永磁式同步馬達使用線性型霍爾感測器伺服控制及特性參數鑑別

Abstract

本論文使用數位訊號處理器發展弦波形永磁式同步馬達的控制方法以及參數鑑別，包含使用線性型霍爾感測器訊號之三相伺服控制架構以及單相電流伺服控制架構。並且使用單相電流伺服控制架構配合資料擷取卡進行馬達特性參數的鑑別。首先利用線性型霍爾感測器訊號做為轉子位置之參考，達到磁場導向控制的目的，不需透過靜止三軸與同步旋轉二軸間的座標轉換，而能在三軸靜止座標直接產生各相電流命令。由轉子位置資訊可計算轉速，以達到速度控制與定位控制之目的。單相電流驅動法改變三相驅動法以三軸靜止座標下產生三相電流命令的方式，僅以單相電流命令產生兩相驅動器訊號驅動馬達，並可達到速度伺服控制的目的。馬達參數鑑別上，首先以單相電流驅動馬達旋轉，量測單相開路繞組的端電壓可計算出馬達反抗電動勢常數，並且回授電流訊號以及轉速訊號，由遞迴最小平方法可以估測出轉子慣量以及摩擦係數，最後量測馬達電組與電感值，分別輸入不同電壓頻率以及電壓振幅，可得到馬達電阻電感隨轉子角度位置的變化情形，做為分析馬達的根據。

This thesis presents the development of control methods based on a digital signal processor (DSP) for permanent magnet synchronous motors (PMSMs) and parameters identification. Including 1) a servo control architecture employing linear Hall effect sensors. 2) Parameter identification using single phase current drives motor with data acquisition card. First, we use linear type Hall sensor signal to calculate rotor position, and flux-oriented control (FOC) is achieved by generating current references in the three-phase stationary frame without the stationary-to-rotating reference frame transformation and its inverse. The speed can be generated by differentiation of rotor position in order to achieve speed control. The single phase current drives motor changes something by using three phase current in the stationary reference frame. This art use one phase current command products two complementary PWM signals. Speed control also can be carried out in this art. Parameter identification also uses the signal phase current driving art to drive motor with single-phase open circuit. Back EMF constant can be calculated by measuring the voltage from the open circuit. Motor inertia and friction constant are estimated using feedback of current and speed by RLS method. Finally, we use the instrument to measure the inductance and resistance. The instrument generates some kinds of frequency and peak value to obtain the result between rotor position and inductance/resistance.