基于半实物仿真的BLDC电机控制平台的研究与设计

发布时间：2018-11-23 09:16

【摘要】：BLDC电机(即Brushless DC Motor,无刷直流电机)集成了直流电机的诸多优点,又克服了直流电机固有的缺点,其应用十分广泛。目前常见的BLDC电机控制系统多为微控制器控制系统,其控制算法依赖于手工编程,效率较低;在控制科学研究方面,一般借助MATLAB/Simulink仿真控制算法,但一般无法直接应用到实际。为解决上述矛盾,本文研究设计了基于半实物仿真技术的BLDC电机控制平台,利用了Math Works公司的RTW平台直接将Simulink控制模型生成控制硬件系统的C代码,实现半实物仿真中的快速原型控制,使得设计人员能够集中于算法设计而不是控制程序编写,大大提高了开发效率和可靠性。平台采用宿主机-目标机的双机模式,宿主机设计控制模型,目标机运行基于MATLAB的x PC Target实时内核,通过以太网接收宿主机设计的控制模型代码并实时运行,进而控制硬件系统。本文的主要研究工作集中于以下几点:(1)对BLDC电机的相关内容进行了概述。介绍了电机的结构、工作原理;根据其结构,对电机的数学模型进行了介绍;最后论述了电机的控制方法。(2)对BLDC电机控制系统进行建模与仿真实验。以前述的电机控制方法为基础,对电机的PID控制系统进行建模,并对模型进行了仿真实验;其次对电机的模糊自适应PID控制系统进行建模与仿真实验,并与PID控制系统实验进行比较,得出了模糊自适应PID控制更适用于BLDC电机的结论。(3)对BLDC电机控制平台的硬件系统设计进行了介绍。对整体的硬件结构进行了论述;分别论述了宿主机、目标机的选择与配置,并对两机通信的内容进行了介绍;最后对其他硬件电路及机械传动系统的设计进行了介绍。(4)基于电机的模糊自适应PID控制系统模型和硬件系统,对电机控制平台进行了半实物仿真建模,并进行了实验及验证。通过实验结果与仿真实验结果的对比,证明了本设计满足BLDC电机控制的要求。
[Abstract]:BLDC motor (i.e. Brushless DC Motor, brushless DC motor) integrates many advantages of DC motor, and overcomes the inherent shortcomings of DC motor. At present, the common BLDC motor control systems are mostly micro-controller control systems, whose control algorithms rely on manual programming, so the efficiency is low. In the research of control science, MATLAB/Simulink simulation control algorithm is usually used, but it can not be directly applied to practice. In order to solve the above contradiction, this paper studies and designs the BLDC motor control platform based on the hardware-in-the-loop simulation technology. Using the RTW platform of Math Works Company, the Simulink control model is directly generated into the C code of the control hardware system. The realization of rapid prototyping control in hardware-in-the-loop simulation enables designers to focus on algorithm design instead of programming, which greatly improves the efficiency and reliability of development. The platform adopts the dual-machine mode of the host computer and the control model of the host computer. The target machine runs the x PC Target real-time kernel based on MATLAB, and receives the code of the control model designed by the host computer through Ethernet and runs in real time. And then control the hardware system. The main research work of this paper is as follows: (1) the related contents of BLDC motor are summarized. The structure and working principle of the motor are introduced. According to its structure, the mathematical model of the motor is introduced. Finally, the control method of the motor is discussed. (2) the modeling and simulation experiments of the BLDC motor control system are carried out. On the basis of the motor control method, the PID control system of the motor is modeled, and the model is simulated. Secondly, the fuzzy adaptive PID control system of motor is modeled and simulated, and compared with the experiment of PID control system. It is concluded that fuzzy adaptive PID control is more suitable for BLDC motor. (3) the hardware system design of BLDC motor control platform is introduced. The hardware structure of the whole system is discussed, and the selection and configuration of the host computer and the target machine are discussed respectively, and the contents of the communication between the two computers are introduced. Finally, the design of other hardware circuits and mechanical transmission system is introduced. (4) the fuzzy adaptive PID control system model and hardware system based on motor are introduced, and the hardware-in-the-loop simulation modeling of motor control platform is carried out. Experiments and verification were carried out. By comparing the experimental results with the simulation results, it is proved that the design meets the requirements of BLDC motor control.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM33

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