STM32 Motor Kudzora SDK 6 Nhanho Firmware Sensor Zvishoma Parameter
Zvinotsanangurwa
- Zita reChigadzirwa: STM32 mota inodzora SDK - 6-nhanho firmware sensor-shoma parameter optimization
- Muenzaniso Nhamba: UM3259
- Kudzokorora: Rev 1 - Mbudzi 2023
- Mugadziri: STMicroelectronics
- Websaiti: www.st.com
Overview
Chigadzirwa chacho chakagadzirirwa mashandisirwo ekudzora mota uko nzvimbo ye rotor inoda kutariswa pasina kushandisa masensa. Iyo firmware inokwidziridza ma parameter e-sensor-shoma mashandiro, ichigonesa kuwiriranisa kwenhanho kutenderera nenzvimbo yerotor.
BEMF Zero-Crossing Detection:
Iyo yekumashure electromotive force (BEMF) waveform inoshanduka ine rotor chinzvimbo uye kumhanya. Nzira mbiri dziripo dzekuona zero-crossing:
Kumashure EMF inonzwa panguva yePWM OFF-nguva: Wana chinoyangarara chikamu voltage neADC kana pasina ikozvino inoyerera, inozivisa zero-kuyambuka zvichibva pachikumbaridzo.
Kumashure EMF inonzwa panguva yePWM ON-nguva: Center=tap voltage anosvika hafu yebhazi voltage, kuratidza zero-kuyambuka zvichibva pachikumbaridzo (VS / 2).
STM32 mota inodzora SDK - 6-nhanho firmware sensor-isina parameter optimization
Nhanganyaya
Gwaro iri rinotsanangura maitiro ekugadzirisa magadzirirwo ezvimiro zve6-nhanho, sensor-shoma algorithm. Chinangwa ndechekuwana yakatsetseka uye nekukurumidza yekutanga maitiro, asiwo yakagadzikana yakavharwa-loop maitiro. Pamusoro pezvo, gwaro rinotsanangurawo nzira yekusvika pakuchinja kwakakodzera pakati peshure EMF zero-kuyambuka yekuona panguva yePWM OFF-nguva uye PWM ON-nguva kana uchipuruzira mota nekumhanya kwakanyanya ine vol.tage driving mode technique. Kuti uwane rumwe ruzivo nezve 6-nhanho firmware algorithm uye voltage/yazvino nzira yekutyaira, tarisa kune inoenderana mushandisi bhuku rinosanganisirwa muX-CUBE-MCSDK zvinyorwa pasuru.
Acronyms uye zvipfupiso
| Acronym | Tsanangudzo |
| MCSDK | Motokari inodzora software yekuvandudza kit (X-CUBE-MCDK) |
| HW | Hardware |
| IDE | Integrated development environment |
| MCU | Microcontroller unit |
| GPIO | General-chinangwa chekupinza/kubuda |
| ADC | Analog-to-digital converter |
| VM | Voltage modhi |
| SL | Sensor-shoma |
| BEMF | Back electromotive simba |
| FW | Firmware |
| ZC | Zero-kuyambuka |
| GUI | Graphical mushandisi interface |
| MC | Motor control |
| OCP | Overcurrent protection |
| PID | Proportional-integral-derivative (mutongi) |
| SDK | Software yekuvandudza kit |
| UI | Mushandisi interface |
| MC workbench | Motokari inodzora workbench chishandiso, chikamu cheMCSDK |
| Mutyairi wemota | Motokari pilot chishandiso, chikamu cheMCSDK |
Overview
Mune 6-nhanho sensor-shoma yekutyaira modhi, iyo firmware inoshandisa yekumashure electromotive simba (BEMF) inonzwa padanho rinoyangarara. Nzvimbo ye rotor inowanikwa nekuona zero-kuyambuka kweBEMF. Izvi zvinowanzoitwa uchishandisa ADC, sezvakaratidzwa muMufananidzo 1. Kunyanya, apo magnetic field ye rotor inoyambuka chikamu chepamusoro-Z, iyo inowirirana BEMF vol.tage inoshandura chiratidzo chayo (zero-crossing). Iyo BEMF voltage inogona kuyerwa pakuiswa kweADC, nekuda kweiyo resistor network inopatsanura voltage kubva pachikamu chemota.
Zvisinei, sezvo chiratidzo cheBEMF chakaenzana nekumhanya, nzvimbo ye rotor haigoni kutsanangurwa pakutanga, kana kuti yakaderera zvikuru. Naizvozvo, mota inofanirwa kukwidziridzwa mune yakavhurika-loop kusvika yakakwana BEMF voltage yasvikwa. Iyo BEMF voltage inobvumira kuwiriranisa kwedanho rekuchinja nenzvimbo ye rotor.
Mundima dzinotevera, maitiro ekutanga uye iyo yakavharwa-loop oparesheni, pamwe chete nematanho ekuagadzirisa, anotsanangurwa.
BEMF zero-kuyambuka kuona
Iyo yekumashure EMF waveform yebrashiless mota inoshanduka pamwe nenzvimbo yerotor uye kumhanya uye iri mune trapezoidal chimiro. Mufananidzo 2 unoratidza waveform yeEMF yazvino uye yekumashure kweimwe nguva yemagetsi, apo mutsara wakasimba unoratidza ikozvino (ripples haacherechedzwe nekuda kwekureruka), dashed mutsara unomiririra kumashure kwemagetsi emagetsi, uye yakachinjika coordination inomiririra magetsi. maonero ekutenderera kwemotokari.
Pakati pemapoinzi maviri ega ega ekuchinja-chinja anofanana nepoindi imwe iyo kumashure kwe electromotive force polarity inoshandurwa: zero-crossing-point. Kamwe chete zero-kuyambuka nzvimbo yakaonekwa, nguva yekuchinja-chikamu inogadziriswa mushure mekunonoka kwemagetsi kwe30 °. Kuti uone kuyambuka zero kweBEMF, tepi yepakati voltaganofanira kuzivikanwa. Iyo yepakati pombi yakaenzana nenzvimbo iyo matatu mota zvikamu zvakabatanidzwa pamwechete. Mamwe mamotor anoita kuti pombi yepakati ivepo. Mune zvimwe zviitiko, inogona kuvakwa patsva kuburikidza nevoltage phases. Iyo 6-nhanho algorithm inotsanangurwa pano inotora advantage yekuvapo kweBEMF inonzwa network yakabatana kune mota zvikamu zvinobvumira kuverenga iyo yepakati tap vol.tage.
- Mazano maviri akasiyana anowanikwa ekuzivikanwa kwe zero-yambuko point
- Kumashure EMF kunzwa panguva yePWM OFF-nguva
- Kumashure EMF kunzwa panguva yePWM ON-nguva (ikozvino inotsigirwa muvoltage modhi chete)
Munguva yePWM OFF-nguva, iyo inoyangarara chikamu voltage inotorwa neADC. Sezvo pasina ikozvino iri kuyerera muchikamu chinoyangarara, uye mamwe maviri akabatana pasi, kana BEMF ichiyambuka zero muchikamu chinoyangarara, ine yakaenzana uye yakatarisana polarity pane mamwe madanho: iyo yepakati tap vol.tage naizvozvo zero. Nokudaro, zero-crossing point inotaridzwa apo kutendeuka kweADC kunokwira pamusoro, kana kuwira pasi, chikumbaridzo chakatsanangurwa.
Kune rimwe divi, panguva yePWM ON-nguva, chimwe chikamu chakabatana nebhazi voltage, uye imwe pasi (Mufananidzo 3). Mumamiriro ezvinhu aya, pombi yepakati voltage anosvika hafu yebhazi voltage kukosha kana BEMF iri muchikamu chinoyangarara iri zero. Sezvakamboitika, zero-kuyambuka nzvimbo inotaridzwa kana iyo ADC shanduko inokwira pamusoro (kana inowira pazasi) inotsanangurwa chikumbaridzo. Iyo yekupedzisira inoenderana neVS / 2.
BEMF inonzwa network dhizaini
Mumufananidzo 4 iyo inowanzoshandiswa network kuona BEMF inoratidzwa. Chinangwa chayo ndechekupatsanura mota chikamu voltage kuti iwanikwe nemazvo neADC. Iyo R2 uye R1 tsika dzinofanirwa kusarudzwa zvinoenderana nebhazi voltage level. Mushandisi anofanirwa kuziva kuti kuita chiyero cheR1 / (R2 + R1) yakaderera zvakanyanya pane inodiwa, iyo BEMF chiratidzo inogona kuguma yakaderera uye kutonga kusina kusimba zvakakwana.
Nekune rimwe divi, chiyero chepamusoro pane chinodiwa chaizotungamira kune kazhinji kutendeuka-ku / kudzima kweD1 kudzivirira diode iyo yekudzoreredza ikozvino inogona kupinza ruzha. Mari inokurudzirwa ndeiyi:
Yakanyanya kuderera kukosha kweR1 uye R2 inofanirwa kudzivirirwa kudzikamisa ikozvino yakabatwa kubva pachikamu chemota.
R1 dzimwe nguva yakabatana neGPIO pachinzvimbo cheGND. Inobvumira iyo network kuti iite nguva yekumhanyisa kana kuvharwa.
Mune 6-nhanho firmware, iyo GPIO inogara iri mureset state uye network inogoneswa. Zvisinei, kuvepo kwekupedzisira kweD3 kunofanira kutariswa paunenge uchiisa BEMF zvikumbaridzo zvekunzwa panguva yePWM ON-nguva: inowanzowedzera 0.5÷0.7 V kune yakanakira chikumbaridzo.
C1 ndeyekusefa uye haifanire kudzikamisa chiratidzo bandwidth muPWM frequency renji.
D4 neR3 ndezvekubvisa nekukurumidza kweiyo BEMF_SENSING_ADC node panguva yePWM commutations, kunyanya mukukwira kwevolti.tage mapuranga.
Iwo maD1 neD2 diode anosarudzika uye anofanirwa kuwedzerwa chete kana paine njodzi yekutyora iyo BEMF inonzwa ADC chiteshi chepamusoro ratings.
Optimization yekutonga algorithm parameters
Nzira yekutanga
Maitiro ekutanga anowanzo kuumbwa nekutevedzana kwematatu stages:
- Alignment. Iyo rotor inosungirirwa panzvimbo yakafanotemerwa.
- Open-loop acceleration. The voltage pulses inoshandiswa mukutevedzana kwakafanorongwa kugadzira magnetic field inoita kuti rotor itange kutenderera. Chiyero chekutevedzana chinowedzerwa zvishoma nezvishoma kubvumira rotor kuti isvike imwe kumhanya.
- Switch-over. Kana iyo rotor yasvika kune imwe kumhanya, iyo algorithm inochinja kune yakavharwa-loop 6-nhanho yekudzora kutevedzana kuchengetedza kutonga kwekumhanya kwemota uye kutungamira.
Se shwn muFigure 5, mushandisi anogona kugadzirisa matanho ekutanga muMC workbench asati agadzira kodhi. Mhando mbiri dzakasiyana dzekutyaira dziripo:
- Voltage mode. Iyo algorithm inodzora kumhanya nekusiyanisa kutenderera kwebasa rePWM rinoiswa kumatanho emota: chinangwa Phase Vol.tage inotsanangurwa chikamu chimwe nechimwe chekutanga profile
- Current mode. Iyo algorithm inodzora kumhanya nekusiyanisa yazvino inoyerera mumatanho emota: Chinangwa Chazvino chinotsanangurwa kune chimwe nechimwe chikamu chekutanga pro.file
Mufananidzo 5. Kutanga parameters muMC workbench
Alignment
Mumufananidzo 5, Chikamu chekutanga chinogara chichienderana nedanho rekugadzirisa. Iyo rotor inofananidzwa kune 1-nhanho nzvimbo iri pedyo ne "Initial magetsi angle".
Izvo zvakakosha kuti uzive kuti, nekusarudzika, nguva yeChikamu 1 ndeye 200 ms. Munguva iyi nhanho yebasa inowedzerwa mutsara kuti isvike painotarirwa Phase Voltage (Chikamu Chazvino, kana ikozvino yekutyaira modhi yakasarudzwa). Nekudaro, iine mahombe mota kana mune yakakwira inertia, iyo yakakurudzirwa nguva, kana kunyange iyo inotarirwa Phase Vol.tage/Yazvino inogona kunge isina kukwana kutanga kutenderera.
Mumufananidzo 6, kuenzanisa pakati pemamiriro asina kunaka ekugadzirisa uye akakodzera anopiwa.
Kana iyo yakanangwa kukosha kana nguva yeChikamu 1 isina kukwana kumanikidza rotor munzvimbo yekutanga, mushandisi anogona kuona mota ichidedera pasina kutanga kutenderera. Zvichakadaro, kutorwa kwezvino kunowedzera. Munguva yekutanga yekutanga maitiro, ikozvino inowedzera, asi torque haina kukwana kukunda inertia yemotokari. Pamusoro peMufananidzo 6 (A), mushandisi anogona kuona ikozvino kuwedzera. Nekudaro, hapana humbowo hweBEMF: mota inozomiswa. Kamwe nhanho yekumhanyisa yatangwa, iyo isina chokwadi chinzvimbo che rotor inodzivirira algorithm kubva kupedzisa maitiro ekutanga uye kumhanya mota.
Kuwedzera voltage/chikamu chazvino panguva yechikamu chekutanga chinogona kugadzirisa nyaya.
Muchikamutage modhi, chinangwa voltage panguva yekutanga inogona kugadziridzwa neMotor Pilot pasina chikonzero chekuvandudza kodhi. MuMotor Pilot, mune rev-up chikamu, yakafanana yekumhanyisa profile yeMufananidzo 1 inoshumwa (ona Mufananidzo 7). Cherechedza kuti pano voltage nhanho inogona kuratidzwa sepurusi yakaiswa murejisita yenguva (S16A unit), kana inoenderana neinobuda vol.tage (Vrms unit).
Kana mushandisi angowana hunhu hwakakodzera hunonyatsoenderana nemota, izvi zvakakosha zvinogona kuitwa muMC workbench chirongwa. Inobvumira kuvandudza kodhi kuti ishandise kukosha kweiyo default. Iyo iri pazasi fomula inotsanangura kuwirirana pakati pevoltage chikamu muVrms uye S16A zvikamu.
Mune yazvino modhi, muMotokari Pilot GUI, chinangwa chazvino chinongoratidzwa muS16A. Kushandurwa kwayo mu ampere zvinoenderana neshunt kukosha uye iyo ampliification kuwana inoshandiswa mune yazvino limiter circuitry.
Open-loop acceleration
Mumufananidzo 5, Chikamu chechipiri chinoenderana nechikamu chekuwedzera. Iyo 2-nhanho inoteedzana inoiswa kuti ikurumidze mota mune yakavhurika-loop, saka, nzvimbo ye rotor haina kuwiriraniswa neiyo 6-nhanho kutevedzana. Zvikamu zvazvino zvinobva zvakwira kupfuura optimum uye torque yakadzikira.
MuMC workbench (Mufananidzo 5) mushandisi anogona kutsanangura imwe kana kupfuura zvikamu zvekukurumidza. Kunyanya, kune mota yakakura, inokurudzirwa kuti ikurumidze neinononoka ramp kukunda inertia usati waita inokwidza ramp. Pakati pechikamu chega chega, kutenderera kwebasa kunowedzerwa zvine mutsetse kusvika pachinangwa chekupedzisira chevoltage/chikamu chazvino chechikamu ichocho. Nokudaro, inomanikidza kuchinja kwezvikamu pakukurumidza kunoenderana kunoratidzwa mune imwechete yekugadzirisa tafura.
Mumufananidzo 8, kuenzanisa pakati pekuwedzera nevoltage phase (A) yakaderera zvakanyanya uye yakakodzera (B) inopihwa.
Kana chinangwa voltage/yazvino yechikamu chimwe kana nguva yayo haina kukwana kubvumira mota kuti isvike iyo inoenderana nekumhanya, mushandisi anogona kuona mota ichimira kutenderera uye kutanga kuzunguza. Pamusoro peMufananidzo 8, iyo yazvino inongoerekana yawedzera kana mota ichimira apo, kana ichikwiridzirwa zvakanaka, ikozvino inowedzera pasina discontinuities. Kana mota yamira, maitiro ekutanga anotadza.
Kuwedzera voltage/current phase inogona kugadzirisa nyaya.
Ukuwo, kana voltage / ikozvino chikamu chinotsanangurwa chakanyanya kukwirira, sezvo mota iri kushanda zvisina kunaka mukuvhurika-loop, ikozvino inogona kusimuka uye inosvika kune yakawandisa. Iyo mota inoerekana yamira, uye alarm yakawandisa inoratidzwa neMotor Pilot. Maitiro ezvino anoratidzwa muMufananidzo 9.
Kuderedza inzwitage/current phase inogona kugadzirisa nyaya.
Kufanana nedanho rekugadzirisa, chinangwa voltage/yazvino inogona kuve yekumhanyisa nguva yakagadziridzwa panguva yekutanga neMotor Pilot pasina chikonzero chekuvandudza kodhi. Zvadaro, inogona kuitwa muMC workbench chirongwa kana marongero akakodzera aonekwa.
Switch-over
Nhanho yekupedzisira yemaitiro ekutanga ndeye switch-over. Munguva iyi, iyo algorithm inoshandisa iyo inonzwika BEMF kuwiriranisa iyo 6-nhanho kutevedzana nenzvimbo yerotor. Kuchinja-kupfuura kunotanga muchikamu chakaratidzwa muparameter inotsanangurwa muMufananidzo 10. Inogadziriswa muchikamu che sensor-less startup parameter yeMC workbench.
Mushure meiyo inoshanda BEMF zero-kuyambuka yekuona chiratidzo (kuzadzisa mamiriro aya ona Chikamu 2.1), iyo algorithm inochinja kune yakavharwa-loop oparesheni. Nhanho yekuchinja-pamusoro inogona kutadza nekuda kwezvikonzero zvinotevera:
- Switch-over speed haina kugadzirwa zvakanaka
- PI kuwana kwekumhanya loop kwakakwira zvakanyanya
- Mathreshold ekuona iyo BEMF zero-crossing chiitiko haana kunyatso miswa
Switch-over sipidhi haina kugadzirwa zvakanaka
Iyo yekumhanyisa iyo switch-over inotanga nekusagadzika yakafanana neyekutanga tarisiro yekumhanyisa iyo inogona kugadzirwa mudhiraivha yekumisikidza chikamu cheMC workbench. Mushandisi anofanirwa kuziva kuti, kana speed loop yavharwa, mota inokurumidza kukwidziridzwa kubva pakuchinja-pamusoro kumhanya kusvika kune inotangwa kumhanya. Kana aya maitiro maviri ari kure zvakanyanya, kukanganisa kwepamusoro kunogona kuitika.
PI inowana yeyokumhanyisa loop yakakwira zvakanyanya
Panguva yekuchinja-pamusoro, iyo algorithm inofamba kubva pakumanikidza kutevedzana kwakafanotsanangurwa kuyera kumhanya uye kuverenga iyo inobuda kukosha zvinoenderana. Nokudaro, inobhadhara iyo chaiyo kukurumidza iyo inoguma ye-open-loop acceleration. Kana iyo PI inowanikwa yakanyanyisa, kusagadzikana kwechinguva kunogona kuitika, asi kunogona kutungamirira mukukundikana kwepamusoro kana kuwedzererwa.
Mufananidzo 11 inoratidza uye example yekusagadzikana kwakadaro panguva yekushandura kubva kuvhurika-loop kuenda kune yakavharwa-loop kushanda.
Zvisungo zveBEMF zvisina kunaka
- Kana zvikumbaridzo zveBEMF zvisiri izvo zvakaiswa, kuyambuka zero kunoonekwa kungave kumberi kana kunonoka. Izvi zvinomutsa mhedzisiro mikuru miviri:
- Iwo ma waveforms ane asymmetric uye kutonga kusingashande kunotungamira kune yakakwira ripples ye torque (Mufananidzo 12)
- Iyo yekumhanyisa loop inova isina kugadzikana nekuyedza kutsiva ma ripples e torque
- Mushandisi aisangana nekusagadzikana kudzora kumhanya uye, mumamiriro ezvinhu akaipisisa, de-synchronization yemotokari kutyaira nekutonga kunotungamira kune chiitiko chakapfuura.
- Kurongeka kwakaringana kweBEMF zvikumbaridzo kwakakosha pakuita kwakanaka kwealgorithm. Thresholds zvakare zvinoenderana nebhazi voltage value uye network yekunzwa. Zvinokurudzirwa kutarisa kuChikamu 2.1 kutarisa maitiro ekubatanidza voltage mazinga kune iyo yezita yakaiswa muMC workbench.
Yakavharwa-loop kushanda
Kana iyo mota ikapedzisa nhanho yekumhanyisa, iyo BEMF zero-kuyambuka inoonekwa. Iyo rotor inofananidzwa neiyo 6-nhanho kutevedzana uye yakavharwa-loop oparesheni inowanikwa. Nekudaro, imwezve parameter optimization inogona kuitwa kuvandudza maitiro.
Semuyenzaniso, sezvakatsanangurwa muChikamu 3.1.3 chakapfuura ("Yakashata BEMF zvikumbaridzo"), iyo yekumhanyisa loop, kunyangwe ichishanda, inogona kuratidzika isina kugadzikana uye zvikumbaridzo zveBEMF zvingada kunatswa.
Pamusoro pezvo, zvinhu zvinotevera zvinofanirwa kutariswa kana mota ikakumbirwa kushanda nekumhanya zvakanyanya kana kufambiswa neakakwira PWM basa kutenderera:
PWM frequency
- Speed loop PI inowana
- Demagnetization blanking period phase
- Kunonoka pakati zero-kuyambuka uye nhanho kuenda
- Chinja pakati pePWM OFF-nguva uye ON-nguva inonzwa
PWM frequency
Iyo sensor-shoma 6-nhanho algorithm inoita kutora kweBEMF yega yega PWM kutenderera. Kuti unyatsoona chiitiko chekuyambuka zero, nhamba yakakwana yekutora inodiwa. Sekutonga kwechigunwe, pakushanda kwakakodzera, kanenge gumi kutora pamusoro pemakona emagetsi e10 inopa yakanaka uye yakagadzikana rotor kuwiriranisa.
Naizvozvo
Speed loop PI inowana
Speed loop PI inowanikwa inokanganisa kuterera kwemota kune chero kuraira kwekumhanyisa kana kudzika. Tsanangudzo yedzidziso yekuti PID regulator inoshanda sei inodarika chiyero chegwaro iri. Nekudaro, mushandisi anofanira kuziva kuti kumhanya loop regulator kuwana kunogona kuchinjwa panguva yekumhanya kuburikidza neMotor Pilot uye kugadziridzwa sezvaunoda.
Demagnetization blanking period phase
Iyo demagnetization yechikamu chinoyangarara inguva mushure mekuchinja kwechikamu chesimba panguva iyo, nekuda kwekubuda kwazvino (Mufananidzo 14), iyo yekumashure EMF kuverenga haina kuvimbika. Naizvozvo, iyo algorithm inofanirwa kufuratira chiratidzo isati yapera. Iyi nguva inotsanangurwa muMC workbench sechikamutage yenhanho (madhigirii emagetsi makumi matanhatu) uye inogona kushandurwa nguva yekumhanya kuburikidza neMotor Pilot sezvakaratidzwa mumufananidzo 60. Iyo yakakwirira yemota inomhanya, inokurumidza nguva ye demagnetization. Iyo demagnetization, nekukasira, inosvika yakaderera muganho wakaiswa kumatatu ePWM kutenderera pa 15/2 yehupamhi yakayerwa kumhanya. Kana iyo inductance chikamu chemota yakadzikira uye isingade nguva yakawanda yekubvisa magineti, mushandisi anogona kuderedza iyo masking nguva kana kumhanya kunoiswa nguva shoma. Nekudaro, hazvikurudzirwe kudzikisa iyo masking nguva pazasi 3 - 2 PWM cycles nekuti kutonga kunogona kuunza kusagadzikana kamwe kamwe panguva yedanho rekuchinja.
Kunonoka pakati peBEMF zero-kuyambuka uye nhanho kuenda
Kana iyo BEMF zero-kuyambuka chiitiko ichinge yaonekwa, iyo algorithm inowanzomirira makumi matatu emagetsi madhigirii kusvika nhanho inoteedzana commutation (Mufananidzo 30). Nenzira iyi, zero-kuyambuka inomisikidzwa pakati penhanho yekunongedza zvakanyanya kushanda zvakanaka.
Sezvo kururamisa kwekutsvaga zero-kuyambuka kunoenderana nehuwandu hwekutora, saka paPWM frequency (ona Chikamu 3.2.1), kururamisa kwekuonekwa kwayo kunogona kuve kwakakosha nekukurumidza. Iyo inobva yabudisa asymmetricity inooneka yemafungu uye kukanganisa kwezvino (ona Mufananidzo 17). Izvi zvinogona kubhadharwa nekudzikisira kunonoka pakati pe zero-crossing yekuona uye nhanho yekufamba. Zero-kuyambuka kunonoka kunogona kuchinjwa nguva yekumhanya nemushandisi kuburikidza neMotor Pilot sezvakaratidzwa mumufananidzo 18.
Chinja pakati pePWM OFF-nguva uye ON-nguva inonzwa
Ndichiri kuwedzera kumhanya kana mutoro wazvino (kureva mota inobuda torque), kutenderera kwebasa rekutyaira kwePWM kunowedzera. Saka, nguva yesampkuramba BEMF panguva OFF-nguva yakaderedzwa. Kuti isvike 100% yebasa rekutenderera, kutendeuka kweADC kunokonzerwa panguva yeON-nguva yePWM, nokudaro kuchinja kubva kuBEMF kunzwa panguva yePWM OFF-nguva kuenda kuPWM ON-nguva.
Kugadziriswa kusina kunaka kwezvikumbaridzo zveBEMF panguva yeON-nguva inotungamirira kune dzimwe nyaya dzakatsanangurwa muChikamu 3.1.3 ("Wrong BEMF thresholds").
Nekumisikidza, BEMF ON-sensing zvikumbaridzo zvinoiswa kuhafu yebhazi voltage (ona Chikamu 2.1). Mushandisi anofanira kufunga kuti maburi chaiwo anoenderana nekuwanda kwebhazitage value uye sensing network. Tevedzera zvinoratidzwa muChikamu 2.1 uye ita shuwa kurongedza voltage nhanho kune iyo yezita yakaiswa muMC workbench.
Kukosha kwezvikumbaridzo uye PWM yebasa kutenderera apo algorithm inochinjana pakati pe OFF neON-sensing iri nguva yekumhanyisa inogadziriswa kuburikidza neMotor Pilot (Mufananidzo 19) uye inowanikwa muVol.tage mode kutyaira chete.
Kugadzirisa matambudziko
Chii chandinofanira kutarisira kuti ndikwanise kutenderedza mota ine sensor-shoma 6-nhanho algorithm? wiriranisa rotor neiyo control algorithm. Chiyero chakakodzera cheiyo BEMF masiginecha chiri mukugadzirwa kunoshanda kweiyo BEMF inonzwa network (ona Chikamu 6). Chinangwa voltage (voltage modhi yekutyaira) kana yazvino (yazvino modhi yekutyaira) panguva yekutanga kutevedzana zvinoenderana nemota paramita. Tsanangudzo (uye pakupedzisira nguva) yevoltage/chikamu chazvino panguva yekurongeka, kukurumidza, uye kushandura-pamusoro nhanho kwakakosha kuti ibudirire maitiro (ona Chikamu 3).
Mukupedzisira, kuwiriranisa kwe rotor uye kugona kuwedzera mota yekumhanyisa kusvika kune yakatemerwa kumhanya kunoenderana nekugonesa kwePWM frequency, BEMF zvikumbaridzo, demagnetization nguva uye kunonoka pakati zero-kuyambuka kuona uye nhanho commutation, sezvakatsanangurwa mu. Chikamu 3.2.
Ndeipi kukosha kwayo kweBEMF resistor divider?
Mushandisi anofanira kuziva kuti yakashata BEMF resistor divider value inogona kubvisa chero mukana wekutyaira mota nemazvo. Kuti uwane rumwe ruzivo rwekugadzira iyo BEMF inonzwa network, tarisa Chikamu 2.1.
Ini ndinogadzirisa sei nzira yekutanga?
- Kuti uwedzere maitiro ekutanga, zvinokurudzirwa kuwedzera nguva yenhanho yega yega rev-up chikamu kusvika kumasekonzi akati wandei. Izvo zvino zvinogoneka kuti unzwisise kana mota inokurumidza kumhanyisa, kana papi kumhanya / nhanho yekuvhurika-loop maitiro inotadza.
- Izvo hazvikurudzirwe kumhanyisa mota yakakwira inertia ine yakanyanyisa ramp.
- Kana iyo yakagadziriswa voltage phase kana yazvino chikamu chakanyanya kuderera, mota inomira. Kana yakanyanya kukwirira, iyo overcurrent inokonzeresa. Zvishoma nezvishoma kuwedzera voltage phase (voltage modhi yekutyaira) kana yazvino (ikozvino modhi yekutyaira) panguva yekuenzanisa uye yekumhanyisa matanho inobvumira mushandisi kunzwisisa huwandu hwekushanda kwemota. Chokwadi, zvinobatsira kuwana optimum.
- Kana zvasvika pakuchinja kune yakavharwa-loop oparesheni, zvakawanikwa zvePI zvinofanirwa kuderedzwa pakutanga kusabvisa kuti kurasikirwa kwekutonga kana kusagadzikana kunokonzerwa nekumhanyisa loop. Panguva ino, kuve nechokwadi chekuti BEMF inonzwa network yakanyatsogadzirwa (ona Chikamu 2.1) uye chiratidzo cheBEMF chakanyatso kutorwa chakakosha. Mushandisi anogona kuwana kuverenga kweBEMF, uye kuironga muMotor Pilot (ona Mufananidzo 20) nekusarudza zvinyorwa zviripo BEMF_U, BEMF_V neBEMF_U muchikamu cheASYNC chemudziyo. Kana mota yave muRun state, iyo yekumhanyisa loop controller inowana inogona kugadziridzwa. Kuti uwane rumwe ruzivo kana parameter optimization, ona Chikamu 3 uye Chikamu 3.2.
Chii chandingaita kana injini isingafambi pakutanga?
- Pakutanga, mutsara unowedzera voltage (voltage modhi yekutyaira) kana yazvino (yazvino modhi yekutyaira) inopihwa kumatanho emota. Chinangwa ndechekuchigadzirisa panzvimbo inozivikanwa uye yakafanotsanangurwa. Kana voltage haina kukwirira zvakakwana (kunyanya ine motors ine yakakwira inertia nguva dzose), mota haifambi uye maitiro anokundikana. Kuti uwane rumwe ruzivo nezve mhinduro dzinobvira, tarisa kuChikamu 3.1.1.
Chii chandingaite kana mota ikasapedza chikamu chekumhanyisa?
Senge yechikamu chekugadzirisa, mota inokwidziridzwa mune yakavhurika-loop nekushandisa mutsara unowedzera vol.tage (voltage modhi yekutyaira) kana yazvino (yazvino modhi yekutyaira) kumatanho emota. Default values haatarise inozopedzisira yaiswa mekiniki mutoro, kana mota inomira haina chokwadi uye/kana inozivikanwa. Naizvozvo, iyo yekumhanyisa maitiro inogona kutadza nemota stall kana chiitiko chakapfuura. Kuti uwane rumwe ruzivo nezvemhinduro dzinobvira, tarisa kuChikamu 3.1.2.
Sei mota isingachinji ichipinda muvhavha yekumhanyisa loop?
Kana iyo mota ikanyatso mhanyisa kunanga kumhanya asi ikaerekana yamira, chimwe chinhu chingave chisina kumira zvakanaka muBEMF chikumbaridzo kumisikidzwa kana PI controller inowana. Tarisa kuChikamu 3.1.3 kuti uwane rumwe ruzivo.
Sei speed loop ichiita seisina kugadzikana?
Kuwedzera kweruzha rweyero nekumhanya kunotarisirwa kubva pakakwirira kumhanya kuri, kuderera kwenhamba yeBEMF s.ampLes yekuona zero-crossing uye, nekudaro, huchokwadi hwekuverenga kwayo. Nekudaro, kusagadzikana kwakanyanya kweiyo speed loop kunogona zvakare kuve chiratidzo cheyakaipa BEMF chikumbaridzo kana PI kuwana izvo zvisina kurongeka zvakanaka, sezvakatsanangurwa muChikamu 3.1.3.
- Ndingawedzera sei kukurumidza kusvikika?
Maximum inosvikika kumhanya inowanzo ganhurwa nezvinhu zvakati wandei: PWM frequency, kurasikirwa kwekuyananisa (nekuda kwekunyanyisa demagnetization nguva kana kunonoka kunonoka pakati zero-kuyambuka yekuona uye nhanho commutation), isina kururama BEMF zvikumbaridzo. Kuti uwane rumwe ruzivo rwekukwenenzvera zvinhu izvi, tarisa kuChikamu 3.2.1, Chikamu 3.2.3, Chikamu 3.2.4 uye Chikamu 3.2.5.
Nei injini ichingoerekana yamira pane imwe sipidhi?
Zvingangoita nekuda kweiyo PWM isiriyo pa-inonzwa BEMF chikumbaridzo kumisikidzwa. Tarisa kuChikamu 3.2.5 kuti uwane rumwe ruzivo.
Nhoroondo yekudzokorora
Tafura 2. Document revision history
| Date | Version | Kuchinja |
| 24-Nov-2023 | 1 | Kusunungurwa kwekutanga. |
CHIZIVISO CHINOKOSHA – VERENGA ZVAKANAKA
STMicroelectronics NV nevatsigiri vayo (“ST”) vanochengeta kodzero yekuita shanduko, kugadzirisa, kuvandudza, gadziridzo, uye kuvandudza kune ST zvigadzirwa uye/kana kugwaro iri chero nguva pasina chiziviso. Vatengi vanofanirwa kuwana ruzivo rwazvino rwakakodzera pane zvigadzirwa zveST vasati vaisa maodha. Zvigadzirwa zveST zvinotengeswa zvichiteerana ne ST zvirevo uye mamiriro ekutengesa aripo panguva yekuodha kubvuma.
Vatengi ndivo vane basa rekusarudza, kusarudza, uye kushandiswa kweST zvigadzirwa uye ST haitore mhosva yerubatsiro rwekushandisa kana dhizaini yezvigadzirwa zvevatengi.
Hapana rezinesi, kutaura kana kurehwa, kune chero kodzero yepfuma inopihwa neST muno.
Vatengi ndivo vane basa rekusarudza, kusarudza, uye kushandiswa kweST zvigadzirwa uye ST haitore mhosva yerubatsiro rwekushandisa kana dhizaini yezvigadzirwa zvevatengi.
Hapana rezinesi, kutaura kana kurehwa, kune chero kodzero yepfuma inopihwa neST muno.
Kutengeswazve kwezvigadzirwa zveST zvine zvipimo zvakasiyana neruzivo rwataurwa pano kuchabvisa chero waranti yakapihwa neST yechigadzirwa chakadaro.
ST uye ST logo zviratidzo zve ST. Kuti uwane rumwe ruzivo nezve ST trademark, tarisa kune www.st.com/trademarks. Zvese zvimwe zvigadzirwa kana sevhisi mazita midziyo yevaridzi vazvo.
Ruzivo rwuri mugwaro rino rinotsiva uye kutsiva ruzivo rwakambopihwa mune chero shanduro dzekare dzegwaro iri.
© 2023 STMicroelectronics – Kodzero dzese dzakachengetwa
ST uye ST logo zviratidzo zve ST. Kuti uwane rumwe ruzivo nezve ST trademark, tarisa kune www.st.com/trademarks. Zvese zvimwe zvigadzirwa kana sevhisi mazita midziyo yevaridzi vazvo.
Ruzivo rwuri mugwaro rino rinotsiva uye kutsiva ruzivo rwakambopihwa mune chero shanduro dzekare dzegwaro iri.
© 2023 STMicroelectronics – Kodzero dzese dzakachengetwa
Zvinyorwa / Zvishandiso
 |
STMicroelectronics STM32 Motor Kudzora SDK 6 Nhanho Firmware Sensor Zvishoma Parameter [pdf] User Manual STM32 Motor Control SDK 6 Nhanho Firmware Sensor Less Parameter, Motor Kudzora SDK 6 Nhanho Firmware Sensor Ishoma Parameter, Nhanho Firmware Sensor Ishoma Parameter, Firmware Sensor Ishoma Parameter, Sensor Ishoma Parameter, Ishoma Parameter, Parameter. |
