電動機控制的理論基礎pemclab.cn.nctu.edu.tw/w3news/技術專欄/2007-05-17...2007/05/17...
TRANSCRIPT
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台灣新竹‧交通大學‧前瞻電力電子中心 808實驗室 (電力電子系統與晶片設計實驗室)
國立交通大學 電機與控制工程研究所
編輯:鄒應嶼 教 授
Advanced Power Electronics Center, NCTU, Taiwan
2007年5月17日
電動機原理與驅動技術【專題導讀】
電動機控制的理論基礎
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台灣新竹交通大學前瞻電力電子中心808實驗室 (Power Electronics Systems and Chips Design Lab)電力電子系統與晶片、開關電源、綠色能源、數位電源、馬達驅動、伺服控制
Integration of Power, Motor, and Motion Control
Motor
III
III IVtorque
speed
Power Converter
amperes
volts
RBSOA/FBSOA
Four-QuadrantVoltage/AmpereControl
Four-QuadrantTorque/SpeedControl
Closed-LoopSpeed/PositionControl
DSP-BasedDigital Controller Mechanical Load
X
Y
CoordinatedMotion ProfileControl
feed drivespindle driveelectrical carelectrical railway.. .. ..
mP/DSP-Based Programmable Motion & Motor Control Techniques
New Solutions of Motion Control Problems Using Advanced Technology!
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1
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
1/180
【電動機原理與驅動技術】
電動機控制的理論基礎
Filename: \Filename: \C01 投影片:電動機控制\【電動機原理與驅動技術】01:電動機控制的理論基礎.ppt
2007年5月17日
鄒 應 嶼 教 授
國立交通大學 電機與控制工程研究所
LAB808NCTU
Lab808: 電力電子系統與晶片實驗室Power Electronics Systems & Chips, NCTU, TAIWAN
台灣新竹•交通大學•電機與控制工程研究所
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://powerlab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
2/180
【義隆電子】電動機原理與驅動技術:課程大綱
1. 電動機控制的理論基礎
2. 直流電機的原理、特性、與驅動控制
3. 交流感應電機的原理與特性
4. 交流同步電機的原理與特性
5. 交流驅動系統簡介
6. 變頻器原理與交流脈寬調變技術
7. dq模型與向量控制技術
8. 交流伺服控制技術
9. 無刷直流馬達的無感測驅動控制
10. 交流感應馬達的無感測驅動控制
3/180
Motors for Modern Life
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
4/180
Motor Applications in Modern Life
Information TechnologyHouseholdsIndustry & ManufactureAutomobilesMedicineTransport etc. etc.
Motor55%
Other20%
Lighting21%
Computers4%
Electrical Energy 2002
Motors consume major electric energy!
5/180
Motors in a Household
How many motors are typically used in a household???virtually countless!!! They are found in:
refrigeratorcoffee mill dishwasher, washing machine food processor vacuum cleaner ventilator gardening machines video recorder CD player computer etc. etc.
6/180
Motor Applications in Modern Life
Insight, HONDA, 2000
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2
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
7/180
Emerging Motor Drive Opportunities
Integrated Motor-Controller
IPEM
Currents
Control
++
ω & θ i
Est LPF
HFP
μ - Processor
IPEM
Con
trol
SYSTEM DESIGNPOWER ELECTRONICSCONTROL FIRM/SOFTWAREDIGITAL IC DESIGNANALOG IC DESIGN
POWER IC DESIGN
8/180
DVD-RW is the Core for Media Storage
DVD-RW
9/180
Motor Drives for Computers
Fan Motor for Switching Power Supply
Fan Motor for CPU Cooling
Spindle Motor for CD-ROMDC Motor for Open/Close
Voice Coil Motor for Optical Pickup Head
Spindle and Voice-Coil Motor for Hard Disk Drive
Motors for Floppy Disk Drive10/180
DVD系統方塊圖與主軸馬達控制與驅動IC
夾片機構
主軸馬達
光碟片 光學
讀取頭 長程尋軌馬達
數
位
信
號
處
理
器
DMA
記憶體
微控制器
IDE介面
碟片傳送馬達
控制電路
主軸伺服
聚焦伺服
循軌伺服 尋軌伺服
滑動機構
DSP-Embedded Controller
Driver Circuit
DVD Servo Control IC
影音處理
驅動電路
Sensorless Spindle Motor Drive IC
主軸馬達驅動模組
11/180
DVD-Related Motor Driver ICs
Single-chip direct PWMSpindle motor driver +Actuator driver
LV8280TLV8200W
* LA6505* LA6506* LA6507
Spindle + actuator driver
Spindle motor drives providingPrecise rotation
LB11699HLB11698HLB1998LB1894M
LB11999HLB11996HLB11995HLB11975
Spindle Motor DriversUsing low-saturationVertical PNP transistors
LB1938TLB1930M
Spindle Motor Drivers
4chBTLLA6564HLA6553LA6544H/MLA6543MLA6542M
5chBTLLA6576LA6571
Actuator Drivers
High-output, high-gainActuator drives
12/180
無刷直流主軸馬達的結構
Outer Rotor Slot StatorHall effect sensors
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3
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
13/180
Sensorless Control & Drive IC for Slim-Type DVD Spindle Motor
12
34
56
78
910
1112
1314
15 16 17 18 19 20 21 22 23 24 25 26 27 28
2930
3132
3334
3536
3738
3940
4142
4344454647484950515253545556
VO1F
VO1R
PGND1
VO2F
VO2R
PVCC1
PVCC1
VO3F
VO3R
P GND1
VO4F
VO4R
VO6F
VO6R
P GND3
P VCC3
VO5F
VO5R
SPRNF
W
P VCC2
V
P VCC2
U
SPRNF
Vref
CNF
6
CNF
5
CNF
4
CNF
1
CNF
3
CNF
2
IN2
IN3
IN1
IN4
IN5
IN6
INSP
FG
SW
RNF
FGHB
HU
P
HU
N
HV
P
HV
N
HW
P
HW
N
VC
C
GN
D
SPC
NF
GV
SW
MU
TE
SB
S TBY
Pre D
river
Fed
Lo
gic
Pre D
river
Fed
Lo
gic
Pre
Driv
er
Fed
Lo
gic
Pre
Driv
er
Fed
Lo
gic
ST
BY
SB
180
deg
MA
TR
IX
OC
C.
Lim
it
Pre
D
river
Pre
D
river
Pre
D
river
Pre D
river
Fed
Lo
gic
Pre D
river
Fed
Lo
gic
H .B .
MUTE G VSW
Thermal
shut-down
OS
C
FGSW
MA
TR
IX
14/180
SANYO DENKI: Fan Motors
15/180
San Ace 120 3-Phase Brushless DC Fan Motor
Sanyo Denki Co., Ltd. is pleased to announce the development of the new 120mm square, 38mm thick "San Ace 120"SG type DC cooling fan motor. This product, slated for release on March 1, 2005, is a high-efficiency DC cooling fan motor ideal for use in personal computers, server and network storage systems, communication instruments, and general-purpose industrial equipment. The San Ace 120 SG type cooling DC has achieved the lowest noise level and one of the highest airflow/static pressures in the industry.
16/180
Motor Drives for Home Appliances
Refrigerators (Compressor Motor)Cooler (Compressor Motor)Washing Machine (Spindle Motor)Dust Cleaning MachineAir Cleaning MachineJuice Machine
17/180
Motor Drive ICs Inside the Intelligent Electronic Toys
i-CybieAibo-2004
18/180
Motor Drive ICs Inside the Intelligent Home Appliances
Crubo (VC-RP30W)Samsung Robot Vacuum CleanerRoomba
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課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
19/180
Motors in Automobiles
Insight, HONDA, 2000
20/180
Segway to the Future
July 15, 2005 (中國時報) Aug. 12, 2005 (攝於 美國 佛羅里達 Fort Myers Beach)
21/180
Motor Drives for Manufacturing Automation
Palletizer Application
Winder Application
Cutter Application Blender Application
Catcher/Stacker Application
22/180
Architecture of Motion Control and Motor Drive
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
23/180
An Example: Motor Drive for Motion Control
+
−
xs Δ x
x*i
indirect position control
+
−
vs
v*i
M
Feed force Fv PartFeed rate vi
direct position control
Table
servomotor
Speedandcurrentcontroller
Positioncontrol
TTacho
positionfeedback
unit
Xi indirectxdirect
E
encoder
24/180
Composition of a Motion Control System
tacho-generator
encoder
servo driveposition controller
control box
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5
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
25/180
Integration of Power, Motor, and Motion Control
Motor
III
III IVtorque
speed
Power Converter
amperes
volts
RBSOA/FBSOA
Four-QuadrantVoltage/AmpereControl
Four-QuadrantTorque/SpeedControl
Closed-LoopSpeed/PositionControl
DSP-BasedDigital Controller
mP/DSP-Based Programmable Motion & Motor Control Techniques
Mechanical Load
X
Y
CoordinatedMotion ProfileControl
New Solutions of Motion Control Problems Using Advanced Technology!
feed drivespindle driveelectrical carelectrical railway.. .. ..
26/180
Control of Motor Drives
Multiple Loop Control Structure of a Positioning Electrical Servo Drive
*fT*fV
*1X
*nX
POSITION
VELOCITY
TORQUE
Pos Ve1 TM
X1 V1 ε1
PWMAmplifier
ServoMotor
LOADCurrent
LoopController
+
_
VelocityLoop
Controller
+
_
PositionLoop
Controller
+
_Motion
Controller
Current FeedbackVelocity Feedback
Position Feedback
27/180
Control Loops and Interfaces: Between Drive and Motion Control Units
PWMAmplifier
ServoMotor
LOADCurrentLoop
Controller
+VelocityLoop
Controller
+_
PositionLoop
Controller
+
_Motion
Controller
Current Feedback
Velocity FeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+
_
PWMControl
Sensorsand
Signal Conditioning Unit
PWM for Power Switches ControlCurrent cmd.Torque cmd.Velocity cmd.Velocity cmd.
Power Conversion ControlTorque (Current) ControlServo (Velocity, Position) ControlMotion (Interpolation, Ramping) Control
28/180
Motor Drive Controllers
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
29/180
Omnirel: 25 Amp BLDC Motor Driver Module
Applications:• Fans and Pumps• Hoists• Actuator SystemsFeatures:• Fully integrated 3-Phase Brushless DC Motor Control Subsystem
includes power stage, non-isolated driver stage, and controller stage• MOSFET Output Stage• 25A Average Phase Current with 80V Maximum Bus Voltage• Internal Precision Current Sense Resistor (6W max. dissipation)• Speed and Direction Control of Motor• Brake Input for Dynamic Braking of Motor• Overvoltage/Coast Input for Shutdown of All Power Switches• Soft Start for Safe Motor Starting• Unique Hermetic or Plastic Ring Frame Power Flatpacks• Hermetic Package (3.10" x 2.10" x 0.385") F
unct
iona
l Det
ails
of t
he O
M73
93
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6
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
31/180
Application Circuit Schematics Using the OM7393
32/180
IGBT Module for Motor Drive Applications
Motor Controller (μP, DSP, or Control IC)
Voltagedivider
Temperatureamplifier
Currentamplifier gate drive
Powersupply+18 V+5 V
+5 V isolated
+5 V (iso)+5 V+5 V, +18 V
+ +
Three-phaseac input
Three-phaseac input
Drive/controlsection
Powerprintedcircuitboard
Integrated PowerStage (IPS)
Capacitors
Precharge Relay
33/180
Integrated Power Conversion Components
ActiveGate drive AGD AGD
ActiveGate drive AGD AGD
34/180
Development of Integrated Motor Drives
Discrete Input
Discrete Output
Analog Input
RS232C
Man Machine Interface
IR1110 Soft Start
IC
Discrete I/O’s
Analog I/O’s
Serial Comm
AC Drive Motion Profile Processing
Micro controller or
DSP
High Speed Serial Communication
OPTOs
uP/DSP PWM
AD/DA DIO
IR2137 IR2237 Gate
Drive and Protection
IR2171 IR2271
CURRENT FDBKIC
5V.15V
Power Supply
Power Conversio
n Processor
AC MOTOR
45V.15V
600V and 1200V Gate Driver
Switching Power Supply Controller
SPI Communication and Isolator
600V and 1200V Current Sensor
Soft Start Converter Controller
CPU/DSP, I/O, PWM, ADC
35/180
PIIPM50P12B004: Programmable Isolated IPMfrom International Rectifier
PIIPM5012B004: EconoPack 2 outline compatible
FEATURES:DSP (TMS320LF2406A) EmbeddedNPT IGBTs 50A, 1200V10us Short Circuit capabilitySquare RBSOALow Vce(on) (2.15Vtyp @50A, 25 °C)Positive Vce(on) temperature coefficientGen III HexFred TechnologyLow diode VF (1.78Vtyp @50A, 25 °C)Soft reverse recovery2mΩ sensing resistors on all phase outputs and DCbus minus railT/C < 50ppm/°C
Embedded flyback SMPS for floating stages (single 15Vdc @ 300mA input required)
TMS320LF2406A
40MIPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
Encoder/Hall interface
JTAG interface
PI-IPM50P12B004
RS
422
inte
rface
AC/DC motor
36/180
DSP-Controlled Brushless DC Motor
Ref: David C Tam, “DSP-Based Brushless DC Motor Controller," International Rectifier, 1999.
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課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
37/180
Energy Saving High Power Quality BLDCM Drive
Variable Output PFC Converter + PAM Inverter
85-260 VAC50/60 Hz
VariableOutput
PFCConverter
20 kHz
10-400 VDC(PFC: 50-400V) PAM Inverter
Cd
110 V50/60Hz
dcV
PWM Inverter
BLDC Motor
150 VDC
BLDC Motor
38/180
PFC-Controlled PAM/PWM Multi-Mode BLDC Motor Drive
Co
110/220V50/60Hz
dcV
PWM Inverter
PMSM
Buck-Boost Converter
Lf
uε
ud • PWM Control• Inverter Control• Vector Control• Servo Control
• Power Factor Control
• DC-Link Regulation
HallSensors
Con
trol I
/O
Encoder
Ethernet/I2C NETWORKinterface
I2C
39/180
Integral Motor
風扇框架
控制介面散熱風扇 功率驅動與控制模組
行星散熱鰭直流鏈電容
密閉自然散熱變頻馬達電容框架
接線盒40/180
Development of Integral Motor
電控馬達生產廠商
公司名稱 產品名稱 容量
ABB Integral Motor 0.75-7.5Animate Smart Motor 0.15-7.5Baldor Integral Motor 0.75-7.5Danfoss Integral Motor 0.75-7.5Siemens Integral Motor 0.75-7.5
Alldales Drive Systems Ltd.Little Cross, Church Street, Warnham, West Sussex, RH12 3QS, United Kingdomemail: [email protected]: (01403) 218787Fax: (01403) 218833
41/180
Integrated Vector Drive Servo System
42/180
IP Addressible Electronics-Controlled Integral Motor
CONTROL
COMMUNICATION POWER CONVERSION
MOTOR DESIGN
SYSTEM INTEGRATION
IPEM
Currents
Control
++
ω & θ i
Est LPF
HFP
μ - Processor
IPEM
Con
trol
SYSTEM DESIGNPOWER ELECTRONICSCONTROL FIRM/SOFTWAREDIGITAL IC DESIGNANALOG IC DESIGN
POWER IC DESIGN
EMBEDDED SOFTWARE
DIGITAL SIGNAL PROCESSING
ANALOG SIGNAL PROCESSING
POWER PROCESSING
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8
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
43/180
2005年全球小電機總產量將超過80億台2003年09月29日 產經網中國電子報
微小馬達(
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9
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
49/180
Fundamentals of Electric Machinery
Electrical Energy Conversion and Electrical DrivesBasic Physical Laws in Motor ControlElectromechanical Energy ConversionMechanical Interaction Between Motor and LoadStability Analysis of Motor-Load Static OperationMultiple Quadrant OperationMotor BrakingMoment of Inertia
50/180
Electrical Energy Conversion and Electrical Drives
Advantages of Electrical Energy Conversion Process:generated from primary energy (chemical energy in fossil fuel, potential hydro energy, nuclear energy) in relatively efficient central generating stations,transported with low losses over long distances and distributed simply and at acceptable cost,converted into any final form at the point of destination.
Primary Energy
Power Station
Transmission Distribution
Power Electronics
Final Energy Use
Fossil
Nuclear
Solar
Thermal Mechanical Electrical Electrical Mechanical
Controlled Electrical Drives
f0, U0 = const f1, U1 = variableHydro, Wind
Solar (PV)
MechanicalElectricalThermalChemical
Electrical energy per capita and
year 0.1-25 MWh
51/180
Control of Electrical Drives
Due to the progress of automation and with a view to energy conservation, the need for control of electrical drives is likely to become more important in future.
52/180
Architecture of Motor Drive
Controller
PowerAmp Motor
Load
-50
0
50
phase response
10 0 101 102 103 104 10 5
frequency(rad/sec)
100
101
102
103
104
105
101
102
103
magnitude response
frequency(rad/sec)Man-Machine Interface Control Loop Design
PowerSource
53/180
Power Conversion Process
Input Power Power Conversion Output Power
Passive Power ComponentsControl and Sensing Devices
Active Power Devices
battery
mains
Photo
voltaic
DCAC
54/180
Basic PWM Converter Topologies for Motor Drives
Single-Ended Half-Bridge Full-Bridge
Three-Phase Multi-Phase Multi-Level
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10
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
55/180
Matrix Converter as a Power Processor
(a) matrix converter (b) voltage source
Power Processor
InputsOutputs
Utility source
Voltage source
. . .
.
.
.
56/180
Matrix Converter Motor (MCM)
SMPS
IM3~
Auxiliary circuit supply unit(gate-drivers, transducers, control)
ab
c
A B C
Clamp circuit
Inpu
t filt
er
line
C
motor
Mat
rix C
onve
rter
Pow
er S
tage
57/180
Block Diagram of a PM DC Servo Motor Drive
dcV
T1
T2
T3
T4−
+
va
電流控制速度控制位置控制位置命令
全橋式脈寬調變電壓放大器
光電編碼器
直流伺服馬達
T 1 T 2 T 3 T 4
功率晶體
驅動電路
脈寬調變
~
開關式
電源供應器
速度估測
解碼器
濾波器
58/180
Block Diagram of a Practical BLDC Position Servo Drive
dcV
T5
T6
電流控制
&
換相控制
速度控制位置控制位置命令
三相橋式脈寬調變電壓放大器
光電編碼器
無刷直流伺服馬達
T 1 T 2 T 3 T 4
功率晶體
驅動電路
脈寬調變
~
開關式
電源供應器
速度估測
解碼器
濾波器
T3
T4
T1
T2
T 5 T 6
濾波器
59/180
Block Diagram of a Practical BLDC Position Servo Drive
dcV
T5
T6
電流控制
&
換相控制
速度控制位置控制位置命令
三相橋式脈寬調變電壓放大器
光電編碼器
無刷直流伺服馬達
T 1 T 2 T 3 T 4
功率晶體
驅動電路
脈寬調變
~
開關式
電源供應器
速度估測
解碼器
濾波器
T3
T4
T1
T2
T 5 T 6
濾波器
60/180
Features of Electrical Drives
Electric drives are available for any power, from 10-6 W in electronic watches to > 108 W for driving pumps in hydro storage plants.They cover a wide range of torque and speed, > 107 Nm, for an ore mill motor, > 105 RPM, for a centrifuge drive.Electric drives are adaptable to almost any operating conditions.Electric drives are operable at a moment's notice and can be fully loaded immediately.Electrical drives are easily controllable.Electrical drives can be designed to operate indefinitely in all four quadrants of the torque-speed-plane without requiring a special reversing gear.Qiet operation and long operating lifeElectrical motors are built in a variety of designs to make them compatible with the load. In special cases, such as machine-tools or the propulsion of tracked vehicles, linear electric drives are also available.
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11
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
61/180
Basic Physical Laws in Motor Control
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
62/180
Basic Physical Laws in Motor Control
Newton,s Law of Rotation (Rotor Inertia) Torque, Work, and PowerMotion Profile of a Motor Drive Control System Ampere,s LawFaraday,s LawLenz, LawProduction of Induced Force on a WireInduced Voltage on a Conductor Moving in a Magnetic FieldElectromagnetic Energy Conversion
63/180
Newton’s Law
(b) velocity
(c) acceleration
(a) position
64/180
Newton’s Law for Linear Motion
dtdMv
dtdvMMv
dtdff LM +==− )(
fM(t): driving force of the motor in the direction of the velocity vfL(t): load force opposing the motion
M: massv: velocitys: position
M·v: mechanical momentum
Notes:Usually the forces are dependent on velocity v and position s, such as gravitational or frictional forces. The change of mechanical momentum needs a change of force.The motion object is considered as a lumped mass.
Linear Motion
M
vs
fM fL
65/180
Motion with Constant Mass
dtdvMff LM 0=−
Madt
sdMff LM ==− 22
0
2
2
dtsd
dtdva ==
dtdMv
dtdvMMv
dtdff LM +==− )(
If the mass is constant, M = M0 = constant,
0
dtdsv =
where
M
vs
fM fL
66/180
Torque, Work, and Power
θ
T
Torque ( )
Applying a force F to a lever withradius r will produce a torque of
at the pivot point.
N m⋅
F r⋅
T F rF r F r F r
= ⋅=
Σ ( )1 11 1 2 2 3 3- -
Power (Watt)
Power is defined as work done in a given time.
P Wt
Tt
T= = ⋅ = ⋅θ ω [Watt ; Nm, rad / sec]
Work (Joule)
Work is defined as a torque actingthrough a given angulardisplacement.
W T= ⋅ θ [Joule ; Nm , rad ]
radius (r)
force (F)pivot point
F3
r3
F1
r2
F2
r1
T F r= ⋅ [N m ; N, m]
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12
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
67/180
Rotational Motion of Lumped Masses
( )dtdJ
dtdJJ
dtd
LM ωωωττ +==−
Rotational Motion
τM(t): driving torque of the motor in the direction of the angular velocity ωτL(t): load torque opposing the motion
J: inertiaω: angular velocityε: angular position
Jω: mechanical momentum
Notes:It should be noted that τM is the internal or electrical motor torque, not identical with the torque available at the motor shaft. The difference between internal torque and shaft torque is the torque required for accelerating the inertia of the motor itself and overcoming the internal friction torque of the motor.
J
ω, τM
τLε
68/180
Rotation with Constant Inertia
If the inertia is constant, J = J 0 = constant,
0
( )dtdJ
dtd
JJdtd
LM ωω
ωττ +==−dtd
JoLMω
ττ =−
αεττ JdtdJoLM ==− 2
2
2
2
dtd
dtda εω ==
where
dtdεω =
J
ω, τM
τLε
69/180
Moment of Inertia
dtddMr
dtdvdMrdfrd aa
ωτ 2===
A rigid body of arbitrary shape, having the mass M, rotates freely about a vertical axis oriented in the direction of gravity. An element of the mass dM is accelerated in tangential direction by the force element dfa, which corresponds to an element dτa of the accelerating torque
The total accelerating torque follows by integration
ω
dfa
dM
MVr
dτa
dMdtdrd
M
aa
a ωτττ
∫∫ ==0
2
0
70/180
Moment of Inertia of a Rigid Body
dtdJdMr
dtd M
aωωτ == ∫
0
2dMdtdrd
M
aa
a ωτττ
∫∫ ==0
2
0
In the assumption of a rigid body, all its mass elements move with the same angular velocity. The moment of inertia, referred to the axis of rotation, is defined as:
ω
dfa
dM
MVr
dτa
]m[kg 20
2 ⋅= ∫ dMrJM
71/180
Moment of Inertia of Concentric Cylinder
drlrdVdM πσσ 2==
( )414230
2
22
2
1
rrldrrldMrJr
r
M
−=== ∫∫ σππσ
r1, r2 : inner and outer radius of the hollow homogeneous cylinderτL(t): load torque opposing the motion
l: lengthρ: mass densityV: volume of the cylinderJ: moment of inertia
r1
r2ρ
72/180
Inertia of a Solid Rotor
stator
rotor
rotor
Most motors have an inner rotor structure. If the rotor has a radius of 3cm and length of 6cm and it is made of aluminum (ρ=2.7 g/cm3), what is its moment of inertia? [Note: the density of iron is 7.9 g/cm3]
]cm[kg 0.2]cm[g 2.20610.30.67.222
2244 ⋅≈⋅=××==π
σπ
lrJ r
The calculated rotor inertia is about 2.0 kg·cm2, which is the inertia of a 0.5HP induction motor. The rotor inertia of a PM ac servo motor is about 10-30 % of an induction motor with same rating. Low rotor inertia is desirable for servo motors for have a higher acceleration rate.
stator
rotor
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13
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
73/180
Inertia of a Cylinder with a Weight of G
( )2122 rrlgG −= πσ
( )222121 rrri +=
22
12
2
2 ir
gGrr
gGJ =+=
weight G ri : radius of gyrationg : gravitational accelerationρ : mass densityJ : moment of inertia
( )414230
2
22
2
1
rrldrrldMrJr
r
M
−=== ∫∫ σππσ
Notes:The moment of inertia increases with the 4th power of the outer radius. The moment of inertia of a cylinder is proportion to its weight and increases with the square of its radius of gyration.In applications of rotor with low inertia, the rotor has a shape of long cylinder with small radius.
r1
r2ρ
l
74/180
Moment of Inertia of a Rod, Pivoted Out of Center
⎥⎥⎦
⎤
⎢⎢⎣
⎡⎟⎠⎞
⎜⎝⎛ −+=⎥
⎦
⎤⎢⎣
⎡+== ∫∫∫
− 22
0
2
0
2
0
2 213112 l
aMldrrdrrl
MdMrJalaM
In the above figure, a homogeneous thin rod of length l and mass M is pivoted around a point P, the distance of which from one end of the rod is a.With the mass element dM = (M/l) dr, we can derive the moment of inertia as
The inertia can be expressed as a function of a and we can find the minimum inertia is obtained when the rod is pivoted at the center.
(a) (b)
J
0 1
3
2Ml
12
2Ml
21
la
a
P
M
L-a
75/180
Linking Linear and Rotational Motion
ωττ rvfrfr LLMM === and,
( )dtdrMMv
dtdrLM
ωττ 2==−
2rMJe =
Je : equivalent moment of inertia of the linearly moving mass
M
fMfL
v
τM , ω
τL r
76/180
Effect of Gearing
Why Gearing?Slow motion and high torque is required, such as traction, positioning robots, machine tools, etc.Maximum motor torque is limited by iron saturation (flux saturation) and heat (conductor losses). To increase the motor power density, a simple way is running the motor at high speed and then transfer to the required torque by a gear box.
Effect of gearing on inertia.
To simplify the analysis, we first assume the gear is idea, where two wheels are engaged at the point P with friction, backlash or slip. Assume the left wheel is the driving wheel,
dtd
JfrM 11111ω
τ =−
dtdJfr 2222
ω=
where f1 is the circumferential contact force exerted by wheel 2. Correspondingly, for wheel2 we have:
2ω
2J
2f
1f
1J
1r2r
P
V
11, Mτω
77/180
Gear as a Mechanical Transformer
dtdJfrM 11111ωτ =−
dtdJfr 2222
ω=
221121 , ωω rrff ==
dtdJ
dtdJ
rrJ
dtdJ
rr
dtdJ eM 1112
2
2
11
22
2
1111
ωωωωτ =⎥⎥⎦
⎤
⎢⎢⎣
⎡⎟⎟⎠
⎞⎜⎜⎝
⎛+=+=
Torque of wheel 1 Torque of wheel 2
Balance in force and velocity at the contact point:
2
2
2
112
2
1
211 JN
NJJJJ e ⎟⎟⎠
⎞⎜⎜⎝
⎛+=⎟⎟
⎠
⎞⎜⎜⎝
⎛+=
ωω
where N1 and N2 are the numbers of gears of wheel 1 and 2, respectively.
2ω
2J
2f
1f
1J1r
2r
P
V
11, Mτω
78/180
Multiple Gear of a Hoist Drive
Hoist drive with gear.
[ ]23332
1
32
2
1
211 rMJJJJ e +⎟⎟
⎠
⎞⎜⎜⎝
⎛+⎟⎟
⎠
⎞⎜⎜⎝
⎛+=
ωω
ωω
331
3111 Mgrdt
dJ eM ωωωτ +=
This effective inertia includes the equivalent inertia of the mass M3 being moved in vertical direction. Applying Newtons’s law and taking the load of the hoist into account, we can obtain:
τM1 is the required motor torque for this geared hoist drive.
MOTOR
LossFreegear
11, Mτω
1J 2ω
2J
3ω 3J
3M
32r
This example scows a multiple gear for a hoist drive, where J1, J2, and J3 are the moments of inertia of the different shafts. The total effective inertia referred to shaft 1 is:
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14
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
79/180
Experimental Determination of Inertia
rotor
squirrel-cage induction motor
The moment of inertia of a complex inhomogeneous body, such as the rotor of an electrical machine, containing iron, copper and insulating material with complicated shapes can in practice only be determined by approximation.The problem is even more difficult with mechanical loads, the constructional details of which are usually unknown to the user. Sometimes the moment of inertia is not constant but changes periodically about a mean value, as in the case of a piston compressor with crankshaft and connecting rods.
2
41 MDJ =
D
M is the mass of the cylinder rotor, it can be measured by its weight divided by the gravitational acceleration 9.8m/sec2.
Estimation of the Rotor Inertia
80/180
Run-out Test for Inertia Measurement
The RUN-OUT TEST involves two major steps: Measurement of the steady-state load torque-speed curve. Measurement of the velocity (time) response of the load when the drive power is switched off at an initial constant speed.
ω
t'Lτ)( 1
' ωτ L
1ω
)(tωSteady-state load curve
)(' ωτ L
Coasting curve0ω
1ω
ωdtd
81/180
Torque-Speed Curve Measurement
dtdJpp LM
ωω+=
扭力計(torque meter) 慣性負載馬達 '
Lm
ω
The motor connected load is running at a constant speed by a drive as shown in the above figure. When rotating at constant speed,
0
Now, the input power pM corresponds to the losses of the load, pM = pL. The load power which corresponds to the mechanical power should subtract those loss components, such as armature copper losses. The developed load torque can also be measured by a torque meter connected in the motor shaft.
82/180
Steady-State Torque Estimation
ωωτ lossML
pp −=)('
: load torque at ωω : motor angular velocity
pM : power supplying to the motorploss : power losses in the motor
)(' ωτ L
'Lτ
ω1ω
)( 1' ωτ L
Notes:The motor losses consists of copper losses (I2R), core losses, and windage losses. The copper losses play a dominant factor in these losses and it takes about 85% in the motor losses. If the winding resistance of the motor is known, the copper losses can be calculated from the measurement of the RMS current of the motor windings.
83/180
Run-Out Measurement
ω
t
0ω
扭力計(torque meter) 慣性負載馬達
Measurement Procedure:1. Keep the motor running at a constant speed of ω0. 2. Suddenly turn off the drive power so that the motor-load set is decelerated by the loss torque with
the speed measured as a function of time ω (t).3. The inertia can be calculated from the negative ratio of the load torque and deceleration at a
specified angular velocity.
dtdJLM
ωττ =−
The motor torque τM is turned-off at t=0,
dtd
JLω
τ =−
1
'
ωω
ωτ
=
−≈
dtdJ
L
84/180
Calculation of the Inertia
ω
t'Lτ)( 1
' ωτL
1ω
)(tω
1ω
ωdtd
Steady-state load curve
)(' ωτ L
Coasting curve0ω
1
'
ωω
ωτ
=
−≈
dtdJ
L
1. Give a specified velocity
2. Measure its corresponding load torque
3. Calculate the deceleration rate at the specified velocity.
4. Calculate the estimated inertia
Notes:Graphical constructions, particularly when a differentiation is involved, are only of moderate accuracy. Therefore the inertia should be computed at different speeds in order to form an average.The accuracy requirements regarding inertia are modest; when designing a drive control system, an error of ±10% is usually acceptable without any serious effect.
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15
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
85/180
Special Cases for Initial Measurement
(a) Assuming the corrected loss torque to be approximately constant in a limited speed interval,
then ω(t) resembles a straight line; the inertia is determined from the slope of this line.(a) If a section of the loss torque may be approximated by a straight line,
a linear differential equation results,
The solution is, with ω(t2) = ω2,
Two special cases lead to particularly simple interpretations:
21' for const, ωωωτ
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16
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
91/180
Motion Profile of a Motor Drive Control System
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
92/180
Motion Profile of a Motor Drive Control System
(c)
(a)
(b)
t
t
t
s1
s1)( sa )( sω )( sθ
a(t) : angular acceleration ω(t) : angular velocityθ(t) : angular positionωm(t)
θm(t)
am (t)
93/180
Motion Profile
t
ωm(t)
The motion profile (speed-time response) of a motor can be used to define as the motion requirement of a specific application.
t
θm(t)
94/180
Maximum Acceleration and Maximum Speed
t
ωm(t)
am(max)(t)
ωm(max)(t)
Maximum SpeedMaximum AccelerationMaximum Deceleration
A motion control system is usually limited by its:
95/180
The Motor Needs a Torque to Accelerate
t
ωm(t)
The differential equation used for the description of the mechanical motion is:
Motor Developed Electrical Torque
eT
Viscous friction torque
Disturbance torque
Load torque
Available torque for acceleration
dtdJTTBTT mmLdmmfeωω ++++= Motor static friction torque
96/180
Motor and Load Dynamics
dtdJTTBTT mmLdmmfeωω ++++=
_mωmT
dT
eT
LJ1
mB
−
LB
−
Load ModelingDisturbance
Modeling
s1
mJ1
s1 mθ
Friction Modeling
)( , mmTF θω
fT LT
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17
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
97/180
The Control Issues
s1
s1)( sa )(sω )(sθ
pK+
−
The proportional control of an double integrator plant is inherently unstable!
acceleration velocity position
The motion of a mechanical system is resulted from an acceleration, constant speed, and deceleration process. If the system is under very small damping (friction), it is inherent unstable!
98/180
Hierarchical Control Architecture of Motor Drive Control
POSITION
VELOCITY
TORQUE
TorqueController
MVelocityController
PositionController
Torquecommand
Velocitycommand
Positioncommand
FeedbackProcessor
Power Conversion (Current & PWM) ControlTorque (Field-Oriented and Commutation) ControlServo (Position & Velocity) ControlMotion (Interpolation & Ramping (Acc./Dec)) Control
99/180
Motor Output Mechanical Power
Controller
PowerAmp Motor
LoadPowerSource
rad/sec]Nm, ;[Watt mmmmm TtT
tWP ωθ ⋅=⋅==
Watts 746HP 1 ==mP (rad/s) 104.7 6021000 RPM 1000 ≈×= π
mP
cmKgw 1m/secKg 1Nm 1 2 ⋅≈⋅=
Nm 0.1Nm 098.0Kgm/sec 098.0m01.09.8m/secKg 1cm Kgw 1 22 ≈==××=⋅100/180
Constant Power and Torque-Speed Operation Area
ωm
T
1mP
2mP
ωm(max)
Tm(max)
101/180
Maximum Power Rate
Power Rate =TP
ΔΔ
(b)
(a)
(a)
t
t
t
ωm(t)
Pm(t)
τm (t)The maximum power rate determines the minimum time for a motor drive system for a given step change of output power.
ωm
T
1mPωm(max)
Tm(max) 102/180
Torque and Back EMF
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
-
18
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
103/180
Basic Relations of Electrical and Magnetic Field
Faraday’s Law
Ampere’s Law
terminalcharacteristics
Corecharacteristics
( )tv ( ) ( )ttB Φ,
( ) ( )tFtH ,( )ti
Magnetic CircuitsElectrical Circuits104/180
Magnetic Field
Magnetic fields are produced by electric currents, which can be macroscopic currents in wires, or microscopic currents associated with electrons in atomic orbits. The magnetic field B is defined in terms of force on moving charge in the Lorentz force law. The interaction of magnetic field with charge leads to many practical applications. Magnetic field sources are essentially dipolar in nature, having a north and south magnetic pole. The SI unit for magnetic field is the Tesla, which can be seen from the magnetic part of the Lorentz force law Fmagnetic = qvB to be composed of (Newton x second)/(Coulomb x meter). A smaller magnetic field unit is the Gauss (1 Tesla = 10,000 Gauss).
105/180
Right-Handed System and Left-Handed System
x
y
z
y
x
z
Right-Handed SystemLeft-Handed System 106/180
Magnetic Field of Current: Right-Handed Rule
The magnetic field lines around a long wire which carries an electric current form concentric circles around the wire. The direction of the magnetic field is perpendicular to the wire and is in the direction the fingers of your right hand would curl if you wrapped them around the wire with your thumb in the direction of the current.
107/180
Ampere’s Law
B H= μ
H = magnetic field intensity (Ampere-turns/m)μ = magnetic permeability of material (Wb/A.m, or Henery/m)B = magnetic flux density (Tesla, Weber/m2)
μ μμr = 0
μ0 = permeability of free space
μ π074 10= × − H / m
μr = relative permeability (between 2000-6000 for general ferromagnetic materials used in electrical machines)
H l I⋅ =∫ dD=10 mm
l=50 mmN=30
WD=1.0 mmWire diameter
I
a
b c
d
∫⎩⎨⎧
=⋅I
Id
enclosenot doescontour if ,0 enclosescontour if ,I
lH
108/180
Permeability
Ampere,s Law H l I⋅ =∫ d
H = magnetic field intensity (Ampere-turns/m)μ = magnetic permeability of material (Wb/A.m, or Henry/m)B = magnetic flux density (Tesla, Weber/m2)
μ μμr = 0
μ0 = permeability of free space
μ π074 10= × − H / m
μr = relative permeability (between 2000-6000 for general ferromagnetic materials used in electrical machines)
perm eability = =μBH
In magnetics, permeability is the ability of a material to conduct flux. The magnitude of the permeability at a given induction is a measure of the ease with which a core material can be magnetized to that induction. It is defined as the ratio of the flux density B to the magnetizing force H. Manufacturers specify permeability in units of Gauss per Oersted (G/Oe).
cgs: = 1 gaussoersted oersted
μ 0410⎡
⎣⎢⎤⎦⎥
= ×tesla mks: = 4 henrry
meterμ π0
710× ⎡⎣⎢
⎤⎦⎥
−
-
19
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
109/180
Properties of Ferromagnetic Materials
1.4
1.2
1.0
0.8
0.6
0.4
0.2
00 200 400 600 800 1000
H, A-turn/m
B, Wb/m2
B H= μ μr 0
Ferromagnetic materials, composed of iron and alloys of iron with cobalt, tungsten, nickel, aluminum, and other metals, are by far the most common magnetic materials.Transformers and electric machines are generally designed so that some saturation occurs during normal, rated operating conditions.
DC Excitation
i
N
Φ
110/180
磁通量單位:韋伯 (Wb)
磁通量的國際制(SI)單位,紀念德國物理學家韋伯而命名。簡稱韋﹐用Wb表示。
韋伯定義如下﹕令通過單匝線圈的磁通量在 1秒鐘內均勻地減小到零。如果在該線圈中激發產生的感應電動勢為1伏特,則原來通過該線圈的磁通量為 1韋伯。即1Wb=1V.s。
韋伯是國際單位制的導出單位﹐用基本單位表示的關係式為:
米2‧千克‧秒-2 ‧安培-1 (m 2 ‧kg‧s-2‧A-1)。
1882年西門子在英國科學進展協會上第一次提出以『韋伯』作為磁通量單位,1895年得到英國科學進展協會承認,1948年得到國際計量大會的承認。
韋伯和 CGS電磁系中的磁通量單位馬克斯威之間的換算關係為﹕
1韋伯相當於108馬克斯威。
[1 Wb = 108 Maxwell]
111/180
B-H Curve and Permeability
Relation between B- and H-fields.
H
iB
Bs
HsLinear region
BΔHΔ
HB
ΔΔ
=Δμ
HB
HB
=ΔΔ
=μBΔ
HΔ
HHB r 0μμμ ==
Magnetic intensity H, [A-turns/m]
112/180
Hysteresis Curves of a Ferromagnetic Core in AC Excitation
H
B
Hysteresis Loop
H
B
Br
-Hc
Residual Flux Density
Coercive Force
Magnetization or B-H Curve
area hysteresis loss∝
saturation
113/180
Magnetization Curve of a Ferromagnetic Core
The relationship between B and H for a ferromagnetic material is both nonlinear and multivalued. In general, the characteristics of the material cannot be described analytically. They are commonly presented in graphical form as a set of emperically determined curves based on test samples of the material using methods presented by the American Society for Testing and Materials (ASTM).
(b) AC magnetization B-H curve for M-5 grain-oriented electrical steel 0.03 cm thick (Armco Inc.)
(a) DC magnetization B-H curve for M-5 grain-oriented electrical steel 0.03 cm thick (Armco Inc.)
2.42.22.01.81.61.41.21.00.80.60.40.20
1 10 100 1000 10,000 100,000
B, W
b/m
2
H, A. turns/m
DC Magnetization
H, A. turns/m
1.8
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0
B, W
b/m
2
-10 0 10 20 30 40 50 70 90 110 130 150 170
Scal
e ch
ange
AC Magnetization
114/180
Flux Density or B-Field
Determination of the magnetic field direction via the right-hand in (a) the general case and (b) a specific example of a current-carrying coil wound on a toroidal core.
i
H
(a) (b)
H-field
i
Cross-sectional area A
BA=φ
HHB r 0μμμ ==
-
20
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
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115/180
Continuity of Flux
A1 A2
A3
φ1 φ2φ3
dABA∫∫=φ 0surface) (closed == ∫∫ dABAφ
∑ =k
k 0φ
0or 0 321332211 =++=++ φφφABABAB
116/180
Magnetic Reluctance and Permeance
Reluctance
Mean path length lCross-sectional
area A
Permeability μ
i
N
Al
μ=ℜ
ℜ=
ℜℑ
=Niφ
∫ ==⋅ NiHld lH
lNiH =
AB
lNiH φμμ ===
ℜℑ=
⎟⎠
⎞⎜⎝
⎛==
Al
Nil
ANi
μ
μφ
Magnetic-motive force (mmf) Ni=ℑ
Permeanceℜ
=Ρ1
117/180
Self Inductance
Amp (I)
Weber-turns (λ=Nφ)
Li
=λ
Mean path length lCross-sectional
area A
Permeability μ
i
N
For a magnetic circuit that has a linear relationship between φ and i because of material of constant permeability or a dominating air gap, we can define the λ-i relationship by the the self-inductance (or inductance) L as
iN
iL φλ == μφ
lANi
= QlAN
lANi
iN
iL μμλ 2===
where λ =Nφ, the flux linkage, is in weber-turns. Inductance is measured in henrys or weber-turns per amp.
118/180
Energy Stored in a Core
Mean path length l Cross-sectional area A
Permeability μ
I
N: number of turns
lANL μ2=
The energy stored in the core:
∫∫ ===tt
L LIdiLiPdtE 02
0 21''
The energy density (energy/volume) is:
μ
μμη
2
211
2
22
222221
B
NlB
lAN
AlAlLI
B
=
⎟⎟⎠
⎞⎜⎜⎝
⎛⎟⎟⎠
⎞⎜⎜⎝
⎛==
The energy stored in the core:
coreBL VLIE η==2
21
Vcore: volume of the core
119/180
Electrical-Magnetic Analogy
Magnetic Circuit Electric Circuitmmf NiFlux φreluctance ℜpermeability μ
viR1/ρ, where ρ=resistivity
+_
Φ
i
N
Φ
ℑ ℜ
120/180
Equivalent Electrical Circuit of a Magnetic Circuit
Reluctance
)H :(unit 1-Al
μ=ℜ
+_
Φ
i
N
Φ
ℑ ℜ
ANi
μφ1
=ℜ=
∑∑ =ℜm
mmk
k iNφ
0=∑k
kφ
ρ/:law sOhm'
AlR
iv
==
∑∑ =m
mk
k vRi :law voltage sKirchhoff'
0 :lawcurrent sKirchhoff' =∑k
ki
Magnetic Electrical
Inductance
ℜ===
2Ni
Ni
L φλ
-
21
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
121/180
Magnetic Circuits of a Gapped Core
mean flux path in the ferromagnetic material
N1gAirgap: Hg
i1
l1 = mean path length
Core: H1
i1 in
H
(a) (b)
122/180
Modeling of a Simple Magnetic Circuit
∫ =⋅ IlH dH dl H dl Niia
b
gb
a+ =∫ ∫
Hi : Magnetic field intensity in the ferromagnetic materialHg : Magnetic field intensity in the air gap
magnetic motive force (mmf)(unit: Ampere-turns)
H l H l Nii i g g+ =
mean flux path in theferromagnetic material
v
+
_
li
i
ab
N
lg mean flux path in the air gap
123/180
Modeling of a Simple Magnetic Circuit
B H= μ B lB
l Niii
ig
ggμ μ+ =
Φ = ⋅∫ B SA dFlux
The surface integral of flux density is equal to the flux.
If the flux density is uniformly distributed over the cross-sectional area, then
Φ i i iB A= Φ g g gB A=
The streamlines of the flux density are closed, therefore Φ Φi g=
lA
lA Ni
i
i i
g
g gμ μΦ Φ+ =
ii
ii A
lμ
=ℜgg
gg A
lμ
=ℜ
Nigigi =ℜ+ℜΦ=Φℜ+Φℜ )(
124/180
Modeling of the Air-Gap
gRNi
Φ
v
+
_
li
i
ab
N
lg
mean flux path in the air gap
mean flux path in theferromagnetic material
cR
In general, cg RR >>
125/180
Inductance of a Slot-Cutted Ferrite Core
L NB Ai
N Al
c c c
g
= =2
0μ
v
+
_
i
ab
N
126/180
Control of the Stator Magnetic Field
ωm
r
v
+
_
i
N
)( BLiFvvv
×=
FrT ×=
Stator flux densityRotor winding current
N S
B
BN
S
-
22
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
127/180
Faraday’s Law - Change of Flux (Sept. 23, 1831)
Induced voltage from a time-changing magnetic field
Faraday,s Law states that if a flux pass through a turn of a coil of wire, a voltage will be induced in the turn of wire that is directly proportional to the rate of change in the flux with respect to time.
Faraday,s Law
eN
ind voltage induced in the coil = number of turns of wire in coil
= flux passing through coil = N is the flux linkage of the winding
=
φλ φ
e N ddt
ddtind
= − = −φ λ
N turns
φ
inde
128/180
Lenz’ Law - Polarity of Induced Voltage
Lenz, Law
eind
i
direction of i required
dtdNe φ−=ind
The meaning of Lenz,s law:
(1) A coil enclosing an increasing magnetic flux;(2) determining the resulting voltage polarity.
Lenz,s law states that the direction of the voltage buildup in the coil is such
that if the coil ends were short-circuited, it would produce current that would cause a flux opposing the original flux change.
N turns
Direction ofopposing fluxincreasing
+
_
N turns
129/180
Production of Induced Force on a Wire
)( BLiFvvv
×=
Lv
Bv
Fv
θN S
Bv
Lvi
Fv
θsinBLiFvvv
=
A current-carrying conductor in a magnetic field experiences a force acting upon it.
F : force (Newton)B : magnetic flux density (Tesla, Weber/m2)L : length of the conductor (meter)i : current in the conductor (Ampere)
130/180
Production of Induced Force on a Current-Conducting Wire
I
F
BI
N S
B
B
ωm
a
b
c
dvcd r vab
B
I
)( BLiFvvv
×=
rFT ⋅=
131/180
Important Concepts in Electromechanical Motion
In all electromechanical devices, if mechanical motion is occurred, either translational or rotational, this motion will reflect into electric system either as a change of flux linkages in the case of an electromagnetic system or as a change of charge in the case of an electrostatic system.
If the magnetic system is linear, then the change in flux linkages results owing to a change in the inductance.
The inductances of the electric circuits associated with the electromechanical motion devices are functions of the mechanical motion.
132/180
Electromechanical Energy Conversion
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
-
23
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
133/180
Electromechanical Energy Conversion
CouplingField
MechanicalSystem
ElectricalSystem
Electromechanical systems are comprised of an electrical system, a mechanical system, and a means whereby the electrical and mechanical systems can interact.This interaction can take place through any and all electromagnetic and electrostatic fields which are common to both systems and energy is transferred from one system to the other as a result of this interaction.There are energy losses, energy stored, and energy transferred in the electrical systems, coupling fields, and mechanical systems.
Energy FlowMotor
Generator
134/180
Electromechanical Energy Conversion
W W W WE e eL eS= + +
W W W WM m mL mS= + +from Energy Conservation Principle: in the coupling field we found
W W W W W W W Ef fL E eL eS M mL mS+ = − − + − −( ) ( )
W W W Wf fL e m+ = +which may also be written as:
Σ ΣΣ
WeL WmLWfL
WM
WmSWf
WmWeWE+
_+ + +
_
__
_ _
WeSElectricalSystem
MechanicalSystem
CouplingField
135/180
Electromechanical Energy Conversion
The process of converting electrical energy to mechanical energy (or vice versa) isindependent of:(1) the loss of energy in either the electrical or the mechanical systems (WeL and WmL) ,(2) the energies stored in the electric or magnetic fields which are not common to both
systems (WeS),(3) the energies stored in the mechanical system (WmS).
If the losses in the coupling field can be neglected:
W W Wf e m= +
if there is no loss
Σ ΣΣ
WeL WmLWfL
WM
WmSWf
WmWeWE+
_+ + +
_
__
_ _
WeS
WfL=0
136/180
_
Study of an Elementary Electromechanical System
v
+
_e f+i
r L
Φx
x0
M
K
D
ffe
KD
v
r
efL
Φ
applied voltagecurrentresistance of the current-carrying conductorinductance of the electromechanical systemvoltage drop across the coupling fieldflux in the coupling fielddeveloped electromechanical forceexternal mechanical forcemass of the moving weightequilibrium positionposition of the moving massspring constantdamping coefficient
i
x0x
M
Electrical equation of the electrical system;
Mechanical equation of the mechanical system;
v ri L didt ef= + +
f M d xdt
D dxdt K x x fe= + + − −2
2 0( )
ffe
K
D
137/180
Operating Modes and Motor-Load Torque-Speed Characteristics
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
138/180
Operating Modes of an Electrical Drive
Motor Load
ω, τMτM = Motor torqueτL = Load torque
τL
V (ω)
fM (τM)
Driving
Driving
Braking
Braking
vv
v v
fMfM
fM fM
ωm
T0
I
ωm1 Maximumpower
Maximumtorque
−ωm3
−ωm2
3SIII IV
II
D
C
A
B
F
E
TL
TL
2S
1S
Maximumspeed
-
24
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
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139/180
馬達與負載之扭矩方程式
Motor Load
TLT
ωm
T T J ddtL
m= +ω
Motor Developed Torque = Load Torque + Dynamic Torque
J = load inertia referred to the motor shaft, Kg - m2
ωm = instantaneous angular velocity of the motor shaft, N - mT = motor developed torque, N - m
TL = load torque referred to the motor shaft, N - m
ωmSpeed
Torque Tm
ωmSpeed
Torque TL
140/180
Compositions of Load Torque
Load Torque TL = Friction Torque TF + Windage Torque TW + Work Torque TM
ωm
Torque
0 Ts
TvTc
TcTv
Ts
ωm
TF0
Friction torque and its components
Friction Torque TF = Viscous Friction Tv + Columb Friction Tc + Static Friction Ts
T T B T CL M m c m= + + +ω ω 2
can be neglected
windage torquecoulomb friction
viscous friction
141/180
Examples of Load Torque Characteristics
ωm
TL
ωm
TL
ωm
T
Pd1Pd2
0
Pd1Pd2
ωm
T
Pd1Pd2
0
Pd3S1S2
A*B*
AB
C*C
ωm
TL0
A
A*
B
B*
C
0TL
ωm lowspeed
highspeed
(a) Fan and centrifugal pumps (b) Traction excluding gravity (c) Coiler drives
(d) Diesel-electric locomotive (e) Excavators (f) Hoist
142/180
Examples of Motor Torque Characteristics
split-series motorstraight-series motor
Speed
Torque
DC servo motor shunt motor compound motor
Induction motor
Speed
Torque
Speed
Torque
Speed
Torque
Speed
Torque
Speed
Torque
143/180
扭矩轉速曲線下的穩態穩定平衡點
( ) ( ) ( ) 0=Δ+−Δ++Δ+ TTTTdt
dJ eLemmωω
( ) 0=Δ−Δ+ TTdt
dJ Lmω
( ) 0=Δ⎥⎦
⎤⎢⎣
⎡−+
Δm
m
Lm
ddT
ddT
dtdJ ω
ωωω
( )t
ddT
ddT
Jomm
mm
L
e⎟⎟⎠
⎞⎜⎜⎝
⎛−−
Δ=Δ ωωωω1
0>−mm
L
ddT
ddT
ωω
Lee TT = 0=dtd mω與
mmd
dTT ωω
Δ⎟⎟⎠
⎞⎜⎜⎝
⎛=Δ m
m
LL d
dTT ωω
Δ⎟⎟⎠
⎞⎜⎜⎝
⎛=Δ與
穩態平衡工作點必須符合之條件
ωm
Torque
A
B
C
Load torque TL1
Motor torque T
Load torque TL2
0
Speed
144/180
多象限扭矩─轉速曲線在不同之轉速設定與負載特性
ωm
T0
III
Maximumpower
Maximumtorque
TL
TL
III IV
Speedsettings
Base speed
Base speed
Maximum speed1
2
3
4
5
6
7
8
9
10
11
12
13
-
25
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
145/180
Four-Quadrant Operation & Torque-Speed Trajectories
ωm
T0
I
ωm1 Maximumpower
Maximumtorque
−ωm3
−ωm2
3SIII
IV
II
D
C
A
B
F
E
TL
TL
2S
1S
Maximumspeed
146/180
多象限工作區的速度變化扭矩─轉速曲線圖:(a)減速 (b)反轉 (c)加速
III
ωm
T
ωm1
ωm2
S1
S20
A
B
C
Maximumpower
Maximumtorque
TLωm
T0
III
ωm1 S1A
B
C
Maximumpower
Maximumtorque
TL
−ωm1
−ωm2
F
E
D
TL
2S
3SIII IV
III
ωm
T
ωm1
ωm2
S1
S20
A
B
C
TL
Maximumpower
Maximumtorque
(a)
(b)
(c)
147/180
不同『馬達─負載扭矩轉速曲線』的工作點
ωm
Torque0
B
TL2T
ATL1
ωm
Torque0TL1
CTL2
T
D
ωm
Torque0
TLF
T
E
ωm
Torque0
T
G
TLH
(a) (b)
(c) (d) 148/180
馬達剎車 (Motor Braking)
再生剎車(regenerative braking)
馬達剎車 機械式剎車
電氣式剎車 動態剎車(dynamic braking)
149/180
馬達與驅動器的多象限操作
Multiple quadrant operation of electrical motors and drives.
reversebraking
torque
forwardmotoring
reversemotoring
forwardbreaking
III
III IV
speed ωm
T0
III
Maximumpower
Maximumtorque
TL
TL
III IV
Speedsettings
Base speed
Base speed
Maximum speed1
2
3
4
5
6
7
8
9
10
11
12
13
150/180
Typical Torque-Speed Operating Curves of Servo Motor
-
26
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
151/180
馬達的功率轉換、損失分析與選擇
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
152/180
Power Flow of DC Generator
I2R losses
P conversion
AAm IE=ωτ indmP ωτ appin =
Core lossesMechanical
lossesStray losses
LTVVP =out
153/180
Power Flow of DC Motor
I2R losses
P conversion
mAAIE ωτ ind=mP ωτ landout =
Core lossesMechanical
losses
Stray losses
LTVVP =in
154/180
Servo Motor Selection: Direct Drive
155/180
Servo Motor Selection: Calculation of Inertia
156/180
Servo Motor Selection: Gear Drive
mT JNJ
J += 21
NeT
Tm 1=
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27
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
157/180
Servo Motor Selection: RMS Torque
Tttt dPeLaP
rms⋅+⋅+⋅
=222 ττττ
啟動 行進 剎車
時間 (sec)
V Nt M( )
Pτ
Lτ
Pτ
t a t e td
循環週期 T
停止
158/180
Motor Sizing and Selection
Load Torque-Speed Characteristics Cost, Efficiency, Volume, Performance Considerations Motor Type Selection Motor Torque-Speed Operation AreaTypical Motion Profile Calculated RMS TorqueLoss AnalysisTemperature Rise & Winding Insulation ClassMaximum Power Rate
159/180
馬達與驅動器的分類與應用
電力電子系統與晶片設計實驗室
Power Electronics Systems & Chips Lab.交通大學 • 電機與控制工程研究所
Power Electronics Systems & Chips Lab., NCTU, Taiwan
160/180
馬達之分類
馬 達
串激式、並激式、分激式馬達
永磁式直流馬達
直流馬達
交流馬達
步進馬達
其他: 如音圈馬達、超音波馬達、微型馬達等
同步式 (轉子永磁型、轉子電激型)
感應式 (轉子鼠籠型、轉子繞線型)
永磁式
磁阻式
磁阻式 (開關式、同步式)旋轉型
線型
線性直流馬達
線性交流馬達
線性步進馬達
161/180
Classification of AC Motors
AC MOTOR
Sinusoidal-fed Rectangular-fed
Brushless DC SwitchedreluctanceInduction Synchronous
Squirrel-cage
Wound-rotor
Wound-rotor
PMrotor Reluctance
Surface-mounted
Interior-mounted
162/180
伺服馬達之分類
永磁式交流伺服馬達
(無刷式直流伺服馬達,永磁式同步馬達)
感應式交流伺服馬達
伺服馬達
有刷式 永磁式直流伺服馬達
無刷式
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28
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
163/180
Motor Construction Possibilities
rotor
stator rotor
stator
rotor
stator
rotor
stator
(a) (b)
(c) (d)164/180
DC Servo Motor
165/180
Structure and Functional Description of a PM DC Motor
Environmentally protected models-Explosion Proof and Wash Down Duty
Permanent magnet fields are more efficient, smaller, lighter and offer wider speed range than comparable wound field motors
Long life, constant force brush springs with field replaceable brushes
Rugged, fused commutator
TEFC and TENV configurations
Conduit box (gasketed) -large wiring compartment for easy termination
NEMA or metric mounting
Large sealed bearings are standard
Class H insulation
Polyester impregnated armature for electrical and mechanical integrity
Patented anti-cog magnets for smooth low speed operation. High overcurrent capacity and dynamic braking without demagetization
166/180
Decomposition of a BLDC Servo Motor
167/180
State of the Art: AC Servos
High Speed Spindle(Siemens)
DSD Servo (Baumüller)High Torque Motor
(Baumüller)Spindle Motor (Franz Kessler)
168/180
Typical Specs. of PM AC Servo Motors
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29
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
169/180
PM AC Servo Motor
S
N
A B C
θ
sin ω et
sin ( )ω πet +23
sin ( )ω πet +43
electroniccommutator
Vm sin θ
Vm sin( )θπ
+23
Vm sin( )θπ
+43
V tm esin( )ω θ+
V tm ecosω V tm esinω
V tm esin( )ω θ+
Three Phase, 2-Pole Motor
Permanent Magnet Rotor
a r
ar'
brb r'
cr
c r'
a s
as'
bs
b s'
c s
cs'
S N
N
S
170/180
AC Induction Motor
aluminum bars for carrying induced current
Squirrel Cage Rotor Lamination(cutaway view)
shaft hole
steel lamination plate
Rotor current induced by stator fieldUses 3-phase power inverter
ar
a r'
br
b r'
cr
cr'
rotor
stator
stator axisrotor axis
a s
as'
bs
b s'
c s
c s'
171/180
Photos of a Squirrel-Cage Induction Motor
(a) squirrel-cage induction motor and (b) its inside structure.
(a) (b)
172/180
Switched Reluctance Motor
steel rotor
Three Phase 6/4 Motor
these coils on now
these coils on next
rotationdirection
Classical SR Drive Converter
motor coils in series with switching devices
♦ rotation produced to minimize the magnetic reluctance (resistance)
173/180
Hybrid Step Motor
MS connector termination for motor and optical encoder. Flying leads and terminal board via conduit termination also standard.
Optional line driver encoders-200 to 1024 PPR.
Rare earth rotor magnets provide high demagnetization resistance.
Sigmax® technology in K series adds flux concentrating rare earth stator magnets for even higher torque and acceleration than N series.
Large diameter rotor coupled with optimum magnetic design produces highest torque and acceleration-both N and K series.
Long life bearings withstand high radial and axial forces.
Straight key. Other options available. Optional shaft sizes and special designs (spline, for example) available.
Rugged, square frame housinglessdesign provides NEMA and IP65 splash proof construction.
Standard NEMA mounting.
174/180
驅動器的種類
直流伺服驅動器
泛用型變頻器
向量控制變頻器
永磁式交流伺服驅動器
感應式交流伺服驅動器
無感測變頻器
無感測向量控制變頻器
泛用型向量控制交流驅動器
-
30
課程講義:【電動機原理與驅動技術】01:電動機控制的理論基礎交通大學 808-電力電子實驗室 May 2007
台灣新竹‧交通大學‧電機與控制工程研究所‧808實驗室電力電子系統晶片、數位電源、DSP控制、馬達與伺服控制
http://pemclab.cn.nctu.edu.tw/Lab-808: Power Electronics Systems & Chips Lab., NCTU, Taiwan
175/180
Block Diagram of a PM DC Servo Motor Drive
dcV
T1
T2
T3
T4−
+
va
電流控制速度控制位置控制位置命令
全橋式脈寬調變電壓放大器
光電編碼器
直流伺服馬達
T 1 T 2 T 3 T 4
功率晶體
驅動電路
脈寬調變
~
開關式
電源供應器
速度估測
解碼器
濾波器
176/180
Block Diagram of a Practical BLDC Position Servo Drive
dcV
T5
T6
電流控制
&
換相控制
速度控制位置控制位置命令
三相橋式脈寬調變電壓放大器
光電編碼器
無刷直流伺服馬達
T 1 T 2 T 3 T 4
功率晶體
驅動電路
脈寬調變
~
開關式
電源供應器
速度估測
解碼器
濾波器
T3
T4
T1
T2
T 5 T 6
濾波器
177/180
交流驅動器的發展趨勢
泛用型交流伺服驅動器
專用型交伺服流驅動器
專用型無感測變頻器
泛用型變頻器
交流驅動器的發展趨勢 Universal Auto-Tuning AC Drive
178/180
Inverters for 3-Phase Motor Drive Applications
Voltage (Line to Neutral)
Current (Line)
179/180
References
[1] DC Motors, Speed Controls, Servo Systems, including Optical Encoders, An Engineering Handbookby Electro-Craft Corporation, Hopkins, MN, Fifth Edition, 1980.
[2] R. Krishnan, Electric Motor Drives: Modeling, Analysis, and Control, Prentice Hall, February 15, 2001.[3] Werner Leonhard, Control of Electrical Drives, 3nd edition, Springer Verlag, January 15, 2001. [4] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric Machinery and Drive Systems,
IEEE Press and Wiley Inter-Science, 2002.
[5] Ned Mohan, Advanced Electric Drives: Analysis, Control and Modeling using Simulink, MNPERE, Oct. 2000.
[6] Ned Mohan, First Course on Power Electronics and Drives, MNPERE, July 15, 2003.[7] D. W. Novotny and T. A. Lipo, Vector Control and Dynamics of AC Drives, Clarendon Pr, USA,
September 1996.
[8] Chee-Mun Ong, Dynamic Simulation of Electric Machinery: Using MATLAB/Simulink, Prentice Hall, 1998.
[9] Edied by: B. K. Bose, Power Electronics and Variable Frequency Drives – Technology and Applications, IEEE Press, 1997.
[10] P. C. Sen, Principles of Electric Machines and Power Electronics, Second Edition, John Wiley & Sons, 1997.
[11] J. Chapman, Electric Machinery Fundamentals, McGraw-Hill, 1991.[12] A. E. Fitzgerald, C.K. Jr., and S.D. Umans, Electric Machinery, McGraw-Hill Book Company, 1983.
180/180
References
[13] Vincent Del Toro, Electromechanical Devices for Energy Conversion and Control Systems, Prentice-Hall, 1976.
[14] G. Rizzoni, Principles and Applications of Electrical Engineering, International Student Edition, Richard Irwin, Inc., 1993; ISBN 0-256-12969-X
[15] A. Hughes, Electric Motors & Drives - fundamentals, types & applications, Heinemann Newnes, 1990, ISBN 0-434-90795-2
[16] T. Kenjo, Electric Motors and their Control, Oxford University Press, 1991 (re-printed: 1993, 1994, 1996, 1998); ISBN 0 19 856240 3
[17] B. C. Kuo and J. Tal, DC Motors and Control Systems, 1978.