具有異常負載檢測與監控之直流無刷馬達設計與研究

IMPLEMENTATION OF THE ABNORMAL LOAD DETECTION AND MONITORING FOR THE DC BRUSHLESS MOTOR

本研究的重點在於建立新的控制核心期望直流無刷馬達除了速度可調整設定之外，更在輸出轉矩也可以調整設定及狀態監控包括異常轉矩狀態。而為了配合DSP控制系統的程式撰寫，在本論文中提出一簡潔與有效率的異常負載檢測方法，也就是我們以訊號積分取樣的方法配合信號邊緣檢測應用於馬達轉矩觀測器之設計。此觀測器設計是直接以訊號特徵擷取為出發點，其目的乃為求簡化及降低訊號分析之資料處理負擔，使其更容易於馬達之驅動控制器裡DSP程式撰寫的實現，而能即時且準確的監控生產流程以察覺異常情況發生。我們以電流感測器回授之訊號，經由轉矩觀測器進行馬達負載觀測，並對馬達加入外部之變動負載進行實驗分析。而在實驗結果中可見此轉矩觀測器確能偵測負載之異常變動點，並能將訊號雜訊濾除且也保留較小變動負載之偵測能力，有好的抗雜訊特性，最後並且以小波分析法驗證。

A new control strategy is implemented for abnormal load detection and monitoring of the DC brushless motor. We propose the methods of signal sampling integration combined with edge detection to approach the design of a motor torque observer for easy programming on a DSP controller. To lower the loads of computing analysis and data processing, the significantly abrupt changes are directly identified in the torque observer for the DSP programming in the motor driver. The feedback signals from the current sensor are utilized to observe normal and abnormal loads. From the experimental results, our design is shown to detect the position of changing loads and reduce noise interference. In addition, Wavelet analysis is used to verify the experimental results.