基于DSP的无刷直流电机模糊PI控制系统研究

发布时间：2018-12-31 22:09

【摘要】：近年来，随着自动化控制技术的发展，机器人广泛应用于军事、航天、海洋探测、医疗等领域，已成为世界各国的研究热点。作为机器人驱动系统的执行元件，无刷直流电机以其优异的调速性能在机器人伺服控制驱动系统中得到了广泛的应用。因此，开展对无刷直流电机伺服控制系统研究具有一定的理论和实用价值。本文针对无刷直流电机伺服控制性能的要求，采用TMS320F2812芯片作为主处理器，以无刷直流电机为被控对象，研究了基于DSP的无刷直流电机模糊PI调速系统。首先，论文阐述了本课题的研究背景及意义，论述了无刷直流电机的发展历史和研究现状，并对无刷直流电机的基本结构、工作原理以及调速方法进行了研究。其次，在分析传统PID控制和模糊控制基本原理的基础上，将传统PI控制和模糊控制结合，设计了模糊PI调速系统。同时，详细推导了Y接三相无刷直流电机的数学模型，基于MATLAB/Simulink软件，建立了无刷直流电机模糊PI控制系统的仿真模型，并进行了仿真。仿真结果表明：相对于传统PID控制，模糊PI控制系统响应速度快，超调小，且能有效地抑制外部干扰。最后，根据系统性能要求，，构建了基于TMS320F2812的无刷直流电机控制系统硬件实验平台，同时对控制系统的软件进行了设计。根据硬件电路各个模块所实现的功能不同，其设计主要包括控制电路、驱动电路、逆变电路、采样电路以及保护电路等部分；系统软件采用模块化结构思想，运用C语言编写控制系统程序，其设计主要包括主程序、中断服务子程序两大部分。实验结果表明，控制系统实验平台设计合理、性能可靠，具有很好的实用价值。
[Abstract]:In recent years, with the development of automatic control technology, robot has been widely used in military, aerospace, marine exploration, medical and other fields, and has become a research hotspot all over the world. As the actuator of robot drive system, brushless DC motor (BLDCM) has been widely used in robot servo drive system because of its excellent speed regulation performance. Therefore, the research of brushless DC motor servo control system has certain theoretical and practical value. In order to meet the requirement of servo control performance of brushless DC motor, this paper adopts TMS320F2812 chip as main processor, takes brushless DC motor as controlled object, and studies the fuzzy PI speed regulating system of brushless DC motor based on DSP. First of all, the research background and significance of this subject are expounded, the development history and research status of brushless DC motor are discussed, and the basic structure, working principle and speed regulation method of brushless DC motor are studied. Secondly, on the basis of analyzing the basic principle of traditional PID control and fuzzy control, a fuzzy PI speed regulating system is designed by combining traditional PI control with fuzzy control. At the same time, the mathematical model of Y-connected three-phase brushless DC motor is deduced in detail. Based on MATLAB/Simulink software, the simulation model of fuzzy PI control system of brushless DC motor is established and simulated. The simulation results show that compared with the traditional PID control, the fuzzy PI control system has the advantages of fast response speed, small overshoot and effective suppression of external interference. Finally, according to the requirement of system performance, the hardware experiment platform of brushless DC motor control system based on TMS320F2812 is constructed, and the software of the control system is designed. According to the different functions of each module of hardware circuit, the design includes control circuit, drive circuit, inverter circuit, sampling circuit and protection circuit. The system software adopts the idea of modularization structure and uses C language to program the control system. The design of the software includes two parts: main program and interrupt service subroutine. The experimental results show that the design of the control system is reasonable, the performance is reliable, and the control system has good practical value.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM33;TP273.4

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