【摘要】：近年來，隨著自動(dòng)化控制技術(shù)的發(fā)展，機(jī)器人廣泛應(yīng)用于軍事、航天、海洋探測(cè)、醫(yī)療等領(lǐng)域，已成為世界各國的研究熱點(diǎn)。作為機(jī)器人驅(qū)動(dòng)系統(tǒng)的執(zhí)行元件，無刷直流電機(jī)以其優(yōu)異的調(diào)速性能在機(jī)器人伺服控制驅(qū)動(dòng)系統(tǒng)中得到了廣泛的應(yīng)用。因此，開展對(duì)無刷直流電機(jī)伺服控制系統(tǒng)研究具有一定的理論和實(shí)用價(jià)值。 本文針對(duì)無刷直流電機(jī)伺服控制性能的要求，采用TMS320F2812芯片作為主處理器，以無刷直流電機(jī)為被控對(duì)象，研究了基于DSP的無刷直流電機(jī)模糊PI調(diào)速系統(tǒng)。 首先，論文闡述了本課題的研究背景及意義，論述了無刷直流電機(jī)的發(fā)展歷史和研究現(xiàn)狀，并對(duì)無刷直流電機(jī)的基本結(jié)構(gòu)、工作原理以及調(diào)速方法進(jìn)行了研究。 其次，在分析傳統(tǒng)PID控制和模糊控制基本原理的基礎(chǔ)上，將傳統(tǒng)PI控制和模糊控制結(jié)合，設(shè)計(jì)了模糊PI調(diào)速系統(tǒng)。同時(shí)，詳細(xì)推導(dǎo)了Y接三相無刷直流電機(jī)的數(shù)學(xué)模型，基于MATLAB/Simulink軟件，建立了無刷直流電機(jī)模糊PI控制系統(tǒng)的仿真模型，并進(jìn)行了仿真。仿真結(jié)果表明：相對(duì)于傳統(tǒng)PID控制，模糊PI控制系統(tǒng)響應(yīng)速度快，超調(diào)小，且能有效地抑制外部干擾。 最后，根據(jù)系統(tǒng)性能要求，，構(gòu)建了基于TMS320F2812的無刷直流電機(jī)控制系統(tǒng)硬件實(shí)驗(yàn)平臺(tái)，同時(shí)對(duì)控制系統(tǒng)的軟件進(jìn)行了設(shè)計(jì)。根據(jù)硬件電路各個(gè)模塊所實(shí)現(xiàn)的功能不同，其設(shè)計(jì)主要包括控制電路、驅(qū)動(dòng)電路、逆變電路、采樣電路以及保護(hù)電路等部分；系統(tǒng)軟件采用模塊化結(jié)構(gòu)思想，運(yùn)用C語言編寫控制系統(tǒng)程序，其設(shè)計(jì)主要包括主程序、中斷服務(wù)子程序兩大部分。實(shí)驗(yàn)結(jié)果表明，控制系統(tǒng)實(shí)驗(yàn)平臺(tái)設(shè)計(jì)合理、性能可靠，具有很好的實(shí)用價(jià)值。
[Abstract]:In recent years, with the development of automatic control technology, robot has been widely used in military, aerospace, marine exploration, medical and other fields, and has become a research hotspot all over the world. As the actuator of robot drive system, brushless DC motor (BLDCM) has been widely used in robot servo drive system because of its excellent speed regulation performance. Therefore, the research of brushless DC motor servo control system has certain theoretical and practical value. In order to meet the requirement of servo control performance of brushless DC motor, this paper adopts TMS320F2812 chip as main processor, takes brushless DC motor as controlled object, and studies the fuzzy PI speed regulating system of brushless DC motor based on DSP. First of all, the research background and significance of this subject are expounded, the development history and research status of brushless DC motor are discussed, and the basic structure, working principle and speed regulation method of brushless DC motor are studied. Secondly, on the basis of analyzing the basic principle of traditional PID control and fuzzy control, a fuzzy PI speed regulating system is designed by combining traditional PI control with fuzzy control. At the same time, the mathematical model of Y-connected three-phase brushless DC motor is deduced in detail. Based on MATLAB/Simulink software, the simulation model of fuzzy PI control system of brushless DC motor is established and simulated. The simulation results show that compared with the traditional PID control, the fuzzy PI control system has the advantages of fast response speed, small overshoot and effective suppression of external interference. Finally, according to the requirement of system performance, the hardware experiment platform of brushless DC motor control system based on TMS320F2812 is constructed, and the software of the control system is designed. According to the different functions of each module of hardware circuit, the design includes control circuit, drive circuit, inverter circuit, sampling circuit and protection circuit. The system software adopts the idea of modularization structure and uses C language to program the control system. The design of the software includes two parts: main program and interrupt service subroutine. The experimental results show that the design of the control system is reasonable, the performance is reliable, and the control system has good practical value.
【學(xué)位授予單位】：長(zhǎng)安大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM33;TP273.4

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