The Study and Realization of BLDC Motor Control System
Brushless DC Motor with permanent excitation is a new special motor developing in recent years,which changes its phases through the electronic units.It is a production which includes the feature of mechanics and electrical engineering.This new motor has not only the same good characteristics of speed control,high efficiency and high rise torque as traditional DC motor, but also the same good characteristics of simple structure,stable reliability,easy maintainance of AC Motor Brushless DC motors.The topic of this thesis, which is based on the driver of BLDC Motor comes from enterprise project of Special Motor Institute.Consequently two drivers are designed and compared.First of the article many interrelated reference both in China and abroad has seeked,neodymium standard state what’s more the basic theory is introduced and the running mode is analyzed and confirmed.The first driver,
which has the feedback unit of both hall sensor and encoder sensor, is based on the special IC MC33035.Meanwhile MOSFET is used as the power switch part.In the driver there has the function of Forward/reverse running mode,close loop control,over-current protection and on so.In addition,the numeral given value and numeral show is realized by single chip C51,MAX7219 and AD667.The second driver is based on the PIC 18F4431,which is used specially for the motor control. In the second driver there has the function of digital PID contro,speed and current feedback loop. Moreover, encoder sensor is used for rotor position feedback and IGBT is used for power switch part.To protect IGBT, the GAL chip is used to avoid connecting positive terminal and cathode terminal.There are two set of program.The first program is designed for the two-two PWM running mode without the given value.In this case the torque ripple is obvious.In the second program the given value http://www.999magnet.com/products/112-neodymium-standard-state is added so that the torque ripple is decreased.After designing the two drivers, many experiments are done and the experiment data is analyzed.Finally we draw some conclusions.The conclusions are as follow:With the comparation and analysis of the two drivers, the driver based on the special chip MC33035 is cheap but it can’t afford with a high precise feature, consequently it can just be used for the common environment.The driver based on PIC18F4431 has a better running feature and it can meet a higher requirement.
2012年12月31日星期一
2012年12月25日星期二
Research on Control System of Drive Direct Variable Speed Constant Frequency Power Technology
Research on Control System of Drive Direct Variable Speed Constant Frequency Power Technology
The variable speed constant frequency(VSCF) technology is characterized by high efficiency and fast dynamic response. With the rapidly grown of the power electronic and control theory, many system projects are presented. And some of them have been used in wind power generation and the power system of airplane.A design project of the low power VSCF generation system is presented in this paper. The system includes motor, permanent magnet synchronous generator and AC-DC-AC convertor. When the speed of the motor is variable, the frequency and amplitude of voltage generated by permanent magnet synchronous generator is variable. This voltage will be neodymium standard state converted to constant by the AC-DC-AC convertor.Firstly, the main circuit of AC-DC-AC inverter is designed. According to the basic principle and experience, the parameters of the system are chosen. Treated the load current as a disturbance input, the continuous and discrete mathematical models of the single-phase PWM inverter are established. At the same time, the whole simulation module is made up by simulink blocks in Matlab environment. The causes of the output voltage waveform distortion are analyzed, which include the influence of the dead-time and nonlinear loads.Then the digital control strategies of the PWM inverter are introduced. As any of them is not perfect, a compound control strategy PD and repetitive controller is designed to control the system and the design method of parameters for controller is http://www.999magnet.com/products/112-neodymium-standard-state given. Simulation results show that PD and repetitive control strategy gives excellent dynamic response as well as high quality voltage waveform.Finally, the hardware circuit of the control system is designed on the platform of DSP TMS320F240. The IR2110 chip is used for the driver circuit, and the negative voltage circuit is designed. The flow chart of the software written by basic language is given. The control scheme is applied on the experimental equipment designed by the above researches, and the results are analyzed.
The variable speed constant frequency(VSCF) technology is characterized by high efficiency and fast dynamic response. With the rapidly grown of the power electronic and control theory, many system projects are presented. And some of them have been used in wind power generation and the power system of airplane.A design project of the low power VSCF generation system is presented in this paper. The system includes motor, permanent magnet synchronous generator and AC-DC-AC convertor. When the speed of the motor is variable, the frequency and amplitude of voltage generated by permanent magnet synchronous generator is variable. This voltage will be neodymium standard state converted to constant by the AC-DC-AC convertor.Firstly, the main circuit of AC-DC-AC inverter is designed. According to the basic principle and experience, the parameters of the system are chosen. Treated the load current as a disturbance input, the continuous and discrete mathematical models of the single-phase PWM inverter are established. At the same time, the whole simulation module is made up by simulink blocks in Matlab environment. The causes of the output voltage waveform distortion are analyzed, which include the influence of the dead-time and nonlinear loads.Then the digital control strategies of the PWM inverter are introduced. As any of them is not perfect, a compound control strategy PD and repetitive controller is designed to control the system and the design method of parameters for controller is http://www.999magnet.com/products/112-neodymium-standard-state given. Simulation results show that PD and repetitive control strategy gives excellent dynamic response as well as high quality voltage waveform.Finally, the hardware circuit of the control system is designed on the platform of DSP TMS320F240. The IR2110 chip is used for the driver circuit, and the negative voltage circuit is designed. The flow chart of the software written by basic language is given. The control scheme is applied on the experimental equipment designed by the above researches, and the results are analyzed.
Variable Gain Cross-coupled Control of XY Table Linear Servo System Based on l1 Monoaxial Speed Controllers
Variable Gain Cross-coupled Control of XY Table Linear Servo System Based on l1 Monoaxial Speed Controllers
Based on the project supported by Liaoning Provincial Natural Science Foundation (20052045) and Foundation of Liaoning Educational Committee (2004F014) . To weaken the influences of parameter perturbed, load disturbances, and the velocity mismatch between X axis and Y axis to the contour precision of XY table servo system driveled by Permanent Magnet Linear Synchronous Motors, a compound control scheme based on combining robust l\ control and variable gain cross-coupled control is presented in this paper, to enhance the contour error precision of XY table linear servo system.In various NC machine tools, the traditional drive mode, which is generally the rotating servo electrical machine with worm wheel, worm pair and gear pair mechanism, results in motion Alnico Magnets response slowly, large friction and other nonlinear errors due to mechanical transmission chain, thus it is very difficult to implement high precise processing. The NC machine tools servo system adopting direct drive technique is no medium transmission, and has large thrust, quick response, small friction and high position precision. However, the system is more sensitive to uncertainties such as load disturbances and parameter variations of load, which greatly reduces servo performances. Meanwhile, the research of high speed and high precision processing technology has became the newest research direction, the objects of the research are improving and eliminating contour error, enhancing the performance of control system.
Designing a servo controller is required to improve robustness, tracking performance and contour precision.Performance index of H∞control is to minimize the energy of error, and the method has better robustness and immunity to disturbance. The input signals of H∞control must are energy bounded signals, however, the disturbance of practical system, such as: step signal generated by disturbance and time-varying bounded signals, all belong to bounded signals of l∞space, and those meet don’t satisfy with the hypothesis, which is disturbance signal is energy bounded. But l\ control is different from H∞control, its performance index is l1 norm of relative sensitive function. The l1 controller can minimize amplitude of maximum output error generated by bounded disturbance. So l1 http://www.999magnet.com/products/108-alnico-magnets control is adapted to design monoaxial speed controller in this paper. based on the discrete time model of PMLSM, the design of l1 speed controller is changed into the design of optimal controller Q of matching model using youla parameter. From the given controller’s order, the problem of infinite dimension l1 is translated into finite dimension linear programs. Indirectly reduce contour error.A variable gain cross-coupled controller is also designed between X axis and Y axis. Real time correcting the gains of contour error model based on the feedback information and given input of X axis and Y axis, to seek optimal control laws. Redemptive information is send back to X axis and Y axis, to reach the aim of compensating contour error. The distinguish merit of variable gain cross-coupled http://www.999magnet.com/products/108-alnico-magnets control is that it improves contour error at any trails.Moreover, currently available permanent magnet linear synchronous motor is considered as the controlled object, its mathematical model is established, and it is necessary to simulate and analyze above control strategies using MATLAB software. Simulation results show that the proposed variable gain cross-coupled control method based on l1 monoaxial speed controllers can enhance the robustness and contour precision of XY table linear servo system.
Based on the project supported by Liaoning Provincial Natural Science Foundation (20052045) and Foundation of Liaoning Educational Committee (2004F014) . To weaken the influences of parameter perturbed, load disturbances, and the velocity mismatch between X axis and Y axis to the contour precision of XY table servo system driveled by Permanent Magnet Linear Synchronous Motors, a compound control scheme based on combining robust l\ control and variable gain cross-coupled control is presented in this paper, to enhance the contour error precision of XY table linear servo system.In various NC machine tools, the traditional drive mode, which is generally the rotating servo electrical machine with worm wheel, worm pair and gear pair mechanism, results in motion Alnico Magnets response slowly, large friction and other nonlinear errors due to mechanical transmission chain, thus it is very difficult to implement high precise processing. The NC machine tools servo system adopting direct drive technique is no medium transmission, and has large thrust, quick response, small friction and high position precision. However, the system is more sensitive to uncertainties such as load disturbances and parameter variations of load, which greatly reduces servo performances. Meanwhile, the research of high speed and high precision processing technology has became the newest research direction, the objects of the research are improving and eliminating contour error, enhancing the performance of control system.
Designing a servo controller is required to improve robustness, tracking performance and contour precision.Performance index of H∞control is to minimize the energy of error, and the method has better robustness and immunity to disturbance. The input signals of H∞control must are energy bounded signals, however, the disturbance of practical system, such as: step signal generated by disturbance and time-varying bounded signals, all belong to bounded signals of l∞space, and those meet don’t satisfy with the hypothesis, which is disturbance signal is energy bounded. But l\ control is different from H∞control, its performance index is l1 norm of relative sensitive function. The l1 controller can minimize amplitude of maximum output error generated by bounded disturbance. So l1 http://www.999magnet.com/products/108-alnico-magnets control is adapted to design monoaxial speed controller in this paper. based on the discrete time model of PMLSM, the design of l1 speed controller is changed into the design of optimal controller Q of matching model using youla parameter. From the given controller’s order, the problem of infinite dimension l1 is translated into finite dimension linear programs. Indirectly reduce contour error.A variable gain cross-coupled controller is also designed between X axis and Y axis. Real time correcting the gains of contour error model based on the feedback information and given input of X axis and Y axis, to seek optimal control laws. Redemptive information is send back to X axis and Y axis, to reach the aim of compensating contour error. The distinguish merit of variable gain cross-coupled http://www.999magnet.com/products/108-alnico-magnets control is that it improves contour error at any trails.Moreover, currently available permanent magnet linear synchronous motor is considered as the controlled object, its mathematical model is established, and it is necessary to simulate and analyze above control strategies using MATLAB software. Simulation results show that the proposed variable gain cross-coupled control method based on l1 monoaxial speed controllers can enhance the robustness and contour precision of XY table linear servo system.
Study on the Design and Magnetic Field’s Computation of Bearingless Switched Reluctance Motor
Study on the Design and Magnetic Field’s Computation of Bearingless Switched Reluctance Motor
The Bearingless Switched Reluctance Motor (BSRM) ,which utilizes the comparability between the windings of magnetic bearing and switched reluctance motor stator and puts the winds of creating suspending force and torque on the stator poles,can suspend and rotate itself at the same time by using some control strategies . The BSRM not only has the advantages of the switched reluctance motor and Magnetic Bearing, but also works free frictionless. It Neodymium Magnets can meet the need of high-speed and super high-speed driving systems.Basing on proposing the configuration of the bearingless switched reluctance motor, this paper analyses the working principle of the permanent magnet biased radial-axial direction magnetic bearing and the bearingless switched reluctance motor in detail. According to virtual displacement principle, the mathematic model of suspending force and torque of the BSRM is set up, which doesn’t consider magnetic saturation. Basing on the principle of electromagnetism and the designing theory of SRM, a permanent magnet biased radial-axial direction magnetic bearing and a bearingless switched reluctance motor are designed. The FEM(fmite-element analysis) simulation of magnetic field are performed by using Maxwell/3D and Maxwell/2D. The results of simulation validate that the designing method is correct and the designed samples are feasible. Finally, the http://www.999magnet.com/products/110-sintered-neodymium-magnets non-linear relationship between suspending force, torque and the current of winds,the position of rotor, the radical displacement of the rotor are obtained with the simulation of magnetic field to lay a foundation for more researches of the BSRM.
The Bearingless Switched Reluctance Motor (BSRM) ,which utilizes the comparability between the windings of magnetic bearing and switched reluctance motor stator and puts the winds of creating suspending force and torque on the stator poles,can suspend and rotate itself at the same time by using some control strategies . The BSRM not only has the advantages of the switched reluctance motor and Magnetic Bearing, but also works free frictionless. It Neodymium Magnets can meet the need of high-speed and super high-speed driving systems.Basing on proposing the configuration of the bearingless switched reluctance motor, this paper analyses the working principle of the permanent magnet biased radial-axial direction magnetic bearing and the bearingless switched reluctance motor in detail. According to virtual displacement principle, the mathematic model of suspending force and torque of the BSRM is set up, which doesn’t consider magnetic saturation. Basing on the principle of electromagnetism and the designing theory of SRM, a permanent magnet biased radial-axial direction magnetic bearing and a bearingless switched reluctance motor are designed. The FEM(fmite-element analysis) simulation of magnetic field are performed by using Maxwell/3D and Maxwell/2D. The results of simulation validate that the designing method is correct and the designed samples are feasible. Finally, the http://www.999magnet.com/products/110-sintered-neodymium-magnets non-linear relationship between suspending force, torque and the current of winds,the position of rotor, the radical displacement of the rotor are obtained with the simulation of magnetic field to lay a foundation for more researches of the BSRM.
2012年12月20日星期四
The Servo Control System Based on DSP for AC Synchronous Linear Motor
The Servo Control System Based on DSP for AC Synchronous Linear Motor
For the past ten years, along with the development of the high speed process technology, the precise technique of manufacture and the numerical control technology, advanced technique of manufacture’s development, high speed, highly effective, high precision becomes the current in numerical control equipment’s development direction. And there are required to the equipment various functional components’s performance in a higher way, which is the feed driving system, including the quick feed rate, the high pointing accuracy as well as the high dynamic response performance. PMSLM (Permanent Magnet Synchronous Linear Motor) as a new way to the neodymium standard state feed drive system in the NC machine tool and the machining center has certain representation..
The closed-loop control system in position ,which takes the DSP as a core, is representing the main direction in the precise numerical position control of a motor . Choosing the appropriate PMSLM and the actuation control system, and the reasonable machine design, may produce the high performance and the redundant reliable machine tool definitely. Therefore, it is the important theory significance and the broad application prospect that research on its servo control theory and the method.This article researchs mainly on these contents, including the analysis to PMSLM ’s structure and the principle of work which involves in the voltage equation, the mechanical movement equation and mechanical and electrical coupling equation, and making its mathematical model. To the PMSLM’s good position track performance which meets to the servocontrol request, It also involves unifing the traditional PID control and the intelligent control, and designing self-correcting PID controller based on the fuzzy reasoning, making the system simulation with the MATLAB and analyzing the results. On the http://www.999magnet.com/products/112-neodymium-standard-state base of the analysis and the research on the linear motor servocontrol’s gross structure, it has designed control system which based on the DSP’s (TMS320LF2407A) entire digit position servocontrol, and making program in corresponding servo-control software by the C language. In the platform based on the DSP development system, the text has studied the linear motor ’s dynamic property, used it’s diffraction grating ruler.The experimental result indicated that this control system and method is in good with the active cell’s regulating speed to be faster and active cell pointing accuracy to be higher.This confirmed that this control system of the linear motor is feasible.
For the past ten years, along with the development of the high speed process technology, the precise technique of manufacture and the numerical control technology, advanced technique of manufacture’s development, high speed, highly effective, high precision becomes the current in numerical control equipment’s development direction. And there are required to the equipment various functional components’s performance in a higher way, which is the feed driving system, including the quick feed rate, the high pointing accuracy as well as the high dynamic response performance. PMSLM (Permanent Magnet Synchronous Linear Motor) as a new way to the neodymium standard state feed drive system in the NC machine tool and the machining center has certain representation..
The closed-loop control system in position ,which takes the DSP as a core, is representing the main direction in the precise numerical position control of a motor . Choosing the appropriate PMSLM and the actuation control system, and the reasonable machine design, may produce the high performance and the redundant reliable machine tool definitely. Therefore, it is the important theory significance and the broad application prospect that research on its servo control theory and the method.This article researchs mainly on these contents, including the analysis to PMSLM ’s structure and the principle of work which involves in the voltage equation, the mechanical movement equation and mechanical and electrical coupling equation, and making its mathematical model. To the PMSLM’s good position track performance which meets to the servocontrol request, It also involves unifing the traditional PID control and the intelligent control, and designing self-correcting PID controller based on the fuzzy reasoning, making the system simulation with the MATLAB and analyzing the results. On the http://www.999magnet.com/products/112-neodymium-standard-state base of the analysis and the research on the linear motor servocontrol’s gross structure, it has designed control system which based on the DSP’s (TMS320LF2407A) entire digit position servocontrol, and making program in corresponding servo-control software by the C language. In the platform based on the DSP development system, the text has studied the linear motor ’s dynamic property, used it’s diffraction grating ruler.The experimental result indicated that this control system and method is in good with the active cell’s regulating speed to be faster and active cell pointing accuracy to be higher.This confirmed that this control system of the linear motor is feasible.
2012年12月19日星期三
Research on Discrete-time Sliding Mode Control of Linear Servo System
Research on Discrete-time Sliding Mode Control of Linear Servo System
Direct driving linear motor servo system show its superiority performance in precision and exceed precision feed and high speed and ultra high speed move, because it can make electric energy transferred into linear motion, which doesn’t need any intermediate conversion. But uncertainty of the model, inner parameters perturbation and load resistance effect directly performance of servo system, it must be take efficiency control strategy to overcome the influence of above mentioned.Permanent magnet linear synchronous motor (PMLSM) servo system is a rubber magnetic sheet complex nonlinear system with high thrust strength, low loss and fast response characteristic, it adopt high performance permanent magnets, so its main requests are the high tracking ability to the input command and excellent disturbances rejection ability to uncertainty.Sliding mode variable structure (SMVS) is a nonlinear control method,
which is adaptive to disturbance and parameter variations. Especially, SMVS control is stable and robust against system uncertainties. However, the chattering exists in sliding mode control.Two aspects matters of PMLSM servo system have been researched in this thesis to the actuality of SMVS theory and technical requirement of servo system to control strategy.A model reference discrete-time sliding mode control (MRDSMC) is presented for high precision PMLSM servo systems with many uncertainties. The servo problems are converted to simple regulation problems in this approach. And the forgetting factor to achieve entirely robustness. Moreover, in order to http://www.chinamagnets.biz/rubber/rubber-magnetic-sheet.php restrain the chattering introduced by high frequency unmodeled dynamics, a low pass filter is added the design of MRDSMC. Theoretical analysis and simulation results demonstrate that the proposed scheme can well suppress the influence of the unmodeled dynamics, and make the system have good robust position-tracking performance.A compound position tracking control strategy based on combining discrete variable structure control (DVSC) with iterative learning control (ILC) is proposed to linear motor carrying out task repeatedly. One attractive point in ILC is the utilization of the system repetitiveness to improve the control performance. The past control input signals and tracking errors are used to construct the present control input signals. To shorten the chattering level of the input, the parameter of DVSC is regulated by adopting ILC, thus improve the static precision of the system. The simulation results show that the method not only enhances the fast tracking performance, but also has a stronger robustness against parametric variations and resistance disturbances.
Direct driving linear motor servo system show its superiority performance in precision and exceed precision feed and high speed and ultra high speed move, because it can make electric energy transferred into linear motion, which doesn’t need any intermediate conversion. But uncertainty of the model, inner parameters perturbation and load resistance effect directly performance of servo system, it must be take efficiency control strategy to overcome the influence of above mentioned.Permanent magnet linear synchronous motor (PMLSM) servo system is a rubber magnetic sheet complex nonlinear system with high thrust strength, low loss and fast response characteristic, it adopt high performance permanent magnets, so its main requests are the high tracking ability to the input command and excellent disturbances rejection ability to uncertainty.Sliding mode variable structure (SMVS) is a nonlinear control method,
which is adaptive to disturbance and parameter variations. Especially, SMVS control is stable and robust against system uncertainties. However, the chattering exists in sliding mode control.Two aspects matters of PMLSM servo system have been researched in this thesis to the actuality of SMVS theory and technical requirement of servo system to control strategy.A model reference discrete-time sliding mode control (MRDSMC) is presented for high precision PMLSM servo systems with many uncertainties. The servo problems are converted to simple regulation problems in this approach. And the forgetting factor to achieve entirely robustness. Moreover, in order to http://www.chinamagnets.biz/rubber/rubber-magnetic-sheet.php restrain the chattering introduced by high frequency unmodeled dynamics, a low pass filter is added the design of MRDSMC. Theoretical analysis and simulation results demonstrate that the proposed scheme can well suppress the influence of the unmodeled dynamics, and make the system have good robust position-tracking performance.A compound position tracking control strategy based on combining discrete variable structure control (DVSC) with iterative learning control (ILC) is proposed to linear motor carrying out task repeatedly. One attractive point in ILC is the utilization of the system repetitiveness to improve the control performance. The past control input signals and tracking errors are used to construct the present control input signals. To shorten the chattering level of the input, the parameter of DVSC is regulated by adopting ILC, thus improve the static precision of the system. The simulation results show that the method not only enhances the fast tracking performance, but also has a stronger robustness against parametric variations and resistance disturbances.
Design and Implement of BLDC Motor Controll System Based on ST7FMC
Design and Implement of BLDC Motor Controll System Based on ST7FMC
The permanent magnet brushless DC motor is a DC motor using electronic communication in place of mechanical communication in fact, so it has excellent characteristic of DC motors, for example good start and timing performance. It simplifies the motor’s structure and overcomes the friction disadvantages of ordinary DC motor, because it doesn’t use mechanical communication. It is extensively used in aviations, robots, digital machine tool and so on. These years along with the development of power-electronics technique and micro-control technique, permanent magnetic brushless DC motor is characterized by small volume, light weight, high efficiency, low noises, Block Ceramic Magnets big stand-alone capability and reliability appeared and matured. So it is hopeful to become new generation electric propulsion motor.
The great development of digital signals processors and hardware chips help to realize permanent magnetic brushless DC motor’s fast and reliable control. STMicroelectronics offers a new 8-bit controller ST7FMC1K2, specifically designed for the needs of digital motor control. This chip integrated many BLDC motor control periphery circuit, suited specially in BLDC motor control, which provide reliable and the highly effective signal processing and the control hardware for the high performance, it had the very high performance to price ratio.Taking the actual request of BLDC motor controller of electrically operated bicycle as a background, BLDC motor classic PID control system was designed and implemented in this article. Hardware design of BLDC motor control http://www.chinamagnets.biz/Ceramic/Block-Ceramic-Magnets.php system including the basic expand of ST7FMC1K2, drive circuit and current-detecting circuit and software design of the digital PID algorithm are used in the system. Finally the experimental confirmation has been carried on to the entire control system, the question was analyzed in the experiment and the improvement method was proposed. Fuzzy approach control system of BLDCM is simulated. Above all, the approach of Fuzzy PID controller is designed, especially the confirming of the fuzzy control rules. Relative to classical PID controller of which three parameters are fixed .Fuzzy PID controller can regulate the three parameters in the dynamic control according to controlled object. The result of simulation shows, the adoption of Fuzzy PID controller can make the system have better performances such as quicker response, smaller over shoot and the steady-state error. The simulation has some value to the real system.
The permanent magnet brushless DC motor is a DC motor using electronic communication in place of mechanical communication in fact, so it has excellent characteristic of DC motors, for example good start and timing performance. It simplifies the motor’s structure and overcomes the friction disadvantages of ordinary DC motor, because it doesn’t use mechanical communication. It is extensively used in aviations, robots, digital machine tool and so on. These years along with the development of power-electronics technique and micro-control technique, permanent magnetic brushless DC motor is characterized by small volume, light weight, high efficiency, low noises, Block Ceramic Magnets big stand-alone capability and reliability appeared and matured. So it is hopeful to become new generation electric propulsion motor.
The great development of digital signals processors and hardware chips help to realize permanent magnetic brushless DC motor’s fast and reliable control. STMicroelectronics offers a new 8-bit controller ST7FMC1K2, specifically designed for the needs of digital motor control. This chip integrated many BLDC motor control periphery circuit, suited specially in BLDC motor control, which provide reliable and the highly effective signal processing and the control hardware for the high performance, it had the very high performance to price ratio.Taking the actual request of BLDC motor controller of electrically operated bicycle as a background, BLDC motor classic PID control system was designed and implemented in this article. Hardware design of BLDC motor control http://www.chinamagnets.biz/Ceramic/Block-Ceramic-Magnets.php system including the basic expand of ST7FMC1K2, drive circuit and current-detecting circuit and software design of the digital PID algorithm are used in the system. Finally the experimental confirmation has been carried on to the entire control system, the question was analyzed in the experiment and the improvement method was proposed. Fuzzy approach control system of BLDCM is simulated. Above all, the approach of Fuzzy PID controller is designed, especially the confirming of the fuzzy control rules. Relative to classical PID controller of which three parameters are fixed .Fuzzy PID controller can regulate the three parameters in the dynamic control according to controlled object. The result of simulation shows, the adoption of Fuzzy PID controller can make the system have better performances such as quicker response, smaller over shoot and the steady-state error. The simulation has some value to the real system.
Development of Submergible Rodless Pump Driven by Linear Motor
Development of Submergible Rodless Pump Driven by Linear Motor
At present , it is an important problem that eccentrically wear occurs between sucker rod and tubing in most oil well, otherwise submergible rodless pump driven by linear motor can solve the problem effectively. The rodless oil pump system consists of submergible linear motor and oil well pump with reciprocating liner. Oil well pump is driven by linear motor directly Block neodymium magnet and mechanical transmission assemble of gears and straps is abolished, so the system reduces the power loss .The motor controlled by transducer is synchronization linear motor with higher power factor and lower excitation current and has arbitrary movement mode . The finite element analysis of submergible linear motor is doing to calculate the magnetic field .Oil well pump sucks oil in ascending journey of liner and lifts oil in descending journey of linear motor , so the pump adapts http://www.chinamagnets.biz/Neodymium/Block-neodymium-magnet.php to the working condition when the linear motor is assembled below the pump.
At present , it is an important problem that eccentrically wear occurs between sucker rod and tubing in most oil well, otherwise submergible rodless pump driven by linear motor can solve the problem effectively. The rodless oil pump system consists of submergible linear motor and oil well pump with reciprocating liner. Oil well pump is driven by linear motor directly Block neodymium magnet and mechanical transmission assemble of gears and straps is abolished, so the system reduces the power loss .The motor controlled by transducer is synchronization linear motor with higher power factor and lower excitation current and has arbitrary movement mode . The finite element analysis of submergible linear motor is doing to calculate the magnetic field .Oil well pump sucks oil in ascending journey of liner and lifts oil in descending journey of linear motor , so the pump adapts http://www.chinamagnets.biz/Neodymium/Block-neodymium-magnet.php to the working condition when the linear motor is assembled below the pump.
Basic Study for Application of AC-DC Three Degree-of-Freedom Hybrid Magnetic Bearing
Basic Study for Application of AC-DC Three Degree-of-Freedom Hybrid Magnetic Bearing
Magnetic bearings have many advantages, such as no friction and abrasions, no lubrication and no sealing, high speed, high precision and long service life, and so on, which have innovated the traditional supporting forms fundamentally. In this dissertation, a novel AC-DC 3-degree freedom hybrid magnetic bearing (HMB) is proposed, which is driven Ball Neodymium Magnets by DC in axial direction and AC provided by a three-phase power converter in both radial directions respectively, and just one common permanent magnet ring provides the axial and radial biased magnetic flux. Therefore, this new magnetic bearing incorporates the merits of three-phase AC exciting, permanent magnet flux biased and axial-radial combined control, etc. The goal is to research and design a new compact magnetic bearing that can be applied in industry with lower manufacturing and operation costs.Firstly, based on the analysis to all kinds of magnetic bearings’ structures and magnetic circuits, an innovated structure of three-degree freedom HMB is proposed. The novel magnetic bearing consists of an axial stator, two axial control coils in series, a radial stator with three poles, three radial control coils, a rotor and a permanent magnet ring magnetized radially, etc. Three radial coils are arranged around the rotor symmetrically, so a three-phase power converter can be used to feed the bearing to control two-degree freedom in radial directions since three-phase converters are compact in size and lower in cost, and it’s controlled easily by a DSP processor.Secondly, the flux path is calculated by using equivalent magnetic circuit, the formulas and mathematics models of the axial and radial magnetic suspension forces are deduced respectively.
Nonlinearities of suspension forces and cross coupling between different degree freedoms are studied further by calculating the suspension forces at different displacements and control currents to validate the feasibility of the mathematics models. Then based on the mathematics models, the control strategy is proposed. The methods on parameter design and calculation of the novel HMB are presented, a prototype and a mechanical test rig for this prototype are designed too. The prototype is simulated to analyze the magnetic circuits by using finite element analysis http://www.chinamagnets.biz/Neodymium/Ball-Neodymium-Magnets.php software ANSYS8.0. The simulation results have verified the feasibility of the theory study, and some parameters have been optimized by the simulation too.Lastly, both the software based on digital signal processor (DSP) and the hardware circuit PCB have been designed, the flow charts for main program and interrupt programs have been listed too. Power amplifier system is consisted by a linear amplifier in axis direction and a three-phase converter based on CRPWM principle in radial directions, the complete experimental test rig is constructed. Furthermore, detailed testing procedures have been proposed, which establishes a good foundation for the next parameters debugging and functions test.The theory analysis and testing results have shown that this new magnetic bearing reduces overall system size, has stronger magnetic suspension forces, higher efficiency and lower cost. This AC-DC three-degree freedom HMB has a wide application in super-speed and super-precision numerical control machine tools, bearingless motors, high-speed flywheel, artificial satellites, and so on.
Magnetic bearings have many advantages, such as no friction and abrasions, no lubrication and no sealing, high speed, high precision and long service life, and so on, which have innovated the traditional supporting forms fundamentally. In this dissertation, a novel AC-DC 3-degree freedom hybrid magnetic bearing (HMB) is proposed, which is driven Ball Neodymium Magnets by DC in axial direction and AC provided by a three-phase power converter in both radial directions respectively, and just one common permanent magnet ring provides the axial and radial biased magnetic flux. Therefore, this new magnetic bearing incorporates the merits of three-phase AC exciting, permanent magnet flux biased and axial-radial combined control, etc. The goal is to research and design a new compact magnetic bearing that can be applied in industry with lower manufacturing and operation costs.Firstly, based on the analysis to all kinds of magnetic bearings’ structures and magnetic circuits, an innovated structure of three-degree freedom HMB is proposed. The novel magnetic bearing consists of an axial stator, two axial control coils in series, a radial stator with three poles, three radial control coils, a rotor and a permanent magnet ring magnetized radially, etc. Three radial coils are arranged around the rotor symmetrically, so a three-phase power converter can be used to feed the bearing to control two-degree freedom in radial directions since three-phase converters are compact in size and lower in cost, and it’s controlled easily by a DSP processor.Secondly, the flux path is calculated by using equivalent magnetic circuit, the formulas and mathematics models of the axial and radial magnetic suspension forces are deduced respectively.
Nonlinearities of suspension forces and cross coupling between different degree freedoms are studied further by calculating the suspension forces at different displacements and control currents to validate the feasibility of the mathematics models. Then based on the mathematics models, the control strategy is proposed. The methods on parameter design and calculation of the novel HMB are presented, a prototype and a mechanical test rig for this prototype are designed too. The prototype is simulated to analyze the magnetic circuits by using finite element analysis http://www.chinamagnets.biz/Neodymium/Ball-Neodymium-Magnets.php software ANSYS8.0. The simulation results have verified the feasibility of the theory study, and some parameters have been optimized by the simulation too.Lastly, both the software based on digital signal processor (DSP) and the hardware circuit PCB have been designed, the flow charts for main program and interrupt programs have been listed too. Power amplifier system is consisted by a linear amplifier in axis direction and a three-phase converter based on CRPWM principle in radial directions, the complete experimental test rig is constructed. Furthermore, detailed testing procedures have been proposed, which establishes a good foundation for the next parameters debugging and functions test.The theory analysis and testing results have shown that this new magnetic bearing reduces overall system size, has stronger magnetic suspension forces, higher efficiency and lower cost. This AC-DC three-degree freedom HMB has a wide application in super-speed and super-precision numerical control machine tools, bearingless motors, high-speed flywheel, artificial satellites, and so on.
2012年12月9日星期日
Design and Simulation in Control System of Material Sorting
Design and Simulation in Control System of Material Sorting
As a result of the rapid development of our country’s economy, logistics system plays an increasingly important role in the entire production and the circulation of goods, and more and more automated sorting systems are used in modern logistics system. Therefore, Block Ceramic Magnets researching sorting system and its control system, finding a way to improve the sorting system to makes it more automated and more efficient, becomes an important researching direction. This article mainly has carried on the following aspect research work in foundation of summing up achievements:1.In order to make the performance of the whole material sorting control system achieve the requirement, every joint motors are used PMSM. In foundation of the dq mathematical model of rotor in PMSM and on the basis of the characteristics of PMSM system for multi-variable, non-liner and strong coupling, through rotating coordinate transformation and the application of control theory, analyzed the vector control theory of PMSM, given the characteristics and the implementation for i_d= 0 based on directional rotor magnetic http://www.chinamagnets.biz/Ceramic/Block-Ceramic-Magnets.php field, detailed inferred transfer function of every module in condition of i_d= 0, established decided to use the vector control program of i_d= 0 based on directional rotor magnetic field.2. Discussed the design of PMSM servo system, given the design of current regulator, speed regulator, position regulator. Designed the module of coordinate transformation according to coordinate transformation formula, and designed the module of inverter according to the principles and requirements of pulse width modulation (PWM), enhanced the performance of servo system, and simulated the system with Matlab/Simulink.3. Designed and simulated the entire control system of the mechanical arm. Designed the module of angle calculation according to simplified spatial geometric relations, and designed the modules of angle assigned of every servo motor with the method of regulating time and delaying time, then simulated the operating condition of the system by selecting special number.
As a result of the rapid development of our country’s economy, logistics system plays an increasingly important role in the entire production and the circulation of goods, and more and more automated sorting systems are used in modern logistics system. Therefore, Block Ceramic Magnets researching sorting system and its control system, finding a way to improve the sorting system to makes it more automated and more efficient, becomes an important researching direction. This article mainly has carried on the following aspect research work in foundation of summing up achievements:1.In order to make the performance of the whole material sorting control system achieve the requirement, every joint motors are used PMSM. In foundation of the dq mathematical model of rotor in PMSM and on the basis of the characteristics of PMSM system for multi-variable, non-liner and strong coupling, through rotating coordinate transformation and the application of control theory, analyzed the vector control theory of PMSM, given the characteristics and the implementation for i_d= 0 based on directional rotor magnetic http://www.chinamagnets.biz/Ceramic/Block-Ceramic-Magnets.php field, detailed inferred transfer function of every module in condition of i_d= 0, established decided to use the vector control program of i_d= 0 based on directional rotor magnetic field.2. Discussed the design of PMSM servo system, given the design of current regulator, speed regulator, position regulator. Designed the module of coordinate transformation according to coordinate transformation formula, and designed the module of inverter according to the principles and requirements of pulse width modulation (PWM), enhanced the performance of servo system, and simulated the system with Matlab/Simulink.3. Designed and simulated the entire control system of the mechanical arm. Designed the module of angle calculation according to simplified spatial geometric relations, and designed the modules of angle assigned of every servo motor with the method of regulating time and delaying time, then simulated the operating condition of the system by selecting special number.
2012年12月6日星期四
Research and Simulation on Parameter Self-tuning PID Controller in Feeding Servo System of NC Machine Tool
Research and Simulation on Parameter Self-tuning PID Controller in Feeding Servo System of NC Machine Tool
NC machine tool is an enabling foundational facility for developing high technique and new industries. Feeding servo system is one of the most important parts of NC machine tool. The performance of the tool is related to the match of the parameters of controller used in the servo system. So, how to match the parameters rapidly and effectively is a hotspot that is studied all the time.Regarding the topic "Research and Simulation about Parameter Self-tuning Proportion-Integral-neodymium standard state Differential(PID) Controller in Feeding Servo System of NC machine Tool" as a main subject, the mathematical model of permanent magnet synchronous motor(PMSM) and the basic principles of vector control and field-oriented were studied, and then the mathematical model and simulation model of feeding servo system of NC machine tool were set up; In order to solve the problem about the parameters self-tuning of the PID controller, two intelligent control theories, fuzzy control and neural network control, were studied in great depth, then fuzzy-PID controller and Back-
Propagation (BP) neural network(NN) PID controller were set up in matlab and used for controlling the feeding servo system of NC machine tool, the simulating results indicated that the two controllers made the system strong in robustness and anti-jamming performance; Nevertheless, the theories on which fuzzy controller and neural network controller are http://www.999magnet.com/products/112-neodymium-standard-state built aren’t perfect enough, their arithmetic are very complex and difficult to achieve, then the optimization of D.A.desopo method was studied in the last of the thesis. With the performance index function, which is the integral of the product of error absolute value and time (ITAE), PID self-tuning controller was designed based on D.A.desopo Method and used for controlling the feeding servo system model of NC machine tool successfully, and realized the parameters of PID controller self-tuning in feeding servo system.The results of simulation indicate that the PID parameters which were optimized by way of D.A.desopo method always make the system have good performance, caring nothing about the initial PID parameters, and the method is of great value in theory and application.
NC machine tool is an enabling foundational facility for developing high technique and new industries. Feeding servo system is one of the most important parts of NC machine tool. The performance of the tool is related to the match of the parameters of controller used in the servo system. So, how to match the parameters rapidly and effectively is a hotspot that is studied all the time.Regarding the topic "Research and Simulation about Parameter Self-tuning Proportion-Integral-neodymium standard state Differential(PID) Controller in Feeding Servo System of NC machine Tool" as a main subject, the mathematical model of permanent magnet synchronous motor(PMSM) and the basic principles of vector control and field-oriented were studied, and then the mathematical model and simulation model of feeding servo system of NC machine tool were set up; In order to solve the problem about the parameters self-tuning of the PID controller, two intelligent control theories, fuzzy control and neural network control, were studied in great depth, then fuzzy-PID controller and Back-
Propagation (BP) neural network(NN) PID controller were set up in matlab and used for controlling the feeding servo system of NC machine tool, the simulating results indicated that the two controllers made the system strong in robustness and anti-jamming performance; Nevertheless, the theories on which fuzzy controller and neural network controller are http://www.999magnet.com/products/112-neodymium-standard-state built aren’t perfect enough, their arithmetic are very complex and difficult to achieve, then the optimization of D.A.desopo method was studied in the last of the thesis. With the performance index function, which is the integral of the product of error absolute value and time (ITAE), PID self-tuning controller was designed based on D.A.desopo Method and used for controlling the feeding servo system model of NC machine tool successfully, and realized the parameters of PID controller self-tuning in feeding servo system.The results of simulation indicate that the PID parameters which were optimized by way of D.A.desopo method always make the system have good performance, caring nothing about the initial PID parameters, and the method is of great value in theory and application.
The Research of an Inverter Air-Conditioner’s Outdoor Controller
The Research of an Inverter Air-Conditioner’s Outdoor Controller
In recent years the inverter air-conditioner has been a mainstream product in the market as its good performance and highly efficiency. But in domestic market,most of inverter air-conditions which apply the inductance motor prevent the performance to improve because of the disadvantages such as bigger start-up current and lower power factor. This kind of motor can not satisfy air-condition market’s need under the condition of energy crisis.
A new kind of motor called permanent magnet synchronous motor ( PMSM) will become the best choice of inverter air-condition compressor motor for its neodymium standard state higher running efficiency and no excitation current. Compare with the air-conditioner with the inductance motor, the one with PMSM can save 10%-15% energy.In the process of motor running, we need test the position of rotor to complete field orientation control. There are three main factors in the following which determined that we can not use a mechanical sensor to get rotor’s position.①The high cost of the sensor.②For inverter air-conditioner, the motor is sealed in the compressor, which means the mechanical sensor is difficult to maintain.③The compressor is full of corrosive and high-pressed refrigeration, additional temperature change and mechanical vibration, all will reduce the stability and reliability of mechanical sensor. So it’s very important to find a simpler and lower cost sensorless control method.According to the design an outdoor controller of the air-conditioner with PMSM use IRMCF 341 motor controlling chip, carry out the following works:(1).
Deeply analyzed the mathematics model http://www.999magnet.com/products/112-neodymium-standard-state of PMSM in different coordinates and mutual conversion methods. Introduce the field orientation control principle and voltage space vector pulse width modulation (SVPWM) technology.(2). Put forward the rotor position method of rotor magnet flux calculation with phase lock loop. First calculate stator magnet flux by stator voltage and current, then induct it to phase lock loop to get the estimated value of rotor’s position and velocity. Also put forward improved method and error corrector which are for the problems such as DC offset and parameter change. Meanwhile, deeply analyze three steps start-up strategy which applied in this system.(3). Design an inverter air-condition outdoor controller with IRMCF 341 motor controlling chip, according to the methods above. Erect the experiment platform, and make use of the regulated controlling parameters for motor rotary speed, magnet flux and position errors to make the system satisfied with the design requirements.
In recent years the inverter air-conditioner has been a mainstream product in the market as its good performance and highly efficiency. But in domestic market,most of inverter air-conditions which apply the inductance motor prevent the performance to improve because of the disadvantages such as bigger start-up current and lower power factor. This kind of motor can not satisfy air-condition market’s need under the condition of energy crisis.
A new kind of motor called permanent magnet synchronous motor ( PMSM) will become the best choice of inverter air-condition compressor motor for its neodymium standard state higher running efficiency and no excitation current. Compare with the air-conditioner with the inductance motor, the one with PMSM can save 10%-15% energy.In the process of motor running, we need test the position of rotor to complete field orientation control. There are three main factors in the following which determined that we can not use a mechanical sensor to get rotor’s position.①The high cost of the sensor.②For inverter air-conditioner, the motor is sealed in the compressor, which means the mechanical sensor is difficult to maintain.③The compressor is full of corrosive and high-pressed refrigeration, additional temperature change and mechanical vibration, all will reduce the stability and reliability of mechanical sensor. So it’s very important to find a simpler and lower cost sensorless control method.According to the design an outdoor controller of the air-conditioner with PMSM use IRMCF 341 motor controlling chip, carry out the following works:(1).
Deeply analyzed the mathematics model http://www.999magnet.com/products/112-neodymium-standard-state of PMSM in different coordinates and mutual conversion methods. Introduce the field orientation control principle and voltage space vector pulse width modulation (SVPWM) technology.(2). Put forward the rotor position method of rotor magnet flux calculation with phase lock loop. First calculate stator magnet flux by stator voltage and current, then induct it to phase lock loop to get the estimated value of rotor’s position and velocity. Also put forward improved method and error corrector which are for the problems such as DC offset and parameter change. Meanwhile, deeply analyze three steps start-up strategy which applied in this system.(3). Design an inverter air-condition outdoor controller with IRMCF 341 motor controlling chip, according to the methods above. Erect the experiment platform, and make use of the regulated controlling parameters for motor rotary speed, magnet flux and position errors to make the system satisfied with the design requirements.
Study of High Precision Linear Servo System Parameter Identification and Compensate Control
Study of High Precision Linear Servo System Parameter Identification and Compensate Control
Modern top grade numerical control machine tool has higher and higher precision demand to numerical control servo system.Adopting permanent magnet linear synchronous motor(PMLSM) direct drive is one of necessary approaches of realizing high precision.But during the period that linear system moving as to all kinds of interior and exterior cause,its parameter and exterior disturbance have large uncertainty.Owing to this uncertainty,control quality of system maybe decrease badly.In allusion to influence of mover mass variety disturbance,load resistance disturbance and friction disturbance under low speed to servo system,some studies have been done and relevant schemes has been Alnico Magnets put forward.At first,mathematical model of PMLSM is established.Simulation diagram under Matlab circumstance is built.
In allusion to mover mass variety disturbance,method of disperse model reference adapt identification is adopted to estimate variety of mover mass at real time,and then according to the role using current value of identifying mover mass to amend every speed controller parameter,make servo system has good dynamic and static performance when mover mass changes.The simulation result indicates this approach make identification parameter has quick constringency speed,good real-time performance,can track input without excess,and system precision has improved greatly;In allusion to load resistance disturbance,its identification approach and compensate method is raised,make observed load resistance variety compensate proportioned to motor current control end,so as to restrain load resistance disturbance,and enhance system robustness. The simulation result indicates this http://www.999magnet.com/products/108-alnico-magnets scheme is effective;In allusion to nonlinear friction disturbance which can decrease servo system track performance,based on Genetic Algorithms parameter identification method is adopted to identify system friction model parameter,and compensated control to permanent magnet synchronous linear servo system is made.The simulation result indicates this control scheme make system response quickly, static precision has improved greatly,and can realize system placid run under slow speed. The studies indicate these adopted compensation measure has strong robustness to system parameter variety and friction disturbance,and it can make permanent magnet synchronous linear servo system have higher control precision,strong real-time performance and meet perfectly request of machine tool high precision process.
Modern top grade numerical control machine tool has higher and higher precision demand to numerical control servo system.Adopting permanent magnet linear synchronous motor(PMLSM) direct drive is one of necessary approaches of realizing high precision.But during the period that linear system moving as to all kinds of interior and exterior cause,its parameter and exterior disturbance have large uncertainty.Owing to this uncertainty,control quality of system maybe decrease badly.In allusion to influence of mover mass variety disturbance,load resistance disturbance and friction disturbance under low speed to servo system,some studies have been done and relevant schemes has been Alnico Magnets put forward.At first,mathematical model of PMLSM is established.Simulation diagram under Matlab circumstance is built.
In allusion to mover mass variety disturbance,method of disperse model reference adapt identification is adopted to estimate variety of mover mass at real time,and then according to the role using current value of identifying mover mass to amend every speed controller parameter,make servo system has good dynamic and static performance when mover mass changes.The simulation result indicates this approach make identification parameter has quick constringency speed,good real-time performance,can track input without excess,and system precision has improved greatly;In allusion to load resistance disturbance,its identification approach and compensate method is raised,make observed load resistance variety compensate proportioned to motor current control end,so as to restrain load resistance disturbance,and enhance system robustness. The simulation result indicates this http://www.999magnet.com/products/108-alnico-magnets scheme is effective;In allusion to nonlinear friction disturbance which can decrease servo system track performance,based on Genetic Algorithms parameter identification method is adopted to identify system friction model parameter,and compensated control to permanent magnet synchronous linear servo system is made.The simulation result indicates this control scheme make system response quickly, static precision has improved greatly,and can realize system placid run under slow speed. The studies indicate these adopted compensation measure has strong robustness to system parameter variety and friction disturbance,and it can make permanent magnet synchronous linear servo system have higher control precision,strong real-time performance and meet perfectly request of machine tool high precision process.
The Research of Control System for Sin-Wave PMSM Based on Sliding Model Observer
The Research of Control System for Sin-Wave PMSM Based on Sliding Model Observer
The text research object with the control system of permanent magnet synchronous motor (PMSM). The Operation Principles and characteristics of PMSM are analyzed .On the foundation , the dynamic mathematical model of sine-wave type permanent magnet synchronous motor( SPMSM ) is built. Based on the detailed analysis of the system torque harmonic mechanism, a new Sliding Trajectory Control algorithm for sensorless PMSM vector control system is designed Neodymium Magnets which could reduce the torque ripple.The information of rotate position and rotate speed is essential in vector control system. As for the observation of position and velocity, the sensorless control technique is used. On the basis of an overall introduction and analysis to sensorless control algorithm, the system adopted a sliding mode control (SMC) with a variable control structure that gives comparatively robust performance of a drive with parameter variation and load torque disturbance. The SPMSM control system combined the theory of field orientated control (F.O.C) with the Sliding Model Control (SMC) principle. The text introduced an enhanced SMC algorithm, it increased the precision of Rotor position and velocity estimation and the stability of system when the method mentioned is applied in state observe of the vector control system.On the foundation of analysis the system characteristic and control http://www.999magnet.com/products/110-sintered-neodymium-magnets strategy, the hardware parts and the soft parts of system are designed. Processor adopted DSP2407 .The experiment has proved feasibility of control strategy.Finally, the text discussed the intelligence control methods such as neural net control. In order to improve the performance of the PMSM drive system with traditional PID controller, the single neuron PID controller was used to control the system. Combined with the objection and control demand, a lot of experiments were done. The experiments show that the drive system of single neuron PID controller has well start-up performance, dynamic performance and strong robustness.
The text research object with the control system of permanent magnet synchronous motor (PMSM). The Operation Principles and characteristics of PMSM are analyzed .On the foundation , the dynamic mathematical model of sine-wave type permanent magnet synchronous motor( SPMSM ) is built. Based on the detailed analysis of the system torque harmonic mechanism, a new Sliding Trajectory Control algorithm for sensorless PMSM vector control system is designed Neodymium Magnets which could reduce the torque ripple.The information of rotate position and rotate speed is essential in vector control system. As for the observation of position and velocity, the sensorless control technique is used. On the basis of an overall introduction and analysis to sensorless control algorithm, the system adopted a sliding mode control (SMC) with a variable control structure that gives comparatively robust performance of a drive with parameter variation and load torque disturbance. The SPMSM control system combined the theory of field orientated control (F.O.C) with the Sliding Model Control (SMC) principle. The text introduced an enhanced SMC algorithm, it increased the precision of Rotor position and velocity estimation and the stability of system when the method mentioned is applied in state observe of the vector control system.On the foundation of analysis the system characteristic and control http://www.999magnet.com/products/110-sintered-neodymium-magnets strategy, the hardware parts and the soft parts of system are designed. Processor adopted DSP2407 .The experiment has proved feasibility of control strategy.Finally, the text discussed the intelligence control methods such as neural net control. In order to improve the performance of the PMSM drive system with traditional PID controller, the single neuron PID controller was used to control the system. Combined with the objection and control demand, a lot of experiments were done. The experiments show that the drive system of single neuron PID controller has well start-up performance, dynamic performance and strong robustness.
2012年12月4日星期二
交换耦合的纳米两相复合永磁材料的微磁学研究
交换耦合的纳米两相复合永磁材料的微磁学研究
The composite nano-magnet is a new type of permanent magnetic material with the hard and soft phases exchange-coupled in nano-scale. It exhibits excellent magnetic properties with the hard phase to provide high coercivity and the soft phase to provide high saturation magnetization. The theoretic and experimental study of composite nano-magnets , especially the coercivity , is a hot topic in magnetism. In this thesis, the reversal mechanism of the oriented and unoriented two-phase multilayers has been investigated in detail based on Brown’s micromagnetics.
The results have been extended to nano composite Cast Alnico Magnet magnets(bulk materials) with the dominant coercivity mechanism obtained.The reversal process of oriented nanometer two-phase multilayers includes three steps:(Ι) the nucleation of the domain wall; (ΙΙ) the propagation of the domain wall;(ΙΙΙ)the complete reversal of the magnetization vector. As the thickness of the soft phase increases , the shape of the hysteresis loop changes gradually from rectangle to Z-shape, the coercivity of systems becomes more and more small,and the multilayers change from completely exchange-coupled state to decoupled state. In the meantime,the dominant coercivity mechanism changes from nucleation to pinning.The reversal of unoriented two-phase multilayers depends onβ, the angle between the easy axis of the soft phase and the applied field. The reversal pocess forβ=90°is similar to that forβ=0°( the oriented case),but the nucleation field is much smaller while the pinning field is larger than the parallel case. For 0°<β<90°,the magnets couldn’t be saturated at the finite applied field , http://www.chinamagnets.biz/Alnico/Cast-Alnico-Magnet.php and the nucleation of the domain wall doesn’t occur.The reversal process only includes two steps, i.e., steps of (ΙΙ) and(ΙΙΙ).The formulae of the nucleation field for bulk composite permanent magnets have been derived with the anisotropy of the soft phase incorporated in our calculation. The dependence of the nucleation field on the soft grain size and magnetic parameters has been discussed. As the critical size at which the coercivity mechanism changes from nucleation to pinning is very small, we demonstrated that the main coercivity mechanism in the exchange-coupled permanent magnets is pinning rather than nucleation. Such a pinning is different from traditional nucleation and pinning and has both attributes of them, which is called as self-pinning. This nucleation-pinning duality helps to solve the long-lasting disputes on the coercivity mechanism in permanent /composite magnets.
The composite nano-magnet is a new type of permanent magnetic material with the hard and soft phases exchange-coupled in nano-scale. It exhibits excellent magnetic properties with the hard phase to provide high coercivity and the soft phase to provide high saturation magnetization. The theoretic and experimental study of composite nano-magnets , especially the coercivity , is a hot topic in magnetism. In this thesis, the reversal mechanism of the oriented and unoriented two-phase multilayers has been investigated in detail based on Brown’s micromagnetics.
The results have been extended to nano composite Cast Alnico Magnet magnets(bulk materials) with the dominant coercivity mechanism obtained.The reversal process of oriented nanometer two-phase multilayers includes three steps:(Ι) the nucleation of the domain wall; (ΙΙ) the propagation of the domain wall;(ΙΙΙ)the complete reversal of the magnetization vector. As the thickness of the soft phase increases , the shape of the hysteresis loop changes gradually from rectangle to Z-shape, the coercivity of systems becomes more and more small,and the multilayers change from completely exchange-coupled state to decoupled state. In the meantime,the dominant coercivity mechanism changes from nucleation to pinning.The reversal of unoriented two-phase multilayers depends onβ, the angle between the easy axis of the soft phase and the applied field. The reversal pocess forβ=90°is similar to that forβ=0°( the oriented case),but the nucleation field is much smaller while the pinning field is larger than the parallel case. For 0°<β<90°,the magnets couldn’t be saturated at the finite applied field , http://www.chinamagnets.biz/Alnico/Cast-Alnico-Magnet.php and the nucleation of the domain wall doesn’t occur.The reversal process only includes two steps, i.e., steps of (ΙΙ) and(ΙΙΙ).The formulae of the nucleation field for bulk composite permanent magnets have been derived with the anisotropy of the soft phase incorporated in our calculation. The dependence of the nucleation field on the soft grain size and magnetic parameters has been discussed. As the critical size at which the coercivity mechanism changes from nucleation to pinning is very small, we demonstrated that the main coercivity mechanism in the exchange-coupled permanent magnets is pinning rather than nucleation. Such a pinning is different from traditional nucleation and pinning and has both attributes of them, which is called as self-pinning. This nucleation-pinning duality helps to solve the long-lasting disputes on the coercivity mechanism in permanent /composite magnets.
Study on the Approach of Parameter Identification for ISG PMSM in Hybrid Electrical Vehicle
Study on the Approach of Parameter Identification for ISG PMSM in Hybrid Electrical Vehicle
The contents this paper studying is from the project endowed of Jilin Scientific Department, the project is named as‘Reach on the controller of the single axis motor in hybrid electrical vehicle for the 1st Automobile Works’. In the project the ISG motor control system adopts a permanent magnet synchronous motor with a direct control system. The purpose of this paper is to improve the operating ability of the ISG motor in order to fulfill the demand of the project, as the same time, it has academic value.In this paper, firstly the mathematical model of the PMSM is introduced, rubber magnetic sheet for easy static calculating and dynamic analyzing, a 2-axis graph is defined, and the transformation method between the 2-axis and 3axis graph is derived, on the principle of it, the mathematical model of the PMSM in 2-axis graph is deduced. Then it introduces the theory basic of the direct control system and the achievement of the ISG motor control system in the project. For the sake of improving the performing of the motor control system, the main factors which affect the motor performing are analyzed. It is pointed that the accuracy of the motor parameters one of the most important factor in this main factors, and theoretical derivation and experiment are prove the conclude. Consequently, for improving the performing of the motor, methods to improve the accuracy of the parameters shall be investigated, in another word, parameter identification shall be done.In researching the method of motor’s parameter identification, the paper utilizes the classical Least Square Method according to the system identification theory, and designed 2 series least square parameter identification methods. The 1stone is for the identification of the rotor flux of magnet and inertia, it is derived from the accurate modal of the PMSM, and the iterative algorithm can be carried on in any motor operating condition. Simulation experiment proves that the methods has high convergence rate, and it can accurately identifies the actual value of the rotor flux of magnet and inertia in any motor operating condition. But this method needs complex data, some of them are not easily measured, sensors and circuit should be designed, it goes against the engineering actualization.
The second method is for the identification of the stator resistance and inductance, it is derived from the approximate modal of the PMSM, the iterative algorithm needs motor speed arriving steady. It only requires motor’s current and voltage, being propitious to the engineering actualization. Simulation experiment proves that the methods can comparatively accurately http://www.chinamagnets.biz/rubber/rubber-magnetic-sheet.php identifies the actual value of the stator resistance and inductance in the condition that motor speed is comparatively steady. But it has little accuracy than the 1st method, and the accuracy may be even decline when the motor speed goes less steady.In order to conquer the defect of the Least Square Method, designing a method which is propitious to the engineering actualization and can adapt the instability of the speed control, this paper studies the designing method of the model reference adaptive parameter identification system according to the Positivity and Hyperstability theory. On the principle of it, a model reference adaptive parameter identification system for stator resistance and inductance is designed. The system needs an initial value which accesses the actual value of the stator resistance or inductance, and requires motor’s current and voltage as the input of the system when motor speed comparatively arrives steady. The output matrix of the system will be convergent at some function of stator resistance and inductance, and the identification value of the ISG motor’parameter will be solved from the equations. Simulation experiment proves the efficiency of the designed model reference adaptive parameter identification system, it can get the identification value of the stator resistance or inductance quite accurately in the condition that motor speed comparatively goes steady. The system has a longerconvergence time than the Least Square Method, but it accords with the engineering demand and is capable of an online parameter identification method.
According to the designs of this paper, an experiment adopting the series least square parameter identification method for stator resistance and inductance is carried on the ISG motor experimental system. Then we made the identification values from the experiment as the calculated values which are calculated to work out the control signal in the control system. Comparing with the control system which made the parameter on the motor’s nameplate as the calculated values, the ISG motor’s response time and the capability of speed control are improved, especially in the low speed condition. The experimental result accords with the conclude which is made from the analysis of the factors which affect the performance of the PMSM, and it also proves that the parameter identification http://www.chinamagnets.biz/rubber/rubber-magnetic-sheet.php method which is designed in this paper will make improvement for the ISG motor.The research of this paper fulfills the demand of the project, besides that, it has academic value for the research of correlated problem. They mainly incarnate that, it made thorough investigate on the direct toque control system, pointed out the main factors that affect the performance of the system and its causation, it has theoretical value for the improvement of the direct toque control system. It extended the Least Square Method for induction motor to the PMSM, and made a design method according to the approximate model aiming at the engineering practicality, it made the LS Method to be used in accrual project. It designed a model reference adaptive parameter identification system adapt to the PMSM direct toque control system, it can be the basic of identification method of other parameter and the research of non-sensor technology.
The contents this paper studying is from the project endowed of Jilin Scientific Department, the project is named as‘Reach on the controller of the single axis motor in hybrid electrical vehicle for the 1st Automobile Works’. In the project the ISG motor control system adopts a permanent magnet synchronous motor with a direct control system. The purpose of this paper is to improve the operating ability of the ISG motor in order to fulfill the demand of the project, as the same time, it has academic value.In this paper, firstly the mathematical model of the PMSM is introduced, rubber magnetic sheet for easy static calculating and dynamic analyzing, a 2-axis graph is defined, and the transformation method between the 2-axis and 3axis graph is derived, on the principle of it, the mathematical model of the PMSM in 2-axis graph is deduced. Then it introduces the theory basic of the direct control system and the achievement of the ISG motor control system in the project. For the sake of improving the performing of the motor control system, the main factors which affect the motor performing are analyzed. It is pointed that the accuracy of the motor parameters one of the most important factor in this main factors, and theoretical derivation and experiment are prove the conclude. Consequently, for improving the performing of the motor, methods to improve the accuracy of the parameters shall be investigated, in another word, parameter identification shall be done.In researching the method of motor’s parameter identification, the paper utilizes the classical Least Square Method according to the system identification theory, and designed 2 series least square parameter identification methods. The 1stone is for the identification of the rotor flux of magnet and inertia, it is derived from the accurate modal of the PMSM, and the iterative algorithm can be carried on in any motor operating condition. Simulation experiment proves that the methods has high convergence rate, and it can accurately identifies the actual value of the rotor flux of magnet and inertia in any motor operating condition. But this method needs complex data, some of them are not easily measured, sensors and circuit should be designed, it goes against the engineering actualization.
The second method is for the identification of the stator resistance and inductance, it is derived from the approximate modal of the PMSM, the iterative algorithm needs motor speed arriving steady. It only requires motor’s current and voltage, being propitious to the engineering actualization. Simulation experiment proves that the methods can comparatively accurately http://www.chinamagnets.biz/rubber/rubber-magnetic-sheet.php identifies the actual value of the stator resistance and inductance in the condition that motor speed is comparatively steady. But it has little accuracy than the 1st method, and the accuracy may be even decline when the motor speed goes less steady.In order to conquer the defect of the Least Square Method, designing a method which is propitious to the engineering actualization and can adapt the instability of the speed control, this paper studies the designing method of the model reference adaptive parameter identification system according to the Positivity and Hyperstability theory. On the principle of it, a model reference adaptive parameter identification system for stator resistance and inductance is designed. The system needs an initial value which accesses the actual value of the stator resistance or inductance, and requires motor’s current and voltage as the input of the system when motor speed comparatively arrives steady. The output matrix of the system will be convergent at some function of stator resistance and inductance, and the identification value of the ISG motor’parameter will be solved from the equations. Simulation experiment proves the efficiency of the designed model reference adaptive parameter identification system, it can get the identification value of the stator resistance or inductance quite accurately in the condition that motor speed comparatively goes steady. The system has a longerconvergence time than the Least Square Method, but it accords with the engineering demand and is capable of an online parameter identification method.
According to the designs of this paper, an experiment adopting the series least square parameter identification method for stator resistance and inductance is carried on the ISG motor experimental system. Then we made the identification values from the experiment as the calculated values which are calculated to work out the control signal in the control system. Comparing with the control system which made the parameter on the motor’s nameplate as the calculated values, the ISG motor’s response time and the capability of speed control are improved, especially in the low speed condition. The experimental result accords with the conclude which is made from the analysis of the factors which affect the performance of the PMSM, and it also proves that the parameter identification http://www.chinamagnets.biz/rubber/rubber-magnetic-sheet.php method which is designed in this paper will make improvement for the ISG motor.The research of this paper fulfills the demand of the project, besides that, it has academic value for the research of correlated problem. They mainly incarnate that, it made thorough investigate on the direct toque control system, pointed out the main factors that affect the performance of the system and its causation, it has theoretical value for the improvement of the direct toque control system. It extended the Least Square Method for induction motor to the PMSM, and made a design method according to the approximate model aiming at the engineering practicality, it made the LS Method to be used in accrual project. It designed a model reference adaptive parameter identification system adapt to the PMSM direct toque control system, it can be the basic of identification method of other parameter and the research of non-sensor technology.
永磁无刷直流电机控制器的设计
永磁无刷直流电机控制器的设计
The "design of Controller for permanent magnet brushless DC motor (BLDCM)" is studied on in this thesis, and the key technologies are presented,such as motor starting, rotor position detection, controlling method and power factor correction. At last, the controlling system is designed and the details is given for design of software and hardware.Controlling solution Block Ceramic Magnets for BLDCM is discussed, the method for rotor position detection is analyzed and the circuit is designed for rotor position detection based on Back EMF. At the same time, it is studied on how to start BLDCM by "Three step" starting technique, how to adopt PID to regulate speed in closed loop to make motor run more reliably. In order to satisfy "3C" standards, the power factor corrector (PFC) is induced in system and the design parameter is given in details. The SPM (smart power module) is used to make http://www.chinamagnets.biz/Ceramic/Block-Ceramic-Magnets.php the system design more convenient and brief. At last, use Infineon XC164CM as controlling core and the controlling system is designed.It is showed by the experiment results that the controller is better than others at these sides, such as fast starting, stabilization and wide speed regulation, and it is also cheap. The power factor is higher. So the controller would be used widely.
The "design of Controller for permanent magnet brushless DC motor (BLDCM)" is studied on in this thesis, and the key technologies are presented,such as motor starting, rotor position detection, controlling method and power factor correction. At last, the controlling system is designed and the details is given for design of software and hardware.Controlling solution Block Ceramic Magnets for BLDCM is discussed, the method for rotor position detection is analyzed and the circuit is designed for rotor position detection based on Back EMF. At the same time, it is studied on how to start BLDCM by "Three step" starting technique, how to adopt PID to regulate speed in closed loop to make motor run more reliably. In order to satisfy "3C" standards, the power factor corrector (PFC) is induced in system and the design parameter is given in details. The SPM (smart power module) is used to make http://www.chinamagnets.biz/Ceramic/Block-Ceramic-Magnets.php the system design more convenient and brief. At last, use Infineon XC164CM as controlling core and the controlling system is designed.It is showed by the experiment results that the controller is better than others at these sides, such as fast starting, stabilization and wide speed regulation, and it is also cheap. The power factor is higher. So the controller would be used widely.
2012年12月2日星期日
纳米永磁材料的尺寸效应
纳米永磁材料的尺寸效应
Due to the exchange-coupling interaction between magnetically soft and hard phases, the remanence enhancement is exhibited remarkably in nanocomposite permanent magnetic materials. The theoretical results indicate that the exchange-coupling interaction among magnetic films can make nanocomposite magnet keep both the high saturation magnetization of soft phase and the high coercivity of hard phase, and the theoretical magnetic energy product of aligned nanocomposite magnet can achieve as high as 1MJ/m3. However, experimental results show that the enhancement of Alnico Magnets remanent magnetization is obvious, but the coercivity decreases seriously and the energy product of nanocomposite magnetic material is far lower than its theoretical value with the reduction of magnetically soft grains size.In order to lessen the gap between the theoretical and experimental coercivty and investigate of thickness effect on nanoscaled permanent magnetic films, lots of work has been devoted to explore the thickness-dependent demagnetization and coercivity mechanism. Unfortunately, the detail is still unclear. This result is mainly attributed to the following two aspects: one is the oversimplified theoretical models; the other is that the nanocrystalline magnet with fully density and uniform microstructure can not be realized in experiment.In this thesis, the effects of thickness in double-layer permanent magnets have been investigated in detail. Taking single phased Nd2Fe14B and two phased Nd2Fe14B/α-Fe films as typical samples. We firstly calculated the dependences of nucleation field on thicknesses of layers. Secondly, We investigated the thickness effects on remanence, coercivity and hysteresis loop, and compared with experimental results.
The main conclusions are listed as following:1. The actual nucleation mode corresponds to the smallest nucleation field. By numerical calculating and comparing the Brown’s micromagnetic incoherent rotation and coherent rotation model, it implies that the real http://www.999magnet.com/products/108-alnico-magnets nucleation mode of permanent magnet changes from the coherent mode to the incoherent one with the reduction of the misaligned/soft phased thickness, and the average effective anisotropy can only be used in limited cases(at very small grains size).2. There exist exchange-coupling interactions in single phased double-layer nano-structured hard magnetic materials with perpendicular easy axes. The reversal mechanism of the system changes from nucleation to pinning with the increasing of misaligned layer thickness L. For a given thickness L’(the aligned layer thickness), the coercivity hc decreases firstly and subsequently keeps at a constant C with the increasing of L and the constant C saturates at 0.414 as the aligned phase thickness L’ is positive infinitive. Meanwhile, the hysteresis loop of single phased double-layer permanent magnets changes from“s”curve to ellipse with the reduction of aligned layer thickness L.3. The dependences of magnetic characteristic on soft and hard layer thicknesses and angle in nano-composite permanent magnet(Nd2Fe14B/α-Fe) are obtained systematically. For a given hard phase thickness Lh, the coercivity decreases firstly as increases of soft phase thickness Ls, and then converges a constant value C’ with a infinitive Ls. For sufficiently large Ls, C’ is equal to 540 (Oe)/-540 (Oe) in aligned composite magnetic layers and perpendicular anisotropy layers respectively. Our results are basically in accordance with the experimental results and other coercivity theories, and our study will shed light on the nanocomposite material design.
Due to the exchange-coupling interaction between magnetically soft and hard phases, the remanence enhancement is exhibited remarkably in nanocomposite permanent magnetic materials. The theoretical results indicate that the exchange-coupling interaction among magnetic films can make nanocomposite magnet keep both the high saturation magnetization of soft phase and the high coercivity of hard phase, and the theoretical magnetic energy product of aligned nanocomposite magnet can achieve as high as 1MJ/m3. However, experimental results show that the enhancement of Alnico Magnets remanent magnetization is obvious, but the coercivity decreases seriously and the energy product of nanocomposite magnetic material is far lower than its theoretical value with the reduction of magnetically soft grains size.In order to lessen the gap between the theoretical and experimental coercivty and investigate of thickness effect on nanoscaled permanent magnetic films, lots of work has been devoted to explore the thickness-dependent demagnetization and coercivity mechanism. Unfortunately, the detail is still unclear. This result is mainly attributed to the following two aspects: one is the oversimplified theoretical models; the other is that the nanocrystalline magnet with fully density and uniform microstructure can not be realized in experiment.In this thesis, the effects of thickness in double-layer permanent magnets have been investigated in detail. Taking single phased Nd2Fe14B and two phased Nd2Fe14B/α-Fe films as typical samples. We firstly calculated the dependences of nucleation field on thicknesses of layers. Secondly, We investigated the thickness effects on remanence, coercivity and hysteresis loop, and compared with experimental results.
The main conclusions are listed as following:1. The actual nucleation mode corresponds to the smallest nucleation field. By numerical calculating and comparing the Brown’s micromagnetic incoherent rotation and coherent rotation model, it implies that the real http://www.999magnet.com/products/108-alnico-magnets nucleation mode of permanent magnet changes from the coherent mode to the incoherent one with the reduction of the misaligned/soft phased thickness, and the average effective anisotropy can only be used in limited cases(at very small grains size).2. There exist exchange-coupling interactions in single phased double-layer nano-structured hard magnetic materials with perpendicular easy axes. The reversal mechanism of the system changes from nucleation to pinning with the increasing of misaligned layer thickness L. For a given thickness L’(the aligned layer thickness), the coercivity hc decreases firstly and subsequently keeps at a constant C with the increasing of L and the constant C saturates at 0.414 as the aligned phase thickness L’ is positive infinitive. Meanwhile, the hysteresis loop of single phased double-layer permanent magnets changes from“s”curve to ellipse with the reduction of aligned layer thickness L.3. The dependences of magnetic characteristic on soft and hard layer thicknesses and angle in nano-composite permanent magnet(Nd2Fe14B/α-Fe) are obtained systematically. For a given hard phase thickness Lh, the coercivity decreases firstly as increases of soft phase thickness Ls, and then converges a constant value C’ with a infinitive Ls. For sufficiently large Ls, C’ is equal to 540 (Oe)/-540 (Oe) in aligned composite magnetic layers and perpendicular anisotropy layers respectively. Our results are basically in accordance with the experimental results and other coercivity theories, and our study will shed light on the nanocomposite material design.
Research on the PMSM Servo System Based on DSP
Research on the PMSM Servo System Based on DSP
Permanent Magnet Synchronous Machine(PMSM) has been paid more attention in the past two decades by researcher in the motor and control system fields because of its excellent performance for example small cubage, great power density and good efficiency. We can foresee the further development about PMSM and its control system with the reduce of the permanent magnet material`s price and producing the rotor, progress in the power electronics Neodymium Magnets apparatus and high-speed processor and control theories. PMSM may take the place of common power excitation motor and control system in many fields.Based on the research of operation theory of the PMSM, the details of the field-orientation vector control theory are presented in this paper. Then a full-digital PMSM servo system is developed based on DSP. Firstly, this paper originates from the motor itself, discusses the steady operation theory of PMSM. The characteristics of the torque, power and efficiency are analyzed as well. Secondly, the vector control theory of PMSM is introduced deeply. The mathematical models of PMSM are illustrated. Continuously, the scheme of vector control on PMSM is discussed and the block diagram of this system is provided systematically. Additionally, http://www.999magnet.com/products/110-sintered-neodymium-magnets SVPWM modulation is discussed thoroughly and its realization method with software is developed. Finally, the main structures of the software and hardware parts of the control system are introduced. Principles and realization of the main functional blocks of these two parts are illuminated. On the hardware of the system, parts of control circuit and the design and debugging of peripheral circuits are discussed thoroughly. Based on the hardware circuit, the software is programmed with C language. Three close loop vector control with feedback of position, speed and current are realized.
Permanent Magnet Synchronous Machine(PMSM) has been paid more attention in the past two decades by researcher in the motor and control system fields because of its excellent performance for example small cubage, great power density and good efficiency. We can foresee the further development about PMSM and its control system with the reduce of the permanent magnet material`s price and producing the rotor, progress in the power electronics Neodymium Magnets apparatus and high-speed processor and control theories. PMSM may take the place of common power excitation motor and control system in many fields.Based on the research of operation theory of the PMSM, the details of the field-orientation vector control theory are presented in this paper. Then a full-digital PMSM servo system is developed based on DSP. Firstly, this paper originates from the motor itself, discusses the steady operation theory of PMSM. The characteristics of the torque, power and efficiency are analyzed as well. Secondly, the vector control theory of PMSM is introduced deeply. The mathematical models of PMSM are illustrated. Continuously, the scheme of vector control on PMSM is discussed and the block diagram of this system is provided systematically. Additionally, http://www.999magnet.com/products/110-sintered-neodymium-magnets SVPWM modulation is discussed thoroughly and its realization method with software is developed. Finally, the main structures of the software and hardware parts of the control system are introduced. Principles and realization of the main functional blocks of these two parts are illuminated. On the hardware of the system, parts of control circuit and the design and debugging of peripheral circuits are discussed thoroughly. Based on the hardware circuit, the software is programmed with C language. Three close loop vector control with feedback of position, speed and current are realized.
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