摘 要 本論文主要在研究有轉軸編碼器的內藏式永磁同步電動機的驅動系統。首先比較直流無刷與永磁式同步馬達的架構與差異，再介紹何謂內藏式永磁同步電動機並介紹其特性、與數學方程式。而相較於其它馬達，永磁式同步馬達(Permanent magnet synchronous motor, PMSM)具有高功率密度、高效率以及高加速能力等優點，使其已逐漸被廣泛地應用。由於本論文主要建構於有轉軸編碼器的情況，故接下來主要探討的方向為馬達內部參數估測與向量控制法則。在單晶片控制方面，使用DSP2407做主要向量控制運算與伺服控制，FPGA為電流向量控制與雜訊干擾消除。而電流控制為整個架構的核心之一，為了能準確的追蹤到電流命令減少相位落後，採用前饋控制器為控制器之一，在此需要得到馬達內部參數，如電阻、電感值。由於轉軸編碼器在安裝過程中不一定有對應馬達本身電氣角，故在此需要對其轉子磁極的偏量做一估測補償。為了簡化設計與降低硬體實現之複雜度，本論文採用模組化設計，將主要單元再細分為各個功能單純的模組。在周邊處理能力方面，可直接將電流回授量由類比/數位轉換器傳回給FPGA及增量光編碼器傳回給DSP2407。DSP2407可對FPGA做調整與觀測各個參數及變數，所有參數及變數均可即時(real-time)讀出或寫入。 ABSTRACT The thesis discusses the drive system of Interior Permanent Magnet Synchronous Motors (IPMSM) with encoder. First, compared with the brushless DC motor, and introduced what is IPMSM and its characteristic and mathematical model. The IPMSM is provided with high power density, high efficiency and high acceleration, so it becomes based on the situation of motor with encoder, we perform the estimation of motor parameter and vector control. DSP2407 is employed to achieve vector control and servo control, and make use of FPGA is used to achieve current control and disturbance cancellation. Current control is one of the center frameworks of motor drive system. In order to track current command exactly and reduce phase lag, we use feedforward controller to be one of the controllers in motor drive system. So we need to know the motor parameter, such as resistance and inductance. When encoder was assembled on motor, the encoder was not sure to aim at the electrical angle of motor. So we should calibrate original angle from Z pulse to rotor magnetic pole. In order to simplify the design and reduce the perplexity of hardware, the thesis adopts module design. In operation, FPGA get the current feedback from current sensors and A/D converter, and DSP2407 get position from encoder. DSP2407 could observe and modulate the parameters of FPGA, and all of the parameters could be written in or read out online.
