本論文針對無刷直流馬達，以德州儀器生產TMS320LF2407A之數位訊號處理器為控制核心，提出無感測控制方法。無感測控制方法為使用六步方波的脈波寬度調變，並利用偵測反電動勢來取代霍爾轉子位置感測器。為了使系統更加強健以及改善功率的消耗，提出閉迴路架構，包括轉速迴授和電流迴授。並將換相訊號分別做無延遲、延遲15度以及延遲30度來比較其改變對效率的影響。最後，建立實驗系統架構，以實驗來驗證無感測驅動器具閉迴路架構的優越性及選用較佳換相角度對系統和效率的改善。

The TI TMS320LF2407A DSP is used as the control kernel in this thesis, proposing a method of sensorless control for the brushless DC motor. With six-step pulse-width modulation, the information of the back electromagnetic signals can be detected and is used to estimate the rotor position instead of the Hall sensors. To strengthen the system and reduce the power consumption, we propose the idea of close loop framework, including speed feedback and current feedback. Then, the phase-change signal is set as no delayed, 15 degree delayed, and 30 degree delayed and compare the results each other. Finally, setting up experimental framework, to verify the superiority of sensorless drivers with close-loop framework, and choosing better phase-change degree to improve system and efficiency.

中文摘要.................................................... I
英文摘要....................................................II
目錄.......................................................III
圖目錄.....................................................VI
表目錄.....................................................IX
第一章 緒論........................................................... 1
1.1 研究動機與背景................................................. 1
1.2 研究方法與系統描述............................................. 2
1.3 論文大綱簡介................................................... 3
第二章 無刷直流馬達原理............................................... 4
2.1 無刷直流馬達介紹............................................... 4
2.1-1無刷直流馬達基本構造..................................... 4
2.1-2 無刷直流馬達之規格....................................... 5
2.1-3 無刷直流馬達的數學模型推導.............................. 11
2.2 無感測控制方式................................................ 14
第三章 無感測控制之驅動器設計........................................ 18
3.1 無感測器模式下啟動及換相原理分析.............................. 18
3.1-1 啟動策略................................................ 19
3.1-2 正常運轉後之換相原理.................................... 20
3.1-3 偵測反電動勢原理........................................ 21
3.2 無感測驅動器設計.............................................. 25
3.2-1 啟動策略之設計.......................................... 26
3.2-2 反電動勢偵測電路之設計.................................. 27
3.3 脈波寬度調變.................................................. 28
3.4 轉速估測...................................................... 30
3.5 PI控制器..................................................... 31
3.6 電流迴授...................................................... 32
3.7 閉迴路控制.................................................... 34
3.7-1 傳統六步方波驅動器...................................... 34
3.7-2 具有電流迴授之改良六步方波驅動器........................ 35
第四章 數位訊號處理器發展系統........................................ 37
4.1 數位訊號處理器簡介............................................ 37
4.1-1 記憶體與I/O空間之概觀.................................. 39
4.1-2 CPU架構................................................. 40
4.1-3 事件管理者.............................................. 41
4.1-4 類比/數位轉換器......................................... 43
4.2 程式流程...................................................... 44
4.2-1 設定PWM............................................... 45
4.2-2 內部時間................................................ 48
4.2-3 啟動.................................................... 48
4.2-4 偵測反電動勢............................................ 50
4.2-5 轉速估測................................................ 51
4.2-6 閉迴路控制.............................................. 53
第五章 實驗結果分析與探討............................................ 55
5.1 實驗系統......................................................55
5.1-1 硬體電路................................................ 56
5.2 具有霍爾感測器之有感測驅動器實驗結果分析......................58
5.3 無感測驅動器實驗結果分析......................................66
5.4 負載變動之實驗結果分析........................................70

第六章 結論與未來展望................................................ 76
6.1 結論.......................................................... 76
6.2 未來展望...................................................... 77
參考文獻............................................................. 78

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