本論文中的控制系統除了會接收輸入的信號外，也會接收Feed Back Signal及Parameter Setting的信號，Feed Back Signal是一組迴授信號，使系統更穩定且使馬達更精準的轉動，Parameter Setting是調整參數的信號，調整及控制馬達的輸出，達到不需使用外部線路的調整而僅使用輸入的參數設定達到控制馬達的能力，而負責將Parameter Setting輸入的設定完成馬達的調整是本文中所使用的Gain Tuning 1及Gain Tuning 2，Gain Tuning 1主要的功能是將解碼過後的信號有效地提升增益或降低增益，達到輸入信號放大或縮小的目的，而Gain Tuning 2的功能則是將輸入信號與馬達的回饋信號（經ADC轉換後的數位信號），經過比較器後所產生的差值信號，功能與Gain Tuning 1類似相同，可以調整信號的增益。另外，本論文將使用一組控制信號即能控制多組馬達的方式，達到一次控制多組馬達的功能。

Besides receiving input signal, the control system can receive feed-back signal and parameter setting signal, It can make system stably and precise to rotate with motor. Moreover, the parameter setting can adjust system coefficient that tuned and control motor output condition. And the parameter setting doesn’t need to adjust coefficient by external circuit. It just only inputs the parameter setting. In this paper, the Gain Tuning 1 and the Gain tuning 2 have the ability to tune motor setting when Parameter Setting inputs set into the Gain Tuning 1 and the Gain tuning 2. The main function of Gain Tuning 1 can boost or reduce input signal when input signal going through decode circuit. Therefore, they accomplish amplify or shrink input signal gain.Input signal and motor feedback signal both go through comparator to produce a contrast value. The Gain Tuning 2 tune signal is similar with the function of the Gain Tuning 1. The control system also used another input control signal and it will control more motors in one time by a frame signal.

目錄
第一章	緒論.............................................................1
1.1 馬達控制............................................................................1
1.1.1 位元擴張.........................................................................4
1.1.2 彈性輸入信號.................................................................5
1.1.3 一對多的控制行為.......................................................10
1.1.4 自我記憶.......................................................................11
1.1.5 信號錯誤碼...................................................................12
第二章	系統設計...................................................14
2.1 系統方塊圖......................................................................14
2.2 電路系統分析..................................................................15
2.2.1 類比電路部份...............................................................15
2.2.2 數位電路部份...............................................................17
2.3 系統流程圖......................................................................21
2.4 增益電路設計分析..........................................................22
2.4.1 Gain Tuning 1 Design.....................................................22
2.4.2 Gain Tuning 2 Design.....................................................23
2.5 雜訊改善方法...................................................................24




第三章	控制器之電路實現與模擬.......................25
3.1 設計流程..........................................................................25
3.2 電路模擬..........................................................................26
第四章	系統測試...................................................34
4.1 系統測試版簡介.......................,,,,,,,,,,,,,,,,,,,,,..................34
4.2 環境與設備....................................,,,,,,,,,,,,,,,,,,,,,.............36
4.3 測試結果...............................,,,,,,,,,,,,,,,,,,,,,......................43
第五章	結論與未來展望.............,,,,,,,,,,,,..............44
5.1 結論........................................,,,,,,,,,,,,,,,,,,,,,.....................44
5.2 未來展望..........................................................................45
參考文獻.....................................................................46 
圖目錄
圖1.1 回授系統	2
圖1.2 擴張方式	4
圖1.3 輸入信號方式	5
圖1.4 PWM的基本原理	6
圖1.5 EEPROM 與伺服馬達控制系統(寫入)	9
圖1.6 Digital drive signal的控制方式	10
圖1.7 EEPROM與伺服馬達控制系統(讀出)	11
圖1.8 錯誤檢測電路	13
圖2.1 系統方塊圖	14
圖2.2 增益放大器+ A/D 轉換器	16
圖2.3 馬達驅動電路	16
圖2.4 I2C資料傳輸方式	19
圖2.5 Acknowledge Timing	19
圖2.6 I2C寫入方式….	20
圖2.7 I2C讀出方式….	20
圖2.8 資料輸入流程圖….	21
圖2.9 Gain Tuning 1….	22
圖2.10 Gain Tunibg 2….	23
圖3.1 Input Selector真值表….	26
圖3.2 Input Selector 模擬結果	27
圖3.3 PWM Table….	28
圖3.4 PWM 輸入模擬結果	28 
圖3.5 Digital Comparator 方塊圖	29
圖3.6 Digital Comparator 模擬結果	30
圖3.7 Gain Tuning 1 方塊圖	31
圖3.8 Gain Tuning 1 模擬結果	31
圖3.9 Gain Tuning 2 方塊圖	32
圖3.10 Gain Tuning 2 模擬結果	32
圖3.11 Driver 模擬結果	33
圖4.1 FPGA 實驗板	34
圖4.2 Overview	36
圖4.3 FPGA 實驗板	37
圖4.4 PWM 訊號產生器	37
圖4.5 馬達	38
圖4.6 電源供應器	38
圖4.7 示波器	39
圖4.8 PWM Input=1522us & Output Signal(無動作)	40
圖4.9 PWM Input=2120us & Output Signal(往右轉)	41
圖4.10 PWM Input=950us & Output Signal(往左轉)	42

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