摘要
本文為研發一種數位式動力扭力工具，它可用於鎖附工件到達某一預定扭力值。本系統包含兩顆美國TIMSP430家族的MCU，其中一顆是TI MSP430F2132(簡稱MCU_B)設置在轉子上，做為扭力感測單元(torque sensor unit)；另一顆是TI MSP430F449(簡稱MCU_A)設置在定子上，是為主控制器(host controller)，負責整個系統的程序與扭力控制。在扭力感測單元上，轉子主軸表面上有黏貼應變規以感測扭力，信號放大後經MCU_B處理而獲得數位扭力值。此扭力值經滑環以串列通訊方式將扭力值傳送給定子端的主控器MCU_A。在系統回授控制器設計的工作上，首要建立系統的數學模式，對於速度控制階段採用一適當PI控制器，至於扭力控制階段採用一以極點放置法設計而成的PID控制器。在整體控制實現方面，主控器基於一種程序控制策略，初始階段以定轉速回授控制模式，到達預設扭力之30％時，會轉入扭力回授控制模式。主控器演算得到的控制量以PWM脈波驅動直流馬達，以鎖附工件達到預設扭力目標。本系統經過實體測試，鎖附扭力誤差可以控制在10％之內，此結果顯示本系統成果之可行性。
並列摘要
The main purpose of this paper is to develop a digital power torque hand tool for tightening a screw to a desired torque value. The system consists two major parts: One of is the host controller which is bonded on the stator to handle the entire system control by TI MPSP430F449 MCU; other one is torque sensor unit which is bonded on the rotor to detect the torque of the spindle by TI MSP430F2132 MCU. The torque sensor devices of strain-gauge-based are adhesive on the surface of rotor near tool-head side. The sensor signal is amplified and then treated by the torque sensor MCU to detect a digital torque data. The data is send actively to the host controller MCU with UART communication through a slip-ring. For the work of controller design, the system model is build then an appropriate PI controller is applied to the speed closed-loop and a PID controller designed by poles-assignment method is applied to the torque closed-loop. In the implementation, the host controller MCU is based on a control procedure which contains the operation of two stages: The starting stage is the speed control loop and once the detected torque arrives at the 30% of preset torque then the operation is switched to the second stage which is a torque control loop. According the PI or PID controller, a control PWM signal is calculated to drive the DC-motor in the host controller. The power hand tool drives a screw on the workpiece to arrive at the desired torque and to let the torque error less then 10% under practical testing. Therefore, the proposed system in this paper is workable.