【中文摘要】本文针对移动机器人运动控制器的要求,设计了一款基于DSP的无刷直流电机伺服控制器。具体推导了三角形接法的无刷直流电机数学模型。阐述了数字式控制系统整体方案,解决了PWM、电子换相及锁相、电机电流、转速和位置等控制检测关键技术题目。推导了新的积分分离加积分修正系数的PID控制算法。构建了基于TMS320F2812的无刷直流电机控制硬件平台。设计完成了DSP控制电路和功率驱动电路,主要包括DSP芯片外围电路、IR2130三相逆变桥电路、PWM光耦隔离电路、霍尔信号处理电路、光电编码器电路、电流采样电路和系统保护电路,并对各部分电路功能做了详尽阐述。对硬件可靠性做了分析。在CCS3.3环境下开发了控制系统C程序软件。编写了改进型PID控制算法程序、M法测速程序、ADC电流采样数字滤波程序和电机换相程序。利用VC++6.0开发了伺服控制器人机交互界面,实现了上位机与DSP的SCI串口通讯。最后,以移动机器人为平台进行了系统实验,利用MATLAB CCSLink工具获取了DSP系统的具体实验数据,在MATLAB环境下绘制了速度阶跃响应曲线。对比了不同PID参数下的系统响应状况,具体分析了实验中出现的各种题目。实验结果验证了控制器硬件系统和软件系统的可行性,新PID控制算法的优越性。DSP控制器调试方便,升级换代轻易。');
【Abstract】 The *** presents a Brushless DC Motor Servo Controller based on DSP in view of the request of Mobile Robot.The mathmatical model of BLDC Motor with Delta-connection was deduced in detail. The *** expaliates the project of the whole digital control system. The key issues of control and detection technology, including the PWM, Electronic Phase-Exchanged and Phase-Locked, Motor current、speed and location, have been resolved. Moreover, a new separation and correction factor of integral PID algorithm was deduced.The BLDC Motor controller hardware platform based on TMS320F2812 was constructed. The DSP control circuits and the power driving circuits were designed completely, which mainly included DSP chip peripheral circuits, three phase invert bridge circuits with IR2130, PWM optically coupled isolator circuits, hall signal processing circuits, optical-electricity encoder circuits, current sampling circuits and the system protection circuits. Meanwhile, the functions of the various circuits were elaborated in detail and the reliability of hardware was analysed.The whole C software of the control system was developed upon the CCS3.3 software development environment. The improved PID algorithm, M method of velocity detecting, ADC digital filter about current sampling and Phase-Exchanged procedures were compiled completely. The human-computer interaction was developed with VC++6.0, so that the SCI serial communication between host-computer and DSP was achieved successfully.Finally, some experiments about the mobile robot system were carried out. The detailed experiment data of the DSP system were aquired accurately with the CCSLink tools, and the different step response of the speed were draw clearly. The comparative condition of system response under different PID parameters were illutrated in detail and the various problems apeared in the experiment were analysed exhaustively. The experiment results verified the feasibility of the controller hardware and software system and the advantage of the new PID control algorithm. It is very convenient to debug, update and upgrade the DSP controller.
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