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I-STM32 Motor Control SDK 6 Isinyathelo se-Firmware Sensor Les Parameter
Imininingwane
- Igama Lomkhiqizo: STM32 motor control SDK - 6-step firmware-less parameter optimization optimization
- Inombolo Model: UM3259
- Ukubuyekezwa: Rev 1 - November 2023
- Umkhiqizi: I-STMicroelectronics
- Webindawo: www.st.com
Kuphelileview
Umkhiqizo wenzelwe izinhlelo zokusebenza zokulawula izimoto lapho indawo ye-rotor idinga ukunqunywa ngaphandle kokusebenzisa izinzwa. I-firmware ithuthukisa amapharamitha okusebenza kancane kwenzwa, ivumela ukuvumelanisa kwesinyathelo sokushintsha nendawo yerotor.
Ukutholwa Kwe-BEMF Zero-Crossing:
I-back electromotive force (BEMF) i-waveform iyashintsha ngokuma kwe-rotor nesivinini. Amasu amabili ayatholakala okuthola ukuwela iqanda:
Inzwa ye-EMF Emuva ngesikhathi se-PWM ESINGAPHI: Thola isigaba esintantayo voltage nge-ADC uma kungekho ukugeleza kwamanje, ekhomba ukuwela uziro ngokusekelwe kumkhawulo.
Emuva inzwa ye-EMF ngesikhathi se-PWM ON-time: Center=tap voltage ufika kuhhafu webhasi voltage, ukukhomba ukuwela uziro ngokusekelwe kumkhawulo (VS / 2).
I-STM32 motor control SDK – 6-step firmware sensor-less parameter optimization
Isingeniso
Lo mbhalo uchaza indlela yokuthuthukisa imingcele yokucushwa kwezinyathelo eziyisi-6, i-algorithm encane yezinzwa. Umgomo uwukuthola inqubo yokuqalisa eshelelayo nesheshayo, kodwa nokuziphatha okuzinzile kweluphu evaliwe. Ukwengeza, lo mbhalo uphinde uchaze ukuthi ungafinyelela kanjani ekushintsheni okufanelekile phakathi kokutholwa kwe-EMF i-zero-crossing emuva ngesikhathi se-PWM OFF-time kanye ne-PWM ON-time lapho uphotha injini ngesivinini esikhulu ngevolthi.tage indlela yokushayela indlela. Ukuze uthole imininingwane eyengeziwe mayelana ne-algorithm yezinyathelo eziyisi-6 kanye ne-voltage/indlela yokushayela yamanje, bheka imanuwali yomsebenzisi ehlobene efakwe kuphakheji yemibhalo ye-X-CUBE-MCSDK.
Ama-akhronimi nezifinyezo
| Isifinyezo | Incazelo |
| I-MCSDK | Ikhithi yokuthuthukisa isoftware yokulawula (X-CUBE-MCDK) |
| HW | Izingxenyekazi zekhompuyutha |
| I-IDE | Indawo yokuthuthukisa edidiyelwe |
| I-MCU | Iyunithi ye-Microcontroller |
| I-GPIO | Okokufaka/okuphumayo kwenhloso-jikelele |
| I-ADC | Isiguquli se-Analog-to-digital |
| VM | Voltagimodi e |
| SL | Inzwa-kancane |
| BEMF | Amandla e-electromotive angemuva |
| FW | I-Firmware |
| ZC | Ukuwela iqanda |
| I-GUI | Isixhumi esibonakalayo somsebenzisi |
| MC | Ukulawulwa kwezimoto |
| I-OCP | Ukuvikelwa kwamanje |
| I-PID | I-Proportional-integral-derivative (isilawuli) |
| I-SDK | Ikhithi yokuthuthukisa isoftware |
| UI | Isixhumi esibonakalayo somsebenzisi |
| MC workbench | Ithuluzi lebhentshi lokulawula izimoto, ingxenye ye-MCSDK |
| Umshayeli wemoto | Ithuluzi lokushayela imoto, ingxenye ye-MCSDK |
Kuphelileview
Kumodi yokushayela enezinzwa eziyizinyathelo ezi-6, i-firmware isebenzisa amandla angemuva e-electromotive (BEMF) ezwakala esigabeni esintantayo. Isikhundla se-rotor sitholakala ngokuthola i-zero-crossing ye-BEMF. Lokhu kuvame ukwenziwa kusetshenziswa i-ADC, njengoba kuboniswe kuMfanekiso 1. Ikakhulukazi, lapho insimu kazibuthe ye-rotor inqamula isigaba esiphezulu se-Z, i-BEMF vol ehambisanayo.tage ishintsha uphawu lwayo (zero-crossing). IBEMF voltagi-e ingalinganiswa kokokufaka kwe-ADC, sibonga inethiwekhi yokumelana ehlukanisa i-voltage evela esigabeni se-motor.
Kodwa-ke, njengoba isignali ye-BEMF ilingana nesivinini, isikhundla se-rotor asikwazi ukunqunywa ekuqaleni, noma ngesivinini esiphansi kakhulu. Ngakho-ke, injini kufanele isheshiswe ku-loop evulekile kuze kube yi-BEMF vol eyaneletage ifinyelelwe. Lokho BEMF voltagi-e ivumela ukuvumelanisa kwesinyathelo sokushintsha nendawo ye-rotor.
Kulezi zigaba ezilandelayo, inqubo yokuqalisa kanye nokusebenza kwe-loop evaliwe, kanye nemingcele yokuyishuna, kuchazwe.
Ukutholwa kwe-BEMF kokuwela iqanda
I-EMF waveform yangemuva ye-brushless motor iyashintsha kanye nendawo ye-rotor nesivinini futhi isesimweni se-trapezoidal. Umfanekiso wesi-2 ukhombisa i-waveform ye-EMF yamanje nengemuva ngesikhathi esisodwa sikagesi, lapho ulayini oqinile ukhombisa okwamanje (ama-ripples awanakwa ukuze kube lula), umugqa odeshi umelela amandla e-electromotive angemuva, futhi ukuxhumanisa okuvundlile kumelele ugesi. umbono wokujikeleza kwemoto.
Maphakathi nawo wonke amaphoyinti okushintsha izigaba ezimbili ahambelana nephuzu elilodwa okuguquliwe i-polarity yamandla e-electromotive yangemuva: iphoyinti eliwela uziro. Uma indawo yokuwela iqanda isibonakalisiwe, isikhathi sokushintsha isigaba sisethwa ngemva kokubambezeleka kukagesi okungu-30°. Ukuze uthole ukweqa uziro kwe-BEMF, cindezela maphakathi nevolumutagkufanele kwaziwe. Umpompi ophakathi nendawo ulingana nendawo lapho izigaba ezintathu zezimoto zixhunywe ndawonye. Ezinye izinjini zenza ukuthi kutholakale umpompi ophakathi nendawo. Kwezinye izimo, ingakhiwa kabusha nge-voltage izigaba. I-algorithm yezinyathelo eziyisi-6 echazwe lapha ithatha i-advantage yobukhona benethiwekhi yezinzwa ye-BEMF exhunywe ezigabeni zemoto evumela ukubala ivolumu yompompi ophakathitage.
- Amasu amabili ahlukene ayatholakala ukuze kukhonjwe indawo okuwela uziro
- Inzwa ye-EMF Emuva phakathi ne-PWM OFF-time
- Inzwa ye-EMF Emuva ngesikhathi se-PWM ON-time (okwamanje isekelwa ku-voltagImodi ye-e kuphela)
Ngesikhathi se-PWM OFF-time, isigaba esintantayo voltage itholwa yi-ADC. Njengoba kungekho wamanje ogelezayo esigabeni esintantayo, kanti ezinye ezimbili zixhunywe phansi, lapho i-BEMF inqamula uziro esigabeni esintantayo, ine-polarity elinganayo nephambene kwezinye izigaba: i-centre tap vol.tagNgakho-ke u-e unguziro. Ngakho-ke, indawo yokuwela iqanda ikhonjwa lapho ukuguqulwa kwe-ADC kuphakama ngaphezu, noma iwela ngaphansi, komkhawulo ochaziwe.
Ngakolunye uhlangothi, ngesikhathi se-PWM ON-time, isigaba esisodwa sixhunywe kumthamo webhasitage, nomunye phansi (Umfanekiso 3). Kulesi simo, umpompi ophakathi nendawotage ufika engxenyeni yebhasi voltaginani lapho i-BEMF esigabeni esintantayo inguziro. Njengangaphambili, indawo yokuwela uziro ikhonjwa lapho ukuguqulwa kwe-ADC kuphakama ngaphezu (noma iwela ngezansi) komkhawulo ochaziwe. Lesi sakamuva sihambisana ne-VS / 2.
Idizayini yenethiwekhi ezwayo ye-BEMF
Emfanekisweni wesi-4 inethiwekhi evame ukusetshenziswa ukuzwa i-BEMF iyaboniswa. Inhloso yawo ukuhlukanisa i-motor phase voltage ukuthi itholwe ngendlela efanele yi-ADC. Amanani ka-R2 kanye no-R1 kufanele akhethwe ngokwevolumu yebhasitage level. Umsebenzisi kufanele aqaphele ukuthi ukusebenzisa isilinganiso se-R1 / (R2 + R1) esiphansi kakhulu kunesidingo, isignali ye-BEMF ingase ibangele iphansi kakhulu futhi isilawuli singabi namandla ngokwanele.
Ngakolunye uhlangothi, isilinganiso esiphezulu kunalokho esidingekayo singaholela ekuvuleni/kucishwe njalo kwama-diode okuvikela e-D1 amandla awo okutakula angafaka umsindo. Inani elinconyiwe lithi:
Amanani aphansi kakhulu ka-R1 kanye no-R2 kufanele agwenywe ukuze kukhawulwe amandla akhona okuthepha kusukela esigabeni semoto.
I-R1 kwesinye isikhathi ixhunywe ku-GPIO esikhundleni se-GND. Ivumela inethiwekhi ukuthi inikwe amandla noma ikhutshazwe isikhathi sokusebenza.
Ku-firmware yezinyathelo eziyisi-6, i-GPIO ihlala isesimweni sokusetha kabusha futhi inethiwekhi inikwe amandla. Nokho, ukuba khona kokugcina kwe-D3 kufanele kucatshangelwe lapho kusethwa imingcele ye-BEMF yokuzwa ngesikhathi se-PWM ON-time: ngokuvamile yengeza u-0.5÷0.7 V embundwini ekahle.
I-C1 eyezinjongo zokuhlunga futhi akufanele ikhawulele umkhawulokudonsa wesiginali ebangeni lefrikhwensi ye-PWM.
I-D4 ne-R3 ezokukhipha ngokushesha i-BEMF_SENSING_ADC node ngesikhathi sokuhamba kwe-PWM, ikakhulukazi ngevolumu ephezulu.tagamabhodi e.
Ama-diode e-D1 ne-D2 azikhethela futhi kufanele engezwe kuphela uma kuba sengozini yokwephula izilinganiso eziphezulu zesiteshi se-ADC esizwa i-BEMF.
Ukuthuthukisa amapharamitha we-algorithm yokulawula
Inqubo yokuqalisa
Inqubo yokuqalisa ngokuvamile yenziwa ukulandelana kwamasekhondi amathathutages:
- Ukuqondanisa. I-rotor iqondaniswe endaweni enqunywe kusengaphambili.
- Ukusheshisa kwe-loop evulekile. Umqulutagama-pulses asetshenziswa ngokulandelana okunqunyelwe ukudala inkambu kazibuthe ebangela ukuthi i-rotor iqale ukujikeleza. Izinga lokulandelana liyakhuphuka kancane kancane ukuze i-rotor ifinyelele isivinini esithile.
- Ukushintsha. Uma i-rotor isifinyelele isivinini esithile, i-algorithm ishintshela ku-loop-loop 6-step control sequence ukuze igcine ukulawula ijubane nesiqondiso semoto.
Njengoba shwn ku-Figure 5, umsebenzisi angenza ngendlela oyifisayo amapharamitha okuqalisa kubhentshi lokusebenzela le-MC ngaphambi kokukhiqiza ikhodi. Izindlela zokushayela ezimbili ezihlukene ziyatholakala:
- Voltage imodi. I-algorithm ilawula isivinini ngokushintsha umjikelezo womsebenzi we-PWM osetshenziswa ezigabeni zezimoto: iVol Phase targettagu-e uchazwa engxenyeni ngayinye ye-pro yokuqalisafile
- Imodi yamanje. I-algorithm ilawula isivinini ngokushintsha indlela yamanje egeleza ezigabeni zemoto: Ithagethi yamanje ichazwa ngesegimenti ngayinye ye-pro yokuqalisa.file
Umfanekiso 5. Amapharamitha wokuqalisa ebhentshini lokusebenzela le-MC
Ukuqondanisa
Emfanekisweni wesi-5, iSigaba 1 sihlala sihambisana nesinyathelo sokuqondanisa. I-rotor iqondaniswe nesikhundla sezinyathelo ezingu-6 esiseduze "ne-angle yokuqala kagesi".
Kubalulekile ukuqaphela ukuthi, ngokuzenzakalelayo, ubude beSigaba 1 bungama-200 ms. Phakathi nalesi sinyathelo umjikelezo womsebenzi uyandiswa ngokulandelana ukuze ufinyelele esigabeni esihlosiwe Umqtage (Isigaba Samanje, uma imodi yokushayela yamanje ikhethiwe). Kodwa-ke, ngezinjini ezinkulu noma esimweni sokungabi nazinzwa okuphezulu, ubude besikhathi obuphakanyisiwe, noma i-Phase Vol okuhloswe yona.tagI-e/Yamanje ingase inganele ukuqalisa kahle ukuzungezisa.
Emfanekisweni wesi-6, ukuqhathanisa phakathi kwesimo sokuqondanisa okungalungile nesilungile kunikezwa.
Uma inani eliqondiwe noma ubude beSigaba 1 bungenele ukuphoqa i-rotor endaweni yokuqala, umsebenzisi angabona injini idlidliza ngaphandle kokuqala ukuzungezisa. Phakathi naleso sikhathi, ukumuncwa kwamanje kuyanda. Esikhathini sokuqala senqubo yokuqalisa, ukwanda kwamanje, kodwa i-torque ayanele ukunqoba inertia ye-motor. Phezulu koMfanekiso 6 (A), umsebenzisi angabona ukwanda kwamanje. Kodwa-ke, abukho ubufakazi be-BEMF: injini iyamiswa. Lapho isinyathelo sokusheshisa sesiqalisiwe, indawo engaqinisekile ye-rotor ivimbela i-algorithm ekuqedeni inqubo yokuqalisa nokusebenzisa injini.
Ukwandisa umthamotage/isigaba samanje phakathi nesigaba 1 singalungisa inkinga.
EmqulwinitagImodi ye-e, ivolumu ehlosiwetage ngesikhathi sokuqalisa kungenziwa ngokwezifiso nge-Motor Pilot ngaphandle kwesidingo sokuvuselela ikhodi. Ku-Motor Pilot, esigabeni sokuvuselela, i-acceleration pro efanayofile kaFigure 1 kubikiwe (bheka Umfanekiso 7). Qaphela ukuthi lapha voltagIsigaba se-e singaboniswa njenge-pulse esethwe kurejista yesikhathi (iyunithi ye-S16A), noma ngokuhambisana nevolumu yokuphumayotage (iyunithi ye-Vrms).
Uma umsebenzisi esethole amanani afanele afanele injini, lawa magugu angasetshenziswa kuphrojekthi yebhentshi lokusebenzela le-MC. Ivumela ukukhiqiza kabusha ikhodi ukuze kusetshenziswe inani elizenzakalelayo. Ifomula engezansi ichaza ukuhlobana phakathi kwe-voltagIsigaba samayunithi e-Vrms kanye ne-S16A.
Kumodi yamanje, ku-Motor Pilot GUI, okwamanje okuqondiwe kukhonjiswa kuphela ku-S16A. Ukuguqulwa kwayo ku ampere incike kunani le-shunt kanye ne- ampinzuzo ye-liification esetshenziswe kumjikelezo wamanje womkhawulo.
Ukusheshisa kwe-loop evulekile
Emfanekisweni wesi-5, iSigaba sesi-2 sihambisana nesigaba sokusheshisa. Ukulandelana kwezinyathelo ezingu-6 kusetshenziselwa ukusheshisa injini ku-loop evulekile, ngakho-ke, isikhundla se-rotor asivumelaniswa nokulandelana kwezinyathelo ezingu-6. Izigaba zamanje zibe ziphakeme kune-optimum futhi i-torque iphansi.
Ku-MC workbench (Umfanekiso 5) umsebenzisi angachaza ingxenye eyodwa noma ngaphezulu yokusheshisa. Ikakhulukazi, ngenxa ye-bulky motor, kunconywa ukuyisheshisa nge-r ehamba kancaneamp ukunqoba inertia ngaphambi kokwenza umqansa ramp. Phakathi nengxenye ngayinye, umjikelezo womsebenzi ukhushulwa ngokomugqa ukuze ufinyelele ekuhlosweni kokugcina kwevolumutage/isigaba samanje saleyo ngxenye. Ngakho, iphoqa ukuguqulwa kwezigaba ngesivinini esihambisanayo esikhonjiswe kuthebula elifanayo lokucushwa.
Emfanekisweni 8, ukuqhathanisa phakathi kokusheshisa ngevolumutagIsigaba (A) siphansi kakhulu futhi esifanelekile (B) sinikezwe.
Uma i-target voltagi-e/yamanje yesigaba esisodwa noma ubude bayo abanele ukuvumela injini ukuthi ifinyelele kuleso sivinini esihambisanayo, umsebenzisi angabona injini ima ukuzungeza futhi iqale ukudlidliza. Phezulu kuMfanekiso 8, okwamanje kuyanda ngokuzumayo lapho isitebhisi senjini ngenkathi, lapho sisheshisa kahle, yamanje iyanda ngaphandle kokunqanyulwa. Lapho injini ima, inqubo yokuqalisa ihluleka.
Ukwandisa umthamotage/isigaba samanje singalungisa inkinga.
Ngakolunye uhlangothi, uma i-voltagIsigaba se-e/current esichazwe siphezulu kakhulu, njengoba injini isebenza ngendlela engafanele ku-open-loop, yamanje ingase iphakame futhi ifinyelele i-overcurrent. Injini ima kungazelelwe, futhi i-alamu ye-overcurrent ikhonjiswa yi-Motor Pilot. Ukuziphatha kwamanje kuboniswe kuMfanekiso 9.
Ukunciphisa ivolumutage/isigaba samanje singalungisa inkinga.
Njengesinyathelo sokuqondisa, ivolumu eqondiwetagI-e/yamanje ingaba isikhathi sokusebenza ngokwezifiso ngesikhathi sokuqalisa nge-Motor Pilot ngaphandle kwesidingo sokwenza kabusha ikhodi. Ngemuva kwalokho, ingasetshenziswa kuphrojekthi yebhentshi lokusebenzela le-MC lapho kukhonjwa isilungiselelo esifanele.
Ukushintsha
Isinyathelo sokugcina senqubo yokuqalisa ukushintshwa. Phakathi nalesi sinyathelo, i-algorithm isebenzisa i-BEMF ezwakele ukuze ivumelanise ukulandelana kwezinyathelo ezingu-6 nendawo yerotor. I-switch-over iqala engxenyeni ekhonjiswe kupharamitha edwetshelwe kuMfanekiso 10. Iyalungiseka engxenyeni yepharamitha yokuqalisa engenazinzwa yebhentshi lokusebenzela le-MC.
Ngemva kwesignali evumelekile ye-BEMF yokuthola iqanda (ukugcwalisa lesi simo bona Isigaba 2.1), i-algorithm ishintshela ekusebenzeni kweluphu evaliwe. Isinyathelo sokushintsha singase sehluleke ngenxa yezizathu ezilandelayo:
- Isivinini sokushintsha asilungiselelwe kahle
- Izinzuzo ze-PI zeluphu yesivinini ziphezulu kakhulu
- Ama-threshold okuthola umcimbi we-BEMF weqa uziro awasethwanga kahle
Isivinini sokushintsha asilungiselelwe kahle
Isivinini lapho ukushintshwa kuqala khona ngokuzenzakalelayo sifana nesivinini esiqondiwe sokuqala esingalungiselelwa esigabeni sokusetha idrayivu sebhentshi lokusebenzela le-MC. Umsebenzisi kufanele aqaphele ukuthi, ngokushesha nje lapho i-loop yesivinini ivaliwe, injini ishesha ngokushesha isuka ejubaneni lokushintsha iye kwijubane eliqondiwe. Uma lawa manani amabili eqhelelene kakhulu, kungase kwenzeke ukwehluleka okudlulele.
Izinzuzo ze-PI zeluphu yesivinini ziphezulu kakhulu
Ngesikhathi sokushintsha, i-algorithm isuka ekuphoqeni ukulandelana okuchazwe ngaphambilini ukukala isivinini kanye nokubala amanani okukhiphayo ngokufanele. Ngakho-ke, inxephezela isivinini sangempela esiwumphumela wokusheshisa kwe-open-loop. Uma izinzuzo ze-PI ziphezulu kakhulu, ukungazinzi kwesikhashana kungase kubonakale, kodwa kungaholela ekuhlulekeni okudlulele uma kwenziwa ihaba.
Umfanekiso 11 ukhombisa kanye nesibampukungazinzi okunjalo ngesikhathi soshintsho ukusuka ku-open-loop ukuya ekusebenzeni kweluphu evaliwe.
Imikhawulo ye-BEMF engalungile
- Uma amathreshold e-BEMF asethiwe, ukweqa uziro kutholwa kusengaphambili noma sekwephuzile. Lokhu kubangela imiphumela emibili eyinhloko:
- Ama-waveforms awa-asymmetric futhi ukulawula ukungasebenzi kahle okuholela ekunyakazeni okuphezulu kwe-torque (Umfanekiso 12)
- Iluphu yesivinini iba engazinzi ngokuzama ukunxephezela ama-ripples of torque
- Umsebenzisi angabhekana nokulawulwa kwejubane okungazinzile futhi, ezimweni ezimbi kakhulu, ukususwa kokuvumelanisa kokushayela kwemoto ngesilawuli esiholela esenzakalweni esidlulele.
- Ukusetha okufanele kwamathreshold e-BEMF kubalulekile ekusebenzeni kahle kwe-algorithm. Ama-Threshold nawo ancike kumthamo webhasitage value kanye nenethiwekhi yezinzwa. Kunconywa ukuthi ubhekisele kuSigaba 2.1 ukuze uhlole ukuthi i-voltage ihambisana kanjanitagamaleveli kuya kwelilodwa elisethwe kubhentshi lokusebenzela le-MC.
Ukusebenza kwe-loop evaliwe
Uma injini iqeda isigaba sokusheshisa, kutholwa i-BEMF zero-crossing. I-rotor ivumelaniswa nokulandelana kwezinyathelo ezingu-6 futhi kutholakala ukusebenza kwe-loop evaliwe. Kodwa-ke, ukuthuthukiswa okwengeziwe kwepharamitha kungenziwa ukuze kuthuthukiswe ukusebenza.
Isibonelo, njengoba kuchazwe eSigabeni 3.1.3 sangaphambilini (“Amathreshold e-BEMF angalungile”), iluphu yesivinini, ngisho noma isebenza, ingase ibonakale ingaqinile futhi imiphetho ye-BEMF ingase idinge ukuthuthukiswa okuthile.
Ukwengeza, lezi zici ezilandelayo kufanele zicatshangelwe uma injini icelwa ukuthi isebenze ngesivinini esikhulu noma ishayelwa ngomjikelezo ophezulu we-PWM:
Imvamisa ye-PWM
- I-Speed loop PI iyazuza
- Isigaba sokuvala inkathi ye-Demagnetization
- Ukubambezeleka phakathi kokuwela iqanda kanye nesinyathelo sokuya emsebenzini
- Shintsha phakathi kwe-PWM OFF-time kanye ne-ON-time sensing
Imvamisa ye-PWM
I-sensor-less 6-step algorithm yenza ukutholwa kwe-BEMF yonke imijikelezo ye-PWM. Ukuze uthole kahle umcimbi weqa, inani elanele lokutholwa liyadingeka. Njengomthetho wesithupha, ukuze usebenze kahle, okungenani ukuthengwa okungu-10 ngaphezu kwama-engeli kagesi angu-60 kunikeza ukuvumelanisa kwe-rotor okuhle nokuzinzile.
Ngakho-ke
I-Speed loop PI iyazuza
Izinzuzo ze-Speed loop PI zithinta ukuphendula kwenjini kunoma yimuphi umyalo wokusheshisa noma wokwehlisa isivinini. Incazelo yetiyetha yokuthi isilawuli se-PID sisebenza kanjani ingaphezu kobubanzi balo mbhalo. Kodwa-ke, umsebenzisi kufanele aqaphele ukuthi izinzuzo zesilawuli se-speed loop zingashintshwa ngesikhathi sokusebenza nge-Motor Pilot futhi zilungiswe ngendlela othanda ngayo.
Isigaba sokuvala inkathi ye-Demagnetization
I-demagnetization yesigaba esintantayo yinkathi ngemva kokuguqulwa kwamandla esigaba lapho, ngenxa yokukhishwa kwamanje (Umfanekiso we-14), ukufundwa kwe-EMF emuva akuthembeki. Ngakho-ke, i-algorithm kufanele inganaki isignali ngaphambi kokuba idlule. Lesi sikhathi sichazwa ebhentshini lokusebenzela le-MC njengephesentitage yesinyathelo (amadigri kagesi angu-60) futhi ingashintshwa isikhathi sokusebenza nge-Motor Pilot njengoba kukhonjisiwe kuMfanekiso 15. Uma siphezulu isivinini semoto, sishesha isikhathi sokuyeka uzibuthe. I-demagnetization, ngokuzenzakalelayo, ifinyelela umkhawulo ophansi obekwe emijikelezweni emithathu ye-PWM ku-2/3 wesivinini esilinganiselwe esiphezulu. Uma isigaba se-inductance senjini siphansi futhi singadingi isikhathi esiningi sokususa uzibuthe, umsebenzisi anganciphisa isikhathi sokuvala umlomo noma isivinini esisethwe ngaso isikhathi esincane. Kodwa-ke, akunconywa ukwehlisa isikhathi sokufihla ngaphansi kwemijikelezo engu-2 - 3 ye-PWM ngoba isilawuli singaletha ukungazinzi okungazelelwe ngesikhathi sokuhamba kwesinyathelo.
Ukubambezeleka phakathi kwe-BEMF yokuwela iqanda kanye nesinyathelo sokuya emsebenzini
Uma umcimbi we-BEMF wokuwela uziro usutholakele, i-algorithm ivamise ukulinda amadigri kagesi angama-30 kuze kube ukuguqulwa kokulandelana kwesinyathelo (Umfanekiso 16). Ngale ndlela, ukuwela uziro kumiswa endaweni emaphakathi yesinyathelo ukuze kukhonjwe ukusebenza kahle okuphezulu.
Njengoba ukunemba kokutholwa kokuwela iqanda kuncike enanini lokutholwa, ngakho-ke kumvamisa ye-PWM (bona Isigaba 3.2.1), ukunemba kokutholwa kwayo kungase kuhlobane ngesivinini esikhulu. Bese ikhiqiza i-asymmetricity ebonakalayo yama-waveforms kanye nokuhlanekezela kwamanje (bona Umfanekiso 17). Lokhu kunganxeshezelwa ngokunciphisa ukubambezeleka phakathi kokutholwa kwe-zero-cross and step commutation. Ukubambezeleka kwe-Zero-crossing kungashintshwa isikhathi sokusebenza komsebenzisi nge-Motor Pilot njengoba kuboniswe kuMfanekiso 18.
Shintsha phakathi kwe-PWM OFF-time kanye ne-ON-time sensing
Ngenkathi ukhuphula isivinini noma umthamo wamanje (okungukuthi i-torque ephumayo yemoto), umjikelezo womsebenzi wokushayela kwe-PWM uyakhula. Ngakho, isikhathi sika-sampi-BEMF ngesikhathi soku-OFF-time iyancipha. Ukuze kufinyelelwe ku-100% womjikelezo womsebenzi, ukuguqulwa kwe-ADC kuqalwa ngesikhathi se-ON-Isikhathi se-PWM, ngaleyo ndlela kushintshe kusukela kokuzwa kwe-BEMF ngesikhathi se-PWM OFF-time kuya ku-PWM NGESIKHATHI.
Ukucushwa okungalungile kwemikhawulo ye-BEMF ngesikhathi se-ON-time kuholela ezindabeni ezifanayo ezichazwe eSigabeni 3.1.3 (“Amathreshold e-BEMF angalungile”).
Ngokuzenzakalela, amathreshold e-BEMF ON-sensing asethelwe kuhhafu wevolthi yebhasitage (bheka iSigaba 2.1). Umsebenzisi kufanele acabangele ukuthi ama-threshold angempela ancike kumthamo webhasitaginethiwekhi ye-e value nenzwa. Landela izinkomba eziseSigabeni 2.1 futhi uqiniseke ukuthi uqondanisa ivolumutage ileveli kuya kwelilodwa elibekwe kubhentshi lokusebenzela le-MC.
Amanani ama-threshold kanye nomjikelezo womsebenzi we-PWM lapho i-algorithm ishintshana phakathi kwe-OFF kanye ne-ON-sensing ayisikhathi sokusebenza esilungiseka nge-Motor Pilot (Umfanekiso 19) futhi itholakala ku-Vol.tagUkushayela kwemodi ye-e kuphela.
Ukuxazulula inkinga
Yini okufanele ngiyinakekele ukuze ngiphothe kahle injini ene-sensor-less 6-step algorithm? vumelanisa i-rotor ne-algorithm yokulawula. Isilinganiso esifanele samasiginali we-BEMF silele ekwakhiweni okusebenzayo kwenethiwekhi yezinzwa ye-BEMF (bona Isigaba 6). I-target voltage (voltagukushayela kwemodi ye-e) noma okwamanje (ukushayela kwemodi yamanje) ngesikhathi sokulandelana kokuqalisa kuncike kumapharamitha emoto. Incazelo (futhi ekugcineni ubude besikhathi) ye-voltage/isigaba samanje ngesikhathi sokuqondanisa, ukusheshisa, kanye nezinyathelo zokushintsha kubalulekile ukuze inqubo ibe yimpumelelo (bona Isigaba 3).
Ekugcineni, ukuvumelanisa kwe-rotor kanye nekhono lokukhulisa isivinini semoto kuze kufike kwijubane elilinganiselwe kuncike ekusetshenzisweni kahle kwemvamisa ye-PWM, imingcele ye-BEMF, isikhathi se-demagnetization kanye nokubambezeleka phakathi kokutholwa kokuwela i-zero kanye nesinyathelo sokuhamba, njengoba kuchazwe ku- Isigaba 3.2.
Liyini inani elifanele lesihlukanisi se-BEMF resistor?
Umsebenzisi kufanele aqaphele ukuthi inani elingalungile le-BEMF resistor divider lingasusa noma yiliphi ithuba lokushayela kahle injini. Ukuze uthole imininingwane eyengeziwe mayelana nendlela yokuklama inethiwekhi yezinzwa ye-BEMF, bheka kuSigaba 2.1.
Ngiyimisa kanjani inqubo yokuqalisa?
- Ukuze kuthuthukiswe inqubo yokuqalisa, kuyanconywa ukwandisa ubude besinyathelo ngasinye sesigaba sokuvuselela sibe imizuzwana embalwa. Khona-ke kungenzeka ukuqonda ukuthi injini isheshisa ngokufanele, noma ijubane/isinyathelo senqubo ye-open-loop ehlulekayo.
- Akufanelekile ukusheshisa i-high-inertia motor ene-r ekhuphuka kakhuluamp.
- Uma i-voltagIsigaba se-e noma isigaba samanje siphansi kakhulu, izitebele zezimoto. Uma iphezulu kakhulu, i-overcurrent iyaqalwa. Ikhula kancane kancane ivolumutagisigaba se-e (voltagukushayela kwemodi ye-e) noma okwamanje (ukushayela kwemodi yamanje) ngesikhathi sokuqondisa kanye nezinyathelo zokusheshisa kuvumela umsebenzisi ukuthi aqonde ububanzi bokusebenza kwenjini. Ngempela, kuyasiza ukuthola okungcono kakhulu.
- Uma kuziwa ekushintsheni ekusebenzeni kwe-loop evaliwe, ukuzuza kwe-PI kumele kuncishiswe ekuqaleni ukuze kukhishwe ukuthi ukulahlekelwa kokulawula noma ukungazinzi kungenxa ye-loop yesivinini. Kuleli qophelo, ukuqiniseka ukuthi inethiwekhi yezinzwa ye-BEMF iklanywe ngokufanelekile (bona Isigaba 2.1) kanye nesiginali ye-BEMF etholwe kahle kubalulekile. Umsebenzisi angafinyelela ukufundwa kwe-BEMF, futhi akuhlele ku-Motor Pilot (bheka Umfanekiso 20) ngokukhetha amarejista atholakalayo BEMF_U, BEMF_V kanye ne-BEMF_U esigabeni sesakhiwo se-ASYNC sethuluzi. Uma injini ikusimo se-Run, izinzuzo zesilawuli se-loop yesivinini zingathuthukiswa. Ukuze uthole imininingwane eyengeziwe noma ukwenziwa ngcono kwepharamitha, bheka Isigaba 3 kanye neSigaba 3.2.
Yini engingayenza uma injini inganyakazi ekuqaleni?
- Ekuqaleni, ivolumu ekhulayo ngomugqatage (voltagUkushayela kwemodi ye-e) noma okwamanje (ukushayela kwemodi yamanje) kunikezwa ezigabeni zemoto. Umgomo uwukuqondanisa endaweni eyaziwa futhi echazwe ngaphambilini. Uma i-voltagI-e ayiphezulu ngokwanele (ikakhulukazi ngama-motor ane-inertia ephezulu engaguquki), i-motor ayinyakazi futhi inqubo ihluleka. Ukuze uthole ulwazi olwengeziwe mayelana nezixazululo ezingaba khona, bheka Isigaba 3.1.1.
Yini engingayenza uma injini ingasiqedi isigaba sokusheshisa?
Njengesigaba sokuqondanisa, injini isheshiswa ku-loop evulekile ngokusebenzisa i-voltage ekhuphuka ngomugqa.tage (voltagukushayela kwe-e mode) noma okwamanje (ukushayela kwemodi yamanje) ezigabeni zemoto. Amanani azenzakalelayo awabheki umthwalo osetshenziswa ekugcineni, noma ama-motor constants awanembile futhi/noma awaziwa. Ngakho-ke, inqubo yokusheshisa ingase yehluleke nge-motor stall noma umcimbi owenziwe ngokweqile. Ukuze uthole ulwazi olwengeziwe mayelana nezixazululo ezingaba khona, bheka Isigaba 3.1.2.
Kungani injini ingashintshi ibe yiluphu yesivinini esivaliwe?
Uma injini isheshisa ngendlela efanele ukuze iqonde isivinini kodwa ima kungazelelwe, kukhona okungase kube okungalungile ekucushweni komkhawulo we-BEMF noma ukuzuza kwesilawuli se-PI. Bheka iSigaba 3.1.3 ukuze uthole imininingwane eyengeziwe.
Kungani iluphu yesivinini ibonakala ingazinzile?
Ukwenyuka komsindo wesilinganiso ngesivinini kulindelekile njengoba ijubane liphezulu, liyancipha inani le-BEMFampI-les yokuthola ukuwela iqanda futhi, ngenxa yalokho, ukunemba kwesibalo sayo. Kodwa-ke, ukungazinzi ngokweqile kwe-loop yesivinini kungase futhi kube uphawu lwe-BEMF threshold engalungile noma izinzuzo ze-PI ezingalungiselelwe kahle, njengoba kugqanyiswe kuSigaba 3.1.3.
- Ngingasinyusa kanjani isivinini esiphezulu esifinyelelekayo?
Isivinini esiphezulu esifinyelelekayo ngokuvamile sikhawulwa izici ezimbalwa: imvamisa ye-PWM, ukulahlekelwa kokuvumelanisa (ngenxa yesikhathi sokuyeka uzibuthe ngokweqile noma ukubambezeleka okungalungile phakathi kokutholwa kweqanda eliwela iqanda kanye nokuhamba ngesinyathelo), imikhawulo ye-BEMF engalungile. Ukuze uthole imininingwane eyengeziwe mayelana nendlela yokuthuthukisa lezi zici, bheka Isigaba 3.2.1, Isigaba 3.2.3, Isigaba 3.2.4 kanye neSigaba 3.2.5.
Kungani injini ima kungazelelwe ngesivinini esithile?
Kungenzeka kungenxa yokucushwa komkhawulo we-PWM ekuzweleni kwe-BEMF okungalungile. Bheka iSigaba 3.2.5 ukuze uthole imininingwane eyengeziwe.
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