Cc dng ng c DC

c bit
ng c DC khng chi than
(BLDC)
P0015301 5 P0015301 5- -SE SE- -9 B 9 B i 10 i 10
Nguyn l
ng c BLDC mc d c tn l mt chiu khng chi than nhng
n thuc nhm ng c ng b nam chm vnh cu
ng c ng b nam chm vnh cu l nhm ng c xoay chiu
ng b (tc l rotor quay cng tc vi t trng quay) c phn
cm l nam chm vnh cu.
Chia thnh 2 loi ng c da vo dng sng sc phn in ng
stator ca ng c.
-ng c (sng) hnh sin
-ng c (sng) hnh thang
ng c BLDC l loi ng c sng hnh thang, nhng ng c cn
li l ng c sng hnh sin (ta gi chung vi tn l PM
Permanent magnet Motor).
EMF c dng hnh thang quyt nh xc nh mt ng c BLDC
ch khng phi cc yu t khc nh Hall sensor, b chuyn mch
in t (Electronic Commutator), .v.v.
c im BLDC
u im:
Mt t thng khe h khng kh ln.
T l cng sut/ khi lng my in cao.
T l mmen/ qun tnh ln (c th tng tc nhanh).
Vn hnh nh nhng (dao ng ca mmen nh) thm ch tc thp ( t
c iu khin v tr mt cch chnh xc).
Mmen iu khin c v tr bng khng.
Vn hnh tc cao.
C th tng tc v gim tc trong thi gian ngn.
Hiu sut cao.
Kt cu gn.
Nhc im
Gi thnh cao
c iu khin bng mt b iu khin vi in ng ra dng xung vung v
cm bin Hall c t bn trong ng c xc nh v tr rotor khng t i
chiu dng in nh ng c DC thng thng
nam chm st t d t ha nhng kh nng tch t khng cao, d b kh t v
c tnh t ca nam chm b gim khi tng nhit . Nhng vi loi nam chm
him nh hin nay th nhc im ny c ci thin ng k.
CU TO
Stator:
li st (cc l thp k thut in ghp
cch in vi nhau)
dy qun khc so vi cch qun
dy ng c xoay chiu 3 pha thng
thng, s khc bit ny to nn sc
phn in ng dng hnh thang
Rotor: khng c g khc so vi cc
ng c nam chm vnh cu khc.
Hall sensor: do c th sc phn in
ng c dng hnh thang nn cu
hnh iu khin thng thng ca
BLDC cn c dng cm bin hiu
ng Hall, gi tt l Hall sensor xc
nh v tr ca t trng rotor so vi
cc pha ca cun dy stator
Rotor
Nam chm c t trn rotor ca ng c BLDC: (a,b,c) nam chm dn b mt ngoi, (d,e,f,g) nam chm t bn trong rotor.
Brushless DC Motor
100
N
S
R
B
r
r
g
g
b
b
G
com
com
com
110
010
011
101
001
R
G
B
N
S
PHNG PHP IU KHIN
PHNG PHP IU KHIN
Qu trnh kch ng 6 bc
+V
PWM1H
PWM1L
3 Phase
BLDC
PWM2H
PWM2L
PWM3H
PWM3L
Sector 5 0 1 2 3 4 5 0 1
+V
PWM1H
PWM1L
3 Phase
BLDC
PWM2H
PWM2L
PWM3H
PWM3L
Sector 5 0 1 2 3 4 5 0 1
Qu trnh kch ng 6 bc
+V
PWM1H
PWM1L
3 Phase
BLDC
PWM2H
PWM2L
PWM3H
PWM3L
Sector 5 0 1 2 3 4 5 0 1
Qu trnh kch ng 6 bc
+V
PWM1H
PWM1L
3 Phase
BLDC
PWM2H
PWM2L
PWM3H
PWM3L
Sector 5 0 1 2 3 4 5 0 1
Qu trnh kch ng 6 bc
4 Amps Peak
Fixed Speed
1000 RPM
Gin Hall sensor
v dng in ng ra tng
Qu o t thng stator
khi khng ti v c ti
THAY I TC BNG CCH THAY
I IN P TRUNG BNH PHA
IU CH PWM
in p cung cp cho b
kha cng sut khng
i, tuy nhin in p ra
khi b kha n ng
c thay i theo thut
ton iu khin.
Phng php PWM c
th dng cho kha trn,
kha di hay ng thi
c hai kha trn v di
cng lc.
PWM1H
Hall Effect
Sensors
PWM1L
BLDC Motor c iu ch PWM
IU KHIN IN P HNH SIN
cn c gi l iu khin AC khng chi than (brushless AC)
gim ting n c th nghe thy c,
gim gn sng mmen do dng sng in p
dng in ra t b gn sng.
IU KHIN KHNG CM BIN
2 k thut iu khin khng cm bin:
xc nh v tr rotor da vo sc in ng ca ng c
c lng v tr dng cc thng s ca ng c, cc gi tr in p v dng in
trn ng c
EMF hi tip v/s Hall sensors
Back EMF
Hall sensor
IU KHIN VNG KN
NG C BLDC
B IU KHIN PI(D)
Proportional-Integral-Differential
Set Point - Process Variable = Error
Control Variable = Output
CV = Pe + I e dt + D de/dt
Closed Loop
PID BLDC
+ -
Tc mong mun
Tc hi tip
Sai s tc Voltage
K
hall
Hall Sensor
PID s
+ -
Tc t
Tc hi tip
Error
in p
Kp * Error
+
+
Up
Ui
Ki * Error dt
Kd *
dError
dt
+
Ud
PID s
Up(T) = Kp * Error(T)
Ui(T) = Ki * Error(T) + Ui(T-1)
Ud(T) = Kd * (Error(T) Error(T-1))
Voltage(T) = Up(T) + Ui(T) + Ud(T)
Kp * Error
Ki * Error dt
Kd *
dError
dt
PID s m rng
Kp * Error
Ki * Error dt
Kd
dError
dt
Kp * Error
Kd * (1 Z ) * Error
-1
Ki
1 - Z
-1
* Error
+
+
+
PID s m rng
Kp * Error
Kd * (1 Z ) * Error
-1
Ki
1 - Z
-1
* Error
+
+
+
Error * Kp +
Ki
1 - Z
-1
+ Kd (1 Z )
-1
Optional Digital PID
Error * Error *
Kp + Kp +
Ki Ki
1 1 - - Z Z
- -1 1
+ Kd (1 + Kd (1 Z ) Z )
- -1 1
= Controller Output = Controller Output
Error * Error *
1 1 - - Z Z
- -1 1
= Controller Output = Controller Output
Kp (1 Kp (1 Z ) Z )
- -1 1
+ Ki + + Ki +
Kd (1 Kd (1 Z ) Z )
- -1 1
2 2
Error * Error *
1 1 - - Z Z
- -1 1
= Controller Output = Controller Output
(Kp + Ki + Kd) + ( (Kp + Ki + Kd) + (- -Kp Kp - - 2*Kd) Z + Kd*Z 2*Kd) Z + Kd*Z
- -1 1 - -2 2
PID s m rng
Error *
1 - Z
-1
= Ng ra b K
(Kp + Ki + Kd) + (-Kp - 2*Kd) Z + Kd*Z
-1
-2
Error = Error (T)
Error * Z = Error (T-1)
Error * Z = Error (T-2)
-2
-1
Sai s gn nht
Sai s t nht
Ng ra b iu khin (T) = Ng ra b iu khin (T 1)
+ Error (T) * K1
+ Error (T-1) * K2
+ Error (T-2) * K3
Vi:
K1 = Kp + Ki + Kd
K2 = -Kp -2Kd
K3 = Kd
Error *
1 - Z
-1
= Ng ra b iu khin
(Kp + Ki + Kd) + (-Kp - 2*Kd) Z + Kd*Z
-1
-2
PID s m rng
NG DNG
iu khin ng ngt c chnh xc cao,
mi trng d chy n, khng uc bo
tr thng xuyn.
Giao thng vn ti.
Gii tr.