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1、目录摘要IABSTRACTII第一章 绪论11.1课题的研究背景及发展状况11.1.1能源与环境问题11.1.2电机控制技术的发展21.1.3功率半导体器件与驱动电路的发展21.1.4电机控制器的发展31.1.5电机控制理论的发展31.2电动自行车的组成部分及其特点4第二章 关键部件的特性分析62.1蓄电池特性分析62.2电机特性分析62.2.1稀土永磁无刷直流电机的基本结构和工作原理62.2.2无刷直流电机的数学模型分析92.2.3电机的运行特性分析112.2.4机械特性和调速特性分析15第三章 基于单片机的系统控制策略研究173.1控制系统的整体构成173.2系统主要控制策略概述183.2
2、.1位置检测信号处理单元183.2.2电流检测信号处理单元183.2.3速度调节方案193.2.4速度检测方案223.2.5起动与换相控制方案233.2.6蓄电池检测方案243.2.7驱动、逆变电路控制方案253.2.8故障检测与系统保护263.3核心控制器件的选择273.3.1单片机概述273.3.2 Atmega8特性介绍28第四章 系统硬件设计304.1信号检测电路设计304.1.1位置检测304.1.2电流检测314.1.3转子位置检测电路324.2电机转速控制电路324.2.1测速电路324.2.2换向调速电路324.2.3速度检测334.2.4速度给定环节344.2.5系统软件控制
3、354.3三相全桥逆变电路及其功率驱动的设计364.4 PWM波的控制单元374.4.1PWM信号的产生374.4.2 PWM波的输出控制394.5电池电压检测单元404.6系统硬件可靠性设计404.6.1电源与集成芯片去藕404.6.2隔离技术414.6.3电磁兼容设计41第五章 系统软件设计425.1主程序的设计425.2各功能模块的设计思想435.2.1位置检测模块435.2.2换相控制模块455.2.3 A/D采样模块455.2.4双闭环控制模块475.3软件的可靠性设计495.3.1采用模块化程序设计方法495.3.2合理安排中断495.3.3程序“跑飞”与“死锁”的解脱50第六章
4、结束语51参考文献52致谢5352 基于单片机的电动车速度控制系统研究摘要 近年来，燃油交通工具因尾气排放问题已造成了城市空气的严重污染。于是发展绿色交通工具已成为一个重要的课题。 考虑到我国目前的国情，发展电动自行车具有重要的环保意义。而且灵活、轻巧、“零排放”、价格低廉等优点，将使电动自行车迅速得到普及。 随着电机技术及功率器件性能的不断提高，电动自行车的控制器发展迅速。但是目前，市场上大多数的电动自行车产品均采用低集成度元件控制装置。其缺点是功能过于简单，不能充分发挥系统的潜力及处理一些特殊的控制问题。本课题采用ATMEL公司的单片机ATmega8作为控制芯片，兼顾成本与性能要求，做了以
5、下方面的工作: 首先，在数学模型的基础上对系统动力源无刷直流电机的特性进行了研究; 其次，根据单片机的特点详细设计了系统的控制策略:将电流检测设计成分流电阻间接测流;将调速系统设计为电流、速度双闭环控制，以保证调速的精度和响应速度，并在软件中分别用PI算法来实现;对于速度的检测采用了“硬件软化”的思想;制定了电机“软起动” 控制方案;采用了高性能的驱动集成电路IR2131S来驱动MOSFET组成的全桥逆变电路，驱动形式为单极性PWM调制;将PWM波的发生及系统保护等功能采用主控芯片集中处理，增加了系统的可靠性; 最后，依据控制策略设计了系统软、硬件，并讨论了可靠性设计问题;由此得出结论:本课题
6、设计的基于单片机的电动车控制系统具有运行性能良好，可靠性高、升级换代容易的特点，为后续的研究工作提供了一定的基础。关键词:单片机 控制系统 无刷直流电机Study on the Electric-Bike Control System Based onthe MicrocontrollerABSTRACT In recent years, the waste gas from the gasoline-automobiles has caused severe pollution problems in cities. So, its more and more important to de
7、velop the so called green-automobiles. Considering our countrys status, to develop the electric-bike will be helpful to solve the pollution problem. With the virtues of flexibility, slimness and zero waste-gas, electro-bike is more and more popular. By enhancing the driving-motor technology and powe
8、r devices technology, the control system developed quickly. But nowadays, most of the electric-bicycle products in the markets adapt low-integration degree devices in their control system. The problem is that the function of these devices is too simple to fully utilize the systems potential and to s
9、olve some specific but meaningful control questions. In this project, ATmega8 an MCU product of ATMEL company has been used. The consideration between low-cost and good-controlling performance has been well balanced by choosing this central-controlling unit. The following works have been presented i
10、n this project. Firstly, the characteristic of the systems driving source-the Brushless-DC-Motor has been analyzed based on the mathematical model. Furthermore, the controlling strategy has been designed in detail based on the characteristic of MCU. This part includes the following works. The curren
11、t is measured indirectly by using a shunt- resistor. In order to guarantee the velocity modulations precision and quick-response, a double closed-loop control for current and velocity has been adopted and the control strategy is realized by the software using PI algorithm. To the measurement of the
12、velocity, a hardware-softening method has been adopted and the motors soft-starting method has been designed. In order to drive the MOSEFET full-bridge rectifying circuit, the high-performance driving-IC IR2131S has been used and PWM driving strategy has been adopted. The PWM waves controlling and t
13、he system protection issues are integrated into the central controlling unit. This helps to increase the reliability of the whole system. At the last, the whole systems hardware and software have been designed based on the systems control strategy and the reliable-designing question has been discuss
14、ed in the paper. From the work which has been done in this project, the conclusion can be draw that the electric-bike control system based on the MCU has the virtues of high-performance, high-reliability and easy to further developing. This paper presented an experimental base for the futher researc
15、h。KEY WORDS: Microcontroller Control system Brushless-DC-Motor第一章 绪论1.1课题的研究背景及发展状况1.1.1能源与环境问题二十一世纪是“绿色环保”的世纪，环境保护和能源节约问题已成为新世纪最为突出的两大主题。随着工业的发展，城市汽车数量急剧上升，石油资源严重匾乏。研究表明，目前世界石油蕴藏量按照现在的消耗速度仅可供使用50到70年。自1993年开始，我国已变为石油净进口国，2000年我国石油进口量为7000万吨，预计2005年后将超过1.5亿万吨。近年来，石油价格猛涨，2004年，石油最高达到了每桶54.9美元。而石油与国家安全密切相关，其作为一种战略物质大量进口则必然受制于人，该问题已引起各国的极大重视1。再从环境角度讲，石
