無人機永磁同步電機之無感測器磁場導向控制高速改善及測試
Other Title
High-speed Improvement and Testing of Sensorless Field-oriented Control for PMSM of High Power Drone
Journal
機械工業雜誌
Journal Issue
496
Start Page
58
End Page
65
ISSN
0255-0075
Date Issued
2024-07
Author(s)
Abstract
本文目標為使用無感測器之磁場導向控制（Field-oriented Control, FOC）演算法驅動無人機用之3 kw表面貼磁式永磁同步馬達，並應用磁場導向控制取代目前較普遍應用於無人機馬達之六步方波驅動演算法，以提升能源效率、降低噪音及提升動態響應。然而，無人機馬達的高極對數特性使得馬達會在高電器轉速下運轉，而在高電器轉速的狀況下，電壓耦合現象及運算延遲的問題會較顯著的對馬達運轉造成負面影響。因此，本文將針對此問題進行改善，並進行實驗測試，比較其改善效果。本文將分為以下四個部分介紹：（1）磁場導向控制原理與方波驅動比較。（2）無感測器位置估測原理介紹。（3）高速問題及其改善方法。（4）實驗及結果分析。最後，將針對整體提升效果進行評估及總結。
The purpose of this article is to apply the sensorless Field-Oriented Control (FOC) algorithm to drive a 3 kw surface-mounted permanent magnet synchronous motor for a drone, in order to replace the six-step square-wave drive algorithm, which is widely used in drone motors drive. In comparison to square-wave drive, the FOC is able to improve energy efficiency, reduce noise, and improve dynamic response. However, the high pole-pair characteristics of drone motors cause it to operate at high electrical speeds, and the voltage coupling and computational delay issues will significantly affect the operation of the motors at high electrical speeds. Therefore, this article will focus on the improvement of this problem and conduct experimental tests to verify the effect of the improvement. This article will be divided into the following four parts: (1) Comparison between FOC principle and square-wave drive. (2) Introduction of sensorless position estimation principle. (3) High speed issue and its improvement method. (4) Experiment and result analysis. Finally, the overall improvement effect will be evaluated and summarized.
Subjects
永磁同步馬達
無位置感測器控制
電壓解偶
計算延遲補償
PMSM
Sensorless control
Voltage decoupling
Computation-time delay compensation
Type
journal article