基于myRIO的电动拖拉机驱动控制器设计与室内试验  

Motor controller design and indoor experiment for electric tractor based on myRIO

作　　者：谢斌[1] 张超[1] 毛恩荣[1] 陈燕呢 

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农业工程学报》2015年第18期55-62,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家"十二五"科技支撑计划课题(2014BAD08B04)

摘　　要：由于传统的内燃机拖拉机污染严重,噪音大,不适合工作在温室大棚等空间封闭狭窄的场合,开发小型电动拖拉机的需求变得日益迫切。设计了一种小型电动拖拉机用的永磁直流无刷电动机控制器,该控制器以myRIO为控制核心,智能化程度高,满足电动拖拉机运输、作业时多种动力工况要求。控制器外围电路包括MOSFET(metal-oxide-semiconductor field-effect transistor,金属-氧化物半导体场效应晶体管)功率放大、栅极驱动、电流保护、低电压保护和温度保护等电路。运用Lab VIEW/FPGA图形化编程环境,编写了ARM实时处理器控制流程和FPGA(field-programmable gate array,现场可编程门阵列)I/O驱动程序,软件由启动、驱动、欠压保护、过流保护、过热保护等子VI程序组成。通过样机试验表明,电动拖拉机工作正常,空载时启动电流为120 A,带载时启动电流为164 A,驱动时序符合直流无刷电动机要求。该设计方案解决了驱动控制器开发困难的问题,为电动拖拉机智能化的发展提供了参考。It is well known that off-road vehicles contribute a huge amount of pollution to air, and studies have shown that renewable electric vehicles （EVs） decrease petroleum consumption and consequently reduce criteria emissions under nearly all circumstances. Diesel tractors exhaust CO, NOx PM10 and pollutants that are harmful to human body. As a consequence, diesel tractors are not allowed to work in some limited and closed environments such as greenhouse. It is imperative that a kind of small electric tractor with less noise, zero emission and more comfort should be developed with the least delay. A brushless direct current （BLDC） motor drive is characterized by higher efficiency and lower maintenance. Therefore, it is necessary to have a low-cost but effective BLDC motor controller. This research develops a new low-cost method for the design of BLDC motor controller and designs a BLDC motor controller for a small electric tractor. The BLDC motor controller includes cybernetics core and controller peripheral circuits, and modular design idea is proposed. The advanced intelligent controller uses the myRIO as a cybernetics core, and the myRIO uses the latest Zynq technology from Xilinx, which features an FPGA integrated with a processor running a real-time OS that can meet the requirements of intelligent control for electric tractor. The myRIO is coupled with an onboard accelerometer, programmable LEDs （light emitting diodes） and analog and digital I/O, and USB port helps modular design ideas come to life. The controller peripheral circuits include power amplifier MOSFET gate drive, current protection, low voltage protection and temperature protection, which meet the tractor’s transportation and working demands under different power conditions. Programs are developed in real-time processor ARM and I/O driver software in FPGA to the control flow in graphical programming environment. Main control and protection algorithms run in real-time OS; at the same time the driving timing sequence algorithms run in FP

关 键 词：农业机械 拖拉机 控制系统 驱动控制器 驱动电路 保护电路 

分 类 号：S219.4[农业科学—农业机械化工程]