研究生: |
施予中 Yu - Chung Shih |
---|---|
論文名稱: |
直流馬達PWM驅動與摩擦效應之建模與辨識 Modeling and Identification of PWM Driving and Friction Effects for DC Motors |
指導教授: |
高維文
Wei-Wen Kao |
口試委員: |
林紀穎
Chi-Ying Lin 陳亮光 Liang-kuang Chen |
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: | 2013 |
畢業學年度: | 101 |
語文別: | 中文 |
論文頁數: | 116 |
中文關鍵詞: | 動態模型 、直流有刷馬達 、摩擦效應 、脈波寬度調變 、模型辨識 、電流釋放效應 |
外文關鍵詞: | Model identification, PWM, Friction effect, Brushed DC motor, Dynamic modeling, Current dissipation delay. |
相關次數: | 點閱:173 下載:9 |
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在日常生活中各個角落都有馬達的蹤影,而工業用的馬達要如何做到更有效率的精密控制將必須受到重視與深入探討。本論文主要是以Matlab 程式建立動態模型來模擬與辨識實際的直流有刷馬達種種的非線性物理特性與行為為目標,實驗過程中考慮馬達於負載下運轉時的摩擦力種類與產生的摩擦效應,動態模型的辨識範圍包括脈波寬度調變(Pulse Width Modulator, PWM)、齒輪變速箱負載產生的摩擦效應、馬達升速與降速過程等,特別是降速過程的模型辨識。
摩擦效應除了有庫倫摩擦、黏滯摩擦,同時亦將Stiction 摩擦與極低轉速下所產生的Stribeck 效應納入考量,當馬達轉速遞減到極低速時,本論文的動態模型仍然能夠辨識Stribeck 效應,並有通用的數學方程式可以充分描述降速過程的速度曲線。
本論文實驗所使用的馬達驅動器,其應用於馬達速度控制,降速過程可分為Coast 與Brake 兩種模式,本論文特別針對Coast 模式所衍伸出的電流釋放效應深入探討,同時動態模型亦能辨識此效應。
Motors are almost everywhere in our daily life. It’s important to research how to control the industrial motors precisely and more efficiently. This paper focuses on the goal to identify the non-linear physical features of brushed DC motors by using the MATLAB to simulate the dynamic model. During the experiments, different kinds of friction and friction effects are considered while the motors work under the load. The models identified include PWM (Pulse Width Modulator), the friction effects generated by the load of gear box load, and the delay effects produced by the transistor current dissipation during deceleration process.
In addition to coulomb friction and viscous friction, the Stribeck friction effect which is generated under very low speed is considered. The friction model is applicable even when the motors’ speed down to very low speed. This paper also has general equations to describe the velocity response during the deceleration.
The PWM motor driver used to control the motor speed in this thesis offers two modes in the deceleration process, including Coast and Brake. This thesis focuses on the current release effect during the Coast mode and developed a model that can identify the effect.
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