基于DSP F2808 的双闭环直流电机控制器

针对中型组足球机器人的电机控制器存在的不足，设计一种基于DSP F2808的双闭环直流电机控制器。说明了控制器的组成与电路结构，分析双闭环控制回路的具体运行机制，采用加入扼流圈来降低电机内部电流的振荡幅度的方法，减少了电机的发热量，并通过试验检验电流控制效果。试验结果表明：该控制器能够有效地控制电机电枢电流，并且减少电机发热量，从而保护电机在安全范围内稳定运行。

Double Closed Loop DC Motor Controller Based on DSP F2808

In view of the deficiency of the motor controller of the middle size soccer robot, a double closed loop DC motor controller based on F2808 DSP is designed. The architecture of the controller and the structure of the circuit are introduced in detail, and the working process of the double closed-loop of the controller is also analyzed. In order to reduce the heat the motor produced, a choke is integrated to restrain the swing of the current. And the current control effect is tested by experiment. The experimental results show that this controller can control the current of the motor armature and reduce the heat the motor produced effectively to protect the motor to work more reliably in the safety area.