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Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)

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Presentation on theme: "Mechatronics Drives (Azionamenti ). Mechatronics PWM PWM Modulation (Pulse Width Modulation)"— Presentation transcript:

1 Mechatronics Drives (Azionamenti )

2 Mechatronics PWM PWM Modulation (Pulse Width Modulation)

3 Mechatronics AC brushless drive [velocita][accelerazione] oscillatore Sincos encoder o

4 Mechatronics DC brushless drive [accelerazione] [vel.] [V]

5 Mechatronics Resolver to Digital Converter With constant velocity R is constantly increased (ramp-like) and R - R =0 that is thus an acceleration because only a velocity change can change it

6 Mechatronics PLL (Phase Locked Loop)

7 Mechatronics 50 o 60Hz Tensione DC bus letta f 0 = 256 f rete PI Regenerative Breaking (Recupero in rete) 1 sinusoid cover 256 memory locations [acc] [vel] Sinusoid in phase with line voltage and amplitude-modulated with DC-bus voltage error

8 Mechatronics DC-bus generator without regenerative breaking

9 Mechatronics

10 or

11 Mechatronics Control Strategies The Feed-Forward (open loop) is used to provide position, velocity, current profiles, to be followed by the PID (closed loop), …so to avoid to load the integral action, …so that I can keep it low and have high dynamics Feed Forward and PID

12 Mechatronics Control Strategies (contd) position velocityacceleration Higher bandwidths Feed Forward and PID

13 Mechatronics Control Strategies (contd) Vector Control (VC) (Controllo ad Orientamento di Campo o Vettoriale)

14 Mechatronics Control Strategies (contd) Vector Control (VC)

15 Mechatronics Control Strategies (cond) IqIq IdId IaIa IbIb IcIc Experimentally we would see… :

16 Mechatronics …and indeed we actually see:

17 Mechatronics and:

18 Mechatronics Clark & Park Transform Its the matrix T that transforms from 3 to 2 * vectors and from fixed to rotary reference system. * Actually 3 currents i d, i q and i 0, remains, where i 0 is the neutral wire (neutro) current (if theres one).

19 Mechatronics Clark & Park Transform (contd)

20 Mechatronics Clark & Park Transform (contd)

21 Mechatronics Clark & Park Transform (contd)

22 Mechatronics Clark & Park Transform (contd) 0 500Hz to 16KHz

23 Mechatronics

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