实现复杂位置曲线跟踪的直流无刷电机控制器设计

Design of Brushless DC Motor Controller Tracking Complex Position Curve

针对现有的无刷直流电机控制器不能接收高频数字指令以实现复杂位置曲线跟踪的问题,设计了指令更新速率高达1 kHz的控制器。硬件上,采用ARM Cortex-M3微控制器作为处理器,使用芯片A4936作为3相桥的换相逻辑控制器。软件上,应用了带有速度、加速度前馈的PID控制算法。使用更新速率是1 kHz的指令进行测试,结果表明,有很高的跟踪精度和较快的响应速度。

In order to resolve the problem that exiting Brushless DC （BLDC） motor controllers are incapable of tracking a complex position curve due to their low-frequency command reception, a BLDC motor controller was designed with enhanced reception that was able to handle instructions updating at a rate of 1 kHz. In the aspect of hardware, the microcontroller ARM Cortex-M3 was used as the CPU and＂ the chip A4936 was adopted as its 3-phase bridge pre-driver. In the aspect of software, a PID control algorithm with speed and acceleration feed-forward was applied. Tests were implemented using instructions which update at a rate of 1 kHz, the results acquired illustrated that the BLDC motor controller has high tracking precision and fast response speed.