基于改进型FOC算法的电机控制系统的设计  

Design of a Motor Control System Based on the Improved FOC Algorithm

作　　者：宋文文 陈静 张志威 丁学文[1,2] 李雅静 SONG Wenwen;CHEN Jing;ZHANG Zhiwei;DING Xuewen;LI Yajing(School of Electronic Engineering,Tianjin University of Technology and Education,Tianjin 300222,China;Tianjin Yunzhitong Technology Co.,Ltd.,Tianjin 300350,China)

机构地区：[1]天津职业技术师范大学电子工程学院,天津300222 [2]天津云智通科技有限公司,天津300350

出　　处：《计算机与网络》2023年第15期47-52,共6页Computer & Network

摘　　要：设计了一种以STM32为主控芯片,基于改进型磁场定向控制(Magnetic Field Oriented Control,FOC)的电机控制系统。该系统采用的CAN总线控制,具有自动检测错误和修复功能,减少布线,有效降低控制系统的故障率,实现控制系统内部模块之间的复杂通讯和电机之间的交流。运用FOC矢量控制算法来控制电机的运转,选择霍尔传感器作为FOC的位置传感器,来获取转子的角度信息和速度信息,经过Clarke变换、Park变换、Park逆变换后输出轴与轴的电压传输给逆变电桥,进行矢量脉宽调制,驱动电机转动,最终实现系统的精准控制,其中基于自抗干扰控制(Active Disturbance Rejection Control,ADRC)算法代替了传统的PI速度控制环,只保留了PI电流环。控制系统中还加入了预充电和故障处理检测功能,实时检测高压安全状况,在功率管发生短路等故障情况时可及时采取保护措施,实现最大程度保护控制器和操作人员的安全。该控制系统具有较好的现实性以及适用性。A motor control system is designed based on the improved FOC (Magnetic Field Oriented Control) with STM32 as themain control chip. The CAN bus control is used, capable of automatic error detection and repair, reducing the wiring and the failure rateof the control system, and enabling the exchange between the motor and the complex communications among the internal modules ofthe control system. The FOC vector control algorithm is used to control the motor operation, and Hall sensor is selected as the FOCposition sensor to obtain the rotor angle information and velocity information. After Clarke transform, Park transform and inverse Parktransform, the output voltage of d axis and q axis is transmitted to the inverter bridge, with the vector pulse width modulation carried outto drive the motor rotation, precisely controlling the system in the end, in which the traditional PI speed control loop is replaced by theADRC-based active disturbance rejection control algorithm and only the PI current loop is retained. The functions of pre-charging andfault handling detection are also added to the control system, enabling real-time detection of high voltage safety, so that power tubeshort circuit and other faults can be taken timely protective measures and the controller and operator safety can be protected to thegreatest extent. The control system has good practicality and applicability.

关 键 词：STM32 CAN通信 磁场定向控制 预充电 故障检测处理 

分 类 号：TM343[电气工程—电机]