永磁式同步馬達受負載之無軸感測器速度控制

Abstract

本文註主要是從事負載下永磁式同步馬達之無軸感測器速度控制 之研究。傳統之馬達控制是利用光學編碼器量測馬達之位置、速度，但無 法直接得知馬達所受之負載，而本論文將使用觀測器以估測方式計算 出這些資訊，以期能取代光學編碼器。本文中將根據Utkin及Walcott Zak所提出之滑動觀測器理論，設計永磁式同步馬達之位置、速度及 負載觀測器。藉由數值模擬，觀測器參數不正確及馬達有外有擾動 等情形之系統反應，我們發現依Utkin理論所設計之定負載觀測器能 正確估測出定負載力矩，而其變動負載觀測器能估測單一頻率之變 動負載，所以再針對依Utkin理論所設計之滑動觀測器進行無軸感測 器速度控制之實驗。實驗結果證明，當馬達受定力矩負載時，定負 載滑動測器能有效進行同步馬達之負載觀測及閉迴路控制。

This thesis discusses the speed control of the loaded permanent magnet synchronous motor (PMSM) without using a shaft sensor. With the traditional technology, the speed control of a servo motor requires an encoder to measure the motor states including the position and the velocity. On the other hand, although motors are usually operated under external load in practical application, the external load is not measured for the control purposes. In this research, we apply observer technology to estimate the states such as position, velocity and external load. Two different types of sliding modes observers for the PMSM, the constant load observer and the periodically time-varying load observer, and developed in this thesis. From simulation and experimental results, we hve shown that the constant load sliding observer based on Utkin's design method is the most robust observer among all observers developed in this thesis for closed-loop speed control.