基于FOC矢量控制的AGV小车无刷电机控制器设计

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中图分类号： TP273+ 2 文献标识码：A 文章编号：2096-4706（2025）20-0012-05

Abstract：Automatic Guided Vehicle （AGV）playsa vital role inthestorage and transportationof intelligent factories， whichcan greatlyreducelaborcostsand improve transportationeffciency.Brushless motors havethecharacteristicsofhigh efciencyeergysaving，eliabilityndstabilityandaregraduallaplidtothedrivesyteofGVIntispaper，abushless motorcontrolerbasedonField-OrientedControl （FOC）andPIDcontrolalgorithmisdesigned.Therotor positioninformation ofthebrushlessmotoristainedbyHallsensrs.BasedontheFOCalgoritm，themotorrunsathighffiencyandthedouble closed-loopcontrolofmotorspeedandcurrentisrealizedbyPIDregulation.The feasibilityof thecontrol scheme is verified by actual programming tests， whichcan effectively improvethe transportation effciencyandoperational stabilityof AGV.

Keywords： brushless motor; FOC; PID control algorithm; double closed loop

0 引言

随着制造业智能化时代的到来，无人化或少人化成为未来制造业的发展趋势。（剩余5827字）