臺灣博碩士論文加值系統

本論文主要為發展專用於電子式球拍拉線機的直流無刷馬達驅動系統，以Microchip公司型號dsPIC30F4011的微處理器為基礎，設計嵌入式全數位化的軟、硬體架構，以整合介面電路、感測電路和馬達伺服驅動電路，達成球拍穿線拉力精密控制。首先發展強健式拉力控制法則，以克服拉線系統的各種不確定干擾，包括不同拍線剛度的變化、拉線機構的非線性摩擦力和拉線的反彈作用力。以3臂MOSFET為架構，利用霍爾元件偵測馬達軸電氣角，設計以PWM訊號控制方式之直流無刷馬達驅動器，並設計保護線路使此驅動器能承受大的拉線電流和馬達瞬間正、反轉所產生之反電動勢。嵌入式微處理機內建有許多功能模組，透過軟體撰寫以取代A/D、PWM、編碼器解碼和雜訊濾波等外部電路，以減少電路板上電子元件個數，達到全數位化目的。

This research develops a digital embedded DC brushless motor drive system for stringing machine. Based on Microchip dsPIC30F2010 microprocessor, the software is designed to integrate an interface circuit, a force measurement circuit and a motor driver. A robust force control law is derived to overcome the disturbance resulted from the stiffness variation of the different strings. The proposed control scheme obtains a precision force accuracy for the various stringing processes, and also solve the motor current oscillation problem. A three-phase MOSFET bridge and hall-effect position sensors are designed for PWM motor control. A protection circuit is designed to suffer a big stringing current over 3 A, and overcome the back emf caused by an instantly shutting down the motor. Using many build-in functions in the microcontroller, the software is developed to replace the external circuits, including A/D, PWM generators, decoded circuits of encoders and noise-rejected circuits. The embedded system is an all-digital design to simplify the electrical circuit for the DC brushless motor drive system. Finally, experiments performed on a practice stringing machine demonstrate the effectiveness of the proposed control methodology.

第一章　緒論..........1
1.1 研究動機..........1
1.2 研究目的..........4
1.3 文獻回顧..........4
1.4 內容大綱..........6
第二章 系統硬體架構..........7
2.1 實驗系統架構..........7
2.2 球拍拉線機機構介紹..........11
2.3 球拍拉線機動作流程和規格..........15
第三章　直流無刷馬達驅動電路設計..........18
3.1 直流無刷馬達驅動原理介紹..........18
3.1.1 永磁式直流無刷馬達的結構..........18
3.1.2 三相霍爾感測器(Hall Sensor)..........20
3.1.3 無感測器(Sensorless)模式..........22
3.1.4 永磁式直流無刷馬達的驅動方式..........24
3.2 直流無刷馬達驅動電路..........28
3.3 拉力感測電路..........32
3.4 球拍拉線機動態建模..........37
3.5 拉力順滑控制器設計..........38
第四章　DSP控制器程式設計..........42
4.1 dsPIC30F4011功能介紹..........42
4.1.1 dsPIC30F4011規格..........43
4.2 DSP電路設計..........48
4.3 拉線程式流程..........49
4.3.1 計時器程式..........51
4.3.2 類比/數位轉換器..........55
4.3.3 直流無刷馬達的驅動控制程式..........59
第五章　實驗與結果 ..........65
5.1 拉線機硬體..........65
5.2 硬體電路板實驗..........67
5.3 拉線拉力控制系統模擬..........69
5.3.1 拉線拉力值10kgw的模擬..........70
5.3.2 拉線拉力值20kgw的模擬..........72
5.3.3 拉線拉力值30kgw的模擬..........74
5.4 拉力控制系統實驗..........76
第六章　結論與未來展望..........79
參考文獻..........80

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