无感无刷直流电机之电调设计全攻略

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无感无刷直流电机之电调设计全攻略

前 言 ..............................................................................................................................................1
1. 无刷直流电机基础知识..............................................................................................................2
1.1 三个基本定则....................................................................................................................2
1. 左手定则......................................................................................................................2
2. 右手定则（安培定则一）..........................................................................................3
3. 右手螺旋定则（安培定则二）..................................................................................3
1.2 内转子无刷直流电机的工作原理....................................................................................3
1. 磁回路分析法.............................................................................................................4
2. 三相二极内转子电机结构..........................................................................................5
3. 三相多绕组多极内转子电机的结构..........................................................................7
1.3 外转子无刷直流电机的工作原理.....................................................................................8
1. 一般外转子无刷直流电机的结构..............................................................................8
2. 新西达 2212 外转子电机的结构................................................................................8
1.4 无刷直流电机转矩的理论分析......................................................................................14
1. 传统的无刷电机绕组结构........................................................................................14
2. 转子磁场的分布情况................................................................................................15
3. 转子的受力分析........................................................................................................16
4. 一种近似分析模型....................................................................................................18
1.5 换相与调速......................................................................................................................19
1. 换相基本原理............................................................................................................19
2. 新西达 2212 电机的换相分析..................................................................................24
3. 调速............................................................................................................................28
2. 无感无刷电调的驱动电路设计................................................................................................30
2.1 电池电压监测电路..........................................................................................................30
2.2 换相控制电路..................................................................................................................30
1. 六臂全桥驱动电路原理............................................................................................31
2. 功率场效应管的选择................................................................................................33
2.3 电流检测电路..................................................................................................................45
2.4 反电势过零检测电路......................................................................................................49
2.5 制作你自己的电调线路板..............................................................................................50
3. 无感无刷电调的软件设计........................................................................................................52
3.1 电流检测..........................................................................................................................52
3.2 定时器延时与PWM信号 ................................................................................................53
1. 定时器初始化............................................................................................................54
2. 定时器T0 的溢出中断服务程序 ..............................................................................54
3. 利用T0 延时（毫秒极） ..........................................................................................54
4. 利用T0 延时（微秒极） ..........................................................................................55
5. PWM信号的产生 .....................................................................................................55
3.3 过零事件检测与电机换相..............................................................................................56
1. BLMC.h中定义的宏 ................................................................................................56
2. 过零检测与换相代码分析.......................................................................................59
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By: timegate 墨鸢 技术交流 QQ:1181733110 email:moyuan2000@163.com 第 ii 页
无感无刷直流电机之电调设计全攻略 V0.01
3.4 启动算法..........................................................................................................................63
1. 函数Anwerfen启动流程分析....................................................................................63
2. 启动算法机理探究....................................................................................................65
3.5 上电时的MOSFET自检..................................................................................................68
1. 函数Delay和DelayM .................................................................................................68
2. 函数MotorTon自检流程分析....................................................................................68
3.6 让你的电机演奏音乐......................................................................................................70
3.7 通信模块..........................................................................................................................72
1. PPM解码.....................................................................................................................72
2. TWI总线通信 .............................................................................................................74
3. 串口通信....................................................................................................................74
4. 指令的收入函数SollwertErmittlung .........................................................................75
4. 德国MicroKopter项目BL-Ctrl电调程序主程序代码流程分析（V0.41 版本）....................77
5.1 全局变量列表..................................................................................................................78
5.2 main主函数流程分析.......................................................................................................80
1. 进入while(1)前的准备工作 ......................................................................................80
2. while(1)主循环内容分析 ...........................................................................................81
5. 高级话题 ...................................................................................................................................86
5.1 电机的控制模型..............................................................................................................86
5.2 四轴上的校正策略..........................................................................................................87
附录一 ............................................................................................................................................88
附录二 ............................................................................................................................................89
附录三 ............................................................................................................................................93
附录四 ............................................................................................................................................94