导　　师： 梁雁冰

学科专业： 081101

授予学位： 硕士

作　　者： ;

机构地区： 中国科学院研究生院

摘　　要： 无刷直流电机由于使用电子换相原理,具有运行效率高,控制性能优越、体积小、可进行机电一体化设计等优点被大量应用于运动控制领域,但是无刷直流电机存在的力矩波动会影响低速运动控制系统的性能,并带来振动、谐振、噪声等问题,而低速运动控制系统存在的摩擦力矩会进一步影响控制系统性能,使得无刷直流电机在低速运动控制系统中的应用受到限制。研究无刷直流电机力矩波动及摩擦力矩的补偿措施对无刷直流电机在低速运动控制系统中的应用有很重要的指导意义,而DSP技术为实现复杂的补偿措施奠定了软硬件基础,是实现高性能无刷直流电机运动控制系统的一个重要方向。 论文以二维转台低速运动控制系统为研究对象,在分析无刷直流电机工作原理的基础上,建立了系统的机电模型;同时分析了无刷直流电机力矩波动及摩擦力矩对低速运动控制系统的影响,并选择了一种基于模型的摩擦力矩的补偿结构,通过仿真分析证明了该方法的有效性。 在此基础上,采用模块化设计思想完成了DSP控制系统的软硬件设计,以单轴转台作为试验平台,实现了对无刷直流电机的驱动及转台速度控制。通过试验验证了DSP系统的性能、无刷直流电机的工作情况及采用集成功率驱动模块设计的优点,实现了速度环的数字化控制,为后续控制方法的实现和分析提供了硬件基础。 Using the electronic commutator, integrating the mechanical design with the electronical design, having high output efficiency and control performance with small size, the brushless DC motor is abroad in the movement control system, but the torque ripples existed in the brushless DC motor system effect the control performance in the low movement control system, and bring the problems of vibration, syntony and yawp. The friction in the low movement control system even exerts more bad influence on the system. So the brushless DC motor has some limitation in the low movement control system, and the research on the compensate for the torque ripples of the brushless DC motor and the friction torque is very important for the use of the brushless DC motor in the low movement control system, while the DSP technology establishes the hardware and software basements for the complex compensate methods and becomes an important method to carry out the control system. Based on the low movement control system of the planar machine and the analysis of the principle of the brushless DC motor, the mechanical and electronical model have been established, and the analysis of the influence of the torque ripples of the brushless DC motor and the friction torque on the low movement control system has been made, while a way to compensate for the friction torque has been found, and the validity has been testified by the analysis of the simulation. Using the module design method, the hardware and software system design of the DSP control system have been accomplished, while the monaxial machine for the experimentation has been established. It can drive and control the speed of the brushless DC motor correctly. The DSP system's performance, brushless DC motor's work and the virtue of the integrated driving module have been testified by the experimentation, the digital control of the speed loop has been realized and the hardware basement have been established for the next work on the complex control methods and system analysis.

关 键 词： 无刷直流电机 低速运动控制系统 二维转台 力矩补偿

分 类 号： [TM33]

领　　域： [电气工程]