Dc Servo Motor Controller Design Based On Dsp And Implementation

The paper presents a Brushless DC Motor Servo Controller based on DSP in view of the request of Mobile Robot.The mathmatical model of BLDC Motor with Delta-connection was deduced in detail. The paper expaliates the project of the whole digital control system. The key issues of control and detection technology, including the PWM, Electronic Phase-Exchanged and Phase-Locked, Motor current,speed and location, have been resolved. Moreover, a new separation and correction factor of integral PID algorithm was deduced.The BLDC Motor controller hardware platform based on TMS320F2812 was constructed. The DSP control circuits and the power driving circuits were designed completely, which mainly included DSP chip peripheral circuits, three phase invert bridge circuits with IR2130, PWM optically coupled isolator circuits, hall signal processing circuits, optical-electricity encoder circuits, current sampling circuits and the system protection circuits. Meanwhile, the functions of the various circuits were elaborated in detail and the reliability of hardware was analysed.The whole C software of the control system was developed upon the CCS3.3 software development environment. The improved PID algorithm, M method of velocity detecting, ADC digital filter about current sampling and Phase-Exchanged procedures were compiled completely. The human-computer interaction was developed with VC++6.0, so that the SCI serial communication between host-computer and DSP was achieved successfully.Finally, some experiments about the mobile robot system were carried out. The detailed experiment data of the DSP system were aquired accurately with the CCSLink tools, and the different step response of the speed were draw clearly. The comparative condition of system response under different PID parameters were illutrated in detail and the various problems apeared in the experiment were analysed exhaustively. The experiment results verified the feasibility of the controller hardware and software system and the advantage of the new PID control algorithm. It is very convenient to debug, update and upgrade the DSP controller.