Aufbau eines BLDC-Motors
Raumzeiger
Raumzeiger: Sinus PWM
Ansteuerung der 3-Phasen-Brücke
Beispiel eines MOS-FET Treibers
Blockschaltbild: BLDC-Motor mit Leistungsstufe
- Drei Halbbrücken müssen angesteuert werden!
- Sind hierfür drei Regler notwendig?
Clarke Transformation
Blockschaltbild: Clarke Transformation ergänzt
- Nur noch zwei Größen müssen geregelt werden!
- Problem: beide Größen müssen ständig verändert werden!
Park Transformation
Vergleich Gleichstrommotor:
- Rotation bzw. Drehfeld wird durch Kommutator "erzeugt".
- Regler muss kein Drehfeld erzeugen!
- → Einfache Regelung von Gleichstrommotoren!
Blockschaltbild: Park Transformation ergänzt
- Konstante d/q-Werte führen zu veränderlichen Strangwerten!
Regelung
Für die Regelung wird zunächst eine Sinustabelle benötigt (z.B 50 Werte / 180°)
Blockschaltbild: PI-Regler ergänzt
Prinzipieller Aufbau eines PI-Reglers:
void isr( void )
{
static int e_q_int, e_d_int;
q_ist = read ( Q_IST ); /* q-Istwert einlesen */
d_ist = read ( D_IST ); /* d-Istwert einlesen */
e_q = q_soll - q_ist; /* q-Fehler berechnen */
e_d = d_soll - d_ist; /* d-Fehler berechnen */
e_q_int = e_q_int + e_q; /* q-Fehler integrieren */
e_d_int = e_d_int + e_d; /* d-Fehler integrieren */
if ( e_q_int > E_Q_INT_MAX ) e_q_int = E_Q_INT_MAX; /* e_q_int begrenzen */
if ( e_q_int < E_Q_INT_MIN ) e_q_int = E_Q_INT_MIN; /* e_q_int begrenzen */
if ( e_d_int > E_D_INT_MAX ) e_d_int = E_D_INT_MAX; /* e_d_int begrenzen */
if ( e_d_int < E_D_INT_MIN ) e_d_int = E_D_INT_MIN; /* e_d_int begrenzen */
y_q = e_q * KP_Q + e_q_int * KI_Q; /* q-Stellgroesse berechnen */
y_d = e_d * KP_D + e_d_int * KI_D; /* d-Stellgroesse berechnen */
dq_to_pwm ( y_d, y_q ); /* PWM aktualisieren */
}
Blockschaltbild: Führungsgrößen ergänzt
Blockschaltbild: Strommessung ergänzt
Blockschaltbild: geschlossener Regelkreis
Blockschaltbild: Lageerkennung ergänzt
Prinzipieller Aufbau der Lageerkennung:
Blockschaltbild: PI-Drehzahlregler ergänzt
Blockschaltbild: Vollständiger feldorientierter Drehzahlregler
Eigene Projekte zu diesem Thema:
STM32-basierter Frequenzumrichter zur Ansteuerung einer Lichtmaschine:
Geberlose Raumzeigermodulation bei einem BLDC-Motor:
dsPIC33-basierter feldorientierter Regler:
Hallo Achim,
vielen Dank für die ausführliche Erklärung.
Darf ich ergänzen, dass es sich bei den gezeigten Transformationen korrekterweise um die inverse Park bzw inverse Clark Transformation handelt.
Bei einer Regelung, üblicherweise feldorientierte Regelung, wird die Clark- bzw Park-Transformation bei der Verarbeitung der Strangströme verwendet, um die Regelgrößen d und q zu erhalten und diese durch zwei "einfache" PI-Regler zu führen.
Viele Grüße
Frank
Hallo Frank, vielen Dank für Dein Feedback! Natürlich, du hast vollkommen Recht, in meinen Blockschaltbildern werden die Transformationen natürlich invers ausgeführt – ich werde das bei Gelegenheit korrigieren! Ich habe noch Unterlagen zur Regelung und werde diese ebenfalls ergänzen. Das Elegante der d/q – Transformationen ist meiner Meinung nach, dass man sich quasi mit dem Regler auf den Rotor “setzt” und dort das Drehmoment und die Erregung bequem regeln kann. Man wandelt ein statorfestes Koordinatensystem in ein rotorfestes. Arbeitest du in dem Bereich oder ist es auch dein Hobby? Gruß Achim
hi 🙂 i like what you do 🙂 and i find it so usefull 🙂 is it possible to impliment this work on STM32F4O7VG ? and if yes can you tell me how and thank you 🙂
Hi Tarek, thanks for your comment! The STM32 has a floating point unit, therefore it is much easier to implement the d/q transform algorithm. I’ll try to post some example projects in a few days. Achim
Hallo Achim,
die Motoren gehören zu meinem Job.
Die OLEDs sind für mein Hobbyprojekt.
Gruß
Frank
Hello,
Can you please share your code for dsPIC33 mcu ? If possible with schematic to drive the motor ?
Thank you in advance,
Emil
Hello，Mr.Achim！
nice project！
I also want to make a controller for my EV,
would u like to share about the schematic and the programmer？
Looking forward your reply~!
Thank you ！
Marecal
beim bldc motor wird eine phase mit der betriebsspannung verbunden, eine mit der Masse und andere hängt in der Luft oder? Oben haben alle phasen immer einen definierten Zustand. (?)
Hi Oleg,
nein, nicht ganz. Schau mal hier:
http://embeddedlightning.com/bldc_motor/
Gruß
Achim
Hallo Achim,
In einem deiner Video dreht sich die Lichtmaschine sehr sehr langsam.
ich nehme an, dass der Schätzalgorithmus nicht runter bis 0 Hz funktioniert. Ab welcher Frequenz schaltest du vom “Forced mode/Stromeinprägungs Mode” auf den Regelungsmodus um?
Eine weitere Frage die auf die Änderungsgeschwingigkeit eines anliegendem Drehmoments abzielt: Darf sich das vom Motor abgegebene Drehmoment beliebig schnell ändern, oder benötigt man ab einer Grenze ein zusätzliches Trägheitsmoment zum Dämpfen der Änderung (Winkelbeschleunigung)?
Auf jeden Fall Danke für das publizieren, dieses speziellen Themas!!
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I think Regelung von BLDC Motoren und Synchronmaschinen TO TAKE THE STUDIO يعتبر تحميل بيري بلس <li خيارًا مثاليًا للمستخدمين الذين يبحثون عن تطبيق يوفر لهم تجربة مراهنة سلسة وممتعة. يتميز هذا التطبيق بكونه أول … هنا يأتي دور Berry Plus! هذا التطبيق المبتكر لنظام Android موجود هنا لجعل رحلة المراهنة الرياضية أكثر سلاسة وذكاءً ومتعة. سواء كنت من المراهنين …
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Nowadays, most of the devices that help make life easier and
comfortable—things like washing machines, refrigerators, fans,
air conditioners, power tools, blenders—require motion control.
All of these devices consume energy to produce motion. The
way this energy is efficiently used depends on the control
systems, electric machine design, control algorithms, etc. One
of the biggest challenges that we face as a human race is the
efficient use of energy and most of the efforts to improve this
challenge are targeted at motion control systems. Hence,
many energy-saving advances are coming from improved
motor control techniques, frame design, materials and
manufacturing precision.
More efficient control techniques were developed years ago,
but the required CPUs to perform such complex algorithms and
computations were too expensive for cost-sensitive markets
like the appliance market. This situation has changed in recent
years; high-performance digital signal controllers have been
developed at lower costs with all the required features to
perform these complex control algorithms.
Another area where energy-saving advances are being
developed is power conversion. Power conversion systems
are used to convert electric power from one form to another.
During this process a certain amount of energy is lost due to
the inherent power consumption of the system, efficiency of the
topologies, the control techniques and the electronic devices
used. Most of the power conversion controls are performed by
analog circuitry, but the requirements, of the new energy-saving
regulations have increased and frequently have become harder
to meet with analog control systems.
The use of microcontrollers (MCU) and DSCs has opened
new frontiers in this regard. Today, it is feasible to achieve
98-percent efficiency in power conversion systems through the
use of digital control techniques and complex mathematical
computations executed by high-performance low-cost digital
signal controllers.
Motion Control Design Challenges
Several kinds of motors are used in motion control, including
brushless DC motors (BLDC), brush-commutator permanent
magnet DC motors, linear motors and stepper motors.
System engineers must not only choose the right kind of
motor for the mechanical task, but they must also choose the
appropriate control loop scheme for encompassing both the
mechanical and electrical time-variant responses of the system.
Tuning this control loop is often done in the design stage of the
drive electronics.
Developers face a number of design variables because each
type of motor has a unique set of requirements for the drive
electronics. Designing drive electronics is further complicated
by the electric motors themselves, which, by their inductive
nature, are prone to producing electromagnetic interference
(EMI), radio frequency interference (RFI) and destructive
high-energy transients. Drive electronics design must prevent
EMI and RFI, while still withstanding transient over-voltage and
over-current conditions.
BLDC motors are very popular for many applications. A BLDC
motor does not have a commutator and is more reliable than
a DC motor. A BLDC motor has other advantages over an AC
induction motor. BLDC motors achieve higher efficiency by
generating the rotor magnetic flux with rotor magnets. They
are used in high-end home appliances (such as refrigerators,
washing machines and dishwashers), high-end pumps, fans and
other devices that require high reliability and efficiency.
BLDC motors are widely used in pump, fan and compressor
applications because of their robust structure. A common
feature of these applications is that they do not require position
information; only speed information is required, and only to
perform control. BLDC motors can be used without complex
control algorithms.
In the BLDC motor, the rotor position must be known to
energize the phase pair and control the phase voltage.
If sensors are used to detect rotor position, then sensed
information must be transferred to a control unit.
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