표제지
목차
ABSTRACT 14
제1장 서론 15
1.1. 연구 동향 15
1.2. 연구 배경 및 목적 16
제2장 Hovering 로봇 18
2.1. 로봇의 설계 18
2.2. Hovering 로봇의 구성 20
2.3. 센서장치 24
제3장 BLDC Motor 26
3.1. BLDC 모터 구성 26
3.2. BLDC 모터의 구동회로 및 제어기술 31
제4장 자동 비행 제어기 설계 37
4.1. Hovering 로봇의 제어시스템 37
4.2. 3상 BLDC 모터 특성 측정 39
4.3. PWM 구동의 의한 모터 제어 49
제5장 실험결과 56
5.1. 3상 BLDC 모터의 제어 특성 측정 56
5.2. Hovering 로봇의 기동 특성 63
제6장 결론 67
참고문헌 68
감사의 글 69
Table 1. Location Detection Method of BLDC Motor 33
Table 2. Micro Controller Specifications 39
Table 3. Absolute Maximum Rating and Electric Characteristics of MC33035 59
Table 4. Specifications of Hovering Robot. 64
Fig. 1. Hovering Robot 18
Fig. 2. Structure of Hovering Robot 20
Fig. 3. power up * down 23
Fig. 4. shift left 23
Fig. 5. shift forward 23
Fig. 6. shift backward 24
Fig. 7. spin left & right 24
Fig. 8. shift right 24
Fig. 9. Gyro Sensor 24
Fig. 10. Structure of Sensor 25
Fig. 11. Frequency Characteristics of Sensor 25
Fig. 12. Drive System of BLDC Motor 27
Fig. 13. Inverter for Three-phase Current Control 28
Fig. 14. Current Control Block Diagram of BLDC Motor 29
Fig. 15. Magnetization Characteristics Curve 30
Fig. 16. Typical Magnetization Characteristics of Magnet 31
Fig. 17. Example of BLDC Motor Drive Basic Circuit Structure 32
Fig. 18. Block Diagram of BLDC Motor Control IC 32
Fig. 19. Block Diagram of F/V BLDC Motor 34
Fig. 20. Block Diagram of PLL-type BLDC Motor 34
Fig. 21. Block Diagram of One-chip LSI for Spindle Motor 35
Fig. 22. Movement of Commutation Circuit 36
Fig. 23. Structure of Robot System 38
Fig. 24. Example of BLDC Motor Drive Circuit 39
Fig. 25. Noise Input to Encoder Pulse and its Results 41
Fig. 26. Noise Reduction Principal included in Encoder Signal 41
Fig. 27. Displacement Sensing Principal 42
Fig. 28. M/T-type Timing Chart 47
Fig. 29. Hardware Structure of Control System 49
Fig. 30. Block Diagram of PWM Control Circuit Module 49
Fig. 31. Generation Circuit and Waveform of Square Wave 50
Fig. 32. Differential Circuit and Waveform 51
Fig. 33. Generation Circuit and Waveform of Triangle Wave 52
Fig. 34. Error Amplifier Circuit 53
Fig. 35. Comparator Circuit and Waveform 53
Fig. 36. Switch Driving Circuit 54
Fig. 37. Overall Structure Diagram of PWM Control Circuit Module 54
Fig. 38. Waveform of Square Pulse 56
Fig. 39. Waveform of Differential Circuit 56
Fig. 40. Waveform of Triangle Waveform 56
Fig. 41. Input Waveform of Comparator 56
Fig. 42. Block Diagram of Three-phase BLDC Motor Drive IC MC33035 58
Fig. 43. Circuit Diagram of Three-phase BLDC Motor Drive IC MC33035 60
Fig. 44. Waveform of 3 Pulse 6 Step Motor 61
Fig. 45. Change of Phase Current of BLDC Motor 62
Fig. 46. Frequency and Velocity Error 64
Fig. 47. Roll Control Waveform 65
Fig. 48. Pitch Control Waveform 65
Fig. 49. Yaw Control Waveform 65
Fig. 50. Height Control Waveform 65
Fig. 51. Height of Hovering Robot by PWM Frequency 66