STM32 Motor Control SDK 6 Step Firmware Sensor Less Parameter
Zofotokozera
- Dzina lazogulitsa: STM32 motor control SDK - 6-step firmware sensor-less parameter kukhathamiritsa
- Nambala ya Model: UM3259
- Kusinthidwa: Rev 1 - Novembala 2023
- Wopanga: STMicroelectronics
- Webtsamba: www.st.com
Zathaview
Zogulitsazo zimapangidwira ntchito zowongolera magalimoto pomwe malo ozungulira amafunika kutsimikiziridwa popanda kugwiritsa ntchito masensa. Firmware imakonzekeretsa magawo kuti azigwira ntchito mocheperako, ndikupangitsa kuti kulumikizana kwa masitepe ndi malo a rotor.
Kuzindikira kwa BEMF Zero-Crossing:
The back electromotive force (BEMF) waveform amasintha ndi malo ozungulira komanso liwiro. Njira ziwiri zilipo zowunikira kuti ziro-woloka:
Kubwerera kwa EMF pa nthawi ya PWM OFF-NTHAWI: Pezani gawo loyandama voltage ndi ADC pomwe palibe kuyenda kwapano, kuzindikiritsa kuwoloka ziro potengera poyambira.
Kubwerera kwa EMF pa nthawi ya PWM ON-time: Center=tap voltage kufika theka la basi voltage, kuzindikira kuwoloka ziro kutengera poyambira (VS / 2).
STM32 motor control SDK - 6-step firmware-less parameter kukhathamiritsa
Mawu Oyamba
Chikalatachi chikufotokoza momwe mungakwaniritsire magawo osinthika a 6-step, sensor-less algorithm. Cholinga chake ndikupeza njira yoyambira yosalala komanso yofulumira, komanso khalidwe lokhazikika lotsekeka. Kuonjezera apo, chikalatacho chikufotokozeranso momwe mungafikire kusintha koyenera pakati pa EMF zero-kuwoloka zero panthawi ya PWM OFF-time ndi PWM ON-time pamene mukuyendetsa galimoto pa liwiro lalikulu ndi vol.tagnjira yoyendetsera galimoto. Kuti mudziwe zambiri za 6-step firmware algorithm ndi voltage/njira yoyendetsera pano, tchulani bukhu lothandizira lomwe likuphatikizidwa mu phukusi la zolemba za X-CUBE-MCSDK.
Acronyms ndi achidule
| Mwachidule | Kufotokozera |
| Zithunzi za MCSDK | Motor control software development kit (X-CUBE-MCDK) |
| HW | Zida zamagetsi |
| IDE | Integrated chitukuko chilengedwe |
| MCU | Microcontroller unit |
| GPIO | Zothandizira zonse / zotuluka |
| ADC | Analogi-to-digital converter |
| VM | VoltagNjira zake |
| SL | Sensor-zochepa |
| BEMF | Kumbuyo electromotive mphamvu |
| FW | Firmware |
| ZC | Kuwoloka ziro |
| GUI | Mawonekedwe a ogwiritsa ntchito |
| MC | Kuwongolera magalimoto |
| OCP | Chitetezo chambiri |
| PID | Proportional-integral-derivative (wolamulira) |
| SDK | Zida zopangira mapulogalamu |
| UI | Mawonekedwe a ogwiritsa ntchito |
| MC workbench | Chida chowongolera ma mota, gawo la MCSDK |
| Woyendetsa galimoto | Chida choyendetsa galimoto, gawo la MCSDK |
Zathaview
Mumayendedwe a 6-step sensor-less drive mode, firmware imagwiritsa ntchito mphamvu yakumbuyo ya electromotive (BEMF) yomwe imamveka panthawi yoyandama. Udindo wa rotor umapezeka pozindikira zero kuwoloka kwa BEMF. Izi zimachitika kawirikawiri pogwiritsa ntchito ADC, monga momwe tawonetsera pa Chithunzi 1. Makamaka, pamene mphamvu ya maginito ya rotor idutsa gawo la Z-Z, lolingana la BEMF vol.tage amasintha chizindikiro chake (kuwoloka ziro). Mtengo wa BEMFtage ikhoza kusinthidwa pazolowetsa za ADC, chifukwa cha netiweki yotsutsa yomwe imagawaniza voltage akubwera kuchokera ku gawo lamagalimoto.
Komabe, popeza chizindikiro cha BEMF ndi chofanana ndi liwiro, malo a rotor sangadziwike poyambira, kapena pa liwiro lotsika kwambiri. Chifukwa chake, injiniyo iyenera kuthamangitsidwa pamalo otseguka mpaka volyumu yokwanira ya BEMFtage wafika. Kuti BEMF voltage amalola kulunzanitsa kwa sitepe commutation ndi malo rotor.
M'ndime zotsatirazi, ndondomeko yoyambira ndi ntchito yotsekedwa, pamodzi ndi magawo oti muwayike, akufotokozedwa.
Kuzindikira kwa BEMF zero-kudutsa
Kumbuyo kwa EMF waveform ya brushless motor imasintha pamodzi ndi malo ozungulira ndi liwiro ndipo ili mu mawonekedwe a trapezoidal. Chithunzi 2 chikuwonetsa mawonekedwe amtundu wa EMF wapano ndi kumbuyo kwa nthawi imodzi yamagetsi, pomwe mzere wolimba umayimira zomwe zikuchitika (ma ripples amanyalanyazidwa chifukwa chosavuta), mzere wodukiza umayimira mphamvu yakumbuyo ya electromotive, ndipo cholumikizira chopingasa chimayimira magetsi. kawonedwe ka kasinthasintha wamagalimoto.
Pakati pa magawo awiri aliwonse osinthira magawo amafanana ndi mfundo imodzi yomwe polarity yamphamvu yakumbuyo imasinthidwa: zero-woloka-mfundo. Pamene zero-woloka mfundo imadziwika, nthawi yosinthira gawo imayikidwa pambuyo pa kuchedwa kwa magetsi kwa 30 °. Kuti muwone kuwoloka kwa ziro kwa BEMF, dinani pakatikati voltagndiyenera kudziwika. Pampopi wapakati ndi wofanana ndi pomwe magawo atatu agalimoto amalumikizidwa palimodzi. Ma motors ena amapangitsa kuti bomba lapakati lipezeke. Nthawi zina, imatha kumangidwanso kudzera mu voltagndi magawo. Ndondomeko ya 6-step algorithm yomwe yafotokozedwa apa imatenga advantage za kukhalapo kwa netiweki yozindikira ya BEMF yolumikizidwa ndi magawo amagalimoto omwe amalola kuwerengera mphamvu yapampopi yapakatitage.
- Njira ziwiri zosiyana zilipo pozindikiritsa malo odutsa ziro
- Kubwereranso kwa EMF panthawi ya PWM OFF-time
- Kubwereranso kwa EMF pa nthawi ya PWM ON-time (yomwe ikuthandizidwa ndi voltage mode yokha)
Panthawi ya PWM OFF-nthawi, gawo loyandama voltage imatengedwa ndi ADC. Popeza palibe mpweya womwe ukuyenda mu gawo loyandama, ndipo zina ziwirizo zimalumikizidwa pansi, pamene BEMF imadutsa ziro mu gawo loyandama, imakhala ndi polarity yofanana ndi yosiyana pazigawo zina: papampopi wapakati.tage ndiye zero. Choncho, zero-woloka mfundo imadziwika pamene kutembenuka kwa ADC kukwera pamwamba, kapena kugwera pansi, gawo lofotokozedwa.
Kumbali ina, panthawi ya PWM ON-nthawi, gawo limodzi limalumikizidwa ndi basi voltage, ndi wina pansi (Chithunzi 3). Mu chikhalidwe ichi, chapakati kampopi voltage kufika theka la basi voltagndi ofunika pamene BEMF mu gawo loyandama ndi ziro. Monga kale, zero-woloka malo amadziwika pamene kutembenuka kwa ADC kukwera pamwamba (kapena kugwera pansi) malo otchulidwa. Chotsatiracho chikufanana ndi VS / 2.
BEMF sensing network design
Pachithunzi 4 maukonde omwe amagwiritsidwa ntchito kwambiri kuti amve BEMF akuwonetsedwa. Cholinga chake ndikugawa gawo la motor voltage kuti apezeke bwino ndi ADC. Miyezo ya R2 ndi R1 iyenera kusankhidwa molingana ndi basi voltagndi level. Wogwiritsa ntchito ayenera kudziwa kuti kugwiritsa ntchito chiŵerengero cha R1 / (R2 + R1) chotsika kwambiri kuposa chofunikira, chizindikiro cha BEMF chikhoza kukhala chotsika kwambiri ndipo kulamulira sikungakhale kokwanira.
Kumbali ina, chiŵerengero chapamwamba kuposa chofunikira chingapangitse kuyatsa / kuzimitsa pafupipafupi kwa ma diode oteteza a D1 omwe kuchira kwawo kumatha kubweretsa phokoso. Mtengo wovomerezeka ndi:
Makhalidwe otsika kwambiri a R1 ndi R2 ayenera kupewedwa kuti achepetse kuchuluka kwa zomwe zatulutsidwa kuchokera pagawo la mota.
R1 nthawi zina imalumikizidwa ndi GPIO m'malo mwa GND. Imalola ma netiweki kuti ayambitse kapena kuyimitsidwa.
Mu 6-step firmware, GPIO nthawi zonse imakhala yokonzanso ndipo maukonde amayatsidwa. Komabe, kukhalapo komaliza kwa D3 kuyenera kuganiziridwa pokhazikitsa ma BEMF kuti amve panthawi ya PWM ON-time: nthawi zambiri amawonjezera 0.5÷0.7 V kumalo abwino.
C1 ndicholinga chosefera ndipo siyenera kuchepetsa bandwidth ya siginecha mumitundu yama frequency a PWM.
D4 ndi R3 ndizotulutsa mwachangu ma nodi ya BEMF_SENSING_ADC panthawi yamayendedwe a PWM, makamaka pama voliyumu apamwamba.tagmatabwa e.
Ma diode a D1 ndi D2 ndi osankha ndipo akuyenera kuonjezedwa pokhapokha ngati pali chiopsezo chophwanya mavoti apamwamba a BEMF omwe amamva ADC.
Kukhathamiritsa kwa magawo owongolera algorithm
Ndondomeko yoyambira
Njira yoyambira nthawi zambiri imakhala ndi kutsatizana kwa masekondi atatutages:
- Kuyanjanitsa. Rotor imalumikizidwa pamalo okonzedweratu.
- Open-loop mathamangitsidwe. VoltagE pulses amagwiritsidwa ntchito motsatizananiratu kuti apange mphamvu ya maginito yomwe imapangitsa kuti rotor iyambe kuzungulira. Mlingo wa kutsatizana ukuwonjezeka pang'onopang'ono kulola kuti rotor ifike pa liwiro linalake.
- Kusinthana. Rotor ikafika pa liwiro linalake, ma aligorivimu amasinthira kumayendedwe otsekeka a masitepe 6 kuti azitha kuyendetsa liwiro ndi mayendedwe ake.
Monga shwn mu Chithunzi 5, wogwiritsa ntchito amatha kusintha magawo oyambira mu MC workbench asanapange code. Pali njira ziwiri zoyendetsera galimoto:
- Voltage mode. Ma algorithm amawongolera liwiro posintha magwiridwe antchito a PWM omwe amagwiritsidwa ntchito pamagawo agalimoto: chandamale Phase Vol.tage imatanthauziridwa pagawo lililonse la oyambira oyambirafile
- Mawonekedwe apano. Ma algorithm amawongolera liwiro posintha zomwe zikuyenda m'magawo agalimoto: Chandamale chapano chimatanthauzidwa pagawo lililonse la pro yoyambira.file
Chithunzi 5. Zoyambira zoyambira mu MC workbench
Kuyanjanitsa
Mu Chithunzi 5, Gawo 1 nthawi zonse limagwirizana ndi gawo la kuyanjanitsa. Rotor imagwirizana ndi malo a 6-step pafupi ndi "Initial magetsi angle".
Ndikofunika kuzindikira kuti, mwachisawawa, nthawi ya Phase 1 ndi 200 ms. Munthawi imeneyi ntchito yozungulira imachulukitsidwa motsatana kuti ifike pagawo la Voltage (Phase Current, ngati njira yoyendetsera pano yasankhidwa). Komabe, ndi ma motors okulirapo kapena ngati kuzizira kwambiri, nthawi yomwe akuyembekezeredwa, kapenanso gawo lomwe mukufuna.tage/Yapano ikhoza kukhala yosakwanira kuyambitsa kuzungulira.
Pachithunzithunzi 6, kufananitsa pakati pa kusanja kolakwika ndi koyenera kwaperekedwa.
Ngati mtengo wamtengo wapatali kapena nthawi ya Gawo 1 sikokwanira kukakamiza rotor pamalo oyambira, wogwiritsa ntchito amatha kuwona mota ikugwedezeka popanda kuyamba kuzungulira. Pakali pano, mayamwidwe panopa akuwonjezeka. Munthawi yoyamba yoyambira, kuwonjezereka kwapano, koma torque sikokwanira kuthana ndi inertia ya injini. Pamwamba pa Chithunzi 6 (A), wogwiritsa ntchito amatha kuona kuwonjezeka kwaposachedwa. Komabe, palibe umboni wa BEMF: galimotoyo imayimitsidwa. Njira yothamangitsira ikangoyambika, malo osatsimikizika a rotor amalepheretsa ma algorithm kuti amalize njira yoyambira ndikuyendetsa mota.
Kuwonjezeka kwa voliyumutage/panopa gawo 1 ikhoza kukonza vutoli.
Mu voltage mode, chandamale voltage poyambira akhoza makonda ndi Motor Pilot popanda kufunika regenerate kachidindo. Mu Motor Pilot, mu rev-up gawo, yemweyo mathamangitsidwe ovomerezafile ya Chithunzi 1 imanenedwa (onani Chithunzi 7). Onani kuti apa voltagGawo la e litha kuwonetsedwa ngati kugunda komwe kumayikidwa mu kaundula wa timer (S16A unit), kapena molingana ndi mphamvu yotulutsa.tage (Vrms unit).
Wogwiritsa ntchito akapeza zofunikira zomwe zimagwirizana bwino ndi mota, mfundozi zitha kukhazikitsidwa mu projekiti ya MC workbench. Zimalola kukonzanso kachidindo kuti mugwiritse ntchito mtengo wokhazikika. Njira yomwe ili pansipa ikufotokoza mgwirizano pakati pa voltage gawo mu Vrms ndi S16A mayunitsi.
Mumayendedwe aposachedwa, mu Motor Pilot GUI, chandamale chandamale chimangowonetsedwa mu S16A. Kutembenuka kwake mu ampere zimatengera mtengo wa shunt ndi ampkupindula kwa liification komwe kumagwiritsidwa ntchito pakali pano limiter circuitry.
Open-loop mathamangitsidwe
Mu Chithunzi 5, Gawo 2 likufanana ndi gawo lofulumira. Kutsatizana kwa masitepe 6 kumagwiritsidwa ntchito kufulumizitsa galimotoyo potsegula-loop, motero, malo a rotor sakugwirizanitsidwa ndi ndondomeko ya 6. Magawo apano ndi apamwamba kuposa momwe angakwaniritsire ndipo torque ndiyotsika.
Mu MC workbench (Chithunzi 5) wogwiritsa ntchito akhoza kufotokozera gawo limodzi kapena zingapo zowonjezera. Makamaka, kwa mota yokulirapo, tikulimbikitsidwa kuti ifulumizitse ndi pang'onopang'ono ramp kugonjetsa inertia musanachite chokwera ramp. Pa gawo lililonse, ntchito yozungulira imachulukitsidwa motsatana kuti ifike pa cholinga chomaliza cha voliyumutage/gawo lapano la gawolo. Choncho, zimakakamiza kusintha kwa magawo pa liwiro lofanana lomwe likuwonetsedwa patebulo lokonzekera lomwelo.
Mu chithunzi 8, kufananitsa pakati pa mathamangitsidwe ndi voltagGawo (A) lotsika kwambiri ndipo loyenera (B) limaperekedwa.
Ngati chandamale voltage/panopa gawo limodzi kapena nthawi yake sikokwanira kulola mota kuti ifike pa liwiro lofananiralo, wogwiritsa ntchito amatha kuwona mota ikusiya kupota ndikuyamba kunjenjemera. Pamwamba pa Chithunzi 8, zamakono zimawonjezeka mwadzidzidzi pamene galimoto imayima pamene, ikathamanga bwino, panopa imawonjezeka popanda discontinuities. Ikayima motere, njira yoyambira imalephera.
Kuwonjezeka kwa voliyumutage/panopa gawo likhoza kuthetsa vutoli.
Kumbali ina, ngati voltagE/panopa gawo lomwe limatanthauzidwa ndilokwera kwambiri, popeza galimoto ikuyenda mopanda malire potseguka, yapano imatha kukwera ndikufikira kupitilira. Galimotoyo imayima mwadzidzidzi, ndipo alamu yowonjezereka ikuwonetsedwa ndi Motor Pilot. Makhalidwe apano akuwonetsedwa mu Chithunzi 9.
Kuchepetsa voltage/panopa gawo likhoza kuthetsa vutoli.
Monga sitepe yolumikizana, chandamale voltage/current ikhoza kusinthidwa nthawi yogwiritsira ntchito poyambira ndi Motor Pilot popanda kufunika kokonzanso kachidindo. Kenako, itha kukhazikitsidwa mu projekiti ya MC workbench pomwe malo oyenera adziwika.
Kusinthana
Gawo lomaliza la njira yoyambira ndikusinthira. Pa sitepe iyi, algorithm imagwiritsa ntchito BEMF yomveka kuti ilumikizane ndi masitepe 6 ndi malo ozungulira. Kusinthana kumayambira mu gawo lomwe likuwonetsedwa pagawo lomwe likufotokozedwa mu Chithunzi 10. Imasinthidwa mu gawo loyambira la sensor-low startup ya MC workbench.
Pambuyo pa chizindikiro chodziwika bwino cha BEMF chodutsa ziro (kuti mukwaniritse izi onani Gawo 2.1), ndondomekoyi imasinthira ku ntchito yotseka. Kusintha kwa kusinthaku kungalephereke chifukwa chazifukwa izi:
- Liwiro losinthira silinakonzedwe bwino
- Kupindula kwa PI kwa liwiro la loop ndikokwera kwambiri
- Malo oti muzindikire chochitika cha BEMF chodutsa ziro sanakhazikitsidwe bwino
Liwiro losinthira silinakonzedwe bwino
Liwiro lomwe kusinthaku kumayambira kumakhala kofanana ndi liwiro loyambilira lomwe lingakonzedwe mugawo lokhazikitsa ma drive a MC workbench. Wogwiritsa ntchitoyo ayenera kudziwa kuti, liwiro likangotsekeka, injiniyo imathamangitsidwa nthawi yomweyo kuchokera pa liwiro losinthira kupita ku liwiro lomwe mukufuna. Ngati zikhalidwe ziwirizi zili kutali kwambiri, kulephera kopitilira muyeso kumatha kuchitika.
PI imapindula pa liwiro lokwera kwambiri
Panthawi yosinthira, algorithm imayenda kuchokera kukakamiza kutsatizana komwe kwafotokozedweratu kuti kuyeza liwiro ndikuwerengera zomwe zimatuluka molingana. Chifukwa chake, amalipira liwiro lenileni lomwe liri chifukwa cha kuthamangitsidwa kotseguka. Ngati zopindulitsa za PI ndizokwera kwambiri, kusakhazikika kwakanthawi kumatha kuchitika, koma kungayambitse kulephera kopitilira muyeso ngati kukokomeza.
Chithunzi 11 chikuwonetsa ndi exampKusakhazikika kotereku panthawi yakusintha kuchoka panjira yotseguka kupita ku ntchito yotseka.
Zolakwika za BEMF
- Ngati malire olakwika a BEMF akhazikitsidwa, kuwoloka ziro kumazindikirika pasadakhale kapena mochedwa. Izi zimabweretsa zotsatira zazikulu ziwiri:
- Mafundewa ndi asymmetric ndipo kuwongolera kosakwanira kumatsogolera ku ma torque apamwamba (Chithunzi 12)
- Kuthamanga kwa liwiro kumakhala kosakhazikika poyesa kubweza ma ripples a torque
- Wogwiritsa ntchito amatha kuwongolera liwiro losakhazikika ndipo, zikavuta kwambiri, kulumikizidwa kwagalimoto ndikuwongolera komwe kumatsogolera ku zochitika mopitilira muyeso.
- Kukhazikitsa koyenera kwa BEMF ndikofunikira kuti ma algorithm azichita bwino. Mipata imadaliranso mphamvu ya basitage value ndi network yozindikira. Ndikoyenera kulozera ku Gawo 2.1 kuti muwone momwe mungalumikizire voliyumutage misinkhu yodziwika yomwe yakhazikitsidwa mu MC workbench.
Kugwira ntchito kotseka
Ngati injiniyo imaliza gawo lothamangitsira, BEMF zero-woloka imadziwika. Rotor imagwirizanitsidwa ndi ndondomeko ya masitepe 6 ndipo ntchito yotsekedwa imapezedwa. Komabe, kukhathamiritsa kwina kwa parameter kumatha kuchitidwa kuti ziwoneke bwino.
Mwachitsanzo, monga tafotokozera mu Gawo 3.1.3 lapitalo ("Zolakwika za BEMF zolowera"), liwiro lothamanga, ngakhale likugwira ntchito, limatha kuwoneka ngati losakhazikika ndipo malire a BEMF angafunikire kuwongolera.
Kuphatikiza apo, izi ziyenera kuganiziridwa ngati mota ifunsidwa kuti igwire ntchito yothamanga kwambiri kapena yoyendetsedwa ndi kuchuluka kwa ntchito ya PWM:
PWM pafupipafupi
- Speed loop PI imapindula
- Demagnetization blanking nthawi gawo
- Kuchedwerako pakati pa kuwoloka ziro ndi kuyenda masitepe
- Sinthani pakati pa PWM OFF-time ndi ON-time sensing
PWM pafupipafupi
Sensor-less 6-step algorithm imapangitsa kupeza BEMF kuzungulira kulikonse kwa PWM. Kuti muzindikire bwino zochitika zodutsa ziro, kuchuluka kokwanira kogula kumafunika. Monga lamulo, kuti zigwire bwino ntchito, zosachepera 10 zogulira ma angles amagetsi 60 zimapereka kulumikizana kwabwino komanso kokhazikika kwa rotor.
Choncho
Speed loop PI imapindula
Kupeza kwa Speed Loop PI kumakhudza kuyankha kwa mota ku lamulo lililonse lakuthamangitsa kapena kutsika. Kufotokozera mwachidziwitso momwe PID wowongolera amagwirira ntchito ndikupitilira chikalatachi. Komabe, wogwiritsa ntchito ayenera kudziwa kuti zowongolera zowongolera liwiro zimatha kusinthidwa panthawi yothamanga kudzera pa Motor Pilot ndikusinthidwa momwe mukufunira.
Demagnetization blanking nthawi gawo
The demagnetization ya gawo loyandama ndi nthawi pambuyo pa kusintha kwa mphamvu ya gawo pomwe, chifukwa cha kutulutsa komweko (Chithunzi 14), kuwerenga kwa EMF kumbuyo sikudalirika. Chifukwa chake, algorithm iyenera kunyalanyaza chizindikirocho chisanathe. Nthawi imeneyi imatanthauzidwa mu MC workbench ngati peresentitage wa sitepe (madigiri 60 amagetsi) ndipo nthawi yothamanga imatha kusinthidwa kudzera mu Pilot wa Magalimoto monga momwe tawonetsera pa Chithunzi 15. Kukwera kwa liwiro la mota, kumapangitsa kuti nthawi ya demagnetization ifulumire. The demagnetization, mwachisawawa, imafika malire otsika omwe amaikidwa ku ma PWM atatu pa 2/3 ya liwiro lalikulu kwambiri. Ngati gawo la inductance la mota ndi lotsika ndipo silifuna nthawi yochulukirapo kuti lichotse maginito, wogwiritsa ntchito amatha kuchepetsa nthawi ya masking kapena liwiro lomwe nthawi yochepa imayikidwa. Komabe, sizikulimbikitsidwa kuti muchepetse nthawi yobisala pansi pa 2 - 3 PWM cycles chifukwa kulamulira kungayambitse kusakhazikika kwadzidzidzi panthawi yosintha.
Kuchedwerapo pakati pa BEMF kuwoloka ziro ndi kusuntha masitepe
Chochitika cha BEMF chodutsa zero chikadziwika, algorithm nthawi zambiri imadikirira madigiri amagetsi a 30 mpaka kusintha kotsatizana kwa masitepe (Chithunzi 16). Mwanjira iyi, kuwoloka kwa zero kumayikidwa pakatikati pa sitepe kuti ikwaniritse bwino kwambiri.
Popeza kuti kulondola kwa chidziwitso cha zero-kudutsa kumadalira kuchuluka kwa zogula, chifukwa chake pa mafupipafupi a PWM (onani Gawo 3.2.1), kulondola kwa kuzindikira kwake kungakhale kofunikira pa liwiro lalikulu. Kenako imapanga mawonekedwe owoneka bwino a ma waveform ndi kupotoza kwapano (onani Chithunzi 17). Izi zitha kulipidwa pochepetsa kuchedwa pakati pa kuzindikira ziro-kudutsa ndikusintha masitepe. Kuchedwa kwa Zero-kuwoloka kungasinthidwe nthawi yothamanga ndi wogwiritsa ntchito kudzera pa Motor Pilot monga momwe chithunzi 18 chikusonyezera.
Sinthani pakati pa PWM OFF-time ndi ON-time sensing
Pomwe mukuwonjezera liwiro kapena katundu wapano (ndiko kunena kuti torque yamoto), kuzungulira kwa ntchito yoyendetsa PWM kumawonjezeka. Choncho, nthawi ya sampKuchepetsa kwa BEMF panthawi yopuma kumachepetsedwa. Kuti afikire 100% ya ntchito, kutembenuka kwa ADC kumayambika panthawi ya ON-time ya PWM, motero kusintha kuchokera ku BEMF sensing pa PWM OFF-time kupita ku PWM ON-time.
Kukonzekera kolakwika kwa mabwalo a BEMF pa nthawi ya ON-nthawi kumatsogolera kuzinthu zomwezo zomwe zafotokozedwa mu Gawo 3.1.3 ("Zolakwika za BEMF thresholds").
Mwachikhazikitso, BEMF ON-sensing thresholds imayikidwa theka la voltage (onani Gawo 2.1). Wogwiritsa ntchito ayenera kuganizira kuti malire enieni amadalira mphamvu ya basitage value and sensor network. Tsatirani zomwe zili mu Gawo 2.1 ndikuwonetsetsa kuti mwasiyanitsidwa ndi voliyumutage mulingo wazomwe zimayikidwa mu MC workbench.
Makhalidwe a ma threshold ndi ntchito ya PWM pomwe ma aligorivimu amasinthasintha pakati pa OFF ndi ON-sensing amatha kusinthidwa nthawi yake kudzera pa Motor Pilot (Chithunzi 19) ndipo amapezeka mu Vol.tage mode kuyendetsa kokha.
Kusaka zolakwika
Kodi ndiyenera kusamalira chiyani kuti ndiyendetse bwino injini yokhala ndi sensa yocheperako 6-step algorithm? kulunzanitsa rotor ndi algorithm yowongolera. Kuyeza koyenera kwa ma siginecha a BEMF kuli pamapangidwe abwino a netiweki ya BEMF (onani Gawo 6). Cholinga cha voltage (voltagKuyendetsa kwa e mode) kapena kwapano (kuyendetsa pano) panthawi yoyambira zimatengera magawo agalimoto. Tanthauzo (ndipo pamapeto pake nthawi) ya voltagGawo la e/panopa pakulumikizitsa, kuthamangitsa, ndi kusintha njira zosinthira ndizofunikira kuti zinthu ziziyenda bwino (onani Gawo 3).
Pamapeto pake, kulunzanitsa kwa rotor ndikutha kukulitsa liwiro la mota mpaka liwiro lovotera kumadalira kukhathamiritsa kwa ma frequency a PWM, ma BEMF thresholds, demagnetization nthawi ndi kuchedwa pakati pa kuzindikira kwa zero-kuwoloka ndi kuyenda, monga tafotokozera mu Gawo 3.2.
Kodi mtengo woyenera wa BEMF resistor divider ndi chiyani?
Wogwiritsa ntchito ayenera kudziwa kuti mtengo wolakwika wa BEMF resistor divider ukhoza kuchotsa mwayi uliwonse woyendetsa bwino galimotoyo. Kuti mumve zambiri za momwe mungapangire netiweki ya BEMF, onani Gawo 2.1.
Kodi ndingakonze bwanji ndondomeko yoyambira?
- Kuti muwongolere njira yoyambira, tikulimbikitsidwa kuwonjezera nthawi ya gawo lililonse la gawo la rev-up mpaka masekondi angapo. Ndiye ndizotheka kumvetsetsa ngati galimotoyo ifulumizitsa bwino, kapena pa liwiro / sitepe ya njira yotseguka yomwe imalephera.
- Sikoyenera kufulumizitsa injini ya inertia yapamwamba yokhala ndi r otsetsereka kwambiriamp.
- Ngati voltagGawo la e kapena gawo lapano ndilotsika kwambiri, malo ogulitsira magalimoto. Ngati ndipamwamba kwambiri, overcurrent imayambitsidwa. Pang'onopang'ono kuwonjezera voliyumutagndi gawo (voltagKuyendetsa kwa e mode) kapena kwaposachedwa (kuyendetsa kwakanthawi kwakanthawi) panthawi yolumikizana ndi mathamangitsidwe amalola wogwiritsa ntchito kumvetsetsa kuchuluka kwa ntchito yagalimoto. Zoonadi, zimathandiza kupeza optimum.
- Pankhani yosinthira ku ntchito yotsekedwa, zopindula za PI ziyenera kuchepetsedwa poyamba kuti zisamaphatikizepo kuti kutayika kwa kulamulira kapena kusakhazikika kumachitika chifukwa cha kuthamanga kwachangu. Pakadali pano, kutsimikiza kuti netiweki yomvera ya BEMF idapangidwa moyenera (onani Gawo 2.1) komanso chizindikiro cha BEMF chopezedwa bwino ndikofunikira. Wogwiritsa atha kupeza kuwerenga kwa BEMF, ndikuikonza mu Motor Pilot (onani Chithunzi 20) posankha zolembera zomwe zilipo BEMF_U, BEMF_V ndi BEMF_U mu gawo la ASYNC la chida. injiniyo ikakhala mu Run state, liwiro la loop controller limatha kukonzedwa. Kuti mumve zambiri kapena kukhathamiritsa kwa magawo, onani Gawo 3 ndi Gawo 3.2.
Kodi ndingatani ngati injini sikuyenda poyambira?
- Poyambira, kuchuluka kwa voliyumu kumawonjezekatage (voltagKuyendetsa kwa e mode) kapena kwapano (kuyendetsa kwakanthawi kwakanthawi) kumaperekedwa kumagawo agalimoto. Cholinga chake ndikuchigwirizanitsa pamalo odziwika komanso ofotokozedwatu. Ngati voltage sakwera mokwanira (makamaka ndi ma motors okhala ndi inertia yayikulu nthawi zonse), mota siyikuyenda ndipo njirayo imalephera. Kuti mumve zambiri za mayankho omwe angakhalepo, onani Gawo 3.1.1.
Kodi ndingatani ngati mota simaliza gawo lothamangitsira?
Monga gawo la kuyanjanitsa, mota imachulukitsidwa potseguka poyika volyumu yowonjezereka.tage (voltage-mode drive) kapena pakali pano (momwe mukuyendetsa pano) mpaka magawo agalimoto. Miyezo yosasiyidwa siyimaganizira zodzaza makina omaliza, kapena zosintha zamagalimoto sizolondola komanso/kapena zodziwika. Chifukwa chake, njira yopititsira patsogolo imatha kulephera ndi malo osungiramo magalimoto kapena chochitika chopitilira muyeso. Kuti mumve zambiri za mayankho omwe angakhalepo, onani Gawo 3.1.2.
Chifukwa chiyani injiniyo sisintha kukhala loop yotseka?
Ngati galimotoyo ifulumizitsa bwino kuti ifike pa liwiro koma imayima mwadzidzidzi, chinachake chikhoza kukhala cholakwika mu kasinthidwe ka BEMF kapena wolamulira wa PI apindula. Onani Gawo 3.1.3 kuti mumve zambiri.
Chifukwa chiyani lupu yothamanga ikuwoneka yosakhazikika?
Kuwonjezeka kwa phokoso la muyeso ndi liwiro kumayembekezeredwa popeza kuthamanga kwapamwamba kuli, kutsika kwa chiwerengero cha BEMF s.ampkuzindikirika kwa ziro-woloka ndipo, chifukwa chake, kulondola kwa kuwerengera kwake. Komabe, kusakhazikika kwakukulu kwa liwiro lothamanga kungakhalenso chizindikiro cha zolakwika za BEMF kapena zopindula za PI zomwe sizinakonzedwe bwino, monga momwe zasonyezedwera mu Gawo 3.1.3.
- Kodi ndingawonjezere bwanji liwiro lofikira?
Kuthamanga kwakukulu komwe kungapezeke nthawi zambiri kumakhala kochepa chifukwa cha zinthu zingapo: mafupipafupi a PWM, kutayika kwa kuyanjanitsa (chifukwa cha nthawi yambiri ya demagnetization kapena kuchedwa kolakwika pakati pa kuzindikira zero-kudutsa ndi kusintha kwa masitepe), malo olakwika a BEMF. Kuti mumve zambiri za momwe mungakwaniritsire zinthu izi, onani Gawo 3.2.1, Gawo 3.2.3, Gawo 3.2.4 ndi Gawo 3.2.5.
N’chifukwa chiyani injiniyo imayima mwadzidzidzi pa liwiro linalake?
Zitha kuchitika chifukwa cha kusanjidwa kolakwika kwa PWM pakuzindikira BEMF. Onani Gawo 3.2.5 kuti mumve zambiri.
Mbiri yobwereza
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