MICROCHIP AN1292 Tuning Guide User Guide

MICROCHIP AN1292 Tuning Guide User Guide

Gwaro iri rinopa nhanho-ne-nhanho maitiro ekumhanyisa mota ine algorithm inotsanangurwa mu AN1292 "Sensorless Field Oriented Control (FOC) yePermanent Magnet Synchronous Motor (PMSM) Uchishandisa PLL Estimator uye Munda Weakening (FW)" (DS01292 )

KUGADZIRA SOFTWARE PARAMETERS
Yese iyo mikuru inogadziriswa paramita inotsanangurwa muuserparms.h file. Kugadziriswa kwemaitiro kune chimiro chemukati chenhamba kunoitwa uchishandisa tuning_params.xls Excel® spreadsheet (ona Mufananidzo 1-1). Izvi file inosanganisirwa neiyo AN1292 archive file, inowanikwa kurodha kubva kuMicrochip websaiti (www.microchip.com) Mushure mekupinda ruzivo rwemota uye hardware muspredishiti, iyo yakaverengerwa paramita inoda kuiswa muuserparms.h musoro. file, sezvinoratidzwa nematanho anotevera.

MUFANANIDZO 1-1: tuning_params.xls

STEP 1 – Zadza mu tuning_params.xls Excel spreadsheet nezvinotevera paramita:
a) Peak Voltage
Peak voltage inomiririra bhuku repamusorotage paDC link capacitors. Izvo zvakare
inomiririra DC voltage pachayo kana DC magetsi akabatana neDC link. Kana iyo DC link ichipihwa kubva kune imwechete-chikamu bhiriji rekugadzirisa, iyo AC peak vol.tage yakabatanidzwa kune inogadzirisa:

V ACpeak V ACrms = √ 2

b) Peak Current
Peak ikozvino inomiririra iyo yakanyanya kukosha chaiyo yezvino iyo inogona kumiririrwa mukati, iyo inoenderana nekutora block. Tichifunga nezve yakanyanya kupinza kuADC ye3.3V, kuwana kwekutora dunhu uye kukosha kweiyo shunts yemazuva ano inotarisisa iyo yakanyanya kukosha yezvino inozokodzera kune dsPIC® DSC yemukati nhamba inomiririra. Sezvineiwo, ikozvino iyo inomiririra nhamba yemukati iri pamuganho wepamusoro, inomiririra peak ikozvino sezvo inogona kuiswa mune yakaratidzwa Excel spreadsheet ndima.

MUFANANIDZO 1-2: DHUNHU RIYENZA ZVINOITA

Kudunhu rinoratidzwa muFigure 1-2 pamusoro, dunhu rekutora razvino rine ampkubudirira kwe:
Iko shunt resistor value yeMCLV ndeye 5 mΩ uye, ine huwandu hwepamusorotage inogamuchirwa paADC yekuisa ye 3.3V, inoguma muhuwandu hwekuverenga huripo hwe:

Ziva kuti iyo yakaverengerwa kukosha kwePeak ikozvino (Imax) inosiyana neiyo inoratidzwa muExcel spreadsheet. file (Mufananidzo 1-1) - chikonzero chiri chokuti kukosha kwechipiri kunotsanangurwa nekuedza sezvazvichatsanangurwa gare gare mubhuku rino (Chikamu 3-d).
c) Nguva yePWM uye Nguva Yakafa
PWM Period ndiyo sampLing uye nguva yekudzora yeiyi algorithm (AN1292). Nguva yakafa inomiririra nguva inodiwa kuti simba semiconductor midziyo idzoke kubva kune yakapfuura mamiriro kuitira kuti pasave nekupfura-kuburikidza kunoitika pane chero inverter gumbo. Hukoshi hunopinzwa mundima idzi hunofanirwa kuenderana neunoshandiswa. Iyo yekuratidzira software inosanganisirwa mutsamba yekushandisa inoshandisa kukosha kwe2 µs yenguva yakafa, uye yenguva yePWM, kukosha kwe50 µs kunoshandiswa, inova PWM frequency ye20 kHz.
d) Motor's Magetsi Parameters
Kune iyo paramita Stator kuramba (Rs), Stator inductance (Ls), uye Voltage nguva dzose (Kfi) pinda iwo kubva muruzivo rwemugadziri wemota kana anogona kutsanangurwa achiyedza. Ndokumbira utarise chikamu che "Tuning uye Yekuedzwa Mhedzisiro" chikamu chechinyorwa chekunyorera, AN1292 kuti uwane ruzivo rwekuedza kuverenga Kfi.

e) Nominal uye Maximum Speed
Nominal kumhanya iparameter yakapihwa nemugadziri uye inomiririra kumhanya kunokwanisika neinominari yazvino uye voltage yakapihwa pandiro yemota. Maximum kumhanya iparameter inopihwa nemugadziri uye inotsamira zvakanyanya pamakanika ma paramita emota. Zvinogona kucherechedzwa kuti iyo yakanyanya kumhanya yakakwira kupfuura yezita rekumhanya, uye dunhu riri pakati pekufukidzwa mune inogara iine simba modhi, uko munda wekuita kushaya simba nzira inorehwa.
f) Predivision Factors
Predivision column inoenderana nechiyero chinogara chiripo chinoshandiswa kuunza kuverengera kunoguma kwemaitiro akajairwa muhuwandu hwekumiririrwa kwenhamba, [-32768, 32767]. Iyo Predivision kuyera haifanire kungounza maconstindumu muhuwandu asiwo, kana iri inverse vol.tage constant (Kfi), kugovanisa kukosha kwayo kwekutanga kuverengerwa kuitira kuti kana yawedzerwa mushure nekuda kwemaitiro ekunetesa munda, haifashukidze huwandu hwekumiririra kwenhamba. Iyo Predivision zvinhu zvinogona kuwanikwa mune software kodhi nenzira yekuparadzanisa
nguva yekushanda (left shift).
For example, NORM_LSDTBASE Predivision chiyero ndeye 256 muspredishiti,
iyo inoratidzira mumutsara unotevera wekodhi:

estim.c

Sezvazvinogona kuonekwa, panzvimbo yekushandura kuruboshwe ne 15, nekuda kwekutanga kwekutanga ne 28, pakupedzisira inoshandurwa ne 7. Izvo zvakafanana zvinoitika kune NORM_RS, iyo inoparadzaniswa ne2 kuchengetedza NORM_RS mukati mehuwandu, iyo inodzivisa nhamba. kufashukira. Izvi zvinoguma ne estim.c inoenderana nekodhi chikamu chekuenzanisa chiyero chekutanga nekuchinja kwegumi nemana pachinzvimbo che14:

Panyaya yeNORM_INVKFIBASE, Predivision iri 2 uye kuwandisa kwadzo kunoitwa pamutsara unotevera wekodhi:

STEP 2 - Export yakagadzirwa parameters kune userparms.h.
Izvo zvakakosha mumativi ekurudyi makoramu akaiswa seOutput parameters anofanirwa kuiswa muuserparms.h file tsananguro dzinoenderana. Ziva kuti zvinhu zviri paOutput parameters zvine mavara akasiyana, zvichinyatsoratidza kuti ndezvipi zvacho zvinofanirwa kukopwa nekunamirwa zvakananga mukodhi software.

CHECHITATU - Chekutanga, gadzira loop yakazaruka
a) Activate Open Loop Kushanda
Iyo yakavhurika loop tuning inogona kushandiswa zvakasiyana, nekugonesa yakakosha #define muFOC software kodhi; kana zvisina kudaro, shanduko yekuvhara loop control inoitwa otomatiki. Ita shuwa kuti wadzima yakavharwa loop shanduko yekutanga tuning yeakavhurika loop.

b) Gadzirisa Open Loop Parameters
Current Scaling
Iyo prescaling inogara ichida kuiswa kuti igadzirise iyo ADC inobuda kuti ienderane neukoshi chaihwo maererano nechiratidzo (direction), uye kana zvichidikanwa, kuiisa kune imwe yepakati kukosha, yakaringana kuti ienderere mberi kugadzirisa.

Iyo yekuyera iyo macurrents haina kunaka nekuti kutorwa kweshunts kuri kuwana reverse reverse recurrents, uye nekudaro, kukosha kweQ15 (-0.5) kunomiririra (-1) kuwanda kweiyo Q15 kukosha kwakadzoserwa neADC.
Kutanga-up Torque Yazvino
Sarudza zita razvino remota yakapihwa sepokutangira, sezvakaratidzwa pazasi (munyaya iyi, kukosha kwe1.41 amperes yakashandiswa):

Kana iyo yekutanga-up ikozvino yakaderera, mutoro haungafambi. Kana yakanyanya kukwirira, mota inogona kupisa kana ichimhanya yakavhurika loop kwenguva yakareba.

Kukiya Nguva
Kazhinji, nguva yekuvhara yehuwandu hwemazana mashoma emamilliseconds inosarudzwa

Iko kukosha kwekuvhara nguva kunoenderana nePWM frequency. For example, pa20 kHz, kukosha kwe4000 kunomiririra 0.2 seconds.

Ramp Wedzera Rate
Iyo yakavhurika loop acceleration inofanira kuiswa sediki sezvinobvira pakutanga. Iyo idiki kukosha iyi, iyo inonyanya kugona mota ndeyekutanga nepamusoro inodzivirira torque kana nguva yeinertia.

End Speed
End speed value setup ndeyekutengesa pakati pekushanda kwekutonga uye
estimator's shoma sipidhi inogumira kuti anyatso fungira kumhanya nechinzvimbo. Kazhinji, mushandisi angada kuseta iyo yakavhurika loop yekupedzisira yekumhanyisa kukosha seyakaderera sezvinobvira kuitira kuti shanduko yekuvhara loop kushanda iitike nekukurumidza sezvinobvira kubva pakutanga. Uchifunga nezve kuwiriraniswa kwataurwa pamusoro, funga nezve magumo ekumhanya kwechikamu chimwe muzvitatu chezita rekumhanya kwemota iri pasi pekugadzirisa kwekutanga.

MUFANANIDZO 1-3:

PI Current Controllers
Mamwe mazano akazara ekugadzirisa kunoshanda kweiyi application's PI controllers ndeiyi:
Vese ma controller, paD neQ axis, achave nemhando dzakafanana dzekuenderana Proportional (D_CURRCNTR_PTERM, Q_CURRCNTR_PTERM), Integral (D_CURRCNTR_ITERM, Q_CURRCNTR_ITERM), Anti-windup Compensation (D_CURRCNTR_PTERM, Q_CURRCNTR_PTERM) mhamha (D_CURRCNTR_OUTMAX, Q_CURRCNTR_OUTMAX, D_CURRCNTR_OUTMIN, Q_CURRCNTR_OUTMIN) mazwi.
Kazhinji, pese panoitika oscillation yazvino, dzikisa iyo yakaenzana yekuwana temu kuita chokwadi chekuwedzera kuwana kubva pa5 kusvika ku10 nguva idiki pane yakaenzana kuwana.

Shandisa maitiro anoratidzwa pazasi sepokutangira.

c) Vhura Loop Parameters Optimization
Zvirongwa zviri pamusoro zvaizogonesa kuvhurika loop kushanda. Kana zvange zvawonekwa kuti zvese zviri kushanda zvakanaka nekuseta kwakambotsanangurwa, edza kukwenenzvera ma paramita ekushanda kwakapfava uye kunoshanda ne:

kuderera kwekutanga torque ikozvino
kuwedzera speedup ramp rate
kuderedza nguva yekuvhara
kuderera kwekupedzisira kumhanya

STEP 4 - Kugadzirisa iyo Yakavharwa Loop Operation

a) Gonesa Close Loop Transition
Enda kumberi kuti uvhare loop tuning kana iyo yakavhurika loop ichimhanya zvakanaka, nekubvisa tsananguro yeOPEN_LOOP_FUNCTIONING macro tsananguro.

b) Seta Up Close Loop Parameters
Yekutanga Angle Offset Tuning
Shanduko pakati peyakavhurika loop kuvhara loop inoreva kukanganisa kwekufungidzira kwekutanga, uko kunodiwa kufanosarudzwa kwekona yekutanga yekubvisa:

Zvichienderana nekumira kwe torque yemutoro, nguva ye inertia, kana zvinoenderana nemagetsi emota, shandura kona kuti ubvise kuvhurika kuvhurika / kuvhara loop transition glitches.

Estimator Sefa Coefficients
Iwo anogara akamisikidzwa akamisirwa mafirita 'coefficients anofanirwa kupa mibairo yakanaka kune mazhinji mota. Zvakadaro, kudzikisira macoefficients kunoderedza kunonoka kwechikamu, izvo zvinogona kunyanya kubatsira pakumhanya kwakanyanya, uko kuchinja kwemaoko kuri kukurumidza. Kupindirana pakati pebasa rekusefa uye mhedzisiro yayo yekudzosera kumashure, kusuma kwechikamu chekuchinja, kunofanirwa kuwanikwa.

PI Speed Mutongi
Kune yekumhanyisa controller tuning, P uye ini ndinowana inogona kugadziriswa tichishandisa nzira dzakawanda. Kuti uwane rumwe ruzivo, tsvaga "PID Controller" paWikipedia websaiti uye enda kuchikamu che "Loop Tuning".

Kune zviitiko apo pasina chinomhanyisa controller chinodiwa, iyo torque modhi inogona kuitwa nekutsanangura TORQUE_MODE.

nhanho 5 - Sarudzo, Tune iyo Yakakwira-Speed Munda Weakening Parameters

KUCHENJERA
Kazhinji, mugadziri wemotikari anoratidza kumhanya kwepamusoro kunokwanisika nemota isina kukuvara (iyo inogona kunge yakakwira kupfuura iyo brake point yekumhanya payakayerwa ikozvino). Kana zvisina kudaro, zvinokwanisika kuimhanyisa nekumhanya kwakanyanya asi kwenguva diki (kupindirana) uchitora njodzi dze demagnetization kana mechanic kukuvara kwemota kana yemidziyo yakanamatira pairi. MuMunda Weakening mode, kana mutongi akarasika nekuda kwekukanganisika kwekona nekumhanya kwakanyanya pamusoro peiyo nominal kukosha, mukana wekukuvadza inverter wava pedyo. Chikonzero ndechekuti Back Electromotive Force (BEMF) ichave yakakosha kupfuura iyo yaizowanikwa yezita rekumhanya, nekudaro ichipfuura DC bhazi vol.tage value, iyo inverter's simba semiconductors uye DC link capacitors yaizofanira kutsigira. Sezvo tuning yakarongwa ichireva iterative coefficient gadziriso kudzamara kushanda kwakanyanya kwaitwa, kuchengetedzwa kweiyo inverter ine inoenderana masekete inofanirwa kugadziridzwa kuti ibate yakakwira vol.tages panyaya yekumira nekumhanya kwakanyanya.

a) Gadzirisa Matangiro ekutanga
Nominal uye Maximum Speed
Tanga nekukosha kwezita rekumhanya RPM (kureva, mazana mashoma RPM isingasviki mota yakayerwa kumhanya). Mune example, mota yakatemerwa 3000 RPM; saka, tinoisa NOMINAL_SPEED_RPM kusvika 2800. Ongorora tsanangudzo yemotokari yehuwandu hwehuwandu husina simba, uye isa kukosha uku muMAXIMUM_SPEED_RPM.

Ziva nezve chokwadi chekuti kune izvi zvakakosha zviri pamusoro (pamusoro) Nominal kumhanya, iyo munda inopera simba zano inogoneswa, uye nekudaro, kudzikisa kukurumidza kwezita rinoshandiswa kutsvedza shanduko iyi zvinoreva kuti simba rekuwedzera rinoshandiswa pakuderera kweairgap flux, izvo zvakazara, zvinotungamira kushanda kwakaderera.

D-axis Current Reference
D-axis referensi yezvino yekutarisa tafura (ID) ine kukosha pakati pe0 uye yezita stator ikozvino, yakagoverwa zvakaenzana pane gumi nemasere ekupinda kwekutarisa. Iyo yezita stator ikozvino inogona kutorwa kubva kune mota yakatarwa. Kana zvisingazivikanwe, kukosha uku kunogona kuyerwa nekupatsanura simba rakayerwa pamusoro peiyo yakayerwa voltage.

Voltage Constant Inverse
Iyo yekutarisa tafura yekupinda inoenderana nekumhanya kwepamusoro kunokwanisika mukuderera kwemunda kunoenzana nezanatage yekuwedzera kwema mechanical kumhanya kubva kune zita kusvika kune yakanyanya kukosha. Mune zvinyorwa zvetafura yekutarisa, kukosha kwakagovaniswa zvakaenzana uye kana inverse voltage nguva dzose yekumhanyisa kumhanya inodarika nhamba yekumiririra renji (32,767), gadzirisa inoenderana Predivision scaling factor. Ziva kuti nhamba dzinotevera dzakapatsanurwa ne2 (ona Mufananidzo 1-1).

Inductance Variation
Kune iyo inductance musiyano (LsOver2Ls0) tafura yekutarisa, kukosha kwekutanga mutafura kunofanirwa kugara kuri hafu sezvo base yekumhanyisa inductance yakakamurwa neyayo kukosha kwakapetwa kaviri. Aya maitiro anofanirwa kushanda kune akawanda mota.

b) Runtime Parameters Kugadziriswa
Kana mhedzisiro yekumhanyisa software mumamiriro ezvinhu aya ichamisa mota nekumhanya kwakakwira kupfuura zita, imhaka yekuti matafura ekutarisa akazadzwa neanofungidzirwa kukosha, iyo pane imwe nguva isingaenderane neicho chaiyo isiri-mutsara. Kana mota ichinge yamira, pakarepo misa kuita chirongwa, uchitora kukosha kweiyo index (FdWeakParm.qIndex) muhwindo rewachi yedebugger. Indekisi inoratidza poindi iyo kukosha kweIDREF (ona iyo IDREF tafura muChikamu 5a), mukukwira kurongeka, haina kushanda uye inofanira kuvandudzwa. Kuti uwedzere kuvandudza kushanda, kukosha kwakaratidzwa neinoti yemazuva ano mutafura yekutarisa inofanira kuchinjwa nehuwandu hunoratidzwa nendekisi inotevera (FdWeakParm.qIndex + 1) uye maitiro emotokari anofanira kuongororwa zvakare. Iyo yekumhanyisa inogoneka inofanirwa kuwedzera uye kudzokorora maitiro aya kakati wandei kumhanya kwepamusoro kwezita rezvino referensi rakaiswa pane d-axis ichasvikwa. Kana iyo yakakura yekumhanya yakawanikwa yezita rezvino yakaderera pane yakanangwa, kukosha kwakakwana kwe-d-axis ikozvino referensi kunofanirwa kuwedzerwa pamusoro pemutengo wezita. Sezvo example, kana 5500 RPM isingasvikike, shandura IDREF_SPEED17 ikozvino kubva -1.53 kuenda -1.60 uye edza zvakare. Iyo d yazvino referensi yekuwedzera inofanirwa kutangwa kubva kune kukosha kwainoratidzwa ne index iyo mota yakamira. Iko kukosha kweiyo index kunofanirwa kuenderana nekumhanya chaiko kwemota, kuyerwa pashaft uchishandisa tachometer, uchiyeuka kuti indekisi yekutarisa inoverengerwa pachishandiswa referensi kumhanya, kwete kumhanya chaiko. Kamwe d-ikozvino kuwedzera kunomira kuwedzera kukurumidza (kuwedzera ikozvino zvakanyanya kunowanzomisa motokari), iyo indekisi inoenderana nestall icharatidza uko kukosha kweiyo inductance kunofanira kugadziriswa (kuwedzera kana kuderedza kukosha kwayo). Iyo inductance variation yekutarisa tafura ndiyo yekupedzisira kuvandudzwa.

Ziva zvinotevera zvinongedzo zvechidziviriro chekodhi pane Microchip zvishandiso:

Zvigadzirwa zveMicrochip zvinosangana nezvakatsanangurwa zviri mune yavo chaiyo Microchip Data Sheet.
Microchip inotenda kuti mhuri yayo yezvigadzirwa ndeimwe yemhuri yakachengeteka kwazvo yerudzi rwayo pamusika nhasi, kana ichishandiswa nenzira yakarongwa uye pasi pemamiriro akajairika.
Kune kusavimbika uye pamwe zvisiri pamutemo nzira dzinoshandiswa kutyora iyo kodhi yekudzivirira chimiro. Idzi nzira dzese, sekuziva kwedu, dzinoda kushandisa zvigadzirwa zveMicrochip nenzira iri kunze kwemaitiro ekushanda ari muMicrochip's Data Sheets. Sezvingabvira zvikuru, munhu ari kuita kudaro anoba zvinhu zvoungwaru.

Microchip inoda kushanda nemutengi ane hanya nekutendeseka kwekodhi yavo.
Kunyange Microchip kana chero imwe semiconductor mugadziri anogona kuvimbisa kuchengetedzwa kwekodhi yavo. Kudzivirirwa kwekodhi hazvireve kuti tiri kuvimbisa chigadzirwa se "chisingaputsike."

Kudzivirirwa kwekodhi kunogara kuchishanduka. Isu paMicrochip takazvipira kuramba tichivandudza kodhi yekudzivirira maficha ezvigadzirwa zvedu. Kuedza kutyora Microchip's kodhi yekudzivirira chimiro kunogona kunge kuri kutyorwa kweDigital Millennium Copyright Act. Kana zviito zvakadaro zvichibvumira kupinda kusina mvumo kune software yako kana rimwe basa rine kodzero yekodzero, unogona kuva nekodzero yekumhan'arira kusunungurwa pasi peMutemo iwoyo.

Ruzivo rwuri mubhuku rino maererano nemashandisirwo emidziyo nezvimwe zvakadaro rwunopihwa chete kuti zvikunakire uye rinogona kutsiva nekuvandudzwa. Ibasa rako kuona kuti application yako inosangana nezvako zvakatemwa. MICROCHIP HAIITA ZVINOmiririrwa KANA KUTI ZVIVI ZVINO ZVINOITA KUTI ZVINOTAURWA KANA KUREVEDZWA, KUNYORA KANA KUNYORA, ZVINOTAURWA KANA KUTI ZVIMWE, ZVINOENDERA NERUZIVO, KUSANGANISA ASI ZVISI ZVINOGONA KUZVINHU ZVINHU, Unhu, ZVINHU, ZVINHU, ZVINHU. Microchip inorambidza mhosva dzese dzinobva paruzivo urwu nekushandiswa kwayo. Kushandiswa kweMicrochip zvishandiso mukutsigira hupenyu uye / kana kuchengetedza zvikumbiro zviri panjodzi yemutengi, uye mutengi anobvuma kudzivirira, kubhadharisa uye kubata Microchip isingakuvadzi kubva kune chero uye zvese zvinokuvadza, zvirevo, masutu, kana mari inokonzerwa nekushandiswa kwakadaro. Hapana marezinesi anofambiswa, zvakajeka kana neimwe nzira, pasi pe chero Microchip intellectual property rights.

Trademarks

Iyo Microchip zita uye logo, iyo Microchip logo, dsPIC, KEELOQ, KEELOQ logo, MPLAB, PIC, PICmicro, PICSTART, PIC32 logo, rfPIC uye UNI/O zviratidzo zvakanyoreswa zveMicrochip Technology Incorporated muUSA nedzimwe nyika. SefaLab, Hampshire, HI-TECH C, Linear Active Thermistor, MXDEV, MXLAB, SEEVAL uye The Embedded Control Solutions Kambani zviratidzo zvakanyoreswa zveMicrochip Technology Incorporated muUSA 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 Certified logo, MPLIB, MPLINK, mTouch, Octopus, Omniscient Code Generation, PICC 18, PICDEM, PICDEM.net, PICkit, PICtail, REAL ICE, rfLAB, Sarudza Mode, Total Endurance, TSHARC, UniWinDriver, WiperLock neZENA zviratidzo zveMicrochip Technology Incorporated muUSA nedzimwe nyika. SQTP chiratidzo chesevhisi cheMicrochip Technology Incorporated muU.SA Mamwe matrademark ese ataurwa pano zvinhu zvemakambani avo. © 2010, Microchip Technology Incorporated, Yakadhindwa muUSA, All Rights Reserved.

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