直流无刷电机S曲线加减速控制算法及其实现

在直流无刷电机驱动大惯量负载运动过程中，速度突变会造成转子或者齿轮等传动结构机械损坏，且位置控制精度很难保证。为提高直流无刷电机和传动机构的使用寿命以及旋转运动的稳定性和准确性，在深入分析S曲线加减速算法的基础上，提出一种适用于嵌入式平台的简化S曲线加减速实现方法。通过MATLAB仿真拟合出平滑的S曲线，提出不同约束条件下的S曲线平滑度控制指标；通过将S曲线离散化为多个脉冲频段，在嵌入式ARM处理器上实现了直流无刷电机的S曲线加减速控制；通过脉冲测试实验证明了该控制方法能够有效提高直流无刷电机在运动过程中的稳定性和准确性

S-curve Acceleration and Deceleration Control Algorithm for DC Brushless Motor and Its Implementation

In the process of brushless DC motor driving large inertia load, the sudden change of speed will cause mechanical damage to the transmission structure such as rotor or gear, and the position control accuracy is difficult to guarantee. In order to improve the service life of brushless DC motor and transmission structure, as well as the stability and accuracy of rotation motion, the s curve acceleration and deceleration algorithm was deeply analyzed, and a simplified implementation method of S-curve acceleration and deceleration algorithm was proposed which was suitable for embedded platform. The smooth S-curve was simulated and fitted by using MATLAB, and the smoothness control indexes of S-curve under different constraints were proposed. The S-curve acceleration and deceleration control of brushless DC motor was realized on embedded ARM processor by discretizing S-curve into multiple pulse frequency bands. The pulse test proves that the control method can be used to effectively improve the stability and accuracy of the brushless DC motor in the process of motion