电动车无刷电机控制器软件设计详解

毕业设计（论文）题目:无刷电机驱动的电动自行车的控制系统设计专业:数控技术班级:学号:姓名:指导老师:摘要近年来，燃油交通工具因尾气排放问题已造成城市空气的严重污染。

于是发展绿色交通工具已经成为一个重要的课题。

考虑到我国的国情，发展电动自行车具有重要的环保意义。

随着电机技术及功率器件性能的不断提高，电动自行车的控制器发展迅速。

本文设计采用无刷直流电机专用控制芯片MC33033为控制芯片，以功率器件MOSFET为开关器件驱动电机，实现对无刷直流电机的控制。

设计出了电路原理图、印制板电路图和电路板实物的3维效果图。

关键词：无刷直流电机MC33033 原理图印制板电路图AbstractIn recent years, transportation fuel emission problem has been caused by urban air pollution levels. So the development of green transport has become an important issue. Taking into account China's national conditions, development of electric bicycles has important environmental significance. With the motor technology and continuously improve the performance of power devices, the rapid development of electric bicycle controller. This design uses a brushless DC motor for the control of dedicated control chip MC33033 chip, in order to power MOSFET devices as the switching device drive motor, to achieve control of the electric bike. Design a circuit diagram, PCB circuit diagrams and circuit board real 3-D renderings.Keywords：brushless DC motor MC33033 Schematic PCB circuit目录摘要 (I)ABSTRACT (II)第1章引言 (5)1.1课题的研究背景及发展状况 (5)1.1.1当今社会的能源问题 (5)1.1.2无刷直流电机的发展过程 (5)1.1.2无刷直流电机的特点 (6)1.2电动自行车的组成部分 (7)1.3课题研究的内容 (8)第2章电动自行车的主要技术 (9)2.1电动自行车的基本性能 (9)2.2电动自行车的主要技术参数 (10)2.2.1整车主要技术参数 (10)2.2.2蓄电池主要技术参数 (10)2.2.3电动机主要技术参数 (11)2.2.4控制器主要技术参数 (11)2.3电动自行车的电机控制技术 (12)2.4无刷直流电机的结构与原理 (12)2.5无刷直流电机的调速方法 (14)2.6无刷直流电机的位置检测 (15)第3章系统元器件选择 (17)3.1控制芯片MC33033 (17)3.2功率器件MOSFET (20)3.3无刷电机驱动芯片IR2103 (22)3.4闭环无刷电机适配器MC33039 (23)3.5蓄电池的选择 (24)第4章系统电路设计 (27)4.1普通无刷电动机控制电路 (27)4.2主电路设计 (28)4.2.1电源电路设计 (28)4.2.2驱动电路设计 (28)4.2.3刹车电路设计 (29)4.2.4调速电路设计 (30)4.2.5钥匙开关设计 (31)4.2.6整体电路图 (32)第5章印制电路板设计 (34)5.1确定元件封装 (34)5.2生成网络表 (35)5.3印制电路板环境设置 (35)5.4绘制PCB板 (36)结论 (38)致谢 (39)参考文献 (40)附录 1 (41)附录 2 (43)附录 3 (45)第1章引言1.1课题的研究背景及发展状况1.1.1当今社会的能源问题能源是人类社会存在和发展的物质基础。

无刷电调编程讲解
无刷电调是一种电子元件，常用于控制电机的转速和方向。

为了实现不同的功能，需要对无刷电调进行编程。

下面是无刷电调编程的讲解：
1. 确定编程设备：通常使用电脑和USB转串口线作为编程设备。

2. 安装编程软件：根据无刷电调的品牌和型号，选择相应的编程软件并安装。

3. 连接电调和编程设备：将USB转串口线连接到电脑的USB端口上，另一头连接到电调的编程口上。

4. 进入编程模式：根据电调的说明书，按压指定按键或操作指令，进入编程模式。

5. 编写程序：在编程软件中编写程序，实现电调所需的功能。

常见的功能包括调整最大电流、最大转速和刹车时间等。

6. 下载程序：将编写好的程序下载到电调中，以实现相应的功能。

7. 测试：将电调和电机连接，进行测试以确认编程是否成功。

如果存在问题，可以重新进入编程模式并修改程序。

以上就是无刷电调编程的基本讲解，希望能够帮助大家更好地理解和使用无刷电调。

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Commutation Torque Ripple Reduction in BLDC Motor Using PWM_ON_PWM ModeGuangwei Meng, Hao Xiong, Huaishu Li Department of Electrical Engineering, Naval University of Engineering, Wuhan, China.Abstrac t:The paper analyzes the steady commutation process of the BLDC motor using PWM mode, confirms the commutation time to keep noncommutation phase current amplitude constant during commutation period by way of PWM in the period to implement the compensation control to eliminate commutation torque ripple under both low speed and high speed operation, investigates the effect by PWM mode on a three-phase six-state 120°turn-on BLDC motor, and presents torque ripple compensation control in PWM_ON_PWM mode, which can not only entirelyeliminate torque ripple resulted from the current emerging in the turn-off phase during non-commutation period but also compensate torque ripple caused by the commutation current during commutation period.Index Terms—BLDC motor, commutation, PWM, torque ripple.I. INTRODUCTIONThe BLDC motors have been widely used due to its features - a simple structure, good speed adjusting performance,high power density, low noise and simple control, etc. It is a hotspot to suppress the torque ripple and improve the control performance of a BLDC motor with the trapezoidal back emf.BLDC motors usually operate in all kinds of PWM modes, which not only affect the dynamic loss of power switches and radiation uniformity, but also influence the torque ripple. It is an effective way to suppress the torque ripple through changing dc bus chopper control to remain non-commutation phase current amplitude constant, but it results into a more complex topology [1]-[3]. It is just fit for low speed applications tocontrol non-commutation phase current amplitude to regulate the commutation torque ripple . It is analyzed about the influence resulted from PWM ON mode on the torque ripple .The ideas in [1]-[3] are to adopt different suppression methods in different speed interval, but they don’t take t he effect by PWM mode s on the systemin account. The predictive current, neural network control and active disturbance rejection control etc are introduced to suppress the torque ripple , but the control algorithm is more complicated and harder for realization.Depending on the commutation process of BLDC motors and the effect by PWM modes on the system, thepaper presents a torque ripple com-pensation control inPWM_ON_PWM mode at different speeds by seeking different PWM modulation ratios during commutation period as motor runs at low speed and high speed.The method retains the original to-pology, improves the control performance of the system dramatically,and moreover is easy to realize.II. ELECTROMAGNETIC TORQUE OF BLDC MOTORDURING COMMUTATION PROCESSAssume that the BLDC motor is three-phase symmetrical and Y- connected, and neglect eddy currents and hysteresis losses, its equivalent circuit and main circuit are shown in Figure 1. r, L are the resistance andinductance of the stator windingsrespectively;C B A e e e ,, are the counter emfs of the corresponding phase windings respectively; C B A i i i ,, are the corresponding phase currents respectively.0=++C B A i i i (1The counter emf of every phase winding is a trapezoidal waveform with a flat-top width greater than or equal to 1200 electrical degree,and its flat-top amplitude is Em. When the motor works in three-phase six-state 1200 turn-on mode, the currents don’t commutates instantaneously as a result of the inductanceof the armature winding. Take the power switch 1T and 2T ’s turn-on to2T and 3T ’s turn -on for example. During the commutation, it is gained as follows m C B A E e e e =-== (2Suppose that the mechanical angular velocity of the rotor is Ω, the toque can be obtained as follows during the commutation process.Ω=Ω++=C m C C B B A A e i E i e i e i e T 2 (3 It is obvious from (3 that the toque is proportional to the non-commutation phase current during commutation,i.e. the commutation torque ripple can be eliminated so long as non-commutation phase current remains constant during commutation. III TORQUE RIPPLE REDUCTION IN PWM MODEa new PWM mode is presented -PWM _ON _PWM, i.e. using PWM mode in the first30°and the last 30° while keeping constant turn-onmode in the middle 60°. The mode can entirely eliminate the emerging current in the turn-off phase during non-commutation and thus reduce the torqueripple during non-commutation.PWM _ON _PWM is a bilateral modulation, but the dynamic losses of power switches in the mode are equal to those of unilateral modulation. Six switches are modulated in turn, so the power switches have a uniform radiation and the system has a higher reliability. The mode is employing PWM on the turn-on power switchesand thus it can suppress the torque ripple during commutation to a certain extent even if a compensation control is not applied at a low speed.In PWM _ON _PWM mode, it can not only eliminate the torque ripple during non-commutation but also suppress the commutation torque ripple at low speed operation by keeping dm BB U rI E D 034+= in the commutation compensation control time ⎪⎪⎭⎫⎝⎛++=m c E rI rI r L t 21ln 00 at low speed operation, i.e.d m U rI E ≤+034.At high speed operation i.e.d m U rI E ≥+034,overlapping commutation is used to keep the turn-on phase constantly on and make the control pulse duty cycle of the turn-off phase 1340-+=dm AA U rI E D in the commutation compensation control time⎪⎪⎭⎫⎝⎛----=0021ln rI E U rI r L t m d c ,which can not only eliminate the torque ripple during noncommutation but also suppress the commutation torque ripple at high speed operation.A simulation is carried out to verify the method.The parameters areN T m r n V U m kg J r mH L L N N 4.0,1600,48,0157.0,66.0,262===⋅=Ω==.In non-full-bridge modulation mode such as H_PWM-L_ON mode, power switches in the upper arms use PWM mode while the others in the lowerarms use constant turn-on mode in 1200 turn-on interval. The simulation waveform of phase current is shown in Fig. 3. It is obvious that a current emerges in the turn-off phase during non-turn-on period and its pulsating frequency is the same as the modulatingfrequency while its amplitude varies with the variation of back emf amplitude, whichproduces a reverse torque.Figure 2 H_ PWM - L_ ON phase current waveform Figure 3 PWM_ON_PWM phase current waveform The simulation waveform of phase current in PWM _ON _PWM mode is shown in Fig.4. It is obvious that no current emerges in the turn-off phase duringnon-turnon period, which reduces the torque ripple during noncommutation compared with other PWM mode.Fig.5 shows the waveforms of the phase current and torque at low speed with PWM pulse duty cycle DA=0.2 without compensation control. Fig. 6 shows thewaveforms of the phase current and torque at low speed with the control pulse duty cycle DBB=0.4 in the turn-on phase within the commutation time tc=0.0013 by a compensation control. The comparison indicates that the torque ripple caused by commutation can be almost eliminated by means of a commutation compensationcontrol at low speed application.It is found from Fig.3 to Fig.8 that using a commutation compensation control in PWM_ON_PWM mode can not only avoid the torque ripple caused by the emerging current in the turn-off phase during noncommutation but also effectively suppress the commutation torque ripple at both low speed and high speed applications.Figure4 phase current and torque waveform during Figure 5 when running at low speed by changing theLow speed running phase current and phase compensation torque waveformFigure 6under the speed of phase current and torque waveform Figure 7high-speed run through the compensation control ofphase current and torque waveformIV. CONCLUSIONSBased on the analysis of commutation process of BLDC motor and the effect by PWM mode on the control system, a commutation compensation control inPWM_ON_PWM mode is worked out, which can not only eliminate torque ripple resulted from the current emerging in the turn-off phase during non-commutation period but also compensate commutation torque ripple. A control system without torque ripple can be realized through the method under both low speed and high speed operation.REFERENCES[1] S. Wang, T. Li, and Z. Wang, “Commutation torque ripple reduction in brushless DC motor drives using a sin gle current sensor,” Electric Machines and Control, vol. 12,pp. 288-293, March. 2008.[2] X. Zhang and Z. Lü, “New BLDCM drive method to smooth the torque,” Power Electronics, vol. 41, pp. 102-104, Feb. 2007.[3] H.J. Song and C. Ick. “Commutation torque r ipple reduction in brushless DC motor drivers using a single DC current sensor,” IEEE Trans. On Power Electr, vol. 19,pp. 312-319, Feb. 2004.[4] G.H. Kim, J. Seog and S.W. Jong, “Analysis of the commutation torque ripple effect for BLDCM fed by HCRPWM-VSI,” Proc. of APEC’92, 1992, pp.277-284. [5] X. Zhang and B. Chen, “The different influences of four PWM modes on commutation torque ripples in brushless DC motor control system,” Electric Machines andControl,vol.7, pp. 87-91, Feb. 2003.[6] D. Chen, Z. Liu and J. Ren et al, « Analysis of effects onBLDCM torque ripple by PWM modes,”. Electrical Drivers, vol.35, pp. 18-20, April 2005.中文翻译用PWM_ON_PWM模式抑制无刷直流电机换相引起的脉动转矩中国武汉海军工程大学电机工程系蒙广伟、雄郝、李怀树编摘要:本文分析了无刷直流电动机采用PWM控制稳定换相的过程,证实了运用PWM模式,在换相时控制非换相相电流有稳定不变的幅度,并进行补偿以消除低速和高速工作下的换相转矩脉动;研究了运用三相六状态的PWM模式120°启动无刷直流电机的方法,并提出基于脉宽调制的PWM模式如何来抑制转矩脉动,PWM 控制不仅可以消除非换相期间由关断电流引起的转矩脉动,还可以补偿换相期间由换相电流引起的转矩脉动。

电动车控制器设计方案（二）引言概述：电动车控制器是电动车的重要组成部分，它负责对电动车的电动机进行控制和管理，实现车辆的各种功能。

本文将从电动车控制器的功能需求、硬件设计、软件设计、性能优化和安全考虑等五个大点，详细阐述电动车控制器的设计方案。

正文：一、电动车控制器的功能需求1. 控制电机的转速和力矩2. 控制电机的启动和停止3. 实现电机的正反转4. 保护电机和电动车的安全5. 支持多种工作模式切换二、电动车控制器的硬件设计1. 选择合适的电机驱动芯片2. 优化电路设计，提高功率转换效率3. 设计合理的电源管理电路4. 添加故障检测和保护电路5. 选择适当的接口和通信模块三、电动车控制器的软件设计1. 制定控制算法，实现精确控制2. 编写软件代码，实现各项功能3. 设计用户界面，提供友好的操作界面4. 实现数据存储和传输功能5. 进行软件调试和优化四、电动车控制器的性能优化1. 提高控制精度和响应速度2. 降低功耗，延长电池寿命3. 优化电机驱动参数，提高效率4. 增加故障检测和自适应控制功能5. 优化软硬件协同工作，提高整体性能五、电动车控制器的安全考虑1. 设计可靠的电源保护电路2. 设置合理的电机过流、过温保护3. 考虑防止电机反接、过压等情况4. 引入密码和认证机制，防止非法操作5. 进行严格的安全测试和验证总结：本文对电动车控制器的设计方案进行了详细阐述，包括功能需求、硬件设计、软件设计、性能优化和安全考虑等五个大点。

通过合理的设计和优化，可以使电动车控制器具备高效、可靠和安全的特性，实现电动车的优化控制和管理。

基于DSP的直流无刷电机控制器的软件结构设计摘要：直流无刷电机是功率半导体和永磁材料一体化的新型电机，它既具有直流电机优良的调速性能，又具有交流电机结构简单、易于控制、运行效率高、运行可靠、维护方便等一系列优点。

目前，在工业控制领域尤其在调速和伺服领域中得到了越来越广泛的应用。

为了适应这种需要，许多公司开发了控制电机专用的高档单片机和数字信号处理器(DSP)。

现在，通常使用的电机控制器的控制核心部分大都由DSP和大规模可编程逻辑器件组成。

这种方案可以根据不同需要，灵活地设计出性能很好的专用电机控制器。

为此，选用了Freescale公司开发的DSP芯片MC56F8323作为电机控制核心，设计了该直流无刷电机控制器。

关键词：DSP，直流无刷电机，软件设计直流无刷电动机(BLDCM)控制系统是一种新型的调速系统。

该系统具有良好的运行、控制及经济性能，显示出巨大的发展潜力。

本文以无刷直流电动机为控制对象，应用DSP为微处理器进行了无刷直流电动机控制系统的软件设计。

无刷直流电动机控制系统是具有数字化特点的电动机控制系统。

通过数字信号处理器与相关模拟电路的组合，实现对电机控制的数字化处理。

一、直流无刷电机工作原理：直流无刷电机的控制系统主要由永磁无刷直流电机、整流器、逆变器、位置传感器和控制器几部分组成。

相绕组分别与功率MOS管相接．磁极位置传感器跟踪转子与电动机转轴相连接。

无刷直流电动机的工作是通过逆变器功率管按～定的规律导通关断，使电机定子电枢产生按600角度不断前进的磁势，带动电机转子旋转实现的。

逆变器功率管共有6种触发组合状态．每种触发组合状态只有与确定的转子位置相对应。

才能产生最大的平均电磁转矩。

两个磁势向量当其夹角为900时．相互作用力最大。

而电子电枢产生的磁势是以600角度前进，因此在每种触发模式下．转子磁势与定子磁势的夹角在120—600之间变化才能产生最大的平均电磁转矩。

二、直流无刷电机的应用无刷直流电动机在先进国家已大量应用于办公设备、家电业、信息业、军事、手动工具、伺服系统、电动汽车、电瓶车、磁旋浮列车等生产生活的各个领域：(1)无刷直流电机在办公自动化领域的应用。

·29·4电动车无刷直流驱动电机的控制系统设计刘 川 李 波武汉理工大学（430070）Design of Control System on Brushless DC Motor for ElectromobileLiu Chuan Li BoWuhan University of Technology1 无刷直流电机控制原理无刷直流电机的控制原理如图1所示。

逆变器采用120°导通规则，每个管子导通120°电角度，相邻功率管互差60°电角度开通，任一时刻只有两相绕组通电。

摘 要：以无刷电机为驱动电机的电动车控制系统以TMS320F2812 DSP 为控制电路核心，以DSP 采集比较电平及电机霍尔反馈信号，并采用模糊PID 为控制算法，通过软件编程PWM 信号，输出三相六路控制无刷直流电动机。

主要介绍该系统的硬件结构及软件流程，从而提供一个高性能、易操作且性能稳定的电动车无刷直流驱动电机控制器。

关键词：电动车 无刷直流电机 DSP 模糊PIDAbstract: This article introduces brushless motor as the drive motor of electromobile ．This system is taking the TMS320F2812 DSP as the core control circuit ，the fuzzy-PID control method is used in the speed loop ．The controller system can realize the precision control of moving position and velocity ．The hardware and the software flow of the system are presented in detail ． Keywords: Electromobile Brushless DC motor DSP Fuzzy-PID电动车具有零排放、低噪声等优点，而无刷直流电动机以其控制简单、可靠性高、输出转矩大等优点，被广泛地用作电动车驱动电机。

电动车无刷马达控制器硬件电路详解/软件设计详解作者:谢渊斌原作发表在《电子报2007年合订本》下册版权保留，转帖请注明出处硬件电路详解电动车无刷电机是目前最普及的电动车用动力源，无刷电机以其相对有刷电机长寿，免维护的特点得到广泛应用，然而由于其使用直流电而无换向用的电刷，其换向控制相对有刷电机要复杂许多，同时由于电动车负载极不稳定，又使用电池作电源，因此控制器自身的保护及对电机，电源的保护均对控制器提出更多要求。

自电动车用无刷电动机问世以来，其控制器发展分两个阶段：第一阶段为使用专用无刷电动机控制芯片为主组成的纯硬件电路控制器，这种电路较为简单，其中控制芯片的代表是摩托罗拉的MC33035,这个不是这里的主题，所以也不作深入介绍。

第二阶段是以MCU为主的控制芯片。

这是这篇文章介绍的重点，在MCR版本的设计中，揉和了模拟、数字、大功率MOSFET驱动等等许多重要应用，结合MCU智能化控制，是一个非常有启迪性的设计。

今以应用最广泛的以PIC16F72为智能控制中心，350W的整机电路为例,整机电路如图1：图1:350W整机电路图整机电路看起来很复杂，我们将其简化成框图再看看：图2:电路框图电路大体上可以分成五部分：一、电源稳压，供应部分；二、信号输入与预处理部分；三、智能信号处理，控制部分；四、驱动控制信号预处理部分；五、功率驱动开关部分。

下面我们先来看看此电路最核心的部分：PIC16F72组成的单片机智能处理、控制部分，因为其他电路都是为其服务或被其控制，弄清楚这部分，其它电路就比较容易明白。

图3:PIC16F72在控制器中的各引脚应用图我们先来简单介绍一下PIC16F72的外部资源：该单片机有28个引脚，去掉电源、复位、振荡器等，共有22个可复用的IO口，其中第13脚是CCP1输出口，可输出最大分辨率达10BIT的可调PWM信号，另有AN0-AN4共5路AD模数转换输入口，可提供检测外部电路的电压，一个外部中断输入脚，可处理突发事件。