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1
PWM
PWM
SCR SCR
SCR
SCR
(Pulse Width Modulate PWM)
duty cycle
(PWM)
1 PWM
ON OFF ON
ON OFF
ON (duty cycle)
10 20% 2
2
10 20% 2
PWM
PWM
(a)
(b)
2PWM
SCR PWM
1.
2. PWM
3.
4.
5. PWM
6.
3
DC
DC Motor
H-bridge (Relay)
1.-bridge
3H-Bridge
3 H-Bridge
(1) Q1,Q4 ON Q3,Q2 OFF
4
4
(2) Q3,Q2 ON Q1,Q4 OFF
5
2.
H
Q1 Q2
6 H 4
2 4
2 H
6
DIRL 0DIRR 1 1 Q1
Q4 7 DIRL 1 DIR
R 0 Q2 Q3
5
6 H
7
H H
L293DL298NTA7257PSN754410
3. ZXMHC3A01T8
ZXMHC3A01T8 MOSFET H-BRIDGE IC :
N-Channel = VDSS = 30V; RDS(on) = 0.12; ID = 3.1A
P-Channel = VDSS = -30V; RDS(on) = 0.21; ID = -2.3A
P-Channel = Turn-off delay time 12.1 ns
6
8 ZXMHC3A01T8
4. TA7257P
TA7257P H ICTA7257P
(1) IC 0 1
(2) IC IC
6~18V 0~8V
(3) (thermal shut down circuit) (over current
protector)
(4) 1.5A 4.5A
10 TA7257P 1
10. TA7257P
7
1.
TA7257P Pin1 Pin2 Pin3 Pin5
2
2.
11 TA7257P Pin1 Pin2
Pin3 Pin5 0.1F 33
8
11. TA7257P
5. TA7279P IC
TA7279P 2 IC TA7279P
(1) IC 0 1
(2) IC IC
6~18V 0~18V
(3) (thermal shut down circuit) (over current
protector)
(4) 1.0A 3.0A
12 TA7279P 3
12. TA7279P
3.
9
TA7279P Pin1Pin2Pin3(A) Pin12Pin13(B)
Pin4Pin6(A) Pin9Pin11(B)
4
4.
13 TA7279P TA7257 IC
TA7279P
10
13. TA7279P
4.
14 14 10kHz PWM MCU
MOSFET H-bridge MOSFET H-bridge
A B Encoder Count Encoder Count
CPLD CPLD 12Bit
MCU PID PID MCU
PWM
PWM Control
MOSFETH-bridge Motor
Encoder Count
PID
Encoder Sensor
MCU c8051f120
14
A B CPLD CPLD
15 channel A channel B
channel A = 1 channel B = 0
11
15 channel A and channel B
4 16 4
CPLD 12Bit
16 channel A and channel B
17
SWDATA
MCU
17CPLD
12
4.1
(1)
18
k
19
18
19
(2) PD
PD :
+=
dttdeTteKt dP)()()(R (5)
PD
13
(3) PID
20 PID :
++= dt
tdeTdtteT
teKt di
P)()(1)()(R (6)
Rn = Rn-1 + Kp * (en - en-1) + Ki * (en + en-1)/2 + Kd * (en2en-1 + en-2) (7)
20 PID
PID
PPD PID 21
21PPD PID
4.2
PWM PWM
PWM
1 ()1024 10
0.1
14
1 PWM 128 (7 ) k
4.2.1 e(t) Kp
e(t) x
/(pps) 2x (pps)
PID PID f
2x (pps) f PID 2x/f (pps)
1200 (pps)PID 50Hz -48 48
7
e(t)
2log
4log
=fx
e
e k Kp Kp
Kp PID
/ Kp 4
8 () 6
101101012 62
210110101
26
4.2.2 Ki
Ki PID
20
Ki
15
() Ki
8
4.2.2 KD
PID
1000pps 1
1/
16 50Hz PID
50Hzms20
1615
1
= 53.3Hz 7
PID