超音波換能器的驅動是藉由將驅動訊號的頻率操作於想要的共振頻率，進而獲得極大的震動效率。鎖相迴路法是一種超音波換能器常見的驅動方式，然而要使其能夠充分的得到最大效率必須先獲得精確的相位資訊，這點對於只有稀疏的取樣訊號而言很難辦到。本文以訊號內插的方式結合牛頓法，重建取樣波型的零交越點，進而估測出精確的電壓與電流相位資訊。這些演算法將藉由現場可程式化閘陣列實現，並將其應用於鎖相迴路，使得性能與切換式鎖相迴路(bang-bang PLL)相比有所提升。

An ultrasonic drive requires frequency locking at its resonance for high vibration efficiency. Phase locked loop is a common approach to achieving this purpose. To fully employ the power of phase locked loop, however, it requires the precise phase information, which is difficult to obtain for coarsely sampled signals. This thesis combines the signal reconstruction method and Newton’s method to reconstruct the zero-crossing points of coarsely sampled waveforms and thereby to precisely estimate the phase difference of the driving voltage and current. The algorithm is implemented on an FPGA with the ultrasonic driving circuit. With the proposed phase estimation algorithm, the performance of the phase-locked-loop ultrasonic drive is improved over the conventional bang-bang design.

論文審定書 i
致謝 ii
摘要 iii
Abstract iv
目錄 v
圖目錄 vii
表目錄 x
第一章 超音波驅動技術簡介 1
1.1 超音波換能器驅動方法 1
1.2 回授訊號的精度問題 4
1.3 提升控制精度方法 5
第二章 相位估測演算法 7
2.1 估測相位方法 7
2.2 牛頓法 8
2.3 牛頓疊代式的近似實現 9
2.3.1 疊代式的收斂問題 10
2.3.2 超音波訊號的操作限制 10
第三章 FPGA實現相位與振幅估測 13
3.1 FPGA區塊安排 13
3.2 帶通濾波器設計 14
3.3 疊代式實現 16
3.3.1 疊代式化簡 16
3.3.2 非整數延遲濾波器設計 19
3.3.3 FPGA程式規劃 24
3.4 估測器設計 26
3.4.1 振幅估測設計 27
3.4.2 相位估測設計 29
3.5 實際量測結果分析 32
3.5.1 振幅估測結果量測 32
3.5.2 相位估測結果量測 33
第四章 FPGA實現超音波驅動控制 35
4.1 超音波噴塗的驅動考量 35
4.2 鎖相迴路驅動探討 36
4.2.1 切換式鎖相迴路 36
4.2.2 改良式鎖相迴路 38
4.3 量測結果比較與探討 41
4.3.1 鎖頻性能比較 42
4.3.2 負載變動比較 48
4.3.3 驅動訊號量測 52
第五章 技術優劣探討與論文總結 58
5.1.1 技術優劣勢探討 58
5.1.2 總結 60
參考文獻 61

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