M341863 八、新型說明： 【新型所屬之技術領域】 、，本们作係種馬達控制器，特別是指一種具數位角度擷取與 工業控制介面之無刷馬達數位鶴定位控制器，可_角度檢測 回授感測器（以下稱：解角器）及數位解石馬晶片將心軸之轉動角度 數位化解析後輸出，並控·統可以精確控制叫的輸出角度並 • 維持運作。 【先前技術】 %現今各種馬達控繼在設射的使用愈來愈廣泛，但是在各 種又備之巾的馬達控制II卻存在若干仍待改進的困擾。 口口般恶刷馬達數位驅動定位控制器基本的動作原理，就是控 制⑽將工業控制介面所傳入的脈波寬度調變訊號(卿)轉換成對 應之k對肖度值(—45。〜+45。）後，再依據無刷馬達心軸目前所在 之角度位置計算差異及方向，並輸出及_鋪馬達之轉速及轉 °，使。軸得以快速運轉至玉業控制介面所傳人之命令角度為止 並保持。 由上述的無刷馬達數位驅動定位控制器的簡單說明可知，習 、:月/丄了罪而以現行之然刷馬達數位驅動定位控制器，其心 轴角度位置樣回授裝置，係湘—種傳統的類比式肖度位置感 M341863 測為（下稱.電位計）’進行心糾度位置讀取及峨，而這樣 的感測裝置存在以下的設計缺陷·· +其-，電輯在其感職m的設計上有麟上的限制，由於 驗計的魏設計是-種等同電贼的構造，因此其量測的區間 党限於機構設計上的限制’所以只能在固定的角度區間進行量 測’無法達到〇。到編。的量測，因而限制龍心軸的可運轉角度 範圍。 ^又 ，其二，由於電位計之回授訊號型式係為一種類比電壓之訊號 型式，並且是-種分壓的方絲絲電位騎量得的角度值，所ϋ 以其量測的結果會因為電位計本身所存在的誤差而產轉移，並 且類比訊號在傳遞的過程中容易受到環境中其他電氣訊號雜訊的 干擾，造成數值的漂移，降低回授訊號的解析度。 其三，市面所販售的角度位置感測機構在設計為接_式，故 在使用的過程中，會因長時間的使用使得_器的接觸面磨損造 «測結果產生誤差’所以❹傻會有使轉命的關，同時也 限制控制系統的使用壽命。 其四’由於電位計的制方式秘觸式，所以麵測器的安 裝上會有接觸面的汙損或祕酸慮，增加朗^讀值的 因素。 有鑑於上述缺點，本新型創作人運用新—代角度擷取方式， 將角度位置擷取訊賴成數他號送出，提升肢位置數值的解 析度及可靠度，並触數據·雜減力，使數據在傳遞過^ M341863 更使控制系統可_精確的心輛角度輸 不因雜訊的干擾而失真， 出控制（誤差值<〇. 5。）。 【新型内容】 本創作之目的，係在提供—難紐肖度擷取與 面之無刷馬達數位驅缺位控制器，其為改善制的各項^ 運用創新的肢位取技術進行心軸角度位置的量測，复 在於使粒㈣H具備有以上功效： 1. 角度位置量測範圍可_從G。到。之循環量測， 口枝構α又计上的限制而侷限角度測量範圍。 2. 心轴機翻設計不再需要配合角賴置之限制，而侷 限其運轉範目’使心轴輯出肢得以更叙的運轉控制。 3.在角度位置數據資料的格式及傳翁式上，針對以往類 比電壓訊_缺點，改贿位滅方式取而代之，以12位摘 數位數據傳遞肖度數據’提升數獅解析度，增強訊號的抗雜訊 能力，改善以往設計上的限制。 4·由於解肖n之設計，係細祕線ffi的方式進行絕對角 度的里測4結構區分為定子感應線圈及轉子感應線圈，兩者間 亚無接觸’而是赠圈感應方式進行制，因此角度位置感測器 並不會因為接财良n絲漏情況而造錢測數據不精 確，並且延長整體定位控制器的使用壽命 M341863 ^ 了達到上述目的，具數㈣度錄私業控制介面之無刷 馬達數位麵定健制器（本卿），轉係H控制介面、 =央Γ單71、—無刷馬達的細心軸、—角度制回授感測 益及一數位解碼W所電連接城，其种央處理單元中之微處 =2工軸介面所傳入之肢命令值及編測回授感 2觸取狀心她嫩值，物娜算編，驅動及 制播刷馬達之正/反轉及轉速，以達到角度輪出㈣及維持之 目的。 路(ΕΠ中央處理單元包含—電源轉換與電磁干擾防護電 數位控制與訊賴換電路(D/A)、_無刷馬達驅動盘 4度量爾算魏，射魏與電磁干擾防護電路上連接= 業控制介面； ^軸角度位置回. 該工業控制介面接收外部控制命令及輪出， 授電壓值至外部控制器； 該數位控制與訊號轉換電路内包含微處理器，其程式 要是採用微處㈣控舰術及_理論，整合工業控較面又所輸 入之控制峨（㈣及解角騎測得之心㈣度位置等數據，以 數位運异方辆算兩航之差錢及轉向差異，料算出對應之 轉速及轉向，再以數位訊號型式傳送 。 〜 Υ央處理早兀驅動並控制 馬達之轉速及轉向，以達到控啦統全數錢之目的，增強系統 8 M341863 的抗雜訊能力 另該數位控制與訊號轉換電路内的微處理器以相對應 ，精確㈣心軸的輸出角度並維^ 此為一般習知技術的變化，在此不多作贅述。M341863 VIII, new description: [New technical field],, we are a series of motor controllers, especially a brushless motor digital position positioning controller with digital angle extraction and industrial control interface, can be _ angle The detection feedback sensor (hereinafter referred to as the angle resolver) and the digital solution stone wafer digitize and analyze the rotation angle of the mandrel, and the control system can accurately control the output angle of the call and maintain operation. [Prior Art] Nowadays, various motor control systems are becoming more and more widely used in the installation, but there are still some problems to be solved in the motor control II of various kinds of towels. The basic operating principle of the mouth-like brush motor digital position positioning controller is to control (10) convert the pulse width modulation signal (qing) introduced by the industrial control interface into the corresponding k-pair value (-45. +45.), then calculate the difference and direction according to the current angular position of the brushless motor spindle, and output and _ the motor speed and turn °. The shaft can be quickly moved to the command angle of the person in the jade control interface and maintained. According to the simple description of the above-mentioned brushless motor digital position positioning controller, it can be seen that: Xi, 丄 丄 而 而 而 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行 现行A traditional analogy of the positional sense of position M341863 is measured (hereinafter referred to as "potentiometer"' for reading the heart position and 峨, and such a sensing device has the following design flaws. The design of the sensory m has a limitation on the lining. Because the Wei design of the test is a kind of structure equivalent to the electric thief, the measurement of the interval party is limited to the limitation of the design of the mechanism, so it can only be in a fixed angle range. The measurement 'cannot reach 〇. To the editor. The measurement thus limits the range of operational angles of the dragon mandrel. ^And, secondly, because the feedback signal type of the potentiometer is a signal type of analog voltage, and is the angle value of the square wire potential riding of the partial pressure, the result of the measurement It will be transferred due to the error of the potentiometer itself, and the analog signal is easily interfered by other electrical signal noise in the environment during the transmission process, causing the value to drift and reduce the resolution of the feedback signal. Thirdly, the angular position sensing mechanism sold in the market is designed to be connected to the _ type, so in the process of use, due to the long-term use, the contact surface of the _ device will cause the error of the measurement result. There will be a switch to life, and also limit the service life of the control system. Because of the secret mode of the potentiometer, the installation of the surface detector has the fouling or the acidity of the contact surface, which increases the value of reading. In view of the above shortcomings, the creator of the present invention uses the new-generation angle extraction method to send the angle position to the number to send the number, improve the resolution and reliability of the limb position value, and touch the data and reduce the force. The data is transmitted through ^ M341863, so that the control system can accurately distort the angle of the vehicle without the interference of the noise, and the control (error value < 〇. 5). [New Content] The purpose of this creation is to provide a controller for the improvement of the various parts of the brushless motor digital position drive lacking position. The measurement of the angular position is made to make the particle (four) H have the above effects: 1. The angular position measurement range can be _ from G. To. According to the cyclic measurement, the oral branch structure α also limits the range and limits the angle measurement range. 2. The design of the mandrel is no longer required to match the angle of the angle, but the scope of its operation is to make the mandrel of the limbs more controllable. 3. In the format and transmission style of the angular position data, for the previous analog voltage signal _ shortcomings, instead of changing the bribe position, the 12-bit digit data is used to transmit the singular data to improve the number of lions and enhance the signal. Anti-noise ability to improve the limitations of previous designs. 4·Because of the design of the solution, the method of the fine line ffi is used to measure the absolute angle. The structure is divided into the stator induction coil and the rotor induction coil, and the two are not contacted, but the ring induction method is used. Therefore, the angular position sensor does not make the measurement data inaccurate due to the receipt of the money, and extends the service life of the overall positioning controller. M341863 ^ To achieve the above purpose, the number (four) degree recording private control interface The brushless motor digital surface setting controller (this Qing), the conversion H control interface, = the central single 71, the brushless motor's fine shaft, the angle system feedback sense and the digital decoding W electric Connected to the city, the micro-location of the central processing unit = 2 the axis command interface of the limb command value and the sense of feedback feedback 2 touch the heart of her tender value, the object of the calculation, drive and brake motor Positive/reverse and rotational speed for angle rotation (4) and maintenance purposes. Road (ΕΠ central processing unit includes - power conversion and electromagnetic interference protection electric digital control and signal exchange circuit (D / A), _ brushless motor drive disk 4 metric calculation Wei, shot Wei and electromagnetic interference protection circuit connection = Industrial control interface; ^axis angular position back. The industrial control interface receives external control commands and turns out, and gives voltage values to an external controller; the digital control and signal conversion circuit includes a microprocessor, and the program uses micro-location (4) Controlling the ship and the theory, integrating the control of the industrial control and the input control ((4) and the position of the heart (four) degree of the angle of the ride, the difference between the two flights and the difference between the two flights. It is expected to calculate the corresponding speed and steering, and then transmit it in digital signal mode. ~ The central processing handles the early driving and controls the speed and steering of the motor to achieve the purpose of controlling the total amount of money, and enhances the anti-noise capability of the system 8 M341863. The digital control corresponds to the microprocessor in the signal conversion circuit, and the accuracy (4) of the output angle of the mandrel is changed as a general prior art, and will not be repeated here.
有關本案新型為達成上述目的、所採用之高雜術思超、手 段’ _舉較佳可實施例並配合其他圖式詳細說明如後，相产本 Γ型之目的、特徵及其他優點’當可由之得—深人而具體之瞭 【實施方式】 百先雜合㈣第！ g[聯，本新贿提供之—種具數位 角度類取與工業控制介面之無刷馬達數細動定位控制器⑽ 主要係包含一工控單元11G、一甲央處理單元120及-馬達驅動 •及角度監測單元⑽所電連接組成，且係配合-無刷馬達200、 一扭力齒輪箱3GG及-轉動輸出之心軸働進行工作，前述元 件之配置連接關係在於： 缸控單元110 ’係指一種電源及工業控制介面處理單元， j包含一電源轉換及顧防治電路⑴、-工業控制介面112， 前述工f㈣介面112提供朗者輸人角度㈣m號a，該控制 而虎A格式為脈衝覓幅調變卿恤奸cycle:—至2略等同於 、巴對角度+45至-45 )，並將心軸的角度位置（角度_45。至 M341863 +45口等同於相對電壓值lOVdc至+10Vdc)以角度類比訊號B輸 出回傳&供使用者讀取，而該電源轉換及EMI防治電路111則 供直流電源C輪入； 為馬達驅動及角度監測單元130,包含一無刷馬達驅動電路 解角^"驅動解碼電路132 (resolver)及一解角器133 (resolver) ’别述解角器為一般習知技術中稱之角度檢測回授 感測器，在此不多作贅述； 斜央處理單元120，包含-微處理器12卜-數位轉類比 訊號電路122;該數位轉類比訊號電路122將微處理器ι21傳遞 的角度數位訊號轉換成類比訊號；該微處理器121電性耦接至 该工業控制介面111、無刷馬達2〇〇之無刷馬達驅動電路131、 解角器驅動解碼電路132及該數位轉類比訊號電路122，該微處 理态121接收工業控制介面H2所傳入之控制訊號及該解角器 驅動解碼電路132輸入之角度數位訊號，並對無刷馬達驅動電 路131輸出控制訊號及對角度訊號轉換電路122輸出角度位置 訊號達到控制目的。 本創作之具體功能及運作内容之說明如下： 該工控單元110是電源及各式工業控制輸入、輸出的介面 處理單元，目的在於對外部所輸入的直流電源C進行整流並提 供使用者輸入控制命令及讀取角度回授值，其包含電源轉換及 EMI防治電路111、工業控制介面112兩部份： 該電源轉換及EMI防治電路111 ’主要功能是接收外部直流 M341863 電源C(18VDC〜32VDC)，並且執行電源濾波及EMI防治處理，而後 再將直;W笔源C轉換成18VDC〜32VDC及+5VDC兩種直流電源护供 給控制系統使用。 該工業控制介面112，主要功能是提供使用者輸入角度控制 訊號A的命令(控制訊號格式：pwM，5〇Hz，du仿cycle:lms至2贴 等同於絕對角度+45。至-45。），及提供使用者讀取心軸即時角度 • 位置之角度類比訊號B回授（絕對角度：-45。至+45。等同於相對電 - 壓值:-l〇Vdc 至+l〇Vdc)。 忒中央處理單元120的功能在於接收該工控單元11〇之工 業控制介面112所傳入之角度命令，並且同步接受該馬達驅動 及角度監測單元130傳入之心轴400角度位置，該中央處理單 元120什异兩數據間之差異量及方向，選擇適當之控制策略， 將該中央處理單元120運算結果傳出致馬達驅動及角度監測單 # 兀130進行馬達運轉控制，同時將心轴4〇〇的角度位置轉換成 類比電壓吼號B傳出至該工控單元no之工業控制介面I〗？提 供使用者讀取，本單元包含微處理器121 (MCU)、數位轉類比訊 號電路122兩部份，分別說明於後： 該微處理器121功能包括： 1·先判_工業控制介面112傳入的控制命令格式是否符合 設計規範所訂定之訊號格式（控制訊號格式：pwM，5〇Hz，此访 cycle: lms 至 2ms); 2·將合法的命令值採用正規化法運算成1〇 bit數位數據； 11 M341863 3讀取解角器驅動解碼電路132所傳入的12阶數位角度 數據，並以數位濾波運算法過濾數值； 4·將12 bit角度數據採用正規化運算成1〇阶數位數據 並與正規化後之命令值進行比較運算，同時將正規化後之角度 值傳送至數位轉類比訊號電路; 5.將兩數值之比較結果根據控織略選擇適當之馬達轉速 # 控制值及轉向控制傳出至無刷馬達的無刷馬達驅動電路131執 • 彳于無刷馬達200之運轉控制0 “數位偏比n峨電路122功能是接收微處理II 121傳入 之數位角度值，以硬體電路處理方式轉換成類比電壓的訊號型 式（絕對角度：-45。至+45。等同於相對電壓值：_驗至 +10Vdc) ° 前述馬達驅動及角度監測單元13〇的主要目的是接收中央 ».處料元則碌輯觀補向控制命令，轉及控制無 刷馬達200運轉，並且即時監_由_的角度位置傳出至中 央處理單元12〇進行控制運算，本單元包含無刷馬達驅動電路 13卜解角器驅動解碼電路132、解角器133三部份： 該無刷馬達驅動電路13卜主要目的根據微處· 121所 傳入之控舰號（包含:轉速、轉向及停轉參數)驅動並控制 無刷馬達200運轉； 該解角器驅動解碼電路132顧數位解碼晶片（即娜rt coder控制晶片）驅動解角器133，並以最高妆Hz的感測速 M341863 率將解角器133感測到的角度值轉成數位（1〇 bi 11 -Κ II bit) 數值後傳出至該微處理器121進行相關運算； 該解角器133白勺主要功能是接收解角器趨動解碼電路谈 傳入的驅動激磁訊號後，將感測到的心軸40Q角度值回傳终解 角器驅動解碼電路132行角度值解碼。 "Regarding the new type of the case, the purpose, characteristics and other advantages of the Γ Γ 为 为 达成 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 It can be obtained - deep people and specific [implementation] Hundreds of first hybrid (four) first! g[联联,本新 briber provided - a digital camera with a digital angle and industrial control interface, the fine motion positioning controller (10) mainly includes an industrial control unit 11G, a central processing unit 120 and - motor drive And the angle monitoring unit (10) is electrically connected, and cooperates with the brushless motor 200, a torque gear box 3GG and a rotating output shaft 働, and the configuration and connection relationship of the components is: the cylinder control unit 110' A power supply and industrial control interface processing unit, j comprises a power conversion and prevention circuit (1), an industrial control interface 112, and the foregoing interface (112) provides a margin input angle (4) m number a, and the control and the tiger A format is a pulse 觅The amplitude is changed to the sinister cycle: - to 2 is slightly equivalent to the angle of the bar +45 to -45), and the angular position of the mandrel (angle _45. to M341863 +45 port is equivalent to the relative voltage value lOVdc to + 10Vdc) is outputted by the angle analog signal B for the user to read, and the power conversion and EMI control circuit 111 is used for the DC power supply C; the motor drive and angle monitoring unit 130 includes a brushless motor drive Circuit solution Angle ^" drive decoding circuit 132 (resolver) and a resolver 133 (resolver) 'disc resolver is a general-purpose angle detection feedback sensor, not to repeat here; The central processing unit 120 includes a microprocessor 12-bit-to-digital analog signal circuit 122; the digital-to-analog signal circuit 122 converts the angular digital signal transmitted by the microprocessor ι21 into an analog signal; the microprocessor 121 is electrically coupled Connected to the industrial control interface 111, the brushless motor drive circuit 131 of the brushless motor 2, the resolver drive decoding circuit 132, and the digital to analog signal circuit 122, the microprocessor mode 121 receives the industrial control interface H2 The control signal and the angle-receiving signal input by the de-angler driving decoding circuit 132 are outputted to the brushless motor driving circuit 131 and the angular position signal is output to the angle signal converting circuit 122 for control purposes. The specific functions and operation contents of the present invention are as follows: The industrial control unit 110 is an interface processing unit for power supply and various industrial control inputs and outputs, and aims to rectify the externally input DC power source C and provide a user input control command. And reading angle feedback value, which includes two parts of the power conversion and EMI control circuit 111 and the industrial control interface 112: The main function of the power conversion and EMI prevention circuit 111' is to receive an external DC M341863 power supply C (18VDC~32VDC). And perform power supply filtering and EMI control processing, and then straight; W pen source C is converted into 18VDC~32VDC and +5VDC two DC power supply protection control systems. The main function of the industrial control interface 112 is to provide a command for the user to input the angle control signal A (control signal format: pwM, 5 Hz, du imitation cycle: lms to 2 stickers equivalent to absolute angle +45. to -45.) And provide the user to read the mandrel instant angle • Position angle analog signal B feedback (absolute angle: -45. to +45. Equivalent to relative electro-voltage: -l〇Vdc to +l〇Vdc). The function of the central processing unit 120 is to receive the angular command incoming by the industrial control interface 112 of the industrial control unit 11 and synchronously accept the angular position of the spindle 400 transmitted by the motor driving and angle monitoring unit 130. The central processing unit 120 different amount and direction of the difference between the two data, select the appropriate control strategy, the central processing unit 120 operation results are transmitted to the motor drive and angle monitoring list # 兀 130 for motor operation control, while the mandrel 4〇〇 The angular position is converted into an analog voltage nickname B to the industrial control interface I of the industrial control unit no? Providing user read, the unit includes two parts of a microprocessor 121 (MCU) and a digital-to-analog signal circuit 122, respectively, which are described later: The functions of the microprocessor 121 include: 1. Pre-judgment _ industrial control interface 112 Whether the input control command format conforms to the signal format specified by the design specification (control signal format: pwM, 5〇Hz, this access cycle: lms to 2ms); 2. The legal command value is normalized to 1〇bit Digital data; 11 M341863 3 reads the 12th-order digital angle data transmitted by the degausser drive decoding circuit 132, and filters the values by the digital filtering algorithm; 4·normalizes the 12-bit angle data into 1〇 order digits The data is compared with the normalized command value, and the normalized angle value is transmitted to the digital to analog signal circuit; 5. The comparison result of the two values is selected according to the control and the appropriate motor speed # control value and The brushless motor drive circuit 131 that is controlled to transmit to the brushless motor is controlled by the operation control of the brushless motor 200. "The digital ratio ratio n峨 circuit 122 function is the number of incoming microprocessors 121. Angle value, converted to analog voltage signal type by hardware circuit processing (absolute angle: -45. to +45. Equivalent to relative voltage value: _test to +10Vdc) ° The aforementioned motor drive and angle monitoring unit 13 The main purpose is to receive the center». The material element is to view the replenishment control command, and to control the operation of the brushless motor 200, and the instantaneous monitoring_ is transmitted from the angular position of the _ to the central processing unit 12 for control calculation, The unit includes a brushless motor drive circuit 13 and a resolver drive decoding circuit 132 and a resolver 133. The brushless motor drive circuit 13 is mainly used for the control ship number introduced by the micro-port 121 (including: The rotational speed, steering and stop parameters) drive and control the operation of the brushless motor 200; the resolver drive decoding circuit 132 drives the resolver 133 with a digital decoding chip (ie, a rt coder control chip), and has a maximum makeup Hz The speed measurement M341863 rate converts the angle value sensed by the angle corrector 133 into a digit (1〇bi 11 -Κ II bit) value and then transmits it to the microprocessor 121 for correlation operation; the main function of the angle corrector 133 Receiving the angle After the incoming drive excitation signal is talked about, the sensed spindle 40Q angle value is returned to the final resolver drive decoding circuit 132 line angle value decoding.
請麥照第2-1〜2-4圖，其係繪示依照本新型較佳 作步驟流程圖： 實例的操 在第2-1圖中，控制系統一經通電後會進行系統初始值的 初始化設定S510 ’完成初始設定後，系統開始控制命令確認 S520，此時使时若尚未輸人控制命令或者纽在& $秒的時 間内未接收控制命令_統會自_控制命令值給丨.5贴(〇。） 的命令’並讀取解角器數位訊號擷取S540，以獲得解角器送出 的角度位置。 當使系統接收到控制命令後即執行讀取控制命令s53〇，而其程 序如第2-2圖所示，首先啟動擷取器接收命令，完成命令 擷取後開朝讀命令衫合法卿，㈣讀命令枝符合規範 要求，而餅符合_的㈣命令進拉聽運算卿並計 算命令控制參錄S534後錢控制參數。 Ί > &第2-3圖’系統解角！|度數位訊號讀取§54〇時， 先將數據執行驗濾波啟動_ 後職_數字濾、除， 而後將數據同樣進行正規化運算_後計算心軸角度參數值 儲存/¾½•將心細度參雜魏位減(剛)如第Η M341863 圖將心軸角度數位訊號送出S550，隨後傳送給第i圖中的數位 轉類比訊號電路122進行轉換並送出至工業控制介面Η〗。 完成控制命令與心軸角度擷取程序後，微處理器會根據這 兩筆數據计异差異夏S560得出其差異量及方向，隨後將算社 果導入控制策略副程式S570運算控制參數，而後將控制參數 傳送至弟1圖的無刷馬達驅動電路131驅動並控制無刷馬達 _ 200運轉’而控制策略副程式S570的動作程序請參照第2一4 - 圖，主要是利用模糊理論將差異量根據所訂定的模糊規則啟動 模糊控制法則S571，之後計算控制力參數S572獲得數據後， 將參數傳送至第1圖的無刷馬達驅動電路131驅動並控制無刷 馬達200運轉。 最後，在此將本新型各訊號的實施例格式說明於下： • 1·控制訊號之工作頻率·· 50 Hz〜60 Hz。 2·訊號種類： 心軸正轉(CW)時，脈波控制訊號為1· 〇 ms〜1· 50 ms(電 氣運動行程範圍：+45。〜0。、機械運動行程範圍：+45。〜〇。）。 心軸反轉(CCW)時，脈波控制訊號為1· 51 ms〜2· 0 ms(電氣運 動行程範圍：〇。〜—45。、機械運動行程範圍：〇。〜-45。）。 3·訊號電壓： 高電位〇1〇:3.1¥0(：〜5.1¥0(：; 低電位(LOW):0 VDC。 14 M341863 4.回授訊號格式： 相對電壓：-10VDC〜+10VDC，等同於機械運動行程範圍-45° +45、 M341863 【圖式簡單說明】 第1圖 第2—1至2-4圖 本創作結構示意圖； 較佳實施例的操作步驟流裎圖 【主要元件符號說明】 無刷馬達數位驅動定位控制器100 • 工控單元110 ， 工業控制介面112 角度類比訊號B 中央處理單元12〇 電源轉換及EMI防治電路lu 控制訊號A 直流電源C 微處理器121 數位轉類比訊號電路122 馬達驅動及角度監測單元130 無刷馬達驅動電路131 解角器驅動解碼電路132 籲.解角器133 無刷馬達200 扭力齒輪箱300 心軸400 初始化設定S510 控制命令確認S520 讀取控制命令S530 讀取解角器數位訊號擷取S540 命令控制擷取器啟動S531 判讀命令是否合法S532 16 M341863 正規化運算S533 計算命令控制參數值S534 數位濾波器啟動S541 正規化運算S542 計算心軸角度參數值S543 心軸角度數位訊號送出S550 • 計算差異量S560 - 控制策略副程式S570 啟動模糊控制法則S571 計算控制力參數S572Please refer to the picture 2-1~2-4 of Maizhao, which is a flow chart showing the steps according to the preferred embodiment of the present invention. The operation of the example is shown in Figure 2-1. After the control system is powered on, the initial setting of the initial value of the system is set. After S510 'Complete the initial setting, the system starts the control command to confirm S520. At this time, if the control command has not been input yet, the control command is not received within the time of & $ seconds. The control command value is given to 丨.5 Paste (〇.) the command 'and read the resolver digital signal to capture S540 to get the angular position sent by the resolver. When the system receives the control command, the read control command s53 is executed, and the program is as shown in FIG. 2-2. First, the picker receives the command, and after completing the command, the command is opened. (4) The reading command branch meets the specification requirements, and the pie conforms to the _ (four) command to pull in the operation and calculate the command control parameter S534 after the money control parameters. Ί >& 2-3 Figure ’ system solution! When the degree signal is read §54〇, the data is first filtered and started. _ After the job _ digital filtering, division, and then the data is also normalized _ after the calculation of the mandrel angle parameter value storage / 3⁄41⁄2 • will be fine The dummy bit minus (just) is sent to the S550 by the mandrel angle digital signal as shown in Fig. M341863, and then transmitted to the digital to analog signal circuit 122 in the i-th diagram for conversion and sent to the industrial control interface. After completing the control command and the mandrel angle acquisition program, the microprocessor will calculate the difference amount and direction according to the two data differences, and then import the result into the control strategy sub-program S570 to calculate the control parameters, and then The control parameter is transmitted to the brushless motor drive circuit 131 of the figure 1 to drive and control the brushless motor _ 200 operation', and the operation procedure of the control strategy subroutine S570 is referred to the second one 4 - figure, mainly using the fuzzy theory to make the difference The amount starts the fuzzy control rule S571 according to the predetermined fuzzy rule, and then calculates the control force parameter S572 to obtain the data, and then transmits the parameter to the brushless motor drive circuit 131 of Fig. 1 to drive and control the operation of the brushless motor 200. Finally, the format of the embodiments of the various signals of the present invention is described below: • 1·the operating frequency of the control signal·· 50 Hz~60 Hz. 2. Signal type: When the spindle is rotating forward (CW), the pulse wave control signal is 1· 〇ms~1· 50 ms (electrical motion range: +45.~0., mechanical motion range: +45.~ Hey.). When the spindle is reversed (CCW), the pulse wave control signal is 1·51 ms~2·0 ms (electrical motion travel range: 〇.~—45., mechanical motion travel range: 〇.~-45.). 3. Signal voltage: High potential 〇1〇: 3.1¥0(:~5.1¥0(:; Low potential (LOW): 0 VDC. 14 M341863 4. Feedback signal format: Relative voltage: -10VDC~+10VDC, Equivalent to the mechanical motion range -45° +45, M341863 [Simple description of the diagram] Figure 1 2 -1 to 2-4 diagram of the creation structure; the operation steps of the preferred embodiment flow diagram [main symbol Description] Brushless motor digital position positioning controller 100 • Industrial control unit 110, industrial control interface 112 angle analog signal B central processing unit 12 power conversion and EMI control circuit lu control signal A DC power supply C microprocessor 121 digital analog signal Circuit 122 Motor Drive and Angle Monitoring Unit 130 Brushless Motor Drive Circuit 131 Dehorner Drive Decoding Circuit 132. Resolver 133 Brushless Motor 200 Torque Gearbox 300 Mandrel 400 Initialization Settings S510 Control Command Confirmation S520 Read Control Command S530 Read the resolver digital signal Capture S540 Command control Picker start S531 Whether the interpretation command is legal S532 16 M341863 Normalization operation S533 Calculation command control parameter value S534 Digital filter Moving operation S542 S541 normalization parameter values calculated angular S543 mandrel spindle angle out digital signal difference calculation S550 • S560 - S570 subroutine start control policy control rule of fuzzy control parameter calculation S571 S572