基于DSP的无刷直流电机控制器的研究与实现
摘要
无刷直流电机有着体积小、重量轻、效率高、惯量小和控制精度高等优点，同时还保留了普通直流电动机优良的机械特性，被广泛应用于伺服控制、数控机床、机器人等领域，随着无刷直流电机应用领域的不断扩大，要求控制系统运行稳定、成本低廉、控制算法合理、控制精度高、开发周期短。为此，基于DSP的无刷直流电机控制系统有着广泛的应用前景。
美国TI公司的TMS320C28x系列是TI公司最新推出的DSP芯片，它具有强大的数字信号处理能力，将其用于无刷直流电机控制系统，则能更好的控制无刷直流电机，体现它的优越性能。
本课题主要是研究用TMS320F2812如何控制无刷直流电机。为此，需要研究如何驱动功率较大的电机，如何保护电机使其正常转动，在需要计算机控制时，用RS485通信如何实现远程控制等。
围绕此核心，本课题制作了一个基于DSP的无刷直流电机控制器，可驱动5kw的高速直流电机。本控制器含有一系列完善的功能，包括过流报警，气压、液压报警，准停功能，以及电机实际转速超出指定转速30％时的限速功能，此限速功能采用点刹方法来实现。
控制核心使用DSP TMS320F2812，同时使用专用直流电机控制芯片MC33035控制和驱动电机。在DSP控制部分，承担了整个系统的控制功能，包括电机转速的检测、控制、显示，以及启动外围保护电机安全工作的附加设备等，与计算机的通信也由DSP负责。MC33035负责执行DSP部分的控制指令，给出控制电机转速的驱动信号，以调节电机转速。
本课题使用的无刷直流电机采用霍尔元件作为位置反馈，控制器通过采集霍尔反馈的电机实际转速修正控制转速，从而实现对电机转速的闭环控制。电机转速的控制算法包括用矩形窗函数过滤采集到的电机转数，用PID算法调整控制转数。转速控制的主要思想是通过采集电机转速，与指令转速相比较后，用PID算法不断修正给出的控制转速值，最终让电机稳定在目标转速上。
本课题完成了此无刷直流电机控制器的制作及调试工作。整个控制系统包括两大部分，一是控制器本身，二是在计算机上的操作系统。控制器通过RS485总线与计算机通信，在计算机的操作界面上含有控制电机所需要的全部功能按键，通过操作计算机可方便地控制电机。除了可通过计算机控制电机外，也可通过直接调节安装在控制器上的键盘来调节电机转速，同样也是闭环调节电机转速。
调试结果表明，本控制器工作稳定，控制精度高，控制偏差基本都在理论计算误差75转／分内，而且操作方便，保护功能齐全，带载能力强，具有良好的应用价值。
The brushless DC motor has many features, such as small volume, light weight, high efficiency, little inertia, easy to be controlled, and so on. It|also keeps down the excellent machine characteristics of DC motor, so it(?)can be widely used in servocontrol, numerical control machine, robot, and so on. The application field of BLDCM has been enlarging, it requires the control system can work stably, cost down, control arithmetic reasonable, control exactly, short design cycle. So the BLDCM control system based on DSP has a broad application foreground.
The TMS320C28x series is the most new DSP chip of TI up to now, it has strong ability in processing digital signals, so if it is used in the control system of BLDCM, the features of BLDCM will be showed clearly.
This project is to study how to use TMS320F2812 to control the BLDCM. Therefor, I need to study on how to drive large power motor, how to protect the motor when it is working, and how to use the RS485 cable to communicate when need to use the PC to control the motor.
With this core, this project makes a BLDCM controller, it can drive high speed BLDCM in 5kw power. The controller contains some perfect functions, such as over current alarm, air pressure、hydraulic pressure alarm, stop function, and when the speed of the motor over 30% compare with the command speed, then I will use dot brake to limit the speed.
The control core is DSP TMS320F2812, and it also uses MC33035 to control and drive the motor. In the DSP control section, it takes on the control function of the whole system, including to check, control and show the speed of the motor, and start some other equipments to protect the motor. The DSP also needs to communicate with the PC. MC33035 needs to execute the dictate of the DSP, then output the signals to drive the motor, so to control the speed of the motor.
This project wants to use the BLDCM with Honeywell sensor as position feedback. When the controller working, it collects the actual speed of the motor, then corrects the command speed, so it can control the speed of the motor in closed loop. The main speed control arithmetic is to use a rectangle window to filter the actual speed, then use PID arithmetic to correct the command speed. The main speed control idea is to collect the actual speed of the motor, compare with the command speed, then use PID to modify the command speed, so to let the motor can arrive at the target speed stably.
This project makes a controller, and has been accomplished the debug. The whole control system includes two sections, one is the controller, the other is the operating system in the PC. The controller communicates with the PC through the RS485 cable, there are all function keys which is need to control the motor in the operating interface, it can control the motor easily through the PC. Except through the PC to control the motor, the controller also has a key can be used to adjust the speed of the motor, the theory is the same as the PC controlling.
The result shows that the controller works stably, has a high control precision, the warp is mostly under the theory warp of 75 PRM, and can be operated easily, with perfect protect function and good load ability, so it can be widely used in some field.
美国TI公司的TMS320C28x系列是TI公司最新推出的DSP芯片，它具有强大的数字信号处理能力，将其用于无刷直流电机控制系统，则能更好的控制无刷直流电机，体现它的优越性能。
本课题主要是研究用TMS320F2812如何控制无刷直流电机。为此，需要研究如何驱动功率较大的电机，如何保护电机使其正常转动，在需要计算机控制时，用RS485通信如何实现远程控制等。
围绕此核心，本课题制作了一个基于DSP的无刷直流电机控制器，可驱动5kw的高速直流电机。本控制器含有一系列完善的功能，包括过流报警，气压、液压报警，准停功能，以及电机实际转速超出指定转速30％时的限速功能，此限速功能采用点刹方法来实现。
控制核心使用DSP TMS320F2812，同时使用专用直流电机控制芯片MC33035控制和驱动电机。在DSP控制部分，承担了整个系统的控制功能，包括电机转速的检测、控制、显示，以及启动外围保护电机安全工作的附加设备等，与计算机的通信也由DSP负责。MC33035负责执行DSP部分的控制指令，给出控制电机转速的驱动信号，以调节电机转速。
本课题使用的无刷直流电机采用霍尔元件作为位置反馈，控制器通过采集霍尔反馈的电机实际转速修正控制转速，从而实现对电机转速的闭环控制。电机转速的控制算法包括用矩形窗函数过滤采集到的电机转数，用PID算法调整控制转数。转速控制的主要思想是通过采集电机转速，与指令转速相比较后，用PID算法不断修正给出的控制转速值，最终让电机稳定在目标转速上。
本课题完成了此无刷直流电机控制器的制作及调试工作。整个控制系统包括两大部分，一是控制器本身，二是在计算机上的操作系统。控制器通过RS485总线与计算机通信，在计算机的操作界面上含有控制电机所需要的全部功能按键，通过操作计算机可方便地控制电机。除了可通过计算机控制电机外，也可通过直接调节安装在控制器上的键盘来调节电机转速，同样也是闭环调节电机转速。
调试结果表明，本控制器工作稳定，控制精度高，控制偏差基本都在理论计算误差75转／分内，而且操作方便，保护功能齐全，带载能力强，具有良好的应用价值。
The brushless DC motor has many features, such as small volume, light weight, high efficiency, little inertia, easy to be controlled, and so on. It|also keeps down the excellent machine characteristics of DC motor, so it(?)can be widely used in servocontrol, numerical control machine, robot, and so on. The application field of BLDCM has been enlarging, it requires the control system can work stably, cost down, control arithmetic reasonable, control exactly, short design cycle. So the BLDCM control system based on DSP has a broad application foreground.
The TMS320C28x series is the most new DSP chip of TI up to now, it has strong ability in processing digital signals, so if it is used in the control system of BLDCM, the features of BLDCM will be showed clearly.
This project is to study how to use TMS320F2812 to control the BLDCM. Therefor, I need to study on how to drive large power motor, how to protect the motor when it is working, and how to use the RS485 cable to communicate when need to use the PC to control the motor.
With this core, this project makes a BLDCM controller, it can drive high speed BLDCM in 5kw power. The controller contains some perfect functions, such as over current alarm, air pressure、hydraulic pressure alarm, stop function, and when the speed of the motor over 30% compare with the command speed, then I will use dot brake to limit the speed.
The control core is DSP TMS320F2812, and it also uses MC33035 to control and drive the motor. In the DSP control section, it takes on the control function of the whole system, including to check, control and show the speed of the motor, and start some other equipments to protect the motor. The DSP also needs to communicate with the PC. MC33035 needs to execute the dictate of the DSP, then output the signals to drive the motor, so to control the speed of the motor.
This project wants to use the BLDCM with Honeywell sensor as position feedback. When the controller working, it collects the actual speed of the motor, then corrects the command speed, so it can control the speed of the motor in closed loop. The main speed control arithmetic is to use a rectangle window to filter the actual speed, then use PID arithmetic to correct the command speed. The main speed control idea is to collect the actual speed of the motor, compare with the command speed, then use PID to modify the command speed, so to let the motor can arrive at the target speed stably.
This project makes a controller, and has been accomplished the debug. The whole control system includes two sections, one is the controller, the other is the operating system in the PC. The controller communicates with the PC through the RS485 cable, there are all function keys which is need to control the motor in the operating interface, it can control the motor easily through the PC. Except through the PC to control the motor, the controller also has a key can be used to adjust the speed of the motor, the theory is the same as the PC controlling.
The result shows that the controller works stably, has a high control precision, the warp is mostly under the theory warp of 75 PRM, and can be operated easily, with perfect protect function and good load ability, so it can be widely used in some field.
引文
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[2]张春喜．永磁电动机的控制技术[J]．电机与控制学报．2004，8(1)：30—34．
[3]鲁宗峰，张春喜，李国辉，孙雷．无刷直流电机控制系统的研究．黑龙江水专学报，2005，32
[4]郑吉，王学普．无刷直流电机控制技术综述．微特电机，2002，3
[5]李颖宏．单片机在直流无刷电机驱动器中的应用[J]．中国仪器仪表，2001，(4)：35—36．
[6]朱希志，罗良进．纵谈DSP的发展及应用．电脑知识与技术，2004，34
[7]程水英，武传华．DSP56F80x及其在电机控制中的应用．今日电子，2003，11
[8]邵森龙．利用DSP控制直流无刷电机．今日电子，2004，12
[9]汪锐．基于DSP芯片的永磁无刷直流电机控制器[J]．微电机，2000，(4)：27—29．
[10]陈明意．基于DSP方波无刷直流电动机控制系统[J]．武汉工业学院学报，2003．(12)：12—14．
[11]任海鹏．DSP在无刷直流电动机伺服系统中的应用[J]．微电机．2000，(2)：32—33．
[12]Salem T, Haskew T A. Simulation of the brushless DC machine. Proceedings of the 27th Southeastern Symposium on System Theory. 1995: 18-22
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[14]Natarajan S P, Chellamuthu C, Karki B, et al. Simulation and performance evaluation of permanent magnet brushless DC motor using Saber package. The 7th Workshop on Computers in Power Electronics, 2000:235--240
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[16]潘建．无刷直流电机控制器MC33035的原理及应用[J]．国外电子元器件，2003，(8)：38—41．
[17]S D Sudhoff, P C Krause. Operating Modes of the Brushless DC Motor with a 120° Inverter[J]. IEEE Trans.on EC. 1990, 5(3): 558--564.
[18]TMS320F2812 Data Sheet. TEXAS INSTRUMENTS, 2005
[19]TMS320x281x System Control and Interrupts Reference Guide: TEXAS INSTRUMENTS, 2005
[20]尹勇，欧光军，关荣锋．DSP集成开发环境CCS使用指南．北京：北京航空航天大学出版社，2003．
[21]刘和平，王维俊，江渝等．TMS320LF240x DSP C语言开发应用．北京：北京航空航天大学出版社，2003．
[22]李朝青．PC机与单片机&DSP数据通信技术选编(3)．北京：北京航空航天大学出版社，2003．
[23]李朝青．单片机&DSP外围数字IC技术手册．北京：北京航空航天大学出版社，2003．
[24]POWER SEMICONDUCTOR DEVICES APPLICATIONS HANDBOOK. International Rectifier, 1994
[25]San ders S R, Noworolski J M, Liu X Z, et al. Generalized averaging method for power conversion circuits. IEEE Transactions on Power Electronics, 1991, 6(2): 251--259
[26]陶永话．新型PID控制及其应用．第2版． 北京：机械工业出版社，2002：1-232．
[27]金松龄，金孚安．评增量式PID算法的限制比例项原则[Jj．现代电子技术，1991， (4)．
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[2]张春喜．永磁电动机的控制技术[J]．电机与控制学报．2004，8(1)：30—34．
[3]鲁宗峰，张春喜，李国辉，孙雷．无刷直流电机控制系统的研究．黑龙江水专学报，2005，32
[4]郑吉，王学普．无刷直流电机控制技术综述．微特电机，2002，3
[5]李颖宏．单片机在直流无刷电机驱动器中的应用[J]．中国仪器仪表，2001，(4)：35—36．
[6]朱希志，罗良进．纵谈DSP的发展及应用．电脑知识与技术，2004，34
[7]程水英，武传华．DSP56F80x及其在电机控制中的应用．今日电子，2003，11
[8]邵森龙．利用DSP控制直流无刷电机．今日电子，2004，12
[9]汪锐．基于DSP芯片的永磁无刷直流电机控制器[J]．微电机，2000，(4)：27—29．
[10]陈明意．基于DSP方波无刷直流电动机控制系统[J]．武汉工业学院学报，2003．(12)：12—14．
[11]任海鹏．DSP在无刷直流电动机伺服系统中的应用[J]．微电机．2000，(2)：32—33．
[12]Salem T, Haskew T A. Simulation of the brushless DC machine. Proceedings of the 27th Southeastern Symposium on System Theory. 1995: 18-22
[13]PiUay P, Krishnan R. Modeling, simulation, and analysis of permanent-magnet motor drives(Ⅱ)——the brushless DC motor drive. IEEE Transactions on Industry Applications, 1989, 25(2): 274--279
[14]Natarajan S P, Chellamuthu C, Karki B, et al. Simulation and performance evaluation of permanent magnet brushless DC motor using Saber package. The 7th Workshop on Computers in Power Electronics, 2000:235--240
[15]MC33035, NCV33035 Technical Data Sheet. Semiconductor Components Industries, LLC, 2004
[16]潘建．无刷直流电机控制器MC33035的原理及应用[J]．国外电子元器件，2003，(8)：38—41．
[17]S D Sudhoff, P C Krause. Operating Modes of the Brushless DC Motor with a 120° Inverter[J]. IEEE Trans.on EC. 1990, 5(3): 558--564.
[18]TMS320F2812 Data Sheet. TEXAS INSTRUMENTS, 2005
[19]TMS320x281x System Control and Interrupts Reference Guide: TEXAS INSTRUMENTS, 2005
[20]尹勇，欧光军，关荣锋．DSP集成开发环境CCS使用指南．北京：北京航空航天大学出版社，2003．
[21]刘和平，王维俊，江渝等．TMS320LF240x DSP C语言开发应用．北京：北京航空航天大学出版社，2003．
[22]李朝青．PC机与单片机&DSP数据通信技术选编(3)．北京：北京航空航天大学出版社，2003．
[23]李朝青．单片机&DSP外围数字IC技术手册．北京：北京航空航天大学出版社，2003．
[24]POWER SEMICONDUCTOR DEVICES APPLICATIONS HANDBOOK. International Rectifier, 1994
[25]San ders S R, Noworolski J M, Liu X Z, et al. Generalized averaging method for power conversion circuits. IEEE Transactions on Power Electronics, 1991, 6(2): 251--259
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