鼠籠式感應馬達DSP向量控制伺服驅動器之研製

Abstract

傳統的鼠籠式感應馬達僅適用於低成本、低變速控制性能的領域。本論文 提出以數位信號處理器(DSP)為控制晶片，配合以智慧型功率模組(IPM)為 基礎之換流器，利用低成本的鼠籠式感應馬達，發展出適用於高精密工業 需求之伺服驅動技術。從探討交流感應馬達動態模型的推導，PC- SIMULINK為基礎的交流感應馬達模擬方塊建立，參數的量測與驗證，電流 控制策略的決定，伺服控制架構的分析與設計，在本論文均有完整的討論 與說明。其研究成果包含：(1)具有0.1至6000 rpm的寬廣速控範圍。(2) 在無載的情形之下，具有快速的動態響應，0到1000 rpm的步級響應僅 需20 ms，其穩態響應只有一個回授脈波的誤差。(3)具有高精度定位性能 ，其定位精度為0.1度。實驗是以一顆半匹馬力東元鼠籠式感應馬達加裝 光軸編碼器來進行，實驗與模擬結果具有相當的一致性，表示模型建立與 參數量測的正確性，實驗結果顯示利用低成本的傳統鼠籠式感應馬達與先 進的DSP控制技術完成了高性能伺服定位控制系統，其性能已可媲美工業 級之伺服驅動器。 This thesis presents the development of digital induction drivetechnology for high-performance motion control applications usingthe state of art DSP technology. The constructed digital inductiondrive is composed by a DSP-based control module and an intelligentpower module based power module. The control module consists ofa current loop controller, a torque loop controller, and a servoloop controller. The dual DSP controllers were used to realizeall the control functions for the positioning control of a squirrel-cageinduction motor for high-performance motion control applications. Squirrel-cage induction motors were conventionally used forlow-cost low-performance adjustable speed applications in applianceand manufacturing equipment. The constructed induction drive has beenapplied to the positioning control of a squirrel-cage inductionmotor made by Teco Electric Co. The motor is a three-phase, 4-pole,ac induction motor with a rating of 1/2 HP, 1680 epm, and has beenequipped with an 1000 rpm encoder. The motor can be controlled withwide speed range (0.1 to 6000 epm), fast dynamic response(1000 rpm step response is about 20 msec), high position accuracy(0.1 degree), and high position stiffness (rated torque at zero speed).Experimental results reveal the feasibility of implementing precisionmotion control system using low-cost squirrel-cage induction motorswith sophisticated DSP control technique.