无刷直流电机双闭环串级控制系统仿真.doc

摘要

无刷直流电机利用电子换相代替机械换相，不但具有直流电动机的调速性能，

而且体积小、效率高，在许多领域已得到了广泛的应用，特别是电动车用直流电

机的应用上。采用无位置传感器控制技术之后，不但可以降低电机的制造成本，

而且使得无刷直流电机的使用寿命以及维修简便性都有了大大提高。目前，无刷

直流电机无位置传感器控制已成为无刷直流电机控制技术的发展方向。

本文纵观了无刷直流电动机及其控制技术的兴起、发展与现状，概括了无刷

等缺点，基于无刷直流电机反电势过零检测的原理，分析了三相端电压与中性点

的关系，提出了一种可完全替换3相霍尔位置传感器的硬件设计方案，实现了无

刷直流电机的无传感器运行。

（2）利用硬件RC滤波电路对检测到的反电势过零点时刻进行30°电角度延

时，针对由于电机的速度变化会使得30°电角度延时的不准确，从而导致逆变器

换相不准确，引起电机的失步的问题，提出了在硬件电路中设计相位自补偿电路

的想法，克服了以往传统方法相位补偿不准确的问题，提高了系统的稳定性和可

靠性。

（3）对已有的各种电机零起动方案利弊进行分析，结合实际应用的需要，

综合成本、实现难易程度等各方面因素的考虑，本课题提出了新的“三段式”零

果表明：波形能较为理想的反映电机的动静态特性分析。

本文设计了以美国 Cypress 公司的 PSoC

TM

为控制芯片的无刷直流电机无位

置传感器控制系统，搭建了样机平台进行实验验证，实验证明：本控制系统具有

结构简单，适应性强等优点。

关键词：无刷直流电机，无传感器控制，转子位置信息检测，零起动

ABSTRACT

Brushless DC motor with permanent magnet excitation, in which electrical

commutator is used instead of mechanical , has the same good characteristics of speed

control as traditional DC motor. Brushless DC motors have found wide application

present situation of control technique for brushless DC motor, and summarizes the

present level and shortages of sensorless control technique. Depending on the research

and development of sensorless controller used in electric bicycle concentrate on the

two key point——rotor position detection, starting method

researches and discusses the following problems in theory and practice:

(1) Based on the principle of back electromotive force(EMF) zero-crossing

testing in brushless dc motor(BLDCM), and analyzed the relationship between the

three-phase voltage and neutral voltage. Put forward a kind of hardware design which

can completely replace hall position sensor in order to overcome the shortcomings of

can not efficiently run because of the changes in motor speed.

(3) integrate the cost, the needs of practical application and other factors to

consider, propose a new "three-stage" starting programs, and hardware circuit of

zero-start was designed. Conducted a detailed analysis on some key issuses such as

frequency of the PWM control output for the rotor pre-position, the direction of motor

rotation and the controlled synchronous switching of the motor.

(4) The dynamic model of brushless DC motor is investigated, and the modular

simulation model depend on the Matlab/Simulink was established, and simulated with

Double-loop cascade control. The simulation waveform shows that the system has

KEY WORDS: Brushless DC motor, sensorless control, rotor position detection,

zero starting

目 录

摘 要 ..........................................................................................................................I

ABSTRACT.................................................................................................................III

目 录.........................................................................................................................V

第一章 绪论................................................................................................................1

1.1 课题背景和意义..............................................................................................1

1.2 电动车用直流电机研究的发展历程与现状现状..........................................2

1.2.1 无刷直流电机技术的发展.....................................................................2

2.1.2 无刷直流电机的控制原理..............................................................................9

2.2 无刷直流电机特性分析................................................................................12

2.2.1 无刷直流电机等效电路......................................................................12

2.2.2 无刷直流电机基本方程......................................................................13

2.2.3 无刷直流电机稳态分析......................................................................15

2.2.4 无刷直流电机动态分析 ................................................................................17

2.3 无刷直流电机双闭环串级控制系统仿真....................................................20

2.3.1 BLDCM 本体模块 ................................................................................21

2.3.2 参考电流模块......................................................................................23

2.3.3 电流滞环控制模块..............................................................................24