以灰色理論為基礎之永磁式同步電動機轉子位置估測

Abstract

永磁式同步電動機搭配FOC(field-oriented control)控制法則早已廣泛使用，但受限於座標軸的轉換轉子位置的狀態應為已知，因此需要額外增加轉子位置感應器以量測轉子位置，除了增加成本以外更會影響電動機的機械結構與強度，所以各種無感測器的理論不斷的被提出。 本論文旨在探討虛擬灰階方法應用於永磁式同步電動機轉子位置(角度)之估測。首先介紹永磁式同步電動機之數學模型，並簡介各種不同的座標軸轉換與轉換後之永磁式同步電動機模型。其次介紹虛擬灰階方法應用於轉子位置估測的方式，由於虛擬灰階方法具有計算簡單的特性相當適合快速計算轉子位置之用。最後藉由模擬來測試本論文所提出之方法的可行性與其限制。透過模擬的結果證明本論文的方法確實可以快速估測轉子的啟動位置，並可將轉子位置估測值應用於FOC控制法則的永磁式同步電動控制器。

Permanent Magnet Synchronous Motor (PMSM) with Field-oriented Control (FOC) has been widely used, but the rotor position is required for transformation between different axes. As a result, sensors are needed to measure the rotor position. It will not only increase the cost but also affect the mechanical structure and intensity of motor. Therefore, various sensorless theories are developed. The pseudo-GM(2,1), or PGM21 in short, is proposed in this thesis to estimate the rotor position of PMSM. First, the axis transformations and dynamic equations of PMSM in different axes are introduced. Second, the rotor position estimation by PGM21 is discussed, where PGM21 is suitable for estimating the rotor position rapidly due to its simplicity. Finally, the validation and limitation of the proposed method are tested by simulation, which shows that the method can estimate the initial position of the rotor quickly and thus, can be appropriately adopted for the FOC controller.