摘 要
永磁無刷直流電機(jī)（Permanent Magnet Brushless DC motor）利用電子換相代替了有刷直流電機(jī)的機(jī)械換相和電刷。它既具有直流電機(jī)良好的調(diào)速性能，又具有交流電機(jī)結(jié)構(gòu)簡(jiǎn)單的特點(diǎn)，使其在應(yīng)用過程中體現(xiàn)出諸多優(yōu)點(diǎn)。
無刷直流電機(jī)穩(wěn)定可靠的運(yùn)行是建立在準(zhǔn)確的轉(zhuǎn)子位置檢測(cè)的基礎(chǔ)上的。其中，位置檢測(cè)分為有位置傳感器位置檢測(cè)和無位置傳感器位置檢測(cè)兩種，而有位置傳感器的直流電機(jī)增加了電機(jī)的體積和成本，降低了其運(yùn)行的穩(wěn)定性，限制了應(yīng)用場(chǎng)合。而現(xiàn)代工業(yè)應(yīng)用對(duì)電機(jī)控制系統(tǒng)的穩(wěn)定性和無刷直流電機(jī)的可應(yīng)用領(lǐng)域的要求在逐漸提高，這就使得無位置傳感器電動(dòng)機(jī)控制系統(tǒng)的研究，具體較深遠(yuǎn)理論意義和較高實(shí)用價(jià)值。
本文采用TI公司的TMS320F2812芯片作為主控制芯片，研究無位置傳感器無刷直流電動(dòng)機(jī)數(shù)字調(diào)速控制系統(tǒng)。
1、對(duì)無刷直流電機(jī)的結(jié)構(gòu)組成、基本工作原理、調(diào)速控制方法以及數(shù)學(xué)模型進(jìn)行了詳細(xì)的介紹，重點(diǎn)介紹了現(xiàn)階段采用的無位置傳感器位置檢測(cè)的方法和電機(jī)的起動(dòng)方法。
2、對(duì)常規(guī)的反電動(dòng)勢(shì)位置檢測(cè)的方法進(jìn)行了研究，提出了基于H_pwm-L_pwm調(diào)制方式下的無位置傳感器無刷直流電機(jī)轉(zhuǎn)子位置檢測(cè)的新方法，實(shí)驗(yàn)證明該方法能夠很好的完成位置檢測(cè)。針對(duì)無位置傳感器電機(jī)起動(dòng)存在的問題，提出了采用預(yù)定位與升頻升壓相結(jié)合的起動(dòng)方法，實(shí)驗(yàn)驗(yàn)證了該方法的可行性。
3、利用MATLAB強(qiáng)大的仿真功能，結(jié)合無刷直流電機(jī)的數(shù)學(xué)模型建立起了整個(gè)控制系統(tǒng)的仿真模型。并進(jìn)行了傳統(tǒng)PI控制算法和模糊自適應(yīng)PI控制算法仿真研究，仿真結(jié)果可以看出，采用模糊自適應(yīng)PI控制算法系統(tǒng)的控制性能得到明顯改善。
4、對(duì)控制系統(tǒng)的硬件電路和軟件程序進(jìn)行了設(shè)計(jì)，并對(duì)整個(gè)系統(tǒng)進(jìn)行了調(diào)試，調(diào)試結(jié)果表明該系統(tǒng)的調(diào)速性能能夠達(dá)到預(yù)期結(jié)果。



關(guān)鍵詞：無刷直流電機(jī)；模糊自適應(yīng)PI；位置檢測(cè)；DSP；調(diào)制方式








Abstract
Permanent Magnet Brushless DC motor replaces the mechanical brush in a DC motor using electronic commutation. It has DC motor’s good speed performance, and also has the AC motor’s characteristics of simple structure, so that it is reflects a number of advantages in the application.
Stable and reliable brushless DC motor operation is based on accurate rotor position detection. There are two ways of position detection, and they are position sensor position detection and sensorless position detection. However, the DC motor position sensor increases the motor size, costs and reducing the stability of its operation, limiting the applications. The requirements of the stability of the motor control system and the further expanding of the brushless DC motor applications in the modern.
Industrial applications have been improved, and this made the studying of the position sensorless motor control system has further more theoretical worth and practical value.
This paper studied a sensorless brushless DC motor digital speed control system using TI's TMS320F2812 MCU as the main control chip.
Firstly, this thesis introduced the compositions, basic working principle, speed control methods and mathematical model of brushless DC motor in details, and introduced the position detection methods using a position sensorless on the stage and the starting ways of motor with emphasis.
Secondly, this paper studied the conventional method of Back-EMF position detection, and gave a new brushless DC motor rotor position detection method base on the H_pwm-L_pwm modulation technology. The experiment results validated this method having a good performance on the rotor position detection. In order to deal with the starting problem of position sensorless motor, this paper proposed a starting method using a predetermined position with a combination of step-up-start method, and the results verified the feasibility of this method.
Thirdly, this paper established the whole control system simulation model based on the brushless DC motor mathematical model using the strong simulation function of matlab. Further more, this paper simulated the conventional PI control algorithm and fuzzy self-adaptive PI control algorithm, and the simulation results showed that the performance of the system using fuzzy self-adaptive PI control algorithm has been improved significantly.
Finally, this paper designed the hardware circuit and software codes of the brushless DC motor control system, and debugged the whole system. The experiment results verified that the speed regulation system has the same performance as the expected.

Keywords：BLDCM；Fuzzy adaptive PI；Position detection；DSP；Modulation


目錄
摘 要 I
Abstract III
第1章 緒 論 1
1.1 課題研究的背景及理論意義 1
1.2 發(fā)展過程和國(guó)內(nèi)外研究現(xiàn)狀 1
1.2.1 國(guó)外發(fā)展歷程 1
1.2.2 國(guó)內(nèi)發(fā)展情況 2
1.2.3 研究的現(xiàn)狀和熱點(diǎn) 2
1.3 電機(jī)控制系統(tǒng)的發(fā)展 3
1.4 課題的研究?jī)?nèi)容與研究方法 4
第2章 無刷直流電機(jī)運(yùn)行原理及數(shù)學(xué)模型 6
2.1 無刷直流電機(jī)的基本結(jié)構(gòu) 6
2.1.1 電機(jī)本體結(jié)構(gòu) 6
2.1.2 轉(zhuǎn)子位置檢測(cè)部分 7
2.1.3 驅(qū)動(dòng)控制電路 7
2.2 無位置傳感器轉(zhuǎn)子位置檢測(cè)方法 9
2.2.1 反電動(dòng)勢(shì)法 9
2.2.2 續(xù)流二極管法 11
2.2.3 電感法 11
2.2.4 磁鏈觀測(cè)法 11
2.2.5 采用智能控制檢測(cè)法 12
2.3 電機(jī)的起動(dòng) 12
2.3.1 三段式起動(dòng)法 12
2.3.2 預(yù)定位起動(dòng)法 13
2.3.3 升頻升壓同步起動(dòng)法 14
2.4 無刷電機(jī)的工作原理 15-b..