四旋翼飞行器无刷直流电机调速系统的设计  

Design of the brushless DC motor control system on the quadrotor

作　　者：孟磊[1] 蒋宏[1] 罗俊[1] 钟疏桐[2] 

机构地区：[1]武汉理工大学自动化学院,湖北武汉430070 [2]武汉理工大学信息工程学院,湖北武汉430070

出　　处：《电子设计工程》2011年第12期140-142,146,共4页Electronic Design Engineering

摘　　要：提出了一种适用于飞行器上的无传感器型无刷直流电机的控制方案。采用ATmega8作为系统控制器,利用片内模拟比较器,通过比较电机非导通绕组的反电动势与虚拟中点电压得到过零点时刻,并延迟30°电角度作为电机换相时刻。利用MOS管设计了三相桥式驱动电路,采用单边PWM控制方式实现电机调速,采用三段式启动方法实现了电机的软启动。软硬件结合实现了MOS管自检、过流保护、欠压保护的功能,提高了系统的安全性。实验表明,调速系统性能良好,能正常驱动新西达2217外转子式无刷直流电机。A method of the brushless DC motor sensorless control which can be used on the quadrotor was proposed.ATmega8 was used to control the whole system.Comparing the non-conducting winding back-EMF voltage and the virtual midpoint voltage by the on-chip analog comparator,the zero crossing time can be obtained.The motor commutation can be got by delaying 30°electrical angle of the zero crossing time.The three-phase bridge driver circuit using MOS was designed.The motor was controlled by the PWM signal and started by three-step soft start.The system had some protection methods such as MOS detection,overcurrent protection,undervoltage protection.We confirmed that this system can properly drive the XXD 2217 brushless motor.

关 键 词：无刷直流电机 无位置传感器 调速 四旋翼飞行器 软启动 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]