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| 研究生： |
方銘恩 Ming-En Fang |
|---|---|
| 論文名稱： |
雙旋翼飛行器之
直流無刷馬達無感測控制器設計與旋翼系統建立 Design of a Sensorless Brushless DC Motor Controller and Rotor System Establishment of a Dual-Rotor Flying Robot |
| 指導教授： |
施慶隆
Ching-Long Shih |
| 口試委員: |
許新添
Hsin-Teng Hsu 黃仲欽 Jonq-Chin Hwang 李文猶 Tristan-WY Lee |
| 學位類別： |
碩士 Master |
| 系所名稱： |
電資學院 - 電機工程系 Department of Electrical Engineering |
| 論文出版年： | 2009 |
| 畢業學年度： | 97 |
| 語文別： | 中文 |
| 論文頁數： | 73 |
| 中文關鍵詞： | 直流無刷馬達 、無感測驅動 、雙旋翼飛行器之旋翼系統 、反電動勢 、速度控制 |
| 外文關鍵詞： | DC brushless motor, sensorless control, rotor system of dual-rotor flying robot, back electromagnetic force, speed controller |
| 相關次數： | 點閱：232 下載：19 |
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飛行器在不同領域中有很多的應用，例如在監控地面、雲層或崎嶇不平之山地應用上會有很大的用處。輕量化及高效能是飛行器的必要條件，因此使用高轉速直流無刷馬達無感測驅動達到其目的。無感測驅動有使用硬體電路或軟體演算法達成，其目的藉由反電動勢轉成換向訊號偵測直流無刷馬達轉子位置。由於飛行器之無刷直流馬達轉速範圍廣泛，因此製作模糊速度控制器，設計速度響應有較小的超越量及較短的穩態時間。本文之飛行器架構是雙旋翼系統，因此使用CAN Bus網路架構使雙旋翼同步改變轉速之效果。
雙旋翼飛行器之直流無刷馬達驅動控制是以Microchip公司生產的dsPIC30F4012為核心，使用軟體演算法偵測換向時機且讓馬達維持轉速運轉。旋翼系統則以dsPIC30F6014為核心建立CAN Bus網路架構，連結兩顆直流無刷馬達控制器(dsPIC30F4012)建立同步下達速度命系統。
The flying-robot has many applications in various terrains, such as monitors the ground, cloud layer or rugged and rough mountain. Light weight and high efficiency are two basic requirements for a flying-robot. Therefore, high speed sensorless DC brushless motor is good choice. Sensorless driver has to detect motor position and to generate commutation signals are produced by either hardware circuit or software algorithms based on back electromagnetic force. The DC brushless motors have wide speed, and we apply the fuzzy speed controller to achieve low overshot and short settle time in speed response. The dual-rotor system uses CAN-bus network to change two rotor’s speed simultaneously.
The sensorless brushless DC motor controller is controlled by using a dsPIC30F4012, and using software algorithms to detect commutation and to control speed. The main controller of the rotor system center is a dsPIC30F6014 to establish the CAN-bus network, and connect two brushless motor controller that can receive command synchronously from the main controller.
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