改良式初始位置估測與高頻注入法之永磁同步馬達無感測控制

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姓名

戴嘉鋐(CHIA-HUNG TAI) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

改良式初始位置估測與高頻注入法之永磁同步馬達無感測控制
(Improved Initial Position Estimation and High-Frequency Injection Method for Sensorless Control of Permanent Magnet Synchronous Motors)

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至系統瀏覽論文 (2029-7-23以後開放)

摘要(中)

本文研究當永磁同步馬達在磁場導向控制方法中，在馬達靜止時以改良式脈波電壓注入法注入不同角度電壓向量，依據磁飽和效應使得馬達激磁電感和電流會因轉子位置不同產生變化，進而估測出轉子初始位置，並結合高頻電壓注入法取代位置感測器，透過注入高頻電壓和提取出回授電流中的高頻訊號，解析出其中的位置誤差訊號估測出馬達轉速和角度。
本論文使用改良式脈波電壓注入法，減少脈波電壓注入次數同時減少角度估測誤差增加解析度，並結合高頻訊號提取方法，解決傳統方法在表貼式永磁同步馬達在L_d≅L_q凸極性不明顯的情況下造成的估測失敗，並減少帶通濾波器所造成的相移問題減少估測誤差，同時簡化演算法流程，達成無位置感測器控制。

摘要(英)

This thesis discusses when the permanent magnet synchronous motor is used in the field-oriented control method. When the motor is stationary, an improved pulse voltage injection method injects voltage vectors at different angles. According to the magnetic saturation effect, this causes changes in the motor′s excitation inductance and current due to variations in rotor position, thereby estimating the initial position of the rotor. Furthermore, by combining the high-frequency voltage injection method to replace position sensors, injecting high-frequency voltage and extracting high-frequency signals from the feedback current, the position error signal is analyzed to estimate motor speed and angle.
This thesis proposed an improved pulse voltage injection method to reduce the number of pulse voltage injections, thereby decreasing angle estimation errors and increasing resolution. By combining a high-frequency signal extraction method to solve estimation failures caused by no obvious salient pole effect in L_d≅L_qin surface-mounted permanent magnet synchronous motors using conventional methods. Additionally, it reduces estimation errors resulting from phase shifts caused by bandpass filters, simplifies algorithm processes, and achieves sensorless control.

關鍵字(中)

★ 永磁同步馬達
★ 脈波電壓注入法
★ 高頻電壓注入法
★ 無感測器
★ 磁場導向控制

關鍵字(英)

★ Permanent magnet synchronous motor
★ pulse voltage injection method
★ high frequency voltage injection method
★ sensorless
★ field oriented control

論文目次

目錄
摘要 ........................................................................................................................ i
Abstract ............................................................................................................... vii
誌謝 .................................................................................................................... viii
目錄 ...................................................................................................................... ix
圖目錄 .................................................................................................................. xi
表目錄 ................................................................................................................ xiv
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 ...................................................................................................... 4
第二章永磁同步馬達介紹 .............................................................................. 5
2.1 前言 ...................................................................................................... 5
2.2 永磁同步馬達簡介 .............................................................................. 6
2.2.1 永磁同步馬達介紹 ....................................................................... 6
2.2.2 永磁同步馬達數學模型 ............................................................... 7
2.3 本文研究之馬達介紹 ........................................................................ 11
第三章馬達控制與估測方法 ........................................................................ 12
3.1 前言 .................................................................................................... 12
3.2 空間向量脈波寬度調變 .................................................................... 12
3.3 轉子位置估測 .................................................................................... 18
3.3.1 初始位置估測方法與原理 ......................................................... 19
3.4 傳統脈波電壓注入法 ........................................................................ 23
3.5 改良式脈波電壓注入法 .................................................................... 24
3.5.1 初始位置判斷流程 ..................................................................... 25
x
3.5.2 脈波電壓向量注入流程 ............................................................. 27
3.6 高頻電壓注入法原理推導 ................................................................ 29
3.7 轉子位置估測[9] ............................................................................... 32
第四章硬體架構介紹 .................................................................................... 36
4.1 前言 .................................................................................................... 36
4.2 電源模組架構 .................................................................................... 37
4.3 電流感測電路 .................................................................................... 39
4.4 微處理器和周邊電路 ........................................................................ 40
4.5 功率開關極驅動電路 ........................................................................ 41
第五章模擬與實驗結果 ................................................................................ 43
5.1 模擬結果 ............................................................................................ 43
5.2 實驗結果 ............................................................................................ 49
5.2.1 實驗硬體配置 ............................................................................. 49
5.2.2 改良式脈波電壓注入法 ............................................................. 50
5.2.3 高頻訊號注入法 ......................................................................... 58
第六章結論與未來展望 ................................................................................ 70
參考文獻 ............................................................................................................. 71

參考文獻

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指導教授

徐國鎧(Kuo-Kai Shyu)

審核日期

2024-7-22

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