臺灣博碩士論文加值系統

本論文基於永磁無刷電動機框架下設計一適用於盤式永磁直流無刷電動機之軀動器，驅動器晶片採用製造商 Microchip Technology / Atmel 開發系列 megaAVR 之 ATmega2560 晶片，為達量測電動機狀態時序之目的使用霍爾感測元件偵測三相盤式永磁直流無刷電動機換相順序，並將換相時序透過改變脈波寬度調變(Pulse Width Modulation , PWM)得以控制轉速。為使驅動器於運轉狀態下得以穩定運作本論文於驅動電路及控制電路間加入光耦合元件，藉由元件特性得以使驅動器達到電氣隔離，延長驅動器如產生誤動作之壽命，並採用具有內建死區時間(Dead time)之閘極驅動器元件，得以使馬達於換相瞬間驅動器內部之金屬氧化物半導體場效電晶體上下臂不為同時導通，避免金屬氧化物半導體場效電晶體損毀之疑慮。最後，在建立電動機換相控制庫下加入回授PID控制法則(比例-積分-微分控制器)，得以在不同負載條件下調節平均電壓出力使轉速控制更加精準。

Based on the frame of permanent magnet brushless motor, this paper designs a driver suitable for disk type permanent magnet brushless DC motor, the driver chip adopts ATmega2560 of megaAVR series developed by manufacture Microchip Technology / Atmel. In order to measure the time sequence state of motor, Hall sensing element is used to detect the sequence of phase conversion of three-phase disc type permanent magnet brushless DC motor, and through the Pulse Width Modulation(PWM) of which to control the rotation speed. In order for stable driver operation, this paper adds optical coupling elements between the driving circuit and control circuit. By means of component characteristics to achieve driver electrically isolated to prolong its service life, and the gate driver element with built-in dead zone time is also used so as for the upper and lower arms of the power transistor in the driver are not simultaneously switched on at the moment of motor phase conversion for fear of the damage of the power transistor. At last, adding feedback PID control rule under the establishment of motor phase Conversion control database (proportional-integral-differential controller) to adjust the average voltage output to make the speed control more accurate under different load conditions.

摘要i
Abstractii
致謝 iii
目錄 iv
圖目錄 viii
表目錄 xii
第一章 緒論 1
1.1 前言 1
1.2 研究動機 1
1.3 章節概要 2
第二章 永磁直流無刷電動機 4
2.1 永磁直流無刷電動機介紹 4
2.2 盤式永磁直流無刷電動機 6
第三章 盤式永磁直流無刷電動機驅動控制原理 9
3.1 控制系統概論 9
3.1.1 轉子位置監測方式 9
3.1.1.1 霍爾元件偵測控制 9
3.1.1.2 光學編碼器控制 10
3.1.1.3 無感測反電動勢回授控制 11
3.2 霍爾元件控制策略 12
3.2.1 霍爾感測器六步方波擺放方式 12
3.2.2 換相電流導通模式 14
3.2.2.1 120度兩相電流導通模式 14
3.2.2.2 180度三相電流導通模式 15
3.3 三相橋式驅動法 16
3.3.1 三相橋式六開關驅動器 17
3.3.2 120度兩相電流金屬氧化物半導體場效電晶體動作分析 17
3.3.3 180度三相電流金屬氧化物半導體場效電晶體動作分析 20
3.4 脈衝寬度調變 22
3.4.1 上臂式脈衝寬度調變 23
3.5 轉速回授 24
3.5.1 頻率測量轉速法 24
3.5.2 程式計算轉速法 25
3.6 PID控制器 26
3.6.1 比例增益控制項(Kp) 27
3.6.2 積分增益控制項(Ki) 28
3.6.3 微分增益控制項(Kd) 29
3.6.4 Ziegler – Nichols調整法 30
第四章 驅動器架構 32
4.1 硬體系統架構 32
4.2 硬體介紹 33
4.2.1 金屬氧化物半導體場效電晶體 33
4.2.2 閘極驅動器 34
4.2.3 光耦合隔離器 36
4.2.4 霍爾感測元件 37
4.2.5 驅動器電源供應電路 39
4.3 單晶片介紹 40
4.3.1 Atmega2560規格 41
第五章 實驗結果 45
5.1 盤式永磁直流無刷電動機及硬體電路 45
5.2 類比及數位監測波形 48
5.2.1 感應電動勢及霍爾訊號量測波形圖 50
5.2.2 驅動電路閘極PWM波形圖 53
5.2.3 相線電壓波形量測 55
5.2.4 三相線電流無載波形量測 57
5.2.5 三相線電流有載波形量測 58
5.2.6 未加入PID控制器轉速回授波形圖分析 60
5.2.7 加入P控制器之轉速回授波形圖 61
5.2.8 加入PID控制器之無載轉速回授波形圖 63
5.2.9 加入PID控制器之有載轉速回授波形圖 64
第六章 結論與未來研究方向 66
6.1 結論 66
6.2 未來研究方向 66
參考文獻 67

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