臺灣博碩士論文加值系統

本論文以意法半導體所開發生產的32位元微處理器STM32F103為控制核心，設計出一套具有工業網路通信介面的無刷直流馬達驅動器。能夠遠端控制馬達，並設定其參數，同時監控馬達的轉速、電流和轉矩等數據。系統還能將這些數據存入SQL資料庫，供使用者觀察分析，提前預測馬達異常狀態特徵，提升生產效率並降低成本。
隨著資訊科技的快速發展，工業製造業逐漸向智能自動化轉型。直流無刷馬達因其運轉穩定和壽命長等特性，成為工業自動化領域的重要設備之一。然而，傳統無刷直流馬達驅動器缺乏網路通訊功能，限制了其在遠端監控和數據記錄方面的應用，對於大規模生產的工廠，在管理上會非常困難。為了解決這問題，本論文將開發一套具有遠端控制和監控功能的無刷馬達驅動器系統。本論文系統設計開發將從瞭解無刷直流馬達的驅動原理入手。透過霍爾元件檢測轉子換相訊號，量測馬達轉速，並使用六步方波驅動馬達，利用PID控制器調整PWM 來控制馬達轉速，實現閉迴路控制。此外，系統採用電阻分流法和OPA放大器，利用STM32F103內部的類比數位轉換器（Analog to Digital Converter, ADC）測量馬達電流。所有馬達數據均存入Modbus暫存器，並透過Modbus TCP或RTU協議傳送到自行設計的人機介面中。
同時開發人機介面提供了馬達控制介面、即時數據圖表、馬達參數設定和每日報表等功能，即使使用者不熟悉PLC，也能輕鬆地操作和設定馬達。同時將長時間的馬達運轉數據紀錄在SQL資料庫裡。幫助使用者及早發現馬達異常狀態，實現對生產過程的全面優化和成本控制。在系統製作完成後，本文將利用自行開發的無刷直流馬達驅動器進行實驗測試，以驗證馬達波形是否正確和轉速控制的精確度。同時，展示如何透過自行開發的人機介面遠端控制馬達，並利用第三方軟體Modbus Poll進行長時間通訊測試，以驗證遠端通訊的穩定性，並證明系統符合工業物聯網的可行性。

This thesis proposes the Design of a Brushless DC Motor Driver System with an Industrial Network Communication Function based on the 32-bit STM32F103 microprocessor developed by STMicroelectronics, serving as the control core. This system enables remote motor control and parameter setting while monitoring data such as motor speed, current, and torque. Additionally, the system can store this data in an SQL database for user observation and analysis, enabling early prediction of motor abnormalities to enhance production efficiency and reduce costs.
With the rapid development of information technology, the industrial manufacturing sector is gradually transitioning towards intelligent automation. Brushless DC motors, due to their stable operation and long lifespan, have become essential equipment in the field of industrial automation. However, traditional brushless DC motor drivers lack network communication functions, limiting their application in remote monitoring and data recording, which presents significant management challenges for large-scale production factories. To address this issue, this thesis develops a brushless motor driver system with remote control and monitoring functions.
The system design and development in this thesis begin by understanding the driving principles of brushless DC motors. By detecting the rotor commutation signal with Hall sensors and measuring the motor speed, using six-step square wave driving for the motor, and utilizing a PID controller to adjust the PWM duty cycle to control the motor speed, closed-loop control is achieved. Additionally, the system uses the shunt resistor method and an OPA amplifier to measure motor current via the STM32F103's internal Analog to Digital Converter (ADC). All motor data is stored in Modbus registers and transmitted to a custom- designed human-machine interface via Modbus TCP or RTU protocol.
Furthermore, the developed human-machine interface provides a motor control interface, real-time data charts, motor parameter settings, and daily reports, making it easy for users unfamiliar with PLCs to operate and set up the motor. Long-term motor operation data is recorded in the SQL database, helping users detect motor abnormal states early, optimizing the production process comprehensively and controlling costs. After the system is completed, this thesis will use the self-developed brushless DC motor driver for experimental testing to verify the accuracy of motor waveforms and speed control. Simultaneously, it will demonstrate how to remotely control the motor through the self-developed human-machine interface and conduct long-term communication tests using third-party software Modbus Poll to verify the stability of remote communication, proving the system's feasibility in the industrial IoT.

摘要.............................i
Abstract.........................ii
誌謝.............................iv
目錄.............................v
表目錄...........................ix
圖目錄...........................xi
第一章 緒論.......................1
1.1 研究動機與目的................1
1.2 研究方法......................2
1.3 論文架構......................3
第二章 系統原理與技術..............4
2.1 無刷直流馬達介紹...............4
2.2 無刷直流馬達等效電路...........5
2.3 霍爾效應感測器.................7
2.4 馬達驅動原理...................8
2.5 馬達量測與計算.................9
2.5.1 馬達轉速量測.................10
2.5.2 馬達電流量測.................11
2.5.3 馬達轉矩計算.................11
2.6 PID控制器......................12
2.7 Modbus........................17
2.7.1 Modbus RTU..................19
2.7.2 Modbus TCP..................20
第三章 系統架構與設計...............23
3.1 系統架構.......................23
3.2 硬體電路設計...................24
3.2.1 系統電源設計.................24
3.2.2 STM32微處理器電路............25
3.2.3 馬達驅動電路.................27
3.2.4 霍爾訊號量測電路.............29
3.2.5 電流量測電路.................30
3.2.6 RS485通訊電路................31
3.2.7 網路通訊電路.................32
3.2.8 其他周邊電路.................33
3.3 韌體程式開發...................36
3.3.1 馬達驅動方法.................36
3.3.2 馬達轉速控制.................38
3.3.3 PID參數調整..................40
3.3.4 馬達電流量測..................41
3.3.5 Modbus暫存器規劃..............43
3.3.6 SQL資料庫....................47
3.4 人機介面設計...................48
3.4.1 馬達控制介面設計..............49
3.4.2 通訊參數設定介面設計..........50
3.4.3 即時數據顯示介面設計..........50
3.4.4 馬達參數設定介面設計..........51
3.4.5 每日報表介面設計..............51
3.5 驅動器外觀設計..................52
3.6 系統流程........................53
第四章 實驗結果與討論................62
4.1 實驗環境........................62
4.2 馬達驅動器測試..................62
4.3 馬達實驗結果....................67
4.3.1 馬達轉速控制實驗...............67
4.3.2 馬達多段速控制實驗.............74
4.4 Modbus通訊穩定度實驗.............78
4.5 系統操作說明.....................79
第五章 結論與未來展望.................80
5.1 論文結論.........................80
5.2 未來展望.........................80
參考文獻.............................81
附錄一...............................86
Extended Abstract...................87
Abstract............................87
1. System Architecture..............89
2. Human-Machine Interface (HMI)....90
3. System Appearance................91
4. Experimental Results.............92

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