鎽樸€€瑕�:瑷�(sh猫)瑷�(j矛)浜嗕竴濂楅洐閫氶亾楂樼簿搴︿己鏈嶇郴绲�(t菕ng)銆傜郴绲�(t菕ng)浠MS320F2812鐐烘帶鍒舵牳蹇�,閲囩敤鏃嬭綁(zhu菐n)璁婂鍣ㄤ綔鐐轰綅缃娓�(c猫)鍠厓,浼烘湇闆绘(j墨)鐐虹劇(w煤)妲界劇(w煤)鍒风洿娴侀浕鍕�(d貌ng)姗�(j墨),閬�(y霉n)鐢ㄩ浕澹撶┖闁撶煝閲忚(di脿o)鍒舵妧琛�(sh霉)瀵�(sh铆)鐝�(xi脿n)鎺у埗绠楁硶銆傚(sh铆)椹�(y脿n)绲�(ji茅)鏋滆〃鏄�,绯荤当(t菕ng)閬�(y霉n)琛屽钩绌�(w臎n),鍏锋湁杓冨ソ鐨勫嫊(d貌ng)鎱�(t脿i)鎬ц兘,閬�(d谩)鍒颁簡闆欓€氶亾楂樼簿搴︽帶鍒剁殑鐩殑銆� 闂�(gu膩n)閸佃:楂樼簿搴�;闆欓€氶亾; TMS320F2812;浼烘湇绯荤当(t菕ng) [align=center]A Double Channel High Precision Servo System Based on TMS320F2812 YU Liang , ZHANG Yan, CHEN Zhen hua , L IU M ing jie , YANG Gui fang[/align] Abstract:A high p recision double channel servo system was designed in this paper. The system was set up based on TMS320F2812, and a resolverwas used to test the rotor position of the slotless brushlessDCmotors precisely for each channel. Space vector pulse widthmodulation was realized to control the brushlessDC motor. Test results proved that the system had excellent performance in high precision while two motors worked together. 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SC1 鍜孲C2閬告搰AD2S83杓稿嚭绮惧害,鏍规摎(j霉)闆绘(j墨)鏈€楂樿綁(zhu菐n)閫熼€�(j矛n)琛岄伕鎿囥€傚湪瑷�(sh猫)瑷�(j矛)閬庣▼涓�,鍏呭垎鍒╃敤浜員MS320F2812璩囨簮璞愬瘜銆佸紩鑵冲鐨勭壒榛�(di菐n),鐢卞叾灏�(du矛)绮惧害閬告搰浣嶉€�(j矛n)琛屾帶鍒�,鎿�(ku貌)灞曚簡浣跨敤灏�(du矛)璞�; 鏈郴绲�(t菕ng)浼烘湇闆绘(j墨)鐨勬渶楂樿綁(zhu菐n)閫熺偤1 500 r/min,AD2S83鏈€绲傞伕鎿�14 浣嶇簿搴︺€傚弮鑰冧俊铏�(h脿o)鐨勯牷鐜囩偤18 kHz,鍦栦腑鍚勫€�(g猫)鍏冧欢鍙栧€肩殑瑭崇窗(x矛)瑷�(j矛)绠楅亷绋嬭鏂囩嵒(xi脿n)[ 6 ]銆� 3 鎺у埗绛栫暐鍙婂(sh铆)鐝�(xi脿n) 鏈郴绲�(t菕ng)鐐哄(sh铆)鏅�(sh铆)鎬у挤(qi谩ng)鐨勬暩(sh霉)瀛楀寲楂樼簿搴︿己鏈嶇郴绲�(t菕ng)銆傚湪绯荤当(t菕ng)瑷�(sh猫)瑷�(j矛)涓�,鍏呭垎鍒╃敤浜嗘暩(sh霉)瀛楁帶鍒舵妧琛�(sh霉),绨�(ji菐n)鍖栫‖浠堕浕璺ō(sh猫)瑷�(j矛),鎻愰珮绯荤当(t菕ng)鍙潬鎬�,鍏呭垎鐧�(f膩)鎻粺浠跺挤(qi谩ng)澶у姛鑳�,鐢ㄨ粺浠剁敘(ch菐n)鐢熼儴鍒嗗偝绲�(t菕ng)涓婄敱纭欢闆昏矾瀵�(sh铆)鐝�(xi脿n)鐨勫姛鑳�?锛熷垈鐮撮瑘娴栴挐楗曨€茶摏钃氣偓(g猫)閮ㄥ垎妲�(g貌u)鎴�,涓€鏄富寰挵(hu谩n)绋嬪簭,浜屾槸PWM瀹氭檪(sh铆)鍣ㄤ笅婧腑鏂锋湇鍕�(w霉)瀛愮▼搴�銆備富绋嬪簭鍜屼腑鏂锋湇鍕�(w霉)瀛愮▼搴忕浉浜掗厤鍚�,瀹屾垚浼烘湇闆绘(j墨)鐨勫(sh铆)鏅�(sh铆)鎺у埗銆備富寰挵(hu谩n)绋嬪簭璨�(f霉)璨�(z茅)纭欢澶栬ō(sh猫)鐨勫垵濮嬪寲銆佹暩(sh霉)鎿�(j霉)鍒濆鍖栧拰闆绘(j墨)宸ヤ綔鐙€鎱�(t脿i)杞�(zhu菐n)鎻�,骞跺湪鐧�(f膩)鐢熸晠闅滄檪(sh铆)鐢�(ch菐n)鐢熷牨(b脿o)璀︿俊鎭�銆傜敱浜庨噰鐢ㄧ殑鏄柈鑺墖鎺у埗鍏╄嚭(t谩i)浼烘湇闆绘(j墨)鐨勬柟娉�,鍥犳瀵�(sh铆)鐝�(xi脿n)鍏╄嚭(t谩i)浼烘湇闆绘(j墨)鐨勫崝(xi茅)鍚屾帶鍒�,瀹屾垚鐙€鎱�(t脿i)姗�(j墨)鐨勫垏鎻涙槸涓荤▼搴忔渶閲嶈鐨勪换鍕�(w霉)銆傛寜鐓цō(sh猫)鍌欑殑宸ヤ綔瑕佹眰,鍏╄嚭(t谩i)浼烘湇闆绘(j墨)鍒嗙偤宸﹀彸闆绘(j墨),鍏跺伐浣滅媭鎱�(t脿i)鏈�5鍊�(g猫):宸﹂浕姗�(j墨)鍠崹(d煤)宸ヤ綔銆佸彸闆绘(j墨)鍠崹(d煤)宸ヤ綔銆佸乏鍙抽浕姗�(j墨)鍚屾宸ヤ綔銆佸乏鍙抽浕姗�(j墨)宸嫊(d貌ng)宸ヤ綔鍜屽乏鍙抽浕姗�(j墨)閹栧畾淇濇寔,鍏朵腑宸�/鍙抽浕姗�(j墨)鍠崹(d煤)宸ヤ綔鏅�(sh铆),鍙﹀涓€鑷�(t谩i)闆绘(j墨)铏曚簬閹栧畾鐙€鎱�(t脿i),闃叉瑾ゅ嫊(d貌ng)浣溿€傛牴鎿�(j霉)涓婁綅姗�(j墨)鐧�(f膩)閫佺殑鎺у埗鎸囦护,涓荤▼搴忕⒑瀹氬伐浣滅媭鎱�(t脿i),鐐轰腑鏂锋湇鍕�(w霉)瀛愮▼搴忕殑鎺у埗瀵�(sh铆)鐝�(xi脿n)鍋氭簴(zh菙n)鍌�銆侾WM瀹氭檪(sh铆)鍣ㄤ笅婧腑鏂锋湇鍕�(w霉)瀛愮▼搴忔槸鏍稿績閮ㄥ垎,瀵�(sh铆)鐝�(xi脿n)鏃嬭綁(zhu菐n)璁婂鍣ㄤ俊铏�(h脿o)璁€鍙�銆侀浕娴佹娓�(c猫)銆侀浕澹撴娓�(c猫)銆佽綁(zhu菐n)閫熻▓(j矛)绠楀拰绯荤当(t菕ng)闁夌挵(hu谩n)鎺у埗绛夊姛鑳�銆俆MS320F2812 闆嗘垚鏈夊叐鍊�(g猫)浜嬩欢绠＄悊鍣�,姣忓€�(g猫)浜嬩欢绠＄悊鍣ㄥ彲浠ュ柈鐛�(d煤)鎺у埗涓€鑷�(t谩i)浼烘湇闆绘(j墨)銆傜敱浜庣‖浠堕浕璺噰鐢ㄤ簡鐩稿悓鐨勮ō(sh猫)瑷�(j矛),浼烘湇闆绘(j墨)瀹屽叏鐩稿悓,鏈€鍚庣殑鎶€琛�(sh霉)鎸囨(bi膩o)涔熶竴鑷�,鍥犳灏�(du矛)鍏╄嚭(t谩i)浼烘湇闆绘(j墨)鐨勬帶鍒堕噰鍙栫浉鍚岀殑鎺у埗绠楁硶,鍒嗗垾鐢卞悇鍊�(g猫)浜嬩欢绠＄悊鍣ㄧ殑涓柗鏈嶅嫏(w霉)瀛愮▼搴忚(di脿o)鐢ㄥ煼(zh铆)琛�銆傛牴鎿�(j霉)SVPWM绠楁硶鍘熺悊,鍦═MS320F2812涓瓨鍎�(ch菙)浜嗕竴鍊�(g猫)姝ｅ鸡琛ㄦ牸,琛ㄦ牸鐨勯暦(zh菐ng)搴︿緷鎿�(j霉)鏃嬭綁(zhu菐n)璁婂鍣ㄧ殑鍒嗚鲸鐜囧拰绯荤当(t菕ng)瑕佹眰鐨勬帶鍒剁簿搴﹂€�(j矛n)琛岃ō(sh猫)缃�銆傜敱浜庨噰鐢ㄤ簡楂樼簿搴︾殑鏃嬭綁(zhu菐n)璁婂鍣ㄥ(sh铆)鐝�(xi脿n)浣嶇疆妾㈡脯(c猫),鏍规摎(j霉)娓�(c猫)寰楃殑鐒�(w煤)鍒风洿娴侀浕鍕�(d貌ng)姗�(j墨)鍙嶉浕鍕�(sh矛)淇¤櫉(h脿o)灏囦竴鍊�(g猫)闆诲懆鏈熷妰鍒嗙偤鍏€�(g猫)鎵囧崁(q奴),鐢辫畝鍙栫殑鏃嬭綁(zhu菐n)璁婂鍣ㄤ俊铏�(h脿o)纰哄畾鐩告噳(y墨ng)鐨勬墖鍗€(q奴)铏�(h脿o)銆傚湒4鏄疨WM瀹氭檪(sh铆)鍣ㄤ腑鏂锋湇鍕�(w霉)瀛愮▼搴忕殑娴佺▼鍦�銆� 鍦≒WM涓柗鏈嶅嫏(w霉)瀛愮▼搴忎腑,瀵�(sh铆)鏅�(sh铆)璁€鍙朢DC闆昏矾鐨勮几鍑轰俊铏�(h脿o),浣滅偤SVPWM鎺у埗绠楁硶鐨勮搴︿緷鎿�(j霉); RDC闆昏矾鐨勮几鍑轰俊铏�(h脿o)鑸囬浕姗�(j墨)杞�(zhu菐n)瀛愪綅缃俊鎭浉灏�(du矛)鎳�(y墨ng),鍙▓(j矛)绠楀嚭浼烘湇绯荤当(t菕ng)鐨勮綁(zhu菐n)閫熷拰浣嶇疆淇¤櫉(h脿o),骞舵牴鎿�(j霉)A /D閲囨ǎ鐛插緱鐨勯浕娴佷俊铏�(h脿o),瑷�(j矛)绠楀(sh铆)鏅�(sh铆)瑾ゅ樊,瀵�(sh铆)鐝�(xi脿n)绯荤当(t菕ng)闁夌挵(hu谩n)鎺у埗,鐢�(ch菐n)鐢熸柊鐨凱WM鍗犵┖姣�,閫氶亷瑾�(di脿o)绡€(ji茅)鍗犵┖姣�,鎺у埗浣滅偤浼烘湇椹�(q奴)鍕�(d貌ng)鍠厓鐨勭劇(w煤)鍒风洿娴侀浕鍕�(d貌ng)姗�(j墨)鐨勮綁(zhu菐n)閫�,閬�(d谩)鍒板(sh铆)鐝�(xi脿n)浼烘湇绯荤当(t菕ng)楂樼簿搴︽帶鍒剁殑鐩殑銆� 4 瀵�(sh铆)椹�(y脿n)绲�(ji茅)鏋滆垏绲�(ji茅)璜� 浼烘湇绯荤当(t菕ng)閲囩敤鐨勫叐鑷�(t谩i)鐒�(w煤)鍒风洿娴侀浕鍕�(d貌ng)姗�(j墨)瀵�(sh铆)椹�(y脿n)妯ｆ(j墨)涓昏鍙冩暩(sh霉)鐐�:椤嶅畾鍔熺巼80W,椤嶅畾闆诲28 V,鏈€楂樿綁(zhu菐n)閫�1 500 r/min,妤靛皪(du矛)鏁�(sh霉)p = 2,鐩搁浕闃籖 = 0. 42惟,鐩搁浕鎰烲 = 2. 1 mH銆傜郴绲�(t菕ng)宸ヤ綔鏅�(sh铆)鐨凱WM鏂尝闋荤巼鐐�25 kHz, SVPWM閲囩敤闆欐サ鎬ц(di脿o)鍒舵妧琛�(sh霉)銆� 鍦�5a鏄乏鍙抽€氶亾缍�(j墨ng)閬嶳C婵炬尝鍚庣殑涓€鐩搁浕澹撴尝褰�,鍦�5b鏄柈鑷�(t谩i)浼烘湇闆绘(j墨)宸ヤ綔鏅�(sh铆)鐨勭浉闆绘祦娉㈠舰,鍦�5c鏄己鏈嶇郴绲�(t菕ng)鐨勮捣鍕�(d貌ng)鍔犻€熸洸绶�銆傞噰鐢ㄨ粺璧峰嫊(d貌ng)鏂瑰紡鍒濆鍔犻€熸檪(sh铆)闁撶◢闀�(zh菐ng),浣嗗皪(du矛)浼烘湇绯荤当(t菕ng)鍏锋湁涓€瀹氱殑淇濊(h霉)鍔熻兘;骞朵笖绯荤当(t菕ng)閲囩敤浜嗚粺璧峰嫊(d貌ng)鎶€琛�(sh霉),浣垮緱鍦ㄥ姞閫熼殠娈佃綁(zhu菐n)閫熻秴瑾�(di脿o)骞句箮鐐洪浂,淇濊瓑浜嗙郴绲�(t菕ng)鐨勭簿搴�銆傜郴绲�(t菕ng)閬�(y霉n)琛屽湪鏈€楂樿綁(zhu菐n)閫熸檪(sh铆),鍦�10 min鍏�(n猫i)娓�(c猫)閲忓埌鐨勬渶澶ц搴﹁宸偤1. 87掳,鑰屾渶澶ц綁(zhu菐n)閫熷亸宸偤卤1. 0%銆傜敱浜庨噰鐢ㄤ簡楂樼簿搴︾殑鏃嬭綁(zhu菐n)璁婂鍣ㄤ綔鐐烘娓�(c猫)鍏冧欢,浼烘湇绯荤当(t菕ng)鐨勬渶浣庤綁(zhu菐n)閫熶綆鑷�0. 1r /min,婊胯冻浜嗕綆閫熷牬(ch菐ng)鍚堢殑瑕佹眰銆傚(sh铆)椹�(y脿n)绲�(ji茅)鏋滆〃鏄�,鍒╃敤TMS320F2812鍚屾檪(sh铆)鎺у埗鍏╄嚭(t谩i)浼烘湇闆绘(j墨),鍒╃敤鍚堢悊鐨勬帶鍒剁畻娉曞拰楂樼簿搴﹀偝鎰熷櫒,鑳藉鐛插緱杓冮珮鐨勬帶鍒剁簿搴�,婊胯冻瑷�(sh猫)瑷�(j矛)鐩(bi膩o)鐨勮姹�銆� 鍙冭€冩枃鐛�(xi脿n) [ 1 ] 寮电悰. 鐩存祦鐒�(w煤)鍒烽浕鍕�(d貌ng)姗�(j墨)鍘熺悊鍙婃噳(y墨ng)鐢紙绗�2鐗堬級 [M ]. 鍖椾含:姗�(j墨)姊板伐妤�(y猫)鍑虹増绀�, 2004. [ 2 ] 銆€鏉庨悩鏄�,鍔夎(w猫i)鍦�(gu贸). 绋€鍦熸案纾侀浕姗�(j墨)[M ]. 鍖椾含:鍦�(gu贸)闃插伐妤�(y猫)鍑虹増绀�,1999. [ 3 ] 銆€閭卞缓鐞�,鍙叉稊寰�,鏋楃憺鍏�. 姘哥鐒�(w煤)鍒风洿娴侀浕姗�(j墨)杞�(zhu菐n)鐭╄剤鍕�(d貌ng)鎶戝埗鐨凷VPWM鎺у埗[ J ]. 涓皬鍨嬮浕姗�(j墨), 2003, 30 锛�2锛� : 27 - 33. [ 4 ] 銆€鍔夋櫙鏋�,鍔夎(w猫i)鍦�(gu贸),棣憺鍗�. 鍩轰簬鐩存帴杞�(zhu菐n)鐭╂帶鍒剁殑瓒呬綆閫熼珮绮惧害姝ｅ鸡娉氦娴佷己鏈嶇郴绲�(t菕ng)[ J ]. 瑗垮寳宸ユキ(y猫)澶у(xu茅)瀛�(xu茅)鍫�(b脿o), 2004, 22 锛� 4 锛� :444 - 447. [ 5 ] 銆€鏉庡寲鑹�,鏋楄紳. 鍩轰簬DSP鍜孋PLD鐨勯洐鐒�(w煤)鍒风洿娴侀浕鍕�(d貌ng)姗�(j墨)鍏ㄦ暩(sh霉)瀛楁帶鍒禰 J ]. 寰浕姗�(j墨), 2006, 39 锛�2锛� : 42 - 45. [ 6 ] 銆€Analog Device Inc. Resolver to Digital ConverterAD2S83 Datashe2et[ EB /OL ]. http / /www. adtasheetcatalog. com /datasheets - pdf /A /D, 1998.