基於轉子初始位置估測之永磁同步馬達無感測器啟動方法研製

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：13

、訪客IP：3.15.239.140

姓名

游子民(Tzu-Ming Yu) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

基於轉子初始位置估測之永磁同步馬達無感測器啟動方法研製
(Implementation of Sensorless Startup Method for Permanent Magnet Synchronous Motor Based on Initial Rotor Position Estimation)

相關論文

★ 感光式觸控面板設計	★ 單級式直流無刷馬達系統之研製
★ 單級高功因LLC諧振電源轉換器之研製	★ 多頻相位編碼於穩態視覺誘發電位之大腦人機介面系統設計
★ 類神經網路於切換式磁阻馬達轉矩漣波控制之應用	★ 感應馬達無速度感測之直接轉矩向量控制
★ 具自我調適導通角度功能之切換式磁阻馬達驅動系統---DSP實現	★ 感應馬達之低轉速直接轉矩控制策略
★ 加強型數位濾波器設計於主動式噪音控制之應用	★ 非匹配不確定可變結構系統之分析與設計
★ 無刷直流馬達直接轉矩控制方法之轉矩漣波改善	★ 無轉軸偵測元件之無刷直流馬達驅動器研製
★ 無轉軸偵測元件之開關磁阻馬達驅動系統研製	★ 感應馬達之新型直接轉矩控制研究
★ 同步磁阻馬達之性能分析及運動控制研究	★ 改良比例積分與模糊控制器於線性壓電陶瓷馬達位置控制

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

至系統瀏覽論文 (2027-7-20以後開放)

摘要(中)

本論文研究永磁同步馬達在無位置感測器的情況下，以電流振幅閉迴路
電流-頻率啟動方法並結合改良型脈波電壓注入法估測轉子初始位置，完成啟
動流程。電流-頻率啟動方法以預定位方式給定特定向量命令，將使得啟動過
程馬達反轉、抖動，故本論文依據馬達電感的凸極效應導致等效電感會因轉
子位置不同影響電感值的特性，估測轉子初始位置。此外，以馬達等效數學
模型控制內部反應虛功率，保持啟動流程滿足磁場導向控制(?? = 0)特性。
　　此啟動方法降低永磁同步馬達控制方法中需使用位置感測器量測轉子位
置訊號帶來的系統成本及體積，與其他無感測器啟動策略相比，演算法複雜
度低、不受限於特定馬達結構且確保啟動成功。

摘要(英)

This thesis discusses the current amplitude close loop I-f startup combined with
improved pulse voltage injection method to complete the permanent magnet synchronous motor startup process without position sensors. In the I-f startup method, a
specific vector command is given in a pre-positioning manner, which will cause the
reversal and shake of the motor during the startup process. Therefore, this thesis estimates the initial rotor position according to the characteristic of the equivalent inductance value due to the different rotor position. Additionally, the motor model
equivalent mathematical model is used to control the internal reaction virtual power
to maintain the startup process satisfying the FOC(?? = 0) characteristics.
This startup method reduces the system cost caused by the use of position sensors
to measure the rotor position signal in the PMSM control method. Compared with
other sensorless startup strategies, the algorithm has low complexity, it is not limited
to a specific motor structure and ensures successful startup

關鍵字(中)

★ 永磁同步馬達
★ 無感測器
★ 脈波電壓注入
★ 電流-頻率啟動

關鍵字(英)

★ PMSM
★ Sensorless
★ Pulse voltage injection
★ I-f startup

論文目次

摘要.............................................................................................................................I
ABSTRACT.............................................................................................................. II
誌謝..........................................................................................................................III
目錄..........................................................................................................................IV
圖目錄......................................................................................................................VI
表目錄......................................................................................................................IX
第一章緒論........................................................................................................... 1
1.1 研究動機與目的.......................................................................................1
1.2 文獻回顧...................................................................................................2
1.3 大綱...........................................................................................................3
第二章永磁同步馬達介紹................................................................................... 4
2.1 前言...........................................................................................................4
2.2 永磁同步馬達簡介...................................................................................5
2.2.1 永磁同步馬達介紹...............................................................................5
2.2.2 永磁同步馬達數學模型[1] ..................................................................6
2.3 本文研究之馬達介紹.............................................................................10
第三章馬達控制方法......................................................................................... 11
3.1 前言......................................................................................................... 11
3.2 空間向量脈波寬度調變[18].................................................................. 11
3.3 轉子初始位置估測[19]..........................................................................17
3.3.1 初始位置估測方法原理.....................................................................17
3.3.2 脈波電壓注入法.................................................................................21
3.3.3 改良型脈波電壓注入法.....................................................................22
3.4 啟動策略.................................................................................................25
3.4.1 啟動策略原理 .....................................................................................25
v
3.4.2 I-f啟動方法[10]...................................................................................26
3.4.3 電流振幅閉迴路I-f啟動方法[13] ......................................................28
第四章硬體架構介紹.........................................................................................31
4.1 前言.........................................................................................................31
4.2 電源模組架構.........................................................................................32
4.3 電流感測電路.........................................................................................34
4.4 微處理器及周邊電路.............................................................................35
4.5 功率開關及驅動電路.............................................................................36
第五章模擬與實驗結果.....................................................................................38
5.1 模擬結果.................................................................................................38
5.1.1 模擬架構 .............................................................................................38
5.1.2 無感測器啟動方法.............................................................................40
5.2 實驗結果.................................................................................................44
5.2.1 實驗硬體配置 .....................................................................................44
5.2.2 改良型脈波電壓注入法.....................................................................46
5.2.3 電流振幅閉迴路I-f啟動方法.............................................................54
第六章結論與未來展望.....................................................................................69
參考文獻..................................................................................................................70

參考文獻

[1] 劉昌煥，交流電機控制，第四版，東華書局，民國97年7月。
[2] 黃以暉，「表貼式永磁同步馬達之弱磁控制研究與實現」，國立中
央大學電機工程學系，碩士論文，民國 109 年 6 月。
[3] 孫煒竣，「低解析度位置感測器用於永磁同步馬達之直接轉矩控制
」，國立中央大學電機工程學系，碩士論文，民國 109 年 6 月。
[4] G. H. B. Foo and M. F. Rahman, “Direct torque control of an IPM synchronous motor drive at very low speed using a sliding-mode stator flux observer,” IEEE Trans. Power Electron., vol. 25, no. 4, pp. 933–942, Apr.
2010.
[5] T. Orlowska-Kowalska and M. Dybkowski, “Stator-current-based MRAS
estimator for a wide range speed-sensorless induction-motor drive,” IEEE
Trans. Ind. Electron., vol. 57, no. 4, pp. 1296–1308, Apr. 2010.
[6] B. Terzic and M. Jadric, “Design and implementation of the extended Kalman filter for the speed and rotor position estimation of brushless DC motor,” IEEE Trans. Ind. Electron., vol. 48, no. 6, pp. 1065–1073, Dec. 2001.
[7] J.-H. Jang, S.-K. Sul, J.-I. Ha, K. Ide, and M. Sawamura, ‘‘Sensorless drive
of surface-mounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency,’’ IEEE Trans. Ind. Appl., vol. 39, no.
4, pp. 1031–1039, Jul. 2003.
[8] 杜冠頡，「創新式高頻注入法應用於無感測永磁同步馬達驅動」，
國立中央大學電機工程學系，碩士論文，民國 107 年 6 月。

[9] P. D. C. Perera, F. Blaabjerg, J. K. Pedersen, and P. Thogersen, “A sensorless, stable V/f control method for permanent-magnet synchronous motor
drives,” IEEE Trans. Ind. Appl., vol. 39, no. 3, pp. 783–791, May/Jun.
2003.
[10]Z. Wang, K. Lu, and F. Blaabjerg, “A simple startup strategy based on current regulation for back-EMF-based sensorless control of PMSM,” IEEE
Trans. Power Electron., vol. 27, no. 8, pp. 3817–3825, Aug. 2012.
[11]J. Xing, Z. Qin, C. Lin, and X. Jiang, ‘‘Research on startup process for
sensorless control of PMSMs based on I-F method combined with an adaptive compensator,’’ IEEE Access, vol. 8, pp. 70812–70821, 2020.
[12]S. V. Nair, K. Hatua, N. V. P. R. D. Prasad, and D. K. Reddy, “A quick I-F
starting of PMSM drive with pole slipping prevention and reduced speed
oscillations,” IEEE Trans. Ind. Electron, vol. 68, no. 8, pp. 6650-6661,
Aug. 2021.
[13]Z. Wang, Z. Cao, and Z. He, “Improved Fast Method of Initial Rotor Position Estimation for Interior Permanent Magnet Synchronous Motor by
Symmetric Pulse Voltage Injection,” IEEE Access, vol. 8, pp. 59998–
60007, 2020.
[14]X.Wu, Z.Zhu, and Z.Wu, “A Rotor Initial Position Estimation Method for
Surface-Mounted Permanent Magnet Synchronous Machine,” IEEE Trans.
Energy Convers., vol. 36, no. 3, pp. 2012-2024, Sept. 2021.
[15]X. Wu, Z. Lv, Z. Ling, X. Zhang, and G. Tan, ‘‘An improved pulse voltage
injection based initial rotor position estimation method for PMSM,’’ IEEE
Access, vol. 9, pp. 121906–121915, 2021.
72
[16]D. Chen, K. Lu, and D. Wang, “An I-f Startup method with compensation
loops for pmsm with smooth transition,” IEEJ Journal of Industry Applications, vol. 9, no. 3, 2020.
[17]野力電機，YBL9D 系列伺服馬達規格特性表與外型尺寸圖，取自
http:/ /www.yeli.com.tw/download/20130409114647.pdf
[18]邱瑋國，「類弦波反電動勢無刷直流馬達之SVPWM研究」，國立中
央大學電機工程學系，碩士論文，民國 104 年 6 月。
[19]王儷融，「無感測器馬達初始位置估測及啟動方法實現」，國立中
央大學電機工程學系，碩士論文，民國 105 年 6 月。
[20]Allegro，ACS712 datasheet，取自http://www.sparkfun.com/datasheets/
BreakoutBoards/0712.pdf。
[21]STMicroelectronics，STM32F103R8 datasheet，取自http://www.st.com
/rsourc-e/en/datasheet/stm32f103c8.pdf。
[22]Infineon Technologies，IGCM20F60GA datasheet，取自https://www.inf
Ineon.com/dgdl/Infineon-IGCM20F60GA-DS-v01_06-EN.pdf?fileId=55
46d4624fb7fef2014fcb1efd587879。

指導教授

徐國鎧(Kuo-Kai Shyu)

審核日期

2022-7-28

推文