Sensorless PMSM Field Oriented Control Solution Based on TI Cortex-M3

Transcription

1 Senorle PMSM Field Oriented Control Solution Baed on TI Cortex-M3 AEDS Team Technical Service Arrow Steven Wang

2 Agenda Permanent Magnet Synchronou Motor Field Oriented Control Realization Senorle Control Technique Stellari Microcontroller PMSM Solution Demo Show Technical Support for Motor Control

3 Permanent Magnet Synchronou Motor TI Dave Control Center

4 Permanent Magnet Synchronou Motor Stator Rotor

5 Permanent Magnet Rotor SPMSM IPMSM

6 Sinuoidal Winding Ditribution Phae A hown Stator winding denity i inuoidally ditributed, thu creating a inuoidally ditributed flux denity

7 ThreePhae Winding Ditribution Phae A Phae B Phae C B A Blue arrow how axe of magnetim for each coil C

8 How to Create a Rotating Magnet Field? Stator coil patially eparated from each other by 120 degree Drive with three-phae inuoidal current eparated in phae by 120 degree Three pulating magnetic field are generated on their repective magnetic axe A moothly rotating magnetic vector i generated by yntheizing thee vector

9 Orientation of Field for Max Torque The green vector repreent the tator flux vector which reult from the inuoidal current being applied to the tator coil. N S Axi of rotor flux i fixed with repect to the rotor, i.e., it i ynchronou. (Reluctance torque aumed to be zero)

10 PMSM Motor Summary Advantage High power output per frame ize High torque inertia ratio High efficiency due to mall rotor loe Very low torque ripple Structure inherently allow heat to be eaily removed Zero peed enorle operation poible with IPM motor Extended peed range operation for IPM uing weak field

11 Field Oriented Control Realization TI Dave Control Center

12 How to Control Torque on a DC motor? 310V D eired Current - 2 E rror Signal M eaured Current 3 PI Controller 1 ADC1 4 PWM1 PWM2 PWM1 PWM2 PWM2 PWM1 Bruh DC Motor Texa Intrument Dave Motor Control Center Commutator keep rotor and tator field properly aligned! M eaure current already flow ing in the m otor. Com pare the meaured current w ith the deired current, and generate an error ignal. Am plify the error ignal to generate a correction voltage. M odulate the correction voltage onto the m otor term inal.

13 Step1. Meaure current already flowing in the motor A B C Texa Intrument Dave Motor Control Center Controller with A/D i a i b i c i a ib ic = 0 i c = i a i b

14 Clarke Tranform B β i β i i c i b i a i A C i =i a i β = 1 i b i c 1 3 3

15 Park Tranform q axi i β B i q i i i d d axi θ d A rotor flux axi C i i d q = i = i coθ i d inθ i d β β inθ d coθ d

16 Step2and3. D Axi and Q Axi PI Current Controller P i (commanded) d error(t) - I i d (meaured) v d i q (commanded) error(t) P v q i q (meaured) - I The PI regulator i a good choice for current regulation

17 v v β v v d d d d θ θ Modulated voltage Inv-Park q axi = = co in Voltage vector rotor rotor rotor rotor flux flux flux flux axi axi axi axi d axi B C v β v q v d v A θd v v q q in co θ θ d d

18 Step4. Space Vector Modulation V3 = 010 V2 = 110 Sector 2 T SWITCHING PERIOD V4 = 011 Sector 3 Sector 4 Sector 5 Vref T1 V1 T2 T2 V2 V2 Sector 6 V1 = 100 V n T1 V n1 T2 Null T0 V5 = 001 V6 = 101 T1 = T m SIN(60 T - ) T2 = T m SIN( T SIN() T0 = T - T1 - T2 m = deired modulation index = deired angle between Vref and Vn

19 The Whole Scheme for the FOC P Commanded Rotor Speed Commanded i d = 0 Commanded i q (torque) P - I P V d V q Revere Clark-Park Tranform θ d V a V b V c PMSM TI Dave Control Center - Rotor Speed I - I i d i q i a d/dt Forward Clark-Park Tranform i b i c Phae C Current Calculation θ d Control Diagram of a PMSM Variable Speed Control Sytem Utilizing Field Oriented Control.

20 Senorle Control Technique TI Dave Control Center

21 PMSM Senorle Algorithm--- Baed BEMF Ψ = Ψ Ψ = Ψ Ψ = Ψ = r M r M Li Li dt d Ri U dt d Ri U θ θ β β β β β in co = Ψ = Ψ = r r r r M r r M p dt d L U t p p L i L R dt di L U t p p L i L R dt di ω θ ω ω ω ω β β β ) co( ) in( = = = r r p dt d L U L e i L R dt di L U L e i L R dt di ω θ β β β β PMSM 在两相静止坐标轴在两相静止坐标轴在两相静止坐标轴在两相静止坐标轴 (Alpha, Beta) 下数学模型下数学模型下数学模型下数学模型 = Ψ = Ψ ) co( ) in( t p p e t p p e r r M r r M ω ω ω ω β

22 PMSM Senorle Algorithm v e^ z PMSM Model Baed liding mode current oberver i^ Slide mode gain K - i -K z theta theta^ Flux angle calculator e^ Low pa filter Flux angle correction Omega^el e^ --- etimated bemf voltage Omega^el --- etimated motor peed theta^ --- etimated poition angle

23 Stellari Microcontroller TI Dave Control Center

24 Stellari Microcontroller - Made for Motion High-performance, determinitic, realtime computer Fat memorie Prioritized, vector interrupt Extenive comm and realtime network option Full ytem integration for compact ize and coteffectivene Sophiticated motioncontrol ytem High-peed PWM Deadband H/W for hoot-through protection Fault input Digital encoder/reolver input Analog input handling High-peed multichannel ADC for monitoring Comparator for zerocroing detection Synchronized with motion ytem for accurate meaurement

25 Stellari Complete, Open-Tool Motor Reference Deign Kit RDK-ACIM $379 RDK-STEPPER $199 RDK-BLDC $219 RDK-BDC $219 AC Induction Motor Controller Deign Example application: White good Reidential and light commercial HVAC 3-ph Indutrial Motor Drive Stepper Motor Controller Deign Example application: 2 and 3 axi CNC equipment Sorting and grading equipment Specialized printer and canner Bruhle DC Motor Controller with CAN/Ethernet Example application: Small appliance Electric wheelchair and mobility device Pumping and ventilation ytem Bruh DC Motor Controller with CAN Example application: Small appliance Electric wheelchair and mobility device Pumping and ventilation ytem Official FIRST KoP Speed Controller FRC 2009

26 PMSM Solution Demo Show TI Dave Control Center

27 PMSM Solution Demo Show

28 Major Feature 1 High performance FOC algorithm 2 Senorle Control Technique 3 Contant Speed Control 4 Contant Torque Control 5 High Efficiency 6 Two Shunt Current Sampling 7 Steple Speed Adjuting 8 Remote Control: RS232/485 9 OC,OV,UV Protection etc

29 Debug PC Software

30 PMSM Parameter Ued for Tet 1. Rated Input Power: 200W 2. Rated Speed : 1120RPM 3. Rated Torque: 0.6N.m 4. Max Torque : 1.2N.m 5. Max Efficiency: 75%

31 Fan Motor Tet Equipment 测功机 测功机控制器 测功机动态控制器 电参数测量仪

32 Tet Reult Analyi(1) 恒速度 功率 效率 恒转矩

33 Tet Reult Analyi(2)

34 Tet Reult Analyi(3) Hall 位置 估算位置 U 相电流

35 Technical Support Technical Training for Motor Control HW Reference Deign SW Reference Deign packed Field Debug Support and Service Help develop in our lab

36

37 Q & A