DC Brushless Motor Driver Design Oriented To Automatic Metering Gate

The automatic metering gate is one of the equipment in the information construction of the irrigation district,which has special requirements for the performance of the motor and motor driver,the adaptability of the environment and the convenience of using and maintenance.The drive solutions,which exist currently,contains a series of deficiencies,such as complex construction,low cost performance ratio,poor embedding performance,etc.This paper is aimed at the demand of automatic metering gate and developed DC brushless motor driver with high performance of motion,high reliability and lower cost,which has important practical significance and engineering value.Based on the research of DC brushless motor drive technology and digital communication application technology,the hardware system of the DC brushless motor driver with CANopen protocol was designed based on STM32F103 of cortex-M3 architecture.The circuit design and component selection of feedback signal acquisition,power drive,MCU minimum system,safety protection,human-computer interaction and system power supply were completed.The PCB drawing and prototype production were completed either.The mathematical model and FOC control algorithm of DC brushless motor were analyzed.Based on the self-design hardware platform,the software design was divided into two parts:field-oriented control of BLDC and communication.The software system framework of the driver is built with the idea of modular design.The coordinate transformation,PI controller algorithm,SVPWM modulation algorithm,HALL signal acquisition and solution,encoder signal acquisition and calculation,phase current acquisition and processing modules were developed.The CANopen slave stack based on the hardware platform were completed,the control and state management of the motor through the fieldbus was realized.In order to test the software and hardware performance of the motor driver,an experimental test platform was built.The current loop parameter calculation and optimization,the parameter setting of the speed loop,the parameter setting of the position loop and the positioning accuracy test of the system were completed.The basic communication test and motor control test of the CANopen protocol stack were tested by USB2CAN data analyzer.Two types of metering gates DC brushless motor driver application were completed.The experimental and application test results show that the developed DC brushless motor driver based on CANopen protocol is technically reasonable,the system runs stably and reliably,and the installation is convenient.The current control accuracy is within 0.1 A,the speed control accuracy is within 6rpm,and the metering gate positioning accuracy is within 3mm,the driver meets the requirements for the use of metering gate.