臺灣博碩士論文加值系統

本論文主要研製一個符合CiA402裝置規範之三相微步進馬達驅動系統，參照CANopen所定義之CiA301通訊規範與CiA402裝置規範，設計一個易於操控及管理之CANopen節點，使用者可透過CANopen主控器對本系統進行監控，並且在位置控制步進馬達過程中，系統將會依使用者所設定之位置控制參數，控制馬達的加減速曲線。
在步進馬達控制器中，為了避免步進馬達因機械結構所造成的低速諧振與電流不穩問題，本論文於震盪區以領先角方式驅動步進馬達，並於定位時使用精密微步進驅動，三種速度控制模式詳述如下：分別為100rpm以下要求高精度之32768精密微步進模式；100rpm至1300rpm之領先角模式；以及1300rpm至3000rpm之高轉速全步進模式。本系統另有定轉速控制，系統於負載增加時，能夠立即補償馬達扭力，避免馬達降速或失步的產生，而整體系統由於在低轉速時使用微步進驅動方式驅動步進馬達，並且利用高精度磁力編碼器做位置回授，使得本系統之停止精度可達32768步/圈。
本論文所研製的具CiA402裝置規範之三相步進馬達驅動器，其CANopen各功能測試結果已於實驗結果中顯示，也利用業界商用軟體來測試與驗證本系統之CANopen功能，藉由觀察系統所計算之步進馬達速度與位置曲線，可得知本系統整體的可行性。

A three-phase ultra-micro stepping motor controller system with CiA402 is developed in the paper. The CANopen device includes CiA301 and CiA402, and users can easily monitor this system on CANopen master. In addition, this system will follow the position control parameters that set by user to control the acceleration / deceleration of stepping motor.
In order to avoid the low-speed resonance and unstable current caused by the mechanical structure of the stepping motor, the proposed stepping motor controller adopts the lead angle control to drive stepping motor in the resonance zone, and ultra-micro stepping control in position zone. The system includes the three speed control mode: 1. Ultra-high resolution micro-stepping mode when speed is less than 100rpm; 2. Lead angle control mode running from 100rpm to 1300rpm; 3. Full step mode when speed faster than 1300rpm. Besides, the proposed speed controller can immediately compensate the torque of motor when load increases, then speed decreasing or out of step situations never happen. Moreover, stepping motor is driven by micro-stepping which utilizes high-resolution encoder for feedback at lower speed, so this system provides the highest resolution approaching 32768 step/rev.
The system developed in this paper has tested all function of CANopen, and also verified with an consumer control software. Finally, the speed and position curves of the experimental results demonstrate the system is workable.

摘要 i
ABSTRACT ii
誌謝 iii
目錄 iv
表目錄 vii
圖目錄 viii
符號說明 xii
第一章 緒論 1
1.1 研究背景 1
1.2 研究動機 1
1.3 文獻回顧 1
1.4 章節介紹 4
第二章 三相步進馬達與其驅動方式介紹 5
2.1 三相步進馬達介紹 5
2.2 三相步進馬達驅動方式介紹 8
2.3 電壓調變方式 10
2.3.1 弦波脈波寬度調變 11
2.3.2 空間向量脈波寬度調變 14
2.4 小結 19
第三章 控制器區域網路介紹 20
3.1 CAN介紹 20
3.1.1 CAN實體層 21
3.1.2 CAN資料連結層 23
3.2 CANopen介紹 24
3.2.1 通訊物件及物件字典 28
3.2.1.1網路管理對象(NMT) 31
3.2.1.2緊急物件(EMCY) 35
3.2.1.3 服務資料對象(SDO) 37
3.2.1.4程序資料物件(PDO) 39
3.2.2 應用程式(Application, APP) 42
3.3 CiA 402介紹 42
3.3.1 CiA402狀態機 43
3.4 小結 47
第四章 系統架構與控制器設計 48
4.1 三相步進馬達驅動電路 48
4.1.1 DC-DC轉換電路區塊 49
4.1.2功率驅動電路區塊 50
4.1.3回授電路區塊 52
4.1.4 CAN收發器電路 55
4.1.5 控制器與周邊規劃 56
4.2 控制器設計流程 57
4.2.1 速度控制器 57
4.2.2 位置控制器 61
4.3 軟體流程 63
4.3.1 控制器軟體流程 63
4.3.2 實現CANopen軟體流程 65
4.4 小結 70
第五章 實驗結果 71
5.1 系統介紹 71
5.2 CiA301功能展現 73
5.3 CiA402功能展現與位置控制結果 77
5.4 定轉速與定位結果討論 84
5.5 小結 88
第六章 結論與未來展望 89
6.1 結論 89
6.2 未來展望 89
參考文獻 91

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