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ѢEKFⱘᛳᑨ⬉ᴎ᮴䗳ᑺӴᛳ఼ࠊ㋏㒳
ஐ冪ͫㄋ妫ࣦͫ㨄Ұ
ಯᎱᄺ⬉⇨ֵᙃᄺ䰶ˈ៤䛑 610065
E-mail: weicc1231@126.com
ᨬ 㽕˖ᴀ᭛䞛⫼ᠽሩवᇨ᳐Ⓒ⊶఼(EKF)Ԅ䅵ᓖℹ⬉ᴎ䕀ᄤ㾦䗳ᑺ,ᑊᇍⒸ⊶఼߱ྟؐⱘ䗝প䖯㸠њⷨお,ᕫࠄњӬ࣪
ⱘवᇨ᳐Ⓒ⊶఼DŽMATLAB䕃ӊЁᨁᓎSVPWM䕀Ꮒൟ䇗䗳㋏㒳,㋏㒳Ⳉᑨ⫼⬉य़ⶶ䞣ࠊᮍᕫࠄ䕀ᄤԡ㕂,᮴
䳔ᇍ䕀ᄤ⺕䫒䕀ᄤԡ㕂䖯㸠Ԅㅫ,䙓ܡњᴖⱘ䗁ҷ䖤ㅫDŽ㒧ᵰ㸼ᯢ,䕀䗳Ԅㅫⱘ⹂ޚᗻ䕗催,㋏㒳ᇍ⬉ᴎখ᭄ⱘব࣪
ϡᬣᛳ,᳝䕗ᔎⱘ剕Ầᗻ,ᑊᇍ䋳䕑ᡄࡼ᳝䕗ᔎⱘᡥࠊ㛑DŽ
݇䬂䆡˖ᠽሩवᇨ᳐Ⓒ⊶,䕀䗳Ԅ䅵,䯈ⶶ䞣ࠊ,᮴䗳ᑺӴᛳ఼
Abstract: A rotor speed estimation method of an asynchronous motor, based on extended Kalman filter (EKF), is studied and
is adopted in SVPWM slip frequency vector control system in this paper. The optimized Filter is got by choosing the proper
initial value. The rotor position can be got by voltage vector controlled equations, without estimating the rotor flux and rotor
position by EKF. The complicated iterative operations can be avoided. The simulation results show good performance of the
speed estimation and the system is insensitive to the machine parameter variations and load disturbances. The rationality and
advantage of proposed methods is testified though MATLAB simulation.
Key Words: Extended Kalman Filter,Speed Estimation, Indirect Vector Control, Speed Sensorless
1 ᓩ㿔(Introduction)
催ᗻ㛑ᓖℹ⬉ᴎⶶ䞣ࠊ㋏㒳Ёˈ䕀䗳䯁⦃ᰃ 㛑гᕫࠄᦤ催DŽӓⳳᅲ偠Ё↨䕗њぎ䕑さࡴ䋳䕑ᡄ
ᖙϡৃᇥⱘDŽ䗮ᐌ⫼Ϣ⬉ࡼᴎৠ䕈Ⳍ䖲ⱘ⬉ܝ㓪ⷕ఼ ࡼᚙމϟ䕀䗳Ԅㅫؐⱘবࡼҹঞᬍব䕀ᄤ⬉䰏ؐৢ
ㄝ䗳ᑺӴᛳ఼⌟䞣⬉ࡼᴎⱘ㾦䗳ᑺˈԚ䖭ᕔᕔᇍ㋏㒳 䕀䗳Ԅㅫⱘ㊒ᑺDŽ
ⱘৃ䴴ᗻ㒣⌢ᗻѻ⫳ᕅડDŽℸˈ᮴䗳ᑺӴᛳ఼ⶶ
䞣ࠊ㋏㒳ⷨお៤ЎѸ⌕Ӵࡼ乚ඳⱘϔϾ䞡㽕䇒乬DŽ 2 ᓖℹ⬉ࡼᴎⱘ㒓ᗻǃ⾏ᬷ࣪ǃᠽሩ⢊ᗕぎ
Ң 20 Ϫ㑾 70 ᑈҷᓔྟ䖭ᮍ䴶ⱘⷨお[1,2,5,7]ˈᐌ 䯈ൟ(Asynchronous Motor's Linearǃ
⫼ⱘԄㅫᮍ⊩᳝⼲㒣㔥㒰⊩ǃⳈ䅵ㅫ⊩ǃൟখ㗗 DiscreteǃExtended State-Space Models)
㞾䗖ᑨ⊩ˈԚᅗӀ㗙ᇍ⹀ӊ㽕∖䖛催ˈᰃᇍ⬉ᴎ
ᓖℹ⬉ࡼᴎᰃϔϾ催䰊ǃ䴲㒓ᗻǃᔎ㗺ড়ⱘব䞣㋏
ⱘᅮ䕀ᄤখ᭄ձ䌪ᗻᔎˈ㗠䖭ѯখ᭄Ӯ䱣ⴔ⏽छ
㒳DŽ߽⫼ᠽሩवᇨ᳐Ⓒ⊶఼ᵘ䗴ⱘ᮴䗳ᑺӴᛳ఼ⶶ
⺕䏃佅থ⫳ব࣪ˈᰃϡ⹂ᅮⱘᯊবখ᭄ˈҢ㗠Փᕫ
㾖⌟ⱘ㒧ᵰϡˈ⹂ޚᕅડⶶ䞣ࠊⱘᗻ㛑DŽ 䞣ࠊᮍḜЁˈᓎゟҹᅮᄤ⬉⌕ isα ǃ is β ˈ䕀ᄤ⺕䫒
ˈ䕀䗳 ω Ў⢊ᗕব䞣ˈҹᅮᄤ⬉य़Ў䕧
㞾 20 Ϫ㑾 90 ᑈҷҹᴹˈवᇨ᳐Ⓒ⊶ᮍ⊩㹿ᑨ⫼
ψ rα ǃ ψ r β
Ѣখ᭄䕼䆚䗳ᑺԄㅫˈⷨݙおջ䞡Ѣㅫ⊩ⱘ
ᬍ䖯ˈԚᑊ䖛ⱘᇍㅫ⊩߱ྟؐ䖯㸠Ӭ࣪DŽᴀ᭛䗮 ܹব䞣ˈᅮᄤ⬉⌕Ў䕧ߎব䞣ⱘ⬉ᴎ⢊ᗕᮍ⌟䞣
䖛⌟䞣⬉ᴎᅮᄤ⬉⌕⬉य़ˈ߽⫼ᠽሩवᇨ᳐Ⓒ⊶ᅲ ᮍDŽ؛ᅮ䕀䗳䯁⦃ࠊⱘ䞛ḋ乥⥛Ⳍ↨Ѣ⬉ᴎⱘᴎ
⦄ᇍ䕀ᄤ䕀䗳ⱘԄ䅵ˈᵘ៤䕀䗳䯁⦃ࠊˈᑊᇍㅫ⊩ Ẅᯊ䯈ᐌ᭄˄ᴎẄᛃᗻ˅䎇催ˈ߭⬉ᴎ䕀䗳ϔϾ
߱ྟؐⱘ䗝প䖯㸠њⷨおˈᕫࠄӬ࣪ⱘवᇨ᳐Ⓒ⊶ 䞛ḋ਼ᳳৃݙ䅸Ўᰃᐌ䞣DŽ䖭⾡䖥Ԑ໘⧚䗴៤ⱘ䕀䗳
఼DŽ䆹ᮍḜ᮴䳔ᇍ䕀ᄤ⺕䫒䕀ᄤԡ㕂䖯㸠Ԅㅫˈ㋏ Ԅ䅵䇃Ꮒৃㅔऩᔦ㒧ࠄ㋏㒳ాໄ Z ( k ) Ёˈ߭⬉ᴎ
㒳Ⳉᑨ⫼⬉य़ⶶ䞣ࠊᮍᕫࠄ䕀ᄤԡ㕂ˈ䙓ܡњ ൟⱘ㊒⹂ᑺϡӮফᕜⱘᕅડ[3]DŽ
ᴖⱘ䗁ҷ䖤ㅫDŽ⬅Ѣᡞ⬉ᴎখ᭄বֵ࣪ো⌟䞣ᓩ ᠽሩৢ⬉ᴎⱘ⢊ᗕᮍབᓣ˄1˅᠔⼎[3]˖
䍋ⱘ䇃Ꮒߚ߿ᔦ㒧Ў㋏㒳ాໄⶶ䞣⌟䞣ాໄⶶ䞣
䖯㸠໘⧚ˈՓᕫ䕀䗳ⱘԄ䅵Ўⶶˈ⹂ޚ䞣ࠊⱘᗻ
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ª Rs 1 − σ Lm ω Lm º
«− σ L − σ T 0
σ Ls Lr Tr σ Ls Lr
0
»
« s r » ª 1 0 º
i
ª sα º « Rs 1−σ ω Lm Lm » ª sα º « σ Ls
i »
0 − − − 0
« i » « σ Ls σ Tr σ Ls Lr σ Ls Lr Tr »«i » « »
« sβ
» « » « sβ » « 0 1 » u
ª sα º
«ψ rα » = « Lm 1 » «ψ rα » + « σ Ls » «u » (1)
« 0 − −ω 0 » «ψ » « 0 » ¬ sβ ¼
«ψ »
« rβ » « » « rβ » «
Tr Tr 0
»
¬ ω ¼ « Lm 1 »¬ ω ¼ « 0 0 »
« 0 ω − 0 » ¬« 0 0 »¼
Tr Tr
« »
¬ 0 0 0 0 0 ¼
݊Ё⢊ᗕব䞣˖ ª T
0
º
« σ L »
T « s »
; = ª isα is β ψ rα ψ rβ ω º « T »
¬ ¼ « 0 »
T % = « σ L s »
䕧ܹব䞣˖ 8= ª u sα u sβ º « 0 0 »
¬ ¼ « »
⌟䞣ᮍབᓣ˄2˅᠔⼎˖ « 0 0 »
« »
¬ 0 0 ¼
ª i sα º
« i » ª1 0 0 0 0º
« sβ » & = «
ª i sα º ª1 0 0 0 0º «ψ » (2) ¬ 0 1 0 0 0 »¼
«i » = « « rα
0 »¼
ᓣЁ $ ′ ( k ) Ў䴲㒓ᗻߑ᭄ˈ䖭Ͼ⢊ᗕᮍҡ✊Ў
»
¬« s β ¼» ¬0 1 0 0
«ψ r β »
« »
¬« ω ¼» 䴲㒓ᗻˈ㢹䞛⫼वᇨ᳐Ⓒ⊶Ԅ䅵ㅫ⊩ˈ䳔㽕ᇚൟ㒓
䕧ߎব䞣˖< = ª i s α is β º
T (
ᗻ࣪ˈᇚ $ ( k ) [ˆ k k 䰘䖥ሩᓔ៤ϔ䰊ৄࢇ㑻᭄DŽ )
¬ ¼
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3 ᠽሩवᇨ᳐Ⓒ⊶ㅫ⊩(Extended Kalman Xˆ ( k + 1 k + 1) = Xˆ ( k + 1 k ) + K ( k + 1 ) ×
Filter Algorithms)
ª¬Y ( k + 1) − C ( k + 1) Xˆ ( k + 1 k ) º¼ (12)
वᇨ᳐Ⓒ⊶ᰃ⬅ Kalman 60 ᑈҷ߱ᦤߎⱘϔ
᭛⤂[7]প Q Ўᘦؐⶽ䰉ˈ䖭ḋⱘᬊᬯ䗳ᑺ䕗᜶ˈ
⾡᳔ᇣᮍᏂᛣНϞⱘ᳔Ӭ乘⌟Ԅ䅵ᮍ⊩ˈᅗৃҹ᳝ᬜ
Ϩ㗗㰥ࠄ䕀ᄤ⬉䰏ㄝ⬉ᴎখ᭄䱣ⴔ⏽छথ⫳ব࣪ˈᬙ
ഄࠞᔅ䱣ᴎᑆᡄ⌟䞣ాໄⱘᕅડDŽᠽሩवᇨ᳐Ⓒ⊶
߽⫼ᓣ˄13˅ᇍ Q г䞛⫼䗁ҷ䖤ㅫˈ߭Ӯᦤ催व
఼˄EKF˅ᰃ㒓ᗻवᇨ᳐Ⓒ⊶఼˄KF˅䴲㒓ᗻ㋏㒳
Ёⱘᑓᑨ⫼DŽEKF ᇚ㹿Ԅ䅵খ䞣ⳟᠽሩⱘ⢊ᗕব ᇨ᳐Ⓒ⊶ⱘᬊᬯ䗳ᑺϢ〇ᅮᗻDŽ
䞣ˈᵘ៤䴲㒓ᗻⱘ⢊ᗕᮍ㒘ˈᏆⶹ㋏㒳ⱘ䕧ܹా Q ( k + 1) = Φ ( k , k − 1, x ( k − 1) ) Q ( k ) ΦT
(13)
ໄ䕧ߎ⌟䞣ాໄⱘ㒳䅵ֵᙃⱘ⸔Ϟˈ䞛⫼䲙ৃ↨
( k , k − 1, x ( k − 1) ) T
ⶽ䰉ᇍℸ䴲㒓ᗻ⢊ᗕᮍ㒘䖯㸠⾏ᬷ࣪໘⧚ˈ⫼⊓ݡ
ᓣЁ Φ ——㒓ᗻ㋏㒳ⱘⶽ䰉ᣛ᭄ߑ᭄ˈᅲ䰙䅵ㅫ
㒓ᗻवᇨ᳐Ⓒ⊶఼ⱘ䗦݀ᓣˈ䗮䖛⌟䞣㋏㒳䕧ܹǃ
Ёˈ Φ ϔ㠀প݊䖥Ԑؐ
䕧ߎ᭄ˈᇍ㋏㒳ⱘ⢊ᗕব䞣䖯㸠Ԅ䅵DŽ؛ᅮ㋏㒳ా
ໄ w ( k ) ⌟䞣ాໄ v ( k ) 䛑ᰃ䳊ഛؐ催ᮃⱑాໄDŽ Φ ( k , k − 1, x ( k − 1 ) ) ≈ A ( k − 1 ) (14)
䆒㋏㒳ⱘ⢊ᗕᮍ䕧ߎᮍЎ ᠽሩवᇨ᳐Ⓒ⊶ᛳᑨ⬉ᴎ⢊ᗕԄ䅵Ёⱘᑨ⫼
X k + 1 = Ak X k + BkUk + Wk 㾷བ 1 ᠔⼎ˈवᇨ᳐ㅫ⊩ߚЎ乘⌟ᮄϸ䚼
(6)
ߚDŽ乘⌟䚼ߚЏ㽕ᰃ䅵ㅫ⢊ᗕ乘ؐ⢊ᗕ䇃Ꮒणᮍ
Yk = C k X k + V k (7) Ꮒ乘䖭ϸϾ䞣˗ᮄ䚼ߚ䅵ㅫߎ᠔ᵘ䗴ⱘᠽሩवᇨ
؛ᅮ k ᯊࠏⱘ⢊ᗕԄ䅵 Xˆ k Ꮖⶹˈ㽕Ԅ䅵 k +1 ᳐Ⓒ⊶఼ⱘⲞˈ䖯㸠⢊ᗕ䇃ᏂणᮍᏂⶽ䰉ⱘᮄ
⢊ᗕ乘ؐⱘᮄDŽ
ᯊࠏⱘ⢊ᗕ Xˆ k + 1| k ˈ佪ܜḍᓣ˄6˅乘⌟ k + 1 ᯊ w( k ) v (k )
㋏ 㒳 ా ໄ ⌟䞣ాໄ
ࠏⱘ⢊ᗕؐ ()
uk
⬉ࡼᴎ
y ( k + 1)
Xˆ k + 1| k = A k Xˆ k + B k U k
Yˆ = C Xˆ = C A Xˆ + C B U
§
xˆ ¨¨ k + 1 k
·
¸¸ (
xˆ k +1k +1 )
k +1 k +1 k +1 k +1 k k k +1 k k %
© ¹
⌟䞣
) Z −1
ᮄ
乘⌟ⱘ᷵ℷ乍ˈᕫࠄ k + 1 ᯊࠏⱘԄ䅵ؐ
1 EKF ⢊ᗕ㾖⌟఼䗦ㅫ⊩Ḛ
(
Xˆk +1 = Ak Xˆk + BkUk + Kk +1 Yk +1 −Ck +1Ak Xˆk −Ck BkUk )
݊Ё Kk +1 ЎⲞⶽ䰉ˈ䗮ᐌ Kk +1 ⱘ䗝ᢽॳ߭ᰃՓ 4 ㋏㒳ൟ(System Models)
( X k +1 − Xˆ k +1 ) ⱘणᮍᏂⶽ䰉 ᮴䗳ᑺӴᛳ఼䯈ⶶ䞣ࠊ㋏㒳㒧ᵘབ 2 ᠔
⼎ˈ䆹㋏㒳ሲѢ⺕䫒ᓔ⦃⬉य़ࠊൟ䯈ⶶ䞣ࠊ㋏
{ T
3k +1 = E ª¬ Xk +1 − Xˆ k +1 º¼ ª¬ Xk +1 − Xˆ k +1 º¼ পᕫᵕᇣDŽ } 㒳ˈ⬅ぎ䯈⬉य़ⶶ䞣 PWM ⊩ᴹ偅ࡼᓖℹ⬉ᴎˈ
∗
i sd
㒣ᇐߚᵤˈ᳔㒜ᕫࠄवᇨ᳐Ⓒ⊶ⱘ䗦݀ᓣ[6] ψ r* ↨՟
U sd
3, U sα ia
བϟ˖ 䖤ㅫ 56 U ib
∗ U sq 693:0 ,0
ω r∗ i sq বᤶ
sβ
˄1˅䅵ㅫ⢊ᗕ乘ؐ˖ 䗳ᑺ䇗 ic
㡖఼ 3,
Xˆ ( k +1 k) = A( k) Xˆ ( k) + B( k) U( k) (8)
˄2˅⢊ᗕ䇃ᏂणᮍᏂⶽ䰉乘˖ ωsl∗ ωs 66
䕀Ꮒ ⿃ߚ θ বᤶ
乥⥛ 䖤ㅫ isα is β
P ( k + 1 k ) = A ( k ) P ( k ) A ( k )T + Q (9)
isd
˄3˅वᇨ᳐Ⓒ⊶఼Ⲟ˖ 65
isq বᤶ
K ( k + 1) = P ( k + 1 k ) C ( k + 1)
T
×
ωr
−1 (.)䕀䗳Ԅㅫ
ªC ( k + 1) P ( k + 1 k ) C ( k + 1)T + Rº
«¬ »¼ (10) 2 ㋏㒳㒧ᵘḚ
˄4˅⢊ᗕ䇃ᏂणᮍᏂⶽ䰉 ൟЁⱘ↨՟䖤ㅫ䕀Ꮒ乥⥛ᣛҸḍҹϟ݀ᓣ [9]
∗
P( k +1 k +1) = ª¬I − K ( k +1) C( k +1)º¼ P( k +1 k ) (11) ∗ ψ r Lm
ᴹᵘ䗴˖ i s d = ∗
ˈ ω sl = ∗
∗ i sq DŽ
˄5˅⢊ᗕ乘ؐᮄ˖
Lm T rψ r
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㋏㒳䞛⫼ϝϾ PI 䇗㡖఼ˈᵘ៤䗳ᑺ⦃⬉⌕
ⱘ⦃ݙঠ䯁⦃䇗䗳㋏㒳䗳ᑺˈPI 䇗㡖఼ḍ㒭ᅮ䕀䗳
Ϣ EKF Ԅㅫ䕀䗳ⱘأᏂ䇗㡖䕀ⶽ⬉⌕ⱘ㒭ᅮؐˈ䕀
ⶽ⬉⌕ঞࢅ⺕⬉⌕ PI 䇗㡖఼ḍẔ⌟⬉⌕Ϣ⬉⌕㒭
ᅮؐⱘأᏂ䇗㡖Ⳍᑨⱘ d, q 䕈ᅮᄤ⬉य़㒭ᅮؐDŽEKF
䕀䗳Ԅ䅵ഫ䞛⫼ S ߑ᭄㓪ᅲ⦄ˈಯϾ䕧ܹЎ䴭ℶ
തᷛ㋏ϟᅮᄤ⬉य़ᅮᄤ⬉⌕ˈ݊Ёᅮᄤ⬉य़Ўᠽሩ
वᇨ᳐Ԅ䅵఼⢊ᗕᮍЁⱘ䕧ܹˈᅮᄤ⬉⌕Ў⌟䞣ᮍ
ⱘ䕧ܹ䞣ˈ䕧ߎЎԄ䅵ⱘ䕀ᄤ䕀䗳DŽ
5 ᠽሩवᇨ᳐Ⓒ⊶఼ⱘӬ࣪ঞ㋏㒳ӓⳳ
4 ⬉ᴎさࡴ䋳䕑䕀䗳↨䕗᳆㒓
(Optimization of the extended kalman ㋏㒳䖤㸠ࠄ 0.5s ᯊさࡴ 10 N<m ⱘ䋳䕑ᯊⱘ䕀
filter and simulation of the system) 䗳ડᑨ᳆㒓བ 4 ᠔⼎DŽ⬅ 4 ৃⳟߎˈԄㅫ䕀䗳ҡ
ӓⳳЁˈ⢊ᗕ߱ྟؐ䆒ᅮЎ 0 ⶶ䞣DŽ䞛ḋᯊ䯈 㛑䗤ℹ䘐䖥ᅲ䰙ⱘ䕀䗳ˈ䇈ᯢ䆹㋏㒳᳝ϔᅮⱘᡫ䋳
Ў 100 ȝs DŽ䖛ⱘ䞛ḋ਼ᳳгӮՓ EKF ㅫ⊩ⱘᗻ㛑 䕑ᡄࡼ㛑DŽ㋏㒳ぎ䕑ᚙމϟˈᬍব⬉ᴎⱘ䕀ᄤ⬉
বᏂ⫮㟇ϡᬊᬯ[10]DŽ 䰏Ў 1.8 Rr ᕫࠄⱘ䕀䗳ડᑨ᳆㒓བ 5 ᠔⼎ˈৃҹⳟ
वᇨ᳐Ⓒ⊶఼ᵘ䗴Ёˈ 3 ( 0 ) ǃ 4 ( 0 ) ǃ 5 ⱘ ߎ㋏㒳ᇍѢ⬉ᴎখ᭄ⱘব࣪ϡᬣᛳDŽ
߱ྟؐᇍवᇨ᳐Ⓒ⊶఼ⱘᗻ㛑ᕅડ䕗DŽ߱ྟؐⱘ
䗝ᢽ䖛Ёˈ᮶㽕㗗㰥ᬊᬯⱘᖿ䗳ᗻˈজ㽕䰆ℶ EKF
Ⓒㅫ⊩ⱘথᬷᗻDŽ EKF ㅫ⊩ᬊᬯᗻⱘᖙ㽕ᴵӊЎ
P (k k ) 䰉 Ϣ P (k + 1 k ) 䰉 Ў ᇍ ⿄ ℷ ᅮ 䰉 ˈ Ϩ 㢹
P ( k k ) → ∞ ˈ K ( k +1) → 0 ˈ߭ㅫ⊩থᬷ[11]DŽ 3 ( 0 ) ⱘ
䗝ᢽᕅડ EKF ㅫ⊩ᬊᬯˈ᭛⤂[12]䅸Ў 4 䰉Ϣ 5 䰉
ⱘ↨ؐгᕅડᬊᬯ䗳ᑺˈ↨ؐ䍞 EKF ㅫ⊩ⱘᬊᬯ
䗳ᑺ䍞ᖿDŽᅲ䰙ӓⳳЁথ⦄ 3 ( 0 ) ؐޣᇣˈ߭ᬊᬯ
䗳ᑺࡴᖿ˗བᵰ 4 ⱘ䅵ㅫ䞛⫼њᓣ˄13˅ˈ߭ 4 Ϣ 5
ⱘ↨ؐᇍ EKF ㅫ⊩ⱘᬊᬯᗻᕅડϡᰃᕜᯢᰒDŽ䖭ѯ 5 R = 1.8Rr ᯊⱘ䕀䗳↨䕗᳆㒓
খ᭄ⱘ䗝পᰃवᇨ᳐Ⓒ⊶఼ᅲ䰙㋏㒳ᑨ⫼Ёⱘ䲒 ᓖℹ⬉ᴎӓⳳখ᭄˖乱ᅮࡳ⥛ PN =37.3 kWˈᅮ
⚍Пϔˈֱ䆕㋏㒳〇ᅮⱘࠡᦤϟˈሑ䞣ᦤ催䕀䗳Ԅ
䅵㋏㒳ⱘᬊᬯ䗳ᑺԄ䅵㊒ᑺDŽ ᄤⓣᛳ L1 s = 2mH; 䕀ᄤⓣᛳ L1 r ′ = 4mH; ᅮᄤ⬉䰏
ӓⳳЁ㒣䖛䆩偠ˈ䗝প 3 ( 0 ) Ўᇍ㾦㒓ܗ㋴Ў R s = 0.087 Ω ; 䕀 ᄤ ⬉ 䰏 R r =0.228 Ω ; Ѧ ᛳ
0.001 ⱘ 5 㓈ᇍ㾦ⶽ䰉ˈ4 ( 0 ) Ўᇍ㾦㒓ܗ㋴Ў 0.5 ⱘ
Lm =0.0347H;䕀ࡼᛃ䞣 J =0.5 kg <m 2 ; P =2DŽ
5 㓈ᇍ㾦ⶽ䰉ˈ 5 Ўᇍ㾦㒓ܗ㋴Ў 0.000001 ⱘ 2 㓈
ᇍ㾦ⶽ䰉DŽ 6 㒧䆎(Conclusion)
⬉ᴎ䕀䗳߱ྟؐ䆒ᅮЎ 100r/min, ӓⳳ㋏㒳ぎ
䕑ᚙމϟਃࡼˈӓⳳ㒧ᵰབ 3 ᠔⼎ˈ㉫㒓ᰃ⬅⬉ᴎ ᴀ᭛ᇍѢᠽሩवᇨ᳐Ⓒ⊶఼ⱘᓖℹ⬉ᴎ᮴䗳ᑺ
⌟䞣ഫᕫࠄⱘ䕀䗳ˈ㒚㒓ᰃ EKF 䕀䗳Ԅ䅵ഫᕫ Ӵᛳ఼䯈ⶶ䞣ࠊᮍ⊩䖯㸠њㅫ⊩ⱘߚᵤϢ䅵ㅫ
ࠄⱘ䕀䗳DŽ䖯ܹ〇ᗕৢϸ㗙ⱘ᳆㒓ᴀϔ㟈DŽ ᴎӓⳳˈᑊᇍᠽሩवᇨ᳐Ⓒ⊶఼䖯㸠њӬ࣪DŽӓⳳ㒧
ᵰ㸼ᯢ䕀䗳Ԅㅫⱘ⹂ޚᗻ䕗催ˈ㋏㒳ᇍ⬉ᴎখ᭄ⱘব
࣪ϡᬣᛳˈ᳝䕗ᔎⱘ剕Ầᗻˈᑊᇍ䋳䕑ᡄࡼ᳝䕗
ᔎⱘᡥࠊ㛑DŽԚᰃ䆹ᮍ⊩䖬ᄬϔѯ䯂乬ˈ㋏㒳
䖤㸠Ёˈൟৃ㛑ϡᮁব࣪ˈ㋏㒳ⱘ᭄ᄺൟాໄ
ⱘ㒳䅵ൟгৃ㛑ϡˈ⹂ޚ䖭ѯ䛑ӮՓⒸ⊶ⱘᅲ䰙䇃
Ꮒ䍙䖛Ⓒ⊶䇃Ꮒⱘܕ䆌㣗ೈˈ⫮㟇䍟᮴かˈՓㅫ
⊩থᬷDŽབᵰ㛑ࡼᗕ䖛Ё㞾䗖ᑨഄ䇗ᭈ߱ྟؐˈ
ࠊㅫ⊩ⱘᬜᵰᇚ⧚ᛇDŽ
খ㗗᭛⤂˄References˅
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