應用於內藏式永磁同步馬達之智慧型慣量估測及共振頻率偵測

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姓名

周孝澤(Hsiao-Tse Chou) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

應用於內藏式永磁同步馬達之智慧型慣量估測及共振頻率偵測
(Intelligent Control with Inertia Estimation for IPMSM Drive System and the Detection of Resonance Frequency)

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摘要(中)

本論文提出一非對稱歸屬函數之派翠機率模糊類神經網路對內藏式永磁同步馬達驅動系統即時慣量鑑別之技術，估測出的慣量將應用於內藏式永磁同步馬達驅動系統IP速度控制器之增益設計，並線上自動調變。本論文首先研究了具有IP速度控制器的磁場導向控制內藏式永磁同步馬達伺服驅動系統的動態分析，然後提出了非對稱歸屬函數之派翠機率模糊類神經網路用於即時鑑別內藏式永磁同步馬達伺服驅動系統的慣量。此外，還介紹了非對稱歸屬函數之派翠機率模糊類神經網路的網路結構和收斂性分析。根據實驗結果，可以在不同的操作條件下有效地線上調變IP速度控制器的增益。本論文亦發展一種基於小波濾波器的共振頻率偵測，以獲取轉子速度中共振頻率的特徵，並利用快速傅立葉轉換找出內藏式永磁同步馬達伺服驅動器的機械共振頻率。實驗所使用之硬體為應用德州儀器公司生產之浮點數數位訊號處理器TMS320F28075之內藏式永磁同步馬達驅動系統。

摘要(英)

A real-time moment of inertia identification technique using Petri probabilistic fuzzy neural network with an asymmetric membership function (PPFNN-AMF) for an interior permanent magnet synchronous motor (IPMSM) servo drive is proposed in this thesis. The estimated moment of inertia will be used in the online design of an integral-proportional (IP) speed controller to achieve the gains auto-tuning of the IPMSM servo drive. In this thesis, first, the dynamic analysis of a field-oriented control (FOC) IPMSM servo drive system with an IP speed controller is studied. Then, a heuristic approach using the PPFNN-AMF is proposed for the real-time identification of the moment of inertia of the IPMSM servo drive system. Moreover, the network structure and the convergence analysis of the PPFNN-AMF are introduced. From the experimental results, the gains of the IP speed controller can be effectively tuned online at different operating conditions. Furthermore, a wavelet filter-based scheme for the detection of mechanical resonance frequency is also developed in this thesis. The wavelet Daubechies 4 (db4) is adopted to extract the features of the resonant frequencies embedded in the rotor speed. In addition, fast Fourier transform (FFT) is applied to perform the detection of the mechanical resonant frequencies for IPMSM servo drives. The experimentation using the IPMSM servo drive based on Texas Instruments′ floating point digital signal processor (DSP) TMS320F28075 carried out.

關鍵字(中)

★ 內藏式永磁同步馬達
★ 線上增益調變
★ 派翠機率模糊類神經網路
★ 非對稱歸屬函數
★ 機械共振頻率

關鍵字(英)

★ Interior permanent magnet synchronous motor
★ online gain auto-tuning
★ Petri probabilistic fuzzy neural network
★ asymmetric membership function
★ mechanical resonant frequencies

論文目次

摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 XII
第一章緒論 1
1.1 研究動機 1
1.2 文獻回顧與簡介 2
1.3 本文貢獻 6
1.4 論文大綱 6
第二章內藏式永磁同步馬達變頻驅動器硬體介紹 8
2.1 簡介 8
2.2 變頻器 8
2.3 磁粉式煞車 9
2.4 數位訊號處理器 10
2.5 驅動控制電路板 14
第三章內藏式永磁同步馬達數學模型及電磁轉矩方程式 18
3.1 前言 18
3.2 三相座標轉換 20
3.3 內藏式永磁同步馬達在abc座標系下之數學模型 23
3.4 內藏式永磁同步馬達在αβ座標系下之數學模型 25
3.5 內藏式永磁同步馬達在d-q座標系下之數學模型 29
3.6 凸極式反電動勢定義 31
第四章非對稱歸屬函數之派翠機率模糊類神經網路 35
4.1 前言 35
4.2 非對稱歸屬函數之派翠機率模糊類神經網路架構 35
4.3 線上學習法則 39
4.4 網路收斂性 41
第五章具線上增益調變與慣量估測之馬達伺服驅動器 43
5.1 前言 43
5.2 內藏式永磁同步馬達伺服驅動系統 43
5.3 智慧型慣量估測 46
第六章小波轉換 48
6.1 簡介 48
6.2 連續小波轉換 49
6.3 離散小波轉換 50
6.4 小波轉換與多重解析度分析 50
6.4.1 尺度函數(Scaling Function) 51
6.4.2 多重解析度分析 52
6.4.3 多貝西小波(Daubechies Wavelet)函數 53
第七章共振頻率偵測 56
7.1 前言 56
7.2 小波共振頻率偵測 56
7.3 線上共振頻率偵測流程 58
7.4 動態訊號分析儀 61
第八章模擬與實驗結果 63
8.1 前言 63
8.2 智慧型慣量估測之馬達驅動器 64
8.2.1 模擬結果 64
8.2.2 實驗結果 85
8.3 共振頻率偵測結果 99
第九章結論與未來研究方向 110
參考文獻 111
作者簡歷 118

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指導教授

林法正(Faa-Jeng Lin)

審核日期

2019-8-1

推文