Design And Implementation Of Special Driver For Applicator Based On STM32

This study focuses on the development of special driver for applicator,aiming at making the driver economical,efficient,specialized and miniaturized,and miniaturizing the mechanical structure of auxiliary applicator,and improving the stability of software system.The hardware of driver is divided into three parts: power supply module,control module and power module.STM32F103ZET6 is mainly adopted as the control core in the driver software for the applicator,and the space vector pulse width modulation(SVPWM)and vector control principle are used to build the closed-loop ac permanent magnet synchronous motor control system with current loop and speed loop.The main contents include:Firstly,the control principle of PMSM is introduced,including the basic mathematical model,coordinate transformation,PWM technology of threephase voltage source inverter and vector control technology of three-phase PMSM.On this basis,all parts are modeled and simulated by MATLAB/Simulink.Especially,the system simulation model of vector control algorithm based on PI controller id=0 is analyzed in detail,and the corresponding speed curve,electromagnetic torque conversion curve and threephase current conversion curve are given.Secondly,according to the performance requirements of the applicator and the development of modern electronic technology,the main electronic components of each module are selected,including full bridge rectifier module KBPC1010,intelligent power module PS21964-4A,high-speed CMOS device 74HC14 and high-speed optocoupler HCPL-4504,etc.According to the specific characteristics of each electronic component and the function of the circuit to be realized,the circuit schematic diagram and PCB circuit board are designed and drawn.Then,in view of the applicator in isokinetic motion,isotonic exercise,isometric exercise and passive movement of the four kinds of training mode,analyzes the applicator special drive performance requirements,design a closedloop control system based on STM32,respectively in the torque loop and speed loop adopts PI regulator to control,and using STM32 Cuber MX related software configuration and the Keil u Vision5 software with C language program design,at the same time set up in MATLAB/Simulink control model of permanent magnet synchronous motor,respectively torque loop and speed loop simulation experiment,The static and dynamic performance of the system is discussed and analyzed.Finally,the system's various functional modules are debugged,and the designed special driver is used in the test bench of the applicator for the isokinetic speed mode test.Using oscilloscope and MATLAB/Simulink and other auxiliary software to analyze the system performance.The results show that the special driver based on STM32 can realize the isokinetic speed performance of the applicator,and the static and dynamic performance of the system is good under the speed mode,which can meet the basic function of the applicator and lay the foundation for the miniaturization of the mechanical structure of the applicator and the optimization of the software system.