TI公司数字电机控制培训教材

TIຕጴۉऐ੦዆঴ਦݛӄTIຕጴۉऐ੦዆঴ਦݛӄ©ڤዝᅏഗࠅິ(TI)2005࿄ঢ়ڤዝᅏഗ(TI)Ⴙ੗փሎႹް዆DŽZHCB009ᅱײ้क़၍ۉऐ੦዆एԨᇱ૙•঍ୁߌᆌࢅᆦ৳ىཎۉऐՔଉࢅ๐ଉ੦዆ŪŪ25minᆌᆩ:዇ీ੦዆ഗLjߛႠీLjگׯԨ••჋ስ੦዆ഗۉऐ੦዆֨ኧ߁઄Ċਸ݀߾ਏ߁઄:߸੺ںHW+SWਸ݀ĊՔጚ෉ॲੰ:ਸ݀े໏ഗĊڿሺڦՊᅳरຍ:ᅟᇀቛਸྜׯ႑ࡽ૾:TIఇెཚ႑ᇑTIᅃഐƽ༵࿚ࢅ࣮ٴ••ŪŪŪ•••15min10min25min25min5min10minෙ၎ۉऐएԨᇱ૙߁౒ฉڦํाڦෙ၎ጎዃᆶෙ߲ජፇLjӀቷ120Ń၎࿋ݴਸLjनᅃ߲ᇶڦෙݴኮᅃă•ෙ၎ۉऐएԨᇱ૙-1.50-1.00-0.500.000.501.001.50124477093116139162185208231254277300323346tiaibicPhasecurrentsA`AFaBC`CB`iaFbFc၎ۉୁෙ၎ජፇׂࣷิෙ߲ىׇLj൐ሞ੣क़࿋ዃฉԵُ၎߰120Ńăړᆩ၎࿋၎ֶ120Ńڦኟ၀հघ૤้Lj৽ׂࣷิෙ߲ᆶࡀୱڦىׇăෙ߲ىׇڦ঳ࡕ৽๟ᅃ߲჉ገڦىׇ•••ෙ၎ۉऐएԨᇱ૙A`AFaBC`CB`iaFbFcFsq(imaginary)d(real)sin().sin().sin().FFteFteFtesaiboicoiooo0120240120240.FFessjtFFjFsdqForinstance,a3phasemachine,with:60HzThreePhaseSupply;and4polesperphasewillhaveasynchronousspeedof1800r.p.m.Pf120r.p.m.)(inSpeedphasepermotor,forthepolesof#Pandfrequency,supplyACf૩ǖᅃ߲ෙ၎ۉऐLj60HZڦෙ၎ۉᇸLj4ट௅၎Lj໲ڦཞօገ໏ྺ1800ገ/ݴăገ໏(ገ/ݴ)=120ġf/Pf=঍ୁۉᇸೕ୲P=ۉऐ௅၎टຕᆦ৳ىཎۉऐሏႜBackEMF(v)ttStatorCurrent(Is)A`BC`AB`CNSFFStatorfieldRotorfieldۨጱىཚࢅገጱىཚڦ၎ࢻፕᆩׂࣷิᅃ߲ీ๑ۉऐ჉ገڦገਈăሞኄ߲൧઄ူLjገጱ჉ገڦೕ୲ᇑेሞገጱฉڦघ૤ڦೕ୲၎ཞăኄ๟ཞօሏႜڦᅃ߲ํ૩ă•••ాև঳ࠓǖߌᆌۉऐገጱA`ABC`CB`iaFt-1.50-1.00-0.500.000.501.001.50124477093116139162185208231254277300323346iaibicPhasecurrentsImRe120oIa~Ib~Ic~CurrentPhasors঍ୁߌᆌ(ACI)߾ፕएԨᇱ૙ߌᆌ๕ۉऐᆶᅃ߲ԿୟڦገጱĊ຋େ๕ߌᆌۉۯऐڦገጱ๟ଇ߲࣍ႚ࿿Ljᄂጣገጱዡेڟڞཉฉăړӝገጱݣሞᅃ߲ᅎۯڦىׇዐ้৽ׂࣷิߌิۉୁLjኄ߲ۉୁᆼׂࣷิߌิىׇăኄଇዖىׇڦ၎ࢻፕᆩ৽ׂࣷิገਈ••ᅱײ้क़၍25minۉऐ੦዆एԨᇱ૙•঍ୁߌᆌࢅᆦ৳ىཎۉऐՔଉࢅ๐ଉ੦዆ŪŪᆌᆩ:዇ీ੦዆ഗLjߛႠీLjگׯԨ15min჋ስ੦዆ഗ10minۉऐ੦዆֨ኧ߁઄25minਸ݀߾ਏ߁઄:߸੺ںHW+SWਸ݀Քጚ෉ॲੰ:ਸ݀े໏ഗڿሺڦՊᅳरຍ:ᅟᇀቛਸྜׯ႑ࡽ૾:TIఇెཚ႑25minᇑTIᅃഐƽ5min༵࿚ࢅ࣮ٴ10min•ŪŪŪVs(volt)f(Hz)fcfratingVrating0TORQUEMAXIMUMTORQUENOMINALTORQUESPEEDNOMSPEEDVOLTAGEVoLOWSPEEDෙ၎ߌᆌ๕ۉऐڦՔଉV/F੦዆+ํ၄०ڇ:ኻႴॽෙୟኟ၀հ༵ࠃߴ+փႴᄲ࿋ዃ႑တ-ۯༀႠీփ๟࢔ࡻՔଉरຍڦ၌዆ACCELERATIONDECELERATIONTIMETORQUETorqueoscillationgeneratesuncontrolledcurrentovershoot:ߛރኵۉୁ:ሞV/Fዐገጱىཚࢅۉୁփ๴੦዆ǖۉୁኵൽਦᇀۉୟ֖ຕăၚᆌ้क़ֶ:ᅃ߲๑ۉୁࡗۙଉ३ڟፌၭڦ঴ਦӸ݆৽๟ইگገ໏ۙবഗڦႠీă३࣐ገ໏ۙবഗ૰ბ༬Ⴀֶৢኹࢅ჉ገڦ֖੊઀ॐtt R/2ab R2/32/32/3ctD RQrotorttIQID/2ෙ၎֖੊઀ॐଇ၎ኟ঍֖੊઀ॐ჉ገኟ঍֖੊઀ॐۉऐىཚक़ڦ၎ࢻፕᆩTorqueTD RQrotor Sloadangleገਈ˩=́s·́rsin(˾)́sࢅ́r๟׉ଉෙ၎ߌᆌ๕ۉऐڦ๐ଉ੦዆•FOC๟ෙ၎঍ୁۉऐڦᅃዖ੦዆ݛ݆Ljገਈࢅىཚ๟܀૬੦዆ڦă•ኄዖݛ݆๟ఇݠ኱ୁۉऐڦ߾ፕݛ๕ă•኱থFOCǖገጱىཚ࿋ዃ๟ཚࡗىཚࠚ໙ई֪ଉઠ኱থऺ໙ڦă•क़থFOCǖገጱىཚ࿋ዃ๟ཚࡗᆶၳڦገ໏ࢅࣂᅎڦऺ໙ઠक़থऺ໙ڦăA`BC`AB`CNSq=90°FFMaintainthe‘loadangle’at90°BackEMF(v)StatorCurrent(Is)t=constanttttىׇۨၠ੦዆Ċ๐ଉ੦዆+ுᆶገਈஞۯ+߸ࡻڦۯༀၚᆌ-Ⴔᄲጚඓڦኪڢገጱڦ࿋ዃC28x੦዆ഗټTMS320F2812DSPڦPMSMىׇۨၠ੦዆(FOC)PowerInverterMotorvas*vbs*Inv.Parkriasibsvqs*vds*PIids*iqs*wr*wrParkPIPIClarkeSpaceVectorGen.PWM+DriverTaTbTcPWM1PWM2ibsADC+DriverPWM3PWM4PWM5PWM6ADCIN1ADCIN2ADCIN3iasidsiqsAngleSpeedCalculatorrTMS320F2812DSPcontrollerQEP+driverPhaseIndexPhaseEncoderPowerInverterACIvas*vbs*Inv.Parklrlriasibsvqs*vds*PIids*iqs*wr*wrParkPIPIClarkeSpaceVectorGen.PWMDriverTaTbTcPWM1PWM2VdcibsIleg2_BusDriverPWM3PWM4PWM5PWM6ADCIN1ADCIN2ADCIN3iasidsiqsPhaseVoltageCal.TaTbTcvasvbsFluxEst.SpeedEst.iasibsiasibslrlarlbrTMS320F2812DSPcontrollerټTMS320F2812DSPڦACIىׇۨၠ੦዆(FOC)ဣཥPowerInverterMotorvas*vbs*Inv.Parkriasibsvqs*vds*PIids*iqs*wr*wrParkPIPIClarkeSpaceVectorGen.PWM+DriverTaTbTcPWM1PWM2ibsADC+DriverPWM3PWM4PWM5PWM6ADCIN1ADCIN2ADCIN3iasidsiqsAngleSpeedCalculatorrTMS320F2812DSPcontrollerResolverPositionDetectionCosSinResolverFOCTMS320F2812DSP+ݴ঴ഗݴ঴ഗঢ়षᆶၳLj੗ᅜ৊ႜߛ৛ඓ܈ڦ࿋ዃڦ֪ଉ12࿋OPA4340ADS786116࿋OPA4350ADS8361SensoredACInductionMotor–DTCDrivePowerInverterMotorTorquecontrollerr*ADCStateSelectorTMS320F2812DSPcontrollerPWMGenSpeedControllerInputpowerstageInputpowerstageFluxandTorquecalculatorCommunicationsmodulesSCICANCurrentandvoltagevectorcalculatorCAPTUREInputs঍ୁߌᆌ๕ۉऐĊDTCൻۯBLDCࢅPMSMۉऐૌ႙•Both(typically)havepermanent-magnetrotorandawoundstator•BLDC(BrushlessDC)motorisapermanent-magnetbrushlessmotorwithtrapezoidalbackEMF•PMSM(Permanent-magnetsynchronousmotor)isapermanent-magnetbrushlessmotorwithsinusoidalbackEMF30090015002100270033003009006000012001800240030003600600PhaseAPhaseBPhaseCiaibiceeeEaHallAHallBHallCBackEMFofBLDCMotor-1.50-1.00-0.500.000.501.001.50124477093116139162185208231254277300323346teaebecBackEMFofPMSMA`BC`AB`CNSFFۼᆶᅃ߲ᆦىገጱࢅᅃ߲ජፇۨጱ࿮ຘ኱ୁ(BLDC)ۉऐ๟ᅃ߲༱ႚݒۉۯ๞ڦᆦى࿮ຘۉऐᆦىཞօۉऐ(PMSM)๟ᅃ߲ኟ၀ݒۉۯ๞ڦᆦى࿮ຘۉऐ•••᮴ࠋⳈ⌕⬉ᴎⱘড⬉ࡼ࢓∌⺕ৠℹ⬉ᴎⱘড⬉ࡼ࢓Seehiddenslides(2)forequationsThecoreiscurrentobserverSpeedcalculatornotadoptedSlidingModeCurrentObserverSlidingControlLow-passFilterPhaseCalculatePhaseCompeu~e~se~si~si*svz*SpeedCalculateSin/CosCalculatore~~ࣂۯఇༀ࠵֪ഗएᇀᅙᆶڦ୛Ԁ੦዆रຍǖݥ၍Ⴀࣂۯఇༀ੦዆Bang-bang੦዆ૌ႙-ĐߛሺᅮđփඓۨႠࢅඡۯহ၌ڦံᄓߌਥ-ۙኝࣂۯ੦዆ሺᅮ֑ᆩփཞڦरຍ੗ᅜᅎأհۯၳᆌࣂۯఇༀ࠵֪ഗएᇀᅙᆶڦ୛Ԁ੦዆रຍǖݥ၍Ⴀࣂۯఇༀ੦዆Bang-bang੦዆ૌ႙-ĐߛሺᅮđሎႹ֖ຕՎࣅփሎႹඡۯ๭ૼტ໏Lj࿮ຕኵ݀ොփඓۨႠࢅඡۯহ၌ڦံᄓߌਥ-ۙኝࣂۯ੦዆ሺᅮ֑ᆩփཞڦरຍ੗ᅜᅎأհۯၳᆌ••ŪŪŪ••msssssLLLBILRAzevBiAidtd231)~(~~)~(ssiiksignzzeedtdss00~~SMOݛײۉୁ࠵֪ഗࣂۯ੦዆گཚ୳հഗSMOݛײ(Ⴤ)cossin23)~,~arctan(~essskeeeqEiK2/3ٗݒۉۯ๞ڟገጱ࿋ዃঙገਈݛײ:ۉୁڦኟඓ֪ଉገጱ࿋ዃঙڦኟඓࠚऺ••ํᄓ঳ࡕ࿮࿋ዃدߌഗ੦዆/SMOڦ၌዆Ԣ䗳ϟⱘড⬉ࡼ࢓ᕜᇣˈ᠔ҹ೼Ԣ䗳ϟ䖤㸠ϡᰃᕜདDŽৠᯊㅫ⊩বᕫᇍాໄ᳈ᬣᛳDŽ೼ਃࡼⱘᯊ׭ϡᄬ೼ড⬉ࡼ࢓ˈᖙ乏䗮䖛݊Ҫᮍ⊩ਃࡼ˖ü乥⥛Ϟछüড৥ᮟ䕀ⱘᯊ׭ৃ㛑Ӯথ⫳ˈ䖭гᰃϔϾ䳔㽕䅼䆎ⱘ䯂乬DŽü䗮䖛ֵো⊼ܹẔ⌟䕀ᄤԡ㕂DŽü䳡ᇨᬜᑨӴᛳ఼DŽ••ᅱײ้क़၍ۉऐ੦዆एԨᇱ૙25min•঍ୁߌᆌࢅᆦ৳ىཎۉऐՔଉࢅ๐ଉ੦዆ŪŪᆌᆩ:዇ీ੦዆ഗLjߛႠీLjگׯԨ15min჋ስ੦዆ഗ10minۉऐ੦዆֨ኧ߁઄25minਸ݀߾ਏ߁઄:߸੺ںHW+SWਸ݀Քጚ෉ॲੰ:ਸ݀े໏ഗڿሺڦՊᅳरຍ:ᅟᇀቛਸྜׯ႑ࡽ૾:TIఇెཚ႑25minᇑTIᅃഐƽ5min༵࿚ࢅ࣮ٴ10min•••ŪŪŪ•••BridgeRectifierPowerconverterMotorLoadACInputMOSFETdriverCurrentsensePowersupplyLDOPFCSVSPWMSimult.SamplingADCsandinterfaceResolverOpticalencoderHalleffectNetworkinterface4-20