以DSP為基礎之直流無刷馬達改良型PI速度控制

近年來，因石油能源短缺且即將耗盡，使得採用馬達取代引擎的電動車逐漸受到重視，而直流無刷馬達因為沒有轉子銅損、轉動慣量較小、響應速度較快，且具有高效率、高轉矩、維護簡單且轉速控制範圍廣的優點，被廣泛用於生活中的家電或自動化工具機等工業場合。　　本論文主要的目的為運用Microchip公司生產的dsPIC33FJ256MC710數位訊號處理器作為控制器，並將經過改良的比例積分控制法（Proportional- Integral Control）實現在直流無刷馬達的速度回授控制上。　　在系統轉移函數及各項參數皆掌握的情況下，藉由MATLAB-Simulink模擬整個馬達控制系統，將經過模擬後所得到的結果做為實驗參考之依據，完成實際測試並繪出速度響應圖。最後，藉由與傳統PI控制的速度響應圖比較，確定改良型PI控制有助於改善控制系統的穩定性、減短其達到穩定的時間並且同時擁有傳統PI控制能克服穩態誤差的優點，能讓馬達達到更精確、更穩定的速度控制。

關鍵字

直流無刷馬達； DSP ；改良型PI ；速度控制

並列摘要

In the past few years, the cars whose engines replaced by electric engines are gradually concerned, because of the shortage of petroleum. Brushless DC motors have high efficiency, high torque, high reaction speed, simple maintenance and easy control because they don’t have copper loss of rotor and having smaller moment of inertia. They are used in daily life and automatic production factory. 　　The purpose of this paper is to use Digital Signal Processor (dsPIC33FJ256MC710) manufactured by Microchip Technology Inc to be a controller. And use modified Proportional- Integral Control to implement the speed control of a Brushless DC Motor. 　　On a circumstance that grasp transfer function and parameters, using MATLAB-Simulink simulates the control of motors. The results of simulation are a basis of experiment. All the outcome from experiment are used to make response plot of speed. Finally, by means of comparison of response plot of traditional PI controllers I can make sure that the modified PI controllers are helpful to make it more stable and spend less time being a stable condition. At the meantime, the modified PI controllers can overcome the steady-state error more easily. And this make motors more precise and more stable in the speed control.

並列關鍵字

Brushless DC Motor ； DSP ； Modified PI ； Speed Control

參考文獻

[7] 陸宇銓，應用於電動代步車之永磁無刷馬達其弱磁控制及性能提升之探討，國立成功大學電機工程學系碩士論文，2009。

[9] J. Karthikeyan, and R. Dhana Sekaran, “Current control of brushless dc motor based on a common dc signal for space operated vehicles,”Electrical Power and Energy Systems, 2011.

[12] P. Pillay, C. R. Allen and R. Budhabhathi, “DSP-Based Vector and Current Controllers for A Permanent Magnet Synchronous Motor Drive,” IEEE Industry Application Society Annual Meeting, Vol. 1, pp.539-544, 1990.

[13] L. H. Hoang, “Microprocessors and Digital IC，s for Motion Control,”Proceedings of the IEEE, Vol. 82, No. 8, pp. 1140-1162, August 1994.

[14] R. Krishnan, “Selection Criteria for Servo Motor Drives,” IEEE Transactions on Industry Applications, Vol. IA-23, pp. 270-275, 1987.

國際替代計量

以DSP為基礎之直流無刷馬達改良型PI速度控制

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