結合尖端機電技術與資訊智慧之開放式控制器---子計畫III:CNC系統的參數估測泛智慧型監控系統設計
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(3) Parameter estimation and intelligent diagnostic system design for CNC systems .
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(7). . !"#$%& '()*+,-./0 CPLD DSP
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(10) ,-% 2K 1.5Hz 53LMNCOP"#QR ST1 4~5 U6% CPLD VWXYZ [\]^_`ab7cde=C fg2hiGjklm6n% DSP VW Xopqr )stuCY" #$4vwCxyz{i|D} ~6 %'< D 2"#$+ % SVPWM C %Z6 !2"#\]^_ Abstract. PWM. With the measured stator resistor of the induction motor, the proposed system only requires one-line stator current feedback to achieve the compensation. It is shown that by using the proposed method, the speed of the induction motor can be controlled down to 1.5Hz with more than 5 times load torque than that before compensation. Keywords: Stator Resistor, Low Frequency, Compensation, Space Vector .
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(12) %¤¥+ dc¦ §6¨.%¤¥©.7eª«¬ w® ¯ °_?@(Scalar Control) $u± V/f ²³qB ?@$´G8pstµ¶ ·¸¹º%()*+,-+ . »¼K253L½Pql¾ ! F¿ÀÁÂÃ5S2<ÄÅ8Æ 945ÇÈ< 6ÉÊËÌÍ¥© GÎÏ©ÐÑD¸¹ÒÓÔ$ G"#$(Abbondanti, 1977; Munoz-Garcia et. al., 1997; Bose, 1996) ÓÕ53?@> Ö6×L%D},-ØÙBÚÛÜÝ ` a b 7 Þ ß à 0 á ª Õ â (Holtz, 1994)ã¨\]^_`ab7(Space Vector Pulse Width Modulation, SVPWM)(Zhang, et. al., 1994; äåæç ªè, 1994; éêëìµí, 1999)ÞÏ. 0î2hiïjkðñGî F® B6òóôªõö ÷ÞÏ (VLSI)øâù3JúªG4v3û ü
(13) z{VW= DSPASICCPLD FPGA ý+ þ þ¢£½z{8×. This thesis presents a newly simplified design of the resistor compensation of the induction motor under the load at the low speed. The simplified compensation and realization based on the space-vector PWM are also presented by using the CPLD and DSP chips. Under the load change situation, the voltage utilization of this compensation method is well controlled. It also reduces the current harmonic and the switching loss by using the optimal space-vector PWM in this study. The V/f concept is used for deriving the relation between the compensated voltage and the modulation inside the space-vector 1.
(14) v 2 v v (3) V s ≡ ( v an + av bn + a 2 v cn ) = V x ⋅ e jωt 3 v v v vv v an = Re(V s ), v bn = Re( a 2V s ), v bn = Re( aV s ). ÓÔ$Cm%7e .6 % !"#$.0Î (Munoz-Garcia, et. al., 1997) DSP VW 8¨Ä¹p ' )st ¶6%
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(16) DSP VW(TI, 1997) Ò ! "#$$ Munoz-Garcia ý DîKK .opq ' )st ¶{" #$àl % SVPWM 7e.¨. SVPWM % CPLD VW(=, 1996)Xq§"#_ Gcd53q§C ¼ e(DSP)vT6. (4) %(3). v x ªï+-45HI ªïÆ#n?5k*53û @ÃA AB'ý6%> E< u
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(18) 6q8=(4)(6 v. λs =. v V3 (0,1,0). IV. v V5 (0,0,1). π. 3. I. VI. V. r t2V2. v V1 (1,0,0). r Tz Vref r t1V1. v V6 (1,0,1). (a). v V1 (1,0,0). α. (b). K 8 {8×Fû\]^_ F$ q '8L 6 L](Sector)/0M 1(a)nN L] Dq ^_ FO v /0 F( Vref )PQ 'R^ _ FST F n#=M 2.5(b) .U I L]/0 FP^_ F v v v v v v V1V2 V0 V7 ¨. Vref V1 VF α 6 2 v v (v an + avbn + a 2 v cn ) 3 π j ( i −1) 2 3 = Vdc ⋅ e i = 1,L,6 3. Vi =. W%X. v an (t ) = V x cos(ωt ). v cn (t ) = V x cos(ωt +. v V2 (1,1,0). 1 (a)(Sector) ;(b) . 2π 4π j j ¨. av = e 3 , av 2 = e 3 van vbn vcn & ' F> _6. 3. (5). r Vref. II α. 3. ). j ( ωt − ) 2. v V2 (1,1,0). III v V4 (0,1,1). \]^_`ab7(SVPWM)$ !¹`ab7(PWM).\]^_~" #=$&'%& F%\]%§ ^_'($cdq)*5+,(+^_).ó?@/0 F^_^ª ï1()*+,-%23(Airgap).* +*5+-^_45C6q 78à9?@ÚÛBÜÝÄ-: ;L]/z{8× FB) 6 < F\]^_= v 2 v v (1) V s ≡ ( v an + av bn + a 2 v cn ). π. ω. π. e. . . v bn (t ) = V x cos(ωt −. Vx. ∫. (2). t0 / 4. 0. +. ). (1). 2 1?5k^_@. .. 3. > _&'ÃAêBC³'ýu %DEFûLêBC³qG6. t2 2. 2. ∫. (6). Fv$~Í Y=. v V0 dt +. ∫. t 0 / 4 + t1 / 2. t0 / 4. t 0 / 4 + t1 / 2 + t 2 / 2 + t 0 / 4. t 0 / 4 + t1 / 2 + t 2 / 2. v V7 dt =. ∫. t 0 / 4 + t1 / 2 + t 2 / 2. t 0 / 4 + t1 / 2. ∫. Tz. 0. v V2 dt. v Vref dt. v F V1 Ä-L] v F V2 Ä-L]. t1 =\]^_ 2. =\]^_. v V1dt +. (7).
(19) t0 4. Tz =. v v V0
(20) V7 t1 t 2 t 0 + + 2 2 2. . v. Vref . (6) Vv 1 . v 2 = V2 = Vdc 3. RQ; ; l 1 ,"()0 ,"(;). (7). v t0 v t v t v t v V0 + 1 V1 + 2 V2 + 7 V7 = Tz Vref 4 2 2 4. !"#$. v Vref 2 3. Vdc. 000 → 100 → 110 → 110 → 100 → 000. >K ?@B. (8). %&'()"#. v cos α cos 60 t (9) = V T. o cos 0 o t1 2 2 2 Vdc + Vdc o o 3 sin 60 2 sin 0 2 3. *a =. v v v v v v V0 → V1 → V2 → V2 → V1 → V0. ref. sin α . z. (10). (12) @AB201 . v V 2 2 3 Vref = Vdc ae jωt = Vdc M e jωt = M dc e jωt 3 3 2 3. M =. 2 a 3. (13). (13) 0 1 ¡ ¢ £¤ x =¥¦X. t1 =. *. f duty _ b. M sin α if 0 o ≤ α ≤ 120 o o = f ( M , α − 120 ) = M sin(α − 60 ) if 120 o ≤ α ≤ 240 o 0 if 240 o ≤ α ≤ 360 o o. kur M = 2 a hx=? 3. a ,"-./01234 567(11)89:;<= 2 aTs sin(60o − α ) = MTs sin(60 o − α ) 3 2 t2 = aTs sin α = MTs sin α 3 t 0 = Ts − t1 − t 2. if 0 o ≤ α ≤ 120 o if 120 o ≤ α ≤ 240o if 240 o ≤ α ≤ 360o. 0 if 0 o ≤ α ≤ 120 o f duty _ c = f ( M , α + 120 o ) = M [ − sin(60 o + α )] if 120 o ≤ α ≤ 240 o M ( − sin α ) if 240 o ≤ α ≤ 360 o . Ts = 2Tz +. cos 60 o t 2 2 cos 0 o t1 2 cos α Ts 2 = Vdc a + Vdc Vdc o o 3 2 3 2 3 sin 0 sin 60 sin α 2 . f duty _ a. M sin(60 o + α ) = f ( M ,α ) = 0 M sin(60 o − α ) . (11). v MVdc cos(ωt ) v an (t ) = Re(Vref ) = 3 MVdc π v v v bn (t ) = Re(a 2Vref ) = cos(ωt − ) 3 3 v MVdc π v v cn (t ) = Re(aVref ) = cos(ωt + ) 3 3. M > ? @ A B (Modulation. Index)&C α : 0o ≤ α ≤ 60o D=EF GH?@I J+K;L2MNOF P Q RSTUVWXY @Z[\]^R_`ab( Ts ). (14). d§ !<x¨/©?? @AB M ª>«¬K®01¯°± ²³ Vvref = 2 Vdc M max = 2 v\´ max. 3. 3. M µ¶·?(over modulation) f 2 Vdc r. 2. 3. 2cabdefg IJhi SVPWM jgklmfgn-GH?@ (Center-Pulse SVPWM)(Van Der Broeck et. al., 1988)7 M v v o p l q r V7 s V0 t u $vwx yz{|7}~ !l mnfgIJx yzI I|(Zhang, et. al., 1994) 7 I . per unit+¸¹x = º»¼
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(24) ¿Ñ( R s ) ÒÓÌ/ÔÕÖ×Ø. i a (t ) = I x cos(ωt − φ ). ]7. i b (t ) = I x cos(ωt −. V s ≅ Vm + R s I s + ( 2πfLls ) I m ¾¾¾¾Ù15Ú¾. ¬ Vm áⱬ Vm 67 Vm 2 f j [ã 5 I m k¿67Û K¿ÀÁ¤Âä SåÉà V s æçèéê[ëì¹ ëìäíÃ5®$lÛîÐ Rs I s äÞï>h2 f ðR2 I s. ã57 Rs. ¾. Llr Ir. Vs. Rc. Lm. 3. −φ). = V m + I x R x cos(ω e t ) cos(α ) − I x R x sin(ω e t ) sin(α ). Rr s. Vm. π. −φ). V x cos(ω e t ) ≈ Vm + I x R x cos(ω e t + α ). Is. ¾ ¾. Lls. i cn (t ) = I x cos(ωt +. 3. (17) (18)Û#³ÀÁ÷Âê± ò2 &CöÌ@ ܲf¬øù deE± 6ãù+£R5íú² ûühvýþ[eò ¸>ܱïf¬ãåÉÃÉ ]^ªdeܱ ¹ . hÉÃ
(25) KÃÛd ÀÁ. ü=òÌÄïj [=`c Åü>æ ç1= V/f "Å¥¦Æ R@7. (15)Û#³ λ A k¿6SKÉà Vm 6ÌÜzÝ Rs I s ÞÌßà. ¾. π. ≈ Vm + I x R x cos(ω e t ) cos(α ). ¾ ¾ ¾. I x R x cos(ω e t ) cos(α ) = v xcom =. 2
(26) . (18) (19). MV dc 3. 01«( 2)x ¡[ñ «X4( 3)=¿Ë X2 ò (Munoz-Garcia et. al., 1997)7 ¾. l(19)kDëì lx¨/ hëì>x ¶®?@AB ±² R= Þ67. ¾. . ¾. Vm. φ. φ. I s Rs. Vs. CPLD kR. Is. 3 ¾. DSP k \. ) 4 Û#7 ¹!"#$% & Altera Û/' Flex10k-84 () [ \ TI %&Û' DSK50(Starter Kit)*+ ,(-. TMS320C50 AIC ())Ø/ \dÉÃëì GH?@k @Ã0®,7. Xóòôõ¥¦l ¿X2ò e- φ &CäX4ö(17)Û#7 v an (t ) = V x cos(ωt ) v bn (t ) = V x cos(ωt − v cn (t ) = V x cos(ωt +. π 3. π. 3. ) ,. CPLD Board. ). DSP Board A/D. Stator Resister Compensate. 4 Voltage-Phase Counter. External SRAM 32K Modulation compensate. Modulation register. Sine-wave table. Dead time. SVPWM generator duty ratio_A duty ratio_B duty ratio_C. Variable speed adjust. 4’s Led Display. Overcurrent detect.
(27) . 4. VP"°±aa²Z,[ 2\,f³a/©%23h 1.)vP´µWX(PC)hMaxPlusII C5x VDE 45`&vPALM¶·A ´µA F2.)CPLD DSK °± ¸¹hAltera Flex10K10-84 noA01A 7 ()*+AEPROM TMS320C50 noA AIC noASRAMAPEEL º»µ¼°± F3.)½Eh¾¿lm" MT-0112 E%ÀÁ£ MOSFET  ½E%5 1 2 ã%]/ A Ä 8Å%ÆÇJEÈÉ
(28) %. ÊJ_F4.)Ë ÌhÍ£ÎÏ Ð"%iÑ\ ÒÃ%ÓÔÕ%Ö× Ä 380V(Y )A Ö× Ä 1.96AAÖ×Ø6 1700 RPMFG ËÌÙ£Úlm"%ËÌ $BÃÛÜgAØÝ6+AZ ]./45"Ë Ä%ËtÃ\ 1 ÃF5.)ÛÜÞ+h400MHz "*ß +A`à ®5+Aáâ2ãÞAßä åæ+AçE ÄèéA ÜÛg F. CPLD º» DSP WXïð. CPLD !" #$% 4 &'()*+,- 4 &./0 1%2345)*6789:;<=>8 9,-./67?@01ABC?@01 D Reset E!01FGHI DSK50 JK 9K ";<DLMNOP%QR3SI 32K 16Bits " SRAM NOPTUF V&WX"Y!Z[2\ CPLD ]^_ D DSP ]^_"`ab%Y!]cd efg 1h CPLD--Altera. DSP-DSK50. .
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(30). "#$%&. !. '( ). &* +,#$. +,-#$ ./0123456. 789:;<=>?. @AB&. 64K8bits. EPROM. 8. 8. 8. 8. Altera down-c able. Outport and protect circut Button. g 1 VPWXY!i[g. SRAM 32K8Bits SRAM 32K8Bits. jk, Altera lm"no%pq rstua"vPw\xy%zr vP{\ MAX+PLUS II%Z,|}~ "%i[ " -!Z|}FG DSK50 V"vPf(DSK-VDE DSK-Express vP)_A A,-;<)*:FLM f-H RS232 " $_%¡ C50 ¢£vPG¤"%Q¥¦H +§¨/©%V&LMª«¬ DSK50 " PROM % ®¯ C50 no"NOPF. Altera Flex10k 10 -84-4. Altera Flex10k 10 -84-4. 5 ê°±¸¹" CPLD °±Ïñòó. ê°±`ëno"Ù£ìíeg 2 î *h Logic Cells. LCs utilized. Input pins. Output pins. . 436. 75%. 12. 31. . 56. 9%. 2. 13. g2. 5. `ë CPLD "dÙ£ìí.
(31) -äF. ¢£ MaxplusII xyvP¤ SVPWM%e 6 î*F. . . . . . . . . . . . .
(32) (Hz. ôõ$% Matlab vPöØ6 8 30.5Hz : (a) (b) BC%e 7 î*h ,f 9(a) 9(b)23 ífífØ%Z )" "íf"úû þ! 9(a). 1000 900 30.5Hz. 800. . 600. . 20.3Hz. 500. . 400. . 300. 10.2Hz. 200 100 1.5Hz 0 0. 7. 3Hz. . Speed Wr (rpm). CPLD
(33) SVPWM 7006. 5Hz. 2Hz 0.5. . . . 1. 1.5 Torque (Nm). 2. 2.5. 3 .
(34) . . . . . . . . 9(b) "í"%#$F. . ,f 8(a)(b)¢£ê÷î4õø _× ù"úû%kúûüî! "SÛý°±"ºþF¬ 3Hz "SõM%£ Ø B SË% \Ë B
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(39) CPLD DSP !" #$%&'( )*+,-./012345678 9:;<=>=?@ABCDEFG HIJ (K23,- L@ MN: 1.)DO-/+ PQRS09T UVWX./01YZ23F2.)!<=5 1.5Hz EC[ Z\]^23_ 4~5 `a bcAF3.)def+ SVPWM Zg BhiVjk F4.)l09TUmn o pqrs !@tuv0w!" xF5.)5 DSP >yz{|}~ Z' i "F. (b) . G.V. Stanke, “Analysis and Realization of a Pulsewidth Modulator Based on Voltage Space Vectors”, IEEE Trans. Ind.Appl., vol. 24, no. 1, Jan. pp. 142-150, 1988. Zhang, L., C.Wathanasarn, F.Hardan, “An Efficient. Pulse-Width Modulator using Space Vector. 1996.. induction motors driven by variable frequency, variable voltage supplies”, IEEE IAS Intl. Semi. Power Conv. Conf., 1977, pp. 177-184. Bose, B.K., Power Electronics and Variable Frequency Drives, (book), IEEE Press, 1996. “Pulsewidth. modulation. Strategy.”,. , {0 0, (). Abbondanti, A. “Method of flux control in. J,. Modulation. IECON’94., vol. 1, pp.91-96, 1994.. . Holtz,. Microprocessor-based. for. electronic power conversion,” IEEE Proc., vol.82, no.8, pp. 1140-1163, Aug. 1994. Munoz-Garcia, A., T.A.Lipo, D.W.Novotny, “A new induction motor open-loop speed control capable of low frequency operation”, Proc.IEEE IAS Ann.Meeting, 1997, pp.579-586. Texas Instrument, “TMS320C5X User’s Guide”, 1997. Van Der Broeck, H.W., H. Skudelny and 7.
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