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研究生： 托馬斯
Tomas Esparza Sola
論文名稱： 轉矩響應優化與感應電機驅動器的最大直流母線利用率
Torque Response Optimization with Maximum DC Bus Utilization for Induction Motor Drives
指導教授： 邱煌仁
Huang-Jen Chiu
口試委員: 楊士進
Shih-Chin Yang
劉添華
Tian-Hua Liu
陳亮光
Liang-Kuang Chen
謝耀慶
Yao-Ching Hsieh
劉宇晨
Yu-Chen Liu
學位類別： 博士
Doctor
系所名稱： 電資學院 - 電子工程系
Department of Electronic and Computer Engineering
論文出版年： 2022
畢業學年度： 111
語文別： 英文
論文頁數： 223
中文關鍵詞： 定子磁鏈定向 、直接磁場定向控制 、直接轉矩控制 、轉矩脈動 、動態響應 、定 子磁鏈估計 、過調製
外文關鍵詞： stator flux orientation, direct field-oriented control, direct torque control, torque ripple, dynamic response, stator flux estimation, overmodulation
相關次數： 點閱：202  下載：0 
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    • 本論文旨在對感應電機最有展望的控制方法進行更廣泛的研究。採用的控制方式為空間向量調製直接轉矩控制以及傳統的直接轉矩控制以提高直流電壓利用率。本文提出的方案體現出兩種控制方法的優點。在線性區域中，它允許低轉矩脈動和低電流諧波失真。在過調變區域中，它允許快速的扭矩響應直到六步操作區域。這兩個區域中，電機參數完全獨立。本文提供了一種能夠實現兩種控制法之間平滑切換的方法。非線性會影響定子磁通的估算角，進而導致無法將轉矩和磁通解耦。為了克服此問題，提出了一種新的基於 PI 的控制方案以及對解耦項計算的簡化。此外，本文還提出了一種新的感應電機直接轉矩控制法，該方法能夠將轉矩漣波量降至最低，同時保留所有傳統直接轉矩控制的優點。轉矩及電流漣波為傳統直接轉矩控制法的主要缺點。為了解決這個問題，對傳統直接轉矩控制法的轉矩漣波的主要來源進行了分析。提出了一種能夠在所有的速度下降低轉矩漣波的方法。並且將所提出的演算法性估與近期發布的相似控制法進行了比較及分析。並基於理論分析、模擬和硬體實驗，實現本文所提出並呈現的控制方式。

    This dissertation aims to provide an extensive study of the most promising control strategies for induction motors (IM). Furthermore, a method to extend the DC bus utilization on an IM by using a combination of Space-Vector Modulated Direct Torque Control (DTC–SVM) and conventional DTC is presented. The scheme presented in this dissertation exploits the advantages of both control methods. During the linear region, it allows for a low torque ripple and low current harmonic distortion (THD). During the overmodulation region, it allows for the fastest torque response up to the six-step operation region. In both regions, there is complete independence of the motor parameters. A method to achieve a smooth transition between the two control schemes is provided. Non-linearities affect the stator flux angle estimation, which leads to the inability to decouple torque and flux. To overcome this problem, a novel PI-based control scheme, as well as a simplification of the decoupling terms’ calculation, are proposed. In addition, a new direct torque control (DTC) method of an induction motor that minimizes torque ripple while preserving all the conventional DTC advantages is presented in this dissertation. Large torque ripple and current ripple are the main drawbacks of the conventional DTC. To address this problem, this work gives a qualitative analysis of the main torque ripple sources of conventional DTC. A novel strategy to reduce torque ripple in the whole speed range is proposed. The performance of the proposed algorithm is evaluated and compared with a recently published method that aims for the same goals that are pursued in this dissertation, as well as with the conventional DTC. The analysis of the methods presented in this dissertation has been carried out on the basis of the results obtained by theoretical analysis, simulations, and hardware implementation.

    Table of Contents 論 文 摘 要 i Abstract ii Acknowledgement iii Table of Contents iv List of Figures x List of Tables xvii CHAPTER 1. INTRODUCTION 1 CHAPTER 2. FUNDAMENTALS OF INDUCTION MOTOR DRIVES 5 2.1 Introduction 5 2.2 Mathematical Model of the Induction Motor in a Three-Axes Frame 5 2.2.1 Voltage Equations 6 2.2.1.1 Stator Voltage 6 2.2.1.2 Rotor Voltage 6 2.2.2 Flux Equations 7 2.2.2.1 Stator Flux 7 2.2.2.2 Rotor Flux 8 2.3 Steady State Equivalent Circuit of an Induction Motor 9 2.3.1 The Rotor Circuit Model 10 2.3.2 The Final Equivalent Circuit 12 2.3.3 Derivation of the Induction Motor Induced Torque Equation 14 2.3.3.1 Maximum (Pullout) Torque in an Induction Motor 16 2.4 Mathematical Model of the Induction Motor in a Two-Axes Stationary Frame 18 2.4.1 Voltage Equations 21 2.4.1.1 Stator Voltage 21 2.4.1.2 Rotor Voltage 22 2.4.2 Flux Equations 23 2.4.2.1 Stator Flux 23 2.4.2.2 Rotor Flux 26 2.4.3 Power and Torque Equations in the Two-Axes Stationary Frame 26 2.5 Mathematical Model of the Induction Motor in a Two-Axes Synchronous Frame 27 2.5.1 Voltage Equations 28 2.5.1.1 Stator Voltage 28 2.5.1.2 Rotor Voltage 29 2.5.2 Flux Equations 30 2.5.2.1 Stator Flux 30 2.5.2.2 Rotor Flux 31 2.5.3 Power and Torque Equations in the Two-Axes Synchronous Frame 31 2.5.4 Equivalent Circuit of the Induction Motor in the Synchronous Frame 32 2.6 Voltage Source Inverter (VSI) 32 2.7 Pulse Width Modulation (PWM) 36 2.7.1 Sinusoidal Pulse Width Modulation (SPWM) 37 2.7.2 Space Vector Pulse Width Modulation (SVPWM) 38 2.7.2.1 Sector Identification 41 2.7.2.2 Time Duration of Each Voltage Vector 46 2.7.2.3 Switching Time of Each Transistor 61 2.7.2.4 Limit of the Voltage Reference Vector 65 2.7.3 Discontinuous Space Vector Pulse Width Modulation (DPWM) 66 2.7.3.1 60º DPWM 67 2.7.3.2 60º (+30º) DPWM 71 2.7.3.3 60º (–30º) DPWM 73 2.7.3.4 Comparison of Harmonic Performance 76 2.7.4 Overmodulation Methods 77 CHAPTER 3. VECTOR CONTROL AND DIRECT TORQUE CONTROL OF INDUCTION MOTOR 81 3.1 Introduction 81 3.2 Rotor Field-Oriented Control 81 3.2.1 Slip Speed Calculation 82 3.2.2 Torque Equation 84 3.2.3 Indirect Rotor Field-Oriented Control Implementation 84 3.2.3.1 Design of the Current Control Loop 87 3.2.3.2 Design of the Speed Control Loop 90 3.2.4 Field Weakening 93 3.2.4.1 Voltage-Limit Condition 93 3.2.4.2 Current-Limit Condition 95 3.2.4.3 Constant Torque Region. Maximum Torque per Ampere 97 3.2.4.4 Field Weakening Region I. Constant Power Region 100 3.2.4.5 Field Weakening Region II. Breakdown Torque Region 102 3.2.5 Flux Regulator of Induction Machine 104 3.3 Stator Field-Oriented Control 107 3.4 Direct Torque and Flux Control (DTC) 108 3.4.1 Conventional Direct Torque Control (DTC) 110 3.4.1.1 Analysis of Torque Ripple Sources in the Conventional DTC 113 3.4.2 Virtual Space Vector-Based DTC 115 3.4.3 Direct Self-Control (DSC) 116 CHAPTER 4. DIRECT TORQUE AND FLUX CONTROL IMPLEMENTING SPACE VECTOR MODULATION (DTC-SVM) 119 4.1 Introduction 119 4.2 Review of the DTC-SVM Architectures 119 4.2.1 DTC-SVM Architecture with Flux Control in Closed-Loop Fashion 120 4.2.2 DTC-SVM Architecture with Torque Control in Closed-Loop Fashion 121 4.2.3 DTC-SVM Architecture with Flux and Torque Control in Closed-Loop Fashion in the Frame 122 4.2.4 DTC-SVM Architecture with Flux and Torque Control in Closed-Loop Fashion in the Stator Flux Coordinate System 123 4.2.5 Concluding Remarks on the Reviewed DTC-SVM Architectures 124 4.2.6 DTC-SVM Architecture with Flux and Torque Control in Closed-Loop Fashion in the Stator Flux Coordinate System. Principles and Controller Design 124 4.2.6.1 Flux Controller Design 126 4.2.6.2 Torque Controller Design 130 4.2.6.3 Design of the Speed Control Loop 134 CHAPTER 5. INDUCTION MOTOR VARIABLE ACQUISITION 137 5.1 Introduction 137 5.2 Speed Measurement 137 5.2.1 Fixed Time Method for Speed Measurement 140 5.2.2 Fixed Position Method for Speed Measurement 141 5.3 Estimation of Inverter Output Voltage 142 5.3.1 Dead-Time Effect 143 5.3.2 Dead-Time Compensation 144 5.3.2.1 Positive Current: 144 5.3.2.2 Negative Current: 147 5.4 Stator Flux Estimation 149 5.4.1 Voltage Model 149 5.4.2 Current Model 151 5.4.3 Compensation of the Nonlinearities Affecting the Stator Flux Angle Estimation 153 5.5 Torque Estimation 156 5.6 Rotor Speed Estimation 156 CHAPTER 6. EXTENDING DC BUS UTILIZATION FOR INDUCTION MOTORS WITH STATOR FLUX ORIENTED DIRECT TORQUE CONTROL 158 6.1 Introduction 158 6.2 Combination of DTC–SVM and Conventional DTC 160 6.3 Transition Between Control Modes 162 6.3.1 Calculation of and 165 6.4 Simulation and Experimental Results 166 6.5 Conclusion 176 CHAPTER 7. IMPROVED DIRECT TORQUE CONTROL OF INDUCTION MOTORS FOR TORQUE RIPPLE MINIMIZATION 178 7.1 Introduction 178 7.2 Proposed Torque Ripple Minimization Algorithm 179 7.2.1 Minimum Torque Ripple Algorithm when 179 7.2.2 Minimum Torque Ripple Algorithm when 183 7.2.3 Generation 184 7.3 Experimental Results and Discussions 185 7.3.1 Maximum Attainable Speed and Acceleration Process 186 7.3.2 Steady-State Performance 188 7.4 Conclusion 193 CHAPTER 8. CONCLUSION AND FUTURE WORK 194 References. 195

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