三相直流无刷电机结构简单、体积小、可靠性高、调速性能好，在工业生产和家用电器领域应用广泛。但位置传感器性能受环境影响较大，导致控制可靠性降低，还会增加电机成本和体积，并且方波驱动比正弦驱动转矩脉动大。因此，设计基于FPGA的三相直流无刷电机无传感器正弦波控制器具有理论意义和工程应用价值。

通过分析三相直流无刷电机的结构、数学模型及控制原理，得到电机转矩脉动分析、换相和调速的理论依据。对比分析了方波驱动和正弦驱动的转矩脉动，指出采用正弦驱动直流无刷电机可较好地抑制转矩脉动。针对正弦驱动开关损耗过大的问题，采用了最小开关损耗SPWM技术，减小了逆变器开关管1/3的开关损耗，同时保证了正弦驱动。为实现无传感器控制，在反电动势过零检测技术的基础上进一步分析，提出适用于正弦驱动的无传感器转子位置检测方法。但该方法得到的转子位置不满足正弦驱动的要求，针对此问题，在原有位置检测的基础上，设计提高位置检测连续性的算法，使测得的转子位置满足正弦驱动的要求。为实现正弦驱动，设计了基于CORDIC算法的正弦值计算模块，采用流水线电路结构及复用思想，满足计算精度和速度的同时，降低了该模块2/3的硬件资源消耗。在实现无传感器控制和正弦驱动后，添加IIC通信、速度检测和超前角调节等必要的辅助模块，最终完成了三相直流无刷电机无传感器正弦波控制器的整体方案，并在Simulink中对方案进行验证。

验证方案可行后，完成控制器Verilog代码的设计，并采用QuestaSim软件对控制器主要模块进行仿真，基于FPGA搭建了电机控制器的验证平台，对实际控制效果进行测试。仿真结果和实验结果验证了方案的可行性及各模块功能的正确性。

The three-phase brushless DC motor has a simple structure, small volume, high reliability, and good speed regulation performance, making it widely used in industrial production and household appliances. However, the performance of the position sensor is greatly affected by the environment, which reduces its reliability of control. Besides, using position sensors can increase the cost and volume of the motor, and using square-wave to drive will have greater torque ripple than using sine-wave. Therefore, designing a sensorless sinusoidal controller based on FPGA for three-phase brushless DC motor has theoretical significance and engineering application value.

By analyzing the structure, mathematical model, and control principle of the three-phase brushless DC motor, the theoretical basis of motor torque ripple analysis, commutation, and speed regulation are obtained. By comparing and analyzing the torque ripple of using square-wave and sine-wave to drive, it shows that using sine-wave to drive brushless DC motor can better suppress the torque ripple. In view of the problem that using sine-wave to drive has excessive switching loss, minimum switching loss SPWM is adopted to reduce the switching loss of the switch tube of the inverter by 1/3 while ensuring sinusoidal driving. To achieve sensorless control, a sensorless rotor position detection method suitable for sinusoidal driving is proposed based on further analysis of the back-EMF zero crossing detection technology. However, the rotor position obtained by this method is not sufficient to meet the requirement of sinusoidal driving. In response to this problem, an algorithm is designed to improve the continuity of position detection based on the original position detection, so that the rotor position meets the requirement of sinusoidal driving. To achieve sinusoidal drive, a sine value calculation module based on the CORDIC algorithm was also designed, adopting pipeline circuit structure and multiplexing idea to meet the calculation accuracy and speed, while reducing the hardware resource consumption of the module by 2/3. After achieving sensorless control and sinusoidal driving, necessary auxiliary modules such as IIC communication module, speed detection module, and lead angle adjustment module are added to complete the overall scheme of the sensorless sinusoidal controller for three-phase brushless DC motor, and the scheme is verified in Simulink.

After verifying the feasibility of the scheme, complete the design of the Verilog code of the controller. QuestaSim software is used to simulate the main modules of the controller, and a verification platform for the motor controller is built based on FPGA to test the actual control performance. The simulation and experimental results demonstrate the feasibility of the scheme and the correctness of the function of each module.

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