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1、TI?TI? ?(TI) 2005 ?(TI)?ZHCB009 ?25min?:?: ?HW+SW?: ?: ?: TI?TI?15min10min25min25min5min10min?120? ?-1.50-1.00-0.500.000.501.001.50124477093 116 139 162 185 208 231 254 277 300 323 346?tiaibicPhase currentsAAFaBC CBiaFbFc?120?120?AAFaBCCBiaFbFcFs?q(imaginary)d(real)?sin().sin().sin().FFt eFteFtesai
2、boi coiooo?0120240120240?.FF essj t?FFjFsdq?For instance, a 3 phase machine, with: 60Hz Three Phase Supply; and 4 poles per phase will have a synchronous speed of 1800 r.p.m.Pf120r.p.m.)(inSpeed?phasepermotor,for thepolesof#Pandfrequency,supplyACf?60HZ? ?4? ?1800?/? ?(?/?) = 120?f/Pf = ? P = ?Back E
3、MF (v)ttStator Current (Is)ABCABCNS?FFStator fieldRotor field?AABC CBiaF?t-1.50-1.00-0.500.000.501.001.5012447 7093 116 139 162 185 208 231 254 277 300 323 346iaibicPhase currentsImRe?120oIaIbIc Current Phasors?(ACI)?25min?: ? 15min? 10min? 25min ?: ?HW+SW?: ?: ?: TI? 25min?TI? 5min? 10min?Vs (volt)
4、f(Hz)fcfratingVrating0TORQUEMAXIMUM TORQUENOMINAL TORQUESPEEDNOM SPEEDVOLTAGEVoLOW SPEED?V/F?+ ?: ?+ ?- ?ACCELERATIONDECELERATIONTIMETORQUETorque oscillation generates uncontrolled current overshoot:?:?V/F?:? ? ?tt?R?/2ab?R2?/32?/32?/3ctD?RQ?rotorttIQID?/2?Torque TD?RQ?rotor?S?load angle?=?s?r sin(?
5、)?s?r? FOC? ? ?FOC? ?FOC?ABCABCNSq=90FFMaintain the load angle at 90Back EMF (v)Stator Current (Is)t= constantttt? ? ?+ ?+ ?- ?C28x?TMS320F2812 DSP?PMSM?(FOC)Power InverterMotorvas*vbs*Inv. Park?rias ibsvqs*vds*PIids*iqs*wr*wrParkPIPIClarkeSpace Vector Gen.PWM + DriverTaTbTcPWM1 PWM2ibsADC + DriverP
6、WM3 PWM4 PWM5 PWM6ADCIN1ADCIN2ADCIN3iasidsiqsAngleSpeed Calculator?rTMS320F2812 DSP controllerQEP + driverPhaseIndexPhaseEncoderPower InverterACIvas*vbs*Inv. Park?lr?lrias ibsvqs *vds*PIids*iqs*wr*wrParkPIPIClarkeSpace Vector Gen.PWM DriverTaTbTcPWM1 PWM2VdcibsIleg2_ Bus DriverPWM3 PWM4 PWM5 PWM6ADC
7、IN1ADCIN2ADCIN3iasidsiqsPhase Voltage Cal.Ta Tb TcvasvbsFlux Est.Speed Est.iasibsiasibs?lrlarlbrTMS320F2812 DSP controller?TMS320F2812 DSP?ACI?(FOC)?Power InverterMotorvas*vbs*Inv. Park?rias ibsvqs*vds*PIids*iqs*wr*wrParkPIPIClarkeSpace Vector Gen.PWM + DriverTaTbTcPWM1 PWM2ibsADC + DriverPWM3 PWM4
8、PWM5 PWM6ADCIN1ADCIN2ADCIN3iasidsiqsAngleSpeed Calculator?rTMS320F2812 DSP controllerResolver Position DetectionCosSinResolverFOC TMS320F2812 DSP + ?12?OPA4340 ADS786116? OPA4350 ADS8361Sensored AC Induction Motor DTC DrivePower InverterMotorTorque controller?r*ADCState SelectorTMS320F2812 DSP contr
9、ollerPWM GenSpeed ControllerInput power stageInput power stageFlux and Torque calculatorCommunications modulesSCICANCurrent and voltage vector calculatorCAPTURE Inputs?DTC?BLDC?PMSM?Both (typically) have permanent-magnet rotor and a wound stator BLDC (Brushless DC) motor is a permanent-magnet brushl
10、ess motor with trapezoidal back EMF PMSM (Permanent-magnet synchronous motor) is a permanent-magnet brushless motor with sinusoidal back EMF3009001500210027003300300900 6000012001800240030003600600 Phase APhase BPhase Ciaibic?e?e?eEaHall AHall BHall CBack EMF of BLDC Motor-1.50-1.00-0.500.000.501.00
11、1.50124477093 116 139 162 185 208 231 254 277 300 323 346?teaebecBack EMF of PMSMA BC AB CNSFF?(BLDC)?(PMSM)? See hidden slides (2) for equations ? The core is current observer ? Speed calculator not adoptedSliding Mode Current ObserverSliding ControlLow- pass FilterPhase CalculatePhase Compeu? e?sesisi* sv z*?Speed CalculateSin/Cos Calculatore? ? Bang-bang? - ? ? ? - ? ?Bang-bang? - ? - ?msssssLLLBILRAzevBiAidtd231)(?)(ssiiksignz?zeedtd ss00?SMO?SMO?(?)? ? ? ? ?cossin23),arctan(essskeeeqEiK2/3?:?/SMO? ? ? ? ?
