Drives

(Azionamenti )

Mechatronics
PWM
Modulatio
n
(Pulse
Width
Modulatio
n)

Mechatronics
 AC brushless drive

Sincos encoder o

[velocita] [accelerazione]

oscillatore

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 Sinusoid in phase with line voltage
and amplitude-modulated
[vel][acc] with DC-bus voltage error

PI

[vel]

Tensione
DC bus
letta
PI

f0 = 256 frete

Regenerativ
50 o 60Hz e
1 sinusoid cover 256 Breaking
memory locations (Recupero
Mechatronics
 Control Strategies
Feed Forward and PID
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
Mechatronics
Control Strategies (contd)
Feed Forward and PID

positionvelocityacceleration

Higher bandwidths
Mechatronics
Control Strategies (contd)
Vector Control (VC)
(Controllo ad Orientamento di Campo o
Vettoriale)

Mechatronics
Control Strategies (contd)
Vector Control (VC)

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 Control Strategies (cond)
Experimentally we would see :

Iq
Id
Ia
Ib
Ic
Mechatronics
and indeed we actually see:

Mechatronics
and:

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 Clark & Park Transform
Its 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 theres one).

Mechatronics