The Development Of Underwater Brushless DC Motor Controller Based On Embedded Operating System

The topic of this thesis comes from a science and technology item of Liaoning Province: The Research of embedded operation system and the research of Brushless Thruster for Deep-sea Robot. Generally, due to the brushless DC motor is used as the thruster of Deep-sea Robot, the drive system requires high stability, the system's real-time performance, reliability and to meet the needs of multi-tasking, as well as drive system is required to work in forward and backward mode and realize high precision speed regulating. Based on the above considerations, control technology and control methods of underwater brushless DC motor based embedded operating system were studied.Firstly, recalled the development of the permanent magnet brushless DC motor speed control system and embedded operating system, the basic composition of mathematical models and speed principle is analysed in this paper. According to the special working condition of underwater Robot which requires the reliability, real-time of the drive system, as well as motor own characteristics, the controller design based on embedded operating system is presented. Controller design concepts and methods adopting the embedded operating systemμC/OS-Ⅱas the underlying software system are discussed in detail, and migrating to control DSP chip, increasing in the reliability of the controller, real-time, enhances portability.Then according as requirements of driven control system for underwater robot, TMS320LF2407A is selected as a control chip drive system. In order to satisfy the requirements of motor controller, the current and speed double closed-loop is used motor control system. According characteristics of underwater brushless DC motor, requirements and the function of DSP chips, the design of used a DSP as core for the control is putted forward, the controller hardware and software design were described in detail in this topic as well. For the hardware part, after a instruction of the whole design, the design of several chief circuits and practical electronic circuit is presented. For the software part, some procedure flow charts of main program are offered and some problems of software realization, embedded systems transplantation, the main program and interrupt program design process are researched. Finally, the test results and the test results are analyzed when the actual operation of the controller, then conclusion is acquired.