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Mechatronics Drives (Azionamenti )

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Mechatronics PWM PWM Modulation (Pulse Width Modulation)

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

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

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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

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Mechatronics PLL (Phase Locked Loop)

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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

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Mechatronics DC-bus generator without regenerative breaking

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Mechatronics

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or

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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

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

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

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Mechatronics Control Strategies (contd) Vector Control (VC)

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

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Mechatronics …and indeed we actually see:

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Mechatronics and:

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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).

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Mechatronics Clark & Park Transform (contd)

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Mechatronics Clark & Park Transform (contd)

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Mechatronics Clark & Park Transform (contd)

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

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Mechatronics

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