永磁無刷馬達伺服驅動控制;Permanent Magnet Brushless Motor Servo Drive Control

NCUIR > Engineering College > Graduate Institute of opto-Mechatronics > Electronic Thesis & Dissertation > Item 987654321/91985

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/91985

Title:	永磁無刷馬達伺服驅動控制;Permanent Magnet Brushless Motor Servo Drive Control
Authors:	吳宗祐;Wu, Zong-You
Contributors:	光機電工程研究所
Keywords:	伺服馬達;三相永磁無刷馬達;PID控制;偏心誤差;定點數運算;AC Servo Motor;three-phase permanent magnet synchronous motor;PID control;eccentricity error;fixed-point arithmetic
Date:	2023-07-25
Issue Date:	2023-10-04 14:52:10 (UTC+8)
Publisher:	國立中央大學
Abstract:	本研究目的在探討三相同步無刷馬達的伺服驅動控制。控制系統的硬體使用ATmega128微控制器，並配合相應的驅動電路驅動馬達。在運算方法上，使用定點數運算代替浮點數運算，提高運算速度，加快控制頻率。控制迴路採用雙迴路回授設計，電流大小與激磁角度分別對誤差量進行回授控制，電流回授使用PI控制，激磁角回授則使用I控制與遺忘因子。本研究所使用的磁性編碼器的磁鈕安裝於後出軸上，而霍爾感測器安裝在定子上，因此安裝時會有偏心誤差。為了提高伺服控制時的精度，本研究將對磁性編碼器的偏心誤差建模及校正，從而得到更準確的角度值。 ;The purpose of this research is to investigate the servo drive control of three-phase synchronous brushless motors. The control hardware utilizes the ATmega128 microcontroller, along with the corresponding driver circuitry for motor operation. Fixed-point arithmetic is employed instead of floating-point arithmetic to accelerate computation and increase control frequency. The control loop design adopts a dual-loop feedback approach, incorporating current feedback and magnetic field angle feedback. The current feedback is implemented using a PI controller, while the magnetic field angle feedback employs an I controller with a forgetting factor. This design effectively regulates the motor operation. The magnetic encoder’s magnet used in this research is mounted on the motor′s back output shaft, while the magnetic encoder sensor is installed on the stator. Due to potential eccentricity errors during installation, modeling and calibration of the encoder′s eccentricity error are performed to enhance the accuracy of angle measurements in servo control.
Appears in Collections:	[Graduate Institute of opto-Mechatronics] Electronic Thesis & Dissertation

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