以STM32F103C8T6為核心,設計了無刷直流電機控制器硬件電路。電路主要包括IR2310構成的PWM驅動電路、IRF3808構成的逆變電路、增量式旋轉編碼構成的速度反饋電路。控制器具有CAN和RS232通信接口,可與計算機或PLC構成速度或位置伺服系統。利用由xPC目標搭建的半實物仿真平臺對PI參數進行整定。測試了控制器的速度伺服響應性能,給定速度為2400rpm時,控制器響應時間為0.32s。實驗結果表明,系統工作可靠,穩定性好,響應速度快,可以滿足上肢康復機器人的機械臂速度控制性能要求。

The hardware circuit of Brushless DC motor controller is designed by taking STM32F103C8T6 as the core,which mainly includes PWM driving circuits made up of IR2310,inverter circuit formed by IRF3808,speed feedback circuit composed of incremental rotary encoder and so on.Speed servo control system or position servo control system can be composed of BLDM controller with computer or PLC through CAN communication interface or RS232 serial communication interface.By using the hardware in the loop simulation platform built by xPC target,the PI parameters are set up.The Speed servo response performance of the controller is tested.When the speed is 2 400 rpm,the response time of the controller is 0...

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