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研究生： 吳俊儒
Wu, Chun-Ju
論文名稱： 抑制永磁同步馬達頓轉扭矩之位置依據型重複扭矩觀測器設計
Position-Based Repetitive Learning Torque Observer Design for PMSM Cogging Torque Reduction
指導教授： 蔡明祺
Tsai, Mi-Ching
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2018
畢業學年度： 106
語文別： 中文
論文頁數： 80
中文關鍵詞： 無刷永磁同步馬達 、頓轉扭矩 、重複控制 、模型依據觀測器
外文關鍵詞： PMSM, Cogging Torque, Position-Based Repetitive Control, Model-Based Disturbance Observer
相關次數： 點閱：90  下載：8 
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    • 當無刷永磁同步馬達轉子對正定子齒部與槽部時，氣隙磁阻會有不同的變化，使得馬達轉動時產生磁阻力的擾動，稱為頓轉扭矩。頓轉扭矩為馬達本身內部所具有的扭矩外擾，使得馬達在低轉速時，會造成轉速與轉矩控制上困難，因而限制了馬達操作範圍。本研究於磁場導向(FOC)速度控制架構上，建立模型依據之扭矩外擾觀測器，並引入了位置依據的重複學習控制，使具備依馬達位置為基準的頓轉扭矩學習功能，即時估測馬達頓轉扭矩，以降低扭矩觀測器之估測誤差。為了抵銷降低頓轉扭矩對速度控制迴路的影響，本研究亦提出在線扭矩補償與離線扭矩補償兩個架構，將觀測器所學習到的過去各位置上的記憶資料，分別經過遺忘因子和平均處理作補償，利用位置查表方式，直接補償電流於電流迴路中。本研究採用硬體在線迴路先驗證所提的觀測器性能，以及補償架構的可行性，最後以實務系統的實驗結果，驗證頓轉扭矩估測器的精準性，及能有效改善低轉速時的轉速漣波現象。

    In a PM machine, the cogging torque is caused by reluctance variations in the air gap, which may degrade the speed and torque control performance in lower speed operation and undoubtedly limit the operational range of a PM machine. In order to reduce the cogging torque effect, this paper proposes a new observer structure aiming at cogging torque estimation and rejection. This new observer structure possesses the capability of repeatedly learning the observed torque using the rotor position to achieve higher estimation accuracy. This paper further proposes an online/offline torque compensation strategy for the cogging torque rejection, which utilizes the memory learned from the observer in each rotation, combined with the concept of forgetting factor and position-based average, to generate the torque compensation lookup table for rotor positions. An experimental platform consisted of a real motor driver and PM motor was established to verify the proposed observer and compensate strategy.

    中文摘要 I ABSTRACT II 誌謝 XV 圖目錄 XIX 表目錄 XXIV 符號表 XXV 第一章 緒論 1 1.1 研究動機與目的 1 1.2 文獻回顧與研究方法 1 1.3 本文架構介紹 5 第二章 永磁同步馬達與驅動控制概述 6 2.1 永磁同步馬達簡介 6 2.2 永磁同步馬達數學模型 7 2.2.1 定子三相座標系下之PMSM數學模型 8 2.2.2 座標轉換[14]概念 11 2.2.3 轉子同步旋轉座標系下之PMSM數學模型 13 2.3 磁場導向向量控制 15 2.3.1 電流迴路解耦合與d-q軸電流控制器設計 16 2.3.2 速度迴路控制器設計 17 第三章 頓轉扭矩分析及其抑制策略 19 3.1 頓轉扭矩介紹 19 3.2 重複學習控制器介紹 21 3.2.1 內部模型原理 22 3.2.2 時間依據重複控制原理 24 3.2.3 位置依據重複控制原理 28 3.3 電流建表補償法 31 3.4 模型依據扭矩外擾觀測器 32 3.4.1 模型依據觀測器簡介 32 3.4.2 扭矩外擾觀測器架構 34 3.5 新型扭矩觀測器與扭矩補償策略 36 第四章 位置依據重複扭矩觀測器設計與扭矩建表補償策略 38 4.1 位置依據重複扭力觀測器介紹 38 4.1.1 控制工況與條件 39 4.1.2 穩定性分析 39 4.1.3 學習濾波器 對相對穩定度與估測精準度討論 42 4.2 位置依據重複扭力觀測器實作架構 45 4.2.1 使用編碼器實現位置週期延遲 45 4.2.2 以編碼器為位置收斂依據之實作架構 48 4.3 扭矩建表補償策略 50 4.3.1 在線扭矩補償策略 50 4.3.2 電流迴路反模型補償 52 4.3.3頓轉扭矩在線調機流程與離線扭矩表擷取 53 第五章 HIL模擬與馬達實作 55 5.1 硬體規格介紹 55 5.2 實驗設計 58 5.3 硬體在線迴路系統驗證結果 58 5.4 馬達實作驗證結果 65 第六章 結論與未來建議 76 6.1 結論 76 6.1 未來研究與建議 76 參考文獻 78

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