Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
Robot and Servo Drive Lab.
指導老師 : 王明賢學生 : 馮謙詠學號 :MA120215
永磁無刷馬達設計永磁無刷馬達設計
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
大綱
前言 IPM 轉子不同型態 馬達額定規格 馬達模擬 電腦模擬數值分析 未來工作 參考文獻
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Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
摘要永磁同步馬達驅動時通常需要轉子位置資訊以輔助啟動及運轉,但在一些場合,例如工作之環境不允許或成本考量下,並不使用感測器,而是利用估測的方法獲得轉子位置再進行控制。至今已有許多永磁同步馬達之轉子位置偵測方法被提出。
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Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
前言永磁同步馬達控制時,通常需在轉軸上裝設編碼器 (Encoder) 以即時偵測轉子位置。但加裝轉軸位置感測器增加了系統成本,降低可靠度,且使用上需考慮環境溫度、濕度、體積以及振動對壽命的影響等問題。
永磁同步馬達的位置偵測方式主要有反電動勢法 (back-EMF) 及高頻訊號注入法 (High Frequency Signal Injection) 兩類。反電動勢法因為在靜止及低速時,反電動勢較小並無法有效偵測轉子位置。高頻訊號注入法主要是利用轉子的凸極效應所產生的 d-q 軸電感的差異性,藉由加入一高頻電壓偵測訊號到控制迴路,然後量測馬達電流中高頻的分量,經信號分析處理後獲得轉子位置資訊。
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Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
IPM 轉子不同型態
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(a) 標準內藏型 (b) 變化內藏型
(d) 內嵌型 (c) 磁通集中型
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a
NL
I
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
馬達額定規格
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有效軸長 L (mm) 52.5(mm)
定子外徑 d (mm) 74(mm)
額定轉速 (rpm)3000(rpm)=314rad/s
額定輸出功率 (W)
600(W)
額定轉矩 (T) 1.91(N-m)
磁鐵等級
矽鋼材質 35JN250m
kA-955Hc. 、m2341Br
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
Excel 建表設計
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Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
標準型
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Cogging Torque:0.0055Nm
Back EMF:45V
Back EMF constant:0.25V/(rad/sec)
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
磁通集中型
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Cogging Torque :0.054Nm
Back EMF:60V
Back EMF constant :0.333V/(rad/sec)
d
d
2
1T 2
mco
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
Express內建模擬 電感比較
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轉子類型
標準型 IPM 0.135 0.0133 0.0267 2.01
磁通集中型 0.165 0.0316 0.0396 1.25
( )m Wb ( )dL mH ( )qL mH
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a
NL
I
dq LL
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
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Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
弧形
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Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
4 極、 8 極
112/04/21
Robot and Servo Drive Lab.13
3836.1d
q
L
L2374.1
d
q
L
L
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
線圈配置
112/04/21
Robot and Servo Drive Lab.14
1
23
4
5
6
78
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Phase A
Phase B
Phase C
三相線圈配置圖
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
電腦模擬數值分析
112/04/21
Robot and Servo Drive Lab.15
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
模擬 1
112/04/21
Robot and Servo Drive Lab.16
各相磁交鏈波形 各相反電動勢波形
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
模擬 2
112/04/21
Robot and Servo Drive Lab.17
磁力線分佈 磁通密度分部
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
模擬 3
112/04/21
Robot and Servo Drive Lab.18
額定電流波形頓轉扭矩波形
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
模擬 4
112/04/21
Robot and Servo Drive Lab.19
額定電流下轉矩波形
Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
未來工作
分析幾何參數對雙軸電感影響
Matlab 高頻注入模擬
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Department of Electrical Engineering Southern Taiwan University
Department of Electrical Engineering Southern Taiwan University
參考文獻 勢流科技股份有限公司 http://www.flotrend.com.tw/index.php
Chen-Yen Yu, Student Member, IEEE, Jun Tamura, David Díaz Reigosa, Member, IEEE, and
Robert D. Lorenz, Fellow, “ Position Self-Sensing Evaluation of a FI-IPMSM Based on High-Frequency Signal Injection Methods,” IEEE Trans. Ind. Appl., vol. 49, NO. 2, Mar/Apr 2013
Ji-Hoon Jang, Student Member, IEEE, Jung-Ik Ha, Member, IEEE, Motomichi Ohto, Kozo Ide, Member, IEEE,and Seung-Ki Sul, Fellow, IEEE , “ Analysis of Permanent-Magnet Machine for Sensorless Control Based on High-Frequency Signal Injection ,” IEEE Trans. Ind. Appl., vol. 40, NO. 6, Nov./Dec.2004
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