本文旨在研製雙組三相永磁式同步電動機驅動的位置閉迴路控制系統。本文電動機結構為定子12槽，轉子10極，定子繞組為雙組三相的結構，驅動器的電力電路為雙組三相變頻器，具有分散電流及散熱功能，並採用電壓空間向量脈波寬度調變控制以提高直流鏈的電壓利用率，系統的回授裝置使用電流感測元件及解角器，以回授雙組三相永磁式同步電動機的相電流、機械角位置及機械轉速，配合轉子旋轉座標軸轉換，將電動機回授的相電流轉換為交直軸電流，以完成轉速及電流閉迴路控制系統及位置閉迴路控制系統，以提升驅動系統的性能。在位置閉迴路控制方面，位置控制器採用可調式比例增益型調節器，可縮小位置穩態誤差，並具有抵抗慣量、穩態抗干擾及可控制不平衡負載結構的性能，以提高位置控制系統的實用性。
本文採用Matlab/Simulink軟體模擬雙組三相變頻器及雙組三相永磁式同步電動機的轉速及電流閉迴路控制與位置閉迴路控制，以驗證本文控制策略的可行性。驅動系統的控制核心採用32位元數位信號處理器編號TMS320F28075，控制策略皆以軟體實現，具可塑性，可提高可靠度。轉速及電流閉迴路控制策略的實測，轉速為2000rpm且電磁轉矩約為13.7N-m的條件下，雙組三相繞組的相電流峰值約為110A，系統整體效率為94.1%，可知雙組三相變頻器具有分散電流及散熱能功能。位置閉迴路控制策略的實測，與固定式比例增益型調節器相比，可調式比例增益型調節器使位置穩態誤差由10度降低至1度。穩態抗干擾的實測，穩態時，當有外界干擾量施加在電動機上，電動機將產生相對的電磁轉矩抵抗外力，以縮小位置誤差。不平衡負載結構的實測，不平衡機械負載於不同角度造成的負載轉矩，而電動機將產生相對的交軸保持電流，以抵抗不平衡負載造成的負載轉矩。

This paper aims to develop the position close loop control system driver by double-three-phase permanent-magnet synchronous motor (PMSM). The PMSM is 12-slot stator with double-three-phase winding and 10-pole rotor structure. The driver power circuit is adopted double-three-phase inverter to disperse current and heat, and is controlled by voltage space vector pulse width modulation to improve the voltage utilization of the dc-link. Use the rotor rotation coordinate axis conversion to convert the feedback of three phase current into q-d current axis. The drive system is adopted a 32-bit digital signal processor - TMS320F28075 as control core. All control strategies are implemented by software for flexible and reliability and adopted the Matlab/Simulink software to do the simulation to verify the feasibility of this control strategy.
The feedback device of the system uses current sensors and a resolver to feedback the three phases current, mechanical angular position and mechanical speed of the PMSM. Since the speed and current close loop control system and the position close loop control functions, it improves the performance of the drive system. The measured value of the speed and current close loop control strategy is under the 2000 rpm speed and the 13.7 N-m electromagnetic torque condition. The peak value of the phase currents of the winding is 110A, and the overall efficiency of the system is 94.1%.
When the external interference applied to the motor in the steady state, the motor generates relative electromagnetic torque to resist the external force and reduce the position error. The motor will generate a relative q axis holding current to resist the torque of load caused by the unbalanced load at different angles. The measured value of the position close loop control strategy is compared with the fixed proportional gain regulator, and the adjustable proportional gain regulator reduces the position steady-state error from 10 degrees to 1 degree. The position controller is adopted an adjustable proportional gain regulator in the position close loop control. That can reduce the steady-state error of position, resisting inertia, steady-state anti-interference and unbalanced-load-control-structure to improve the practicability of the position control system.

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