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在这篇文章里。我主要探讨三闭环直流有刷电机控制中各级PID参数的整定。对于电流环，我会建立传递函数模型，探讨其PID参数和电机本身一系列参数的关系。而对于速度环和位置环，我会给出主要的调参依据，这篇文章偏向于工程实践，对于科学理论，会有简化。当然，我会坚持一贯的风格，以最简单的语言描述复杂的问题。

这是三闭环里的最后一个：位置闭环控制。如果你认真的阅读并推导了前章节，那么这一节将会很好理解。一如既往，我会使用简练的语言来描述复杂的问题。本章节主要涉及位置环的一些概念，以及控制框图。文章不会涉及具体的代码。

Introduce引言Speend速度来源LPFilter低通滤波器PID Controller比例积分微分控制器Summary总结

Current Data Acquire and Analysis电流数据处理与分析Introduction引言In the end of last article,I promise to introduce the speed control of motor .But i can·t，because when i acquire the values of current in a uncomfortable way.I find it is necessary to deal with.

在本文中，我将会和大家一起讨论电机控制中的电流闭环控制问题。从这一节开始，文中将会出现大量的专业术语和仿真分析。我会尽量使用通俗易懂的语言来阐述这些名词。以便读者理解。这一章节内容包含以下几个部分：一是电流传感器，二是系统的传递函数，最后一部分就是PI控制器。

Over VoltageProtection过压保护Introduction引言So far we’ve discussed a lot of the operational details of an H-bridge. We’ve seen what the basic operating modes are, how to select the power components, how to drive and how to control the bridge. This is .

Safety features安全特性Introduction引言So far we’ve discussed a lot of the operational details of an H-bridge. We’ve seen what the basic operating modes are, how to select the power components, how to drive and how to control the bridge. This is enough

H-bridge ControlH 桥控制Introduction引言In theprevious partof the series we went through the various circuits that can take logic level digital signals and make them suitable for driving the gates of the bridge power FETs. These circuits range from ..

H-Bridge DriversH 桥驱动程序Introduction引言In theprevious installmentof the series we’ve gone through the high-level design decisions that you have to make when designing an H-Bridge, and we’ve discussed the considerations for selecting the MOSFETs a..

MOSFETs and catch diodesMosfet 和 catch 二极管Introduction引言In the previous set of articles I’ve gone to excruciating details of each of the drive modes: thesign-magnitude drive, thelock anti-phase driveand theasynchronous sign-magnitude drive. T...

Sign-Magnitude Drive符号震级驱动Introduction引言In this article I’ll talk about one of the popular drive-modes of H-bridges, the Sign-magnitude drive in detail. If you’re not familiar with H-bridges in general, I suggest you read theprevious part of the.

Asynchronous Sign-magnitude Drive异步符号幅度驱动器Introduction引言The following article will go though a drive mode where the catch diodes are conducting for a significant amount of time in each cycle. If you haven’t read theintroductory pageof the serie..

Lock Anti-Phase Drive锁定反相驱动Introduction引言In theprevious postof the series, I’ve talked about sign-magnitude drive. This article will put the other main drive-mode, the lock anti-phase drive under the microscope. Just as before, if you’re not fa..

H-Bridges – the BasicsH-Bridges-基础知识Introduction引言You can learn how to build h-bridges from many on- and off-line resources. After all these circuits are not terribly complicated. Some of those resources are good, some are not so much. However wh

原文地址：http://www.modularcircuits.com/blog/articles/bridge-to-the-far-side/modeling-mechanical-systems/本文为译者翻译校正稿件，含有译者个人理解和标注Modeling mechanical systems机械系统建模1.Introduction引言Previouslywe’ve used a relatively ad-hoc approach to come up with me.

原文地址：http://www.modularcircuits.com/blog/articles/bridge-to-the-far-side/how-to-read-motor-datasheets/本文为翻译校正稿件，基于译者理解标注How to Read Motor Datasheets如何阅读电机数据表1.Introduction引言This short article builds on the work we’ve done in modeling DC motor

原文地址：http://modularcircuits.tantosonline.com/blog/articles/bridge-to-the-far-side/motor-modeling/ 本文为翻译校正稿件，便于理解，作者加入了一些注释，使用蓝色字体标记，并加入了必要的公式推导，保留了英文原文.Motor Modeling电机建模1.Introduction引言In this...

预告 一直对电机驱动这 方面很感兴趣，从浅显的知道它通电就能转动，到后面的速度控制，位置控制，以及暂时还没搞明白的转矩控制（俗称电流环）。越发觉得自己被这个小东西深深的吸引了。开源项目很多，别人做的也比我好，但是，那终究是别人的，我只相信“此事要躬行”。 现在是2020年7月13日，我打算开始电机驱动的第一个开源项目：带有位置速度电流环的有刷驱动。为什么选择有刷驱动呢？一方面是因为成本低，模型参数少，第二方面是这玩意用的比较多，作比赛，做小车，用有刷方便。 接下...