無感測器馬達初始位置估測及啟動方法實現｜國立中央大學博碩士論文系統

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研究生：	王儷融 Lirong Wang
論文名稱：	無感測器馬達初始位置估測及啟動方法實現 Implementation of Starting Method of Motors Without Position Sensor
指導教授：	徐國鎧 Kuo-Kai Shyu
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2016
畢業學年度：	104
語文別：	中文
論文頁數：	96
中文關鍵詞：	轉子位置、啟動策略、無感測器、無刷馬達、反電動勢
外文關鍵詞：	rotor position, start-up strategy, sensorless, brushless motor, back EMF
相關次數：	點閱：8 下載：0
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本論文討論馬達在不具有位置感測器的情況下，利用馬達的等效電感值
會受轉子位置影響之特性，來進行初始位置估測。當轉子在同一位置時，注入不同向量脈衝，所得之電流會因為等效電感的差異，得到有些微差異的電感充電曲線。利用此差異來估測轉子初始位置，而後利用所得位置資訊決定啟動向量命令。當馬達轉動後即產生反電動勢，便可依據換相估測電路所得之位置估測訊號進行換相。
此方法與其他無感測器啟動策略相比，大幅提升啟動成功率，系統成本
也比較低。一般使用位置感測器來進行轉子位置感測，如霍爾感測器、編碼器或解角器等，但其也會增加整體成本及體積。此外，位置感測器會受溫度、雜訊、結構脆弱或安裝不當等因素影響，此方法能減少系統體積、成本，並增加系統強健性。

This thesis discusses the initial rotor position estimation of motors without position
sensors. This estimation method is based on the relation between the equivalent
inductance and rotor position. When injecting different voltage vectors to the motor,
the current responses of the motor winding with same rotor position will be different.
After estimating the initial rotor position through the current response, we can select
the corresponding start-up vector based on the estimated rotor position. The back
electromotive force (EMF) will be produced by the rotation of the rotor. When the
back EMF is big enough for rotor position estimation, we can obtain the voltage
vector command from the commutation circuit.
This method has higher success rate of start-up and lower system cost than other
sensorless start-up methods. The rotor position is usually detected by position sensors,
such as Hall sensor, encoder and resolver, which may increase cost and volume
of system. Besides, position sensor will be affected by temperature, noise, weak
structure and improper installation. This proposed method can avoid these problems
and increase robustness of the system.

摘要 ............................................................................................................................. i
Abstract ...................................................................................................................... ii
誌謝 ........................................................................................................................... iii
目錄 ........................................................................................................................... iv
圖目錄 ....................................................................................................................... vi
表目錄 ........................................................................................................................ x
第一章 緒論 ........................................................................................................... 1
1.1 研究動機與目的 ....................................................................................... 1
1.2 大綱 ........................................................................................................... 3
第二章 無刷馬達介紹 ........................................................................................... 4
2.1 前言 ........................................................................................................... 4
2.2 無刷直流馬達與永磁同步馬達簡介 ...................................................... 5
2.2.1 無刷直流馬達介紹 ............................................................................... 5
2.2.2 無刷直流馬達數學模型 ....................................................................... 7
2.2.3 永磁同步馬達介紹 ............................................................................. 11
2.2.4 永磁同步馬達數學模型 ..................................................................... 12
2.3 本文研究之馬達介紹 ............................................................................. 15
第三章 驅動器設計 ............................................................................................. 18
3.1 前言 ......................................................................................................... 18
3.2 電源模組電路 ......................................................................................... 19
3.3 數位訊號微處理器及周邊電路 ............................................................. 21
3.4 功率開關及驅動電路 ............................................................................. 23
v
3.5 電流感測電路 ......................................................................................... 26
3.6 換相訊號估測電路 ................................................................................. 28
3.6.1 換相訊號估測方法概述 ..................................................................... 28
3.6.2 換相估測原理 ..................................................................................... 30
3.6.3 換相估測訊號電路設計 ..................................................................... 33
第四章 馬達控制 ................................................................................................. 35
4.1 初始位置估測 ......................................................................................... 35
4.1.1 初始位置估測方法原理 ..................................................................... 36
4.1.2 初始位置估測方法設計 ..................................................................... 41
4.2 啟動策略 ................................................................................................. 52
4.2.1 啟動策略原理 ..................................................................................... 52
4.2.2 啟動策略流程 ..................................................................................... 54
第五章 實驗結果 ................................................................................................. 55
5.1 整體實驗架構 ......................................................................................... 55
5.2 驅動器電路 ............................................................................................. 57
5.3 初始位置估測方法及啟動策略 ............................................................. 60
第六章 結論 ......................................................................................................... 74
參考文獻 .................................................................................................................. 75
                                

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