.4.2 DSP匯流排傳送區塊....................41
5.4.3 初始轉子位置估測訊號區塊.............42
5.5 DSP簡介................................42
5.6 DSP程式架構............................43
5.6.1 程式初始化...........................44
5.6.2 控制迴圈.............................44
5.6.3 過電流保護程式.......................45
5.6.4 DSP程式流程..........................46
第六章實驗結果............................47
6.1 實驗硬體架構...........................47
6.2 實驗結果...............................48
6.2.1 電流控制實驗結果.....................49
6.2.2 速度控制實驗結果.....................53
6.2.3 位置控制實驗結果.....................58
6.3 實驗結果討論...........................63
第七章結論與未來展望......................64
參考文獻................................65

參考文獻

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指導教授

董必正(Pi-Cheng Tung)

審核日期

2006-7-11

推文