鼠籠式感應馬達DSP向量控制伺服驅動器之研製

研究生:林栩永   指導教授:鄒應嶼 博士

電力電子與運動控制實驗室
國立交通大學  控制工程研究所


摘  要

傳統的鼠籠式感應馬達僅適用於低成本、低變速控制性能的領域。 本論文提出以數位信號處理器(DSP)為控制晶片,配合以智慧型功率模組(IPM)為基礎之換流器,利用低成本的鼠籠式感應馬達, 發展出適用於高精密工業需求之伺服驅動技術。從探討交流感應馬達動態模型的推導,PC-SIMULINK為基礎的交流感應馬達模擬方塊建立, 參數的量測與驗證,電流控制策略的決定,伺服控制架構的分析與設計,在本論文均有完整的討論與說明。

其研究成果包含:(1)具有0.1至6000 rpm的寬廣速控範圍。 (2)在無載的情形之下,具有快速的動態響應,0到1000 rpm的步級響應僅需20 ms,其穩態響應只有一個回授脈波的誤差。 (3)具有高精度定位性能,其定位精度為0.1度。實驗是以一顆半匹馬力東元鼠籠式感應馬達加裝光軸編碼器來進行, 實驗與模擬結果具有相當的一致性,表示模型建立與參數量測的正確性, 實驗結果顯示利用低成本的傳統鼠籠式感應馬達與先進的DSP控制技術完成了高性能伺服定位控制系統,其性能已可媲美工業級之伺服驅動器。

ABSTRACT

This thesis presents the development of digital induction drive technology for high-performance motion control applications using the state of art DSP technology. The constructed digital induction drive is composed by a DSP-based control module and an intelligent power module based power module. The control module consists of a current loop controller, a torque loop controller, and a servo loop controller. The dual DSP controllers were used to realize all the control functions for the positioning control of a squirrel-cage induction motor for high-performance motion control applications.

Squirrel-cage induction motors were conventionally used for low-cost low-performance adjustable speed applications in appliance and manufacturing equipment. The constructed induction drive has been applied to the positioning control of a squirrel-cage induction motor made by Teco Electric Co. The motor is a three-phase, 4-pole, ac induction motor with a rating of 1/2 HP, 1680 epm, and has been equipped with an 1000 rpm encoder. The motor can be controlled with wide speed range (0.1 to 6000 epm), fast dynamic response (1000 rpm step response is about 20 msec), high position accuracy (0.1 degree), and high position stiffness (rated torque at zero speed). Experimental results reveal the feasibility of implementing precision motion control system using low-cost squirrel-cage induction motors with sophisticated DSP control technique.