制御アルゴリズムの設計

モーター制御システムのコントローラーアルゴリズムの作成

トルク制御サブシステムと速度制御サブシステムを作成し、ターゲット実行時間を検証し、制御ゲインを調整します。

メモ

ここでは、MISRA C™ ガイドラインに準拠したブロックを紹介しています。

ブロック

Controls

Control Reference

ACIM Control Reference	誘導モーターのベクトル制御のための指令電流を計算する
ACIM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
ACIM Slip Speed Estimator	交流誘導モーターの滑り角速度を計算する
ACIM Torque Estimator	Estimate electromechanical torque and power
DQ Limiter	Saturate voltages (or current) in the dq reference frame
MTPA Control Reference	最大トルク/電流 (MTPA) および弱め界磁操作に用いる指令電流の計算
PMSM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
PMSM Torque Estimator	Estimate electromechanical torque and power
Position Generator	固定周波数の位置ランプの生成
Six Step Commutation	ブラシレス DC (BLDC) モーターの 6 段階整流のスイッチングシーケンスを生成
Vector Control Reference	Compute d and q axis components of reference vector
LUT based PMSM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of permanent magnet synchronous motor (R2022b 以降)
SRM Commutation	Generate switching sequences for n-phase switched reluctance motor (SRM) (R2022b 以降)
LUT based SynRM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of SynRM and PMaSynRM (R2024a 以降)
SynRM FeedForward Control	Decouple d-axis and q-axis current to eliminate disturbance (R2024a 以降)
SynRM Torque Estimator	Estimate electromechanical torque and power (R2024a 以降)

Controllers

Derating Function	Compute derating factor
PI Controller	Discrete-time PID Controller (R2022a 以降)
Field Oriented Control Autotuner	Automatically and sequentially tune multiple PID control loops in field-oriented control application
FOC Default Controller Gains	Compute controller gains for the FOC based algorithms at run time based on empirical method or optimum theory (R2023b 以降)
VbyF Controller	Implement V/F (open-loop or scalar) control for three-phase motors (R2023b 以降)
Field-Oriented Current Controller	Implement current control for three-phase motors using field-oriented control (FOC) technique (R2023b 以降)
I-F Controller	Implement I-F control for a three-phase permanent magnet synchronous motor (R2024a 以降)
Sensorless Six-Step Commutation	Use six-step commutation to run a BLDC motor or PMSM using sensorless control (R2025a 以降)

Math Transforms

3-Phase Sine Voltage Generator	平衡三相正弦波信号の生成
atan2	4 象限逆正接の計算
Clarke Transform	ab から αβ への変換の実装
Inverse Clarke Transform	αβ から abc への変換の実装
Inverse Park Transform	dq から αβ への変換の実装
Park Transform	αβ から dq への変換の実装
SinCos Embedded Optimized	Implement sine and cosine functions (R2024b 以降)
PWM Reference Generator	相電圧からの変調信号の生成
6-Phase VSD Transform	Compute vector space decomposition (VSD) based transformation on six-phase inputs (R2024b 以降)
6-Phase Inverse VSD Transform	Compute vector space decomposition (VSD) based inverse transformation on orthogonal inputs (R2024b 以降)

Protection and Diagnostics

Protection Relay	Implement protection relay with definite minimum time (DMT) trip characteristics
Host Serial Receive	Configure host-side serial communications interface to receive data from serial port
Host Serial Setup	Configure communication ports used by Host Serial Receive and Host Serial Transmit blocks
Host Serial Transmit	Configure host-side serial communications interface to transmit data to serial port

Sensor Decoders

Hall Speed and Position	Compute speed and estimate position of rotor by using Hall sensors
Hall Validity	Compute rotor spin direction and validity of Hall sensor sequence
Mechanical to Electrical Position	Compute electrical position of rotor from mechanical position
Quadrature Decoder	Compute position of quadrature encoder
Resolver Decoder	Compute motor mechanical position and speed and sine and cosine values of motor electrical position
Software Watchdog Timer	Output true until counter reaches maximum count limit
Speed Measurement	Compute speed from rotor angular position

Sensorless Estimators

Sliding Mode Observer	表面 PMSM の電気的位置と機械的速度の計算 (R2021b 以降)
Flux Observer	Compute electrical position, magnetic flux, and electrical torque of rotor
Pulsating High Freq Observer	Estimate initial rotor electrical position of interior PMSM using pulsating high frequency (PHF) injection (R2022b 以降)
Extended EMF Observer	Compute electrical position and mechanical speed of permanent magnet synchronous motor (PMSM) (R2023a 以降)

Signal Management

IIR Filter	無限インパルス応答 (IIR) フィルターの実装
Vector plot	Plot vectors in space domain
Position Compensation	Compensate for position offset due to different types of delays (R2022b 以降)
PLL with Feed Forward	Compute position and angular frequency from orthogonal sinusoidal signals (R2023b 以降)
Compute Parameter	Extend functionality of blocks by enabling additional inputs (R2024a 以降)
Dead-Time Compensator	Overcome dead-time effect by modifying reference voltages (R2024a 以降)
Protocol Encoder	Encode input data into a uint8 byte stream by specifying the packet structure (R2024a 以降)
Protocol Decoder	Decode a uint8 byte stream by specifying the packet structure (R2024a 以降)
Byte Pack	Convert input signals to `uint8` vector (R2024a 以降)
Byte Unpack	Convert `uint8` vector to input signals (R2024a 以降)
Byte Reversal	Reverse order of bytes in input word (R2024a 以降)
Memory Copy	Copy data from and to memory section (R2024a 以降)

トピック

ベクトル制御アルゴリズムの設計

トルク制御サブシステムと速度制御サブシステムを設計し、統合する。
- ステップ 1: Design Current and Position Scaling Subsystems
- ステップ 2: Design Current Controller Subsystem
- ステップ 3: Perform Manual Gain-Tuning of Current Controller
- ステップ 4: 速度制御アルゴリズムの設計
- ステップ 5: 速度コントローラーの手動によるゲイン調整の実行
Estimate Control Gains and Use Utility Functions
Perform control parameter tuning for speed and torque control subsystems.
PIL テストを使用したコードの検証とプロファイリング
この例では、Texas Instruments® LAUNCHXL-F28379D ハードウェアボードでの PIL プロファイリングについて説明します。
Obtain Controller Gains to Run Motor Using Field-Oriented Control
This example shows how to obtain PI controller gains using Optimum theory for the current control loop and speed control loop in Field Oriented Control (FOC) of a Permanent Magnet Synchronous Motor (PMSM). This example provides multiple options that you can use to obtain PI controller gains:
Sensorless Speed Control of BLDC Motor Using Six-Step Commutation
This example uses 120-degree conduction mode to implement the six-step commutation technique to control the speed of a three-phase brushless DC (BLDC) motor. The example uses the mechanical speed along with the duty cycles generated by the Sensorless Six-Step Commutation block to control three-phase stator voltages, and therefore, control the rotor speed.