衝擊式電動手工具因應直流無刷電動機之發明，除可有效延長使用壽命、免除傳統直流電機因電刷耗盡衍生之額外維修需求外，功率密度高及安裝轉子角位置感測器即可得知轉子角位置更是其優點，然而霍爾感測器對運作環境之敏感性高(不耐高溫、強磁)、編碼器價格昂貴，不符製造成本等限制，故本論文提出應用於衝擊式電動手工具之無感測直流無刷電機控制策略，可免除安裝轉子角位置感測器，克服無感測控制策略抗非線性負載變動能力低落之問題，提升整體控制策略強健度，且可降低生產成本。
本研究旨在提出一套應用於三相永磁式直流無刷馬達之無感測器控制策略，可應用於衝擊式直流無刷電動手工具之控制架構。本論文提出之無感測器控制方法，可相容於表面黏貼磁鐵型(surface permanent magnet, SPM)與內藏磁鐵型(interior permanent magnet, IPM)兩種轉子磁鐵安裝形式之永磁直流無刷電動機，且可充分發揚無感測控制策略節省零件成本、操作環境相容度高之特性。控制架構方面採用端電壓比較法估測反電動勢相位，進而推算轉子角位置資訊，利用三組比較器將各相電壓交叉運算，即可生成各相差120度電機角且與反電動勢同相位之估測訊號，且可應用於各型式直流無刷電動機，不受轉子磁鐵安裝型式影響。經實測可取代原有霍爾感測器回授之位置訊號；同時使用電流閉迴路架構計算所需電壓命令，實測0.5 A電流命令下命令值與實際電流值誤差百分比為4.4%，1 A電流命令下誤差百分比為4%，可正確控制電流跟蹤於所下達的命令值。同時亦測得衝擊式手工具機槌擊鎖付功能可於2 A電流命令以上正確啟動，控制效果符合預期目標。

In response to the invention of the brushless DC motor (BLDC), the impact power tools can effectively extend the service life and eliminate the need for additional maintenance due to brushes exchange. However, due to the high sensitivity of the Hall sensor to the operating environment, prone to failure in high temperature and strong magnetic field environments. The sensorless brushless DC motor control strategy in this research eliminates the need to install a rotor angle position sensor, and overcomes the problem of the fluctuating mechanical load, improves the robustness of the control strategy, and makes the impact electric hand tools work in more extreme operating fields, and can reduce production costs.
The purpose of the thesis is to design and implement a sensorless control strategy to a three-phase permanent magnet brushless DC motor, which can be applied to impact electric hand tools. The sensorless control method proposed in this research is compatible with the permanent magnet brushless DC motors of two rotor magnet installation forms: surface permanent magnet (SPM) and interior permanent magnet (IPM). And it can fully promote the sensorless control strategy to reduce the cost of components, and high operating environment compatibility. The sensorless control strategy adopts the terminal voltage comparison method, use the comparators to compare the voltages of each phase, and generate an estimated signal in phase with the back-EMF. This method can be applied to various types of brushless DC motors, regardless of the rotor magnet installation type. The actual measurement results show that it can replace the position signal returned by Hall sensor; And the current closed-loop control strategy is used to calculate the voltage command for sensorless BLDC. The error percentage between the command value and the actual current value under 0.5 A current command is 4.4%, the error percentage under 1 A current command is 4%, which can correctly control the current to track the command value. At the same time, it is also measured that the hammer strike function of the impact power tools can be correctly activated above the 2 A current command, and the control effect is in line with the expected goal.

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