全速無感測電動機控制應用於電動機車之研究

Abstract

本論文研究主軸為內藏式永磁同步電動機的無感測控制策略，為了能夠穩定應用在電動機車系統上，必須嚴謹地測試電動機轉速在各轉速區間下的穩定性，實驗不僅針對單一無感測演算法來研究及分析，而是針對不同轉速區間給予合適的控制策略。電動機於零轉速與低轉速命令下注入高頻信號至直軸電壓中，擷取反饋電流信號以分析轉子位置及估測轉速，並利用比例積分參數的調控來獲得穩定的系統響應，於中高轉速下利用對非線性系統有強健性的滑順模態觀測器來觀測反電動勢信號，搭配鎖相迴路控制架構來獲得轉子角度資訊進而估測轉速，並經由實驗證明能在不同轉速下有穩定的響應，最終將不同演算法進行整合使得在任何一個轉速區間皆獲得最準確的轉速響應。對於上述的理論與實作研究部分，本文將利用MATLAB/Simulink軟體結合空間向量波寬調變與向量控制技術加以模擬永磁同步電動機系統，並分析其電流、電壓及轉矩等波型響應，再使用德州儀器的數位信號處理器TMS320F28069M與三相逆變器等硬體設備開發整體電動機控制系統，最後驗證內藏式永磁同步電動機在無感測控制策略上的可行性。

This thesis studies the sensorless control strategy of Interior Permanent Magnet Synchronous Motor (IPMSM). In order to apply it to the electric motorcycle system stably, it is necessary to test the stability of the motor speed in each speed range. The experiment not only studies and analyzes a single sensorless algorithm, but also gives appropriate control strategies for different speed ranges. High frequency injection method injects signal into the direct axis at zero and low speeds, extracts feedback current signals to estimate the rotor position and speed values, and tunes the PI parameters to obtain stable system response. At medium and high speed range, Sliding Mode Observer method with robustness to nonlinear system is used to observe the back EMF signal, then using the signal as an input to the Phase-Locked Loop (PLL) system to obtain rotor angle information. The experiments show that stable response can be achieved at different speeds. Finally, different algorithms are combines to obtain the most accurate speed response at any speed range. From the above research of theoretical and practical part, this thesis will use Matlab/Simulink software combined with SVPWM and vector control technology to simulate the PMSM system and analyze the response of current, voltage and torque waveforms. Then using DSP TMS320F28069m and a three-phase inverter to develop the motor control system. Finally, verifying the feasibility of sensorless control strategy on IPMSM.