Servo Driver Design Of Bldcm Based On DsPIC30F4011

China’s aging population situation is grim now, and to research and develop medicalrehabilitation apparatus such as electric wheelchair, intelligent stair-climbing wheelchairwill have a positive effect on improving living standard for the aged and the disabled,also promote happiness of a family and harmony of a society.Servo motor driver is one of the core technology in the intelligent stair-climbingwheelchair. The dissertation analyzes industry and technology development status,application status in depth of the electric wheelchair and servo motor driver at home andabroad, on this basis, puts forward a position servo system solution for sliding modulesof wheel-leg combined type intelligent stair-climbing wheelchair, finishes BLDC motordriver software and hardware design based on dsPIC30F4011.Firstly, servo system solution is determined and then calculation,componentparameters selection are made toward system load, motor and retarder, including powerdrive unit and feedback device which match with them.Secondly, principle of BLDC motor is elaborated in detail. According to thestructure, mathematic model of BLDC motor is founded, torque equation and motionequation are deduced. Some feasible measures are proposed for reducing torquefluctuation in the control procedure.Thirdly, driver hardware overall structure is studied. DSP circuit, sample circuit,sensor detection circuits, power drive and isolation circuit, communication circuit aredesigned respectively. Several important circuits and main component parameters arediscussed emphatically.Finally, software development environment for dsPIC30F4011is configured. Servosystem control program overall framework is established, based on the framework, initialprogram and function modules register configuration codes are completed. In the currentloop, speed loop and position loop design, realization principle of PVC mode, also,4types of origin return modes are elaborated here. After construction of experimentalplatform, the encoder waveform under different rotation rate, PWM waveform and current suppression waveform under different impedence are observed by oscilloscope,the final result shows that the driver function very well.