小型三相無刷直流風扇馬達無感測控制晶片研製

全文

(1)

(2)

(3) Design and Implementation of a Sensorless Control Chip for a Small Three-Phase Brushless DC Fan Motor. !" .

(4)

(5) . ! "#$ %&'()*+, -./0%123456789:;"<=>?@AB .CDEFGHIJKLMNOPQRSTUV W XYQRZ[!\]^X_àb"cdeGfg% h.ijP%h!klm%h]^no.pqr.stuFpvwxW% hyz{X !Z[|}~.o. .tg!% .:.. bF)7" ` ¡¢£¤¥¢¦bF§¨ 7©ª«¬QR®¯"#°]Y±QR²³´`!< §µ.N¶ h^·>?¸".

(6)

(7) Design and Implementation of a Sensorless Control Chip for a Small Three-Phase Brushless DC Fan Motor. ¹ º»¼ :

(8) cd. Student Advisor. ¹ ¹. ½¾¿ÀÁ% ÂÃ!ÄÅÆ{%Ç ÈdQR A Thesis Submitted to Department of Electrical and Control Engineering National Chiao Tung University in partial Fulfillment of the Requirements for the Degree of Master in Electrical and Control Engineering June 2005 Hsinchu, Taiwan, Republic of China. ÉÊ½ËÌÍÎÏ. Chi-Chang Cheng Dr. Shir-Kuan Lin.

(9)

(10) : !" #$%&'()*+,-(. YQRLÐÑÒÓÔ2_ÕÖÒ×ØÙÚÛÜÝÞßWàá âÄÅãä"ÑåÛÜÝÞÁæÖçÚèéêëìâí ( îïðñ ò ) MóâôWõöXVØÕÖ÷ÛÜÝÞøî notebook<ùú ûü×ýþÿ ÛÜÝÞ×Øý.úý.©ý!-ý 4¤ #YR] 8Ø

(11) ñò (Field Programmable Gate Array FPGA) «Ö VHDL Ç !ý èé"#$ÙÚá%3&ÛÜÝÞáâÄÅãä'()]*+ ÑåçÚÛÜÝÞÞ¤÷," èé&{] Visual C++ -.áâ/0ÃÅL\1^P 2] FPGA ãä34Â5âÂ6.ÝÞ/0^78Â6¬ÙÚá %3&ÛÜÝÞáâÄÅÇZ9". i.

(12) Design and Implementation of a Sensorless Control Chip for a Small Three-Phase Brushless DC Fan Motor. Student : Meng-Hsun Hsieh. Advisor : Dr. Shir-Kuan Lin. Department of Electrical and Control Engineering National Chiao Tung University. ABSTRACT. This paper presents the development of a sensorless control chip for a small threephase brushless DC(BLDC) fan motor. The fan motors mostly adopt the single-phase design now. And they need a sensor to detect the rotor position. For various products applied to the fan motor, such as notebook, there is a trend to miniaturize. It is unavoidable to make fan motor miniaturization, light quantization, high performance and high precision. Therefore, in this thesis, a FPGA (Field Programmable Gate Array)based chip design is taken to implement a sensorless control chip conceptual core for three-phase BLDC fan motor drive, utilizing VHDL (Very High Speed Integrated Circuit(VHSIC) Hardware Description Language) modulation techniques and competence from system planning level opinion, improving the single-phase characteristic reached of fan motor at present. The proposed sensorless drive scheme is verified with the Visual C++ simulation first, and then is realized with FPGA-based chip collocating with voltage sensing circuit, motor drive and peripheral circuit for constructing a sensorless control system for a three-phase BLDC fan motor.. ii.

(13) . i. . ii. . ii. . iv. . vii.

(14) 1.1 1.2 1.3 1.4 1.5. 1. 0Ã!Ñ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . :;!ÓÔ$< . . . . . . . . . . . . . . . . . . . . . . . . . . . i9!Ç . . . . . . . . . . . . . . . . . . . . . . . . . . . QR=´ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . QR>9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 2.1. ÙÚá%3&ÝÞ²9. 1 2 7 8 9. 10 . . . . . . . . . . . . . . . . . . . . . . . . . iii. 10.

(15) Ñ? 2.2 2.3 2.4. iv. ÙÚá%3&ÝÞß% à . . . . . . . . . . . . . . . . . . . . . . ÙÚá%3&ÝÞ/0m@ . . . . . . . . . . . . . . . . . . . . . . ÙÚ!çÚá%3&ÝÞLAB . . . . . . . . . . . . . . . . . . . .. !"#$ 3.1. 3.2 3.3. ßWàÚWCí . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 DE9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.2 ×FiGH9 . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.3 IJKL8Õ . . . . . . . . . . . . . . . . . . . . . . . . . . {à - . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MÙN Oèé . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. % &'()*+,-. 4.1 4.2. èéPQRST . . . . . . . . . . . . . . . . . . . . . . FPGA ÄÅãäLÇ>9 . . . . . . . . . . . . . . . . . . . . Quartus II. / 0123456!+ 7869:. 11 13 20. 28 28 28 30 32 35 38. 41 41 46. 64. 5.1. >9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 64. 5.2. ALTERA Stratix EP1S10 Nios Development Board . . . . . . . . . . .. 65. 5.3. ²³. 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ; 76<=>? 6.1 6.2. ²Q . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . UMÓÔ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 73 73 74.

(16) 1.1. ÙÚá%3&ÛÜÝÞáâÄÅÇ>9. . . . . . . . . . . . .. ÙÚá%3&ÝÞô (ROTOR) !V (STATOR) . . . . . . . 2.2 VWX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 θ ! θ WX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 ÙÚá%3&ÝÞô!VÔYX . . . . . . . . . . . . . . 2.5 çÚ K X ( Z[çW :degree\[çW :g*cm/A) . . . . . . . . . 2.6 ] ÀÚÂ& K X ( Z[çW :degree\[çW :g*cm/A) 2.7 120 -ÎEi^ô_`^ . . . . . . . . . . . . . . . . . . . . . . . 2.8 ] ÀÙÚÂ& K X ( Z[çW :degree\[çW :g*cm/A) 2.9 180 -ÎEi^ô_`^ . . . . . . . . . . . . . . . . . . . . . . . 2.10 çÚÛÜÝÞ/0í>9 ( aXbLØ>9cXçLØ >9 ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.11 ÙÚá%3&ÝÞ/0í . . . . . . . . . . . . . . . . . . . . . . . . 2.12 çÚá%3&ÝÞ£dVeOià ( aXfgeOcX [geO ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.13 ÙÚá%3&ÝÞ 120 -ÎEi^\

(17) ýô_`^X . . . . . 2.14 çÚá%3&ÝÞ\

(18) ýô_`^X . . . . . . . . . . . . . . . 2.15 çÚá%3&ÝÞÓhiô_X . . . . . . . . . . . . . . . . . 2.16 çÚá%3&ÝÞ hiô_X . . . . . . . . . . . . . . . . . 2.1. r. s. t. t. t. v. 8 11 12 14 15 16 17 18 19 20. 21 21. 22 22 23 24 25.

(19) XjÑ? 2.17 ÙÚá%3&ÝÞô_X . . . . . . . . . . . . . . . . . . . . . . 2.18 Û5Û&,kOX ( aX curve3 6248NH Û5Û&, kOcX curve2 6248NTD Û5Û&,kO ) . . . DE9l(WX . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 ×FiGH9WX . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Â&igm u → w no÷ v → w ¡ Àpq . . . . . . . . . . . . 3.4 rst©l(WX . . . . . . . . . . . . . . . . . . . . . . . . . 3.5 ÝÞÂuv 30 -wxyDE9 . . . . . . . . . . . . . . . . . . . . . 3.6 ÝÞôz'+^qXyDE9 . . . . . . . . . . . . . . . . . . . . . 3.7 ÝÞÂuv 30 -wxy×FiGH9 . . . . . . . . . . . . . . . 3.8 ÝÞôz'+^qXy×FiGH9 . . . . . . . . . . . . . . . 3.9 {^-|}l(m@ . . . . . . . . . . . . . . . . . . . . . . . . . 3.10 Y§Â6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.11 {^~3&Â5ôoí . . . . . . . . . . . . . . . . . . . . . . . . . 3.1. Pèé&{ . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 Quartus II XqÖSö . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 FPGA ÄÅãä£dÇ>9 . . . . . . . . . . . . . . . . . . . . 4.4 Y§ÄÅ !&{X . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5 Y§ÄÅ ! -²³ . . . . . . . . . . . . . . . . . . . . . . . . . 4.6 VW^Y6 !&{X . . . . . . . . . . . . . . . . . . . . . . . . 4.7 VW^Y6 ! -²³ . . . . . . . . . . . . . . . . . . . . . . 4.8 6 !&{X . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9 6 ! -²³ . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10 DE9$6 ! -²³ . . . . . . . . . . . . . . . . . . . . 4.11 ×FiGH9$6 ! -²³ . . . . . . . . . . . . . .. 4.1. Quartus II. vi 26. 27 29 30 33 34 36 36 37 37 38 40 40 42 45 46 48 48 50 51 52 53 53 53.

(20) XjÑ? 4.12 !&{X . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.13 ! -²³ . . . . . . . . . . . . . . . . . . . . . . . . . 4.14 ! -²³ . . . . . . . . . . . . . . . . . . . . . . . . . 4.15 ÕÂ0 ! -²³ . . . . . . . . . . . . . . . . . . . . . 4.16 »0 !&{X . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.17 »0 ! -²³ . . . . . . . . . . . . . . . . . . . . . . . . . 4.18 {^-|} ! -²³ . . . . . . . . . . . . . . . . . . . . . .. vii 54 55 57 59 61 62 63. ÙÚá%3&ÝÞáâíL>9 . . . . . . . . . . . . . . . 65 5.2 F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.3 Nios ÓÔÂ6X . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.4 Nios ÓÔÂ6>9iX . . . . . . . . . . . . . . . . . . . . . . . 67 5.5 ÝÞÙÚÂ5!OÂ5^qX (1:V 2:V 3:V 4:V ) . 68 5.6 ÙÚÂ5!OÂ5AB^qX (1:u 2:v 3:w ) . . . . . . 69 5.7 ÕÂ0 FÙÚÂ5!OÂ5Ú^qX (1:bemf 2:U-CT3:V-CT4:W-CT) . . . . . . . . . . . . . . . . . . . . . . . . 69 5.8 ÚWwxÝÞÂuv 30 -^qX (1:bemf2:E 3:FG) . . . . . 70 5.9 PWM |}ÝÞÂ5^qX (1:PWM signal2: ÝÞÂ5 ) 70 5.10 restart t© (1:FG signal2:low-level Ehigh-level \?ô ) 71 5.11 90 !DQ . . . . . . . . . . . . . . . . . . . . . . . 71 5.12 DE9$áâ/0ôzX . . . . . . . . . . . . . . . . . . . . 72 5.13 ×FiGH9$áâ/0ôzX . . . . . . . . . . . . . . 72 5.1. u. v. w. d. d. d. d. CT.

(21) 1.1 2.1 2.2 2.3 2.4 2.5. ÙEi^!ÎEi^ . . . . . . . . . . . . . . . . . . . . ÙÚÝÞ

(22) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 -ÎEiôÚ¡¢ . . . . . . . . . . . . . . . . . . . . . . 180 -ÎEiôÚ¡¢ . . . . . . . . . . . . . . . . . . . . . . 6248NH ! 6248NTD ,AB . . . . . . . . . . . . . . . . . . . ÙÚ!çÚá%3&ÝÞ>9^,AB . . . . . . . . . . .. XqÖSöèé&{_ *t© . . . 4.2 Y§ÄÅ !W V¡¢D . . . . . . . . . . . . . . . . . . 4.3 VW^Y6 !W V¡¢D . . . . . . . . . . . . . . . 4.4 6 !W V¡¢D . . . . . . . . . . . . . . . . . . . . 4.5 !W V¡¢D . . . . . . . . . . . . . . . . . . 4.6 Î£¤¥ !W V¡¢D . . . . . . . . . . . . . . . . . . 4.7 Î£¤¥ ! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8 ÕÂ0 !W V¡¢D . . . . . . . . . . . . . . 4.9 ÕÂ0 ! . . . . . . . . . . . . . . . . . . . . . . . . . 4.10 »0 !W V¡¢D . . . . . . . . . . . . . . . . . . 4.11 {^-|} !W V¡¢D . . . . . . . . . . . . . . . 4.1. 5.1. Quartus II. EP1S10F780C6. ãä

(23) . . . . . . . . . . . . . . . . . . . . . . . . . . viii. 4 11 17 19 26 27 43 47 49 52 54 56 57 58 59 60 62 66.

(24) 1.1. . $¦§ 'á%3&ÛÜÝÞ¨4æÖçÚèém Ò<>9 ç.ø©ª«¬xM® ¯î¿oÃÐÃ°ÁØ±²ç ñ'³ÛÜÝÞ8´ý!µVì³¥$]ÙÚÝÞ¶· ¸¹çÚÝÞDL"Ñåº½»¼×Ø½¾ÛÜÁ¿ Papst À Áø¥$§ö'Â·½$<Á¿î Ebm.ComairrotronÃUO P#ÄÝÞYÓéÅê½£½¾ÛÜ¿ZÆ.ÞÇ.Þ.ÈÉ.ÊË UÌ¤÷Í¥ÀÁø Î«ÏÒ§ ì³ÐêëÙÚÝ Þèé!ø"&UÿÑÒ<'ÓYÔÕ4]Öz×Ø" ]YQR-ÓèéÙÚá%3&ÛÜÝÞ/0í)]*+ÑåçÚÝÞ Þ¤÷,ÙÚ®ÛÜ¬Ý¸¹çÚÝÞ" á%3&ÛÜÝÞL/0ìâíMÞâ¥ÝÞôLLWõ/0 íß©à¥áâno ÝÞ\?ãô2äìåæô[óâæõîï ðñò.çèéí°êvíD4â®âíLêë-ì¡YU ìåíîî#2Mï7ÛÜð}ÁUñåò_ÛÜÝÞ Y"öXVØÕÖ÷ÛÜÝÞøî notebook<ùúûü×ýþÿ 1.

(25) M 1 ó ôQ 2 ÛÜÝÞ×Øý.úý.©ý!-ý4¤ " ·êõöÛÜÝÞ÷×ðâíøù¢úûü×Øý 2_ ý"#$âíYþXÿ-. D ý©ªÛÜÝ Þ© #âíÝÞôWõ ©ÝÞÄÅ- ÷® ¡]¤ìôWõâíLáâ/0íú}.

(26) ëÛÜÝÞ VYþâÛÜÝÞôz úÁ. #ÛÜÝÞ2ú»0æõ]ïáâ/0"&ÕÖÛÜÝÞ 2LÓÔ

(27) L/0"&" ×ØÛÜ.ÂÖ.|whÛÜÖÑåØ Â CPU ÛÜ'ÁæÖÿÄÛÜ"&<m@Ð4zÇ CPU ÿ-<¤¥ CPU ÛÜ¤}Â5]ÄÅÛÜôzâÿ-Ø¡Û Üôz0×Øÿ-¡ÛÜôz0*" #èéÛÜÝÞ¤¥ O¡ NÂ!O]$Á"2èéMÙN O<ÑÐ4# $ PWM )mÇ%} PWM Duty ú]ÄÅÝÞÂ5 $ÿÄÛÜ"&". #YRÑú4&XÒ×ØÙÚá%3&ÛÜÝÞ]áâío ÚÄÅ)mÝÞÂ5 /0ÝÞ]Þ÷áâÄÅÑ êÕÖÛÜ'IC ð'(×])*+ÝÞYå'ÛÜ ÝÞôz'|¤ìÄÅ>?Æ #YR,Â&ÄÅ!z-Ä Åt©$ÿÄÛÜ"&'])m#$ PWM %}ÝÞ Â5Á×OêÞ÷z-|}Ñ" 1.2.

(28). ÑåáâíoÚ/0!ÄÅ"&Á¨«ÖÕÂ0 (back-emf) M VoÚi<m ÒÂ6$BçÝÞÂ5â^¸7U B©ª #Y]×Ø"êÖ#i9 ÒÝÞôzzØ¡ ÕÂ0 -.z× ! AzØÓoÚi/¦0G7ÝÞá 9ª«ô #«ÖÕÂ0 /¦oÚiÁ Ò»0 '(Ö2®i91ÝÞô03÷ÝÞôz2ÁÕÂ0 -.3.

(29) M 1 ó ôQ 3 2(oÚi/¦ß©«ÖÕÂ0 MVoÚi"ÝÞáâ íoÚ/0Ù_{¹(1) VW4(2) Y6»04(3) 6oÚÄÅ" (1) VW¹ mÒÝÞ56Wõ4U»1ÝÞ©2ª«ô'(z VW{ïÝÞôX\Ú2_ô_7F8iWõÒ2_{ Y6»0©28±0ôô" J. S. Kim, and S. K. Sul [1] 9V ÀÚO:)]ïÝÞô 9V_WõÝÞU»0åú;7»ôL56Wõ· 2</0Â6L Àª==>? À"S. Ogasawara, and H. Akagi [2] U *¥ÀÁVW{" @½A«M 5,343,127 [3] *¥B2ÄVW{à¥£VM2 !oÚ ïÝÞVW«mÒÝÞô56Wõ4U»]C ÝÞô2Y6)hiWõ ( ú4LWõD!V ¯

(30) igF PëEÚÓ¯

(31) _7 )#ö2à2=!56oÚÚH! oÚ ] 'hipq" (2) Y6»0¹ mÒÝÞØôz¡ÕÂ0 -.z× #óâoÚi¡ ©ªF÷ GHêÓoÚi/¦0G7ÝÞá9ª«ô4. #'()mY6»0{IU7÷32ÁÕÂ0 Lå à¥9VoÚ7ÝÞ]ª«ôêõöoÚJØK= =ñåÚK]7ÝÞôzLM}|ë1ÝÞÕÂ0 -.LMñåâÕÂ0 ¤ªF÷ GHêÓoÚi/¦0G ¡N]O+6oÚÄÅ{" @½A«M 6,153,993 [4] *¥ÝÞY6»0¡ O ]PâoÚiWõ]¤¥2!£ZoÚ (forced commutation) #oÚ4æÖ PWM ÄÅY§no|]ÎEi^}KÓià/ 0" S. Nagamori [5] *¥Y6z{ÖÙEi^VKÓ 1.1 W ÙEi^!ÎEi^QæÖÙEi^©2A:Ø.

(32) M 1 ó ôQ 4 ÎEi^ñå 20 % ÷ 30 % ô_]Ú} Ò]× Ø»0Â&" 1.1:

(33) Three-Step Start-Up Six-Step Start-Up 1. U →V. U →V. 2. U →V. U →W. 3. V →W. V →W. 4. V →W. V →U. 5. W →U. W →U. 6. W →U. W →V. @½A«M 5,726,543 [6] Y6z{ÖÙEi^VK Ó|R+B2!KÙEi^7ÕÂ0 -.Á×]J 370mV ñåÚ 500mV #]*Sno÷6oÚÄÅ{÷üY 6»0¡¢" (3) 6oÚÄÅ¹ âÝÞôzÐ2Ö3]ø]êëÕÂ0 ^qú]O +6oÚÄÅ{6oÚÄÅ{ ]/¦¥Ý ÞoÚi #ÎEiôÚú"23JTÒU"6oÚÄÅ L"&4Á«ÖÕÂ0 MóâôLWõOêÞ÷oÚÄÅ Ñ4 1985 K. Iizaka, H. Uzuhashi, et al. [7] N*¥]«ÖÝÞÂ5 âPâUÓÚÕÂ0 7¿i ( Â56m 6}\6°m \6} 6 )âUÓÚÕÂ0 Ó7¿24¯2_ÝÞÂ uv 30 -ÚWwxN]Ì÷oÚi"ÖUÓÚÕÂ0 7¿iM/¦oÚi¡ìV ø "øC7¿ ioÚiPâ" ÁdW"noÂ&ig¡ø Âã no¡Â&X¢"mÒYIJKL&¥#¡ú"ÓC7¿. #2=oÚ¨'(Z[no ÓC7¿" JJ. Shao, D. Nolan, and T. Hopkins [8] *¥2Ä PWM(Pulse Width Modu-.

(34) M 1 ó ôQ 5 lation) no\,MóâÕÂ0 7¿i"]àÕÂ0 7¿ ióâÂ6ïUÓÚ (floating phase) ÚÂ5!OÂ5Ðz9í7 ÷Â5HN4#,ÕÂ0 ]i9îÒQÖ PWM / 0Î£Y§PWM ï"_åO' `ÕÂ0 7¿i óâÂ6óâ÷C7¿i #óâÂ6'(Öa^íab PWM ø 4a^í"øÚWwx ÓoÚiPâ0Gc<4 âÝÞôz¡ÚWwx d*"ê# #R´ ] PWM À'£ÂãY§ÚXÕÒ£Âãev) À, ÐmÂ6i{àÍ ]Í»â PWM off Õ¢ÕÂ0 6UÓÚÚÂ5ÙWLKf #góâ¥UÓÚÚÂ57 ¿iN7»ÕÂ0 7¿i #i9] a^íÚW wx ]]ÕÖôz;hUABi" R. C. Becerra, T. M. Jahns, and M. Ehsani [9] *¥2_ÕÂ0 ðW9 "&MóâoÚi"m@4âÕÂ0 Ó7¿NïÕÂ0 jX6Ðz2ðWíâðW6 V Þ÷Ôè6 V úà¥oÚ #z V ^ðW?ßèV]|ò 30 -wx¡¢U]4 ¯ôzØOPÚWÛ°ÚWklmjîôz¡]ïð W?ß|Á.÷×wx¡¢]*dÆ1oÚ4#"& no øC7¿ðWí62=oÚNïðWíèV2 ¡¢¤0(D÷èV¡¢zßY6óâ7¿iøî#ú ] Ðmno øC7¿i" K. Y. Cheng, and Y. Y. Tzou [10] *¥2_ßWàÚWCí#ÚWCí no_pÁÒ7éßí|«Ö_éßíÞ÷PâÝÞÂuv 30 -ÚWwx<m@¢DîÒ¹ V¡ P (k) ! N (k) Wq\ rs Óéßíéßítñ!tWq r ! r âÕÂ0 \rÓ ¡ ( Â56m 6}\6 )\géßí P (k) Y6] r zúå3÷ ÕÂ0 rÓ ( Â56m\6} 6 )ê P (k) éß÷6N ÝÞôÂuv 60 -ì¡¢ #wxÝÞôÂuv 30 ¡¢gï P (k) ÕÂ0 rÓ¡%]f r z´ÒßN r = 2r â P (k) ÒßÚ7¡ú¹ÝÞv\oÚ¡¢iÕÂ0 int. th. th. i. d. i. i. d. i.

(35) M 1 ó ôQ 6 rÓ¡Æ(m@w}g4Ö N (k) éßíMÞ" S.Ogasawara and H.Akagi [2] *¥]«ÖÝÞ/0Â6IJKL óâÕÂ0 7¿i¤z#"&g©ÕÖÕÂ0 ^q4xq ^ÝÞ'"<m@ÝÞoÚX¢ÂãY§m À,}> À ,¡Â&"ÀzyÂãzLIJKL)mÂ6i{àÍ g óâUÓÚÒ£ÂãzIJKL À,)]ÕÂ0 7¿ióâ"#i9U]êÝÞ»0°Øôz¡ÕÂ0 .z×êá9óâ7¿i «UìB2ä{ óâÂ6" J. C. Moreira [11] *¥2_¤ÖóâÕÂ0 7¿iU¤ìwx Â6oÚ"&"ÝÞVO: Y Ø|#NòÒ¤"øÙ=}^ Â&]ÚÂ5Ù=}^Â5Wg!u~Â5§ÐmðWé ]7÷ôÀÙ=}^â#6Ó7¿¡NÎEiô Úi"#i9iÒ¤ìÁ°{ a^íZ[a^íÚWw x 2å'ØK¡Ù=}Â]Â5â9d©ªóâ (. Ù=}^K´4ÕÂ0 Y^Ùf )]#i9]ÝÞ BÁôz;hê#m@g©áÖÒÕÂ0 xØ^Â0Ã'" @½A«M 6,316,894 [12] XÒ]oÚóâÂ6 Y§noêø no *¥2_]Â69rÂ6 (mask circuit)gï Ðz#2rÂ6oÚóâÂ6N,no ÓC7 ¿iÝÞ\?ô" @½A«M 5,886,486 [13] *2_ßWàÚWCí]Þ 90 ÚWwx"#ÚWCínoÎ_éßí P .N .P .N . P .N " V¡ S .S .S Wq4ÙÚÂ5!ÚÂ5AB¤¥ P . P .P Wq éß S . S .S high ¡¢N .N .N Wq é ß S .S .S low ¡¢ #2_éßíéß¡¢¨4ÝÞÂ uvô 180 -¡¢Cè S m high ô low( ÕÂ0 Ó7¿ )%m N éß S low ¡¢â N éßÚ P 62¡N¹ ÝÞÁ ôÂuv 90 - #à¥oÚ |ï P 7N éßâ S m low ô high%m P éßâ P éßÚ N 62 ¡à¥oÚ |ï N 7ê P .N .P .N 0(U42. a. a. b. b. b. b. c. c. c. a. c. a. a. a. b. b. c. a. b. c. c. a. a. a. a. a. a. a. a. a. b. a. b. c. c. a. a.

(36) M 1 ó ôQ 7 #]«ÖÎ_éßíPâ¥ÎEi^Î_oÚ " @½A«M 6,111,372 [14] èé2_ÀA mask Â6# mask Â6 "¤¥2_ mask â mask low ¡óâÂ6|¤"óâ7¿ imÒÝÞ»0¡° ñå¡"øBÁÂ& #<no ¡¢U"BhZ[# # mask Â6ÝÞÂ& ÝÞÂ&ñå¡< mask low ¡¢U"ñå] no Ó C7¿" Ñå§ö'çÚÛÜèé¤¥ OOàFÙOàÄ²9 Oà²9¤¥ O Vcc ! GNDêÙOà²9 O Vcc F GND $InoMÙN O<t©èéì³]W¹ 1. ôzÞâ¤¥ (FG Signal Output) ~ Open-collector 2. ¤¥ (Alarm Signal Output) ~ Open-collector 3. z-ÄÅ¤+ (Speed Control Input) (a) ÿÄØ (Thermistor) (b) bôzØ (Two Speed Operation) (c) {^|}ÄzØ (PWM Signal) ØÂÁæÖÿÄ"&M/0ÛÜÝÞ<ÑÒ×ØÛÜ .ÂÖ.whÛÜÖ"ÿÄ"&m@Ð4«Ö¾ ÂûóâÇÿ-2)m PWM |}ÝÞÂ5Þ÷%}ÛÜôzÑ ([15] [21])" mÒYQRÐ4&X×ØÙÚá%3&ÛÜÝÞèé2$ß WàáâÄÅãäY!¯Ñå§ö'çÚÛÜèéY RïVóQÚ§èéi9^ßWàÚWCí$" 1.3. . YRÑÐ4&XÒ×ØÙÚá%3&ÛÜÝÞ]óâUÓÚ ÕÂ0 7¿ièé2_$áâí/0ÃÅ|.

(37) M 1 ó ôQ 8 Qáâí»09^wxÝÞÂuv 30 -ÃÅ] FPGA (2 ç.X 1.1 çWÙÚá%3&ÛÜÝÞáâÄÅÇ> 9#ÇZ92ÝßWý FPGA Ç|æÖ VHDL ! FPGA ãäèéPï 120 -ÎEi^/0m@^áâí/0ÃÅ ìLVt© !L2$ò¯#Çãä!$d/0Â6Z¾¥2 ] FPGA ãäÙÚá%3&ÛÜÝÞáâ/0Ç". 1.1: 1.4. . &XÝÞáâoÚÄÅ6oÚÄÅ{*¥DE9^×F iGH9M$ÝÞÂuv 30 -Pâ|ë©2Z[no Ó C7¿$" 2. $ IC ãäèémÒ$dÂ6gÖÎ£Â6!ABíÂ6 UMYÓ IC ãä']÷×ð])*+ÛÜÝÞY'" 1..

(38) M 1 ó ôQ 1.5. . 9. YQR>9WÎ_ó"M2ó0Ã!Ñ.:;!Ó Ô$<.i9!Ç.QR=´!>9D4MKó¢DÙÚá% 3&ÝÞ£d9Ó!/0m@|,^>9'!çÚá%3&ÝÞ AB4MÙó¢DáâoÚÄÅãäL$i9noßWàÚWC í.{à -^MÙN Oèé4MÍóãät©

(39) ^. -no PèéQRST.Vãä !èét©^<. -²³4MóeS T>9^²³4MÎó²Q!UMÓÔ".

(40) !"#$ 2.1. !. YQRÖÙÚá%3&ÝÞ ( îX 2.1 W ) 4 9 12 LÙÚ ÝÞ ( £dVË_$dô 12 L )<

(41) î 2.1"$dô Løv-4 30 -m94£dVe4µe'O :µ8O:Vø 5 - #øÃv- 30 -! µiÚ 40 -<ù~eO:ù¢4mÒ£d|Oâ í #'()máâ/0"&M/¦ô!VÚXWõOê%} O:Â&&0igø2\g_Í0$dô1ÙÚá%3& ÝÞ©2}2igô". 10.

(42) M 2 ó ÙÚá%3&ÝÞ. 11. 2.1: ! (ROTOR) "! (STATOR) 2.1: # $%. 2.2. λr. 7.62 × 10−4 W b − turn. Ls. 0.136mh. Rs. 1.95Ω. J. 17 × 10−7 kgm2. Bm. 5 × 10−3 N tm/(rad/sec). M. 0.63mh. "#$%. ÙÚá%3&ÝÞÙ_VO:^ô'<VW XÁ`îX 2.2 W#ÝÞ Y #D8Â6X2Ú¨mÝÞD 8Âû.D8Â]^ÝÞô¡øÕÂ0 ! ( CèO: 'D8Âû^DÂÚ} )"< L ¹4D8Â6n Ý ÞÚÂ L !Ú!Ú¢¡ M êVÚÂ&Úi&+O n igV¡\Â&" p.

(43) M 2 ó ÙÚá%3&ÝÞ. 12. 2.2: "!&' ÙÚá%3&ÝÞ¢ß!}ßV¡îÒ : n¹O V , V , V : a,b,c ÙÚÚÂ5 i , i , i : a,b,c ÙÚÚÂ& e , e , e : a,b,c ÙÚÕÂ0 L : VO:6 M : VO:¡6 R : VO:û£6 ω : ÝÞôz θ : ôvK : ÕÂ0 ?ß P : ÝÞLß T : ÝÞô_ K : _?ß T : ô_ J ¹ÝÞ¤ B ¹ÝÞû¥¦ß an. bn. an. bn. a. b. p. r. r. emax. e. t. L. m. cn. cn. c.

(44) M 2 ó ÙÚá%3&ÝÞ 13 )m]'ÝÞ¢ßV¡NmZ§¨©Â5Vª!«¬ã0Vª WqÍ ¥ÙÚá%3&ÝÞÂui{à!Ãi{à" ()*+ .  Van     Vbn    Vcn. . .   R 0 0       = 0 R 0       0 0 R. ,-*+. . . . . ·.   ia   Ls −M −M   ia          ·      ib   ib  +  −M Ls −M          ·    ic −M −M Ls ic. . . .   ea            +  eb           ec. √ ib ic 3 2J 2Bm Te = Kt ((ia − − ) cos(θr ) + (ib − ic ) sin(θr )) = ω˙r + ωr + TL 2 2 2 P P. (2.1). (2.2). ./0(123+ (2.3) . .  ea     2ω K    r emax  eb  =   P     ec. 2.3. . cos(θr )      cos(θr − 2π ) 3    cos(θr + 2π ) 3. &'(.         . (2.3). ÙÚá%3&ÝÞ$dô4m±®9Q¯ôô0 e'(£dV <ôWõ%}")m£dV'eO :«Ö$°¤+Â&ÓÂ %} #êøô_«£dV Ð9V± #ø2_E(Ö

(45) Í0$dô]ß©ÙÚá% 3&ÝÞô"ÝÞ4]Áô_ôÀ?æÖi9ÎE i^/0<Y²³^´àÍ µîÒ¹.

(46) M 2 ó ÙÚá%3&ÝÞ V¡ô!VWõîX 2.3 W". 14. 2.3: θ θ &' r. s. ¶·MDa¸Vª ( Q N ¹O: )]7» F =N ·L·I ×B. (2.4). < I V¡O:'Â& L V¡O:'F Õ8hB V¡ÀN V¡O:¹ß ÙÚá%3&ÝÞ_e T = F · r = N · L · I × B · r = Kt · I. (2.5). < K V¡_?ß r V¡

(47) Y t. B ! θ ,θ v-§]Í» r. s. B = B(θr , θs ) = Bmax · cos[P/2(θr − θs )]. (2.6).

(48) M 2 ó ÙÚá%3&ÝÞ < P V¡ô'Lß θ V¡ô']2iXViv-H θ V¡V']2iXViv-H. 15. r. s. ïà (2.6) ¹+à (2.5) ÐmÍ]7÷ Kt = 6 · N · Bmax · L · r · sin(P θr /2). (2.7). Jà (2.7) ]Ó$ÙÚá%3&ÝÞ_?ß K "õöôô0ê sin ^}ý" t. /012. ÎEi^/0<ÙÚO: Àià¤}]W 120 -ÎEi^/ 0! 180 -ÎEi^/0" 120 -ÎEi^/04]] ÀÚO:p <Ò/0ÝÞ ( 2ÚÂ&¤+2ÚÂ&¤¥B2ÚY6 ) 180 -ÎEi^/0e] ÀÙÚO:p<Ò/0ÝÞ ( <Ú Â&¤+B2ÚÂ&¤¥4°4<ÚÂ&¤¥B2Ú Â&¤+ )" [120 -ÎEi^/0m@ ] V¡ÙÚá%3&ÝÞô!V56WõîX 2.4 W". 2.4: / !"! 45.

(49) M 2 ó ÙÚá%3&ÝÞ 16 X 2.5 âÙÚá%3&ÝÞô¡Wq S1,S2,S3 Ù_VWõ ÷ K õöÂuv!Ãv}ý^qX ( Âuv / Ãv =pole ßÑ /2=6]Âuvº 360 -Ãvgº 60 -Uú4¢ÝÞgô 60 -) t. 2.5: 6 K ( 7869 :degree:;869 :g*cm/A) t. X 2.6 S1,S2,S3 Ù_V] ÀÚO:p<ÒK õöÂuv }ý^qX" t.

(50) M 2 ó ÙÚá%3&ÝÞ. 17. 2.6: <'=>?( K ( 7869 :degree:;869 :g*cm/A) t. QÙÚá%3&ÝÞ¤¥ô_v)Á6m´à T = K · I ]7»'(ï K v)Á6 #)mX 2.6 ^qX]ò @noÂ&¡¢iî 2.2" t. t. 2.2: 120 @ ABC , À]Â&ig Âuv,2 S2 → S3 [-30,30] ,K S1 → S3 [30,90] ,Ù S1 → S2 [90,150] ,Í S3 → S2 [150,210] , S3 → S1 [210,270] ,Î S2 → S1 [270,330] ,2 , , §»noi -30,30,90,150,210,270,330.

(51) M 2 ó ÙÚá%3&ÝÞ 18 m 2.2 ]7»âÝÞÂuv [-30,30] ¢ T Á 6 #Â& Àig'( S2 → S3êâÝÞÂuv [30,90] ¢ Â& Àig'( S1 → S3". #g7»ÙÚá%3&ÝÞ¼2_,i2«ÖÂ&n o)]Þ÷Áô_ ( îX 2.7)". 2.7: 120 @ DE -ÎEi^ãôm@ ] <Í ià! 120 -ÎEi^ÀÁX 2.8 S1,S2,S3 Ù_V] À ÙÚO:p<ÒK õöÂuv}ý^qX" [180. t.

(52) M 2 ó ÙÚá%3&ÝÞ. 19. 2.8: <'=>( K ( 7869 :degree:;869 :g*cm/A) t. }@ÙÚá%3&ÝÞ¤¥ô_v)Á6)mX 2.8 ^qX]ò@noÂ&¡¢iî 2.3" 2.3: 180 @ ABC , À]Â&ig Âuv,2 S2 → S3 [0,60] S1 → S3 ,K S1 → S3 [60,120] S1 → S2 ,Ù S1 → S2 [120,180] S3 → S2 ,Í S3 → S2 [180,240] S3 → S1 , S3 → S1 [240,300] S2 → S1 ,Î S2 → S1 [300,360] S2 → S3 ,2 , , §»noi 0,60,120,180,240,300,360.

(53) M 2 ó ÙÚá%3&ÝÞ 20 g7»ÙÚá%3&ÝÞ¼2_,i2«ÖÂ&no) ]Þ÷Áô_îX 2.9 W". 2.9: 180 @ DE 2.4. ) *+,. îM2óÙÚá%3&ÝÞMM¸¹çÚÛÜÝÞÿ . #YïO2E¢DÙÚá%3&ÝÞ!çÚá%3&ÝÞH½". 3456 çÚá%3&ÝÞÚì2¾ïðñòóâôWõ]Þ÷oÚÄÅ Ñ4ïðñò©ªFÿê¿Àî#ïÓÝÞá9ô* >ÝÞ"ELÙÚá%3&ÝÞQæÖáâoÚÄÅ"& ],ïðñòYU]%Á ïðñò¿Àê÷üÝÞ ".

(54) M 2 ó ÙÚá%3&ÝÞ. 21. /0789. Ñå§ö'çÚÛÜÝÞ/0í]WbLØ (bipolar) FçLØ (unipolar) Ä>9îX 2.10 WçÚÛÜÝÞ/0í>9". 2.10: 6F1G ( HIJKL:MI6KL ) mX 2.10 ]7»bLØ/0íìÍ_ÂãçLØ/0íeì _ÂãÂ·bLØ/0íY'AçLØ/0í_Âã 48´'U"AçLØ/0í"ÙÚá%3&ÝÞ/0íÙ ÚbLØîX 2.11 W". 2.11: F1G. :;<=12 çÚá%3&ÝÞ£dVeOià]WfgeO![geO îX 2.12 W"ÙÚá%3&ÝÞ£dVeOiàfgeO".

(55) M 2 ó ÙÚá%3&ÝÞ. 22. 2.12: 6NO"!PQ+ ( HIRSPQ:MI8S PQ ). >?@ABC mÒYQR4]UÓÚÕÂ0 PâÝÞoÚi]\ ,'ïæ] 120 -ÎEi^/0ÙÚá%3&ÝÞî#ß©mUÓÚ7 »ÕÂ0 ( mX 2.2 ]7»ÕÂ0 NUÓÚ!O Â5H )"i)ABçÚ!ÙÚá%3&ÝÞô_`^]ï ô_`^\

(56) ýX 2.13 WÙÚá%3&ÝÞ 120 -ÎEi^\

(57) ýô_`^X". 2.13: 120 @T$U DE.

(58) M 2 ó ÙÚá%3&ÝÞ ô_`^é´àîà (2.8) W" T orque ripple =. Tmax − Tmin ∗ 100% Tmean. 23. (2.8). #]é¥ÙÚá%3&ÝÞô_`^ √ 1 − 3/2 ∗ 100% = 14.03% T orque ripple = 3/π. X 2.14 WçÚá%3&ÝÞ\

(59) ýô_`^X". 2.14: 6T$U DE. #]é¥çÚá%3&ÝÞô_`^ T orque ripple = 1 − 0 ∗ 100% = 157% 2/π. ABX 2.13 FX 2.14 ]7»ÙÚá%3&ÝÞçWð¤¥_^ ôzÂÅ'¨ÒçÚá%3&ÝÞê ÙÚá%3&ÝÞô_`^ ×ÒçÚá%3&ÝÞ]ÙÚá%3&ÝÞ -0'"AçÚ á%3&ÝÞ×'U"AçÚá%3&ÝÞh".

(60) M 2 ó ÙÚá%3&ÝÞ. 24. D>>?. ÝÞô2ÄÃö2,Vig!VXÿ m#ÿ "ø 2Ä-Äô_Åô_°¬ôô_ (cogging torque)#Ä-Äô_ 4mÒVÅ72_LÒLûÓ}ýê Æw ûô_{0êò_ÝÞL¬ôô_4V_Løûô_{0L ¯"&X²9XÝÞê¬ôô_ÚXÒôigLù¢ÃvÇ$7Õ}ý^q<7ÕÁ×mÝÞLß!ßV" çÚá%3&ÝÞ/0'"hi ( á9ô ) #'() m¬ôô_|òM hi X 2.15 FX 2.16 WqçÚá%3& ÝÞÓhi! hiô_X". 2.15: 6VWXY D.

(61) M 2 ó ÙÚá%3&ÝÞ. 25. 2.16: 6Z[XY D ¬ôô_])m%}.|òÅDiàM%}4¬ôô_" Óz-!WõÄÅGHU" VÃ²9§¦Ó¤Ôâ È0!]`Òò_Ç¤µV". ÙÚá%3&ÝÞ/0¤"hi ]èé6¡ ]É×Ø¬ôô_]¬ôô_Ó"X 2.17 WÙÚá %3&ÝÞô_X".

(62) M 2 ó ÙÚá%3&ÝÞ. 26. 2.17: D. E+FG ]º½×Ø½¾ÛÜ¿ Papst 'ÓøKÊ[&Üj<$² ËÌ¨ 172φ X51mm"èWq 6248NH( çÚÛÜÝÞ ) 6248NTD( ÙÚ ÛÜÝÞ )<,ABî 2.4 W" 2.4: 6248NH 6248NTD \]^_ ÍÑ 6248NH 6248NTD ÝÞÚß 1 3 l(Â5 (Volt) 48 48 ¤¥t´ (W) 26 50 l(ôz (rpm) 4000 5100 ÁÛ5 (Pa) 480 600 ÁÛ& (m /h) 282.5 353 3. X 2.18 W 6248NH ! 6248NTD Û5Û&,kOX"mX 2.18 ]Î¥ 6248NTD Û5Û&l(;hno 6248NH Û5Û&l(;.

(63) M 2 ó ÙÚá%3&ÝÞ 27 h #ÙÚá%3&ÝÞÛ5^Û&,'"AçÚá%3&ÝÞ ". 2.18: `\]aQ ( H/ curve3 I 6248NH `\]a Q:M/ curve2 I 6248NTD `\]aQ ) Ï¯' ]ò@¥ÙÚ!çÚá%3&ÝÞ>9^,AB î 2.5 W" 2.5: 6 b\]^_ ÍÑ ÙÚá%3&ÝÞ çÚá%3&ÝÞ /0í bLØ çLØ.bLØ Âã_ß 6 2°4 eOià fg fg°[g -0 ô_`^ =14.03% ô_`^ =157% ]-0B× ]-0BÁ ÅØèé©ª ÅØèéÐÑ 6èé É×Ø¬ »0hi ô_N 2ä¬ô_BÁ çWð¤¥_ BÁ B× ôzÂÅ Úôz ¤«Òôz F8´ hF üFØ.

(64) %&' ()*+,-. 3.1. "-%-./. YQR*¥ÝÞÂuv 30 -Pâ9Ð4«ÖÝÞÕÂ0 ,¹âÝÞ\?ô¡î³ÕÂ0 Ó=7¿=7¿ ¡¢'¢ÒNÝÞôÂuv 60 -¡¢oÓÔ¢âÕÂ0 Ó7¿âÝÞôÂuv 60 -ú"¥$2=7¿"Pâ ÝÞÂuv 30 -i9ÕÖ'*¥Ä92Ä4]DE9$ ê2Ä4]×FiGH9$" 3.1.1. @A$. DE94]éßiàMéÕÂ0 Ó=7¿i¡¢ T. ÝÞÂuvô 30 -¡¢ , T/2 #âÕÂ0 Ó7¿ ¡Y6éß T/2 ¡¢Nnoi" 28.

(65) M 3 ó áâoÚÄÅãäL$i9 29 X 3.1 WDE9l(WX< V .V .V WqÙÚÂ5 u .v .w WqÙÚÂ5!OÂ5AB E UÓÚ ÚÂ5!OÂ5ABßW ( m u .v .w ! )C F C é ßíWq éß E ÆW high F low ¡¢S oÚ â S Æ W%}N¹oÚ0(θ ÝÞôÂuv"mÒ E NÕÂ 0 !7Â5ÆWABßW #])m E ,4Õ%}M Í»ÕÂ0 4Õø7¿" u. d. d. v. w. d. d. d. d. d. d. p. c. c. e. d. d. 3.1: cd ef&'. n.

(66) M 3 ó áâoÚÄÅãäL$i9 30 DE9l(¢DîÒ¹ CèÑåôÂuv 60 -Â& Àig4J u À÷ véßí C J E ,%}i a úY6éß E ÆW high ¡¢âÝÞJ a iô Âuv 60 -E ú"ø,%}i b#¡ C ïéß6 ]K|Ö× éßC Y6éßâ C éß6! C 62¡úà¥oÚ ( # ¡Â& Àigno u À÷ w)|ï C 67ê C éß#ö l(iàÚ}g4o C éßÝÞôÂuv 60 -¡¢ (b ÷ c Ø ¡¢ )C eéßPâ7÷ÝÞÂuv 30 -¡¢]#ÀÍú]«Ö _éßí (C .C ) ¿T0(M$DE9" p. d. d. d. n. p. n. p. p. n. n. p. p. 3.1.2. n. BCD#EF$. ×FiGH9²³4«ÖzUß_»6Í¥×FiGH i{à<i{à©2=à.K=à.°]'2«Ö#i{àM PâÑå6"ÙÕÖ'YQR4«ÖzUÍ_»6MÍ¥ ×FiGH2=3Oi{à2PâÑå6" é^Í îÒ ( ¢X 3.2)¹. 3.2: ghijkd&'.

(67) M 3 ó áâoÚÄÅãäL$i9 31 X-Y Fö'Í_ÚiWqV¡ A(1, T ).B(2, T ).C(3, T ).D(4, T ) 3Oi{àV¡ 1. 2. 3. y = ax + b. 4. (3.1). ÔPâÚ E(5, T )V¡GH e 5. e=. 4 X i=1. (yi − axi − b)2. (3.2). ∂e = 0. ∂e = 0]7÷ ï»ÍiÚ¹+à (3.2)2«Ö ∂a ∂b (. 30a + 10b = T1 + 2T2 + 3T3 + 4T4. (3.3). 10a + 4b = T1 + T2 + T3 + T4. êÛ¾i{àN7÷3Oi{à¦ß a=. −3T1 − T2 + T3 + 3T4 10. (3.4). 2T1 + T2 − T4 2. (3.5). b=. ïÔPâÚ E(5, T ) ¹+à (3.1) N7ÔPâ6 5. T5 =. −T1 + T3 + 2T4 2. (3.6). #]×FiGH9PâÝÞÂuv 30 -¡4«ÖåÍ=Ý ÞôÂuv 60 -Ø¡¢ (T T ) $"!DE9HqÒDE9 g¸zU2=ÝÞôÂuv 60 - ê×FiGH9e¸åÍ= ÝÞôÂuv 60 - " ×FiGH9'()Ü?Í=ÝÞ ôÂuv 60 - #$''(ADE9ÖÍ!Ýí (R R )êà¥oÚ <Ýí6'(d2=" 1. 4. 1. 4.

(68) M 3 ó áâoÚÄÅãäL$i9 32 ×FiGH9l(¢DîÒ¹ ×FiGH9l(EÞ!DE9ÀÁg4PâÝÞÂuv 30 -¡ '(2Öà (3.6)"îX 3.1 WCè E ø,%}i bê C é ßÝÞôÂuv 60 -¡¢ (a ÷ b Ø¡¢ )#¡ï C 6+ R (R R ÐÜ?åÙ=ÝÞôÂuv 60 -¡¢ )#öï R R ¹+à (3.6) T T ï7÷6 (T ) ]K+ C · C Y6 éßâ C éß6! C 62¡úà¥oÚ |ïÝí6 d (R =R .R =R .R =R ) ë C 67ê C éß#öl(i àÚ}g4o C éßÝÞôÂuv 60 -¡¢ (b ÷ c Ø¡¢ ) C eéßPâ7÷ÝÞÂuv 30 -¡¢]#ÀÍú]«Ö_é ßí (C .C ) ¿T0(FÍ_Ýí (R R ) $×FiGH9" mÒ#i9Y6n÷6¡< R R 64U» # Y6n÷6×FiGH9'(]DE9PâoÚiâ R R ²Ù=ÝÞôÂuv 60 - ( Uú4ÖDE9oÚÙ = )ú]Ö×FiGH9" d. p. p. 4. 1. 3. 1. 4. 1. 4. n. 1. 2. 5. p. n. p. 2. 3. 3. 4. p. n. n. p. p. n. 1. 4. 1. 1. 3.1.3. 3. 3. GHI3JK. MKó*÷no ï"ÕÂ0 7¿ióâ #ì 2®roÚ\,°èérÂ6M no Ó"no øm MÒIJKL8ÕX 3.3 WÂ&igm u → w n o÷ v → w ¡ Àpq (a) ¢£Â&ig4mÝÞ u Ú&Ú w Ú ÝÞïÂ&om v Ú&Ú w ÚX¢Uú4 u Ú'YÂã T OFF v Ú'Y T ON X¢Â&"m u ÚÒYIJKL&z. # (b) ¢£V "X¢× Low ÆW#p<"23÷ u ÚÂ&ß "mÒ=oÚ¨"ÓIJKL8Õ #=oÚ¨'( no ß©ÝÞ\?ô" r1. r3. u.

(69) M 3 ó áâoÚÄÅãäL$i9. 3.3: (Sl u → w mAn v → w B=>op. 33.

(70) M 3 ó áâoÚÄÅãäL$i9 34 DE9F×FiGH99'Ð4óâÕÂ0 7¿i 2ÝÞÂuv 30 -wx]³7àoÚ¡¢i4Ù' IJKL8Õ=oÚ¨"no øî#ï" 7ÕÂ0 C7¿$UúÓDE9F×FiGH9á9 $ # no noiPâ''(ïßWàÚW Cí_éßí (C .C ) (2®I\" X 3.4 rt©ßWàÚWCí< E UÓÚÚÂ5! OÂ5ABßW C F C éßíWq éß E ÆW high F low ¡¢S oÚ â S ÆW%}N¹(oÚ0( θ ÝÞôÂuv" IJKL8Õ #=oÚ E ú"ø7¿$ C7¿]ïéßí C F C èV2_r¡¢6 k"gâ C ° C éß÷6Þ÷#r¡¢6 ßáÓv\7¿ #©2DE9°×FiGH9ß% é|$ÝÞÂuv 30 -wxELeáÓC7¿$ #¡'(ïéß÷6uåÚ éßÝÞôÂuv 60 -éßí '3÷ C ° C éß÷6Þ÷Nò6 k ( Óv\7¿ )" p. n. d. p. n. c. d. c. e. d. p. n. p. p. n. n. 3.4: qrst ef&'.

(71) M 3 ó áâoÚÄÅãäL$i9 35 rst©ßWàÚWCí<l(¢DîÒ¹ CèÑåôÂuv 60 -éßí C J E ,%}i a úY6éß E ÆW high ¡¢ IJKL8Õ # E ø,% }i c#¡ C Ö×éßC Y6éßmÒ C ÃUéßÚ k 6úÓ ,i d #]áÓC7¿ê C éß÷6â·ÝÞ ôÂuv 60 -¡¢£] C 6'(uåÚ C '|ï C 7# ö C éß3÷ E ø,%}i b#¡ C Ö×éßC Y6é ßâ C éß÷ k 6¡úï C (DE9°×FiGH9ß%ã ë C éß3÷ C éß6! C 62¡úà¥oÚ | ï C 67 ( QÖ×FiGH9'(ïÝíd )]#ÀÍú ]'$DE9F×FiGH9" p. d. d. d. p. n. n. n. n. p. p. d. n. n. n. p. n. p. n. p. p. 3.2. 0%$1. áâí/0ÃÅ{à -Ð4m Visual C++ Z9êÖ ÝÞ¢ß!ÖÝÞ

(72) 2` ( ¢ 2.1)])ÕÖÒ$"ÝÞ áâíoÚ/0Ù_{¹(1) VW4(2) Y6»04(3) 6oÚ ÄÅ #{à -&{')<#Ù_{$áâ/0ÃÅ" VW{ïÂ& Àig u→vâ À¡¢ 0.5 ã NïÂ& Àigno v→w#ö À 0.1 ãN¬VW{"Y 6»0{ïÂ&igno v→u< À¡¢ 0.08 ã#öà ¥ÎEi^|÷ü À¡¢ÝÞôz==*+âÝÞôz*+ Ú 200rpm N¬Y6»0{"6oÚÄÅ{4]ÕÂ0 Pâ9ÐâUÓÚÕÂ0 Ó7¿2wxÝÞôÂu v 30 -¡¢NànoiêÝÞÂuv 30 -wxmDE9F ×FiGH9$" X 3.5 !X 3.6 4DE9 -²³]²ä¥ÝÞÂuv 30 -w x]mDE9$7ÝÞt>6oÚÄÅ{ïôz*+ Úµ,ôz".

(73) M 3 ó áâoÚÄÅãäL$i9. 36. 3.5: ()u 30 @vwxcd. 3.6: yz{pxcd X 3.7 !X 3.8 4×FiGH9 -²³]²ä¥ÝÞÂuv 30 -wx]m×FiGH9Þ7ÝÞt>6oÚÄÅ.

(74) M 3 ó áâoÚÄÅãäL$i9 37 {ïôz*+Úµ,ôzêëôz'+¡¢ (rising time) ]^µ,ô zxå¨!DE9 -²³Ú}". 3.7: ()u 30 @vwxghijkd. 3.8: yz{pxghijkd.

(75) M 3 ó áâoÚÄÅãäL$i9. 3.3. 38. 234567. YRïÛÜÝÞMÙN Oèé PWM ¤+)m%} PWM ]7Õ (duty ratio) ]|}ÛÜÝÞÂ5 #©2%}Ý Þôz$ÿÄÛÜ"&" X{^-|}"& (pulse-width modulationPWM) (2¢D¹{ ^-|}"&Ð4«Ö2_^ V ( À?Ùv^ ) !æY^ V ( \ç^°V6 )ï_^qÐmÁ×ABøY§no "X 3.9 W{^-|}l(m@â V B V Á¡ABL²³Æ WY§ ÀÕeØÆWY§è×¿Y§Lno7Õ!^} T" c. control. control. c. s. 3.9: |}@~ef Y§noL]7Õ D V¡¹ D=. ton Ts. (3.7).

(76) M 3 ó áâoÚÄÅãäL$i9 ¤¥Â5F6 V¯ ]Í7. 39. ton ∗ Vdc = D ∗ Vdc V¯ = Ts. (3.8). mÒ¤¥FÂ5! D \A #â D Á¡¤¥FÂ5"ÁE Le×"mÙvqÚÁV@]Í» V F Vˆ §¦à¹ control. c. Vcontrol (ton − Ts /2)/2 ton −1=2∗D−1 = =2∗ Ts /4 Ts Vˆc. (3.9). mà (3.8) !à (3.9) ]7»)m%} V Á×ú]%} D Á×. #Þ÷|}¤¥FÂ5Ñ${^-|}"&" ÛÜÝÞ#$÷ PWM '(Ðz2®Â6é@ß©Þ÷| }ÝÞÂ5ÑX 3.10 FX 3.11 WqY§Â6^{^ -3&Â5ô oí" PWM "ïY§Â6êÑåÖ PMOSwÖ Bipolar Junction Transistor T¹ë(no¤¥L{^ ]Â5!ÆW|) mY§Â6*32ÁÂ&]/0ÝÞY§Â6øL{^ ¤+{ ^~3&Â5ôoíêÑåèé RC a^íwÖKØÀa^í°< Ú§ØÀa^ ICëï PWM ab7÷2_ DC Â56 #2 DC Â56N*ÝÞ/0Â5" control.

(77) M 3 ó áâoÚÄÅãäL$i9. 3.10: 5(. 3.11: |(` AG. 40.

(78) / ()012345678 4.1. Quartus II. 6789:;<=. Quartus II èéP*2_>?©ªáÕ,Vèéì ¬òFìèéQRí42{àñòò¯YÓQR"X 4.1 îW Quartus II èé&{«Ö Quartus II PYÓèé&{Á`Wè é¤+.¯.ïðFïO.¡Wë. -^{àÒ

(79) "Ö QuartusII P]¬èé&{ 42Ä¬òë©ªÖñ¾ êiò" QuartusII Pno QuartusII XqÖSö.EDA ÆSö°æSö ò_&{°Ö<2ÄSöU]èé&{¤} V`óÖ¤}Í"QuartusII XqÖSöèé&{_ * t©ò@î 4.1 W" Altera. 41.

(80) M 4 ó ãät©

(81) ^. -. 4.1: Quartus II *. 42.

(82) M 4 ó ãät©

(83) ^. -. 43. 4.1: Quartus II pI* st Design flow. Graphical User Interface. Design Entry. Text Editor Block & Symbol Editor MigaWizard Plug-In. Synthesis. Place & Route Timing Analysis Simulation Programming. . ManagerAssignment EditorFloorplan Editor Analysis & SynthesisVHDL verilog HDL & AHDLDesign AssistantRTL Viewer FitterAssignment EditorFloorplan Editor Timing AnalyzerReport Window SimulatorWaveform Editor AssemblerProgramerConvert Programming Files. ]ÒEÞ Quartus II Yèé&{«|>_EÞ'ìE ÞÖPì,ÍEÞ°ôõ}0EÞ{¹ Öá~ç File→New project Wizard Z¾Aò|VÑñò°ñ òÇ 2. Ö Text Editor Z¾ Verilog HDL.VHDL ° Altera (AHDL) è é"]Ö Block Editor Z¾no¹<èéöòiX° Z¾WX" 3. Öá~ç AssignmentsAssignment Editor.Setting XÔ÷.Floorplan Editor.LogicLock t©,V56èéÂÅ" 4. Ö Analysis & Synthesis ¯èé" 5. Ö Simulator XèéøPt© -" 6. Ö Fitter XèéøP4õF6O" 1..

(84) M 4 ó ãät©

(85) ^. 44 7. Ö Timing Analysis XèéOP¡Wë" 8. Ö Simulator XèéOP¡ -" 9. Ö¯ (Physical Synthesis).¡¯FöïõX"(Timing Closure floorplan).LogicLock t©.èV (Settings) XÔ÷F Assign Editor OP¡ %O" 10. Ö Assembler èéZ¾è{öò (Programmer files)" 11. Öè{öò.Programmer ÅöF Altera ( jî Byteblaster II) Xñ òOPè{ (program)4°ïè{öòôo<öòà]*+à é@íD<ÇÖ" X 4.2 W Quartus II XqÖSö"QuartusII Pn FPGA F CPLD èé êiòJ]Òê'èéi9%}'êÒè éi9]êHardware Description LanguageëÇè é|ùÇ -!ò¯*Jèé¤+÷{àñòÒ

(86) Ýdt©" èéià'ïæ¸ !ýèé"#"èéEÞ ï«Ö VHDL èé

(87) |Z9V_ñ¾ÝÞ/0t© !] V !! !¢t©,0GÓÃ´'"2&XV !! !¢ Î9À.]tià^ò¯Lt©,OP -!."î#¤ «ñåV !¢ÖúU* -.'i)".

(88) M 4 ó ãät©

(89) ^. -. 4.2: Quartus II p. 45.

(90) M 4 ó ãät©

(91) ^. 4.2. FPGA. >?@A*B9. 46. áâÄÅãäèéÇ>9<ÄÅûµ2¾ 8Ø

(92) ñò"z ALTERA Nios Development Board( Nios ÓÔ ) ^Â5 âÂ6.ÝÞ/0^78Â6]Z¾2¬òÝÞÄÅÇ" X 4.3 W# FPGA ÄÅãä£dÇ>9"ãä£dno !¢DîÒ¹. 4.3: FPGA NO .

(93) M 4 ó ãät©

(94) ^. [ Y§ÄÅ ! ] !t©¹. 47. «Ö Nios ÓÔ'Y§ÄÅÝÞáâí/0ÃÅ»0^Ö×¹ü Ò SW0 ¡]»0ÝÞáâí/0ÃÅ}¡ü± SW0 ! SW1 ] Ö×ÝÞáâí/0ÃÅ" 2. m Nios ÓÔ'Wý (LED) D0 ²äáâí/0ÃÅ,¹ â D0 îWþN¹ÝÞáâí/0ÃÅ»0,â D0 î WN¹ÝÞáâí/0ÃÅÖ×,". 1.. 4.2 WY§ÄÅ !W V¡¢D" 4.2: 59" W¼ ÿ Wñß V¡ clk INPUT 1 bit Ç¡{ (50MHz) Start INPUT 1 bit »0 Reset INPUT 1 bit õ Ao en OUTPUT 1 bit VW^Y6 !õ© t©$¹ )m Nios ÓÔ'Y§ SW0 F SW1 WqÄÅ Start F Reset ( Y§ü±¡< low)|èé2_£dÝí Reg7 SW0 üÒ Y<áâí/0ÃÅâ·»0," â clk Ó\rsÓp<NOPY§ÄÅ !&{îX 4.4 W".

(95) M 4 ó ãät©

(96) ^. -. 48. 4.4: 5* /¦ Start F Reset 4Õ}¡ low( }¡ü± SW0 F SW1 )Q Start F Reset }¡ low eï Ao en ^£dÝí Reg èV lowQ#Nò¤¾ e/¦ Start 4Õm high } low( üÒ SW0 )Q4Ôeï Ao en ^£d Ýí Reg èV highELe/¦£dÝí Reg 4Õ highQ£ dÝí Reg high eï Ao en èV highELeï Ao en èV low"< Ao en , high ¡¹áâí/0ÃÅ»0,#¡ Nios ÓÔ'Wý D0 îWþ4ELe¹áâí/0ÃÅÖ× ,#¡ Nios ÓÔ'Wý D0 îW" -²³¹ X 4.5 WY§ÄÅ ! -²³mX]Ó$â Start m high } low LAo en èV high ÆWê Reset F Start }¡ low ,Òï Ao en èV low ÆW". 4.5: 5.

(97) M 4 ó ãät©

(98) ^. [ VW^Y6 ! ] !t©¹. 49. <áâí/0ÃÅVW^Y6»0{à¥VW^Y 6 !Î£¤¥" 2. z¤+ %}]ïVW^Y6»0{Ö×°»0" 3. m Nios ÓÔ'Wý (LED) D1 ²ä4ÕÐ¬VW^Y6 »0{¹â D1 îWþN¹¬VW^Y6»0{â D1 îWN¹ÃU¬VW^Y6»0{" 1.. 4.3 WVW^Y6 !W V¡¢D" 4.3: "9b5 9" W¼ ÿ Wñß V¡ clk ao INPUT 1 bit VW^Y6 !¡{ Rs INPUT 1 bit »0 Ao en INPUT 1 bit VW^Y6 !õ© Cl en OUTPUT 1 bit 6Â6õ© Ao flag OUTPUT 3 bit VW^Y6 !Î£¤¥ t©$¹ mÒVW^Y6»0{'(é À¡¢ #'(« Ö¡{Méß¡¢z Nios ÓÔ£dÇ¡{ (clk)<ÈÄK´ 50MHzQÖ#ÈÄK´ï"7éßí bit ßñå ` IC öðñ Á #ïL K 24.414kHz#N clk ao z clk ao NVW ^Y6»0{éßì À¡¢ê# !<VW^Y6 À¡¢èV Visual C++ {à -âT¡¢".

(99) M 4 ó ãät©