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(A Tutorial)
Dal Y. Ohm
Drivetech, Inc., Chantilly, Virginia www.drivetechinc.com
Drivetech, Inc.
Sensor (Encoder)
DC motor speed control example Objective: Precise control of output in the presence of disturbance and plant parameter variations
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Control Objectives
Regulation (Disturbance Rejection)
Steady Target
Dynamic Tracking
Changing Reference
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V1
V2
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Ke
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Td V Motor T Load
Ke
Ke e s Position sensor
9
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M ag n itu de R e s p o ns e
10
10
10
-2
10
-2
10
-4
10
-4
10
-6
10
0
-6
10
10
10
10
10
10
10
10
10
10
P h as e R es po n s e 0 -50
-100
-1 0 0
-150
-1 5 0
-200
-2 0 0
-250
-2 5 0 -3 0 0 0 10
-300 0 10
10
10
10
10
10
10
10
10
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I
Q1 Q3 Q5 A B C AC Motor Q2 Q4 Rs DC bus Q6
I* PI
V*
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Hysteresis Control
Simple to implement Switching frequency controlled by error band
Ia* I*
+
Va*
+ +
Commutation Ib*
Ic*
Vb* Vc*
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Ia* I*
+
PI(D)
+ -
Va*
Commutation Ib*
Ic*
PI(D) PI(D)
+
PWM
Vb* Vc*
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Condition for consistent torque production Ms DC machine flux fixed in space S AC machine rotating flux
Brushless induction machine
S N
rs
Mr
N Drivetech, Inc.
Reaction Torque
15
Independent control of two current components Operation is very similar to separately excited DC motors
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All polyphase currents produces Rotating mag flux! Equivalent 2-Phase Machine Identical magnitude, Reversible Not invariant power
Sc
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Sb
Sa,S
S
17
y q
+
d x
- sin d cos q
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Requires Coordinate transform Nonzero Id* for phase advance or induction motor control
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10
Characteristics of SR
Inherent zero steady-state tracking error Internal Model Principle
PI regulator step (1/s) Double integrator control ramp (1/s2) SR - sinusoidal [ 1 / (s2 + 2) ]
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Compensates for Back emf and cross-coupling terms. Disturbance compensation improves dynamic performance
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11
11
(C)
11
To Tx Ty TuTu Ty Tx To Ts
V3 1 2 V4 3 4 V5 V6 5 V1 (100) (110) V2
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12
Sensorless Control
Estimation of Flux Angle & Velocity Available technologies
Vemf detection (6-step) Model-based, Observer, Sliding Mode Control Carrier injection (IPM)
Performance
BW limited, limited accuracy Challenges at startup and near-zero speed, high torque application Model of nonlinearitieds & Hybrid approach Algorithm selection and tuning key to success
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Conclusion
Application of feedback control principles to motor drives Velocity control limited by
Plant dynamics & Feedback performance
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