臺灣博碩士論文加值系統

本論文以Microchip公司型號dsPIC30F3010微處理器為基礎，結合PICDEM MC LV 開發板，發展出直流無刷馬達驅動系統。嵌入式微處理機有許多內建的功能模組，透過設定各個模組的功能暫存器，配合PICDEM MC LV 開發板上的電路，以3臂MOSFET作為馬達驅動電路。利用霍爾感測電路偵測馬達的電器角，以PWM訊號控制馬達轉速的方式，整合成為直流無刷馬達驅動系統。並以PI控制輔以前饋補償器，作為馬達閉迴路轉速控制系統。利用UART通訊模組回傳馬達實際轉速，以MATLAB畫出轉速命令波形和馬達實際轉速波形，比較馬達實際轉速跟隨所下達轉速命令情況，達到馬達閉迴路轉速控制之目的。最後，將本文所建構的軟硬體，實際應用於直流無刷馬達的轉速控制，藉由各種轉速控制的模擬和實驗，驗證本文所提方法的可行性。

This thesis developed the drive system of BLDC motor based on PICDEM MC LV development board with Microchip dsPIC30F3010 microprocessor. The embedded microprocessor has many built-in functional modules, including PWM, compare, timer, etc. The 3-phase MOSFET bridge was used as the motor drive circuit and 3-phase hall sensing circuit was used to detect the electrical angle of motor shaft. The PWM signal was used to control motor speed to achieve the DC brushless motor drive system. The PI control combined with the feedforward control was applied to the motor closed loop speed control. The UART communication module was used to transmit the actual speed of the motor to PC. The command waveform and the actual speed waveform of the motor were drawn with MATLAB. The hardware and software constructed in this thesis were applied to the speed control of DC brushless motor, and the feasibility of the proposed method was verified by simulation and experiment of various speed control.

封面內頁
簽名頁
中文摘要...........................iii
ABSTRACT..........................iv
誌謝...............................v
目錄...............................vi
圖目錄.............................viii
表目錄.............................xi

第一章 諸論.........................1
1.1研究動機.........................1
1.2研究目的.........................2
1.3文獻回顧.........................3
1.4論文架構.........................5
第二章 直流無刷馬達驅動系統...........6
2.1直流無刷馬達的結構................6
2.2直流無刷馬達驅動原理..............9
2.3直流無刷馬達驅動電路設計..........12
第三章 直流無刷馬達數學建模..........21
3.1直流無刷馬達數學等效推導..........21
3.2 120°六步方波驅動控制............25
3.3馬達轉速閉迴路控制系統............29
第四章 DSP控制器設計................31
4.1 dsPIC30F3010控制器功能介紹......31
4.1.1 dsPIC30F3010規格.............32
4.1.2 Microchip開發軟體介紹.........36
4.2直流無刷馬達速度控制程式設計.......37
4.2.1計時器副程式...................39
4.2.2類比/數位轉換初始化副程式.......42
4.2.3 UART初始化副程式..............47
4.2.4 MCPWM初始化副程式.............51
4.2.5直流無刷馬達驅動控制程式........55
第五章 實驗與結果...................58
5.1 實驗硬體架構....................58
5.2速度控制模擬.....................60
5.2.1開迴路速度模擬.................61
5.2.2方波速度模擬...................64
5.2.3弦波速度模擬...................66
5.2.4梯形波速度模擬.................69
5.3速度控制實驗.....................71
5.3.1方波速度實驗...................72
5.3.2弦波速度實驗...................74
5.3.3梯形波速度實驗.................76
第六章 結論與未來展望................79
參考文獻............................80

[1]S.M. Hwang, and D.K. Lieu,“Reduction of Torque Ripple in Brushless DC Motors,”IEEE Trans. on Magnetics, Vol.31, No. 6, pp. 3737-3739, 1995.
[2]F.-J. Lin, Y.-S. Lin, and S.-L. Chiu, “Slider-crank mechanism control using adaptive computed torque technique,” IEEE Proc.-Control Theory Appl., Vol. 145, no.3, pp.364-376, 1998.
[3]Hajime Yamamoto, Shigekazu Yanagisawa, and Fumio Harashima,“Brushless Servo Motor Control Using Variable
Structure Approach,”IEEE Trans. on Industry Applications, vol. 24 , no.1, pp.160-170, 1998.
[4] C.M. Chao, C.P. Liao, D.R. Huang and T.F. Ying,“A new automatic phase adjustment of optical drive signal,”IEEE Trans. Magnetics, vol. 34, no.2, pp.417-419, 1998.
[5]P. Z. Grabowski, M.P. Kazmierkowski, B.K. Bose, and F. Blaabjerg,“ A simple direct-torque neuro-fuzzy control of PWM-inverter-fed induction motor drive,” IEEE Trans. on Industrial Electronics, Vol.47, no.4, pp863-870, 2000.
[6]R.J. Wai, “Robust Control for Nonlinear Motor-Mechanism Coupling System Using Wavelet Neural Network,” IEEE Trans. on System Man and Cybernetics-part B: Cybernetics, Vol.33, no.3, pp.489-497, 2003.
[7]J. Shao, D. Nolan, and T. Hopkins, “Improved Direct Back EMF Detection for Sensorless Brushless DC (BLDC) Motor Drives,” IEEE Transactions on Industry Applications, Vol.3, no.1, pp.300-305, 2003.
[8]C.L.-I. Boldea and F. Blaabjerg, “Direct Torque Control of Sensorless Induction Motor Drives: A Sliding-Mode Approach,” IEEE Trans. on Industry Applications, Vol.40, no.2, pp.582-590, 2004.
[9]M.H. Saied, M.Z. Mostafa, T.M. Abdel-Moneim, and H.A. Yousef,“On Three-Phase Six-Switches Voltage Source Inverter: A 150° Conduction Mode,”IEEE International Conference on Industrial Technology, pp.1263-1268, 2006.
[10]C. T. Lin, C. W. Hung, and C. W. Liu, “Position Sensorless Control for Four-Switch Three-Phase Brushless DC Motor Drives,” IEEE Transactions on Industry Applications, Vol.23, pp.438-444, 2008.
[11]M.M. Islam, and M.N. Uddin, “Development and Implementation of a new adaptive intelligent speed controller for IPMSM drive,” IEEE Trans. on Industry Applications, Vol. 45, no.3, pp.1106-1115, 2009.
[12]Balogh Tibor, Viliam Fedák, and, František Ďurovský, “Modeling and Simulation of the BLDC Motor in MATLAB GUI,”IEEE Trans. on Industrial Applications, Vol.43, no.3, pp. 1403-1407, 2011.
[13] C.S. Sanita, and J.T. Kuncheria, “Modelling and Simulation of Four Quadrant Operation of Three Phase Brushless DC Motor With Hysteresis Current Controller,”IJAREEIE, Vol. 2, Issue 6, pp. 2461-2470, 2013.
[14] Kr Singh Patel, and ,A.K. Pandey,“Modeling and Simulation of Brushless DC Motor Using PWM Control Technique,”IJERA, Vol.3, Issue3, pp.612-620, 2013.
[15]江錫津，“應用空間向量脈寬調變技術之數位式高功因單相/三相電力轉換器”，國立雲林科技大學電機工程學系，碩士論文，2003年6月。
[16]郭謙逸，“無刷直流馬達驅動系統之研製，國立東華大學電機工程學系，碩士論文，2013年7月。
[17]IRFR2407 Datasheet, International Rectifier, 2001.
[18]IR2101SPBF Datasheet ,International Rectifier, 2005.
[19]孫清華，“最新無刷直流馬達”，全華圖書公司，2001。
[20]邱國平，丁旭紅，”永磁直流無刷電機實用設計及應用技術“，上海科學技術出版社，2015。
[21]dsPIC30F3010 Datasheet,Microchip Technology, 2004.