三相BLDC无刷直流电机的无传感器控制

《三相BLDC无刷直流电机的无传感器控制》由会员分享，可在线阅读，更多相关《三相BLDC无刷直流电机的无传感器控制（6页珍藏版）》请在装配图网上搜索。

1、三相BLDC无刷直流电机的无传感器控制我想买阿莫的调试板做上面的试验，MCU用ATMEL的，看了几天PIC关于这个问题的实 现方法，楞没看懂，也不敢买调试板了。有大哥指点下吗？先谢了。BEMF过零点检测实现方法，电压开环PWM控制电机速度，启动制动平稳，母线电压48V。 就这么简单。附件是DSPIC对于直流无刷BLDC无传感器电机控制的应用笔记（中文）和源代码： 点击此处打开armok01104153.pdf点击此处下载armok01104154.zipBEMF是经典的设计，一般控制有电压环，也有电流环，多半是使用开环来预转，先算出转 子位置，然后使用闭环PI来做速度调节，有些会有PID来控制

2、。要做BLDC最好PWM是 六路的，有死区控制的，带上下桥臂输出。我现在有几个这样的客户我在搞技术支持，不过使用的是ST7MC，也有用dsPIC4011，不 过我ST7MC用的多写。主要是用于BLDC的变频控制。我有Microchip的dsPIC做的变频 空调应用笔记，可惜，我暂时不能放出来。阿莫的调试板用ATMEL的MCU看你用的是那个型号了，我记得AVR有个专门用来做电 机控制的MCU可以，可惜要自己写PI,比较累。ST的你可以在他的网站上下载全部的代 码。还有dsp也可以做，你可到Freescale上找到BLDC的变频控制笔记和代码 这是ST三相BLDC的变频控制PI算法；*1* *1*

3、 *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* rTx rTx/* (c) 2005 STMicroelectronicsPROJECT : ST7MC demokitCOMPILER : ST7 METROWERKS C (HIWARE) / COSMICMODULE : regul.c LIBRARY VERSION : 2.0CREATION DATE : 07.2003AUTHOR : Florent COSTE / Microcontroller Application

4、Lab / ST Hong Kong*1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1*Zrw Zrw rr* zT* zT* zT* zT* zT* zr* zr* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT*zr* zr* zr* zr* Zrw ZrwDESCRIPTION : routine for closed LOOP operation*1*1*1*1*k1*k1*k1*k1*k1*k1*k1*k1*1*1*1*1*1*1*1*1*Zrw Zrw r

5、r* zT* zT* zT* zT* zT* zr* zr* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT* zT*zr* zr* zr* zr* Zrw Zrw*1* *1* *1* *1* *1* k1*、!、!、!、!、!、!、!、!、!、!、!、!、! *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *

6、1* *1* *1* *1* *1* *1* *1* *1* *1* *1*、1*、!、!、! 1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* *1* rT rprTx rTx rTxTHE SOFTWARE INCLUDED IN THIS FILE IS FOR GUIDANCE ONLY. ST MICROELECT RONICSSHALL NOT BE HELD LIABLE FOR ANY DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGESWITH RESPECT TO ANY CLAIMS ARISING

7、 FROM USE OF THIS SOFTWARE.Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1

8、*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*1*TxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTxTx#include version.h#include lib.h#include mtc.h#include regul.h#include ST7MC_hr.h#include it_ST7MC.h#include LinSCI.h#include MTC_Settings_Sensorless.h#define Error_slip_MAX (s16)2048

9、#define Error_slip_MIN (s16)-2048#define MTIM_MAX_FREQ MTC_CLOCK/8 / 16Mhz/8 - 2Mhz/ Variables/static s32 VoltageIntegralTerm;static BOOL MaxPiOut,MinPiOut;volatile Step_s Step_ZSTEP_Z_BUFFER_SIZE; / buffer filled with the last 12 Z step times/*Main program */ /*ROUTINE Name : Period_To_FrequencyDes

10、cription:Input/Output:Comments:Convert Step_Z buffer information (electrical period) into electrical frequency.none/u16 (electrical frequency, 0.1 Hz resolution) None*/ u16 Period_To_Frequency(void)u32 result;u16 MZ_Temp;u8 Ratio_Min, i;Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx Tx

11、Tx Tx Tx/* Compute average Motor Z Step Period*1* *1* *1* *1* *1* *1* *1* *1* / Tx Tx Tx Tx Tx Tx Tx Tx / F = Fmtc/(MZREG.2Yatio) T = (MZREG.2Yatio)/FmtcRatio_Min = RATIO_MAX; / init Ratio_Min with max ratioMZ_Temp = 0;for (i=0;i=STEP_Z_BUFFER_SIZE-1;i+) / check max ratio of bufferif (Step_Zi.Ratio

12、Ratio_Min) Ratio_Min = Step_Zi.Ratio;/ Ratio_Min contains now the min ratio of stored values in Step_Z bufferfor (i=0;i=STEP_Z_BUFFER_SIZE-1;i+) / Compute average periodif (Step_Zi.Ratio = Ratio_Min) MZ_Temp += (u8)(Step_Zi.StepTime);else MZ_Temp += (Step_Zi.StepTime)= (u8)(Ratio_Min); /divide by 2A

13、ratioreturn(u16)(result); /*Initialisation of Integral term of PI*/void Init_PI(void)#if (DRIVING_MODE = VOLTAGE_MODE)VoltageIntegralTerm = (ramp_MCPUH3)*65536;VoltageIntegralTerm /= PWM_FREQUENCY;#elseVoltageIntegralTerm = (ramp_MCPVH3)*65536;VoltageIntegralTerm /= PWM_FREQUENCY;#endif/*ROUTINE Nam

14、e : regul_PIDescription:Compute PI output (0 (PI min) to 1023 (PI max) according to Ki,Kp, sampling time, and target electrical frequency.Input/Output:u16/u16 (PI output (10 bits value)/target electrical frequency, 0.1 Hz resolution)Comments: None */ u16 regul_PI(u16 Target_Freq) / return 10 bits va

15、lues32 Voltage_slip_s32,DeltaVoltage_slip_s32,Newpi_32;s16 NewPIoutput, Error_slip,Error;u16 output;/#、J1 % JJ/* Compute PI output */Freq_Motor = (u16)Period_To_Frequency();Error = (s16)(Target_Freq - Freq_Motor); / Freq_Motor is actually the step time between 6 Z eve ntsif (Error (s16)(Error_slip_M

16、AX)Error_slip = Error_slip_MAX;else if (Error 0) & !MaxPiOut) | (Error_slip= 0) & (DeltaVoltage_slip_s32 = 0)if ( (u32)VoltageIntegralTerm + (u32)DeltaVoltage_slip_s32 ) S32_MAX) VoltageIntegralTerm = S32_MAX;/ Avoid IntTerm Overflowelse VoltageIntegralTerm += DeltaVoltage_slip_s32; / integral outpu

17、telse if (VoltageIntegralTerm 0) & (DeltaVoltage_slip_s32 0)if ( (u32)VoltageIntegralTerm + (u32)DeltaVoltage_slip_s32 ) = 0) & (Voltage_slip_s32 = 0)if ( (u32)VoltageIntegralTerm + (u32)Voltage_slip_s32 ) S32_MAX) Newpi_32 = S32_MAX; / Avoid IntTerm Overflowelse Newpi_32 = (VoltageIntegralTerm + Vo

18、ltage_slip_s32); / outputelse if (VoltageIntegralTerm 0) & (Voltage_slip_s32 0)if ( (u32)VoltageIntegralTerm + (u32)Voltage_slip_s32 ) = S32_MAX) Newpi_32 = S32_MIN;/ Avoid IntTerm Overflowelse Newpi_32 = (VoltageIntegralTerm + Voltage_slip_s32); / outputelseNewpi_32 = (VoltageIntegralTerm + Voltage

19、_slip_s32); / output#if (DRIVING_MODE = VOLTAGE_MODE)NewPIoutput = (s16)( Newpi_32 /64);#elseNewPIoutput = (s16)( Newpi_32 /256);#endifif ( NewPIoutput 1024 )output = 1024;MaxPiOut = TRUE; / Set ClampFlag if modulation reaches maximum value elseoutput = NewPIoutput; MinPiOut = FALSE;MaxPiOut = FALSE

20、;return (output); / return PI output Microchip 的 PI 算法：你在 Microchip 网站上找 Sensorless BLDC Motor Control Using dsPIC30F2010.zip 应用笔记的源代码。里面有个medium_event.c文件，有个函数void speedoop(void)里面有C语言版的PI算法源 代码。在 Microchip 的网站上找 Implementing a PID Controller Using a PIC18 MCU.zip应用笔记的源 代码。这是 Microchip 的汇编版 PI 算法源代码在Microchip的网站上找Using Proportional Integral Derivative (PID) controllers in Closed-loop Control Systems.zip 源代码。这是Microchip的C语言版PID算法源代码