微步進伺服馬達驅動器設計

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姓名

鄧翔冠(Xiang-Guan Deng) 查詢紙本館藏

畢業系所

光機電工程研究所

論文名稱

微步進伺服馬達驅動器設計
(Micro-servo-stepping motor driver design)

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摘要(中)

步進馬達在開迴路控制上面，通常以全步或半步進來激發馬達線圈，由於齒槽轉矩的影響，會造成步進馬達角度的誤差，使微步進的效果不佳；再者，開迴路控制無法檢測失步，一般會提供最大的電流，以最大的扭力驅動步進馬達，但此導致功率都消耗在馬達線圈繞組上。

本研究設計微步進伺服馬達，加入伺服和電流控制器，以I控制激磁角度，修正齒槽轉矩所造成的誤差；以PI控制激磁電流，以適當的電流驅動負載，讓消耗的功率能作適度的調整，達到省電的功能。

經實驗過後，開迴路效率只能到達約30%，加入控制器的不僅能夠修正到設定的角度，更能減少消耗的功率，讓馬達的效率提升至約93%。

摘要(英)

Open-loop stepping motors are driven in several modes, e.g., full-step or half-step. The cogging torque results in ineffective micro-stepping, affecting the angle of the stepping motor, furthermore, open-loop stepping motors skip steps. Generally, even though providing the maximum current and torque to drive the stepping motor, power efficiency is low due to energy loss on the winding coil.

The purpose of the study is to design a micro-servo-stepping motor combined with servo and a current controller. Adjusting the excitation angle with I control to correct the error caused by cogging torque and controlling the excitation current with PI control to drive the load with an appropriate current provide the better power efficiency. In this way, it can make appropriate adjustments to achieve power conservation.

After the experiment, open-loop efficiency just achieves 30%, but controllers not only meet the standard of setting angle but also reduce power consumption and improve efficiency of the motor to about 93%.

關鍵字(中)

★ 微步進伺服馬達
★ 激磁角
★ I控制
★ 激磁電流
★ PI控制
★ 省電

關鍵字(英)

★ micro-servo-stepping
★ excitation angle
★ I control
★ excitation current
★ PI control
★ power conservation

論文目次

摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vii
表目錄 x
符號說明 xi
第一章緒論 1
1-1 研究動機與目的 1
1-2 文獻回顧 2
1-3 技術重點及研究構想 2
第二章理論及技術基礎 4
2-1 步進馬達 4
2-1-1 步進馬達介紹 4
2-1-2 步進馬達分類 4
2-1-3 步進馬達數學模型 6
2-1-4 齒槽轉矩(Cogging Torque)問題 6
2-2 伺服馬達 6
2-3 PID (Proportional- Integral- Derivative) 7
2-4 Least Squares Method 7
第三章系統設計與實現 9
3-1 系統功能方塊圖 9
3-2 硬體實現 10
3-2-1 硬體規格介紹 10
3-2-2 電路硬體設計 14
3-2-3 電路硬體配線 15
3-3 軟體實現 17
3-3-1 新增微步計算器 17
3-3-2 FIR(Finite Impulse Response)濾波器 18
3-3-3 S(Sensor)電子角除餘器 21
3-3-4 C(Command)電子角除餘器 23
3-3-5 激磁角I回饋 24
3-3-6 電流PI回饋 25
3-3-7 兩相SVPWM 26
3-3-8 命令微步累加器 27
3-3-9 實際微步累加器 28
3-3-10 LPF(Low Pass Filter) 28
3-3-11 等效馬達電阻計算 30
3-3-12 馬達效率計算 33
第四章實驗設計與結果討論 35
4-1 控制器實驗設計 35
4-1-1 實驗條件 35
4-2 控制器實驗結果與分析 38
4-2-1 全步進1/1 42
4-2-2 半步進1/2 45
4-2-3 1/4步進 48
4-2-4 1/8步進 51
4-2-5 1/16步進 54
4-2-6 1/32步進 57
第五章結論與未來展望 60
5-1 結論 60
5-2 未來展望 60
參考文獻 61
附錄一驅動器接頭規格表 64
附錄二驅動器電路圖 66
附錄三驅動器電路圖(續) 67
附錄四控制器參數列表 68

參考文獻

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指導教授

江士標葉則亮(Shyh-Biau Jiang Tse-Liang Yeh)

審核日期

2020-6-30

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