【作者】 孙浩；

【导师】 周西峰；

【作者基本信息】 南京邮电大学 ， 控制理论与控制工程， 2011， 硕士

【摘要】 电动跑步机作为一种重要的室内健身器材,一经出现就受到人们的广泛喜爱。稀土永磁无刷直流电机(BLDCM),由于具备类似于普通直流电机的控制性能,且拥有功率密度大、噪声低、损耗小、可靠性高等优点,因而在小功率驱动场合正得到日益广泛的应用。论文首先系统地介绍了稀土永磁无刷直流电机的基本结构,详细分析了其运行原理与调速方法;建立了稀土永磁无刷直流电机在三相A、B、C坐标系中的数学模型,给出了它和普通直流电机动态数学模型之间的关系,并在此基础上建立了稀土永磁无刷直流电机驱动控制系统的计算机仿真模型;针对跑步机的负载冲击特性,用仿真方法对无刷直流电机转速、电流双闭环调速进行了系统研究,验证了其在跑步机驱动控制系统中应用双闭环控制的理论可行性。其次,通过分析智能化跑步机驱动控制系统的功能需求,给出了系统硬件总体方案。重点研究了逆变器及其驱动电路,分析了采用自举驱动时存在的问题;确定了以单片机μPD 78 F1213作为控制电路核心,以智能功率模块(IPM)作为逆变电路核心的基本硬件架构。基于设计制作的系统硬件平台,采用前、后台软件架构和模块化编程方法编制了系统控制软件,实现了控制系统初始化、无刷直流电机双闭环控制、跑台坡度闭环控制等功能,并基于状态机方法完成了对上位控制面板下发控制帧的解析。最后,在完成软硬件设计制作的基础上,针对实际的电动跑步机平台进行了联机调试。实验结果表明,所设计的跑步机驱动控制系统完全达到了预期的功能与性能要求,系统运行安全可靠。更多还原

【Abstract】 As an important indoor fitness equipment, motorized treadmill has won a rapt attention of people at its first appearance. With similar mechanical characteristics to brushed ones, rare earth permanent magnetic brushless direct current motor(BLDCM) is thriving on low power motor driving occasions with the advantage of higher power density and reliability, lower noise and loss.This paper firstly introduces the basic structure of BLDCM and analyzed its operating principle and method of speed regulation in detail. Mathematic model of BLDCM is established in the 3-phase ABC coordinates, the relationship with brushed ones is also proposed. The simulation model of the driving and controlling system is established on the basis of the former research. The theoretical feasibility of speed-current double closed-loop control algorithm in treadmill driving and controlling system is verified according to the load characteristics of treadmill with simulation.Secondly, the total hardware structure is proposed according to the functional requirements of an intelligent motorized treadmill. The inverter and its driving circuit are mainly studied, and the problems existing in inverters using bootstrap driving method is also analyzed. The microcontrollerμPD 78 F1213 is taken as the core of central control circuit while an intelligent power module (IPM) as the core of main power circuit. The software is designed using modular programming principle and foreground-background software architecture based on the designed hardware. Functions of system initialization, speed and gradient regulation are fulfilled in software design, while the information in the controlling frame from the up controller is also decoded by the method of state machine.At last, the designed control system is tested on an actual motorized treadmill platform based on the design of hardware and software. The results of experiment indicate that the system introduced in this paper works well with high reliability and safety.更多还原