三相永磁馬達感應電動勢常數的新型鑑別方法

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(3) An Electromotive-force Constant Estimation for a Permanent Magnet Synchronous Motor. ! "# .

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(9) An Electromotive-force Constant Estimation for a Permanent Magnet Synchronous Motor. · ¸ :

(10) ^_. Student Advisor. · ·. ¹º»¼½% ¾¿!ÀÁÂu%Ã Ä_NB A Thesis Submitted to Department of Electrical and Control Engineering National Chiao Tung University in partial Fulfillment of the Requirements for the Degree of Master in Electrical and Control Engineering June 2004 Hsinchu, Taiwan, Republic of China. ÅÆ¹ÇÈÉÊË. Meng-Hsun Hsieh Dr. Shir-Kuan Lin.

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(14) An Electromotive-force Constant Estimation for a Permanent Magnet Synchronous Motor. Student : Meng-Hsun Hsieh. Advisor : Dr. Shir-Kuan Lin. Department of Electrical and Control Engineering National Chiao Tung University. ABSTRACT Since the motor is invented, through people’s constant improvement and innovation, the motor becomes a kind of indispensable important component in the industry now. We can nearly all see the existence of the motor in the products inside all offices, it is like a printer, CD-ROM drive, scanner ,etc.. So, how to control the motor becomes an important knowledge. There is a reaction EMF constant (or called the torsion constant)(the EMF constant under the metric system is Equal to the torsion constant) in the magnetic parameter of the permanent-magnet synchronous motor. It relates to value of the torque, rotational speed that can be operated, and the performance of the motor. So motor designer or user all take notice of it very much . If we can estimate it in advance, can be as a reference of designing the motor controller or selecting the permanent-magnet synchronous motor . This thesis utilize one new method which is using the characteristic of the motor when let motor rotate in single-phase mode, to calculate the reaction EMF constant fast. This experiment use driver IC(BA6849 ) and an ADDA(Analog to Digital and Digital to Analog) card to verify the feasibility of this method, and apply this method to the products actually. Hope that can accelerate the time of motor factory’s measuring the reaction EMF constant. And then motor factory can make the measuring reaction EMF constant to the list of all products should be measure . In order to improve the quality of the products.. ii.

(15) . i. . ii. . ii. . iv. . vii.

(16) 1.1 1.2. ¿ NB>?. 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 3. 2.1 2.2 2.3 2.4. 5. ÉýþÿÎÏ°? . . . . . . . . . . . . . . . . . . . . . . . . . . . . ÉýþÿÎÏ$i@ . . . . . . . . . . . . . . . . . . . . . . . . . BA6849 , IC A§BC [14] . . . . . . . . . . . . . . . . . . . . . . DÅEF DAQ-2501 ADDA +A§BC [15] . . . . . . . . . . . . . . iii. 5 8 18 23.

(17) :G. iv. 3.1 3.2. åHI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . #ý$i@I . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 i@ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 #ý$ÃJ>?CK . . . . . . . . . . . . . . . . . . . . .. 4.1 4.2. ÃJ>? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 L) . . . . . . . . . . . . . . . . . . . . . . . . . . .. !"# 5.1. ÃJ>?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. $ %&'()* 6.1 6.2. °N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MJÑN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. + A ,-./. 29 29 34 34 38. 40 40 42 43. 46 46. 56 56 56. 58.

(18) ÉýþÿÎÏ (ROTOR) !O (STATOR)[16] . . . . . . . . 2.2 ÉýþÿÎÏ¡8PQR [16] . . . . . . . . . . . . . . . . . . . . . . 2.3 ÉýþÿÎÏ°?R [16] . . . . . . . . . . . . . . . . . . . . . . . . 2.4 θ ! θ SR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5 TU8SR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6 ÉýþÿÎÏ!ON/R . . . . . . . . . . . . . . . . . 2.7 #ý K R ( VW#S :degreeXW#S :g*cm/A) . . . . . . . . . 2.8 Y¼ý¾Z K R ( VW#S :degreeXW#S :g*cm/A) . 2.9 TUõ[\ . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.10 TUõ]Ó^_R . . . . . . . . . . . . . . . . . . . . . . . . . 2.11 120 - à . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1. r. s. t. t. 2.12 Elementary measurement circuit. . . . . . . . . . . . . . . . . . . . . .. TUõ^_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.14 180 - à . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.15 bcd¾ [14] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.16 BA6849 ¡8ÃJeeR [14] . . . . . . . . . . . . . . . . . . . . . . . 2.17 BA6849 f [14] . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.18 BA6849 ]g]Ó^_R [14] . . . . . . . . . . . . . . . . . . . . . . . 2.13. 2.19 DAQ-2501 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v. 6 6 7 8 9 10 11 11 13 14 15 15 17 17 18 19 20 21 23.

(19) Rf:G. vi. Ph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.21 DAQ-2501 PhPiR [15] . . . . . . . . . . . . . . . . . . . . . . .. 2.20 DAQ-2501. 3.1 3.2 3.3 3.4 3.5 3.6 3.7. 3.8 3.9 3.10 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 5.1 5.2 5.3. Y ( ) . . . . . . . . . . . . . . . . . . . . . .

(20) θ = 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K K K K K K ( :degree :g*cm/A) . !"#$%&'(K = K sin(θ − )) . . . . . . . . . . . . . r. ta. tb. tc. tab. tbc. tca. tab. BA6849. t. r. π 2. 24 26 29 30 31 32 35 35. TUõ a ! K ¥

(21) R ( VW#S :degreeXW# tab. S :g*cm/A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . )*+ BA6849 ,-./0123 . . . . . . . . . . . . . . . . . . . . )*+ BA6849 45./0123 . . . . . . . . . . . . . . . . . . . . 65%7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ÃJ>? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ÃJZuR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ÃJ>?ØR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $P¾ hQ R . . . . . . . . . . . . . . . . . . . . . . . . . . . . $P¾ hR . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 89:; %<=> . . . . . . . . . . . . . . . . . . . . . . . . . V + V − 2 · V (ch1) ?@ABC => ( DEF DC G<HIJ )(ch2) . . . . V + V − 2 · V (ch1) ?@ABC => ( DEF DC G<HIJ )(ch2) '%&. 37 38 39 39 40 41 42 43 44 44. a. b. c. 45. a. b. c. 45. 1KLMNO&P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . NOQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 'RST'( . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 47 48 49.

(22) Rf:G 5.4 5.5 5.6 5.7 5.8 A.1 A.2 A.3 A.4. vii. U:%7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VWX%7Y 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VZX%7Y 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. jxkç . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -ÀÁÃJeeR . . . . . . . . . . . . . . . . . . . . . . . . . . .. Qd¾9 . . . . . . . . . . . . . . . . . . . . . . . . . . . lÉýþÿÎÏ!mnÎÏPoe9 . . . . . . . . . . . . . . Poõp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . qpqÉýþÿÎÏ'rs . . . . . . . . . . . . . . . . . . . .. A.5 ωr = 12000rpm. [1 0\%]. . . . . . . . . . . . . . .. 51 52 53 54 54 59 60 60 61 62.

(23) 2.1 2.2 2.3 2.4 3.1. ÉýþÿÎÏ°?tÒð . . . . . . . . . . . . . . . . . . . . . . . . ¾Zuv\ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TUõwxð . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 -vý ð . . . . . . . . . . . . . . . . . . . . . . . . . . . BA6849. TUõ!Éý]Ó¾y¥

(24) ð. viii. . . . . . . . . . . . . .. 7 12 14 16 37.

(25) 1.1. . ÉýþÿÎÏzûÉýw{ÎÏ (Permanment Magnet Synchronous Motor) ÞÉý3Z|}ÎÏ (DC Brushless Motor)"÷û<ÀÁ!~ XÐÂÙÚ"ÉýþÿÎÏ]ÓA ½Ý'Éýþÿ ÎÏû½A ÉýþÿÎÏ!A ÉýþÿÎÏUNBN ¡4TA ÉýþÿÎÏ<;øäåèéñò ¿ò¿ ... öWÎÏ" ÉýþÿÎÏÿ 2¾? K ( Þ ? )( m.k.s Á ¾? K ö ? K )<ÉýþÿÎ Ï¾%!¿%øH 1.1. 1.2 S· emax. emax. 1. t.

(26) 1 q N .  Vas     Vbs    Vcs. . 2. .   R 0 0       = 0 R 0       0 0 R. . . . . ·.   ia   Ls −M −M   ia             ·   ib  +  −M Ls   ib −M             · ic ic −M −M Ls. .    2ω K  r emax +  P  . . cos(θr )      cos(θr − 2π ) 3    cos(θr + 2π ) 3 (1.1). √ 3 2J 2Bm ib ic (ib − ic ) sin(θr )) = ω˙r + ωr + TL Te = Kt ((ia − − ) cos(θr ) + 2 2 2 P P. (1.2). H 1.1÷û,õ;½¾yOø Éýþ ÿÎÏ¾? K ½'~í,õ]Ó¾Z½ ( ÷û¡¾ ¾XY¡ëO )" H 1.2ø±O¾ZrsI §< ¢ £¤¥ K 6¦§½ÉýþÿÎÏ" ÷#¾? K ¥

(27) íÉýþÿÎÏU §.Ó½ !ÝÂX¢4ÎÏÞ4<ë>? §úÝûÉýþÿÎÏÀÁõÞ ÉýþÿÎÏ !÷#¨ëNøù©ª« ? [1][2][3]" 2¬?Ð[J ?eH [1] øX 4lÉýþ ÿÎÏ¢PYù,õrs Ð®2¯mnÎÏ°$±#²³e 9´µ\ûmnÎÏ¤¥§¶ª·¸-¹´"mnÎ Ï!lÉýþÿÎÏºýT³T©»¢'¼½í¯ÎÏP¾¿ lÉýþÿÎÏYý¾ÀÝX7Q¾yaÁ£ Ý P«Ó K " #e9ß\· 2 . ´®2mn,ÃJ ; Â . ¶Ã-õ ; emax. t. emax. emax.         .

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(42) 2 q ÙUÓ1CK r Oû

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(47) 2 q ÙUÓ1CK. 12. 2.2: /0123 f ø ¾ [-30,30] K ½ 6 ÷ # ¼ ¾ Z e Ò û t. S2 → S3. ¾ [30,90] K ½6÷# ¼¾ZeÒû S1 → S3 *tTUõJ ¾Sñ#õàA§4§ |P!"s íÿ÷ÊËL5ªO!OýTSñ±# TUõ4©¾ôTU8#Hall effect$'ÿ÷ÊËè¾ Z*t¾yÁHðØÓJ"I)Ó¥%uv\£ÝX'TU õ[&uv\ ( øR 2.9 S )'©TUõ7íwx^_( ¤ÉýþÿÎÏS)2Z",\*ÕÊÉý¾y6" t.

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(53) 2 q ÙUÓ1CK 2.3. BA6849. IC [14]. 18. 4 Rohm( 67¾8¯9å: http://www.rohm.com) è ÉýþÿÎÏ, IC±#¯ IC ¾Z;<ÀÁÀ¾Z;<¡ VÀÁõ!¾Z=> 'ÌÀÁZgÉýþÿÎÏ¾Z½' ?oÎÏ'TUõ=@SñÂúÝ"ÉýþÿÎÏBO "# IC pX A§· 1. ¡V¾CDEXYtFGcA§" 2. ¡V9ZFá!TUFáHy¾ " 3. ¡V FG ]Ó" 4. ¡V$eÒ " 5. ¡VbcdÒ$¾ " 6. ¡VI JKiS" BA6849. 2.15: EFG/H [14] R 2.154bcdý$¾ øTUFá=@^_ÝX( ØÉýþÿÎÏ$eÒÅ íÉýþÿÎÏ2 dý$r s '< BA6849 Gc,ÉýþÿÎÏø#úÝbcÉýþÿÎÏ ÑdrÁ".

(54) 2 q ÙUÓ1CK. 19. 2.16: BA6849 IJKL [14] R 2.164 BA6849 ¡8ÃJeeRÝXìÓø EC ! ECR Pi¦§(¤Ó]g¾Z;<¾Z;<!¾Z=^_ýL7í4 6'©TUõ=@SñÂÀÁ DRIVER ¡ÊM/¥X Y¾Z½ÉýþÿÎÏ§X(NBeH$".

(55) 2 q ÙUÓ1CK 20 FG ^_4TUõ@O^_(¤57í÷û ÉýþÿÎÏ4P 9 å 12 ¡%TUõd QÓþèÿ¡ÊËXÅ2ëTUFá^_'@O» Ê 12 =ÐÑ 6 ZeaÓØ*t#^_ÝXRS«ÓÉýþ ÿÎÏÉ#4 6ýÅ½÷û FG ^_U ¶©-¢ ò". 2.17: BA6849 "MNO [14] R 2.17tÒøù BA6849 , IC T,ÉýþÿÎÏ*tR' CK¾ úÝ"ÉýþÿÎÏ@?$"2.4.7 ÉUPi¤¥ PíÉýþÿÎÏÉý\±9.10.11.12.13.14 ûÉýþÿÎÏ'ç.

(56) 2 q ÙUÓ1CK. 21. 2.18: BA6849 9P9:;< [14] TUFá@=J^_±15.25 ;TUFáHy¾y±21.22 P ¾ Z;<±23 û BA6849 ¾C/¥]g 5V ÝX",õ-]g 0V ,.

(57) 2 q ÙUÓ1CK 22 õ'Gc±24 û FG ^_ÝX#Pi^_)V7Éýþ ÿÎÏ±27.28 û;ÉýþÿÎÏ¾yC" R 2.184 BA6849 Éý]Ó^_XY?TTUFá=@^_"ÝX ìÓ BA6849 4X 120 -,ÉýþÿÎÏ".

(58) 2 q ÙUÓ1CK 2.4. DAQ-2501 ADDA [15]. 23. U DAQ-2501( R 2.19) 4DÅEF8¯9å: [15] Ó è ADDA +42e<-<8 PCI CçA§¦]Ó+" ¹; Visual C++ ! VB kHWXY". 2.19: DAQ-2501 Ý*t DAQ-2501 Ph ( R 2.20)' DAQ-2501 +^_$PX ú©" <Z[ø : 2 . ¦]Ó : 1. ÍZ¦]Ó ; 2. <×\ ÝXíÏ 1MS/s; 3. ã]- 12bits;.

(59) 2 q ÙUÓ1CK. 24. 2.20: DAQ-2501 Q ]Ó;ÝX -10V 10V0V 10VQÝXÌ^]Ó¾y' 9" 5. ]Ó _ :0.1 `7 ; Â . ¦]g : 1. aZ¼¦]g ; 2. <×\ ÝXíÏ 400KS/s; 3. ã]- 14bits; 4. ]g;ÝX -10V 10V0V 10V" 5. ]g _ :1G `7 ; 6. ÉÜ!ÑH" É . S]g]Ó : 1. 24 ZÝuHbcS]g]Ó ; Í . õ : 1. dÝ' õ ; 2. ¡8;Ù©\ :10MHZ; 3. $8<ÝX]gÙ©\ :10MHZ" 4..

(60) 2 q ÙUÓ1CK Ô : ¦!Ñ : 1. ã]- :8bits; 2. eßÀÁ@fÞOf!Ñ ; 3. \ :400khz; 4. _ :40K `7" Ê . ÃJw{Cç : 1. ÝwÀÁA ADDA +". 25. R 2.21ûPgæZiS^_R*t#RÝXÓøùPÓ A§iS" DAQ-2501 ;ú©kH"ÝXXYàkHThM< ràkH´' D2KDASK.H Zi2íuHæ çø#ú§ò DAQ-2501 ;kHW"#CK2àÙU?í kH;<"X CKkHë4; Visual C++ " 2 . ÙUbc : D2K Register Card():. 'ÃJß!eßË#kH¤¥kHIjÐbc" D2K Release Card():. DAQ-2501 kÐ%ÝXY#kH'lCmnÓJ< uHÞß" Â . ¦]g : D2K AI CH Config():. #kHÝXO¦]g¾y6;±¤¥/¦]gIjbcª o" D2K AI Config():. #kHÝXO¦]g!ÑJC!ÑH]gH ... öA§±'L MÄp¦]g¤¥bc#kH± D2K AI ContScanChannels():. #kH2hMI£¶O!ÑHÅPqí/¦]g ^_£/hM¦]g3ír õnsÞ4PqíGc.

(61) 2 q ÙUÓ1CK. 26. 2.21: DAQ-2501 QR [15] ¦]g^_úGc" D2K AI ContVScale():. #kHÝX'¦]gt ír õ6 16 LSí¾y#S" D2K AI ContScanChannelsToFile():. #kHÝX'r õ6 í¾uòæçÅr õvs''¦] g6t íò¡ÝÕw cpu 2@ " D2K AI ContBufferSetup():.

(62) 2 q ÙUÓ1CK 27 #kHbc2Zr õî "¦]g6ÝXr XÏíÄp¦ ]gA§±ø±xr õH£¤¥bcZ¢wr õ" D2K AI ContBufferReset():. à D2K AI ContBufferSetup() bcr õ" D2K AI AsyncDblBufferMode():. O4»xr õA§" D2K AI AsyncDblBufferHalfReady():. 4yr õ4»ÛÔvsø±ÛÔvs£^_¼Ó" É . ¦]Ó : D2K AO CH Config():. #kHÝXO¦]Ó¾y6;ÝXO$8]g¾yzOÞ4 ¡8 ADDA +{±¤¥/¦]ÓIjbcªo" D2K AO Config():. #kHÝXO¦]Ó!ÑJC!ÑH]ÓH ... öA§±'L MÄp¦]Ó¤¥bc#kH± D2K AO Group VUpdate():. 2=wÕÍZ¦]Ó]Ó6" Í . S]g]Ó : D2K DIO PortConfig():. OæZ port 4]ÓÞ4]g" D2K DI ReadLine():. 2=â¿2ZSF6" D2K DI ReadPort():. 2=â¿2d port 6". D2K DO WriteLine():. 2=g2ZSF6" D2K DO WritePort():. 2=g2d port 6" Ô . õ : D2K GCTR Setup():. ÀÁõ&OH".

(63) 2 q ÙUÓ1CK. 28. D2K GCTR Control():. OõHfø$8!ÑÞ4¡8!Ñ|}\ $8]gÞ4 ¡8]g ... öA§ëZkHbc" D2K GCTR Reset():. E~õ¡6". ©'ç6âkHÝXÌ¬ Visual C++ uHXÀ ADDA +JÏíÁ§".

(64) # $%&' 3.1. . R 3.1ûÉýþÿÎÏO¾ZZLÉýþÿÎÏ eÒû@". 3.1: Y ( ) O#ÉýþÿÎÏ!OýTSñøR 3.2 " 29.

(65) 3 q i@ ÉÅ$- θ û@'Ò3N5OD)¢". 30. r. 3.2:

(66) θ = 0 r. R 3.2ÝX'ÉýþÿÎÏ¾XY¿ «ø S· /S .  Vas     Vbs    Vcs. . .   R 0 0       = 0 R 0       0 0 R. . . . .   ia   Ls −M −M   ia             ·   ib  +  −M Ls   ib −M             · ic −M −M Ls ic. ·ÉýþÿÎÏ¡ 6" L ·ÉýþÿÎÏ¡6" P·ÉýþÿÎÏ¡" M: ÉýþÿÎÏO º" θ ·!OýT- ( R 3.2S θ ω ·ÉýþÿÎÏ-" R. s. r. r. ·. r. = 0◦ ). .    2ω K  r emax +  P  . . cos(θr )      cos(θr − 2π ) 3    cos(θr + 2π ) 3 (3.1).         .

(67) 3 q i@ . 31. √ ib ic 3 2J 2Bm (ib − ic ) sin(θr )) = ω˙r + ωr + TL Te = Kt ((ia − − ) cos(θr ) + 2 2 2 P P. (3.2). ·ÉýþÿÎÏ]Ó " J· (moment inertia)" B ·ÉýþÿÎÏ ? (damping ratio)" T ·ÉýþÿÎÏO" 5ÉýþÿÎÏ!,õP9øR 3.3,õ4ÉZ¾M Leg . Leg .Leg d«æZ¾MZA FáÝX4¾ß.MOSFET. IGBT ö¾¾Fá" Te. m. L. 1. 2. 3. 3.3: .

(68) 3 q i@. 32. 3.4: .

(69) 3 q i@ 33 àÙUO/I åH"ÉýþÿÎÏ4X#ý eH$v IÀ ab ý¼¾ZÉ,õ'À T .T .T . T #ÍZA Fá/¥5 T ! T 234/",ø R 3.4"#ÝX7í i = −i = ii = 0 "÷#ÝX' (3.1) H Õ« : r3. r6. r1. a. Vas = Va − Vs = Ri + Ls. b. Vcs = Vc − Vs = (−M ). r5. r2. c. di d(−i) 2ωr Kemax −M + cos θr dt dt P. Vbs = Vb − Vs = −Ri − M. r4. di d(−i) 2ωr Kemax 2π + Ls + cos(θr − ) dt dt P 3. di d(−i) 2ωr Kemax 2π −M + cos(θr + ) dt dt P 3. (3.3). (3.4). (3.5). (3.3)(3.4)(3.5) HÝIÓ V I6û (3.6) w. Vw ≡. ÷û ω. r. = dθr dt. Va + Vb − 2Vc 2ωr Kemax 2π = cos(θr + ) −3 P 3. (3.6). g (3.6) HÝ7 Vw dt =. 2π 2Kemax cos(θr + ))dθr P 3. ' (3.7) HxìÝ7Ê Ψ. (3.7).

(70) 3 q i@ Ψ≡. 34. Z. t. Vw dt =. t0. 2Kemax 2π sin(θr + ) + Ψ0 P 3. (3.8). (3.8) HÑØ Ψ 42Zû 2K /P @a2'2Z3Z Hy6 Ψ "÷#À Ψ »Z^_½'~X 2/P úÝX 7í K 6" emax. 0. emax. 3.2. ! . jç;íÉýþÿÎÏ#ýeH$ú§H 3.8° ±5 BA6849 , IC 4Éý, ICP J'tÒøùØ^_" BA6849 Ê«2¯#ý, IC" 3.2.1. . J!2 4øù"ÉýþÿÎÏ$±*tT UõJ !OI ýTSñ*(¤ÓÉýùÜ¾S ú"ÉýþÿÎÏ 4½rs"5ØÀ"ÉýþÿÎÏ X#ýH$5¢!< ½XY aaÁ4»NB XÀ§ò"ÉýþÿÎÏ @£ÝXÏ«"ÉýþÿÎÏ #ý$H " IjÙUýþ;íÉýþÿÎÏ ö ? K ! ¾Z i ¡±"ÉýþÿÎÏÀ¼ ab ý÷# ?û K − K = K ( øR 3.5)÷û K ÉýþÿÎÏÓ3%ÛÔO¸ |9Õ5¾Z i ÝX*t]ÉýþÿÎÏ¾yJ ÀÁXÀò?o K @OaÁ¼XýwýS@O¾Zú Ý" @IÎÏ$ ( øR 3.6)" t. ta. tb. tab. tab. tab.

(71) 3 q i@. 35. 3.5: K K K K K K ( :degree :g*cm/A) ta. tb. tc. tab. tbc. tca. 3.6: !"#$%&'(K. tab. = Kt sin(θr − π2 )).

(72) 3 q i@ ÓÉýþÿÎÏ¿ø S·. 36. √ ib ic 3 2J 2Bm Te = Kt ((ia − − ) cos(θr ) + (ib − ic ) sin(θr )) = ω˙r + ωr + TL 2 2 2 P P. ÷ûÉýþÿÎÏ#ýH ÷#¾Z i g'H-) : Te = Kt ((ia −. ib 2. − i2c ) cos(θr ) +. √. 3 (ib 2. a. . (3.9). . = −ib = i ic = 0. − ic ) sin(θr )). √ −i ) cos(θr ) + 23 (−i) sin(θr )) 2 √ Kt ( 3i2 cos(θr ) − 23 (i) sin(θr )). = Kt ((i − =. √ = Kt 3i sin(θr − π2 )). (3.10). 5ù¼@¾Zù¼O¾Z'ç)°±Ñ ØK aÁ@O»Ê \@y!TUõ H ^_@O» Ê \ào÷#ÝX*tTUõ H K´¼Ó^_ uv \øR 3.7" ^_uv \ÓI^_ú§" BA6849 ]Ó ¾y6 ? *t BA6849 ;TUõ!]Ó¾y©Sý¥ wxð ( øð 3.1)ÝXÑØ*tTUõS©ÝX" BA6849 ]ÓÊÜ¢w©SQ£4Ê{ea <{JØ#ý $H" tab. a. a.

(73) 3 q i@. 37. 3.7: BA6849 4 5 6 a K T U ( ' ( & ) :degree* + ( & ) :g*cm/A) tab. 3.1: BA6849 456 9:/VTU.

(74) 3 q i@. 38. 01234-56. 3.2.2. ø R 3.2 S T U õ H .H .H R < ý T ] Ó ³ û H .H .H .H .H .H ( øR 3.8)"X, IC BA6849(made by ROHM) J,¯ÉýþÿÎÏ"¯,õ4X 180 Ê{eaJ, ¯ÉýþÿÎÏv I BA6849 4Éý,õ"û"§#ý H ÉýþÿÎÏ c ýê ¢§Pí,õ'ÉýþÿÎÏ' H .H Ô¦§õv«S^_]g BA6849"ÉýþÿÎÏ' H . H .H .H ^_vkí"]gí BA6849 H .H .H .H ^_ 4 H .H ØÓJøR 3.9"ÕØ¾ øR 3.10" a. + a. + b. − a. − b. + c. b. c. − c. ◦. + b. + a. − a. − b. + c. − c. + a. − a. + b. 3.8: )*+ BA6849 ,-./0123. − b. + c. − c.

(75) 3 q i@. 39. 3.9: )*+ BA6849 45./0123. 3.10: 65%7 *tR 3.10¾ £ÝX'R 3.9aÁ]gí BA6849 ¡8ø#£ ÝX"ÉýþÿÎÏX#ý$¹ÉýÿÊZvý",Ê«ÀZ vý",øR 3.4".

(76) ( $%)* 4.1. "#. UÃJ>?øR 4.1Ô¾u*t DAQ-2501^_$8¾ h¡, IC-BA6849*t^_Ø" BA6849 X#ý$H ,ÉýþÿÎÏ''¾y^_g¾u]2@". 4.1: IJW R 4.2ûUÃJZuR"-ÀÁ+Ó¾Z;<BA6849 ¡8ÛÔ'¾Z=Ê«2> ÃJ'ÉýþÿÎÏÉPi 40.

(77) 4 q e9 41 *tß¾ ))Ó V ! Ψ ¾yaÁ*t-ÀÁ+ ADC0 ! ADC1 '¾yaÁg¾u)úÝV7¾? K "ZÃ JØ>?øR 4.3" ω. emax. 4.2: IJ0X R 4.4û$P¾ hQ R" *t-ÀÁ+ DAC0 Ó 10 & -10 &¾y'#^_!HyÊ« 1.5 & 3.5 &]g BA6849 EC PiXÀÁ]gÉýþÿÎÏ¾Z½L5ÀÁÉýþ ÿÎÏ$-"#³ÉýþÿÎÏÉý¾y6*tß.

(78) 4 q e9. 42. 4.3: IJWNY ¾ 2L!ÝXV7 V ! Ψ ¾yaÁ"w *tÉýþÿ ÎÏ'çTUFá=J^_ÝX"ÉýþÿÎÏX#ýH$" R 4.5û¾ h" ω. 4.2. $%&'. R 3.84ÉýþÿÎÏ'TUFá]Ó^_#ý 120 ¾"ùû "ÉýþÿÎÏ#ýH ¢ÝX ( R 3.8) ^_3PP íÉýþÿÎÏ,õ¡"¥Ôt^_ Õ7í ( R 3.9) ^_" ''<]gí BA6849"R 4.6ÑØ H − H @!Owx@y ûý¾Z i ,L"ÝXÑØ i ¡¢û 360 ¾5¹@O¾ ZT"ÉýþÿÎÏª4#ý$7H " ◦. + a. − a. ◦.

(79) 4 q e9. 43. 4.4: Z/HQH 4.2.1. 789:;<. ÅÉýþÿÎÏÝX#ý$£s£ i = −i = ii = 0 ¤á"¿ Éý¾y V .V .V ÓJ 3.7H-)ÝX7íø ( R 4.7)" a. a. b. c. b. c.

(80) 4 q e9. 44. 4.5: Z/HQN[. 4.6: 89:; %<=> ',õ¾C¥¥É¾Zû 0 rs "í^_ (( R 4.8)) *¦#ý$¼¾Z (( R 4.7)) L ¢" ûV7¶©.

(81) 4 q e9. 45. 4.7: V + V − 2 · V (ch1) ?@ABC => ( DEF DC G<HIJ )(ch2) a. b. c. 4.8: V + V − 2 · V (ch1) ?@ABC => ( DEF DC G<HIJ )(ch2) '%& a. b. c. L'í V + V − 2 · V ^_§g matlab æS-)" '2Z¡¢¨ÓJ©Ì"¿VLN6"ÝX7í K = 0.00465 ± 0.0005V olt/(rad/sec)" a. emax. b. c.

(82) + ,-./ LUNB;Ó@N?o'èÙÚ´VÝX2ª«¬ 4¾?P¿p;ÉýþÿÎÏØÂ32Z¢ 4eH§ò(¹7ç²³<èÉýþÿÎÏ¾? 4»®o<V" 5.1. "#. 'ç9;Ó2qZuUNB;Óe9¢1 §²³ IÏí¯(¹©ª:°"R 5.1û?Z uÀ´vlÉýþÿÎÏP¾"¾uÌMTÀÁ)¾ ?)Ó°±I'¼Ó4»®oOZ[*t±Z uÝX¢¤vÉýþÿÎÏXÏí(²³:". 46.

(83) 5 q èé. 47. 5.1: 1KLMNO&P ÷ûÉýþÿÎÏ#ý$H ²\ Å G#²\%£|9Ì±ûãzZü³©Éý H°ÉýþÿÎÏ$$2 I¥¾C©< "ÉýþÿÎÏ§)p2 ''$eHÕû#ý$Hö l-íÏ2BO´ ( ¢´·O- )'*t ADDA +'Éý¾y 6=¾u)V7¾? K "²³®2¯Éý þÿÎÏ¢'ÉýþÿÎÏv'IhMuHÉÝµp²³" emax.

(84) 5 q èé. 48. 5.2: NOQ ZÃJÑN>?øR 5.2S*t pc ÀÁS¦.¦ SÀÁ+ (ADDA card)UNBADDA card DÅEFÑN DAQ-25014/8-CH.12-Bit.1 MS/s.Analog Output Multi-Function DAQ Card± *t#ÀÁ+ÀÁ!ÉýþÿÎÏÄPCç¾ Cç¾ 'nñ /¥¶ùUNBvM'/¥¶ÓÀÓ¡8Cç¾ /¥¶¡ 8·¸ß>?øR 5.3S/¥¶'ÄPÉýþÿÎÏ"Å ²³ÉýþÿÎÏ¾?À´vÉýþÿÎÏ PC hMuH'/¥¶'ç¹_J(¤ÉýþÿÎÏ¾?4 »Z[I¡4ªo'v 2¯ÉýþÿÎÏ÷û¾?4 LÌÿu-5ÕÊ½÷#OÝX¢vÀ´vÉ Ý±£ÝX22(²³-.

(85) 5 q èé. 49. 5.3: 'RST'( ºQ¡8»eÉ4n/¥¶¡8¾ <·¼ BA6849 , IC ½ì¾ .Cç+ A( Ø^_C{¾ DIO( S]g]Ó ) i S ).¾CBy¾ .XY¾Cõ"æZ»etÒø : BA6849 \] IC ^_/H : #»e·¸ BA6849 , IC.ÀÁ EC ¾y6¾ .ECR yYBy.

(86) 5 q èé 50 ¾ .µ¾õÀÁ BA6849 ¾C.µ¾õÀÁÉý!#ýuv.XY Éý¾y¾ " àb A: #»e·¸Ø^_C{¾ DIO iS.XYuv¾Cõµ¾ õ" /cdV/H : #»e·¸'¾Cõ;¾y«´¾y6vBy¾ " /ce"6 : ' 110V «3Z¾y6" ^_@]tÒø : 1. ÎÏÉý¾y^_.XY;ÉýþÿÎÏ'TUFá@Hy¾ C" 2. TUFá^_H .H .H .H .H .H " 3.H «ea^_.2@ªTUFá^_.DIO ^_" 4. ÎÏÉý¾y^_.FG ^_.EC ;<.¾Z^_" 5. Ñ5.15V.-15V.12V.5V.¤¾^_" 6. Ñ5" 7.110V »Z¾C" 8.5V.Ñ5.15V.-15V" 9.5V.Ñ5.15V.12V.-15V" 10. 2@tÞM2@TUFá^_" + a. a+. − a. + b. − b. + c. − c.

(87) 5 q èé. 51. 5.4: U:%7 R 5.4û¾ e/tJ2Z4¾CõÂ e¾ h·¸Cç+ A XY¾CBy¾ Ée¾ h4 BA6849 ¡ì ¾ 3ì4ÉýþÿÎÏ"R 5.5û2e¾ hQ RR 5.6ûÂe¾ hQ R"à¾ µ¾õJÅ /¥*t ADDA + DO(Digital Outout) A§ÀÁñ¾ß/¥ ' PÀÁµ¾õ/Þ¥ø#4ûDE ADDA +XY §½¾Zú§Iµ¾õ/Þ¥"#$T uvTUFá^_ *tAõ IC4053 J ]g BA6849 ^_ûØÞ4¿".

(88) 5 q èé. 52. 5.5: VWX%7Y 7.

(89) 5 q èé. 53. 5.6: VZX%7Y 7.

(90) 5 q èé. 54. 5.7: fgha. 5.8: i?jkIJKL R 5.7ûZÃJjxCç#jxCç4 Visual C++6.0 V?5 «#uHpÀ 6A§ : 1. ÝXàû¾? ;.

(91) 5 q èé 55 2. ÝÉýþÿÎÏØXY¾Z½ ; 3. ÝÀÁÉýþÿÎÏ±*t adda +XY-= B# PI( ¦f ) ÀÁõJÀÁÉýþÿÎÏ ( R 5.8)" 4. ÉýþÿÎÏÁí<'Â "© adda +P A §ÝXO-!Gc-#ÉýþÿÎÏ2§" 5. *t-ÀÁÀ'-;<2í<ÅÃJBOI# ÉýþÿÎÏ-£4ÉýþÿÎÏ§íÏ<-"Ý³P| !rs ÉýþÿÎÏ<".

(92) 0 12345 6.1. . ¾? K ¥

(93) íÉýþÿÎÏU §.Ó½!Ý Â"UNBÃ² §ò(.eú.¹©ª²³Ó ¾?#e9ÑØ§K´ÉýþÿÎÏè3;<<é=D- Ôt7ç¹(²OÓ¢éX;<é=D-" emax. 6.2. ()*+. UNBI;ÓP¿pÚP ÄÁ´§Ä§ÝX oLJ"½Å' 6ÂÜA§ : 1. ÉýþÿÎÏ¡¾ !¡¾²³" [11] 2. ÉýþÿÎÏXY

(94) ²³" ~#I$¥ ¾ ÝX'¾ æçdýn½õ¾ © pdýn½õA§ IC ¿ø#ÝX'¾ hç±5PgQ 56.

(95) 6 q lmno$ 57 ÝX¨¥'PÆ3PÄPí¾ h'wTPQÇÈ±àMJë ÝX2XÕL"Z¿ªpÉýÊ¢çî \".

(96) 6 A 78)9:! 89 (off-line) : ;<. @J ?eH4'lÉýþÿÎÏX®2¯mnÎÏ° $¹mnÎÏ¤¥§¶ª·¸-"P¾¿lÉýþÿÎÏ Yý¾ÊË£Ý7ÉýþÿÎÏýQ¾yaÁ" ' V OûlÉýþÿÎÏ ab ýQ¾y÷lÎÏv|P' Yù,õË# i = i = i = 0¢*t (3.1) ÝX7í (A.1) H" ab. a. b. c. √ 32ωr Kemax sin(θ − π ) − Vab = Va − Vb = Vas − Vbs = r 3 P 2 Kemax = max(Vab ) √ 3P ωr ω. (A.1). ·". ( A.1) ÝÓÀ7 V 6P¾~X P/(√32ω ) úÝ7í @ª K " R A.1û Qd¾9ØÀ±'ë ÌõûÀÁ3. mnÎÏ¿ª<ÝXO"mnÎÏO$jçt )eHú§²³Ó¾ K " ab. r. emax. emax. 58.

(97) G A @JeHBC 59 R A.2ûÉýþÿÎÏ!mnÎÏÄPrs4*tR A.3P oõp'ìqpqÉýþÿÎÏ' ( øR A.4)©3eÍÎ Ï"mnÎÏ§ò°ÉýþÿÎÏ". A.1: pG/]qr5s.

(98) G A @JeHBC. 60. A.2: t5

(99) uv wKs. A.3: w6x.

(100) G A @JeHBC. A.4: yxyz

(101) {|}. 61.

(102) G A @JeHBC 62 R A.5ûmnÎÏ 12000rpm( ¾ ) íaÁÔt )IÝX7ÓÉýþÿÎÏ¾? K = emax. 0.00475V olt/(rad/sec). A.5: ω. r. = 12000rpm. [1 0\%].

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