臺灣博碩士論文加值系統

本文主要研製一無感測脈寬調變控制式無刷直流馬達驅動系統(Sensorless PWM-controlled drive system for brushless DC motor)。首先，利用強制逐步方式驅動定子繞組產生磁通以起動無刷直流馬達。當無刷直流馬達啟動運轉後，量測閒置相的反電動勢(back electromotive force)進而估測轉子的位置，再將訊號傳送給數位訊號微處理控制器(microprocessor)運算出適當的脈寬調變PWM(pulse width modulation)工作週期，以達到無感測無刷直流馬達的轉速控制及穩定的轉速輸出。最後，本文實際完成一1/4馬力無感測脈寬調變控制式無刷直流馬達驅動系統用以驗證其可行性。由實驗結論可得知，無感測脈寬調變控制式無刷直流馬達驅動系統確實可行。

In this thesis, a sensorless PWM-controlled drive system for brushless DC motor is implemented. First, the stepped start-step method is used to generate the magnetic flux of the stator to start the brushless DC motor. After the rotation speed of the brushless DC motor reaches running, the back electromotive force can be captured to estimate the rotor position. The back electromotive force signal is sent to the Microprocessors to determine suitable PWM duty cycles to control rotation speed of the brushless DC motor and stabilize output speed. Finally, prototype for driving a 1/4 HP brushless DC motor is realized to verify the feasibility. The experimental results show that the implemented drive system performs as theoretically expected.

目 錄
中文摘要 I
英文摘要 II
誌 謝 III
目 錄 IV
圖 目 錄 VI
表 目 錄 XI
符號索引 XII

第一章 緒論 1
1.1 研究背景 2
1.2 文獻回顧 4
1.3 研究動機 15
1.4 內容大綱 16
第二章 無刷直流馬達數學模式 18
2.1 無刷直流馬達基本介紹 18
2.2 直流馬達d-q數學模式 27
2.3 無刷直流馬達數學模式 31
第三章 無刷直流馬達控制原理 35
3.1 無刷直流馬達驅動的基本原理 35
3.2 三相脈波寬度調變的換相技術 40
3.3 無感測無刷直流馬達驅動原理 43
第四章 系統設計與實例製作 54
4.1 系統架構材料設備 54
4.2 實驗研究測試平台 58
4.3 系統軟體設計流程 67
第五章 測試分析與實驗結果 77
5.1 強制依序逐步驅動 77
5.2 開迴路加速控制 79
5.3 閉迴路頻率控制 81
第六章 結論與未來發展 83
6.1 結論 83
6.2 未來發展 83
參考文獻 85

圖目錄
圖1.1 已開發國家電力消耗量分析圖 1
圖1.2 端電壓與中性點電壓波形圖 4
圖1.3 反電動勢積分法原理說明圖 6
圖1.4 無刷直流馬達C相開路等效電路圖 7
圖1.5 無刷直流馬達C相開路電流波形圖 7
圖1.6 三次諧波電壓訊號檢測法說明圖 8
圖1.7 假想中性點電壓電路架構圖 9
圖1.8 永久磁鐵之磁交鏈變化圖 10
圖1.9 電流鏈波訊號反應曲線圖 10
圖1.10 電流鏈波檢測法(a)反應電流(b)第一次相減(c)第二次相減波形圖 11
圖1.11 三相平衡線對線電壓波形圖 12
圖1.12 無感測驅動控制策略波形圖 13
圖1.13 無刷直流馬達三相端電壓波形圖 14
圖1.14 無刷直流馬達C相端電壓波形圖 14
圖2.1 永磁式無刷直流馬達(a)內轉式(b)外轉式剖面圖 18
圖2.2 有感測無刷直流馬達整體驅動架構圖 19
圖2.3 無刷直流馬達基本原理(a)0°狀態(b)60°狀態圖 20
圖2.4 (a)有刷直流馬達與(b)無刷直流馬達T-N曲線比較圖 22
圖2.5 (a)有刷直流馬達與(b)無刷直流馬達動態特性比較圖 22
圖2.6 無刷直流馬達控制系統方塊圖 23
圖2.7 脈寬調變矩形波電壓脈衝原理圖 24
圖2.8 脈寬調變責任週期(a)大(b)中(c)小說明圖 24
圖2.9 換相器有位置感測與開關功能原理圖 25
圖2.10 電力電子元件取代機械式換相器原理圖 26
圖2.11 霍爾元件檢測磁通密度原理圖 26
圖2.12 三相馬達(a)任意電流變數(b)角速度零數學模型座標圖 28
圖2.13 三相馬達(a)電流座標轉換(b)電壓座標轉換說明圖 29
圖2.14 三相二極無刷直流馬達等效電路圖 32
圖2.15 無刷直流馬達控制系統等效方塊圖 34
圖3.1 (a)有刷機械式換相器與(b)無刷電子式換相器單元差異圖 35
圖3.2 矩形波(a)120°與(b)180°驅動開關導通順序圖 36
圖3.3 矩形波120°驅動切換順序與轉動方式原理圖 37
圖3.4 矩形波180°驅動切換順序與轉動方式原理圖 38
圖3.5 矩形波120°端電壓(a)理想與(b)實際波形圖 39
圖3.6 矩形波120°導通方式端電壓說明圖 39
圖3.7 反電動勢及相電流(a)不同步與(b)同步波形圖 40
圖3.8 無刷馬達轉子角度與三相反電動勢對應波形圖 41
圖3.9 反電動勢及相電流與開關導通對應波形圖 41
圖3.10 霍爾元件與反電動勢信號對應波形圖 42
圖3.11 無感測無刷直流馬達啟動流程圖 45
圖3.12 上臂開關加入脈寬調變切換波形圖 46
圖3.13 脈寬調變驅動上下臂導通電流路徑圖 47
圖3.14 脈寬調變驅動上臂截止電流路徑圖 48
圖3.15 脈寬調變驅動下臂截止電流路徑圖 49
圖3.16 脈寬調變驅動上下臂截止電流路徑圖 49
圖3.17 無刷直流馬達反電動勢電壓說明圖 50
圖3.18 反電動勢在脈寬調變截止時的偵測迴路圖 52
圖3.19 反電動勢在脈寬調變導通時的偵測迴路圖 53
圖4.1 無感測脈寬調變控制式無刷直流馬達驅動系統方塊圖 55
圖4.2 直流匯流排電源供應器實體圖 56
圖4.3 Microchip MPLAB ICD 2實體圖 56
圖4.4 Microchip APP020實驗板實體圖 57
圖4.5 實驗用無刷直流馬達實體結構圖 58
圖4.6 微處理器dsPIC30F4011電路方塊圖 59
圖4.7 直流電源供應模組電路板實體圖 60
圖4.8 直流電源供應模組電路圖 61
圖4.9 微處理器控制模組電路板實體圖 62
圖4.10 微處理器控制模組電路圖 63
圖4.11 功率晶體驅動模組電路板實體圖 64
圖4.12 功率晶體驅動模組電路圖 65
圖4.13 無感測脈寬調變控制式無刷直流馬達驅動系統平台圖 66
圖4.14 無感測脈寬調變控制式無刷直流馬達驅動系統實驗圖 66
圖4.15 無感測脈寬調變控制式無刷直流馬達驅動系統流程圖 67
圖4.16 矩形波120°驅動電子開關導通順序圖 68
圖4.17 理想狀態下反電動勢零交越點特徵圖 71
圖4.18 實際情況中反電動勢零交越點特徵圖 71
圖4.19 理想下與實際中產生相位延遲特徵圖 72
圖4.20 實際高速情況反電動勢零交越點特徵圖 73
圖4.21 計時器T1測量與計時器T3換相特徵圖 74
圖4.22 低速及中速軟體設計流程圖 75
圖4.23 系統高速軟體設計流程圖 76
圖5.1 啟動反電動勢電壓信號波形圖 77
圖5.2 低速反電動勢電壓信號波形圖 78
圖5.3 1500 rpm反電動勢電壓信號波形圖 79
圖5.4 2500 rpm反電動勢電壓信號波形圖 80
圖5.5 3000 rpm反電動勢電壓信號波形圖 81
圖5.6 閉迴路頻率追隨B相反電動勢波形圖 82

表目錄
表1.1 控制策略及處理方式比較表 15
表4.1 實驗用無刷直流馬達規格表 58
表4.2 三橋六開關觸發導通時序表 68

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