摘要本文以小型无刷直流电动舵机为研究对象，建立了电动舵机控制系统的仿真模型，并对相关的控制器的设计方法进行了研究。主要内容如下：
首先，对无刷直流电机本体依据其工作原理进行传递函数的推导，得出电枢平衡方程，转矩平衡方程，反电势方程等，得到电机本体的数学模型。再利用PWM驱动原理并用相关公式模拟了PWM驱动器的数学模型以及减速传动机构的减速器模型。
其次，利用建好的数学模型以及MATLAB中的SIMULINK模块从内向外分别设计了电流环、速度环和位置环的三闭环反馈回路。通过对比位置式PID控制算法和增量式PID控制算法的优劣，最终采用增量式PID控制算法进行设计并计算每一环节的控制器参数。
最后，将以上各个模块进行整合，对建立好的仿真模型从阶跃性和跟踪性两个方面进行仿真，在输入阶跃信号时，分别在空载和负载两种条件下进行仿真；在输入相同幅值，不同频率分别为1HZ，5HZ和10HZ的正弦输入信号时进行仿真并对比仿真结果和偏差，分析表明，该设计满足指标要求，控制算法的设计比较成功，可以为工程设计计算提供参考。25337
关键词：无刷直流电机，PID控制，三环反馈
毕业设计说明书外文摘要
Title        The design and simulation of Small        
  brushless DC motor control algorithm      
Abstract
In this paper, a small brushless DC motor servo for the study, the simulation model of electric steering gear control system, studies the design method associated controller.The main contents are as follows:
   First, Brushless DC motor based on their body works of the transfer function to get the armature balance equation, the torque balance equation, the potential equation and other ,get the mathematic model of the motor body.Use PWM driving principle and mathematical modeling formula for approximate simulation with a mathematical model of PWM drive.And reducer gear transmission mechanism model.
   Secondly, based on the principle of electric servo control and use of mathematical models and MATLAB built in SIMULINK modules were designed from the inside out, three closed-loop feedback loop current loop, velocity loop and position loop.By comparing the position type PID control algorithm and incremental PID control algorithm of the pros and cons, the final incremental PID control algorithm design and calculation of the controller parameters of each link.
   Finally, each of the above modules integrate simulation and traceability from step two, step signal at the input, respectively, in the two conditions under no-load and load simulation;When entering the same simulated amplitude and different frequencies of 1HZ, 5HZ and 10HZ sinusoidal input signal and compare the simulation results and bias.Analysis shows that the design meets the target, control algorithm design is successful, we can provide a reference for engineering design calculations.
Key words:Brushless DC Motor,PID control, Tricyclic feedback
目次
1 绪论    1
1.1研究背景    1
1.2舵机控制系统的研究现状    2
1.3本文的主要研究内容    4
2 无刷直流电机的结构组成和工作原理    5
2.1结构组成    5
2.2工作原理    5
2.3伺服电机的选型    8
3 无刷直流电机控制系统的建模    9
3.1 电机模型    9
3.2驱动模型    12
3.3减速传动机构模型    12
4 无刷直流电机控制算法设计    13
4.1无刷直流电机控制原理    13 MATLAB小型电动舵机控制算法设计及仿真:http://www.youerw.com/jixie/lunwen_19061.html