某履带式全方位平台的电机控制器设计

Design of Motor Controller for A Tracked Omnidirectional Platform

摘要:

针对某履带全方位平台实际工况要求，介绍了平台总体方案，选取一款1000W无刷直流电机（BLDC）作为平台驱动电机，阐述了BLDC控制原理及其控制方案，基于DSP28335设计了电机控制器，搭建了硬件电路，编写并调试了软件程序，采用速度、电流双闭环控制方案，设定电机转速为3000rpm，测定了电机相电压、电流等数据，进行了实物实验，结果表明该控制器性能稳定，响应迅速，具有较高的实际应用价值，且为后续控制策略研究奠定了基础。

Abstract:

Aiming at the actual working condition requirements of a tracked omnidirectional platform, introduce the overall plan of the platform is introduce ,and select a brushless DC motor (BLDC) of 1000W is selected as the driven motor, the BLDC control principle and its control scheme are expounded. Based on DSP28335, the motor controller is designed, the hardware circuit is set up, and the software program is written and debugged. The double closed loop control scheme of speed and current is used.The speed of the motor is set to 3000rpm, and the phase voltage and current of the motor are measured.and the experiment shows that the controller has a stable performance, rapid response, and high practical application value, in the other hand it lays a foundation for the study of further control strategy.