本論文與業界合作探討開發無刷直流馬達之電動鑽頭機的驅動控制系統。在文中，首先介紹永磁式無刷直流馬達的結構與特性，接著提出六步方波驅動方法和脈衝寬度調變信號產生方式，以及霍爾感測元件與無感測元件換相模式。此外，並設計出傳統比例-積分控制器和滑動模式控制器來控制無刷直流馬達之轉速。最後，利用 MATLAB/SIMULINK軟體進行電腦模擬，並實際研製一套偵測無刷直流馬達轉速之驅動系統，該系統是以單晶片微控制器作為主要控制核心，以及包括三相變頻器、三角波產生器、脈衝寬度調變產生器、馬達轉子轉速估算等，來實現馬達轉速閉迴路控制，分析於有負載與無負載下兩控制器之控制響應，實驗結果提出滑動模式控制器具有快速抑制外部負載之性能。

This thesis proposes the design and implementation of the brushless DC motor driver system for electric drill application which has been cooperated with electrical community. In this thesis, first, the structure and characteristics of the permanent magnet brushless dc motor are introduced. Next, the six-step square wave drive method of motors and the generation of pulse width modulation (PWM) signal are proposed, and the Hall-effect sensor and sensorless commutating technique are discussed. Moreover, the traditional PI controller and sliding mode controller are designed and utilized to control the brushless dc motor speed. Finally, the entire model of this research is developed and simulated by using MATLAB/SIMULINK, and a microcontroller based detecting rotor speed is implemented which includes three-phase inverter, triangular wave generator, pulse width modulation generator and speed estimation of motor. The closed-loop feedback of system due to the measuring speed is achieved and analyzes the control response of both controllers as well as performance between on-load torque and no-load torque cases in experiment and simulation. Experimental results can validate the theoretical analysis and show that sliding mode controller is superior than PI controller for rejection of disturbance.

[1] C. Vincent and B. Scrosati, Modern batteries. Elsevier, 1997.
[2] F. Sheikholeslam and M. Habibi, “A low cost single microcontroller hybrid stepper motor controller and drive with adaptive ripple reduction using cur- rent feedback,” in Industrial Technology, 2006. ICIT 2006. IEEE International Conference on, IEEE, 2006.
[3] J.-C. Kim, S.-H. Lee, J.-Y. Kim, Y.-C. Jang, I.-S. Mok, and H.-J. Park, “A mixed-mode single-chip motor-drive-specific microcontroller with a 12-bit 125/ks/s adc,” in ASIC/SOC Conference, 2000. Proceedings. 13th Annual IEEE International, pp. 209–213, IEEE, 2000.
[4] “Dewalt unveils their brushless (bl) motor technology.” http://www.tool- talker.com/news/dewalt-unveils-their-brushless-bl-motor-technology, May 10 2012.
[5] N. Ertugrul and P. Acarnley, “A new algorithm for sensorless operation of permanent magnet motors,” IEEE Transactions on Industry Applications, vol. 30, no. 1, pp. 126–133, 1994.
[6] A. Consoli, G. Scarcella, and A. Testa, “Industry application of zero-speed sensorless control techniques for pm synchronous motors,” IEEE Transactions on Industry Applications, vol. 37, no. 2, pp. 513–521, 2001.
[7] H.-J. Guo, S. Sagawa, T. Watanabe, and O. Ichinokura, “Sensorless driving method of permanent-magnet synchronous motors based on neural networks,” IEEE Transactions on magnetics, vol. 39, no. 5, pp. 3247–3249, 2003.
[8] Q. Jiang, C. Bi, and R. Huang, “A new phase-delay-free method to detect back emf zero-crossing points for sensorless control of spindle motors,” IEEE Transactions on Magnetics, vol. 41, no. 7, pp. 2287–2294, 2005.
[9] G.-J. Su and J. W. McKeever, “Low-cost sensorless control of brushless dc motors with improved speed range,” IEEE Transactions on power electronics, vol. 19, no. 2, pp. 296–302, 2004.
[10]J. Shao, D. Nolan, M. Teissier, and D. Swanson, “A novel microcontroller-based sensorless brushless dc (bldc) motor drive for automotive fuel pumps,” IEEE Transactions on Industry Applications, vol. 39, no. 6, pp. 1734–1740, 2003.
[11] J. Y. Hung, W. Gao, and J. C. Hung, “Variable structure control: A survey,” IEEE transactions on industrial electronics, vol. 40, no. 1, pp. 2–22, 1993.
[12] Y. Shtessel, C. Edwards, L. Fridman, and A. Levant, Sliding mode control and observation, vol. 10. Springer, 2014.
[13] C. U. Maheswararao, Y. K. Babu, and K. Amaresh, “Sliding mode speed control of a dc motor,” in International Conference on Communication Systems and Network Technologies (CSNT), pp. 387–391, IEEE, 2011.
[14] I. Eker, “Sliding mode control with pid sliding surface and experimental application to an electromechanical plant,” ISA transactions, vol. 45, no. 1, pp. 109– 118, 2006.
[15] N. P. Galphade and S. S. Sankeshwari, “Simulation of bldc motor control using sliding mode control technique,” International Journal of Advances in Engineering & Technology, vol. 7, no. 6, p. 1857, 2015.
[16]王朝興,"節能與直流無刷馬達驅動效率",研究與創新,no. 2, pp. 20–22, 2007.
[17] B. Schweber, “Stepper motors make the right moves with precision, ease and smarter drivers.” http://www.mouser.tw/publicrelations_techarticle_ steppermotors_rightmoves_2015final/, 2015.
[18]曾逸敦,"無刷與有刷直流馬達簡易比較圖",http://eatontseng.pixnet. net/blog/post/102290242-%E7%AC%AC%E5%8D%81%E7%AB%A0%EF%BC%9A%E9% A6%AC%E9%81%94, Dec 2013.
[19]張鈺炯,"外轉子直流無刷馬達應用案例",冷凍空調與能源科技雜誌,no. 98, pp. 21–31, 2016.
[20] W. Chlebosz, G. Ombach, and J. Junak, “Comparison of permanent magnet brushless motor with outer and inner rotor used in e-bike,” in Electrical Ma- chines (ICEM), 2010 XIX International Conference on, pp. 1–5, IEEE, 2010.
[21] K. Yamazaki, M. Shina, Y. Kanou, M. Miwa, and J. Hagiwara, “E↵ect of eddy current loss reduction by segmentation of magnets in synchronous motors: Dif- ference between interior and surface types,” IEEE Transactions on Magnetics, vol. 45, no. 10, pp. 4756–4759, 2009.
[22] Y. Kiran and P. Puttaswamy, “Field oriented control of a permanent mag- net synchronous motor using a dsp,” International Journal of Advanced Re- search in Electrical Electronics and Instrumentation Engineering, vol. 3, no. 10, pp. 12364–12378, 2014.
[23]林廷岳,"三項直流無刷馬達使用多階滑模控制器於干擾抑制研究",碩士論文,國立臺灣科技大學,2017年1月.
[24] N. Nise, Control Systems Engineering. Wiley, 2010.
[25] P. Pillay and R. Krishnan, “Modeling, simulation, and analysis of permanent- magnet motor drives. ii. the brushless dc motor drive,” IEEE transactions on Industry applications, vol. 25, no. 2, pp. 274–279, 1989.
[26] P. C. Krause, O. Wasynczuk, S. D. Sudhoff, and S. Pekarek, Analysis of electric machinery and drive systems, vol. 75. John Wiley & Sons, 2013.
[27] G. Cai, K. Qian, B. Li, and X. Pang, “Robust pid controller in brushless dc motor application,” in Control and Automation, 2007. ICCA 2007. IEEE International Conference on, pp. 879–882, IEEE, 2007.
[28] R. Hosen and K. M. Salim, “Design implementation and testing of a three phase bldc motor controller,” in Advances in Electrical Engineering (ICAEE), 2013 International Conference on, pp. 192–196, IEEE, 2013.
[29] A. Simpkins and E. Todorov, “Position estimation and control of compact bldc motors based on analog linear hall effect sensors,” in American Control Conference (ACC), 2010, pp. 1948–1955, IEEE, 2010.
[30]維基百科,"霍爾效應-維基百科自由的百科全書",https: //zh.wikipedia.org/w/index.php?title=%E9%9C%8D%E7%88%BE%E6%95% 88%E6%87%89&oldid=41887748, 2016.
[31] P. Yedamale, “Brushless dc (bldc) motor fundamentals,” Microchip Technology Inc, vol. 20, pp. 3–15, 2003.
[32] P. P. Acarnley and J. F. Watson, “Review of position-sensorless operation of brushless permanent-magnet machines,” IEEE Transactions on Industrial Elec- tronics, vol. 53, no. 2, pp. 352–362, 2006.
[33] M.-F. Tsai, T. P. Quy, B.-F. Wu, and C.-S. Tseng, “Model construction and verification of a bldc motor using matlab/simulink and fpga control,” in In- dustrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on, pp. 1797–1802, IEEE, 2011.
[34] M. Kia, K. R. Rezayieh, and R. Taherkhani, “A novel method for measuring rotational speed of bldc motors using voltage feedback,” in Control, Instru- mentation and Automation (ICCIA), 2011 2nd International Conference on, pp. 791–794, IEEE, 2011.
[35] P. Sowjanya and S. Tarakalyani, “Pi and sliding mode control for permanent magnet brushless dc motor,” IJITR, vol. 1, no. 5, pp. 497–502, 2013.
[36]陳維瀚,"細微鑽頭鑽削sus304不鏽鋼之鑽削力與鑽刃磨耗研究",碩士論文,國立臺北科技大學製造科技研究所,2006.