臺灣博碩士論文加值系統

本論文發展一套創新的模糊控制法則對無感測器的無刷直流馬達進行速度控制，一般而言，無刷直流馬達需要透過霍爾感測器(Hall sensor)或是編碼器(Encoder)與相對應的換相電路進行回授控制。然而，在某些特殊情況下，並不適合使用感測器，例如：高溫、具腐蝕性環境或空間限制的狀態下等。因此，為了在無感測器下實現無刷直流馬達速度控制，本論文採用反電動勢中的平均端電壓法取得換相訊號與馬達速度。平均端電壓法主要優點在於不需要偵測零交越點、相位電路與多級濾波器，只需利用簡單的低通濾波器與比較器即可獲得訊號。此外，實現電路包含了MicroChip公司提供的dsPIC30F4011控制IC與Cyntec 公司提供的IPM IM-13400所組成。
最後，開發一套新的模糊追蹤控制器應用在無感測器的無刷直流馬達上。且透過實驗比較PID與模糊控制器之間的優缺點。

關鍵字：模糊控制、無感測器、無刷直流馬達

This study performs the blushless DC motor control without position sensors. In general, hall sensors and appropriate commutation circuits are required to implement the feedback control for blushless DC motors. However, mounting sensors is unsuitable in some situations, such as high temperature, corrosion environments, small space, etc. Therefore, in order to implement the control of blushless DC motors without sensors, this paper utilizes the average terminal voltage method to estimate commutation signals, because the method do not require to detect zero-cross points. Through these commutation signals, the motor speed can be obtained. In addition, the implementation circuits include MicroChip dsPIC30F4011 control MCU and Cyntec intelligent power module (IPM) IM-13400, etc.
Finally, a fuzzy tracking controller is developed for the blushless DC motors without sensors. Also, comparison between PID and fuzzy control is presented to demonstrate the effectiveness of the fuzzy tracking controller.

Keyword-Fuzzy Control、Sensorless、Brushless DC motor (BLDC)

致謝………………………………………………………………I
摘要…………………………………………………………… II
ABSTRACT………………………………………………………III
目錄…………………………………………………………… IV
表目錄……………………………………………………… VII
圖目錄……………………………………………………… VIII
第1章 緒論.............................1
1.1 研究動機與背景...................1
1.2 論文架構.........................6
第2章 文獻探討.........................7
2.1 永磁式無刷直流馬達之介紹.........7
2.2 永磁式無刷直流馬達之驅動方式.....9
2.2.1 方波驅動........................10
2.2.2 弦波驅動........................15
2.3 無感測器驅動技術................15
2.3.1 轉子對位........................16
2.3.2 開迴路啟動......................17
2.3.3 閉迴路換相......................17
2.4 反電動勢估測法..................18
2.4.1 端電壓估測法....................20
2.4.2 三次諧波估測法..................24
2.4.3 PWM切換偵測法...................29
2.4.4 平均端電壓估測法................31
2.5 速度估測法......................32
2.5.1 傳統轉速估測法..................32
2.5.2 最小平方估測法..................32
2.5.3 固定時間法......................34
2.5.4 固定位置法......................35
2.6 模糊理論........................36
2.6.1 模糊化..........................37
2.6.2 模糊規則........................39
2.6.3 推論引擎........................40
2.6.4 解模糊化........................42
第3章 系統設計與實作..................44
3.1 實驗系統架構....................44
3.2 DSPIC30F4011單晶片..............46
3.3 變頻器..........................49
3.4 平均端電壓偵測法................51
3.5 軟體程式........................52
3.5.1 開路啟動與切換策略..............53
3.5.2 閉迴路驅動......................53
3.6 PID控制策略.....................56
3.7 FUZZY控制策略...................57
3.7.1 模糊化..........................57
3.7.2 模糊知識庫......................59
3.7.3 推論引擎........................60
3.7.4 解模糊化........................60
3.8 速度計算........................61
第4章 實驗結果與討論..................62
4.1 PID控制器實驗.............;.....62
4.1.1 PID控制器追蹤方波...............62
4.1.2 PID控制器追蹤弦波...............65
4.1.3 PID控制器追蹤三角波.............67
4.2 模糊控制器實驗..................69
4.2.1 Fuzzy控制器追蹤方波.............69
4.2.2 Fuzzy控制器追蹤弦波.............71
4.2.3 Fuzzy控制器追蹤三角波...........72
4.3 馬達轉速與PWM關係...............75
4.4 實驗結果........................78
第5章 結論與未來方向..................79
5.1 研究結論........................79
5.2 研究未來方向....................79
參考文獻................................80
個人簡介................................85

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