交流伺服系統中單邊驅動電流控制器之研製

Abstract

本文提出一個應用於驅動級為單邊驅動模式下的交流伺服系統電流控制器架構，所謂單邊驅動是指對馬達單相線圈以單一開關做切換來調節電流，這和需要以兩個開關做切換來調節電流的傳統方式大不相同。採用單邊驅動方式的優點是功率晶體開關切換時不需要dead time，且可大幅降低切換損失，而其缺點則是會引發非線性問題。配合單邊驅動模式的特性，本文提出一個滑模電流控制器架構，此一架構之控制法則非常簡單，不需做複雜的計算，可以用邏輯電路實現，而配合參數自動調整程序更可以在馬達參數未知的情況下進行控制。本文內容詳細介紹後級之單邊驅動模式，滑模電流控制法則，及實現控制器之硬體電路，同時也規劃了一個無刷馬達及交流馬達皆適用的向量電流控制器架構，而實驗及模擬結果證實本文所提出的電流控制器架構確實可行。

This paper focuses on the design and implementation of a current controller in a sin-gle-side firing AC servo system. The application of single-side firing principle can solve the dead-time problem in power stage, and reduce the switching loss, however it intro-duces a nonlinear problem. Considering the property of a single-side firing AC servo system, a sliding mode control method is used in this paper. A simple algorithm is pro-posed which requires no extensive calculation. This algorithm can be implemented using logic circuits. Moreover, using auto-tuning, the proposed algorithm can be applied without load information. This paper explains the single-side firing principle, the current control algorithm, the implementation of the proposed current controller and design of a vector current controller in detail. Simulations and experimental results are given to show the validity.