本研究應用希爾伯特-黃轉換(Hilbert Huang Transform, HHT)的訊號處理方式，將受到外擾與系統影響之非穩定電流萃取出特徵成分，並配合無刷馬達輸入電壓計算出電氣阻抗，同時整合具精密度能力評估的訓練策略，提出一適用於無刷馬達系統的線上監測方法。首先，介紹無刷馬達系統運作原理與常見錯誤類型，並針對現有監測方法進行探討，提出以高靈敏性與系統性的無刷馬達系統電氣阻抗作為監測目標。於訊號處理上，採用HHT處理真實世界中量測到的非穩態訊號，同時考量電氣阻抗量測的精密度，於本研究中引用量測重複性與再現性(Gauge Repeatability & Reproducibility, GR&R)的精密度評估方式，訓練出可信賴的健康指標，並整合於線上監測流程，達到線上診斷機台狀況之目的。由理論分析與實驗結果呈現，可驗證本論文所提出的健康監測方法具有優越的性能與表現。

This thesis is aimed at developing the on-line health monitoring approach for a brushless motor system. Electrical impedance of motor system describes the relationship between input voltage and output measured line current and it provides better understanding of the system’s condition, thus it is utilized in the proposed health monitoring approach. Due to the fact most of the practical signals in the fields of engineering are non-stationary. An advanced time-frequency signal processing method named Hilbert Huang Transform (HHT) is applied to extract the characteristic component of line current and derive equivalent impedance. A test of Gauge Repeatability & Reproducibility (GR&R) is applied to ensure high precision performance of impedance measurement in the proposed training strategy. Health reference is trained in training strategy and is applied to on-line monitoring. Theoretical analysis and experiments are conducted to evaluate the effectiveness of the proposed health monitoring approach.

[1]Aderiano M. da Silva, Richard J. Povinelli and Nabeel A. O. Demerdash, “Induction Machine Broken Bar and Stator Short-Circuit Fault Diagnostics Based on Three-Phase Stator Current Envelopes,” IEEE Transactions on Industrial Electronics, vol. 55, no. 3, pp. 1310-1318, 2008.
[2]A. Al-Refai and N. Bata, “Evaluating Measurement and Process Capabilities by GR&R with Four Quality Measures,“ Measurement, vol. 43, no. 6, pp. 842–851, 2010.
[3]Chinmaya Kar and A.R. Mohanty, “Monitoring Gear Vibrations through Motor Current Signature Analysis and Wavelet Transform,” Mechanical System and Signal Processing, vol. 20, pp. 158-187, 2006.
[4]Duane C. Hanselman, Brushless Permanent-Magnet Motor Design. Mcgraw-Hill, 1994.
[5]G. B. Kliman and J. Stein, “Methods of Motor Current Signature Analysis,” Electric Machines and Power Systems, vol.20, pp. 463-474, 1992.
[6]J. R. Stack, “Fault Signature Detection for Rolling Element Bearings in Electric Machines,” Georgia Institute of Technology, Atlanta, GA, Ph.D. Thesis, 2002.
[7]K. D. Hurst and T. G. Habetler, “Thermal Monitoring and Parameter Tuning Scheme for Induction Machines,” in : Conf. Rec. IEEE IAS Annu.Meeting, vol. 1, pp. 136–142, 1997.
[8]M.M. Botha, “Electrical Machine Failures, Causes and Cures,” IEEE EMD conference record, no. 444, pp.117-117, 1997.
[9]M. Flynn, “Regression Analysis of Automated Measurement Systems,” IEEE Transaction on Instrumentation and Measurement, vol. 58, no. 10, pp.3373-3379, 2009.
[10]N. E. Huang, Z. Shen, S. R. Long, M. L. Wu, H. H. Shih, Q. Zhen, N. C. Yen, C. C. Tung, and H. H. Liu, “The Empirical Mode Decomposition and Hilbert Spectrum for Nonlinear and Non-stationary Time Series Analysis,” Proc. Roy. Soc. London A, vol.454, pp.903-995, 1998.
[11]N. Tandon and A. Choudhury, “A Review of The Vibration and Acoustic Measurement Methods for Detection of Defects in Rolling Element Bearings,” Tribology International, vol. 32, no.8, pp. 469-480, 1999
[12]N. E. Huang and S. S. P. Shen, Eds., Hilbert–Huang Transform and Its Applications. World Scienti?c, 2005.
[13]P. Milanfar and J. H. Lang, “Monitoring the Thermal Condition of Permanent-Magnet Synchronous Motors,” IEEE Trans. Aerosp. Electron. Syst., vol. 32, no. 4, pp. 1421-1429, 1996.
[14]RoboPath: get on a high demand path , http://www.robopath.com/。
[15]S. Phillips and M. Branicky, "Velocity Estimation Using Quantized Measuraments," Proc. 42nd IEEE Conf. Dec. Control, pp.4847-4852, 2003.
[16]S. Nandi, H. A. Toliyat, and X. Li, “Condition Monitoring and Fault Diagnosis of Electrical Motors – A Review,” IEEE Transactions on Energy Conversion, vol. 20, pp. 719-729, 2005
[17]蔡清雄，林孟璋，伺服馬達之健康預警裝置及其計算方法，台灣專利，公證號I414919，2010。
[18]鄭儒陽，經驗模態分解之矽智財設計，國立成功大學資訊工程學系碩士論文，2013。