Cc dng ng c DC c bit

ng c DC khng chi than (BLDC)

P0015301 5-SE-9 Bi 10

Nguyn l
ng c BLDC mc d c tn l mt chiu khng chi than nhng n thuc nhm ng c ng b nam chm vnh cu ng c ng b nam chm vnh cu l nhm ng c xoay chiu ng b (tc l rotor quay cng tc vi t trng quay) c phn cm l nam chm vnh cu. Chia thnh 2 loi ng c da vo dng sng sc phn in ng stator ca ng c.
-ng c (sng) hnh sin -ng c (sng) hnh thang

ng c BLDC l loi ng c sng hnh thang, nhng ng c cn li l ng c sng hnh sin (ta gi chung vi tn l PM Permanent magnet Motor). EMF c dng hnh thang quyt nh xc nh mt ng c BLDC ch khng phi cc yu t khc nh Hall sensor, b chuyn mch in t (Electronic Commutator), .v.v.

c im BLDC
u im:
Mt t thng khe h khng kh ln. T l cng sut/ khi lng my in cao. T l mmen/ qun tnh ln (c th tng tc nhanh). Vn hnh nh nhng (dao ng ca mmen nh) thm ch tc thp ( t c iu khin v tr mt cch chnh xc). Mmen iu khin c v tr bng khng. Vn hnh tc cao. C th tng tc v gim tc trong thi gian ngn. Hiu sut cao. Kt cu gn.

Nhc im
Gi thnh cao c iu khin bng mt b iu khin vi in ng ra dng xung vung v cm bin Hall c t bn trong ng c xc nh v tr rotor khng t i chiu dng in nh ng c DC thng thng nam chm st t d t ha nhng kh nng tch t khng cao, d b kh t v c tnh t ca nam chm b gim khi tng nhit . Nhng vi loi nam chm him nh hin nay th nhc im ny c ci thin ng k.

CU TO
Stator:
li st (cc l thp k thut in ghp cch in vi nhau) dy qun khc so vi cch qun dy ng c xoay chiu 3 pha thng thng, s khc bit ny to nn sc phn in ng dng hnh thang

Rotor: khng c g khc so vi cc ng c nam chm vnh cu khc. Hall sensor: do c th sc phn in ng c dng hnh thang nn cu hnh iu khin thng thng ca BLDC cn c dng cm bin hiu ng Hall, gi tt l Hall sensor xc nh v tr ca t trng rotor so vi cc pha ca cun dy stator

Rotor

Nam chm c t trn rotor ca ng c BLDC: (a,b,c) nam chm dn b mt ngoi, (d,e,f,g) nam chm t bn trong rotor.

Brushless DC Motor
100
R

R
com

101

110

N
com g

N
g

S S
001
G b r com

010 B G

011

PHNG PHP IU KHIN

PHNG PHP IU KHIN

Qu trnh kch ng 6 bc
+V
PWM1H PWM2H PWM3H

3 Phase BLDC

PWM1L

PWM2L

PWM3L

Sector

Qu trnh kch ng 6 bc
+V
PWM1H PWM2H PWM3H

3 Phase BLDC

PWM1L

PWM2L

PWM3L

Sector

Qu trnh kch ng 6 bc
+V
PWM1H PWM2H PWM3H

3 Phase BLDC

PWM1L

PWM2L

PWM3L

Sector

Qu trnh kch ng 6 bc
+V
PWM1H PWM2H PWM3H

3 Phase BLDC

PWM1L

PWM2L

PWM3L

Sector

Gin Hall sensor v dng in ng ra tng

Fixed Speed 1000 RPM

4 Amps Peak

Qu o t thng stator khi khng ti v c ti

THAY I TC BNG CCH THAY I IN P TRUNG BNH PHA IU CH PWM

in p cung cp cho b kha cng sut khng i, tuy nhin in p ra khi b kha n ng c thay i theo thut ton iu khin. Phng php PWM c th dng cho kha trn, kha di hay ng thi c hai kha trn v di cng lc.

BLDC Motor c iu ch PWM

Hall Effect Sensors

PWM1H PWM1L

IU KHIN IN P HNH SIN

cn c gi l iu khin AC khng chi than (brushless AC) gim ting n c th nghe thy c, gim gn sng mmen do dng sng in p dng in ra t b gn sng.

IU KHIN KHNG CM BIN

2 k thut iu khin khng cm bin: xc nh v tr rotor da vo sc in ng ca ng c c lng v tr dng cc thng s ca ng c, cc gi tr in p v dng in trn ng c

EMF hi tip v/s Hall sensors

Back EMF

Hall sensor

IU KHIN VNG KN NG C BLDC

B IU KHIN PI(D)
Proportional-Integral-Differential Set Point - Process Variable = Error Control Variable = Output CV = Pe + I e dt + D de/dt

Closed Loop

Tc mong mun +-

Sai s tc

Voltage

PID

BLDC

Tc hi tip

Hall Sensor

Khall

PID s
Up

Kp * Error

Tc t +-

Error

Ui

Ki * Error dt

+ + +

in p

Tc hi tip

dError Kd * dt

Ud

PID s
Up(T) = Kp * Error(T)
Kp * Error

Ui(T) = Ki * Error(T) + Ui(T-1)

Ki * Error dt

Ud(T) = Kd * (Error(T) Error(T-1))

Kd *

dError dt

Voltage(T) = Up(T) + Ui(T) + Ud(T)

PID s m rng
Kp * Error Kp * Error

Ki * Error dt

-1 * Error 1-Z

Ki

+ + +

dError Kd dt

-1

Kd * (1 Z ) * Error

PID s m rng
Kp * Error

Ki 1-Z
-1

* Error

+ + +

Error *

Kp +

Ki 1-Z
-1

-1

+ Kd (1 Z )

-1

Kd * (1 Z ) * Error

Optional Digital PID

Error * Kp + -1 Ki + Kd (1 Z ) = Controller Output -1 1-Z

-1 + Ki + -1 2 Kp (1 Z ) Kd (1 Z ) Error * -1 1-Z -2 -1 (Kp + Ki + Kd) + (-Kp - 2*Kd) Z + Kd*Z Error * -1 1-Z

= Controller Output

= Controller Output

PID s m rng
-2 -1 (Kp + Ki + Kd) + (-Kp - 2*Kd) Z + Kd*Z Error * -1 1-Z = Ng ra b K

Error = Error (T) -1 Error * Z = Error (T-1)

Sai s gn nht

-2 Error * Z = Error (T-2) Sai s t nht

PID s m rng
-2 -1 (Kp + Ki + Kd) + (-Kp - 2*Kd) Z + Kd*Z Error * -1 1-Z = Ng ra b iu khin

Ng ra b iu khin (T) = Ng ra b iu khin (T 1) + Error (T) * K1 + Error (T-1) * K2 + Error (T-2) * K3 Vi: K1 = Kp + Ki + Kd K2 = -Kp -2Kd K3 = Kd

NG DNG
iu khin ng ngt c chnh xc cao, mi trng d chy n, khng uc bo tr thng xuyn. Giao thng vn ti. Gii tr.