基于三闭环的编码器动态检测转台驱动系统  

Based on Three Closed-Loop Sensorless Permanent Magnet Brushless DC Motor Control System

作　　者：于海[1,2] 万秋华[1] 李艳茹[1] 黄法军[1,2] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院研究生院,北京100039

出　　处：《微特电机》2013年第11期44-48,53,共6页Small & Special Electrical Machines

摘　　要：为解决光电编码器动态检测中编码器稳速、变速转动及角度定位过程中出现的问题,利用无刷直流电动机设计了一种三闭环无位置传感器无刷直流电动机稳速、变速转动及定位控制策略,并设计了电路。首先,利用硬件反电势过零点检测法设计了无刷直流电动机控制电路,并对反电势过零点检测电路进行特性分析;然后,建立了相位调节闭环控制模型,实现对当前反电势信号的相位延迟调节。其次,利用PID调节算法实现对电机转速和转角的闭环控制,与相位调节环组成了无刷直流电动机的三闭环控制。最后,通过对PID闭环控制中参数的设定,完成了延迟角补偿、稳速转动、正弦转动、梯形转动和角度定位的实验。经过实验表明,该控制策略有效地实现了对反电势过零点进行相位调节和对转速、转角的闭环控制。其转速控制误差不超过1(°)/s,角度定位误差不高于18″。该控制策略能够广泛适用于对无位置传感器无刷直流电动机的控制,并且能够用于编码器动态检测中对编码器的动态控制。To solve the problem of optical encoder steady speed,variable speed rotation and angle positioning in the detection of optical encoder＇s dynamic,the steady speed,variable speed and position control strategy of a three-loop sensorless brushless DC motor was designed,and the circuit was designed.First,brushless DC motor control circuit with hardware anti-EMF zero-crossing detection method was designed,and the characteristics of anti-EMF zero crossing detection circuit was analyzed.Second,phase adjust closed-loop control model was built to adjust the phase of anti-EMF signal delay.Third,PID algorithm was used to achieve closed-loop control of motor speed,rotation and phase adjustment.Three closed-loop control of the brushless DC motor was formed.Finally,the parameters of the PID closed-loop control were set,and the experiments of phase delay angle compensation,steady speed rotation and sinusoidal rotation,trapezoid rotation and angle positioning were made.The experiments show that the control strategy effectively achieves the adjustment of antiEMF zero crossing＇s phase and the closed-loop control of speed and angle.The speed control error is not higher than 1 （°）/s,angular position error is not higher than 18 ＂.It can be widely used in sensorless brushless DC motor control,and can be used for dynamic control of the optical encoder dynamic detection.

关 键 词：无位置传感器 无刷直流电动机 反电势过零点 稳速控制 变速控制 

分 类 号：TM33[电气工程—电机]