無感測無刷馬達控制

Sensorless Control for Brushless DC Motor Driving

石孟翰(Meng-Han Shih)

指導教授 ： 黃克穠

義守大學/電機資訊學院/電子工程學系/碩士(2019年)

摘要

近年來綠能政策不斷推行，為的就是要達到永續發展，其中最大的原因就是能源問題。不管從石油、電能再到核能的運用，都對我們的生存環境有害，要能解決能源問題不外乎開發綠能或從節能著手。其中直流馬達在未來趨勢裡更是不可或缺的角色，他可以使用在服務型機器人、飛行器、代步車等，因此直流馬達有著至關重要的地位。
現階段的直流馬達基本上分為有刷直流馬達及直流無刷馬達，但有刷直流馬達因為功耗和結構上的問題較不易改良已逐漸不被使用。直流無刷馬達大部分都是以霍爾傳感器為控制依據，但裝載有霍爾傳感器的直流無刷馬達成本相對較高，且硬體結構和對正不易，所以衍生出使用馬達反電動勢為控制依據的無傳感器直流無刷馬達。反電動勢的量測通常需要使用濾波電路及比較電路，而在微處理器時脈逐漸加快及功能逐漸整合下，微處理器將能整合反電動勢量測電路，進而減少電路成本及風險(increase of risk)。
本篇論文即要使用HT32F52352將所有反電動勢電路收入其中，且做到調整速度、力矩補償、堵轉判斷和狀態顯示等功能。我們將比較多種控制辦法，來提出最適合微處理器控制無傳感器直流無刷馬達的辦法。

關鍵字

無傳感器直流無刷馬達 ； 反電動勢 ； 微處理器

並列摘要

In recent years, green policies have been continuously implemented for achieve sustainable development, and one of the biggest reasons is the energy issue. It is harmful to our living environment whether from the use of the oil, electricity to the nuclear energy. To solve the energy problem is nothing more than developing green energy or starting from energy saving. Among them, direct current motors (DC motors) play an indispensable role in future trends. DC motors can be used for using service robots, aircrafts, scooters, etc. and therefore they have a vital position.
At the current stage, DC motors are basically divided into brushed DC motors and brushless DC motors (BLDC motors). However, brushed DC motors have gradually not been used because their power consumption and structural problems are hard to be improved. Most of the BLDC motors are controlled by the basis of Hall sensors, but the BLDC motors loaded with Hall sensors have higher cost and lower environmental adaptability. Therefore, the sensorless BLDC motors controlled by the basis of motor back electromotive force (back EMF) are derived from the former. The measurement of back EMF usually requires the use of a filter circuit and a comparison circuit. While the microprocessor clock is gradually accelerating and the functions are gradually being integrated, the microprocessor can integrate the measuring circuit of the back EMF, thereby reducing the circuit cost and the risk.
This paper will use HT32F52352 to collect all the back-EMF circuits, and adjust the speed, torque compensation, blocked rotor test and status display. We will compare various control methods to propose the most suitable method for microprocessor-controlled sensorless BLDC motors.

並列關鍵字

Sensorless BLDC ； back EMF ； microcontroller

參考文獻

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