为解决直流电机速度控制问题,采用增量式PI控制方法,设计了无刷直流电机速度控制器.对模拟调节器进行了离散化处理,每隔10ms用编码器测速一次,并进行适当的软件滤波,用计算出速度差作为控制量,用离散的差分方程代替连续的微分方程,用软件实现了PI控制算法.搭建了基于STM32的实验平台,给出了P和I参数整定方法,并通过大量实验得到了合适的P和I的系数,验证了该增量式PI控制方法的正确性.研究结果表明:该PI控制算法能够实现对速度的恒定控制,响应速度快、抗干扰能力强.为PID控制提供了实验的方法和步骤.%In order to solve the problem of speed control of DC electric machine,an incremental PI control method is used to control the speed of Brushless DC motor. The analog regulator is discretized, and the encoder is used to measure the speed of the motor every 10ms,software filtering is used to verify the value. The discrete difference equation is used to replace the continuous differential equation,and the PI control algorithm is realized by software. The experimental platform based on STM32 is built, the P and I parameter tuning method is given, and the appropriate P and I coefficients are obtained through a large number of experiments,which verifies the correctness of the incremental PI control method. The re-sults show that the PI control algorithm can achieve a constant speed control,fast response, strong anti-interference ability.Provided the methods and procedures for PID control.
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