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研究生：	孫室東 Ton, That-Dong
論文名稱：	基於電流及磁交鏈向量之高性能永磁同步馬達有感測及無感測驅動控制研究 High Performance Sensored and Sensorless Control for Permanent Magnet Synchronous Motor Drive Based on Current and Flux Vector
指導教授：	謝旻甫 Hsieh, Min-Fu
學位類別：	博士 Doctor
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2022
畢業學年度：	110
語文別：	英文
論文頁數：	161
中文關鍵詞：	永磁同步馬達驅動器、無傳感器控制、無拍差控制、電流和磁通向量控制、磁鏈估算
外文關鍵詞：	PMSM drive, sensorless control, deadbeat control, current and flux vector control, flux linkage estimation
ORCID：	0000-0002-3178-6777
相關次數：	點閱：103 下載：50
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為減少溫室氣體的排放，應用於工業上的環保策略廣泛地受到重視，因此高性能、高效率電力驅動器和發電廠的需求不斷增長。永磁同步馬達對於這一趨勢至關重要，其優勢在於具有較廣的恆功率轉速範圍，以及高效率、高功率、扭矩密度和低廉的維護成本。此外，具有高動態性能、精度、穩定性及架構簡單的高效永磁同步馬達驅動器也很重要。有鑑於其應用範圍廣泛，有感測器和無感測器的控制驅動系統在近幾十年來都有相當的發展。在這其中，電流和磁鏈向量是重要的狀態變量，因為它們可以準確地反應永磁同步馬達在整個運行條件下的操作情況，更是作為電流向量控制及磁通向量控制等眾多典型的永磁同步電機驅動控制方法的主要參數。
在本論文的研究中，將電流和磁鏈向量適當地結合起來，藉由估計無感測器控制法之負載/轉子角，並開發一種具有高響應、高可靠性及架構簡單的永磁同步馬達驅動器控制方法。首先，為了在估計磁鏈向量時實現高精度，同時降低估測器結構的複雜性，本文研究如何改進閉環磁鏈估測器。其次，提出了一種基於磁鏈向量的新型無感測器方法，該新型方法通過其參考磁鏈和電流的振幅計算出之直、交軸電流來改善負載角的計算方式。如此可以減少對磁鏈估算的嚴重依賴，從而提高轉子角估算的準確性，且能夠以比傳統方法更低的速度操作。第三，提出一種改進內藏型永磁同步馬達驅動器的無差拍電流和磁通向量控制方法，以通過「增強磁通相位角」概念提高系統響應性能，同時有效地約束輸出電流和電壓。為了降低控制的複雜性，主要在靜止座標系中進行計算，並簡化了基於單步延遲補償演算法的估算，進一步分析有感測器和無感測器之表面型永磁同步馬達的無差拍電流和磁通向量控制的有效性。此外，為了應對參數變化，本文探討參數自更新方法並結合所提出之無感測器控制和無差拍控制，以增強應對參數變化影響的穩健性。最後，通過對內藏型永磁同步馬達及表面型永磁同步馬達驅動器的模擬和實驗，對所提出的磁通估算、無感測器控制技術和無差拍控制方法的有效性和可靠性進行了綜合評估和驗證。

Nowadays, eco-friendly industrial strategies are extensively considered to reduce global greenhouse gas emissions. Therefore, the demand for high-performance electric drives and power plants is growing. Permanent magnet synchronous motor (PMSM) is crucial to serving this trend due to its outstanding advantages such as a wide speed range at constant power, high efficiency, high power and torque density and low maintenance cost. In addition, the requirements for a highly effective PMSM drive with high dynamic performance, accuracy, robustness, and simplicity are also critical. Given the wide range of applications, both sensored and sensorless control drive systems have been considered and investigated in recent decades. It is well known that current and flux linkage vectors are important state variables because they can accurately reflect the operating situation of PMSM in the entire operation conditions. Therefore, they are used as primary objects for the numerous typical vector control methods of PMSM drive, such as current vector control (CVC) and flux vector control (FVC).
In this research, the vectors of current and flux linkage are appropriately combined to estimate the load/rotor angle with an effective sensorless control technique and to develop a deadbeat control method with high dynamic performance, simplicity and reliability for PMSM drives. First, a proposed closed-loop flux linkage estimator is investigated to achieve high accuracy in estimating the flux linkage vector while reducing the complexity of structure compared with the coneventional one. Second, a novel sensorless method based on flux linkage vector is proposed with the improved quality of load/rotor angle estimation by a novel calculation method of load angle using the estimated dq-axis currents by the amplitudes of a flux linkage reference and current. This can reduce a heavy dependence on the quality of flux linkage estimation, resulting in improved accuracy of rotor angle estimation and enabling operation at a lower speed than conventional methods. Third, a deadbeat current and flux vector control (DB-CFVC) method for interior PMSM (IPMSM) drive with the control strategy improvements is proposed to enhance the dynamic performance through a "reinforced flux phase angle" concept while well constraining the output current and voltage. To reduce the complexity of the control, the main computations are performed in stationary coordinate, and the predictive calculation based on the one-step delay compensation algorithm is simplified. Further analysis of the effectiveness of sensored and sensorless pure deadbeat current and flux vector control (pure-DB-CFVC) for surface-mounted PMSM (SPMSM) is also performed. In addition, to cope with parameter variations, some parameter self-updating methods are investigated and incorporated into the proposed sensorless control and deadbeat control to enhance the robustness of the effects of parameter variations. Finally, the effectiveness and reliability of the proposed flux estimation, sensorless control technique, and deadbeat control methods are comprehensively evaluated and confirmed through simulations and experiments for the interior and surface-mounted PMSM drives.

Chapter 1.	Introduction	1
1. Background and motivation	1
2. Research contributions	3
3. Dissertation outline	5
Chapter 2.	Theoretical Background and Literature Review				7
1. Introduction	7
2. PMSM fundamental model	7
2.1. Overview of PMSM	7
2.2. Definition of rotating vector and reference coordinates	9
2.3. PMSM mathematical model in stationary coordinate α-β	12
2.4. PMSM mathematical model in rotor coordinate d-q	13
2.5. PMSM mathematical model in stator flux coordinate f-t	15
3. Control strategy for PMSM drive	16
3.1. PMSM drive state-of-the-art	16
3.2. Maximum torque per ampere algorithm	20
3.3. Field-oriented control	22
3.4. Direct torque and/or flux control	28
3.5. Model predictive control	35
4. Nonlinearity of PMSM drive system – Analysis and compensation	40
4.1. Deadtime compensation	40
4.2. The variation of machine parameter	41
5. Sensorless control for PMSM drive	43
5.1. Sensorless control state-of-the-art and classification	43
5.2. Extended electromotive force and active flux concepts	46
5.3. Rotor angle/speed estimation	47
5.4. Synopsis of fundamental-based closed-loop SLC methods	49
6. Chapter summary	54
Chapter 3.	Study on Stator Flux Linkage Estimation	56
1. Introduction	56
2. Review of flux linkage estimation	57
2.1. Voltage-based estimation model	57
2.2. Current-based estimation model	60
2.3. Closed-loop hybrid flux linkage observer	61
3. Proposed closed-loop hybrid flux linkage estimator	65
4. Electromagnetic torque estimation	68
5. Result and discussion	69
5.1. Evaluation of conventional flux linkage estimation methods by simulation	69
5.2. Evaluation of the proposed hybrid flux estimator	73
6. Chapter summary	77
Chapter 4.	Investigation on Robust Rotor Position Sensorless Control Strategy Based on Flux Linkage for PMSM Drive		79
1. Introduction	79
2. State-of-the-art open-loop SLC methods based on flux linkage vector	81
2.1. Flux linkage vector speed-based sensorless control	81
2.2. Rotor position/speed estimation based on active flux vector	82
2.3. Indirect rotor angle/speed SLC based on calculation with load angle and flux linkage phase angle	83
3. A novel robust SLC method proposed for vector control of PMSM drive	85
3.1. Proposed estimation method of DQ-axis currents	85
3.2. Load angle and rotor angle/speed estimations	88
3.3. Analysis and detection of motor parameter variations	90
4. Configuration of test platforms	92
4.1. Hardware-in-the-loop platform	92
4.2. Specification of Testbench-2	93
5. Result and discussion	95
5.1. HIL experiments of comparison between conventional and proposed SLC methods	95
5.2. Experiments of comparison load/rotor angle between conventional and proposed SLC methods	95
5.3. Evaluation effectiveness and robustness of proposed SLC method 02 (PROP-02)	98
6. Chapter summary	104
Chapter 5.	Deadbeat Current and Flux Vector Control Study in Stationary Coordinate for IPMSM Drive	105
1. Introduction	105
2. Review of deadbeat control for PMSM drive	106
2.1. Deadbeat control principle	106
2.2. Model-predictive-based deadbeat current control	110
2.3. Model-predictive-based deadbeat direct flux vector control and direct torque and flux control	113
3. Proposed deadbeat current and flux linkage vector control for IPMSM drive with high dynamic performance	119
3.1. Principle of the proposed DB-CFVC	119
3.2. Description of the control implementation	120
3.3. Motor parameter variation update	126
4. Configuration of test platforms	126
5. Result and discussion	127
5.1. Comparison of dynamic performance among deadbeat control methods	127
5.2. Comparison of output control quality among deadbeat control methods	131
5.3. Investigation into the effect of parameter variations to proposed DB-CFVC	135
6. Chapter summary	136
Chapter 6.	Implementation of Sensored and Sensorless Control with Pure Deadbeat Current and Flux Linkage Vector Control for SPMSM Drive	138
1. Introduction	138
2. Proposed sensorless pure-DB-CFVC scheme	139
2.1. Control strategy development	139
2.2. The estimation and reference calculations for pure-DB-CFVC	142
3. Result and discussion	143
3.1. Verification on simulation (MATLAB)	143
3.2. Experimental evaluation by the HIL platform	145
4. Chapter summary	148
Chapter 7.	Conclusions and Future work	149
1. Conclusion		149
2. Research limitation	151
3. Future work	151
Appendix		153
A. Filter parameter design	153
References		154
                                    

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