具功因調控前級轉換器切換式磁阻馬達驅動系統之建構及控制

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研究生：	翟瑞元 Chai, Jui-Yuan
論文名稱：	具功因調控前級轉換器切換式磁阻馬達驅動系統之建構及控制 DEVELOPMENT AND CONTROL OF A SWITCHED-RELUCTANCE MOTOR DRIVE WITH POWER FACTOR CORRECTION FRONT-END
指導教授：	廖聰明 Liaw, Chang-Ming
口試委員:
學位類別：	博士 Doctor
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2008
畢業學年度：	97
語文別：	英文
論文頁數：	188
中文關鍵詞：	換相時刻位移、電流控制、電流波形規範、數位控制、諧波補償、非線性行為、功因修正、隨機切換、強健控制、頻譜整形、速度控制、速度紋波、切換式磁阻馬達、切換式整流器、振動、升壓
外文關鍵詞：	commutation instant shift, current control, current profiling, digital control, harmonic compensation, nonlinear behavior, power factor correction, random switching, robust control, spectrum shaping, speed control, speed ripple, switched-reluctance motor, switch-mode rectifier, vibration, voltage boosting
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本論文旨在建構一以前端切換式整流器供電之切換式磁阻馬達驅動系統及從事其振動與速度紋波降低之研究。首先探究切換式磁阻馬達之主導方程式，並據以建立一切換式磁阻馬達驅動平台。接著，在探究切換式磁阻馬達之振動來源及暨有一些解決方法後，提出五種降低振動之切換控制方法並比較評估其效果，此五種方法包括隨機頻率脈寬調變、導通及截止角度同步前移、截止角之隨機化改變、電流下降波形規範、以及電流下降規範結合換相位置前移。
再者，本論文建構一以前端單相切換式整流器供電之切換式磁阻馬達驅動系統，以獲得良好之馬達驅動性能及交流端入電電力品質。在前端單相切換式整流器之控制上，先妥善設計其電力電路，並依所觀得之非線性現象發展出簡易之電壓強健控制機構，並探究其調適機制以避免非線性不穏定現象之產生。隨後藉由所發展之強健電流及速度控制方法，以增進馬達之動態響應及降低其振動。此外，進一步結合換相前移方法，以得更佳之馬達驅動性能。
對較高額定之電力電子系統而言，三相電源入電係自然之選擇。因此，本論文亦建構一個三相單開關切換式整流器，並作為切換式磁阻馬達之前端轉換器。所提動態控制方法係將入電線電流及輸出電壓之紋波視為擾動信號，並藉由所提之擾動消除強健控制予以降低。在三相電源平衡之狀況下，將一相之線電流經由帶阻濾波、相位移及數位三相全波整流後，合成一脈寬調變補償控制電壓。另外，亦提出三相不平衡下之修正控制方法。在輸出電壓強健控制方面，提出根據負載程度自動調適強健消除加權之方法，以獲得折衷良好之電壓動態及電力品質控制性能。因此，可自動地避免三相切換式整流器之非線性渾沌現象之發生，同時獲得較佳之操控性能。
最後，本論文提出一智慧型強健誤差適應電流波形規範方法以降低切換式磁阻馬達之速度紋波，同時亦可降低馬達定子振動。於所提方法中，在線圈電流命令波形之前緣自動疊加一由直流鏈負電流突波產生之補償成份，再利用所提強健電流誤差消除控制以增進線圈電流波形之追蹤緊密度，及獲得較平順之馬達產生轉矩。接著利用所提之強健速度紋波消除控制直接降低速度之紋波。同樣地，亦應用換相前移策略改善換相期間兩重疊相線圏之轉矩分配特性，以進一步降低馬達之速度紋波，同時也降低切換式磁阻馬達之定子振動及改善其轉矩產生能力。

This dissertation is mainly concerned with the establishment of a switch-mode rectifier (SMR) fed switched-reluctance motor (SRM) drive and its vibration and speed ripple reductions. First, the basics and governing equations of a SRM are studied, and a digital signal processor (DSP) based SRM drive is constructed. Secondly, the origins of vibration and the existing remedies of SRM are explored. Then five reduction control approaches are developed and comparatively evaluated. These approaches include random frequency pulse width modulation (RFPWM) with harmonic spectrum shaping, commutation advanced shift with fixed dwell angle, randomizing turn-off angle, current tail profiling without and with commutation advanced shift.
Thirdly, a single-phase SMR-fed SRM drive is established to yield good motor driving performance and line drawn power quality. In the front-end SMR, its power circuit is properly designed, and according to the observed nonlinear phenomena, a simple robust voltage control scheme is proposed. Furthermore, the adaptation of key robust control parameter is made to avoid the occurrence of nonlinear instability. Then the performance enhancements of SRM drive in vibration and dynamic responses are achieved by the proposed robust current and speed control schemes. In addition, these performances are further improved via commutation advanced shift.
For a power electronic system with higher rating, the three-phase source is a natural selection. Hence, the SRM drive is also powered by the developed three-phase single-switch (3P1SW) SMR. In handling its dynamic control, the undesired line current and output voltage ripples of this SMR are regarded as disturbances and reduced via the proposed disturbance cancellation robust controls. Under balanced three-phase case, the injected PWM compensated control voltage is synthesized from one line current through notch filtering, phase shifting and digital three-phase full-wave rectification process. And the control modification for unbalanced three-phase cases is also proposed. In making the output voltage robust control, the robust cancellation weighting factor is automatically tuned according to load level to yield compromised voltage dynamic and power quality control performances. The chaotic phenomena can be automatically avoided, and better SMR operating performance is obtained simultaneously.
Finally, this dissertation presents the speed ripple reduction control for a SRM drive via intelligent and robust error adapted current profiling approach, meanwhile the stator vibration is also effectively reduced. In the proposed approach, the leading edge of winding current command is automatically profiled by adding a compensating component, which is generated from the DC-link negative stroke spikes caused by non-ideal commutation behavior of SRM load. Then a robust current error cancellation control scheme is designed to yield the closer current waveform tracking response, and thus the smoother motor developed torque. In outer-loop, a robust speed ripple cancellation control scheme is employed to directly reduce speed ripple. Similarly, the commutation advanced shift is also applied to further reduce the speed ripple due to the improvement in torque sharing characteristics of two adjacent phase windings in commutation period. In addition, the reduced vibration and the improved torque per ampere capability of SRM are further obtained.

ABSTRACT  ............................................................................................................    i
ACKNOWLEDGEMENTS  ....................................................................................    iii
LIST OF CONTENTS  .............................................................................................    iv
LIST OF FIGURES  .................................................................................................    viii
LIST OF TABLES  ..................................................................................................    xvi
LIST OF SYMBOLS  ...............................................................................................    xvii

CHAPTER    1    INTRODUCTION  .......................................................................    1
    1.1    Motivation  ...................................................................................    1
    1.2    Literature Survey  ........................................................................    3
    1.3    Contributions of this Dissertation  ...............................................    14
    1.4    Organization of this Dissertation  ................................................
    17
CHAPTER    2    ESTABLISHMENT OF AN EXPERIMENTAL SWITCHED- RELUCTANCE MOTOR DRIVE  ..............................................
19
    2.1    Introduction  .................................................................................    19
    2.2    Governing Equations and Modeling of SRM Drive  ...................    19
        2.2.1 Structure and Operation of SRM  .......................................    19
        2.2.2 Governing Equations and Modeling  ..................................    21
    2.3    Some SRM Converters  ...............................................................    25
    2.4    The Established SRM Drive  .......................................................    42
        2.4.1 Some Practical Digital Control Issues  ...............................    42
        2.4.2 Power Circuit  .....................................................................    46
        2.4.3 DSP-Based Control Environment  ......................................    47
        2.4.4 Interfacing Circuits  ............................................................    49
    2.5    Experimental Evaluation  .............................................................    54
CHAPTER    3    VIBRATION REDUCTION CONTROLS OF SRM  .................    60
    3.1    Introduction  .................................................................................    60
    3.2    Sources of Vibration  ...................................................................    61
    3.3    The Established DSP-Based SRM Drive and Problems Statement    66
    3.4    Controls for the Reduction of Vibration  .....................................    68
        3.4.1 Random PWM Switching and Harmonic Spectrum Shaping    68
        3.4.2 Commutation Advanced Shift  ............................................    74
        3.4.3 Randomizing Turn-Off Angle  ............................................    76
        3.4.4 Current Tail Profiling  .........................................................    78
    3.5    Comparative Evaluation  ..............................................................
    83
CHAPTER    4    SRM DRIVE WITH SINGLE-PHASE PFC FRONT-END  .......    84
    4.1    Introduction  .................................................................................    84
    4.2    System Configuration and Modeling  ..........................................    84
        4.2.1 Control Schemes and Methodology  ...................................    87
        4.2.2 Modeling of a Converter-Fed SRM and Typical Waveforms    88
        4.2.3 Equivalent SRM Load Model for SMR  .............................    91
        4.2.4 Effects of DC-Link Ripple on Torque Ripple and Vibration    92
    4.3    SMR Established DC-link  ...........................................................    94
        4.3.1 Power Circuit  .....................................................................    94
        4.3.2 Control Schemes  ................................................................    95
    4.4    SRM Drive  ..................................................................................    103
        4.4.1 Power Circuit  .....................................................................    103
        4.4.2 Control Schemes  ................................................................    104
    4.5    Experimental Results  ..................................................................    108
CHAPTER    5    SRM DRIVE WITH THREE-PHASE PFC FRONT-END  ........    119
    5.1    Introduction  .................................................................................    119
    5.2    System Configuration and Control Schemes  ..............................    120
    5.3    The Established 3P1SW Boost SMR  ..........................................    121
        5.3.1 System Configuration and Problem Statement  ..................    121
        5.3.2 Power Circuit  .....................................................................    123
        5.3.3 The Proposed Control Schemes  .........................................    126
        5.3.4 Experimental Results under Resistive Load  ......................    130
    5.4    SRM Drive Control Schemes  ......................................................    135
        5.4.1 Random-Band HCCPWM Scheme  ....................................    135
        5.4.2 Speed Control Scheme  .......................................................    138
    5.5    Experimental Results of the Developed SMR under SRM Drive Load  ............................................................................................    138
        5.5.1 Comparative Performance Evaluation for SRM Drive Fed by SMR and Rectifier  ........................................................    138
        5.5.2 Performance of the Whole 3P1SW SMR-Fed SRM Drive ...
    140
CHAPTER    6    SPEED RIPPLE AND VIBRATION REDUCTIONS FOR SRM DRIVE BY ROBUST ERROR ADAPTED CURRENT PROFILING  ................................................................................    145
    6.1    Introduction  .................................................................................    145
    6.2    Torque Ripple Generation Process and Its Reduction  ................    146
    6.3    Problem Statements for the Proposed Speed Ripple Reduction Methodology  ...............................................................................    148
    6.4    The Studied SRM Drive  .............................................................    149
        6.4.1 Single-Phase Boost SMR  ...................................................    150
        6.4.2 Switched-Reluctance Motor Drive  .....................................    151
    6.5    Proposed Speed Ripple Reduction Control Scheme  ...................    152
        6.5.1 Current Command Profiling Scheme  .................................    152
        6.5.2 Commutation Shift  .............................................................    157
    6.6    Experimental Results  ..................................................................    158
        6.6.1 Standard Control  ................................................................    158
        6.6.2 Proposed Control  ...............................................................    158
CHAPTER    7    CONCLUSIONS  ........................................................................
    166
REFERENCES    .........................................................................................................    169
APPENDIX  .............................................................................................................    186
BIOGRAPHICAL NOTE  ........................................................................................    187

                                

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B. Converters Circuits
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C. Dynamic Modeling and Control
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D. Current Control
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E. Speed Control
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F. Commutation Tuning and Performance Optimization
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G. Vibration and Acoustic Noise Reductions
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H. Torque Ripple Reduction of SRM
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I. Switch-Mode Rectifiers
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J. SMR-Fed SRM Drive Systems
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K. Digital Control
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L. Others
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