【摘要】：隨著科技的進步和市場需求的提高,近年來多臺無刷直流電機協(xié)調(diào)控制系統(tǒng)被廣泛應(yīng)用于生產(chǎn)和生活的各個領(lǐng)域,傳統(tǒng)的分立控制的方法因此被逐步淘汰。采用單一處理器控制多臺電機的系統(tǒng)穩(wěn)定性更好、控制精度更高、系統(tǒng)設(shè)計更靈活,設(shè)備成本更低。因此,對單一處理器控制的多無刷直流電機控制系統(tǒng)的研究是十分必要的。本文首先介紹了無刷直流電機控制系統(tǒng)的發(fā)展概況,分析了電機的內(nèi)部結(jié)構(gòu)和控制系統(tǒng)的運行原理,并在此基礎(chǔ)上建立了無刷直流電機的數(shù)學(xué)模型,從理論上驗證了控制系統(tǒng)的原理。其次,通過分析多種控制器的特點以及多臺電機同時控制的需求,設(shè)計采用以FPGA為核心處理器以及STM32為輔助處理器的控制系統(tǒng),在實現(xiàn)單個電機閉環(huán)控制的基礎(chǔ)上,設(shè)計實現(xiàn)多臺無刷直流電機的閉環(huán)控制,再通過偏差耦合控制算法實現(xiàn)多臺無刷直流電機的協(xié)調(diào)控制。系統(tǒng)的硬件設(shè)計包括電機閉環(huán)控制電路設(shè)計、開關(guān)電源設(shè)計、隔離電路和通信電路設(shè)計等;FPGA的軟件設(shè)計采用硬件邏輯語言Verilog實現(xiàn)多臺電機的閉環(huán)控制和同步協(xié)調(diào)控制;STM32的軟件設(shè)計采用標(biāo)準(zhǔn)C語言實現(xiàn)系統(tǒng)與上位機的數(shù)據(jù)通信。最后,完成了系統(tǒng)硬件電路的PCB版圖設(shè)計和硬件制作,先調(diào)試多無刷直流電機控制系統(tǒng)的各個功能模塊,然后接上無刷直流電機,檢測控制系統(tǒng)的閉環(huán)控制性能。經(jīng)實驗室長時間調(diào)試和測試,所設(shè)計的基于FPGA的控制系統(tǒng)可以實現(xiàn)對8臺無刷直流電機的同步協(xié)調(diào)控制,也可對每1臺無刷直流電機的轉(zhuǎn)速分別進行控制,每臺電機的最高轉(zhuǎn)速可以達到10000r/min,轉(zhuǎn)速波動小于1%,控制系統(tǒng)具有良好的調(diào)速性能和協(xié)調(diào)控制性能。
[Abstract]:With the development of science and technology and the improvement of market demand, a number of brushless DC motor coordinated control systems have been widely used in various fields of production and life in recent years, so the traditional discrete control method has been phased out. The system with single processor is more stable, the control precision is higher, the system design is more flexible, and the equipment cost is lower. Therefore, it is necessary to study the control system of multi-brushless DC motor controlled by single processor. This paper first introduces the development of brushless DC motor control system, analyzes the internal structure of the motor and the operating principle of the control system, and then establishes the mathematical model of brushless DC motor. The principle of the control system is verified theoretically. Secondly, by analyzing the characteristics of many kinds of controllers and the requirement of simultaneous control of multiple motors, a control system with FPGA as the core processor and STM32 as the auxiliary processor is designed and realized on the basis of the closed-loop control of single motor. The closed-loop control of several brushless DC motors is designed and the coordinated control of several brushless DC motors is realized by the deviation coupling control algorithm. The hardware design of the system includes motor closed-loop control circuit design, switching power supply design, In the software design of isolation circuit and communication circuit, the hardware logic language Verilog is used to realize the closed-loop control of multiple motors and the software design of synchronous and coordinated control system STM32. The standard C language is used to realize the data communication between the system and the host computer. Finally, the PCB layout design and hardware fabrication of the hardware circuit of the system are completed. First, the function modules of the control system are debugged, then the brushless DC motor is connected to the brushless DC motor, and the closed-loop control performance of the control system is tested. After a long period of debugging and testing in the laboratory, the designed control system based on FPGA can realize the synchronous and coordinated control of 8 brushless DC motors, and can also control the rotational speed of each brushless DC motor separately. The maximum speed of each motor can reach 10000r / min, the speed fluctuation is less than 1, and the control system has good speed regulation performance and coordinated control performance.
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TN791;TM33

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相關(guān)碩士學(xué)位論文 前1條

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本文編號：2188671