一种基于ARM + CPLD的三相无刷直流电机模型参考自适应PI调速控制系统

Abstract

本文设计并开发了一种基于ARM + CPLD的三相无刷直流电机模型参考自适PI调速控制系统：由CPLD芯片实现无刷直流电机的换相与方波驱动、快速故障保护，兼具电机转子机械转速实时测量功能；由ARM芯片实现模型参考自适应PI控制算法。ARM与CPLD之间通过SPI总线接口实现全双工通信，两块芯片联合工作实现电机转速的精确控制。通过Simulink仿真和实际试验，验证了该驱动控制系统硬件结构和控制算法的有效性。采用的模型参考自适应PI控制算法，提高了无刷直流电机闭环负反馈控制的鲁棒性，使得电机参数或者电机负载发生变化时，在不重新整定PI参数的前提下，闭环控制系统依然能够保持良好的控制性能。 A three-phase brushless DC Motor (BLDCM) speed control system is designed and developed by using ARM and CPLD: motor drive commutation, square wave drive, fast fault protection and motor speed measurement logic being realized by CPLD chip; model reference adaptive PI control algorithm is implemented by ARM chip. Full duplex communication between ARM and CPLD is conducted over SPI bus interface. Precise control of motor speed is achieved by two chips’ joint work. The effectiveness of the control system structure and control algorithm was tested through Simulink simulation and actual experiment. Model reference adaptive PI algorithm improved the robustness of the BLDCM closed loop feedback control system. Consequently, when the motor pa-rameter or the motor load changes, without adjusting PI parameters, the closed-loop control system is still able to maintain excellent control performance.