臺灣博碩士論文加值系統

由於工廠自動化技術日漸成熟，而步進馬達透過數位化控制可以得到穩定的轉速與精確定位，普遍應用於工廠自動化設備。本論文之目的在設計一套五相步進馬達驅動系統，透過使用五相空間向量脈衝寬度調變與磁場導向控制方法來實現，接著配合五相功率元件的開關訊號產生五相空間向量脈衝寬度調變，並經由負責五相電流量測之電阻進行電流量測，將量測數值透過五組放大器和類比數位轉換器傳回單晶片達到電流回授，進而實現磁場導向控制。最後控制板使用微控制器STM32F103RET6為控制核心，本論文所提出的控制系統能順利運作，並達到期望之效果。

The technique of industrial automation is maturing. Through the digital control, the stepper motor can get a more stable speed and precision positioning, which is widely applied at industrial automation equipment. The main purpose of this thesis is to design and implement a five-phase stepping motor drive system, which is realized by using the five-phase Space Vector Pulse Width Modulation and the Field Oriented Control. Using the five groups of amplifiers and the analog-to-digital converter to measure the switch signal of the five-phase inverter system and the voltage value of the five-phase shunt resistance, the microcontroller could get the value of feedback current. In order to achieve the Field Oriented Control.
Finally, the practical experiment is implemented by the STM32F103RET6 microcontroller, and it has been verified that system can achieve the expected result.

摘要 iii
ABSTRACT iv
致謝 v
目錄 vi
表目錄 viii
圖目錄 ix
第一章 緒論 1
1.1研究動機 1
1.2研究目的 3
1.3研究方法與簡介 3
1.4章節概要 4
第二章 五相步進馬達驅動原理 5
2.1東方五相步進馬達簡介 5
2.2五相步進馬達定電流驅動控制 7
2.3五相步進馬達數學模型 9
2.4磁場導向控制方法 19
第三章 五相空間向量脈衝寬度調變 20
3.1 五相電壓空間向量分布 20
3.2 空間向量脈衝寬度調變原理 23
3.2.1 相鄰最大兩向量SVPWM 23
3.2.2 最近四向量SVPWM 25
3.3 空間向量脈衝寬度調變之時間分配 31
第四章 模擬與實驗結果 42
4.1模擬想法與結果 42
4.2實驗硬體介紹 48
4.2.1實驗硬體架構介紹 48
4.2.2東方五相步進馬達 49
4.2.3微控器STM32F103RET6/LQFP64介紹與硬體電路實現 50
4.2.4實驗平台 54
4.3程式流程架構 55
4.4實驗結果 56
第五章 結論與未來研究方向 62
5.1結論 62
5.2未來研究方向 62
參考文獻 63
附錄一 65

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