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Control

Control. Position control. position reference. speed reference. current reference. motor voltage. position control. speed control. acc/ torq/ curr. current control. Motor. equip. + -. + -. + -. current. speed. position. Speed control. load torque. speed reference ω *.

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Control

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  1. Control Elenergiteknik

  2. Position control position reference speed reference currentreference motorvoltage positioncontrol speedcontrol acc/torq/curr currentcontrol Motor equip + - + - + - current speed position Elenergiteknik

  3. Speed control loadtorque speed reference ω* torque reference Torque reference -+ torque current loop Kw + - inertia Speed ω Elenergiteknik

  4. DC-motor Elenergiteknik

  5. i i a a Detailed picture of the rotor Elenergiteknik

  6. Current control of DC-motor torque reference Current reference voltage current control Mod 4QC Motor + - Current Elenergiteknik

  7. Current control of DC-motor, cont’d Elenergiteknik

  8. 100 80 60 40 +50 20 0 0 0.005 0.01 0.015 va sa 0 100 80 - 50 60 40 20 0 0 0.005 0.01 0.015 Puls width modulation Carrier wave voltagereference Output voltage Elenergiteknik

  9. 4Q PWM • 1 voltage, 2 potentials • infinite number of combainations of va* and vb* for u=va-vb. • Set va*=u*/2 och vb*=-u*/2 Elenergiteknik

  10. Control of a 4-kv. DC conv: • va*=u*/2 • vb*=-u*/2 • Example: • Udc=300 V • u*=100 V Elenergiteknik

  11. Permanent magnetized synchrounous motor, PMSM Elenergiteknik

  12. 3-phase PMSM Elenergiteknik

  13. Vektor control of a PMSM-motor usα,β usa,b,c isx* usx* isx-reg e+jΘr 2Φ/3Φ Mod 3fas-omr + - isy* usy* isx-reg + - isa,b,c 2Φ/3Φ e-jΘr Motor Elenergiteknik

  14. Convertion of current from stator to rotor coordinates Elenergiteknik

  15. Current control PMSM Elenergiteknik

  16. Convertion of stator voltage from rotor to stator coordinates Elenergiteknik

  17. Conversion from two phases αβ-frame to three phases abc-frame b b y y u b u s u s u b x x q r y y m m a a u a u a u c Elenergiteknik

  18. The 3-phase voltage Elenergiteknik

  19. Symmetrized motor voltage Elenergiteknik

  20. Control of 3-phase converter • Symmetration of references Elenergiteknik

  21. 3-phase output voltage as vector Elenergiteknik

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