无刷直流电机控制程序_无感六步换相开环代码资源-CSDN文库

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无刷直流电机（BLDC，Brushless Direct Current Motor）是一种高效、高精度的电机类型，广泛应用在各种领域，如无人机、电动车、精密机械设备等。基于DSP2812的无刷直流电机控制系统则是利用数字信号处理器进行电机控制，其中集成的Hall传感器用于检测电机磁极位置，以实现精确的电机速度和位置控制。 DSP2812是一款由德州仪器（TI）生产的高性能16位微控制器，具有强大的浮点运算能力和高速数字信号处理能力。在无刷直流电机控制中，它扮演着核心控制器的角色，负责处理电机控制算法，如六步换相、PWM（脉宽调制）生成以及故障检测等。 1. 六步换相：无刷直流电机通过改变供电相序来实现连续旋转，这个过程称为六步换相。在每一步中，三个绕组中的两个被馈电，形成一个旋转磁场。DSP2812根据Hall传感器的信号确定电机当前位置，进而控制开关管的导通顺序，实现平滑的电机转动。 2. Hall传感器：Hall传感器是检测电机磁极位置的关键元件，它们能够感知电机内部磁场的变化并输出相应的电压信号。DSP2812通过读取这些信号，可以准确知道电机的实时角度，这对于闭环控制至关重要。 3. PWM控制：PWM是调节电机转速的主要手段，通过调整PWM信号的占空比，改变流经电机绕组的平均电流，从而控制电机的转速。DSP2812可以生成精准的PWM波形，并根据反馈信号实时调整，实现动态速度控制。 4. 故障检测与保护：在电机运行过程中，可能会出现过载、短路等故障。DSP2812内置的故障检测机制可以监测电机电流、温度等参数，一旦发现异常，立即采取保护措施，如切断电源或降低速度，以防止设备损坏。 5. 控制算法：无刷直流电机的控制算法通常包括PID（比例-积分-微分）控制器，通过不断地调整输入以减小系统误差。DSP2812的强大计算能力使得实时执行这些算法成为可能，从而确保电机性能的稳定和精确。 "无刷直流电机控制程序"涉及到的知识点涵盖了电机控制理论、数字信号处理技术、传感器应用、嵌入式系统设计以及故障保护策略等多个方面。对于开发者而言，理解和掌握这些内容是实现高效、可靠的无刷直流电机控制系统的关键。通过深入学习和实践，我们可以设计出更加先进、适应性强的电机控制方案。

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BLDC_Sensored.rar （42个子文件）

BLDC_Sensored

f2803xileg_vdc_BLDC.h 5KB

~Docs

Trapezoidal Control of BLDC Motors Using Hall Effect Sensors.pdf 1.1MB

f2803xbldcpwm_BLDC.h 18KB

f2803xhall_gpio_BLDC.h 12KB

F2803x_RAM

sources.mk 2KB

objects.mk 250B

subdir_vars.mk 2KB

BLDC_Sensored.pp 74B

ccsObjs.opt 365B

subdir_rules.mk 5KB

makefile 4KB

BLDC_Sensored-DevInit_F2803x.pp 119B

dlog4ch-BLDC_Sensored.h 3KB

AddWatchWindowVars_F2806x.js 646B

F28035_RAM_BLDC_Sensored.CMD 5KB

f2803xpwmdac_BLDC.h 9KB

BLDC_Sensored-DevInit_F2806x.c 35KB

Graph2.graphProp 814B

.cdtbuild 25KB

f2806xhall_gpio_BLDC.h 12KB

macros.ini_initial 41B

.settings

org.eclipse.core.resources.prefs 233B

org.eclipse.cdt.codan.core.prefs 62B

org.eclipse.cdt.debug.core.prefs 123B

.project_initial 3KB

f2806xpwmdac_BLDC.h 9KB

BLDC_Sensored.h 2KB

.project 3KB

f2806xileg_vdc_BLDC.h 5KB

.cdtbuild_initial 25KB

.cdtproject 677B

AddWatchWindowVars_F2803x.js 664B

.cproject 38KB

f2806xbldcpwm_BLDC.h 18KB

.ccsproject 350B

DSP2803x_usDelay.asm 3KB

Graph1.graphProp 814B

BLDC_Sensored-DevInit_F2803x.c 30KB

F2806x_RAM_BLDC_Sensored.CMD 4KB

DLOG4CHC.asm 7KB

BLDC_Sensored-Settings.h 3KB

BLDC_Sensored.c 42KB

Trapezoidal Control of BLDC Motors

Using Hall Effect Sensors

Bilal Akin C2000 Systems and Applications Team

Manish Bhardwaj

Jon Warriner D3 Engineering

Abstract

This application note presents a solution for control of Brushless DC motors using the TMS320F2803x

microcontrollers. TMS320F280x devices are part of the family of C2000 microcontrollers which enable

cost-effective design of intelligent controllers for three phase motors by reducing the system components

and increasing efficiency. Using these devices, it is possible to realize far more precise control algorithms.

A complete solution proposal is presented below: control structures, power hardware topology, control

hardware and remarks on energy conversion efficiency can be found in this document.

This application note covers the following:

 A theoretical background on trapezoidal BLDC motor control principle.

 A discussion of the BLDC drive imperfection handling the operating system

 Incremental build levels based on modular software blocks.

 Experimental results

Table of Contents

Introduction...............................................................................................................................................................................2

BLDC Motors ............................................................................................................................................................................ 2

BLDC Motor Control.................................................................................................................................................................. 4

System Topology ................................................................................................................................................... 6

Benefits of 32-bit C2000 Controllers for Digital Motor Control ................................................................................................. 9

TI Motor Control Literature and DMC Library.......................................................................................................................... 10

System Overview.................................................................................................................................................................... 11

Hardware Configuration.......................................................................................................................................................... 15

Software Setup Instructions to Run BLDC_Sensored Project................................................................................................ 17

Incremental System Build ....................................................................................................................................................... 18

Version 1.0

–

r 2011

Introduction

The economic constraints and new standards legislated by governments place increasingly stringent

requirements on electrical systems. New generations of equipment must have higher performance

parameters such as better efficiency and reduced electromagnetic interference. System flexibility must be

high to facilitate market modifications and to reduce development time. All these improvements must be

achieved while, at the same time, decreasing system cost.

Brushless motor technology makes it possible to achieve these specifications. Such motors combine high

reliability with high efficiency, and for a lower cost in comparison with brush motors. This paper describes

the use of a Brushless DC Motor (BLDC). Although the brushless characteristic can be apply to several

kinds of motors – AC synchronous motors, stepper motors, switched reluctance motors, AC induction

motors - the BLDC motor is conventionally defined as a permanent magnet synchronous motor with a

trapezoidal Back EMF waveform shape. Permanent magnet synchronous machines with trapezoidal

Back-EMF and (120 electrical degrees wide) rectangular stator currents are widely used as they offer the

following advantages first, assuming the motor has pure trapezoidal Back EMF and that the stator phases

commutation process is accurate, the mechanical torque developed by the motor is constant; secondly,

the Brushless DC drives show a very high mechanical power density. This application report covers the

280x controllers and some system considerations to get out high performances from a BLDC motor drive.

BLDC Motors

The BLDC motor is an AC synchronous motor with permanent magnets on the rotor (moving part) and

windings on the stator (fixed part). Permanent magnets create the rotor flux and the energized stator

windings create electromagnet poles. The rotor (equivalent to a bar magnet) is attracted by the energized

stator phase. By using the appropriate sequence to supply the stator phases, a rotating field on the stator

is created and maintained. This action of the rotor - chasing after the electromagnet poles on the stator -

is the fundamental action used in synchronous permanent magnet motors. The lead between the rotor

and the rotating field must be controlled to produce torque and this synchronization implies knowledge of

the rotor position.

On the stator side, three phase motors are the most common. These offer a good compromise between

precise control and the number of power electronic devices required to control the stator currents. For the

rotor, a greater number of poles usually create a greater torque for the same level of current. On the other

hand, by adding more magnets, a point is reached where, because of the space needed between

magnets, the torque no longer increases. The manufacturing cost also increases with the number of

poles. As a consequence, the number of poles is a compromise between cost, torque and volume.

Fig.1 A three-phase synchronous motor with a one permanent magnet pair pole rotor

Permanent magnet synchronous motors can be classified in many ways, one of these that is of particular

interest to us is that depending on back-emf profiles: Brushless Direct Current Motor (BLDC) and

Permanent Magnet Synchronous Motor (PMSM). This terminology defines the shape of the back-emf of

the synchronous motor. Both BLDC and PMSM motors have permanent magnets on the rotor but differ in

the flux distributions and back-emf profiles. To get the best performance out of the synchronous motor, it

is important to identify the type of motor in order to apply the most appropriate type of control as

described in the next chapters.

Table 1. Comparison of BLDC and PMSM motors

• Both motor types are synchronous machines. The only difference between them is the shape of the

induced voltage, resulting from two different manners of wiring the stator coils. The back-emf is

trapezoidal in the BLDC motor case, and sinusoidal in the PMSM motor case.

• BLDC machines could be driven with sinusoidal currents and PMSM with direct currents, but for better

performance, PMSM motors should be excited by sinusoidal currents and BLDC machines by direct

currents.

• The control structure (hardware and software) of a sinusoidal motor required several current sensors

and sinusoidal phase currents were hard to achieve with analog techniques. Therefore many motors

(sinusoidal like trapezoidal) were driven with direct current for cost and simplicity reasons (low

resolution position sensors and single low cost current sensor), compromising efficiency and dynamic

behavior.

• Digital techniques addressed by the C2000 DSP controller make it possible to choose the right control

technique for each motor type: Processing power is used to extract the best performance from the

machine and reduce system costs. Possible options are using sensorless techniques to reduce the

sensor cost, or even eliminate it, and also complex algorithms can help simplify the mechanical drive

train design, lowering the system cost.

Comparison of BLDC and PMSM motors

BLDC PMSM

Synchronous machine Synchronous machine

Fed with direct currents Fed with sinusoidal currents

Trapezoidal Bemf Sinusoidal Bemf

Stator Flux position commutation each 60 degrees Continuous stator flux position variation

Only two phases ON at the same time Possible to have three phases ON at the same time

Torque ripple at commutations No torque ripple at commutations

Low order current harmonics in the audible range Less harmonics due to sinusoidal excitation

Higher core losses due to harmonic content Lower core loss

Less switching losses Higher switching losses at the same switching freq.

Control algorithms are relatively simple Control algorithms are mathematically intensive

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BLDC Motor Control

The key to effective torque and speed control of a BLDC motor is based on relatively simple torque and

Back EMF equations, which are similar to those of the DC motor. The Back EMF magnitude can be

written as:

and the torque term as:

where N is the number of winding turns per phase, l is the length of the rotor, r is the internal radius of the

rotor, B is the rotor magnet flux density, w is the motor’s angular velocity, i is the phase current, L is the

phase inductance, θ is the rotor position, R is the phase resistance.

The first two terms in the torque expression are parasitic reluctance torque components. The third term

produces mutual torque, which is the torque production mechanism used in the case of BLDC motors. To

sum up, the Back EMF is directly proportional to the motor speed and the torque production is almost

directly proportional to the phase current. These factors lead to the following BLDC motor speed control

scheme:

Fig.2 Speed and Current Control Loop Configurations for a BLDC Motor

(a)

(b)

(c)

The BLDC motor is characterized by a two phase ON operation to control the inverter. In this control

scheme, torque production follows the principle that current should flow in only two of the three phases at

a time and that there should be no torque production in the region of Back EMF zero crossings. The

following figure describes the electrical wave forms in the BLDC motor in the two phases ON operation.

This control structure has several advantages:

• Only one current at a time needs to be controlled.

• Only one current sensor is necessary (or none for speed loop only, as detailed in the next sections).

• The positioning of the current sensor allows the use of low cost sensors as a shunt.

We have seen that the principle of the BLDC motor is, at all times, to energize the phase pair which can

produce the highest torque. To optimize this effect the Back EMF shape is trapezoidal. The combination

of a DC current with a trapezoidal Back EMF makes it theoretically possible to produce a constant torque.

In practice, the current cannot be established instantaneously in a motor phase; as a consequence the

torque ripple is present at each 60 degree phase commutation.

Fig 3. Electrical Waveforms in the Two Phase ON Operation and Torque Ripple

If the motor used has a sinusoidal Back EMF shape, this control can be applied but the produced torque

is:

• Firstly, not constant but made up from portions of a sine wave. This is due to its being the combination

of a trapezoidal current control strategy and of a sinusoidal Back EMF. Bear in mind that a sinusoidal

Back EMF shape motor controlled with a sine wave strategy (three phase ON) produces a constant

torque.

• Secondly, the torque value produced is weaker.

Fig.4 Torque Ripple in a Sinusoidal Motor Controlled as a BLDC

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