感應馬達自我啟動與自調解耦控制之研究

研究生:吳 驊   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

交流感應馬達在工業上的應用已經相當地廣泛,具有自我啟動(self-commissioning)功能的馬達驅動器將是未來的趨勢, 因此,本文探討在感應馬達額定值已知而參數未知的情形下如何達成自我啟動與自調解耦控制。在自我起動方面, 包括馬達參數的自動量測、相序和極數的自動判斷、控制器各項參數的自動設定、轉子時間常數的離線調整、和最佳磁場電流的選擇。對感應馬達磁場導向向量控制而言,轉子時間常數為關係解耦好壞的重要參數,其會隨著操作點和溫度變化而改變, 因此在自調適解耦控制部份,採用功率轉換參數調整(power transfer parameter identification)方法,針對轉子時間常數進行在線式的自動調整, 並分析了不正確的轉子時間常數和不適當的磁場電流,在穩態時對解耦控制的影響。 本論文實驗系統中的數位控制板是採用德州儀器公司的兩顆DSP-TMS320C14和TMS320C52作為控制晶片, 配合以智慧型功率模組(IPM)為基礎之換流器,發展成一套極為靈活且具擴充潛力的伺服驅動發展系統, 本文以此系統實現整個自我起動和自調解耦控制策略。實驗結果顯示,一顆參數未知的感應馬達, 經由本文所發展的自我啟動與自調控制程序,可達到良好的動態響應,同時在穩態時,亦具有最佳之電機效率。

ABSTRACT

AC induction motor has had wide spread applications in the industry, and the driver with self-commissioning function will be popular in the future. This thesis presents the self-commissioning procedure and the auto-tuning decoupling control scheme of an induction motor without prior knowledge of the motor parameters. The proposed self-commissioning process includes auto parameter measurement, auto phase sequence and pole number identification, auto control parameter setting, off-line rotor time constant tuning, and optimal field current selection. The rotor time constant is an important parameter which influence the decoupling control to induction motor field oriented vector control and it will change in accordance with operating point and temperature. In auto-tuning decoupling control, this thesis employs power transfer parameter identification to tune the rotor time constant in real time. The effect of incorrect rotor time constant and improper field current imposed on decoupling control at steady state has been analyzed. A dual DSP-based digital control board and an intelligent power module(IPM) based voltage source inverter were implemented to construct the ac servo drive system. The self-commissioning and auto-tuning decoupling control strategies have been realized in this ac servo drive system. It follows from the experimental results that the controlled induction motor does have good dynamic response and high efficiency after the proposed self-commissioning and auto-tuning decoupling control procedure.