mechatronics drives (azionamenti ). mechatronics pwm pwm modulation (pulse width modulation)
TRANSCRIPT
Mechatronics
Drives(Azionamenti )
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PWMPWMModulation (Pulse Width Modulation)
Mechatronics
AC brushless drive
[velocita’] [accelerazione]
oscillatore
Sincos encoder o
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50 o 60Hz
Tensione DC bus letta
f0 = 256 frete
PI
PI
Regenerative
Breaking(Recupero
in rete)
1 sinusoid cover 256 memory locations
[acc][vel]
[vel]
Sinusoid in phase with line voltage and amplitude-modulatedwith DC-bus voltage error
Mechatronics
Control Strategies
The Feed-Forward (open loop) is used to provide position, velocity, current profiles, to be followed by the PID (closed loop),
…so to avoid to load the integral action,
…so that I can keep it low and have high dynamics
Feed Forward and PID
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Control Strategies (cont’d)
positionvelocityacceleration
Higher bandwidths
Feed Forward and PID
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Control Strategies (cont’d)
Vector Control (VC) (Controllo ad Orientamento di Campo o
Vettoriale)
Mechatronics
Control Strategies (cont’d)
Vector Control (VC)
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Control Strategies (con’d)
Iq
Id
Ia
Ib
Ic
Experimentally we would see… :
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…and indeed we actually see:
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and:
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Clark & Park Transform
It’s the matrix T that transforms from 3 to 2* vectors and from fixed to rotary reference system.
* Actually 3 currents id, iq and i0, remains, where i0 is the neutral wire (neutro) current (if there’s one).