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| 研究生： |
嚴士翔 Shih-Hsiang Yen |
|---|---|
| 論文名稱： |
基於嵌入式微控制晶片之分散式馬達控制器模組設計 A Design of a Modular Distributed Motor Controller using Embedded Micro-Control Chip |
| 指導教授： |
林其禹
Chyi-Yeu Lin |
| 口試委員: |
郭重顯
Chung-Hsien Kuo 林遠球 none |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工程學院 - 機械工程系 Department of Mechanical Engineering |
| 論文出版年： | 2014 |
| 畢業學年度： | 102 |
| 語文別： | 中文 |
| 論文頁數： | 70 |
| 中文關鍵詞： | DC馬達控制器 、系統晶片SOC 、分散式控制系統 、CAN Bus |
| 外文關鍵詞： | DC motor controller, SOC, Distributed control system, CAN Bus |
| 相關次數： | 點閱：336 下載：8 |
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隨著科技發展進步，自動化生產線取代許多傳統勞力的工作，在工業中，機械手臂能彈性的使用於不同的任務，但是若要應用於家庭智慧化，機械手臂有著成本高、控制器體積太大、重量過重等缺點，對於一般家庭難以適用。
本研究以配合未來發展多軸控制控制為目標，設計與開發分散式單軸馬達控制器，基於模組化、嵌入式、分散控制，採用微型系統晶片SOC（System on Chip）作為控制器的微處理器，並結合驅動器、通訊晶片等元件，發展成嵌入式的控制模組，其中SOC能支援多種通訊介面與功能，能大幅減少控制器的體積，不需要額外的控制箱與電纜線，能靈活的使用在小空間設備內。通訊介面選用CAN Bus，在CAN網路中，控制器之間皆能獨立的收發訊息。
在嵌入式程式中，透過運動控制與位置控制的分工，提升多軸控制時的即時性與穩定性。控制器能適用於不同的運動類型，所以可藉由此單軸控制為基礎，整合成多軸控制系統，能降低單軸安裝成本，減少開發時間。
With the advance of science and technology, automatic machines continually replace human labor. The industrial robot arm can be flexibly applied to different functions. However, owing to factors such as large controller size, heavy weight and high costs, implementation on intelligent home system applications has been a great challenge.
This study focuses on the design of one-axis distributed motor controller for future multi-axis system. For modularization and embedded distributed architecture, the controller consists of micro SOC, as microprocessor, combined with DC motor driver and communication IC. SOC (System on Chip) can support many communication interfaces and functions despite its small size. Since the controller can be placed inside a machine without additional control elements and cables, it can be more flexibly used in small space. A CAN Bus based communication interface was chosen to independently read and send messages between different controller units.
Division of motion planning and position control in the embedded program results in improved stability and instantaneity on multi-axis control system. The controller is applicable to different motion mechanisms. Hence, various one-axis controls could be integrated to a general multi-axis control system resulting in reduced development time as well as cost.
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