随着新能源汽车、无人机、机器人以及智能家居等产业的快速发展，直流无刷电机得到了广泛应用。但其位置传感器带来的体积、成本和可靠性问题也愈发凸显，不利于电机控制系统的小型化、集成化。因此，对无位置传感器三相直流无刷电机控制芯片进行研究，具有理论研究意义和工程应用价值。

       通过分析三相直流无刷电机的结构和工作原理，建立相应的数学模型，得出反电动势与电机转子位置的关系，据此设计反电动势检测和相位延迟电路，无需位置传感器即可获得电机转子的位置信息。分析对比典型的两相导通120度换相控制和三相导通180度换相控制各自特点，得出了增加电机输出转矩，减少转矩脉动和噪声的150度十二步换相控制方法。针对直流无刷电机在静止或低速时反电动势无法检测的问题，基于三段式启动方法，设计了一种改进的启动策略，实现了电机的平稳可靠启动。详细分析了功率MOS器件寄生体二极管产生的消磁事件对电机反电动势检测的干扰，设计了相应的屏蔽算法，优化了PWM驱动模式，以减小消磁事件持续的时间，消除其对换相时机产生的不良影响。进而从启动、控制和驱动三个方面改善了电机性能，减少了电机的电流和转矩脉动，降低了电机噪声。此外，设计了速度检测、PI调节和IIC通信等辅助模块，搭建了三相直流无刷电机的无位置传感器控制系统及对应的仿真模型，并在Simulink中进行了系统验证。

       最后，设计了整体系统代码，并通过了VCS仿真验证，据此搭建了FPGA原型验证平台，对所设计的控制系统进行功能测试，实验结果表明，系统各项功能达到了预期效果，验证了理论分析的正确性和设计的可行性。

       With the rapid development of industries such as new energy vehicles, drones, robots and smart homes, brushless DC motors have been widely used. But the volume, cost and reliability problems brought by their position sensors have become more and more prominent, which is not conducive to the miniaturization and integration of the motor control system. Therefore, it is of theoretical research significance and engineering application value to research a three-phase brushless DC motor control chip without position sensor.

       Through analyzing the structure and working principle of the three-phase brushless DC motor, its corresponding mathematical model is built, and the relative relationship between its back EMF and the motor rotor position is obtained. According to this, the back EMF detection and phase delay circuit are designed. The position information of the motor rotor is obtained without the need for a position sensor. Analyze and compare the characteristics of typical two-phase conduction 120-degree commutation control and three-phase conduction 180-degree commutation control, and then a 150-degree twelve-step commutation control method is obtained to increase the output torque of the motor and reduce the torque ripple and noise through the analysis. In light of the problem that the back EMF cannot be detected when the brushless DC motor is stationary or at low speed, an improved starting strategy is designed based on the three-stage starting method, which realizes the smooth and reliable starting of the motor. The interference of the degaussing event generated by the parasitic body diode of the power MOS device when the motor is commutated to the detection of the motor back EMF is analyzed in detail, then the corresponding shielding algorithm is designed and the model of PWM drive is optimized to reduce the duration of the degaussing event and eliminate its impact the adverse effects of commutation timing. At this point, the performance of motor is improved from the three aspects of starting, control, and driving, reducing the current and torque ripple of the motor, thereby reducing the noise of motor. In addition, auxiliary modules such as speed detection, PI regulation and IIC communication are designed, the position sensorless control system of a three-phase Brushless DC Motor and the corresponding simulation model are built, then the system is verified in Simulink.

       In the end, the overall system code is designed and verified by VCS simulation. Based on this, an FPGA prototype verification platform is built to test the function of the designed control system. The experimental results show that the functions of the system have achieved the expected results, which verifies the correctness of theoretical analysis and the feasibility of design.

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