具有異常負載檢測與監控之直流無刷馬達設計與研究

׍ѣள૱࢑ྶᑭീᄃႾଠ̝ۡ߹൑ה੺྿నࢍᄃࡁտ

ౘྐᖳ

ᐷරࡊԫ̂ጯ፟ୠ̍඀ր

ၡ! ࢋ

ώࡁտ۞ࢦᕇдٺޙϲາ۞ଠט८͕ഇ୕ۡ߹൑ה੺྿ੵ˞ిޘΞአፋ నؠ̝γĂՀдᏮ΍ᖼ৏˵Ξͽአፋనؠ̈́ېၗႾଠΒ߁ள૱ᖼ৏ېၗĄ҃ࠎ

˞੨ЪDSP ଠטր௚۞඀ёᇤᆷĂдώኢ͛̚೩΍˘ᖎሒᄃѣड़த۞ள૱࢑

ྶᑭീ͞ڱĂ˵ಶߏԧࣇͽੈཱི᎕̶פᇹ۞͞ڱ੨Ъܫཱིᙝቡᑭീᑕϡٺ੺྿

ᖼ৏៍ീጡ̝నࢍĄѩ៍ീጡనࢍߏۡତͽੈཱིপᇈᕜפࠎ΍൴ᕇĂ׎ϫ۞˜

ࠎՐᖎ̼̈́ࢫҲੈ̶ཱིژ̝ྤफ़఍ந࢑ፉĂֹ׎Հटٽٺ੺྿̝ᜭજଠטጡ྆

DSP ඀ёᇤᆷ۞၁னĂ҃ਕӈॡͷ໤ቁ۞ႾଠϠய߹඀ͽ၅ᛇள૱ଐڶ൴ϠĄ ԧࣇͽ࿪߹ຏീጡа଱̝ੈཱིĂགྷϤᖼ৏៍ീጡซҖ੺྿࢑ྶ៍ീĂ֭၆੺྿

ΐˢγొ̝តજ࢑ྶซҖ၁រ̶ژĄ҃д၁រඕڍ̚Ξ֍ѩᖼ৏៍ീጡቁਕઍ

ീ࢑ྶ̝ள૱តજᕇĂ֭ਕ૟ੈཱིᗔੈᕭੵͷ˵ܲ঻ྵ̈តજ࢑ྶ̝ઍീਕ

˧Ăѣр۞ԩᗔੈপّĂ౵ޢ֭ͷͽ̈گ̶ژڱរᙋĄ

ᙯᔣෟĈள૱࢑ྶᑭീᄃႾଠăᖼ৏៍ീጡăੈཱི᎕̶פᇹăܫཱིᙝቡᑭീă

! ! ! ! ̈گ̶ژĄ

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

Shih-Feng Chen

Department of Mechanical Engineering Lunghwa University of Science and Technology

Taoyuan, Taiwan 333, R.O.C.

Key Words: abnormal load detection and monitoring, torque observer, signal sampling integration, signal edge detection, Wavelet analysis.

ABSTRACT

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.

߄ጼĂЧ઼ͽـᏥͽᚮۋ۞Ҳјώˠ˧ᐹ๕̏ᖼҌ઼̚ᘀ

̂۞ˠ˧ξಞĂҭд೩̿ᚮۋ˧̚Ăੵ˞ࢫҲˠ˧јώͽ γĂтң೩੼Ϡயᄦౄ̝ड़தăϠய։த̈́೩̿யݡݡኳ

˵ߏ࠹༊ࢦࢋ۞ኝᗟĄЯѩĂ̳ΦЯᑕ̂ณࢎಏϠயٙᅮĂ ЧϠயᄦౄ࠰ጱˢϠயҋજ̼Ăͽ೩چயਕĂ݋ႾଠϠய

߹඀ͽ၅ᛇள૱ଐڶ൴Ϡಶព଀ܧ૱ࢦࢋĂֹ̙։ݡ۞ຫ ਈјώࢫҲĂ᜕ܲˠࣶщБ̈́ڀෳ۞న౯Ăͷჯ޺யݡ̝

ݡኳĄͽـдҋજ̼Ϡயన౯̚Ă࠰ֹϡຏീጡ̮Іͽᑭ

΍Ϡயᄦ඀̝̚ள૱ېڶ൴ϠְІĂͽ఼ۢ̍үˠࣶซҖ

ְ߇ଵੵĄّ҃ਕດр̝ҋજ̼న౯Ă׎ຏീጡ̮Іֹϡ ດкĂҭຏീጡᆊॾڀෳĂтѩ˵ᆧΐ˞న౯јώĄдҋ જ̼న౯̚Ă੺྿ࠎ͹ࢋ۞જ˧̮ІĂᖣϤ੺྿࢑ྶ۞៍

ീĂΞͽᑭۢϠயᄦ඀̚Ăߏӎѣள૱ېڶ൴ϠĂซ҃Ⴞ ଠϠய߹඀ߏӎึၰĂͽࢫҲຏീጡֹ̝ϡ҃ࢫҲјώĄ

੺྿࢑ྶ۞៍ീ̏ѣ˘ֱࡁտĂт੺྿࿪߹ณീ̝а

଱ֽҿᕝ੺྿ߏӎѣ࿅࢑ྶன෪[1]Ąҭ׎͞ڱϡͽ҂ᇋ੺

྿ᖼ৏ਕ˧ߏӎਕ૲જγొ࢑ྶࠎҿᕝૄ໤Ă˵ಶߏ࿅࿪

߹᜕ܲ͞ёĂҭд੺྿ᒠม࢑ྶഴٕ͌ᆧΐॡĂ၆ள૱ְ

І۞ҿᕝྵ̙टٽĄΩγѣᖼ৏៍ീጡ(torque observer)۞

ࡁ տ Ă т Unknown Input Torque Observer ă PI-Type Closed-Loop Torque Observer ඕၹ[2,3]Ą఺ֱࡁտజϡֽҤ

ീ ࢑ ྶ ᖼ ৏ Ă ͷ Ӏ ϡ MATLAB ̝ ̈ گ ̍ ׍ (wavelet toolbox)[4]ᝥҾΐ̍፟дΐ̙̍̚ϒ૱࢑ྶĂͽՙؠ̙ϒ

૱࢑ྶߏӎ൴ϠĄҭ׎ࡁտΪଣ੅෹࿅౵̂ᓜࠧ࢑ྶ̈́࢑

ྶᕘજ̝ள૱ېڶĂٙͽ׎ᖼ৏៍ീጡΞਕЯ̒ᕘٕᄱम

҃ᇆᜩ࢑ྶᖼ৏̝ҤീඕڍĄ֭ͷ˘ਠֹϡ̈گкᆸྋژ ޘ̶ژ(multi-resolution analysis)͞ڱ[4]үੈ̶ཱིژă఍ந

̈́ᙊҾĂᔵ൒ѣ։р۞ྋژਕ˧Ăҭ׎ྤफ̶़ژࢍზ̝఍

ந࢑ፉྵ̂Ăྵ̙टٽд੺྿ᜭજଠטጡ̝ᇴҜੈཱི఍ந ጡ(DSP)˯၁னĄ

Яѩώቔኢ͛̚੺྿࢑ྶ៍ീጡ૟ᑕϡੈ̶ཱིژڱ

̝நኢĂ၆੺྿ள૱࢑ྶઍീਕ˧үࡁտଣ੅Ąԧࣇ೩΍

᎕̶פᇹ۞͞ڱ੨Ъܫཱིᙝቡᑭീనࢍ੺྿࢑ྶ៍ീጡĂ

៍ീа଱࿪߹̝ੈཱིϡͽ៍ീ੺྿࢑ྶېڶĂ֭၆੺྿ΐ ˢγొ̝តજ࢑ྶซҖ၁រ̶ژĄ֭ͷӀϡள૱࢑ྶҿᕝ

͞ڱĂΞۡତҿؠ΍੺྿ߏӎѣ࿅ྶன෪ă੺྿ࡎ൒۞ΐ ഴిٕྵ̂۞ၚّ࢑ྶ̝ள૱ְІ൴ϠĂтన౯ᇠ፟ଐڶ ඈĄ֭ͷϤ̈گ̶ژڱ଀זរᙋĄѩ၁រ̚៍ീጡ̝నࢍĂ

࠰ͽ૟ֽᑕϡٺ੺྿ᜭજଠטጡ̝ᇴҜੈཱི఍நጡ(DSP)

˯ࠎ҂ณĂЯѩᖎ̼˞నࢍநኢĂֹ҃నࢍྵटٽĂ˵̂

ณഴ͌DSP ྤफ़̈́ࢍზ̝࢑ፉĂΞۡତΐˢᜭજጡ̝ଠט ڕ̚Ăͽઍീள૱ଐڶ൴ϠĄΩγĂώቔኢ͛ͽۡ߹൑ה

੺྿ր௚ࠎࡁտ၆෪Ă͹ࢋ੫၆̍ᇄҋજ̼న౯(тᏮਖ਼న ౯ăҋજྻྶ፟ၹඈ)дϠய࿅඀̚Ăଣ੅Яన౯߇ᅪٕצ

˟ăநኢࡦഀ

̈گ(wavelet)நኢ[4]Ҍ̫̏ᇃھᑕϡдޝкᅳાĂּ

тᑕϡдੈ̶ཱིژăᑅᒺٕᏰᙊĂౌ̏ѣޝкᑕϡמ෸၁

ּĄιߏ૟ኑᗔ۞ܫ̶ཱིྋјк࣎ྵᖎಏ۞ܫཱིĂ˵ಶߏ ͽѣࢨྋژޘ(resolution)ֽೡࢗҋ൒̝ࠧ൑ࢨྋژޘĄ҃

̈گ̶ژӈࠎӀϡкᆸྋژ۩ม(multi-resolution space)[4]

۞៍هͽ྿זੈཱིྋژ۞ϫ۞Ą҃ώ၁រֹ̚ϡ̝ Haar בᇴࠎ౵ૄᖂ̝̈گבᇴĂჍࠎ˘ล̈گבᇴĄ҃дώኢ

͛̚ԧࣇͽۡତ೩פܫཱི̝ࡎតᕇࠎܫཱི̝ࢦࢋপᇈĂѩ

͞ڱдᑕϡٺܫཱིᏰᙊᅳા̚ॡĂ׎၁ࠎ౵ۡତͷԣి̝

͞ڱĄЯѩ࠹ྵٺ̈گ̶ژზڱĂώኢ̝͛ٙࢗ᎕̶פᇹ ੨Ъܫཱིᙝቡᑭീ៍هĂ૟ՀዋЪᑕϡд੺྿࢑ྶ៍ീጡ

˯Ą׎ᐹᕇߏܫཱི఍ந̶ژྵԣిͷ˵Ξ̂ณഴ͌ྤफ़఍

நྻზ̝࢑ఈĂ҃ͷᄃ̈گ˘ᇹΞͽᑭീ΍ܫཱི̝ፋវԆ ፋّ۞ត̼ېڶĄ

1. ᎕̶פᇹڱ

дѩԧࣇ೩΍੫၆੺྿̝а଱࿪߹ܫཱི۞পّ҃న

ࢍ̝ܫཱིפᇹ͞ڱĄЯࠎ੺྿ྻᖼፆүд୊ᖼჃಞ˭Ăٙ

ͽ੺྿̝࿪߹ܫཱིࠎܕҬؽگ̝ϒ࢑ϹតܫཱིĄ҃ͷ੺྿

ྻᖼॡĂ׎Ⴣಞд੺྿ᖼ̄୊ᖼ˘ฉ˭Ă݋ѣ׽ؠᇴѨ̝

ϹតĂ˵ಶߏ੺྿ቢ઻፬Ⴣౄј୊ᖼჃಞĂֹ҃੺྿ྻᖼĂ

ٙͽ੺྿̝࿪߹࢑Ηฉੈཱི˵࠹༊ࢦࢋĂͷ˵ԓ୕ᆧΐܫ

ཱིజפᇹ̝ᐛதĂֹ׎ਕՀӈॡ۞ઍീܫཱི̝ត̼ĄЯѩĂ ࠎ˞೩פܫཱི̝Ҳᐛপᇈͷ˫υืܲѣܫཱིፋវّ̝ត̼

ੈि̝ېڶ҂ณĂ݋ืࢵА૟ܫཱིү඗၆ࣃ఍நĄ

൒ޢ૟඗၆ࣃ఍ந̝ܫཱིͽ׽ؠฉഇүפᇹĂтё(1)

ٙϯĂ

( )

t i

∫t⁺¹ (1)

Яࠎѩܫཱིפᇹ̝͞ڱᄃܫཱི᎕̶ѣᙯĂٙͽԧࣇჍ

̝ࠎ᎕̶פᇹڱĄ᎕̶פᇹڱ࠻੓ֽည࿬ลܲ޺ጡĂҭ׎

၁ѣೀᕇमளĈ(˘)᎕̶פᇹڱЯͽડ߱᎕̶ٙͽΞܲ঻

ࣧੈཱི̰̝ࢦࢋੈिć(˟)ഴ͌ྤफ़఍நณć(ˬ)᎕̶פᇹ ڱ̙ົЯੈཱིᐛதត̼҃யϠפᇹᄱमĂౄјᄱҿć(α) פᇹॡมΞአቑಛ̂Ą

Ω˘͞ࢬĂ᎕̶ޢ̝ဦԛΞܕҬܫཱི዇၏ѡቢĄࡶ૟

פᇹॡมܜൺĂֶᏰᙊྋژޘࢋՐ҃አፋॡĂಶΞ៍ീੈ

ཱི௖ྋژ̈́௟ྋژ̝ፋវត̼ېڶĂ੨Ъͽ˭̝ٙࢗࡎត পᇈᕇᑭീॡĂᑕϡд࢑ྶ៍ീጡ˯Ă݋ಶΞТॡ៍ീ੺

྿ᘦၗ࢑ྶณ̈́࢑ྶᇶၗ̝ᒠॡតજณĄ҃ͷĂЯࠎѩ͞

ڱߏͽ᎕̶͞ёפᇹĂٙͽ˵׍ѣٯԩܫཱིᗔੈ̝ड़ڍĄ

f(t)

(a)

(b)

(c)

ဦ1 בᇴ f(t)̈́׎̈گᖼೱ̶ژ

2. ܫཱིᙝቡᑭീ

ܫཱི۞ᆐតᕇߏᏰᙊܫཱི౵ࢦࢋ۞পᇈĂт፟ୠన౯ ߇ᅪăள૱ېڶᑭീඈĂౌߏͽܫཱི۞ᆐតᕇүᑭീĄд ѩԧࣇͽтңീ଀੺྿࿪߹ܫཱི̚ᆐត۞পᇈᕇ൴Ϡ۞Ҝ ཉ̈́؈ளّ۞યᗟĂϡֽଣ੅ۡ߹൑ה੺྿ள૱࢑ྶ۞ઍ

ീĄ

˘ ਠ к ᇴ ᙝ ቡᑭ ീ ߏ д ̙ Т۞ ͎ ޘ ˯ А ᎐Ѝ ࣧ ܫ

ཱིĂ̝ޢГϤܫཱི۞˘ลጱᇴٕ˟ลጱᇴᑭീ΍ࣧܫཱི۞

ᆐតᕇ[5,6]Ąтဦ 1(a)૟ܫཱིͽҲ఼בᇴઇπ໣఍நĂ҃

ဦ1(b)ᄃဦ 1(c)ࠎܫཱི f(t)ઇπ໣ޢГפ˘ลጱᇴᄃ˟ลጱ ᇴ۞ඕڍĄ҃ဦ1 ܑٙϯ۞ܫཱི఍ந͞ڱӈࠎ̈گבᇴĂ

׎̚༊̈گבᇴΞ࠻јߙ˘π໣בᇴ۞˘ลጱᇴĂܫཱི̈

گតೱ۞Ԋొໂࣃᕇ၆ᑕٺܫཱི۞ࡎតᕇ(ٕᙝቡ)Ă҃༊

̈گבᇴΞ࠻јߙ̙π໣בᇴ۞˟ลጱᇴॡĂܫཱི̝̈گ តೱ۞࿅࿬ᕇĂ˵၆ᑕٺܫཱི۞ࡎតᕇ(ٕᙝቡ)ĄЯѩֹ

ϡᑭീ̈گតೱ۞࿅࿬ᕇ׶Ԋొໂࣃᕇ۞͞ڱਕૉᑭീܫ

ཱི۞ᙝቡҜཉĄ

ҭԧࣇ˞ྋࡶͽۡତ೩פܫཱི̝ࡎតᕇࠎܫཱི̝ࢦ

ࢋপᇈĂֽᑕϡٺܫཱིᏰᙊᅳા̚ॡĂ૟ࠎ౵ۡତͷԣి

̝͞ڱĄЯѩ࠹ྵٺ׎΁̈گ̶ژზڱĂ૟ՀዋЪᑕϡд

੺྿࢑ྶ៍ീጡ˯Ą׎ᐹᕇߏܫཱི఍ந̶ژྵԣిͷ˵Ξ

̂ณഴ͌ྤफ़఍நྻზ̝࢑ఈĂҭ׎৿ᕇಶߏ̙टٽᑭീ

΍ܫཱི̝ፋវԆፋّ۞ត̼ېڶĄЯѩĂυื੨Ъ̝݈ԧ ࣇٙ೩΍۞ੈཱི᎕̶פᇹڱĂ̖ਕֹ࢑ྶ៍ീጡ۞ઍീਕ

˧ՀԆፋĄ

ˬă࢑ྶ៍ീጡనࢍ

д၁ᅫ۞ҋજ̼Ϡயన౯ր௚̚Ă੺྿ࠎࢦࢋ۞જ˧

̮ІĂ˵ߏր௚̚ࢦࢋ۞צଠវĂ׎ېၗ૟ᇆᕏր௚۞Ꮾ

΍Ă֭ͷଂ៍ീ੺྿̝࢑ྶېၗĂ˵Ξ៍ീր௚ྻүߏӎ ѣ൑ள૱ĂͽࢫҲள૱ຫਈ̝јώĄ

ဦ2 ៍ീጡ̝߇ᅪઍീր௚

ဦ2 ࠎώࡁտ̝៍ീጡనࢍ̝ૄώߛၹĄۡ߹൑ה੺

྿જၗ͞඀ёࠎ

m m m m L

e B

dt J d T

T ω ω

+

=

− (2)

׎̚T ࠎ࢑ྶ˧৏Ă_L J ࠎᖼજၚณĂ_m B ࠎܡκܼ_m ᇴ Ăω_m ࠎ ᖼ ̄ ፟ ୠ ֎ ి ޘ Ą ҃ ۡ ߹ ൑ ה ੺ ྿ ᖼ ৏

I K

T_e= _t ĂͷK ࠎ੺྿ᖼ৏૱ᇴĄЯѩϤ੺྿࿪Ⴣᖼ৏͞_t

඀ёΞۢT ᄃ࿪߹ I јϒͧĂЯѩϤ៍ീ੺྿̝ᜭજ࿪߹

ېၗĂಶΞ଀ۢ੺྿̝࢑ྶېၗĄٙͽѩ៍ീጡߏͽۡତ ณീ੺྿࿪߹ܫཱིઇ఍ந̶ژĂ҃פ΃ېၗҤീ۞͞ёĂ Яѩ̙ื઄నࠎநຐր௚ĄҭЯ੺྿дϒ૱۞ᘦၗྻᖼ ॡĂᖼ৏ࠎᘦؠᏮ΍Ă҃၁ᅫᜭજ࿪߹ࠎܕҬؽگ̝ᘦၗ

Ϲ߹ܫཱིĄЯѩࢵАࠎ˞ܮٺܫཱིפᇹ̶̈́ژĂ݋ืА૟

ณീ̝࿪߹ܫཱིү඗၆ࣃ఍நĄ

1. ᑕϡ᎕̶פᇹᄃᙝቡᑭീٺ੺྿ள૱࢑ྶ៍ീ

ࡶ੺྿ࠎᘦၗྻᖼĂГ݋ͽనؠ̝ᐛத૟඗၆ࣃ఍ந ޢ۞ܫཱིү᎕̶פᇹĄԧࣇనؠ∆t=t_n+1−t_n =constantĂ

֭ͽё(3)ઇ᎕̶פᇹજүĄ

∫

( )

= ⁺

+1 t_nⁿ¹

n t it dt

q (3)

׎̚Ăi

( )

+1

qn ࠎϫ݈פᇹࣃĂt ࠎ݈˘ѨפᇹॡมĂ_n t_n+1ࠎϫ݈פ ᇹॡมĄ

тѩפᇹ͞ёߏࠎᔖҺᗔੈ̒ᕘ̈́଀ז੺྿࿪߹ܫ

ཱི۞ᙝቡপᇈĄͷυื੨Ъనؠפᇹࣃ̝ᓜࠧࣃ͞ёĂͽ ၅ᛇ੺྿࿅࢑ྶ̝ଐԛ൴ϠĂ༊פᇹࣃq ෹࿅నؠ̝ᓜࠧ

ࣃॡĂ݋ਖ਼΍࿅࢑ྶ̝ᛋӘੈिĄᔵ൒тѩĂҭߏдன̫

͵ࠧЧ઼ᄦౄຽࢬᓜ፬ধ۞ᚮۋĂ҃ଯજЋຽᚮۋ˧۞೩ چĂ˵ಶߏ੠Րᐹ๕۞јώᚮۋ˧̈́੼யݡݡኳĂдѩଐ ڶ˭Ă่тѩ۞ր௚᜕֨Ăព଀̙֖ĂЯѩืГ੨Ъܫཱི

۞ᙝቡᑭീڱĂᑭീ΍ܫཱི۞ᆐតᕇĂͽઍീ΍੺྿Ϗ෹

к͎ޘᙝቡᑭീߏд̙Т۞͎ޘ˯Аπ໣ࣧܫཱིĂ̝ޢГ Ϥܫཱི۞˘ลጱᇴٕ˟ลጱᇴᑭീ΍ࣧܫཱི۞ᆐតᕇĄЯ ѩԧࣇ૟ٙ೩פ˘ลጱᇴ۞៍هĂଯᇃٺ੺྿࢑ྶ៍ീጡ

̝నࢍ˯Ąٺߏ੫၆੺྿дᘦၗྻᖼ˭̝࿪߹ੈཱིপّĂ ͷࠎ˞੨Ъ૟ֽᇴҜੈཱི఍நጡ۞ᑕϡĂٙͽ૟ѩ៍ീጡ నࢍଳͽᗓ೸ੈཱི఍ந͞ёĄЯѩԧࣇ೩΍ᑕϡٺᗓ೸ܫ

ཱི̝ᆐតᕇઍീ͞ёĂ˵ӈߏ̙үܫཱི۞π໣఍நĂ҃ۡ

ତ੨Ъ݈̝ࢗ᎕̶פᇹ͞ڱĂ૟פᇹࣃפ˘ลጱᇴԛёĂ

଀זಏҜפᇹॡม̝פᇹࣃ̝मࣃe ĂٺߏΞ଀זྵᖎٽ

̝ԛёĂ׎͞඀ётё(4)ٙϯĄ

t q e q^{n n}

∆

= ⁺¹− (4)

׎̚∆ ࠎ׽ؠפᇹॡมĂe ࠎಏҜפᇹॡม̝ϫ݈פt ᇹࣃᄃ݈˘Ѩפᇹࣃ̝តณĄ҃ͷe ࣃ̝ໂ̂ࣃᕇߏ၆ᑕ ٺܫཱིត̼౵ԣ۞ᕇҜཉĂ׎ໂ̈ࣃ۞ᕇ݋၆ᑕٺត̼౵

ၙ۞ᕇҜཉĄ

2. ள૱࢑ྶҿᕝఢ݋

ࡶ੺྿ࠎᘦؠྻᖼ൑ள૱ॡĂ݋ё(4)̝ e ࣃυᔌܕٺ

࿬Ă˵ಶߏϫ݈פᇹࣃົତܕ݈˘ѨפᇹࣃĄΩγࡶ

≠0

e Ă݋ܑϯ࢑ྶѣតજĄ҃ͷϤe ࣃ۞ត̼̈́ q ࣃ۞ត

̼Ξ៍ീ΍࢑ྶតજ۞̂̈̈́ిதĂͽҿᕝ΍ր௚΍னң

჌̙ϒ૱ېڶĄనؠ੺྿̝౵̂टధ࢑ྶ̝פᇹࣃࠎ qmaxĂ҃੺྿౵̂टధၚّ࢑ྶ̝ಏҜפᇹॡมפᇹࣃ̝

मࣃe_maxĂ׎̚ੵ˞༊e <e_maxͷq_n+1<q_maxॡࠎΞटధ

۞࢑ྶតજ̝γĂԧࣇؠཌྷ˞߇ᅪҿᕝ໤݋т˭Ĉ (˘) ࡶq_n+1>q_nĂ(e>0)Ăͷ༊e<e_maxĂq_n+1≥q_maxॡĂ

݋ҿؠࠎన౯ፆү̏෹࿅౵̂टధ࢑ྶ̝̙ϒ૱ଐ ڶĄ

(˟) ࡶq_n+1>q_nĂ(e>0)Ăͷ༊e≥e_maxĂ҃q_n+1<q_max ॡĂ݋ҿؠࠎన౯צז෹࿅౵̂टధၚّ࢑ྶ̝̙ϒ

૱ଐڶĄ

(ˬ) ࡶq_n+1>q_nĂ(e>0)Ăͷ༊e≥e_maẍ́q_n+1≥q_maxॡĂ

݋ҿؠన౯ፆү̏෹࿅౵̂टధ࢑ྶͷಏҜפᇹॡม

̝࢑ྶតજޝ̂Ăӈߏ൴Ϡᇠ̝̙፟ϒ૱ଐڶĄ (α) ࡶq_n+1<q_nĂ(e<0)Ăͷ༊e≥e_maxॡĂ݋ࠎᒠॡ࢑

ྶࢫҲ̝ଐڶĂ݋ҿؠన౯፟ၹצזͅШ෹࿅౵̂ट ధၚّ࢑ྶ̝̙ϒ૱ଐڶĄ

(̣) ࡶe≠0ॡĂͷ༊ాᜈ΍னкѨe ࣃϒ࢑̝តજॡĂ˵

ӈߏ࢑ྶ̙ᘦؠĂ݋ҿؠࠎన౯ྻᖼ̙ึၰ̝̙ϒ૱

ଐڶٕ൴ϠϠயүຽ̙։۞Ι፟ள૱ېڶĄ

ҭߏֶన౯۞ֹϡېڶ̈́ࢋՐ̙ТĂѣֱ຋ณ۞࢑ྶ

តજߏజ̯ధ۞ĄЯѩГ੨Ъనؠe_maxࣃ۞ᓜࠧࣃĂֶࢋ

ဦ3(a) ၁រన౯

ဦ3(b) ၁រր௚ߛၹဦ

Ր۞ېڶ҃አፋనؠĂ༊e ࣃ෹࿅ᓜࠧࣃॡĂГϤҿᕝ໤

݋ҿؠߏӎࠎள૱ېڶĂࡶ൴Ϡள૱ېڶॡĂ݋ਖ਼΍ᛋӘ ܫिҌଠטጡ఍ཉͷ఼ۢˠࣶઇ߇ᅪଵੵ఍நĂͽࢫҲຫ εĄϤٺ៍ീጡΞ૟פᇹॡมܜൺĂֶᏰᙊྋژޘࢋՐ҃

አፋĂЯѩΞࣘ׍៍ീੈཱི௖ྋژ̈́௟ྋژ̝ፋវត̼ې ڶ̝ਕ˧Ă֭ͷΞТॡ៍ീ੺྿̝ᘦၗ࢑ྶ̈́ᇶၗ࢑ྶ̝

ᒠॡតજณĄ

αă၁រඕڍ

ѩ၁រሀᑢϠயҋજ̼న౯дᘦؠྻᖼ̚Ăࡶ൴Ϡள

૱࢑ྶॡĂᑕϡٙనࢍ۞੺྿࢑ྶ៍ീጡĂགྷϤ੺྿а଱

࿪߹ੈཱི۞៍ീĂͽઍീ΍ள૱࢑ྶ۞൴ϠĂͽ֨ͤ̍ү ˠࣶ൴Ϡຍγăన౯ຫᗼ̈́ࢫҲϠய̙։̝ຫεĄ၁រ˵

ᑕϡ MATLAB ̝̈گ̍׍ઇੈ̶ཱིژĂ֭૟׎ள૱࢑ྶ

̶̝ژඕڍᄃ៍ീጡள૱࢑ྶઍീ̝ඕڍүͧྵĂͽរᙋ ѩ៍ീጡਕૉ྿ז໤ቁઍീள૱࢑ྶ൴Ϡ۞ϫ۞Ą

1. ၁រన౯

ώ੺྿ଠט၁រన౯ᄃր௚ߛၹтဦ3(a)ăဦ 3(b)ٙ

ϯĄд၁រր௚̚ĂᏴϡ঍ߍࡊԫ۵Њѣࢨ̳ΦٙϠய̝

ۡ߹൑ה੺྿̈́ᜭજጡࠎ၁រϡ̝੺྿Ă׎Ꮾ΍Αதࠎ

3.5

3

2.5

2

1.5

1

0.5

0 2 4 6 8 10 12 14 16 18 20

Time (sec) TL (kg-cm)

ဦ4 д 500rpm ˭̝ˬᕇ̒ᕘតજ࢑ྶᏮˢT _L

Decomposition at level 4: s = a4+d4+d3+d2+d1 0.4

0.2 0 -0.2

0.2 0 -0.2

0.1 0 -0.1

0.1 0 -0.1

0.1 0 -0.1 0.2

0

-0.2 2 4 6 8 10 12 14 16 18 20

Time (sec) S

a4

d4

d3

d2

d1

ဦ5 д 500rpm ˭צˬᕇ̒ᕘតજ࢑ྶ̝̈گ̍׍ੈཱི

̶ژඕڍ

75W ͽ̈́ᗝؠᖼిࠎ 3000rpmĄΩγͽָ໤ࡊԫ۵Њѣࢨ

̳Φ HD-510-7N ԛё̝જ˧ࢍࠎγΐតજ࢑ྶሀᑢ̈́ి

ޘ ณ ീ ̝ న ౯ Ą ͷ ֹ ϡ ࡚ થ ᇊ 㝭 ᆇ ጡ ̳ Φ(national instruments)̝ྤफ़ᕜפΙĄ҃ፋ࣎၁រր௚ͽ࣎ˠ࿪ཝࠎ ଠטጡĂགྷϤ੺྿ଠטΙᏮ΍ଠט׻΄Ҍᜭજጡ҃ᜭજ੺

྿ྻᖼĂ݋࿪ཝд੺྿ୁજྻᖼᘦؠޢĂ˵Ꮾ΍γΐតજ

࢑ྶ׻΄Ҍજ˧ࢍĂͽሀᑢγొ̝តજ࢑ྶĂͷͽ࿪ཝࠎ

៍ീጡĂઍീߏӎѣ̙ϒ૱࢑ྶ۞൴ϠĄ

2. ၁រඕڍ

၁រߏሀᑢ੺྿ٺҋજ̼న౯̝Ꮾਖ਼፟ၹ̚Ăͽ̙Т

۞ؠᖼిᘦؠྻᖼĂ֭ͽજ˧ࢍሀᑢ̙Тԛё̝γ˧࢑ྶ

90 80 70 60 50 40 30 20 10

0 2 4 6 8 10 12 14 16 18 20

Time (sec)

q (Volt)

ဦ6 д 500rpm ˭צˬᕇ̒ᕘតજ࢑ྶ̝᎕̶פᇹઍീ

ඕڍ

30 20 10 0 -10 -20 -30 -40

-502 4 6 8 10 12 14 16 18 20 22 Time (sec)

q (Volt)

ဦ7 д 500rpm ˭צˬᕇ̒ᕘតજ࢑ྶ̝ᆐតᕇઍീඕڍ

ېڶĂͷϤᜭજጡ̝࿪߹ຏീጡа଱࿪߹ੈཱིĂ׎࿪߹ੈ

ཱི ̝ ᕜ פ ॡ ม ࠎ(1/1000)sec Ą д ੺ ྿ ୁ જ ޢ Ă Т ॡ ͽ MATLAB ̝̈گ̍׍ซҖੈ̶ཱིژĂͽ Haar ̈گүαᆸ

۞ྋژޘ̶ژĂઍീள૱࢑ྶ۞൴ϠĄ҃ͷ˵ͽ៍ീጡซ Җ࢑ྶ៍ീĂ׎᎕̶פᇹॡมม࿣ࠎ 0.5secĂ׎Ч၁រඕ ڍᄃ੅ኢт˭Ĉ

(˘) ؠᖼిଠט(500rpm)̝࢑ྶ៍ീĈ

੺྿ͽؠి500rpm ྻᖼĂͷͽ 1kgcm ࠎϒ૱࢑ྶᖼ

৏Ă֭ሀᑢᏮਖ਼న౯дྻᖼॡĂٚצγొˬᕇ̒ᕘត જ࢑ྶT ̝ள૱࢑ྶ൴ϠېڶĂтဦ 4 ٙϯĄͽ_L MATLAB ̝̈گ̍׍ซҖੈ̶ཱིژĂтဦ 5 ٙϯĂд ဦ̝̚ s ࠎࣧؕੈཱིĂͷ a4 ࠎҲᐛྋژੈཱིĂ҃

d1~d4 ࠎ ੼ ᐛ ྋ ژ ੈ ཱི Ă ׎ ࣧ ؕ ੈ ཱི ܑ ϯ ࠎ s=a4+d4+d3+d2+d1Ą֭ͽ៍ീጡઍീள૱࢑ྶ۞൴ ϠĂဦ6 ٙϯࠎ࿪߹ຏീጡณീᏮ΍۞࿪ᑅੈཱི̝᎕

̶פᇹඕڍĂ҃ဦ7 ٙϯࠎפᆐតᕇ̝ઍീඕڍĄ (˟) ؠᖼిଠט(1000rpm)̝࢑ྶ៍ീĈ

੺྿ͽؠి1000rpm ྻᖼĂͷͽ 1kgcm ࠎϒ૱࢑ྶᖼ

৏Ă֭ሀᑢᏮਖ਼న౯дྻᖼॡĂٚצγొкᕇ̒ᕘត જ࢑ྶT ̝ள૱࢑ྶ൴ϠېڶĄͽ MATLAB ̝̈گ _L

0.1 0.05 0 -0.05 0.1 0 -0.1 0.05 0 -0.05

0.1 0 -0.1 0.2 0 -0.2

2 4 6 8 10 12 14 16 18 20

Time (sec) a4

d4

d3

d2

d1

ဦ8 д 1000rpm ˭צкᕇ̒ᕘតજ࢑ྶ̝̈گ̍׍ੈཱི

̶ژඕڍ

45 40 35 30 25 20 15 10 5

00 2 4 6 8 10 12 14 16 18 20

Time (sec)

q (Volt)

ဦ9 д 1000rpm ˭צкᕇ̒ᕘតજ࢑ྶ̝᎕̶פᇹઍീ

ඕڍ

̍׍ซҖੈ̶ཱིژĂтဦ8 ٙϯĄ֭ͽ៍ീጡઍീள

૱࢑ྶ۞൴ϠĂဦ9 ٙϯࠎ࿪߹ຏീጡณീᏮ΍۞࿪

ᑅੈཱི̝᎕̶פᇹඕڍĂ҃ဦ10 ٙϯࠎפᆐតᕇ̝ઍ

ീඕڍĄ

(ˬ) ؠᖼిଠט(3000rpm)̝࢑ྶ៍ീĈ

੺྿ͽؠి3000rpm ྻᖼĂͷͽ 1kgcm ࠎϒ૱࢑ྶᖼ

৏Ă֭ሀᑢᏮਖ਼న౯дྻᖼॡĂٚצ׌ᕇ̒ᕘតજ࢑

ྶT ̝ள૱࢑ྶېڶ൴ϠĄͽ MATLAB ̝̈گ̍׍_L ซҖੈ̶ཱིژĂтဦ11 ٙϯĄဦ 12 ٙϯࠎགྷ៍ീጡ ઍീٙ଀࿪߹ຏീጡณീᏮ΍۞࿪ᑅੈཱི̝᎕̶פᇹ ඕڍĂ҃ဦ13 ٙϯࠎפᆐតᕇ̝ઍീඕڍĄ

0

-5

-10

-15

-20

0 2 4 6 8 10 12 14 16 18 20

Time (sec)

e (volt)

ဦ10 д 1000rpm ˭צкᕇ̒ᕘតજ࢑ྶ̝ᆐតᕇઍീ

ඕڍ

Decomposition at level 4: s = a4+d4+d3+d2+d1 0.4

0.2 0 -0.2 -0.4 0.1 0.05 0 -0.05 0.05 0 -0.05

0.2 0 -0.2

0.2 0 -0.2

0.2 0 -0.2

2 4 6 8 10 12 14 16 18 20

Time (sec) S

a4

d4

d3

d2

d1

ဦ11 д 3000rpm ˭צ׌ᕇ̒ᕘតજ࢑ྶ̝̈گ̍׍ੈ

̶ཱིژඕڍ

3. ඕڍ੅ኢ

Ϥͽ˯ඕڍΞ࠻΍Ăдᖼి500rpmĂ1000rpm ̈́ 3000 rpm ˭۞၁រ̚Ăͽѩనࢍ̝៍ീጡү੺྿࢑ྶ۞៍ീĂ Ϥ׎ଳϡ᎕̶פᇹ̝ඕڍΞ࠻΍੺྿࢑ྶࡎតᕇ۞ॡมҜ ཉĂ֭ͷ˵Ξീ΍࢑ྶ۞̂̈Ąᖣͽઍീ੺྿ٕన౯ߏӎ

̏෹࿅टధ࢑ྶĂٙͽѩ៍ീጡ˵ਕѣड़۞ઍീ΍࢑ྶ۞

ࡎតᕇĂ֭ͽ̈گ̶ژڱ̶ژ̝ඕڍ଀זҤ෠Ą҃ͷϤ᎕

̶פᇹ̝ඕڍ̚Ă˵Ξ଀זੈཱི̝዇၏পᇈĄ

100 90 80 70 60 50 40 30 20 10

00 2 4 6 8 10 12 14 16 18 20

Time (sec)

q (volt)

ဦ12 д 3000rpm ˭צ׌ᕇ̒ᕘតજ࢑ྶ̝᎕̶פᇹઍ

ീඕڍ

30

20

10

0

-10

-20

-30

-40

-500 2 4 6 8 10 12 14 16 18 20

Time (sec)

e (volt)

ဦ13 д 3000rpm ˭צ׌ᕇតજ࢑ྶ̝ᆐតᕇઍീඕڍ

ΩγĂ៍ീጡᑕϡ˘ลጱᇴ۞៍هĂซҖ࢑ྶ៍ീĂ Ξ଀זੈཱི̝ໂࣃĄϤඕڍΞ࠻΍ĂֹϡԊొໂࣃᕇ۞͞

ڱਕૉᑭീ΍ੈཱི۞ᙝቡٕࡎតᕇҜཉĄ҃Հࢦࢋ۞ᐹ෸

ّߏᖼᕇߊ၆ᑕ׎˘ลጱᇴ۞ໂࣃᕇĂࡶe ࣃ̂Ă׎ߏ၆ ᑕٺ࢑ྶត̼ԣ۞ҜཉĂ҃e ࣃ̈˵၆ᑕٺត̼ྵၙ۞ᕇ ҜཉĂࡶe ࣃࠎϒࣃĂ݋࢑ྶࠎᆧΐĂ̝ͅĂࡶ e ࣃ࢑ࣃĂ

݋࢑ྶࠎഴ̈Ă׎ᖣͽઍീ੺྿ٕన౯ߏӎ̏෹࿅टధၚ

ّ࢑ྶĄϤ၁រ̚ΞۢĂགྷϤ࢑ྶតજ۞៍ീĂ˵Ξมତ

៍ീ੺྿ᖼి̝តજېڶĂٕధΞ೩ֻ੺྿ᖼిଠטֹ

ϡĂ྿זᐹ෸۞ଠטপّĄ

̣ăඕ ኢ

ֹϡ̈گ̶ژڱࠎੈཱི఍ந̍׍Ă၆ੈ̶ཱིژ۞ྋژ ޘ̈́ࢦޙّౌߏ࠹༊ᐹս۞Ăͷֹϡ Haar ̈گүੈ̶ཱི

ژĂ˵ਕૉჟቁઍീ΍ੈཱི̝ࡎតᕇĄ҃ώኢ͛ͽ᎕̶פ ᇹڱ̈́к͎ޘᙝቡઍീڱ̝៍هĂᑕϡд੺྿࢑ྶ៍ീጡ

˯Ą˘͞ࢬĂᖣϤ៍ീጡઍീ੺྿ள૱ְІ۞൴ϠĂֹ੺

྿ѣՀૻ۞᜕ܲΑਕĄΩγ˘͞ࢬĂѩҿᕝ͞ڱ˵ྵ̈گ நኢՀटٽΐˢд੺྿ଠטڕ̝ᇴҜੈཱི఍நጡ˯Ą၆ٺ ώࡁտԧࣇѣͽ˭ೀᕇඕኢĈ

1. ૟᎕̶פᇹڱ̈́ᙝቡઍീ̝៍هĂᑕϡд੺྿࢑ྶ៍ീ

ጡ˯ߏ׍វΞҖ۞Ă֭ͷਕࡎពੈཱི̝ࡎតᕇĂՀዋЪ

ֹϡд੺྿ள૱࢑ྶ៍ീ˯Ą

2. ֹϡѩ៍ീጡТॡΞઍീ੺྿ᘦၗ࢑ྶ̈́ၚّ࢑ྶ̝

ள૱ېڶ۞൴ϠĄ

3. ֹϡ᎕̶פᇹڱ̈́ᙝቡઍീ̝៍هĂᑕϡд੺྿࢑ྶ៍

ീጡ˯ĂϺΞઍീᗔੈ̒ᕘĂ҃ᔖҺள૱࢑ྶ៍ീॡ۞

ᄱҿְІ൴ϠĄ

៍ീጡ̝ੈཱིפᇹॡมܜൺĂ၆ٺઍീள૱ېڶ̝ͅ

ᑕॡม̈́ីୂޘົѣᇆᜩĂ၆ٺ៍ീጡ۞నࢍΞГଂѩ఍

எˢଣ੅Ăֹ៍ീጡ၆ٺள૱࢑ྶઍീਕՀჟቁĄΩγϤ ၁រ̚ΞۢĂᖣϤ៍ീጡ̝࢑ྶតજ៍ീĂТॡ˵Ξ៍ീ

੺྿ᖼిតજېڶĂЯѩϏֽΞͽᖣϤѩੈཱི៍ീĂᑕϡ ٺ੺྿ిޘଠט˯Ă೩̿੺྿ిޘଠטّ̝ਕĄЯѩតᐛ ጡΞͽдᜭજጡ˯ۡତనؠྻᖼ୧Іּтᖼిᄃᖼ৏ͽ̈́

ႾଠېၗྤੈពϯΒ߁ள૱ېၗĄ

ણ҂͛ᚥ

1. ᔨ̥ˠĂ൑הۡ߹࿪જ፟۞࿪߹פᇹĂ຋࿪፟Ăௐˬ

˩˘סĂௐ˟ഇĂௐ51-59 ࢱ(1998)Ą

2. Tseng, E. C., Cheng, M. Y., and Tsai, M. C., “Design of a PI-Type Torque Observer for Detecting Abnormal Load,”

Proceedings of the 1998 International Conference on Mechatronics Technology, Hsinchu, Taiwan, pp. 147-152 (1998).

3. Tsai, M. C., Tseng, E. C., and Cheng, M. Y., “Design of a Torque Observer for Detecting Abnormal Load,” Control Engineering Practice, Vol. 8, No. 3, pp. 259-269 (2000).

4. ಏჯၓĂࣝگܐՎĂБරࡊԫဦ३۵Њѣࢨ̳ΦĂέ ΔĂௐ1-61 ࢱ(2000)Ą

5. ೆϜරĂ̈گតೱᄃ̍඀ᑕϡĂࡊጯ΍ۍۤĂΔִĂ ௐ115-118 ࢱ(1999)Ą

6. Rao, R. M., and Bopardikar, A. S., “Wavelet Transforms,”

Addison Wesley Longman Inc., NY, USA, pp. 1-50 (1998).

2004 ѐ 08 ͡ 12 ͟! ќቇ 2004 ѐ 10 ͡ 04 ͟! ܐᆶ 2004 ѐ 11 ͡ 01 ͟! ኑᆶ 2004 ѐ 11 ͡ 12 ͟! ତצ