마이크로프로세서에 의한 벡터제어 영구자석형 교류 서보전동기 구동 시스템의 안정도 해석

Abstract

본 연구는 영구자석형 교류 서보전동기를 마이크로프로세서로 벡터 제어하는 시스템에서 안정영역 내의 제어기 이득을 체계적으로 계산한다.

이 시스템의 수학적 모델링을 위하여 먼저 전동기를 회전 2축 좌표계로 변환 시킨후, 소신호해석을 사용하여 선형화 시킨다. 여기에 이산화 시킨 벡터 제어루우프를 첨가하여 전체 시스템을 이산형 상태방정식으로 모델링한다. 전동기 입력전압에 대한 시간지연을 부시한 경우와 시간지연을 고려한 경우에 대하여 2개의 이산형 상태방정식을 유도하고, 속도 및 d, q축 전류제어기의 이득에 대한 안정영역을 각각 구한다.

16 비트 마이크로프로세서로 벡터제어 루우프를 계산하며, 삼각파 비교방식에 의한 전류제어 PWM 인버터에 1/2 HP의 전동기를 사용한다, 본 연구에 제시한 제어기 이득 값으로 전동기를 운정하여 전동기 속도의 과도특성을 디지탈 시뮬레이션과 실험을 통하여 확인한다.

In this study, the method to design the gains of controller, which has stable and excellent speed control performance at the vector controlled permanent magnet AC servo motor, is suggested. The mathematical model of motor can be set up by representing the d-q equation in the synchronously rotating reference frame, and then is linearized by small signal analysis. The discrete- time state equation of overall system including the vector control system is derived.

At two cases, that the time delay for input voltage for motor is neglected and considered, discrete-time state equations are derived respectively, and then the stability region for the gains of speed and d,q current controller is determined with both cases.

The vector control loop is implemented by 16 bit microprocessor, and triangular comparison current controlled PWM inverter and 1/2 HP motor is used. The transient characteristics of vector controlled motor using the gains within stability region suggested in this study, are shown through digital simulation and experiments.

In this study, the method to design the gains of controller, which has stable and excellent speed control performance at the vector controlled permanent magnet AC servo motor, is suggested. The mathematical model of motor can be set up by representing the d-q equation in the synchronously rotating reference frame, and then is linearized by small signal analysis. The discrete- time state equation of overall system including the vector control system is derived.

At two cases, that the time delay for input voltage for motor is neglected and considered, discrete-time state equations are derived respectively, and then the stability region for the gains of speed and d,q current controller is determined with both cases.

The vector control loop is implemented by 16 bit microprocessor, and triangular comparison current controlled PWM inverter and 1/2 HP motor is used. The transient characteristics of vector controlled motor using the gains within stability region suggested in this study, are shown through digital simulation and experiments.