基于嵌入式的无刷直流电机的控制研究
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摘要
随着计算机、通信、电子、检测、机械和数控等相关技术的发展,控制技术也是日新月异的飞速发展,对控制系统的研究已成为现代制造系统中不可缺少的技术。针对无刷直流电机的控制研究,有利于提高系统的控制精度,有利于对复杂工艺过程的实现,有利于对系统实现柔性、精确性、可靠性和宜人性等功能提供重要的指导和参考价值。
本文研究是基于嵌入式下无刷直流电机的控制研究,介绍基于ARM和DSP两种嵌入式环境下的工作模式,构建其硬件实验电路和软件环境,实现对无刷直流电机的控制,在整体的设计上分了下面两个部分。
第一部分是在ARM的环境下,首先是在嵌入式Linux系统下,介绍了Linux的背景和发展,采用MagicARM2410实验箱构建ARM Linux的交叉编译环境,对内核进行裁剪生成需要的片上SOC并实现移植,采用vivi编辑器实现程序的编写,arm-gcc对程序的编译,用于对无刷直流电机的控制。其次是μC/OS-Ⅱ实时操作系统,分析了在该环境下代码生成工具和集成开发环境的ADS软件的使用,调试器和指令模拟器软件AXD的使用,以及硬件H-JATG仿真的实现,用于对无刷直流电机控制的实现。再次是在Win CE环境下,介绍了Win CE系统的基本环境和操作,实现了在软件Pb环境下对内核系统的裁剪,完成内核的移植,建立主机和目标机的连接,在evc软件中实现控制程序的编写、编译、下载。
第二部分是在DSP环境下,实现了硬件实验板TMS320F2812-A+软件开发环境CCS2.0+仿真调试器ICETEK5 100USB的控制框架,介绍了硬件实验开发板的功能,软件和仿真调试器的使用,最后构建了控制框架下的硬件电路。
为了测试整个系统的可行性和科学性,在试验装置上也进行了大量的工作,首先是基于ARM系统,ARM实验箱上自带的控制电机提供了极大的方便,经过了多次的实验后,实现了电机的正、反转和调速达到了比较满意的结果。其次是基于DSP系统,在搭建好控制框架后进行了整个硬件系统的构建,从仿真到实际电路,实现对无刷直流电机的控制。在论文的最后给出了在ARM和DSP整个系统研究的试验结果。
With the development of the computer、communications、electronics、detect、machinery and NC, and other related technologies, control technology is also rapidly developing and has become the indispensable foundation technology in modern manufacturing systems. For Brushless DC motor control requirements, will help improve the control precision and is beneficial for system for complex process of the realization, and is conducive to achieving flexibility, accuracy, reliability, and a pleasant nature, and other functions to provide important guidance and reference value.
This paper mainly aimed at the exclusive control of the BLDCM system based on embedded environment, introduced two ARM-based DSP and embedded operation mode, building its experimental circuit hardware and software environment and realizing controlling the BLDCM. In the overall there are two design points.
The first part is in the ARM environment, and first in the embedded Linux systems, introduced the background and development of Linux experimental, using MagicARM2410 build the cross-ARM Linux compiler environment, cut the core to product and achieve the needed on-chip SOC Shifting values, using vivi editor to programming, arm-gcc compile the process, for the exclusive control of several software systems. This was followed by theμC/OS-II real-time operating system, analysis in which environment code generation tools and the use of integrated development environment of ADS software, and the use of debugger and the AXD command simulator software, and the H-JATG achievement of hardware simulation. Once again is in the Win CE environment, introduced the system of basic Win CE operating environment, achieved cutting the core system in the software Pb environment, completed the core transplantation, the connection of host and objectives of the establishment and in the software eve to achieve control procedures in the preparation, compile, download.
The second part is in the DSP environment, realized the hardware target board TMS320F2812-A + software development environment CCS2.0 + debugger ICETEK5100USB simulation of the control framework, introduced the experiment hardware development board features, software and the use of simulation debugger, Construction of the final control under the framework of the hardware circuit.
In order to test the feasibility and scientific system in the whole, the author brings out s suit of experiment equipment. First of all, is based on the ARM system, experimental me onboard motor control has provided us with great convenience, after a number of experiment, the motor is achieved positive and reversal and the governor reached a satisfied results. This was followed by the DSP-based system, built the framework of the entire hardware system after setting up the control structures, from simulation to the real circuit, realized the special requirements for BLDCM control. In papers presented at the last ARM and DSP system as a whole on the test results.
本文研究是基于嵌入式下无刷直流电机的控制研究,介绍基于ARM和DSP两种嵌入式环境下的工作模式,构建其硬件实验电路和软件环境,实现对无刷直流电机的控制,在整体的设计上分了下面两个部分。
第一部分是在ARM的环境下,首先是在嵌入式Linux系统下,介绍了Linux的背景和发展,采用MagicARM2410实验箱构建ARM Linux的交叉编译环境,对内核进行裁剪生成需要的片上SOC并实现移植,采用vivi编辑器实现程序的编写,arm-gcc对程序的编译,用于对无刷直流电机的控制。其次是μC/OS-Ⅱ实时操作系统,分析了在该环境下代码生成工具和集成开发环境的ADS软件的使用,调试器和指令模拟器软件AXD的使用,以及硬件H-JATG仿真的实现,用于对无刷直流电机控制的实现。再次是在Win CE环境下,介绍了Win CE系统的基本环境和操作,实现了在软件Pb环境下对内核系统的裁剪,完成内核的移植,建立主机和目标机的连接,在evc软件中实现控制程序的编写、编译、下载。
第二部分是在DSP环境下,实现了硬件实验板TMS320F2812-A+软件开发环境CCS2.0+仿真调试器ICETEK5 100USB的控制框架,介绍了硬件实验开发板的功能,软件和仿真调试器的使用,最后构建了控制框架下的硬件电路。
为了测试整个系统的可行性和科学性,在试验装置上也进行了大量的工作,首先是基于ARM系统,ARM实验箱上自带的控制电机提供了极大的方便,经过了多次的实验后,实现了电机的正、反转和调速达到了比较满意的结果。其次是基于DSP系统,在搭建好控制框架后进行了整个硬件系统的构建,从仿真到实际电路,实现对无刷直流电机的控制。在论文的最后给出了在ARM和DSP整个系统研究的试验结果。
With the development of the computer、communications、electronics、detect、machinery and NC, and other related technologies, control technology is also rapidly developing and has become the indispensable foundation technology in modern manufacturing systems. For Brushless DC motor control requirements, will help improve the control precision and is beneficial for system for complex process of the realization, and is conducive to achieving flexibility, accuracy, reliability, and a pleasant nature, and other functions to provide important guidance and reference value.
This paper mainly aimed at the exclusive control of the BLDCM system based on embedded environment, introduced two ARM-based DSP and embedded operation mode, building its experimental circuit hardware and software environment and realizing controlling the BLDCM. In the overall there are two design points.
The first part is in the ARM environment, and first in the embedded Linux systems, introduced the background and development of Linux experimental, using MagicARM2410 build the cross-ARM Linux compiler environment, cut the core to product and achieve the needed on-chip SOC Shifting values, using vivi editor to programming, arm-gcc compile the process, for the exclusive control of several software systems. This was followed by theμC/OS-II real-time operating system, analysis in which environment code generation tools and the use of integrated development environment of ADS software, and the use of debugger and the AXD command simulator software, and the H-JATG achievement of hardware simulation. Once again is in the Win CE environment, introduced the system of basic Win CE operating environment, achieved cutting the core system in the software Pb environment, completed the core transplantation, the connection of host and objectives of the establishment and in the software eve to achieve control procedures in the preparation, compile, download.
The second part is in the DSP environment, realized the hardware target board TMS320F2812-A + software development environment CCS2.0 + debugger ICETEK5100USB simulation of the control framework, introduced the experiment hardware development board features, software and the use of simulation debugger, Construction of the final control under the framework of the hardware circuit.
In order to test the feasibility and scientific system in the whole, the author brings out s suit of experiment equipment. First of all, is based on the ARM system, experimental me onboard motor control has provided us with great convenience, after a number of experiment, the motor is achieved positive and reversal and the governor reached a satisfied results. This was followed by the DSP-based system, built the framework of the entire hardware system after setting up the control structures, from simulation to the real circuit, realized the special requirements for BLDCM control. In papers presented at the last ARM and DSP system as a whole on the test results.
引文
[1]吕京建,肖海桥,面向二十一世纪的嵌入式系统综述,http://www.Bof-systom.com
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[3]雅默,构建嵌入式Limix系统[M],北京,中国电力出版社,2004
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[22]SamsungEleetroniesS3C2410A200MHz&266MHz32bitRISCMicroProeessorMALRevisio n1.0.SamsungEleetronies,2004
[23]王田苗,嵌入式系统设计与实例开发[M],北京:清华大学出版社,2003
[24]刘海涛,谭克俊,孙白,基于ARM9 S3C2410微处理器的视频跟踪与云台控制监控系 统的实现[J],自动化信息,2007.7.Vol75,No7,36-37
[25]胥静,嵌入式系统设计与开发实例详解[M],北京航空航天大学出版社,2005
[26]姚金,王彦梅,新型DSP芯片TMS320F2812在电机控制系统中的设计及应用[J],微电脑应用,2007.10,Vol23,No10,31-33
[27]苏奎峰,吕强,耿庆锋,TMS320F2812原理与开发[M],电子工业出版社,2005.4
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[29]Texas Instruments Inc,TMS320F28 10,TMS320F28 i2 DigitalSignal Processor Data Manual[R],Literature Number:SPRS174L,2004,11:24-42
[30]逢海萍,IR2130在PWM直流伺服系统中的应用[J].电气传动自动化,2001,23(3):20-22
[31]谢运祥,IR2130驱动器及其在逆变器中的应用[J],微电机,2001,34(2):50-52
[32]International Rectifier,IR2130 3-Phase Bridge Driver[J],Control Integrated Circuit Designer's Manual,2003:135-155
[33]章玮,姚维,潘再平等,数字信号处理器(DSP)在电机控制中的应用[J],中小型电机,2001,32-34
[34]袁谰,刘文胜,姬宣德,基于DSP的永磁无刷直流电动机控制系统设计[J],河南科技大学学报,2003,24(1):51-54
[35]陈向群译,嵌入式系统软件教程[M],北京:机械工业出版社,2005
[36]LinuxARMProjeet,BuildingerossdeveloPmenienvironmenttargetingARMsystem,HttP://linu xARM.soureeforge.net/does/building--source.PhP3
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[38]AndrewN.51055DominieSymes编著,ChriSwright沈建华译,ARM嵌入式系统开发—软件设计与优化[M],北京航空航天大学出版社,2005
[39]金西,黄汪,嵌入式Limix及其关键技术[J],微型机与应用,2000,(6):1-3
[40]Karim Yagllmour,BuildingEmbeddedLinuxSystem[M],USA:O,Reilly,2003
[41]孙琼,嵌入式Linux应用程序开发详解[M],北京:人民邮电出版社,2006
[42]张春晓,基于实时Linux平台的CNC系统研究与实现[J],南京航空航天大学硕士论文,2003.3
[43]欧兆军,关荣峰,DSP集成开发环境CCS开发指南[M],北京:北京航空航天大学出版社,2003
[44]KirkZuren,嵌入式系统的C程序设计[M],北京:机械工业出版社,2002
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[2]周立功,ARM与嵌入式系统基础教程[M],北京航空航天大学出版社,2004
[3]雅默,构建嵌入式Limix系统[M],北京,中国电力出版社,2004
[4]马忠梅,ARM嵌入式处理器结构与应用基础[M],北京航空航天大学出版社,2003
[5]潘松,黄继业,王国栋,现代DSP技术[M],西安电子科技大学出版社,2003
[6]章云,DSP控制器及其应用[M],北京,机械工业出版社,2001.8
[7]王念旭,DSP基础与应用系统设计[M],北京航空航天大学出版社,2002
[8]FurberSteve编著,田泽,于敦,盛世敏译,ARMSOC体系结构[M],北京航空航天大学出版社,2002
[9]曹隧军,王会良,国内外开放式数控系统的研究与现状[M],北京:机电工程技术,2003.3
[10]王涛,开放式控制系统的现状与展望[M],机械制造,1999.10
[11]毕承恩,当前数控发展战略与CNC发展趋势的探讨,中国科学院92数控技术高级研讨班班报告集,1992.12
[12]叶伯声,计算机数控系统的原理、编程与操作[M],武汉:华中理工大学出版社,1999.6
[13]杨有君,数控技术[M],北京:机械工业出版社,2005.8
[14]郑吉,王学普,无刷直流电机控制技术综述[J],微特电机,2002(3):11-13
[15]孙礼朋,王田苗,刘敬猛,基于DSP的网络化无刷直流电动机控制系统[J],电子技术应用,2003,29(5)
[16](日)见城,直流伺服电机[M],上海科学文献出版社,1986.6
[17]王宗培,直流电机及控制系统[M],哈尔滨工业大学出版社,1988
[18]张宗巍,张兴,直流电机控制原理[M],机械工业出版社,2003
[19](俄)郎霍夫,拉茨编著,直流调速传动[M],煤炭工业出版社,1980
[20]ARMLimited,ARM920TTeehniealRefereneeManual(Revl)[M],ARMLimited,2001
[21]周立功,ARM微控制器基础与实战(第2版)[M],北京航空航天大学出版社,2005
[22]SamsungEleetroniesS3C2410A200MHz&266MHz32bitRISCMicroProeessorMALRevisio n1.0.SamsungEleetronies,2004
[23]王田苗,嵌入式系统设计与实例开发[M],北京:清华大学出版社,2003
[24]刘海涛,谭克俊,孙白,基于ARM9 S3C2410微处理器的视频跟踪与云台控制监控系 统的实现[J],自动化信息,2007.7.Vol75,No7,36-37
[25]胥静,嵌入式系统设计与开发实例详解[M],北京航空航天大学出版社,2005
[26]姚金,王彦梅,新型DSP芯片TMS320F2812在电机控制系统中的设计及应用[J],微电脑应用,2007.10,Vol23,No10,31-33
[27]苏奎峰,吕强,耿庆锋,TMS320F2812原理与开发[M],电子工业出版社,2005.4
[28]徐佩,高性能DSP芯片TMS320F2812应用技术研究[J],航空计算技术,2007.9,Vol37.No5.86-88
[29]Texas Instruments Inc,TMS320F28 10,TMS320F28 i2 DigitalSignal Processor Data Manual[R],Literature Number:SPRS174L,2004,11:24-42
[30]逢海萍,IR2130在PWM直流伺服系统中的应用[J].电气传动自动化,2001,23(3):20-22
[31]谢运祥,IR2130驱动器及其在逆变器中的应用[J],微电机,2001,34(2):50-52
[32]International Rectifier,IR2130 3-Phase Bridge Driver[J],Control Integrated Circuit Designer's Manual,2003:135-155
[33]章玮,姚维,潘再平等,数字信号处理器(DSP)在电机控制中的应用[J],中小型电机,2001,32-34
[34]袁谰,刘文胜,姬宣德,基于DSP的永磁无刷直流电动机控制系统设计[J],河南科技大学学报,2003,24(1):51-54
[35]陈向群译,嵌入式系统软件教程[M],北京:机械工业出版社,2005
[36]LinuxARMProjeet,BuildingerossdeveloPmenienvironmenttargetingARMsystem,HttP://linu xARM.soureeforge.net/does/building--source.PhP3
[37]Karim Yaghmour著,Building Embedded Linux Systems[M],usA:o'Reilly,2003
[38]AndrewN.51055DominieSymes编著,ChriSwright沈建华译,ARM嵌入式系统开发—软件设计与优化[M],北京航空航天大学出版社,2005
[39]金西,黄汪,嵌入式Limix及其关键技术[J],微型机与应用,2000,(6):1-3
[40]Karim Yagllmour,BuildingEmbeddedLinuxSystem[M],USA:O,Reilly,2003
[41]孙琼,嵌入式Linux应用程序开发详解[M],北京:人民邮电出版社,2006
[42]张春晓,基于实时Linux平台的CNC系统研究与实现[J],南京航空航天大学硕士论文,2003.3
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