基于FPGA的多无刷直流电机控制系统设计与实现

发布时间：2018-08-17 19:33

【摘要】：随着科技的进步和市场需求的提高,近年来多台无刷直流电机协调控制系统被广泛应用于生产和生活的各个领域,传统的分立控制的方法因此被逐步淘汰。采用单一处理器控制多台电机的系统稳定性更好、控制精度更高、系统设计更灵活,设备成本更低。因此,对单一处理器控制的多无刷直流电机控制系统的研究是十分必要的。本文首先介绍了无刷直流电机控制系统的发展概况,分析了电机的内部结构和控制系统的运行原理,并在此基础上建立了无刷直流电机的数学模型,从理论上验证了控制系统的原理。其次,通过分析多种控制器的特点以及多台电机同时控制的需求,设计采用以FPGA为核心处理器以及STM32为辅助处理器的控制系统,在实现单个电机闭环控制的基础上,设计实现多台无刷直流电机的闭环控制,再通过偏差耦合控制算法实现多台无刷直流电机的协调控制。系统的硬件设计包括电机闭环控制电路设计、开关电源设计、隔离电路和通信电路设计等;FPGA的软件设计采用硬件逻辑语言Verilog实现多台电机的闭环控制和同步协调控制;STM32的软件设计采用标准C语言实现系统与上位机的数据通信。最后,完成了系统硬件电路的PCB版图设计和硬件制作,先调试多无刷直流电机控制系统的各个功能模块,然后接上无刷直流电机,检测控制系统的闭环控制性能。经实验室长时间调试和测试,所设计的基于FPGA的控制系统可以实现对8台无刷直流电机的同步协调控制,也可对每1台无刷直流电机的转速分别进行控制,每台电机的最高转速可以达到10000r/min,转速波动小于1%,控制系统具有良好的调速性能和协调控制性能。
[Abstract]:With the development of science and technology and the improvement of market demand, a number of brushless DC motor coordinated control systems have been widely used in various fields of production and life in recent years, so the traditional discrete control method has been phased out. The system with single processor is more stable, the control precision is higher, the system design is more flexible, and the equipment cost is lower. Therefore, it is necessary to study the control system of multi-brushless DC motor controlled by single processor. This paper first introduces the development of brushless DC motor control system, analyzes the internal structure of the motor and the operating principle of the control system, and then establishes the mathematical model of brushless DC motor. The principle of the control system is verified theoretically. Secondly, by analyzing the characteristics of many kinds of controllers and the requirement of simultaneous control of multiple motors, a control system with FPGA as the core processor and STM32 as the auxiliary processor is designed and realized on the basis of the closed-loop control of single motor. The closed-loop control of several brushless DC motors is designed and the coordinated control of several brushless DC motors is realized by the deviation coupling control algorithm. The hardware design of the system includes motor closed-loop control circuit design, switching power supply design, In the software design of isolation circuit and communication circuit, the hardware logic language Verilog is used to realize the closed-loop control of multiple motors and the software design of synchronous and coordinated control system STM32. The standard C language is used to realize the data communication between the system and the host computer. Finally, the PCB layout design and hardware fabrication of the hardware circuit of the system are completed. First, the function modules of the control system are debugged, then the brushless DC motor is connected to the brushless DC motor, and the closed-loop control performance of the control system is tested. After a long period of debugging and testing in the laboratory, the designed control system based on FPGA can realize the synchronous and coordinated control of 8 brushless DC motors, and can also control the rotational speed of each brushless DC motor separately. The maximum speed of each motor can reach 10000r / min, the speed fluctuation is less than 1, and the control system has good speed regulation performance and coordinated control performance.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN791;TM33

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