七、 數學模型驗證
7.6 德儀驗證: InstaSPIN-BLDC
圖 69. 德儀 BLDC/GUI 使用者界面: Main
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圖 70. 德儀 BLDC/GUI 使用者界面: Settings
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圖 71. 德儀 BLDC/GUI 使用者界面: Kp，Ki，及速度控制 Optimal Kd=1.000000e-03, Kp=6.000000e+00, Ki=9.000000e+03
以上結果是在 s-domain 上，必需轉為 Grando 的 z-domain.
由 s-domain 轉成 z-domain 時:
Kp 與 sampling frequency 無關，Kp = 6.0。
由式(26) 因此積分器(Integrator)的 z-transform:
1-1z1
Ts
Ki 與 sampling frequency 有關，在圖 64 及圖 65，z-轉移函數為:
KI(Gr) KI /KP Ts
KI(Gr) 90000/6.0104
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KI(Gr) 0.9/6.0
KI(Gr) 0.15
在 Grando 中，Kd 0。真實的值為:
P s
d
d K K T
GrandK /
) 10 0 . 6 /(
3 0 .
1 4
GrandKd E 6 /
10
GrandKd 6 .
1
GrandKd
結論:
z-domain 上，Optimal Grando-Kd=1.6, Grando-Kp =6.0, Grando-Ki =0.15
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八、結論
國內廠商礙於高功率伺服馬達及驅動器技術自給率不足，因此多向國外廠商進口，
製造成本也因而提高，國內廠商目前多有意願發展該技術，若能成功發展射出成型 機的伺服馬達與驅動器技術，短期目標應能搶下國內塑膠射出機設備組件的部分市 場，此外，由於伺服馬達與驅動器技術的應用並非僅限於全電式射出機，在自動化 的趨勢及省能源、高精度的要求下，機械設備／產品改採交流可變速馬達／驅動器 的態勢已漸明顯，其下游關聯產業極為廣泛，根據工研院估計，交流可變速馬達／
驅動器其產業關聯產值高達二仟億元以上。因此，而就長期目標而言，由於未來市 場產值逐漸擴大，應能持續增加伺服馬達及驅動器的銷售額，進而成為拓展事業之 最大利基。射出機之技術包括: 主控端/控制器、從動端/驅動器(如變頻器)、致動器 (如馬達)、感測器(如解角器)、及傳動機構等。
本文在進行專案管理時，運用規劃、排程、執行、控制等活動，並透過協調各種資 源，在有效率的運用各種方式下，完成專案的目標與需求。首先，在取得大同公司 專案研發資源投入後，為了控制專案成本支出，透過大同公司中央研究所長官，推 薦數名具電機專業相關背景的內部員工，並單獨進行談話，除確認專業能力之外，
亦導入工作願景管理，讓可能參與專案執行的員工了解伺服馬達開發對大同公司的 重要性，以及當技術發完成後，專案參與成員在組織內部將具有不可取代性，藉以 提升專案參與成員的動機，及強化成員將來執行專案的效力性。最後，挑選出參與 專案的成員再進行一次集體面談，旨在讓參與成員清楚瞭解技術開發的分工與責任 範圍，並定時進行團體教育課程，成員熟悉領域指派為教育課程講師，藉由相互的 專長教學，增進研發效率，期望專案執行能順利將技術開發完畢。
而在專案管理上所遭遇的不確定性和風險性，由於伺服馬達技術的開發具相當難度，
成功與否已具不確定性，大同公司在資本與人力投入有限的情況下，也替專案的成 敗帶來偌大的風險。惟此部分於先前任職於其他公司時已累積相當多有關伺服馬達 開發相關經驗，且同時擔任工研院講師，除內部成員交流學習外，亦可向外收集相 關建言，作為執行專案的正向回饋，進而降低不確定性與技術開發風險。
目前專案執行已進行半年，透過本文上述的管理策略和執行進度管控，成員分工和 執行力已逐步展現，目前已有部分技術突破，透過本次主導伺服馬達技術開發專案 的經驗累積，已逐漸瞭解主導專案所需考量的相關層面，以及執行團隊的訓練與執 行成效管控，在往後幾年陸續累積對執行本專案的經驗後，將來在有其他相關計畫 的提案和管理上，將可擷取相關經驗成功執行每個專案，甚至是進行創業。
最後，在技術層面上，由於技術射出機產業用於手機、汽車、及電視機。它的關鍵
107
技術在伺服馬達的控制系統。伺服馬達是自動化產業是台灣未來產業之一。用於工 業機械人、半導體自動化、及醫學產業。
整個射出機整個系統十分複雜，售價也很昂貴(射出機國外售價約 1,000~2,000 萬，
國內售價 100~200 萬)，研發時間約 4~5 年。整個射出機控制器成本約 3~4 萬(國外 售價約 20 萬)。
伺服馬達約為 1~2 年。借由大同馬達及行銷通路，馬達的控制系統成本約 1~2 萬，
取代外國高價位伺服馬達的控制系統(10~20 萬)是可行的。
由於時間領域有無窮多解，在時間領域中最適解是不實際的(是不可能的)。
本文提初 MATLAB 及數學模式來做馬達系統模擬，將大同馬達的最適化 PID (K 、P K 、及I K )參數求出。德州儀器 BLY172S-24V-4000 的 PID 最適解為 K= 2, a = 100。D 換算成 s-Domain 的 PID 系統的最佳調機參數為，KP 6，KD 1E-3，KI 9000 。 這些 s-Domain 參數必需改為 z-Domain 的參數。
德州儀器的 Grando-PID，參數K 與時間無關，可將 MATLAB 結果直接代入。P 0.15
0.9/6.0 10
9000/6
/ -4
)
(Gr I P s
I K K T
K 。
目前本文已成功將數學模式建、模擬、最適化參數求取、及韌體演算法運用於低功 率馬達。
再下來研發項目:
1. 高速 EtherCAT 研發。
2. 高功率馬達設計硬體系。
108
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