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一種無感測器直流馬達轉速量測方法研究 Study of a Speed Measurement using Sensorless Method  洪志育1 Chieh-Tsung Chi  紀捷聰2* Chih-Yu Hung  摘要 1,2 建國科技大學電機工程系 Department of Electrical Engineering, Chien Kuo University of Technology *jih@cc.ctu.edu.tw 如今則是只要人藉由操控一個按鈕即可完成相同的操 直流有刷馬達 (底下簡稱直流馬達或馬達) 電樞電 流是由直流電流成份與漣波電流成份所組成，其中電樞 漣波電流成份的頻率會與馬達轉子轉速和馬達轉子組 成機構參數密切相關。本文旨在設計一基於少數硬體元 件之馬達動態漣波電流成份擷取電路，藉以得知直流馬 達動態轉速。馬達漣波電流成份擷取電路是由直流成份 隔離電路得到，得到之微弱馬達漣波電流再經由放大電 路和比較電路處理，最後輸出數位信號提供計數器計數 馬達的轉速。本文選擇以 Matlab/Simulink 軟體建構馬達 漣波電流擷取電路模型，並比較馬達電流分別在未經過 及經過濾波器處理狀況下，馬達漣波電流擷取電路的輸 出結果差異比較；最後再以實體馬達漣波電流擷取電路 雛型實驗結果驗證本文所提之無感測器直流馬達轉速 量測方法確實可行。 關鍵詞：直流有刷馬達，高頻漣波，濾波器，無轉速感 測器。 Abstract The armature current of a DC brushed motor (abbreviated as DC motor or motor) generally includes a DC current and ripple components. The frequency of the ripple armature current is related to the DC motor speed and the mechanism of the rotor comutator of motor. This paper concentrates on designing a sampling circuit of motor ripple current based on few hardware devices. The frequency of the motor ripple current is obtained by using a circuit for isolating the DC motor current. The acquired ripple motor current should be amplified first and compared to a default reference voltage. And then output a digital signal to a rotating speed counter for speed calculation. Firstly, the system model will be established by using the software package, Matlab/Simulink. By using the system model, two different system configurations will be simulated and compared the simulation results, motor ripple current, between them. Finally, there is an experimental circuit prototype is implemented. The verification of the proposed motor speed measurement method will be conducted on this prototype too. Keywords：DC brushed motor, ripple current, filter, speed sensorless measurement. 1. 前言 隨著科技和生產自動化技術的進步，在許多應用場 合馬達的使用是隨處可見的，例如，汽車車窗玻璃的上 升或下降動作，早期都是直接利用人的手操縱完成的； 作動作。在一些控制精度需要非常高，不論是速度或定 位控制，而操作效率和消耗功率一般都是次要的應用場 合，利用直流馬達以構成需要這些功能的架構通常是可 以被滿足的。主要的原因都應該歸因於直流馬達具備簡