臺灣博碩士論文加值系統

本論文主旨在設計及研製一雙軸平面伺服馬達驅動器並結合雙降壓式轉換器電路(Dual Buck Converter)。電路架構分別為命令端、控制級與功率級，命令端由載具移動速度調整弦波訊號之操作頻率變化，由控制級的線性放大器放大輸出電壓提供負載，輸出電壓經電壓校正後，根據操作頻率之正弦波與切換頻率鋸齒波比較產生正弦脈波寬度調變(Sine Pulse Width Modulation)。由命令端正弦波操作頻率之相對應的SPWM控制雙降壓轉換器的開關，調節轉換器正負半週輸出電壓追隨負載端電壓，提高推挽式放大器(Push-Pull Amplifier)效率。本論文建立一+/-50V之直流電源，根據命令端正弦波訊號之操作頻率變化下，無論是在無載或滿載的情況，輸出電流頻寬(Current Bandwidth)能維持一穩定輸出推動能力。因此本論文負載端電源採用雙降壓式轉換器，由載具移動速度控制操作頻率變化與正弦波波形之特性，分析降壓式轉換器設計的電感與電容最大的電流變動量以符合負載電流之需求。降壓式轉換器電路由模擬之電感與電容參數符合本論文之輸出調節電壓，探討轉換器設計之調節輸出電壓現象與轉換器電感、電容設計不當可能造成的問題。然而，為彌補轉換器之電流變化量不足，電路中加入抵補電壓(Offset)限制最小責任週期大小，在轉換器電容儲存能量，改善轉換器電感電流變化量之不足，但相對在轉換器的電容上儲存電壓，造成推挽式放大器電晶體產生功率損失，降低效率。本論文由電路模擬分析與實作驗證其效率有顯著的改善，降壓式轉換器的調節輸出電壓，實作驗證其成果。

The purpose of this thesis is to build a 2-axis planar motor driver by ajustable dual buck converter. This circuit includes command, controller stage and power stage. According to mover demands moving speed,the sine wave signal adjusts the operation frequency. Linear amplifier of controller stage supplies output voltage to load voltage. The controller regulates load voltage to compare with sawtooth wave of contorller IC TL494 which produces sine pulse width modulation. Moreover,the controller provides SPWM to convert power stage for dual buck converter switches. Dual buck converter defines positive buck converter and negative converter. The dual buck converter can adjust output voltage by SPWM.This method can improve efficient of push pull amplifier circuit in planar motor driver. In order to demonstrating the performance of the proposed dual buck converter, a ±50V source is established and operation frequency difference. Current bandwidth can smooth output in operation frequency difference. Otherwise,the dual buck converter is limited output currrent variation and output voltage variation by designing inductor and capacitor of converter.Output current variation is not enough to offer load current because sine wave of load current slope is too great to support in first duty cycle of converter. As a result, the circuit limits minium duty cycle which charges capacitor voltage of converter by adding offset voltage to support inductor of converter current variation. Finally, both the simulation and experiment results are obtained to show the validity of the proposed circuit.

中文摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VII
表目錄 XIII
第一章　緒論 1
1.1 研究背景與動機 1
1.2 系統描述與研究方法 2
1.3 內容大綱 3
第二章　馬達的特性與平面馬達應用架構 5
2.1 前言 5
2.2 線性馬達之基本架構與原理 5
2.3 線性馬達之分類 7
2.4 平面伺服馬達LMSP 9
2.5 平面伺服馬達定位原理 11
第三章　放大器設計與分析 13
3.1 前言 13
3.2 電流控制型式 14
3.3 電壓控制型式 15
3.3.1. 交越失真 16
3.3.1. 消除交越失真 18
3.4 回授增益 20
第四章　電路架構與控制策略比較 24
4.1 前言 24
4.2 降壓式轉換器(Buck Converter) 26
4.2.1. 工作原理 26
4.2.2. 電流操作模式 28
4.3 可調節雙降壓式轉換器電感與電容設計 30
4.4 控制策略 39
第五章　硬體架構 45
5.1 前言 45
5.2 電路架構 45
5.2.1 前級放大電路 46
5.2.2 電壓校準 47
5.2.3 控制器SPWM 48
5.2.4 轉換器電感與電容參數 50
5.2.5 實驗規格與條件 50
第六章　模擬與實作 53
6.1 前言 53
6.2 效率分析 53
6.3 實作波形 67
第七章　結論與未來研究方向 79
7.1 結論 79
7.2 未來研究方向 80
參考文獻 81

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