以數位信號處理器為基礎之直流無刷馬達驅動系統

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姓名

陳冠仁(Kuan-Jen Chen) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

以數位信號處理器為基礎之直流無刷馬達驅動系統
(DSP-Based Brushless DC Motor Drive System)

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摘要(中)

本論文針對直流無刷馬達研製驅動系統，並以磁滯型電流控制為主。磁滯型電流控制的響應速度快，並且具有一定的精密度，其硬體架構並不複雜。在馬達的速度上則以PI控制器完成馬達之速度控制。
本論文首先簡要說明有刷馬達及交流電動機的架構及差異，再介紹直流無刷馬達之構造、數學方程式以及換相原理。直流無刷馬換相簡單、具有高轉矩和高效率等良好特性。另外，由於缺少整流子及碳刷等構造，因此可以高速運轉並且不需要維修。
本文提出的數位化直流無刷馬達驅動系統，主要為數位信號處理器(TMS320F2812)以及智慧型功率晶體驅動模組之整合。數位信號處理器為電流控制及速度控制之核心，其運算速度快，且周邊功能強大。數位信號處理器可將抓取之電流訊號做12-bit解析度之類比/數位轉換，亦可讀取轉軸編碼器並計算位置及速度。
最後實驗結果驗證所提出之控制法則的可行性與正確性。

摘要(英)

The thesis discusses the driving system of Brushless DC Motor (BDCM), and the current control was achieved by means of hysteresis control. Hysteresis current control gives fast response and good accuracy. It can be implemented with a simple hardware. The speed control of BDCM was achieved with a PI controller.
A brief introduction of the difference between the brush DC motor and the Brushless AC Motor in the first, then the characteristics and mathematical model of the BDCM are introduced. The principle of commutation is also presented. The main advantages of the BDCM include simple commutation, high torque to current ratio and high power factor. In addition, the absence of commutators and brushes lead to very high speed capability and not to maintain.
The driving system of BDCM is composed of a digital signal processor (DSP TMS320F2812) and an intelligent power module. The digital signal processor is the kernel of the current control and the speed control. The DSP have high performance, and the functions of peripherals are powerful. It also gets the current feedback signal from the current sensors through analogy-to- digital converter, and gets position signal from the encoder.
Experimental results prove that the strategy of control is feasibility and accuracy.

關鍵字(中)

★ 數位信號處理器
★ 直流無刷馬達
★ 磁滯電流控制

關鍵字(英)

★ Brushless DC Motor
★ DSP
★ Hysteresis Current Control

論文目次

中文摘要......................................... Ⅰ
ABSTRACT......................................... Ⅱ
致謝............................................. Ⅲ
目錄............................................. Ⅳ
圖表目錄......................................... Ⅶ
第一章、緒論..................................... 1
1-1研究背景與動機................................ 1
1-2文獻回顧...................................... 4
1-3章節組織與大綱................................ 5
第二章、直流無刷馬達介紹......................... 6
2-1簡介.......................................... 6
2-2直流無刷馬達之構造............................ 9
2-2-1轉子........................................ 9
2-2-3定子........................................ 10
2-2-3永久磁石的材料及種類........................ 10
2-2-4霍爾元件.................................... 11
2-3直流無刷馬達數學模型.......................... 14
2-4換相原理...................................... 18
2-5轉矩漣波...................................... 20
第三章、直流無刷馬達之控制....................... 23
3-1簡介.......................................... 23
3-2脈波寬度調變介紹.............................. 24
3-2-1磁滯型波寬調變.............................. 24
3-2-2定時導通波寬調變............................ 25
3-2-3定時關閉波寬調變............................ 25
3-2-4雙電流型波寬調變............................ 26
3-2-5三角波寬調變................................ 26
3-3磁滯電流控制.................................. 28
第四章、硬體建構與整合. ......................... 30
4-1系統架構簡介.................................. 30
4-2硬體架構...................................... 31
4-2-1功率元件模組................................ 31
4-2-2光耦合隔離電路.............................. 32
4-2-3電流感測電路................................ 32
4-3數位信號處理器................................ 34
4-3-1簡介........................................ 34
4-3-2事件管理模組................................ 35
4-3-3對稱形全功能PWM波形......................... 36
4-3-4轉軸編碼器.................................. 36
4-3-5類比/數位轉換器............................. 38
4-4數位訊號處理器程式架構........................ 39
4-4-1數位信號處理器初始化........................ 39
4-4-2控制迴圈.................................... 39
4-4-3過電流保護程式.............................. 39
4-4-4數位信號處理器程式流程...................... 40
4-5討論.......................................... 41
第五章、實驗結果................................. 42
5-1實驗硬體架構.................................. 42
5-2實驗結果...................................... 44
5-2-1反電動勢量測................................ 44
5-2-2電流控制實驗結果............................ 47
5-2-3速度控制實驗結果............................ 49
5-3實驗結果討論.................................. 53
第六章、結論與未來展望........................... 54
參考文獻......................................... 55

參考文獻

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指導教授

董必正(Pi-Cheng Tung)

審核日期

2007-7-12

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