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摘要:
本文在无刷直流力矩电机的性能测试基础上，优化设计了基于C8051F120和CPLD单片机的驱动控制电路，通过采用PWM_ON的转矩脉动最小控制模式，实现了无刷直流电机的转速闭环和位置闭环控制。实验结果表明：所设计的无刷直流电机控制系统具有响应快速、定点精度高等特点。当电机以1°/s低速转动时，速度波动小于7%，大角度调转位置闭合定点精度小于1个码值，实现了无刷电机的宽调速范围和高精度控制，验证了设计的无刷直流电机驱动和算法的有效性。
Abstract:In this paper, the drive control circuit using C8051F120 and CPLD single chip microcomputer is optimized and designed based on the performance test of brushless DC motor. By using the minimum torque ripple control method of PWM_ON, both the speed and position closed-loop control of brushless DC motor are realized. The experimental results show that the designed control system has the characteristics of fast response and high station accuracy. The speed fluctuation is less than 7% at low speed of 1°/s, and the accuracy of large angle position step is less than 1 code. The proposed method has realized wide speed range and high precision control of brushless motor and the effectiveness of the drive and algorithm is verified.
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Key words:
- brushless DC motor /
- closed-loop control /
- accuracy
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图 2 电机三相绕组相反电动势波形
Figure 2. Inverse electromotive force waveform of motor three-phase winding
图 3 相位差为120电角度的霍尔传感器的输出信号
Figure 3. Output signal of Hall sensor with phase difference of 120 electric angles
图 4 直流无刷电机的三相全桥驱动电路
Figure 4. Three phase full bridge drive circuit for brushless DC motor
图 8 转速码值设定为5时的转速响应曲线（控制器参数kp=60.0，ki=2.0）
Figure 8. Rotate speed response curve when the rotate speed code value is set to 5 (control parametes kp=60.0，ki=2.0, PositionSet=5)
图 9 转速码值设定为50时的转速响应曲线（控制器参数kp=60.0，ki=2.0）
Figure 9. Rotate speed response curve when the rotate speed code value is set to 50 (control parameters kp=60.0，ki=2.0, PositionSet=50)
图 10 速度阶跃响应曲线（控制器参数kp=60.0，ki=2.0）
Figure 10. Curve of the speed step response (control parametes kp=60.0，ki=2.0)
图 11 位置阶跃曲线（kp=0.01，ki=0.02，PositionSet = 100）
Figure 11. Curve of the position step response (kp=0.01，ki=0.02，PositionSet=100)
图 12 位置阶跃曲线（kp=0.015，ki=0.015，PositionSet=1000）
Figure 12. Curve of position step response (kp=0.015，ki=0.015，PositionSet=1000)
表 1 电机正反转控制时序表
Table 1. Reversing control time-scale of motor
霍尔信号组合（UVW） 正转 反转 绕组 IGBT 绕组 IGBT 101 B→A 3,4 A→B 1,6 100 B→C 3,2 C→B 5,6 110 A→C 1.2 C→A 5,4 010 A→B 1,6 B→A 3,4 011 C→B 5,6 B→C 3,2 001 C→A 5,4 A→C 1,2 
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