基于STM32的无刷直流电机控制系统研究

发布时间：2018-01-09 14:15

本文关键词：基于STM32的无刷直流电机控制系统研究　出处：《武汉理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着无刷直流电机应用领域的逐步扩大,研究具备响应快速、调节性能强、高可控制精度的无刷直流电机控制系统有着十分重要的意义。针对当前无刷直流电机速度控制系统研究现状和不足,本文研究了基于TVFSTM6810332的模糊PID无刷直流电机调速控制系统。本文首先详述了无刷直流电机结构及其工作原理,建立了无刷直流电机理想数学模型与动态传递函数,分析了无刷直流电机运行特性,总结出无刷直流电机速度调节方法。其次论述了机电自动控制系统主流形式;叙述了PID调节技术基本理论,举例分析了PID调节的三个参数对调节效果的影响,并结合实际运行经验,归纳出PID参数整定规律。阐述了模糊控制原理以及模糊控制器基本结构,分析了其在时变非线性系统上应用的优势,重点分析了模糊PID控制器设计过程。设计了两套无刷直流电机模糊PID调速控制系统方案并作出比较,确定了模糊PID双闭环调速控制系统方案。第4章对该方案进行了simulink仿真验证,其中对关键模块simulink模型的搭建进行了重点说明与分析,仿真结果表明该系统鲁棒性强、动态特性良好,具有PID调节特性,可实现无级调速。然后完成速度控制系统硬件电路和软件程序的设计。在硬件电路设计中,重点突出了采取TVFSTM6810332为代表的STM32微处理器为主控的优点,阐述了IR2136驱动芯片给硬件电路设计带来的方便,详述电源、功率驱动和逆变系统、电流采样等电路的设计以及硬件电路抗扰措施。在软件设计中,着重论述了基于STM32库函数开发优点,阐述了模块化思想在主程序、中断服务程序以及模糊PID子程序等程序流程设计中的应用,分析了TVFSTM6810332的PWM高级定时器以及系统启动时钟配置。最后将控制系统软件程序烧写至硬件电路进行试验并取得良好效果,再次证明了设计方案的正确性与有效性。
[Abstract]:With the application of Brushless DC motor is gradually expanding, research has fast response, high control precision adjusting performance, brushless DC motor control system has a very important significance. In view of the current research status and deficiency of system without speed control of Brushless DC motor, this paper studies the brushless DC motor speed control system based on fuzzy PID TVFSTM6810332. This paper details the brushless DC motor structure and working principle of Brushless DC motor is established, the ideal mathematical model and dynamic transfer function, analyzes the operation characteristics of Brushless DC motor, summed up the brushless DC motor speed regulation method. Secondly, the automatic control system and describes the mainstream form of PID regulation; the basic theory and technology, the three parameters of PID regulating effect on the adjusting effect of the analysis, combined with the actual operation experience, summed up the PID parameter tuning Law. It introduces fuzzy control principle and the basic structure of fuzzy controller, and analyzes its application advantage in nonlinear systems, analyzed the fuzzy PID controller design process. Design two sets of Brushless DC motor fuzzy PID speed control system scheme and makes comparison of fuzzy PID double closed-loop speed control system scheme is determined. The fourth chapter is the Simulink simulation of the program, which is built on the key modules of the Simulink model are introduced and analyzed, the simulation results show that the system has strong robustness, good dynamic characteristics, with PID regulation characteristics, can realize stepless speed regulation. And then complete the design of the speed control system of hardware and software in hardware. In the circuit design, highlights the advantages of adopting TVFSTM6810332 as the representative of the STM32 microprocessor control, expounds the IR2136 driver chip for hardware circuit design Considering the convenience, detailing the power drive and power supply, inverter system, anti-interference measures of current sampling circuit design and hardware circuit. In software design, the paper discusses the STM32 library development based on advantages, expounds the idea of modularization in the main program, interrupt service program and the application of fuzzy PID subroutine program flow design the analysis of the TVFSTM6810332 PWM advanced timer and system startup clock configuration. Finally, the control system software programming to hardware circuit test and achieved good results, once again proved the correctness and validity of the design scheme.

【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM33

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