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Process
Control
Phase B Phase B
to β to q q to β SVM
(rotating reference frame) by Phase C Two-Phase Rotating Stationary Phase C
Park transformation.
The electrical rotor position is a Electrical rotor Electrical rotor
position position
mechanical rotor position divided by
numbers of magnetic pole pairs pp.
7. Using the space vector modulation, voltage. The calculation of the BEMF
After a control process we should
the output three-phase voltage observer requires math computation
generate three-phase AC voltages
is generated as multiply accumulation, division,
on motor terminals, so DC values
A complete FOC speed PMSM control sin/cos, sqrt which is suited for DSCs,
of the required/generated voltage
structure with Freescale motor control Kinetis ARM core-based MCUs or the
should be transformed by inverse
library functions is shown in the Beyond Power Architecture family.
Park/Clarke transformations.
Bits: Motor Control Edition
article titled,
Amplitude Control “Industrial/Appliance PMSM Drive.” Field/Flux Weakening
All quantities are now DC values, Control
which are easy to control, but how do Sensorless Control The operation beyond the machine
we control them in magnitude? The rotor position information is base speed requires the PWM inverter
For magnitude control we use PI needed to efficiently perform the to provide output voltages higher than
controllers in the cascade structure. control of the PMS motor, but a rotor its output capability limited by its DC
We can control many state variables position sensor on the shaft decreases link voltage. To overcome the base
as phase current (torque loop), speed the robustness and reliability of the speed limitation, a field-weakening
or position as with DC motors. overall system in some applications. algorithm can be implemented. A
Therefore, the aim is not to use this negative d-axis required current will
FOC in Steps mechanical sensor to measure the increase the speed range, but the
To perform vector control: position directly but instead to employ applicable torque is reduced because
some indirect techniques to estimate of a stator current limit. Manipulating
1. Measure the motor phase currents
the rotor position. These estimation the d-axis current into the machine
2. Transform them into the two- techniques differ greatly in approach has the desired effect of weakening
phase system (a, b) using Clarke for estimating the position or the type the rotor field, which decreases the
transformation of motor to which they can be applied. BEMF voltage, allowing the higher
3. Calculate the rotor position angle stator current to flow into the motor
At low speed, special techniques like
4. Transform stator currents into the with the same voltage limit given by
high frequency injection or open-loop
d,q-coordinate system using the DC link voltage.
start-up (not very efficient) are needed
Park transformation to spin the motor over the speed
Freescale Enablement
5. The stator current torque (isq) and where BEMF is sufficiently high for the
Reference designs, application notes
flux (isd) producing components BEMF observer. Usually, 5 percent of
and software solutions for PMSM
are controlled separately by the base speed is enough for proper
control applications are available at
the controllers operation in sensorless mode.
freescale.com/motorcontrol.
6. The output stator voltage space- At medium/high speed, a BEMF
vector is transformed back from the observer in d/q reference frame is
d,q-coordinate system into the two- used. The PWM frequency and
phase system fixed with the stator control loop must be sufficiently
by inverse Park transformation high to get a reasonable number of
samples of phase current and DC bus
Beyond Bits Motor Control Edition
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