基于双DSP的四路BLDCM位置伺服控制器设计

Design of four-channel BLDCM Position Servo Controller based on Dual-DSP

介绍了采用双DSP实现四路独立永磁无刷直流电机(BLDCM)的位置伺服控制,它结合了系统和负载的特点,并采用了数字滤波、非线性PID,以及改进双极型PWM控制方案等措施。非线性PID是根据位置给定信号和反馈信号,对位置环的PID参数进行分段处理;改进的双极型PWM控制策略是对传统双极型PWM进行修改,解决了系统灵敏度较低等问题。系统的控制器通过专用通信芯片从上位机得到位置给定信号并反馈实际位置信号,实现了控制器与外部数据传输的数字化。最后通过实验结果验证了该设计方案的合理性和有效性。

The design of four-channel BLDCM position servo controller based on dual-DSP is presented.Considering the specialties of system and load,the measures such as digital filter,nonlinear PID and improved bipolar PWM control wre employed.The nonlinear PID is a method in which the PID parameters of the position loop were stepwise treated according to the preset and feedback position signals.The improved bipolar PWM control strategy is to improve the traditional bipolar PWM control and to resolve the problems such as the lower sensitivity of the system.Through the special communication chip,the controller gets the preset position signals from the upper computer and then returns the position feedback signals.Therefore, the digital transmission between the controller and external is realized.The rationality and validity of the design is verified by the experimental results.