【摘要】：BLDC電機(jī)(即Brushless DC Motor,無刷直流電機(jī))集成了直流電機(jī)的諸多優(yōu)點(diǎn),又克服了直流電機(jī)固有的缺點(diǎn),其應(yīng)用十分廣泛。目前常見的BLDC電機(jī)控制系統(tǒng)多為微控制器控制系統(tǒng),其控制算法依賴于手工編程,效率較低;在控制科學(xué)研究方面,一般借助MATLAB/Simulink仿真控制算法,但一般無法直接應(yīng)用到實(shí)際。為解決上述矛盾,本文研究設(shè)計(jì)了基于半實(shí)物仿真技術(shù)的BLDC電機(jī)控制平臺(tái),利用了Math Works公司的RTW平臺(tái)直接將Simulink控制模型生成控制硬件系統(tǒng)的C代碼,實(shí)現(xiàn)半實(shí)物仿真中的快速原型控制,使得設(shè)計(jì)人員能夠集中于算法設(shè)計(jì)而不是控制程序編寫,大大提高了開發(fā)效率和可靠性。平臺(tái)采用宿主機(jī)-目標(biāo)機(jī)的雙機(jī)模式,宿主機(jī)設(shè)計(jì)控制模型,目標(biāo)機(jī)運(yùn)行基于MATLAB的x PC Target實(shí)時(shí)內(nèi)核,通過以太網(wǎng)接收宿主機(jī)設(shè)計(jì)的控制模型代碼并實(shí)時(shí)運(yùn)行,進(jìn)而控制硬件系統(tǒng)。本文的主要研究工作集中于以下幾點(diǎn):(1)對(duì)BLDC電機(jī)的相關(guān)內(nèi)容進(jìn)行了概述。介紹了電機(jī)的結(jié)構(gòu)、工作原理;根據(jù)其結(jié)構(gòu),對(duì)電機(jī)的數(shù)學(xué)模型進(jìn)行了介紹;最后論述了電機(jī)的控制方法。(2)對(duì)BLDC電機(jī)控制系統(tǒng)進(jìn)行建模與仿真實(shí)驗(yàn)。以前述的電機(jī)控制方法為基礎(chǔ),對(duì)電機(jī)的PID控制系統(tǒng)進(jìn)行建模,并對(duì)模型進(jìn)行了仿真實(shí)驗(yàn);其次對(duì)電機(jī)的模糊自適應(yīng)PID控制系統(tǒng)進(jìn)行建模與仿真實(shí)驗(yàn),并與PID控制系統(tǒng)實(shí)驗(yàn)進(jìn)行比較,得出了模糊自適應(yīng)PID控制更適用于BLDC電機(jī)的結(jié)論。(3)對(duì)BLDC電機(jī)控制平臺(tái)的硬件系統(tǒng)設(shè)計(jì)進(jìn)行了介紹。對(duì)整體的硬件結(jié)構(gòu)進(jìn)行了論述;分別論述了宿主機(jī)、目標(biāo)機(jī)的選擇與配置,并對(duì)兩機(jī)通信的內(nèi)容進(jìn)行了介紹;最后對(duì)其他硬件電路及機(jī)械傳動(dòng)系統(tǒng)的設(shè)計(jì)進(jìn)行了介紹。(4)基于電機(jī)的模糊自適應(yīng)PID控制系統(tǒng)模型和硬件系統(tǒng),對(duì)電機(jī)控制平臺(tái)進(jìn)行了半實(shí)物仿真建模,并進(jìn)行了實(shí)驗(yàn)及驗(yàn)證。通過實(shí)驗(yàn)結(jié)果與仿真實(shí)驗(yàn)結(jié)果的對(duì)比,證明了本設(shè)計(jì)滿足BLDC電機(jī)控制的要求。
[Abstract]:BLDC motor (i.e. Brushless DC Motor, brushless DC motor) integrates many advantages of DC motor, and overcomes the inherent shortcomings of DC motor. At present, the common BLDC motor control systems are mostly micro-controller control systems, whose control algorithms rely on manual programming, so the efficiency is low. In the research of control science, MATLAB/Simulink simulation control algorithm is usually used, but it can not be directly applied to practice. In order to solve the above contradiction, this paper studies and designs the BLDC motor control platform based on the hardware-in-the-loop simulation technology. Using the RTW platform of Math Works Company, the Simulink control model is directly generated into the C code of the control hardware system. The realization of rapid prototyping control in hardware-in-the-loop simulation enables designers to focus on algorithm design instead of programming, which greatly improves the efficiency and reliability of development. The platform adopts the dual-machine mode of the host computer and the control model of the host computer. The target machine runs the x PC Target real-time kernel based on MATLAB, and receives the code of the control model designed by the host computer through Ethernet and runs in real time. And then control the hardware system. The main research work of this paper is as follows: (1) the related contents of BLDC motor are summarized. The structure and working principle of the motor are introduced. According to its structure, the mathematical model of the motor is introduced. Finally, the control method of the motor is discussed. (2) the modeling and simulation experiments of the BLDC motor control system are carried out. On the basis of the motor control method, the PID control system of the motor is modeled, and the model is simulated. Secondly, the fuzzy adaptive PID control system of motor is modeled and simulated, and compared with the experiment of PID control system. It is concluded that fuzzy adaptive PID control is more suitable for BLDC motor. (3) the hardware system design of BLDC motor control platform is introduced. The hardware structure of the whole system is discussed, and the selection and configuration of the host computer and the target machine are discussed respectively, and the contents of the communication between the two computers are introduced. Finally, the design of other hardware circuits and mechanical transmission system is introduced. (4) the fuzzy adaptive PID control system model and hardware system based on motor are introduced, and the hardware-in-the-loop simulation modeling of motor control platform is carried out. Experiments and verification were carried out. By comparing the experimental results with the simulation results, it is proved that the design meets the requirements of BLDC motor control.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM33

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本文編號(hào)：2351041