目的 解决病死猪搬运车的大功率永磁有刷直流电机驱动控制问题。方法 以STM32单片机为主控制器，采用电流闭环控制方法，通过硬件电路设计，建立基于大功率永磁有刷直流电机的驱动控制系统。设计了以继电器为转换开关的电机正反转控制电路、调速电路、电流检测电路与过流保护电路。通过脉宽调制 （Pulse width modulation， PWM） 方式调节电机转速，在病死猪搬运车上对该驱动控制系统进行了试验分析。结果 该驱动系统能有效驱动1.1 kW的大功率有刷直流电机，启动转矩大、启动平稳。PWM占空比为16%~95%，转速从稳定启动后的低速至满转，调速范围大且稳定。双电机协同较好，具有可靠的隔离保护和过流保护措施。在持续过大电流的情况下，系统能稳定工作，满足搬运车负载大的使用需求，基本实现了病死猪搬运车的预定功能。结论 该驱动控制系统启动稳定，调速性能好，为解决大功率永磁有刷直流电机的驱动问题提供了一种有效方案。
Objective To solve the driver control problem of carrying dead pig vehicle based on high-power permanent-magnet brush DC motor.Method We used STM32 MCU as a main controller, used the current closed-loop control method, and built the driving control system based on high-power permanent-magnet brush DC motor through hardware circuit design. We designed motor forward and reverse control circuit, speed regulating circuit, current detection circuit and over-current protection circuit with relay as the change-over switch. The motor speed was adjusted by Pulse Width Modulation (PWM). The driving control system was tested and analyzed on vehicle carrying dead pigs.Result The drive system could effectively drive 1.1 kW high-power brush DC motor, and stably start with a large starting torque. The speed regulation of motor was stable with a large range. When the duty ratio of PWM ranged from 16% to 95%, the rotating speed of motor changed from low speed after stable start-up to full speed. Dual motors had good coordination, reliable isolation protection and over-current protection measure. Under the continued large current, this system could work stably, met the needs of heavy load of vehicle, and basically achieved the intended function of carrying dead pig vehicle.Conclusion The drive control system has start-up stability and good performance of speed regulation, which provides a solution to solve the driving problem of high-power permanent-magnet brush DC motor.