應用C4M-OS實作微步進馬達伺服驅動器;Using C4M-OS to implement micro-stepping motor servo driver

NCUIR > Engineering College > Graduate Institute of opto-Mechatronics > Electronic Thesis & Dissertation > Item 987654321/85951

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/85951

Title:	應用C4M-OS實作微步進馬達伺服驅動器;Using C4M-OS to implement micro-stepping motor servo driver
Authors:	沈晏平;Shen, Yen-Ping
Contributors:	光機電工程研究所
Keywords:	微步進伺服馬達;C4M-OS;激磁角控制;激磁電流;PI(Proportional-Integral)控制;micro-servo-stepping motor;C4M-OS;excitation angle;excitation current;PI(Proportional-Integral) control
Date:	2021-08-17
Issue Date:	2021-12-07 11:45:55 (UTC+8)
Publisher:	國立中央大學
Abstract:	傳統步進馬達在開迴路的控制上，通常是採用全步進或是半步進的方式，來激發馬達線圈使其運作，但由於齒槽轉矩之間的差異，使得在定位上產生誤差，同時開迴路並沒辦法及時地得到馬達狀態及失步的情形，使得消耗大量的功率在馬達線圈繞組上。藉由本研究驗證，利用微步進的驅動方式，配合閉迴路的激磁角和電流PI回饋，可以使定位精度有顯著成長。同時也開發了結合電流及電流上升率的同步部量測功能，讓驅動器上的功能更加完善。本論文中採用的微控制器作業系統C4M-OS，其特色是能降低了開發人員所需要的硬體相關知識之門檻，有效地降低了開發及測試的成本，並提供了多種工具讓開發人員可以輕易地完成分時多工的系統，不必因為微控制器中斷(Interrupt)的排程問題而煩惱，使得在建構大型系統上有相對的優勢。利用C4M-OS實作出微步進馬達的驅動器，可以縮短開發的時間，同時又能有效率地完成微步進馬達伺服控制，讓步進馬達的定位控制精度大幅提升，達到更好的效能表現，並應用在更多樣的場景之中。 ;Traditional stepping motors usually use full-step or half-step method to excite the motor coils to operate in open-loop control. However, due to the difference between cogging torques and unavoidable delay in getting the motor status and stepping status, a large amount of power is consumed in motor coil winding. At the same time, a synchronous measurement function combining current and current slope has been developed to make the functions on the drive more complete. The microcontroller operating system C4M-OS used in this paper is characterized by lowering the threshold of hardware-related knowledge acquired by developers, effectively reducing the cost of development and testing, and providing a variety of tools for development. Personnel can easily complete a time-sharing and multiplexing system without worrying about the scheduling problem of the microcontroller interrupt, which makes the microcontroller operating system C4M-OS have the edge on constructing large-scale system. Using C4M-OS as a stepping motor controller can shorten the development time and efficiently complete the micro-stepping motor servo control, which significantly improves the positioning control accuracy of the stepping motor, achieves better performance and can beapplied in more diverse scenarios.
Appears in Collections:	[Graduate Institute of opto-Mechatronics] Electronic Thesis & Dissertation

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