基于单片机的电动车速度控制系统研究
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密 惠 保
摘要
近年来，燃油交通工具因尾气排放问题已造成了城市空气的严重污染。于是发展绿色交通工具已成为一个重要的课题。
考虑到我国目前的国情，发展电动自行车具有重要的环保意义。而且灵活、轻巧、“零排放”、价格低廉等优点，将使电动自行车迅速得到普及。
[来源：http://www.think58.com]
随着电机技术及功率器件性能的不断提高，电动自行车的控制器发展迅速。但是目前，市场上大多数的电动自行车产品均采用低集成度元件控制装置。其缺点是功能过于简单，不能充分发挥系统的潜力及处理一些特殊的控制问题。本课题采用ATMEL公司的单片机ATmega8作为控制芯片，兼顾成本与性能要求，做了以下方面的工作:
首先，在数学模型的基础上对系统动力源—无刷直流电机的特性进行了研究;
其次，根据单片机的特点详细设计了系统的控制策略:将电流检测设计成分流电阻间接测流;将调速系统设计为电流、速度双闭环控制，以保证调速的精度和响应速度，并在软件中分别用PI算法来实现;对于速度的检测采用了“硬件软化”的思想;制定了电机“软起动” 控制方案;采用了高性能的驱动集成电路IR2131S来驱动MOSFET组成的全桥逆变电路，驱动形式为单极性PWM调制;将PWM波的发生及系统保护等功能采用主控芯片集中处理，增加了系统的可靠性;
最后，依据控制策略设计了系统软、硬件，并讨论了可靠性设计问题;
由此得出结论:本课题设计的基于单片机的电动车控制系统具有运行性能良好，可靠性高、升级换代容易的特点，为后续的研究工作提供了一定的基础。
关键词:单片机 控制系统 无刷直流电机
[资料来源：THINK58.com]
Study on the Electric-Bike Control System Based on
the Microcontroller
ABSTRACT
In recent years, the waste gas from the gasoline-automobiles has caused severe pollution problems in cities. So, it's more and more important to develop the so called "green-automobiles".
Considering our country's status, to develop the electric-bike will be helpful to solve the pollution problem. With the virtues of flexibility, slimness and zero waste-gas, electro-bike is more and more popular.
[资料来源：http://www.THINK58.com]
By enhancing the driving-motor technology and power devices technology, the control system developed quickly. But nowadays, most of the electric-bicycle products in the markets adapt low-integration degree devices in their control system. The problem is that the function of these devices is too simple to fully utilize the system's potential and to solve some specific but meaningful control questions. In this project, ATmega8 an MCU product of ATMEL company has been used. The consideration between low-cost and good-controlling performance has been well balanced by choosing this central-controlling unit. The following works have been presented in this project.
Firstly, the characteristic of the system's driving source-the Brushless-DC-Motor has been analyzed based on the mathematical model.
Furthermore, the controlling strategy has been designed in detail based on the characteristic of MCU. This part includes the following works. The current is measured indirectly by using a shunt- resistor. In order to guarantee the velocity modulation's precision and quick-response, a double closed-loop control for current and velocity has been adopted and the control strategy is realized by the software using PI algorithm. To the measurement of the velocity, a hardware-softening method has been adopted and the motor's soft-starting method has been designed. In order to drive the MOSEFET full-bridge rectifying circuit, the high-performance driving-IC IR2131S has been used and PWM driving strategy has been adopted. The PWM wave's controlling and the system protection issues are integrated into the central controlling unit. This helps to increase the reliability of the whole system.
At the last, the whole system's hardware and software have been designed based on the system's control strategy and the reliable-designing question has been discussed in the paper.
From the work which has been done in this project, the conclusion can be draw that the electric-bike control system based on the MCU has the virtues of high-performance, high-reliability and easy to further developing. This paper presented an experimental base for the futher research。
[资料来源：http://think58.com]
KEY WORDS: Microcontroller Control system Brushless-DC-Motor