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运动控制系统课程设计说明书题目：基于单片机的无刷直流电动机控制系统设计专业班级：电气自动化02班学号：1004150213姓名：孔令上指导教师：文小玲王振成绩：2013年6月21日至7月2日基于单片机的无刷直流电动机控制系统设计DesignofbrushlessDCmotorcontrolsystemonsingle-chipmicrocontroller学生姓名:孔令上指导教师:文小玲王振课程设计量化评分标准指标分值评分要素得分设计完成情况30能独立查阅文献资料，提出并较好地论述课题的实施方案；设计方案选择合理，分析、设计正确，原理清楚；独立进行设计工作，按期圆满完成规定的任务，设计结果达到预期效果，有实用价值。报告质量20报告结构严谨，逻辑严密，论述层次清晰，语言流畅，表达准确，重点突出，报告完全符合规范化要求。工作量、工作态度20工作量饱满，难度较大，工作努力，遵守纪律；工作作风严谨务实。答辩成绩30思路清晰；语言表达准确，概念清楚，论点正确；分析归纳合理，结论严谨；回答问题有理论根据，基本概念清楚。总评成绩答辩记录答辩时间：答辩地点：摘要电动机作为机电能量的转换装置,其应用范围已遍及国民经济的各个领域以及人们的日常生活之中。传统的直流电动机均采用电刷,以机械方法进行换向,存在着相对的机械摩擦,由此带来了噪声、火花、无线电干扰以及寿命短等致命弱点,制造成本高及维修困难等缺点,因而大大地限制了它的应用范围。永磁无刷直流电动机是近年随着电力电子器件及新型永磁材料发展而迅速成熟起来的一种新型机电一体化电机，它具有以下特点:1．无刷直流电动机的转子采用高磁能积的稀土磁钢作为转子磁钢,其转动惯量比鼠笼转子要小,所以对于给定的转矩能够响应得更快,控制特性更好。2．无刷直流电动机的效率比感应电动机高。因为在感应电机运行时,转子上不会产生铜损和铁损。3．在相同容量下,无刷直流电动机的体积相对要比感应电机小,重量轻。4．无刷直流电机的噪音小。5．无刷直流电机调速方便,灵活,范围广。在分析无刷直流电动机（BLDCM）数学模型的基础之上，提出了一种新型的无刷直流电机控制系统建模仿真方法。在Matlab/Simulink环境之下，利用无刷电机关键词：无刷直流电动机；电刷；换向器；单片机AbstractMotoraselectromechanicalenergyconversiondevices,andtheirusehasspreadinvariousfieldsofnationaleconomyandpeopleintheirdailylife.TraditionalDCmotorbrushes,mechanicalmethodofcommutation,thereisarelativelymechanicalfriction,whichbringaboutthefatalweaknessofnoise,sparks,radiointerference,andshortlife,manufacturinghighcostandmaintenancedifficultiesandshortcomings.thusgreatlylimitingitsscopeofapplication.ThepermanentmagnetbrushlessDCmotorisrapidlymaturinginrecentyearswiththedevelopmentofpowerelectronicdevicesandnewpermanentmagneticmaterialsupanewthemechatronicsmotor,ithasthefollowingcharacteristics:1.TherotorofthebrushlessDCmotorwithhighenergyproductrareearthmagnetastherotormagnet,thesquirrelcagerotorinertiaratioissmaller,soforagiventorquecanrespondfastertocontrolfeaturesbetter.2.TheefficiencyofthebrushlessDCmotorishigherthantheinductionmotor.Becausetheinductionmotorisrunning,therotordoesnotproducethecopperlossandironloss.3.Inthesamecapacity,thevolumeofthebrushlessDCmotorisrelativelybetterthantheinductionmotorissmall,lightweight.4.BrushlessDCmotornoise.5BrushlessDCmotorspeedconvenient,flexible,andawiderangePermanentmagnetbrushlessDCmotorcontrollerstructurehasmanyforms,theinitialcomplexanaloguetotherecentlydigitalmicrocontrollerasthecore,butthenewmotorcontrolASIC,brushlessDCmotorspeedcontroldevicedesignagreatconvenience,integratedanalogcontrolchipcontrollingfunction,theprotectionfunction,stableperformance,simplesystemcomposedoftheperipheralcircuitsrequired,andstronganti-jammingcapability,especiallysuitableforvolumecontroller,theperformancerequirementshigheroccasions.Advantagesofadedicatedcontrolchipofcourse,butoftenareexpensive.Intheoccasionofsomecontrolaccuracyisnothigh,youneedtobeabletohaveaworkingstability,priceandrelativelylow-costcontroller.Thisdesignisbasedonmarketdemand.Keywords:HCCI；ChemicalKinetics；NumericalSimulation；DME；II目录摘要...................................................................IIIAbstract....................................................................IV1设计任务和要求.............................................................11.1设计要求.............................................................11.2设计任务.............................................................12系统组成原理...............................................................32.1无刷电动机的基本结构.................................................32.2直流无刷电机的换向原理...............................................32.3单片机控制最小系统...................................................62.4光耦隔离电路.........................................................72.5滤波电路和限幅电路...................................................82.6保护电路.............................................................92.7主电路设计...........................................................92.8总控制电路设计.......................................................92.9系统原理框图........................................................103控制算法与系统软件设计....................................................103.1转速控制器结构参数设计..............................................103.2电流控制器结构参数设计..............................................113.3采样周期选择........................................................113.4控制算法和运算流程图................................................113.4.1算法思路及初始化简述..........................................113.4.2运算流程图....................................................133.5系统软件设计........................................................143.5.1系统初始化程序模块............................................143.5.2主程序模块....................................................143.5.3编码脉冲—中断服务程序模块....................................153.5.4速度环采样和调节控制模块......................................163.5.5电流环采样和调节控制模块......................................174仿真（实验）结果分析......................................................184.1换向逻辑控制模块....................................................204.2控制器和控制电平转换及PWM发生环节设计..............................254.3换相逻辑控制模块....................................................275总结.....................................................................28参考文献...............................