利用磁通補償器實現永磁同步馬達之直接轉矩控制於低速改善

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朱翊豪(Yi-Hao Jhu) 查詢紙本館藏

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電機工程學系

論文名稱

利用磁通補償器實現永磁同步馬達之直接轉矩控制於低速改善
(The DTC of Permanent Magnet Synchronous Motor in Low Speed Condition Improvement Using Flux Compensator)

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摘要(中)

本論文旨在改善傳統直接轉矩控制在基本架構上的控制缺點，其架構主要是控制定子磁通與轉子磁通向量間的差角關係，向量差角又可稱為轉矩角，以直覺化方式的直接控制轉矩，有效改善傳統直接轉矩控制的缺點。由於傳統直接轉矩控制的切換是透過6個有效向量以及2個無效向量切換，且電壓切換表設計特色在於每一個取樣周期內開關保持全開或全關，因此能夠獲得快速的轉矩響應，但是相對造成轉矩漣波大與噪音的產生，且開關切換頻率取決於系統的響應速度。因此以直接轉矩之空間向量切換方法透過將6個有效向量依據電壓控制量合成適當的輸出調變量，因此可以得到平滑的電壓向量切換使磁通向量圖型更近似一個圓。控制架構主要將估測的定子磁通向量解偶成大小與角度並依此做為控制基礎，在操作於定子磁通命令下，透過控制定子磁通的大小與估測角度實現轉矩角的控制。由於定磁通操作於定電壓，在暫態過程並不適用定磁通操作，並且磁通誤差影響空間向量脈寬調變的電壓調變量，因此在暫態過程中提出以轉速誤差作為模糊控制的輸入，經由模糊化與解模糊化即可以得到磁通的補償值。將控制架構實現在永磁同步馬達的速度控制，透過轉矩響應以及定子磁通響應驗證系統效能。論文中所提出的方法，透過PSIM電路分析軟體的模擬驗證之後，將最後的結果以德州儀器TMS320F28335數位訊號處理器作為系統的訊號運算核心，實現高速且精確的控制系統。

摘要(英)

The purpose of this research is to improve the drawbacks of classical direct torque control (Classical-DTC) in the switching table scheme. The approach is based on torque angle control, which is based on the relationship between the stator flux and rotor flux space vectors of the intuition control system. Classical-DTC control uses six valid vectors and two useless vectors on a switching table. However, a feature of this table is that it is either fully open or fully closed in one sampling frequency and achieves fast torque response, which can cause high torque ripple and noise. It is important that the switching frequency be related to system responses. In order to reduce stator flux ripple and torque ripple, the space-vector pulse width modulation (SVPWM) generates different switching states for each sampling time and adapts to overcome the aforementioned problems, especially flux ripple and torque ripple. In the proposed techniques, stator flux amplitude and angle are decoupled from the estimated flux vector. By controlling the reference flux amplitude and angle, torque angle control can be realized. The reference flux is kept constant in this paper. A fuzzy controller is used to compensate for reference flux in order to lessen errors from the transient state response. Speed error is the input of fuzzy controller and the defuzzified value is used to compensate for the reference flux. To demonstrate this method, it was installed on a permanent magnet synchronous motor (PMSM) controller. The simulation result is verified by a PSIM simulator. Finally, the control system is implemented by a digital signal processor TMS320F28335 to achieve a high speed and accurate control system.

關鍵字(中)

★ 直接轉矩之空間向量切換
★ 模糊控制
★ 表貼式永磁同步馬達
★ 轉矩角
★ 磁通補償器

關鍵字(英)

★ DTC-SVPWM
★ Fuzzy
★ SPMSM
★ Torque angle
★ Flux Compensator

論文目次

中文摘要 i
英文摘要 ii
致謝 iii
目錄 iv
圖目錄 vi
表目錄 xii
第一章、緒論 1
1-1　研究動機與目的 1
1-2　文獻回顧 4
1-3　成果與主要貢獻 5
1-4　章節大綱 6
第二章、永磁同步馬達介紹 8
2-1　永磁同步馬達結構 8
2-2　向量控制 10
2-3　永磁同步馬達數學模型 13
2-4　座標系統轉換 18
第三章、硬體設備架構介紹 25
3-1　永磁同步馬達控制晶片 25
3-2　TMS320F28335周邊功能 28
3-3　永磁同步馬達硬體介紹 37
3-4　永磁同步馬達參數量測 47
第四章、PMSM直接轉矩控制 49
4-1　轉矩數學方程式分析 51
4-2　向量控制 55
4-2-1　磁通磁滯比較器 56
4-2-2　轉矩磁滯比較器 60
4-2-3　電壓向量切換表 60
4-3　速度迴路PI控制 63
4-4　永磁同步馬達之直接轉矩控制模擬與實驗分析 66
4-4-1　PSIM模擬軟體 66
4-4-2　永磁同步馬達之直接轉矩控制架構模擬分析 67
4-4-3　模擬結果 69
4-4-4　永磁同步馬達之傳統直接轉矩實驗 76
4-4-5　傳統直接轉矩控制實驗結果分析 85
第五章、改良式直接轉矩架構之轉矩角控制 86
5-1　改良式直接轉矩架構 87
5-1-1　SVPWM向量合成原理與公式推導 88
5-1-2　定子磁通估算 98
5-1-3　電壓估測 106
5-1-4　轉矩閉迴路PI控制 108
5-2　模糊控制應用於磁通補償 114
5-2-1　模糊理論 115
5-2-2　集合型態 116
5-2-3　模糊控制器設計 118
5-3　永磁同步馬達之磁通補償策略控制實驗分析 126
5-3-1　永磁同步馬達之實驗結果 127
5-3-2　改良式直接轉矩控制架構實驗結果分析 138
第六章、結論與建議 140
參考文獻 142
附錄A 146

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指導教授

鍾鴻源(Hung-Yuan Chung)

審核日期

2016-7-15

推文