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

2

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

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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

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Robot and Servo Drive Lab.14

1

23

4

5

6

78

9

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

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Robot and Servo Drive Lab.15

Department of Electrical Engineering Southern Taiwan University

Department of Electrical Engineering Southern Taiwan University

模擬 1

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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

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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

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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

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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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