MICROCHIP AN1292 Jagorar Mai Amfani

MICROCHIP AN1292 Jagorar Mai Amfani

Wannan takaddar tana ba da hanyar mataki-mataki akan tafiyar da mota tare da algorithm da aka bayyana a cikin AN1292 “Sauran Rarraba Filin Daidaitawa (FOC) don Dindindin Injin Magnet Synchronous Motor (PMSM) Yin Amfani da Ƙididdiga na PLL da Rawanin Filin (FW)” (DS01292) ).

SATA KYAUTA SOFTWARE
Dukkan manyan sigogin da za a iya daidaita su an bayyana su a cikin userparms.h file. Ana yin daidaita sigogi zuwa tsarin ƙididdigewa na ciki ta amfani da tuning_params.xls Excel® maƙunsar bayanai (duba Hoto 1-1). Wannan file An haɗa shi tare da tarihin AN1292 file, wanda akwai don saukewa daga Microchip webshafin (www.microchip.com). Bayan shigar da bayanan motar da hardware a cikin maƙunsar bayanai, ana buƙatar shigar da sigogi masu ƙididdigewa a cikin mai amfaniparms.h. file, kamar yadda matakai masu zuwa suka nuna.

HOTO 1-1: tuning_params.xls

Mataki 1 - Cika tuning_params.xls Excel maƙunsar bayanai tare da sigogi masu zuwa:
a) Peak Voltage
Peak voltage yana wakiltar mafi girma voltage a kan DC link capacitors. Haka kuma
yana wakiltar DC voltage kanta lokacin da aka haɗa wutar lantarki ta DC zuwa mahaɗin DC. Idan an kawo hanyar haɗin DC daga gada mai gyara lokaci ɗaya, AC kololuwar voltage yana da alaƙa da mai gyarawa:

V ACpeak V ACrms = √ 2

b) Kololuwar Yanzu
Peak halin yanzu yana wakiltar matsakaicin ƙimar ainihin halin yanzu wanda za'a iya wakilta a ciki, wanda ya dogara da toshewar saye. Yin la'akari da matsakaicin shigarwar zuwa ADC na 3.3V, ribar da'irar saye da ƙimar shunts na yanzu suna ƙayyade matsakaicin ƙimar halin yanzu wanda zai dace da wakilcin lambar ciki na dsPIC® DSC. Sabanin haka, halin yanzu wanda wakilcin lamba na ciki yake a babba, yana wakiltar kololuwar halin yanzu kamar yadda za'a iya shigar dashi a cikin filin maƙunsar bayanai na Excel.

HOTO NA 1-2: DA'AWA MAI SHAIDA ALAMOMIN

Don da'irar da aka gabatar a cikin Hoto 1-2 a sama, da'irar saye na yanzu yana da ampribobi da fursunoni:
Ƙimar shunt resistor na MCLV shine 5 mΩ kuma, tare da matsakaicin voltage karɓa a shigar da ADC na 3.3V, yana haifar da matsakaicin matsakaicin karantawa na yanzu:

Ka lura cewa ƙididdige ƙimar Peak halin yanzu (Imax) ya bambanta da wanda aka nuna a cikin maƙunsar bayanai na Excel. file (Hoto 1-1) - dalili shine cewa an ƙaddara ƙimar ta biyu ta gwaji kamar yadda za'a bayyana shi daga baya a cikin wannan takarda (Mataki na 3-d).
c) Lokacin PWM da Lokacin Matattu
Lokacin PWM shine sampling da lokacin sarrafawa don wannan algorithm (AN1292). Matattu lokacin yana wakiltar lokacin da ake buƙata don na'urorin semiconductor na wutar lantarki don murmurewa daga jihar da ta gabata ta yadda babu wani harbi ta hanyar faruwa akan kowace ƙafar inverter. Ya kamata darajar da aka shigar a waɗannan fagagen su zo daidai da waɗanda aka yi amfani da su. Software na nunin da aka haɗa a cikin bayanin aikace-aikacen yana aiwatar da ƙimar 2 µs na lokacin mutuwa, kuma don lokacin PWM, ana amfani da ƙimar 50 µs, wanda shine mitar PWM na 20 kHz.
d) Ma'aunin Lantarki na Motoci
Don sigogin Stator resistance (Rs), Stator inductance (Ls), da Voltage akai-akai (Kfi) shigar da su daga bayanan masu kera motar ko ana iya tantance su da gwaji. Da fatan za a tuntuɓi sashin "Tuning and Experimental Results" na bayanin kula, AN1292 don cikakkun bayanai kan ƙididdige gwaji na Kfi.

e) Nauyi da Matsakaicin Gudu
Gudun ƙididdiga shine siga da masana'anta ke bayarwa kuma yana wakiltar saurin da ake iya samu tare da na yanzu da vol.tage bayar a kan farantin mota. Matsakaicin saurin siga ne da masana'anta ke bayarwa kuma ya dogara da yawa akan sigogin injina na motar. Ana iya lura cewa matsakaicin saurin ya fi girma na ƙididdigewa, da kuma yankin da ke tsakanin an rufe shi cikin yanayin wutar lantarki akai-akai, inda ake nuna dabarar raunana filin.
f) Abubuwan Hasashen
Rukunin tsinkaya ya yi daidai da madaidaicin da aka yi amfani da shi don kawo sakamakon ƙididdige ƙididdiga na daidaitattun ƙididdiga cikin kewayon wakilcin lambobi, [-32768, 32767]. Sikelin tsinkaya bai kamata kawai ya kawo ma'auni a cikin kewayon ba har ma, idan akwai juzu'in juzu'itage akai-akai (Kfi), don raba ƙimar farko ta ƙididdigewa ta yadda idan aka ninka shi daga baya saboda fasahar raunana filin, kada ya cika kewayon wakilcin lambobi. Ana iya samun abubuwan Predivision a lambar software ta hanyar rarraba
lokacin aiki (shift na hagu).
Don misaliample, NORM_LSDTBASE Sikelin tsinkaya shine 256 a cikin maƙunsar bayanai,
wanda ke nunawa a cikin layin code mai zuwa:

kimanta.c

Kamar yadda za a iya lura, maimakon canjawa zuwa hagu da 15, saboda a baya predivision da 28, a karshe an canza shi da 7. Haka ya faru ga NORM_RS, wanda aka tsara ta 2 don kiyaye NORM_RS a cikin kewayon, wanda ke hana lamba. ambaliya. Wannan yana haifar da sashin lambar da ya dace da estim.c don daidaita ma'auni na farko ta hanyar canjin 14 maimakon 15:

A cikin yanayin NORM_INVKFIBASE, Predivision shine 2 kuma ana yin jujjuyawar baya akan layin lamba mai zuwa:

Mataki na 2 - Fitar da sigogin da aka samar zuwa userparms.h.
Sakamakon ƙimar a cikin ginshiƙan gefen dama da aka haɗa su azaman sigogin fitarwa za a shigar da su a cikin userparms.h file ma'anoni masu dacewa. Lura cewa abubuwan da ke kan sigogin fitarwa suna da launi daban-daban, yana nuna daidai wanne daga cikinsu za a kwafi da liƙa kai tsaye cikin lambar software.

Mataki na 3 – Da farko, kunna madauki na buɗe
a) Kunna Buɗe Madauki Aiki
Ana iya sarrafa madaidaicin madauki daban, ta hanyar ba da damar #define na musamman a cikin lambar software ta FOC; in ba haka ba, sauyawa don rufe ikon madauki yana yin ta atomatik. Tabbatar cewa kun kashe rufaffiyar canjin madauki don fara kunna madauki na buɗewa.

b) Saita Buɗe Madaidaicin Maɗaukaki
Sikeli na Yanzu
Ana buƙatar saita madaidaicin madaidaicin don daidaita fitowar ADC don dacewa da ƙimar gaske dangane da alamar (madaidaici), kuma idan ya cancanta, don saita shi zuwa ƙimar tsaka-tsaki, isa don ƙarin aiki.

Ma'anar ma'auni don igiyoyin ruwa ba su da kyau saboda sayen shunts yana samun ma'anar juzu'i na igiyoyin ruwa, sabili da haka, darajar Q15 (-0.5) tana wakiltar (-1) ninka darajar Q15 da ADC ta dawo.
Fara-up Torque Current
Zaɓi halin yanzu na yau da kullun don motar da aka bayar azaman wurin farawa, kamar yadda aka nuna a ƙasa (a wannan yanayin, ƙimar 1.41 ampAn yi amfani dashi:

Idan lokacin farawa ya yi ƙasa da ƙasa, nauyin ba zai motsa ba. Idan ya yi tsayi da yawa, motar na iya yin zafi idan ta yi aiki a buɗe madauki na dogon lokaci.

Lokacin Kulle
Gabaɗaya, an zaɓi lokacin kulle ƙimar ƙimar miliyon ɗari kaɗan

Ƙimar lokacin kulle ya dogara da mitar PWM. Domin misaliample, a 20 kHz, ƙimar 4000 zata wakilci 0.2 seconds.

Ramp Ƙara Ƙimar
Ya kamata a saita saurin madauki a buɗe a matsayin ƙarami gwargwadon yiwuwa a farkon. Karamin wannan ƙimar, mafi ƙarfin injin shine farawa da ƙarfin juriya mafi girma ko lokacin inertia.

Gudun Ƙarshe
Ƙarshen ƙimar ƙimar saitin ciniki shine kashewa tsakanin ingancin sarrafawa da
Matsakaicin iyakar saurin mai ƙididdigewa don kimanta gudu da matsayi daidai. A al'ada, mai amfani zai so ya saita ƙimar ƙarshen ƙarshen madauki a matsayin ƙasa kaɗan don canzawa zuwa aikin madauki ya faru da wuri-wuri daga farawa. La'akari da sulhun da aka bayyana a sama, yi la'akari da ƙarshen gudun kashi ɗaya bisa uku na yawan saurin motar da ke ƙarƙashin kunnawa don farawa.

HOTO NA 1-3:

PI Masu Gudanarwa na Yanzu
Wasu jagororin gabaɗaya don ingantaccen daidaitawa na masu sarrafa PI na wannan aikace-aikacen sune:
Dukansu masu sarrafawa, akan axis D da Q, zasu sami ma'auni iri ɗaya don daidaitattun daidaitattun (D_CURRCNTR_PTERM, Q_CURRCNTR_PTERM), Haɗin kai (D_CURRCNTR_ITERM, Q_CURRCNTR_ITERM), Rikicin Anti-windup (D_CURRCNTR_CRRCMTR QR_CURRCNTR_CRRm, Mini-CURRCNTR_CRRm, Mini-CURRCNTR, Mini-CURRCNTR, da Mini-CURRCNTR. TR_OUTMAX, Q_CURRCNTR_OUTMAX, D_CURRCNTR_OUTMIN, Q_CURRCNTR_OUTMIN).
Gabaɗaya, duk lokacin da oscillation na yanzu ya faru, rage adadin lokacin riba don tabbatar da samun haɗin kai daga sau 5 zuwa 10 ƙarami fiye da riba mai ma'ana.

Yi amfani da ƙimar da aka nuna a ƙasa azaman mafari.

c) Buɗe madaidaicin madaidaicin madaukai
Saitunan da ke sama zasu ba da damar buɗe aikin madauki. Da zarar an tabbatar da cewa komai yana aiki lafiya tare da saitin da aka bayyana a baya, gwada daidaita sigogi don aiki mai sauƙi da inganci ta:

raguwar karfin karfin halin yanzu
kara saurin ramp ƙimar
rage lokacin kullewa
rage saurin ƙarewa

MATAKI NA 4 – Daidaita Aikin Rufe Rufe

a) Kunna Rufe Madaidaici
Ci gaba don rufe madauki tuning da zarar buɗaɗɗen madauki yana gudana lafiya, ta hanyar cire ma'anar ma'anar OPEN_LOOP_FUNCTIONING macro.

b) Saita Ma'auni na Rufe
Tuning na Farko na Farko
Canje-canje tsakanin buɗe madauki don rufe madauki yana nuna kuskuren ƙididdigewa na farko, wanda kafin zaɓin kusurwa na farko ya buƙaci:

Dangane da juriya juriya na kaya, lokacin rashin aiki, ko ya dogara da madaidaicin wutar lantarki na motar, gyara kusurwa don kawar da madaidaicin madaidaicin madauki / rufe madauki.

Ƙididdigar Ƙimar Tace Mai ƙididdigewa
Tsofaffin madaidaitan da aka saita don madaidaitan masu tacewa yakamata su ba da sakamako mai kyau ga yawancin injina. Duk da haka, rage yawan ƙididdiga zai rage jinkirin lokaci, wanda zai iya zama taimako musamman a cikin manyan sauri, inda bambancin halin yanzu ya fi sauri. Ya kamata a cimma daidaito tsakanin aikin tacewa da tasirinsa na baya, gabatarwar canjin lokaci.

Mai Kula da Saurin PI
Don daidaitawar mai sarrafa sauri, P da ni za a iya daidaita su ta amfani da hanyoyi da yawa. Don ƙarin bayani, bincika "PID Controller" akan Wikipedia webSaita kuma je zuwa sashin "Maɗaukaki Tuning".

Don lokuta da ba a buƙatar mai sarrafa sauri, ana iya kunna yanayin juzu'i ta hanyar ma'anar TORQUE_MODE.

MATAKI NA 5 – A Zabi, Tuna Ma'aunin Rauni Mai Saurin Sauri

HANKALI
Yawancin lokaci, ƙera motar tana nuna matsakaicin iyakar gudu da motar za ta iya samu ba tare da lalacewa ba (wanda zai iya zama mafi girma fiye da saurin birki a halin yanzu). Idan ba haka ba, yana yiwuwa a gudanar da shi a cikin sauri mafi girma amma kawai don ƙananan lokuta (tsakanin lokaci) yana ɗaukar haɗari na lalatawa ko lalacewar inji na motar ko na'urorin da aka haɗe da shi. A Yanayin Raunana Filin, idan mai sarrafawa ya ɓace saboda kuskuren ƙididdige kusurwar a babban saurin sama da ƙimar ƙima, yuwuwar lalata injin inverter yana nan kusa. Dalili kuwa shi ne, Ƙarfin Electromotive Force (BEMF) zai sami ƙima mafi girma fiye da wanda za a samu don saurin ƙima, ta haka ya wuce motar bas na DC vol.tage darajar, wanda inverter ta ikon semiconductor da DC link capacitors za su goyi bayan. Tunda gyaran da aka tsara yana nuna gyare-gyaren juzu'i har sai an sami ingantacciyar aiki, ya kamata a gyara kariyar inverter tare da madaidaicin kewayawa don sarrafa mafi girma vol.tages idan akwai stalling a high gudun.

a) Saita Ma'aunin Farko
Naƙasasshe da Maɗaukakin Gudu
Fara da ƙima don saurin RPM na ƙididdigewa (watau RPM biyun ɗari ƙasa da ƙimar ƙimar mota). A cikin wannan example, an ƙididdige motar don 3000 RPM; saboda haka, mun saita NOMINAL_SPEED_RPM zuwa 2800. Tuntuɓi ƙayyadaddun injin don matsakaicin saurin raunin filin, sannan shigar da wannan ƙimar cikin MAXIMUM_SPEED_RPM.

Yi la'akari da gaskiyar cewa ga waɗannan dabi'un da ke sama (sama) gudun na'ura, an kunna dabarun raunana filin, sabili da haka, rage yawan saurin da aka yi amfani da shi don daidaita wannan sauyin yana nuna ƙarin makamashi da ake kashewa akan raguwar hawan iska, wanda gaba ɗaya, yana haifar da raguwa. ƙananan inganci.

Maganar D-axis na Yanzu
Teburin bincike na yanzu na D-axis (ID) yana da ƙima tsakanin 0 da stator na yau da kullun, wanda aka rarraba daidai da shigarwar 18 na binciken. Za'a iya ɗaukar halin yanzu na stator daga ƙayyadaddun motar. Idan ba a sani ba, ana iya ƙididdige wannan ƙimar ta hanyar rarraba ikon da aka ƙididdige akan ƙimar voltage.

Voltage Constant Inverse
Shigar da tebur ɗin dubawa daidai da matsakaicin saurin da za a iya samu a cikin raunin filin ya yi daidai da kashi ɗayatage na karuwa da sauri na inji daga maras muhimmanci zuwa matsakaicin dabi'u. A cikin abubuwan shigarwar tebur na dubawa, ana rarraba ƙimar daidai gwargwado kuma idan inverse voltage akai-akai don matsakaicin saurin gudu ya wuce kewayon wakilcin lambobi (32,767), daidaita madaidaicin ma'aunin ƙima na Predivision. Lura cewa lambobi masu zuwa an raba su da 2 (duba Hoto 1-1).

Bambancin Inductance
Don bambance-bambancen inductance (LsOver2Ls0), ƙimar farko a cikin tebur ya kamata koyaushe ta zama rabi ɗaya tunda an raba inductance saurin tushe ta ƙimarsa ninki biyu. Wadannan dabi'u yakamata suyi aiki don yawancin injina.

b) Daidaita ma'aunin lokacin aiki
Idan sakamakon gudanar da software a cikin waɗannan yanayi zai dakatar da motar da sauri fiye da yadda ake buƙata, saboda gaskiyar cewa tebur ɗin binciken yana cike da ƙima mai ƙima, wanda a wani lokaci bai dace da ainihin abubuwan da ba na layi ba. Da zarar motar ta tsaya, nan da nan dakatar da aiwatar da shirin, tare da ɗaukar ƙimar fihirisar (FdWeakParm.qIndex) a cikin tagar agogon gyara gyara. Fihirisar tana nuna maki inda ƙimar IDREF (duba teburin IDREF a Mataki na 5a), cikin tsari mai hawa, ba su da tasiri kuma yakamata a sabunta su. Don ƙara haɓaka aikin, ƙimar da fihirisar yanzu ta nuna a cikin tebur ɗin nema yakamata a maye gurbinsu da ƙimar da aka nuna ta fihirisar gaba (FdWeakParm.qIndex + 1) kuma yakamata a sake duba halayen motar. Gudun da za a iya cimma ya kamata ya ƙaru da maimaita wannan tsari na sau da yawa za a kai matsakaicin matsakaicin gudun maƙasudin na yanzu da aka sanya akan d-axis. Idan matsakaicin saurin da aka samu don halin yanzu na yanzu ya yi ƙasa da wanda aka yi niyya, ya kamata a ƙara ƙimar ƙimar d-axis na yanzu sama da ƙimar ƙima. A matsayin exampko, idan 5500 RPM ba za a iya isa ba, canza IDREF_SPEED17 na yanzu daga -1.53 zuwa -1.60 kuma a sake gwadawa. Ya kamata a fara haɓakar ma'anar d halin yanzu daga ƙimar da ma'anar ta nuna inda motar ta tsaya. Ya kamata ma'aunin ma'auni ya dace da ainihin saurin motar, wanda aka auna a madaidaicin ta amfani da tachometer, la'akari da cewa ana ƙididdige ma'aunin bincike ta amfani da saurin tunani, ba ainihin gudun ba. Da zarar haɓakar d-current ya daina ƙara saurin gudu (ƙara halin yanzu da yawa zai dakatar da motar gabaɗaya), maƙasudin da ke daidai da rumbun zai nuna inda ya kamata a daidaita ƙimar inductance (ƙara ko rage ƙimarsa). Teburin neman bambance-bambancen inductance shine na ƙarshe da aka sabunta.

Kula da cikakkun bayanai masu zuwa na fasalin kariyar lambar akan na'urorin Microchip:

Samfuran Microchip sun hadu da ƙayyadaddun bayanai da ke ƙunshe a cikin takamaiman takaddar bayanan Microchip ɗin su.
Microchip ya yi imanin cewa dangin samfuran sa na ɗaya daga cikin mafi amintattun iyalai iri iri a kasuwa a yau, lokacin da aka yi amfani da su ta hanyar da aka yi niyya kuma ƙarƙashin yanayin al'ada.
Akwai rashin gaskiya da yiwuwar haramtattun hanyoyin da ake amfani da su don keta fasalin kariyar lambar. Duk waɗannan hanyoyin, bisa ga iliminmu, suna buƙatar amfani da samfuran Microchip ta hanyar da ba ta dace da ƙayyadaddun aiki ba da ke ƙunshe a cikin Fayil ɗin Bayanan Microchip. Mai yiyuwa ne, mai yin haka ya tsunduma cikin satar dukiya.

Microchip yana shirye ya yi aiki tare da abokin ciniki wanda ya damu game da amincin lambar su.
Babu Microchip ko kowane masana'anta na semiconductor ba zai iya ba da garantin amincin lambar su ba. Kariyar lambar baya nufin cewa muna ba da garantin samfurin a matsayin "marasa karyewa."

Kariyar lambar tana ci gaba da haɓakawa. Mu a Microchip mun himmatu don ci gaba da haɓaka fasalin kariyar lambar samfuranmu. Ƙoƙarin karya fasalin kariyar lambar Microchip na iya zama cin zarafin Dokar Haƙƙin mallaka na Millennium Digital. Idan irin waɗannan ayyukan suna ba da izinin shiga software ɗinku ba tare da izini ba ko wasu aikin haƙƙin mallaka, kuna iya samun haƙƙin kai ƙara don taimako a ƙarƙashin waccan Dokar.

Bayanin da ke cikin wannan ɗaba'ar game da aikace-aikacen na'ura da makamantansu ana bayar da su ne kawai don jin daɗin ku kuma ana iya maye gurbinsu da sabuntawa. Alhakin ku ne don tabbatar da cewa aikace-aikacenku ya dace da ƙayyadaddun bayananku. MICROCHIP BA YA YI WAKILI KO GARANTI KOWANE IRI KO BAYANI KO BAYYANA, RUBUTU KO BAKI, SHARI'A KO SAURAN BA, DANGANE DA BAYANIN, GAME DA AMMA BAI IYA IYA DOLE GA HANYA, IYAKA BA, MANUFAR. Microchip ya musanta duk wani alhaki da ya taso daga wannan bayanin da amfaninsa. Amfani da na'urorin Microchip a cikin tallafin rayuwa da/ko aikace-aikacen aminci gabaɗaya yana cikin haɗarin mai siye, kuma mai siye ya yarda ya kare, ramuwa da riƙe Microchip mara lahani daga kowane lalacewa, da'awar, dacewa, ko kashe kuɗi sakamakon irin wannan amfani. Ba a isar da lasisi, a fakaice ko akasin haka, ƙarƙashin kowane haƙƙin mallaka na Microchip.

Alamomin kasuwanci

Sunan Microchip da tambari, tambarin Microchip, dsPIC, KEELOQ, tambarin KEELOQ, MPLAB, PIC, PICmicro, PICSTART, tambarin PIC32, rfPIC da UNI/O alamun kasuwanci ne masu rijista na Microchip Technology Incorporated a cikin Amurka da sauran ƙasashe. FilterLab, Hampshire, HI-TECH C, Linear Active Thermistor, MXDEV, MXLAB, SEEVAL da The Embedded Control Solutions Company alamun kasuwanci ne masu rijista na Microchip Technology Incorporated a cikin Amurka Analog-for-the-Digital Age, Application Maestro, CodeGuard, dsPICDEM, dsPICDEM. net, dsPICworks, dsSPEAK, ECAN, ECONOMONITOR, FanSense, HI-TIDE, In-Circuit Serial Programming, ICSP, Mindi, MiWi, MPASM, MPLAB Tambarin Bokan, MPLIB, MPLINK, mTouch, Octopus, Ƙwararrun Ƙwararrun Ƙwararru, PICC, PICC, 18, PICDEM, PICDEM.net, PICkit, PICtail, REAL ICE, rfLAB, Zaɓi Yanayin, Jimillar Jimiri, TSHARC, UniWinDriver, WiperLock da ZENA alamun kasuwanci ne na Fasahar Microchip Haɗa a cikin Amurka da wasu ƙasashe. SQTP alamar sabis ce ta Microchip Technology Incorporated a cikin Amurka Duk sauran alamun kasuwanci da aka ambata a ciki mallakin kamfanoni ne. © 2010, Microchip Technology Incorporated, Buga a cikin Amurka, Duk hakkoki.

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