全数字化无刷直流电机伺服控制系统设计

转矩波动是影响无刷直流电机伺服控制精度的重要因素，限制了无刷直流电机在控制性能要求较高场合的应用。针对此问题，在传统位置环和速度环的基础上，引入数字化电流环，通过电流闭环控制稳定电磁转矩，从而减小转矩脉动的干扰以提高控制精度。通过对系统模型的分析，确定控制系统参数，实现了以高性能的数字信号处理器DSP28335为核心的电机伺服控制系统软硬件设计。实验结果表明，引入数字电流环后，系统的跟踪精度得到了明显的提高（近9倍），且系统的动态响应性能也得到了较好的改善。

Fully-Digital Design of BLDC Motor Servo Control System

Torque ripple is an important factor that affects the servo control precision of BLDC motor, which makes the BLDC motor greatly restricted in the application fields of high accuracy requirements. To solve the problem, the digital current loop is introduced on the basis of the traditional position loop and velocity loop. The digital loop can stabilize the electromagnetic torque by current closed loop control, which can reduce the disturbance of torque ripple so as to improve the servo control precision. Through the analysis of the system model, control system parameters are determined. The design of servo control hardware and software system is completed based on high performance digital signal processor DSP28335. Experimental results show that the introduction of digital current loop can clearly improve the dynamic response performance, and the tracking precision can be improved by nearly 9 times.