EMS1EP Lecture 8 Pulse Width Modulation (PWM) Dr. Robert Ross.
Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)
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Transcript of Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)
![Page 1: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/1.jpg)
Mechatronics
Drives(Azionamenti )
![Page 2: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/2.jpg)
Mechatronics
PWMPWMModulation (Pulse Width Modulation)
![Page 3: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/3.jpg)
Mechatronics
AC brushless drive
[velocita’] [accelerazione]
oscillatore
Sincos encoder o
![Page 4: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/4.jpg)
Mechatronics
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
![Page 5: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/5.jpg)
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
![Page 6: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/6.jpg)
Mechatronics
Control Strategies (cont’d)
positionvelocityacceleration
Higher bandwidths
Feed Forward and PID
![Page 7: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/7.jpg)
Mechatronics
Control Strategies (cont’d)
Vector Control (VC) (Controllo ad Orientamento di Campo o
Vettoriale)
![Page 8: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/8.jpg)
Mechatronics
Control Strategies (cont’d)
Vector Control (VC)
![Page 9: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/9.jpg)
Mechatronics
Control Strategies (con’d)
Iq
Id
Ia
Ib
Ic
Experimentally we would see… :
![Page 10: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/10.jpg)
Mechatronics
…and indeed we actually see:
![Page 11: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/11.jpg)
Mechatronics
and:
![Page 12: Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)](https://reader035.fdocuments.us/reader035/viewer/2022081511/551617e4550346d46f8b6550/html5/thumbnails/12.jpg)
Mechatronics
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).