Regelung von BLDC Motoren und Synchronmaschinen

Aufbau eines BLDC-Motors

bldc_1c

bldc_2c

Raumzeiger

r1

r2

r3

r4

r5

r6

Raumzeiger: Sinus PWM

sinus_pwm

Ansteuerung der 3-Phasen-Brücke

Beispiel eines MOS-FET Treibers

mosfet_driver

Blockschaltbild: BLDC-Motor mit Leistungsstufe

Leistungsstufe

  • Drei Halbbrücken müssen angesteuert werden!
  • Sind hierfür drei Regler notwendig?

Clarke Transformation

clarke

Blockschaltbild: Clarke Transformation ergänzt

clarke_bsb

  • Nur noch zwei Größen müssen geregelt werden!
  • Problem: beide Größen müssen ständig verändert werden!

Park Transformation

Vergleich Gleichstrommotor:

dc_motor

  • Rotation bzw. Drehfeld wird durch Kommutator "erzeugt".
  • Regler muss kein Drehfeld erzeugen!
  • → Einfache Regelung von Gleichstrommotoren!

park

Blockschaltbild: Park Transformation ergänzt

park_bsb

  • Konstante d/q-Werte führen zu veränderlichen Strangwerten!

Regelung

Für die Regelung wird zunächst eine Sinustabelle benötigt (z.B 50 Werte / 180°)

sin_arr

Blockschaltbild: PI-Regler ergänzt

pi_regler

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

pi_regler2

Blockschaltbild: Strommessung ergänzt

pi_regler3

Blockschaltbild: geschlossener Regelkreis

pi_regler4

Blockschaltbild: Lageerkennung ergänzt

pi_regler5

Prinzipieller Aufbau der Lageerkennung:

lageerkennung

Blockschaltbild: PI-Drehzahlregler ergänzt

pi_regler6

Blockschaltbild: Vollständiger feldorientierter Drehzahlregler

pi_regler7


Eigene Projekte zu diesem Thema:

STM32-basierter Frequenzumrichter zur Ansteuerung einer Lichtmaschine:

logo_1x

logo_1x

Frequenzumrichter

Lichtmaschine

Geberlose Raumzeigermodulation bei einem BLDC-Motor:

logo_1x

space vector modulation

dsPIC33-basierter feldorientierter Regler:

logo_1x

bldc

171 thoughts on “Regelung von BLDC Motoren und Synchronmaschinen

  1. 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

  2. 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

  3. 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

  4. 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. (?)

  5. 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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  153. 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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