Position process control system of miniature brushless DC motor
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摘要: 为了实现机械相控阵列天线的波束扫描，采用微型无刷直流电机驱动螺旋天线单元转动来到达预定的辐射相位。设计了一种新型微型无刷直流电机位置控制系统，构建了比例滑模面-超螺旋二阶滑模控制器用于速度控制，利用结合速度剖面策略的PID控制算法实现了转动位置的中间过程控制。建立了基于Simulink的系统仿真模型，验证了方案的可行性，并构建了FPGA硬件实验平台。仿真和实验结果均表明，微型无刷直流电机驱动天线单元精确按照预设的速度剖面曲线运行，在50 ms控制周期内转动角度达到180°，中间控制过程的位置跟踪误差和平衡位置处的残余震荡误差均小于±3°。
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关键词:
- 无刷直流电机 /
- 二阶滑模控制 /
- 速度剖面策略 /
- 现场可编程逻辑门阵列
Abstract: To achieve beam scanning of mechanical phased array antenna, the miniature brushless DC motor is adopted to drive a helical antenna element to rotate to a predetermined radiation phase. A new micro brushless DC motor position control system is designed. A proportional sliding mode surface super twisting algorithm controller is constructed for velocity control, the position PID controller combined with velocity profile strategy is used to realize the intermediate process control of the rotation. Establishing the control system simulation model in Simulink, the feasibility of this scheme is verified, and the control system is constructed on an FPGA hardware experiment platform. According to the results of simulation and experiment, it’s indicated the micro brushless DC motor can drive the antenna to follow the preset velocity profile curve accurately, and the rotation angle reaches 180° within a 50 ms control period. Both the position tracking deviation in the intermediate process and the residual error at the balance position are less than ±3°. -
图 3 VP-PID控制器与PSS-STA控制器模型设计
Figure 3. Model design of VP-PID controller and PSS-STA controller
图 4 STA控制器与PSS-STA控制器对梯形速度曲线的响应结果
Figure 4. Response of STA controller and PSS-STA controller to trapezoidal velocity curve
图 5 传统PID控制器与VP-PID控制器位置响应结果
Figure 5. Position response of traditional PID controller and VP-PID controller
图 7 μ_Sqrt模块与S_curve模块设计原理
Figure 7. The design principle of μ_Sqrt module and S_curve module
图 8 无刷直流电机位置控制系统硬件实验平台
Figure 8. Hardware platform of the BLDC motor position control system
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