摘要:无刷直流电机(BLDCM)一般是由驱动器以及电动机主体组成，是一种比较典型的机电一体化的产品。由于无刷电机一般没有电刷和换向器（或集电环），因此它又称无换向器电机。

无刷直流电机具有调速性能优异、运行性能可靠和维护方便等优点，相较于一般的有刷直流电机，它采用电子换向取代了机械换向，有效提高了电机的运行效率，这也使得它的成品体积更加轻巧。正是这些优点，也使得无刷直流电机得到广泛的运用。但无刷直流电机也存在转矩脉动、控制器复杂、成本较高等缺陷，从一定程度上说，这些缺陷的存在也影响了无刷直流电机作为高效、先进电机在应用上的普及，因此研究如何改善无刷直流电机存在的问题便是当务之急而且也具有更明显的现实意义。

本文研究对象为有位置传感器的无刷直流电动机，并以微处理器STM32单片机为主控芯片。单片机负责采集电机中霍尔传感器传递过来的位置信号，并通过这些信号从而判断电机转子处于什么位置，然后通过STM32输出相应的PWM波形去驱动电力MOSFET，让电机旋转起来。电路板上的按键可以控制电机的转速和转向。

关键词：无刷直流电机，STM32f103RBT6，有位置传感器，速度控制

Abstract:Brushless DC motor (BLDCM) is composed of the main body of the motor and the drive. The brushless motor is a motor without brush and commutator (or collector ring).

Brushless DC motor has excellent performance of speed control, reliable operation and convenient maintenance and so on. Compared to the general brush DC motor, it uses electronic commutation instead of mechanical commutation, and effectively improves the efficiency of the motor, which makes it more compact volume of finished products. Due to these advantages, it also makes the brushless DC motor widely used. But a brushless DC motor has many problems such as torque ripple, complex controller and high cost of defects. These defects also affected the brushless DC motor as a high efficiency and advanced motor in application popularization. Therefore, it is urgent to study how to improve the existing problems of Brushless DC motor.

The research object of this paper is the brushless DC motor with position sensor, which is based on MCU STM32. MCU is responsible for the position signal which Holzer sensor acquisition machine passes, and determines the motor rotor in which position through these signals, and then outputs the corresponding PWM waveform through the STM32 to drive the Power MOSFET to let the motor rotate. The key on the circuit board can control the motor speed and steering.

Key Words: Brushless DC Motor，STM32f103RBT6，Position sensor, Speed control

目 录

第一章绪论..1

1.1无刷直流电机概述.1

1.2无刷直流电机现阶段研究情况...2

1.3研究课题学术背景及其理论与实际意义...3

第二章无刷直流电机的结构及工作原理42.1无刷直流电机的基本结构...4

2.1.1电动机本体.4

2.1.2驱动电路...5

2.1.3转子位置反馈电路...5

2.2无刷直流电机的工作原理..6

2.3无刷直流电机的数学模型..8

2.4无刷直流电机双闭环控制系统的介绍9

2.5本章小结...10

第三章无刷直流电机控制系统硬件设计...11

3.1硬件电路总体设计...11

3.2主控电路设计...11

3.2.1STM32F103RBT6介绍11

3.2.2STM32F103RBT6最小系统设计13

3.3电源模块电路设计...14

3.4电力MOSFET驱动电路的设计...16

3.5三相全桥逆变电路的设计..17

3.6电流电压采样电路的设计..18

3.7位置反馈电路的设计..19