直流无刷电机数字调速.doc
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直流无刷电机数字调速,摘要永磁无刷直流电机（permanent magnet brushless dc motor）利用电子换相代替了有刷直流电机的机械换相和电刷。它既具有直流电机良好的调速性能，又具有交流电机结构简单的特点，使其在应用过程中体现出诸多优点。无刷直流电机稳定可靠的运行是建立在准确的转子位置检测的基础上的。其中，位置检测分为有...
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摘 要
永磁无刷直流电机（Permanent Magnet Brushless DC motor）利用电子换相代替了有刷直流电机的机械换相和电刷。它既具有直流电机良好的调速性能，又具有交流电机结构简单的特点，使其在应用过程中体现出诸多优点。
无刷直流电机稳定可靠的运行是建立在准确的转子位置检测的基础上的。其中，位置检测分为有位置传感器位置检测和无位置传感器位置检测两种，而有位置传感器的直流电机增加了电机的体积和成本，降低了其运行的稳定性，限制了应用场合。而现代工业应用对电机控制系统的稳定性和无刷直流电机的可应用领域的要求在逐渐提高，这就使得无位置传感器电动机控制系统的研究，具体较深远理论意义和较高实用价值。
本文采用TI公司的TMS320F2812芯片作为主控制芯片，研究无位置传感器无刷直流电动机数字调速控制系统。
1、对无刷直流电机的结构组成、基本工作原理、调速控制方法以及数学模型进行了详细的介绍，重点介绍了现阶段采用的无位置传感器位置检测的方法和电机的起动方法。
2、对常规的反电动势位置检测的方法进行了研究，提出了基于H_pwm-L_pwm调制方式下的无位置传感器无刷直流电机转子位置检测的新方法，实验证明该方法能够很好的完成位置检测。针对无位置传感器电机起动存在的问题，提出了采用预定位与升频升压相结合的起动方法，实验验证了该方法的可行性。
3、利用MATLAB强大的仿真功能，结合无刷直流电机的数学模型建立起了整个控制系统的仿真模型。并进行了传统PI控制算法和模糊自适应PI控制算法仿真研究，仿真结果可以看出，采用模糊自适应PI控制算法系统的控制性能得到明显改善。
4、对控制系统的硬件电路和软件程序进行了设计，并对整个系统进行了调试，调试结果表明该系统的调速性能能够达到预期结果。
关键词：无刷直流电机；模糊自适应PI；位置检测；DSP；调制方式
Abstract
Permanent Magnet Brushless DC motor replaces the mechanical brush in a DC motor using electronic commutation. It has DC motor’s good speed performance, and also has the AC motor’s characteristics of simple structure, so that it is reflects a number of advantages in the application.
Stable and reliable brushless DC motor operation is based on accurate rotor position detection. There are two ways of position detection, and they are position sensor position detection and sensorless position detection. However, the DC motor position sensor increases the motor size, costs and reducing the stability of its operation, limiting the applications. The requirements of the stability of the motor control system and the further expanding of the brushless DC motor applications in the modern.
Industrial applications have been improved, and this made the studying of the position sensorless motor control system has further more theoretical worth and practical value.
This paper studied a sensorless brushless DC motor digital speed control system using TI's TMS320F2812 MCU as the main control chip.
Firstly, this thesis introduced the compositions, basic working principle, speed control methods and mathematical model of brushless DC motor in details, and introduced the position detection methods using a position sensorless on the stage and the starting ways of motor with emphasis.
Secondly, this paper studied the conventional method of Back-EMF position detection, and gave a new brushless DC motor rotor position detection method base on the H_pwm-L_pwm modulation technology. The experiment results validated this method having a good performance on the rotor position detection. In order to deal with the starting problem of position sensorless motor, this paper proposed a starting method using a predetermined position with a combination of step-up-start method, and the results verified the feasibility of this method.
Thirdly, this paper established the whole control system simulation model based on the brushless DC motor mathematical model using the strong simulation function of matlab. Further more, this paper simulated the conventional PI control algorithm and fuzzy self-adaptive PI control algorithm, and the simulation results showed that the performance of the system using fuzzy self-adaptive PI control algorithm has been improved significantly.
Finally, this paper designed the hardware circuit and software codes of the brushless DC motor control system, and debugged the whole system. The experiment results verified that the speed regulation system has the same performance as the expected.
Keywords：BLDCM；Fuzzy adaptive PI；Position detection；DSP；Modulation
目录
摘 要 I
Abstract III
第1章 绪 论 1
1.1 课题研究的背景及理论意义 1
1.2 发展过程和国内外研究现状 1
1.2.1 国外发展历程 1
1.2.2 国内发展情况 2
1.2.3 研究的现状和热点 2
1.3 电机控制系统的发展 3
1.4 课题的研究内容与研究方法 4
第2章 无刷直流电机运行原理及数学模型 6
2.1 无刷直流电机的基本结构 6
2.1.1 电机本体结构 6
2.1.2 转子位置检测部分 7
2.1.3 驱动控制电路 7
2.2 无位置传感器转子位置检测方法 9
2.2.1 反电动势法 9
2.2.2 续流二极管法 11
2.2.3 电感法 11
2.2.4 磁链观测法 11
2.2.5 采用智能控制检测法 12
2.3 电机的起动 12
2.3.1 三段式起动法 12
2.3.2 预定位起动法 13
2.3.3 升频升压同步起动法 14
2.4 无刷电机的工作原理 15-b..
永磁无刷直流电机（Permanent Magnet Brushless DC motor）利用电子换相代替了有刷直流电机的机械换相和电刷。它既具有直流电机良好的调速性能，又具有交流电机结构简单的特点，使其在应用过程中体现出诸多优点。
无刷直流电机稳定可靠的运行是建立在准确的转子位置检测的基础上的。其中，位置检测分为有位置传感器位置检测和无位置传感器位置检测两种，而有位置传感器的直流电机增加了电机的体积和成本，降低了其运行的稳定性，限制了应用场合。而现代工业应用对电机控制系统的稳定性和无刷直流电机的可应用领域的要求在逐渐提高，这就使得无位置传感器电动机控制系统的研究，具体较深远理论意义和较高实用价值。
本文采用TI公司的TMS320F2812芯片作为主控制芯片，研究无位置传感器无刷直流电动机数字调速控制系统。
1、对无刷直流电机的结构组成、基本工作原理、调速控制方法以及数学模型进行了详细的介绍，重点介绍了现阶段采用的无位置传感器位置检测的方法和电机的起动方法。
2、对常规的反电动势位置检测的方法进行了研究，提出了基于H_pwm-L_pwm调制方式下的无位置传感器无刷直流电机转子位置检测的新方法，实验证明该方法能够很好的完成位置检测。针对无位置传感器电机起动存在的问题，提出了采用预定位与升频升压相结合的起动方法，实验验证了该方法的可行性。
3、利用MATLAB强大的仿真功能，结合无刷直流电机的数学模型建立起了整个控制系统的仿真模型。并进行了传统PI控制算法和模糊自适应PI控制算法仿真研究，仿真结果可以看出，采用模糊自适应PI控制算法系统的控制性能得到明显改善。
4、对控制系统的硬件电路和软件程序进行了设计，并对整个系统进行了调试，调试结果表明该系统的调速性能能够达到预期结果。
关键词：无刷直流电机；模糊自适应PI；位置检测；DSP；调制方式
Abstract
Permanent Magnet Brushless DC motor replaces the mechanical brush in a DC motor using electronic commutation. It has DC motor’s good speed performance, and also has the AC motor’s characteristics of simple structure, so that it is reflects a number of advantages in the application.
Stable and reliable brushless DC motor operation is based on accurate rotor position detection. There are two ways of position detection, and they are position sensor position detection and sensorless position detection. However, the DC motor position sensor increases the motor size, costs and reducing the stability of its operation, limiting the applications. The requirements of the stability of the motor control system and the further expanding of the brushless DC motor applications in the modern.
Industrial applications have been improved, and this made the studying of the position sensorless motor control system has further more theoretical worth and practical value.
This paper studied a sensorless brushless DC motor digital speed control system using TI's TMS320F2812 MCU as the main control chip.
Firstly, this thesis introduced the compositions, basic working principle, speed control methods and mathematical model of brushless DC motor in details, and introduced the position detection methods using a position sensorless on the stage and the starting ways of motor with emphasis.
Secondly, this paper studied the conventional method of Back-EMF position detection, and gave a new brushless DC motor rotor position detection method base on the H_pwm-L_pwm modulation technology. The experiment results validated this method having a good performance on the rotor position detection. In order to deal with the starting problem of position sensorless motor, this paper proposed a starting method using a predetermined position with a combination of step-up-start method, and the results verified the feasibility of this method.
Thirdly, this paper established the whole control system simulation model based on the brushless DC motor mathematical model using the strong simulation function of matlab. Further more, this paper simulated the conventional PI control algorithm and fuzzy self-adaptive PI control algorithm, and the simulation results showed that the performance of the system using fuzzy self-adaptive PI control algorithm has been improved significantly.
Finally, this paper designed the hardware circuit and software codes of the brushless DC motor control system, and debugged the whole system. The experiment results verified that the speed regulation system has the same performance as the expected.
Keywords：BLDCM；Fuzzy adaptive PI；Position detection；DSP；Modulation
目录
摘 要 I
Abstract III
第1章 绪 论 1
1.1 课题研究的背景及理论意义 1
1.2 发展过程和国内外研究现状 1
1.2.1 国外发展历程 1
1.2.2 国内发展情况 2
1.2.3 研究的现状和热点 2
1.3 电机控制系统的发展 3
1.4 课题的研究内容与研究方法 4
第2章 无刷直流电机运行原理及数学模型 6
2.1 无刷直流电机的基本结构 6
2.1.1 电机本体结构 6
2.1.2 转子位置检测部分 7
2.1.3 驱动控制电路 7
2.2 无位置传感器转子位置检测方法 9
2.2.1 反电动势法 9
2.2.2 续流二极管法 11
2.2.3 电感法 11
2.2.4 磁链观测法 11
2.2.5 采用智能控制检测法 12
2.3 电机的起动 12
2.3.1 三段式起动法 12
2.3.2 预定位起动法 13
2.3.3 升频升压同步起动法 14
2.4 无刷电机的工作原理 15-b..
