Drives Azionamenti Mechatronics PWM Modulation Pulse Width Modulation

Drives (Azionamenti ) Mechatronics

PWM Modulation (Pulse Width Modulation) Mechatronics

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

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

Control Strategies Feed Forward and PID 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 Mechatronics

Control Strategies (cont’d) Feed Forward and PID position velocity acceleration Higher bandwidths Mechatronics

Control Strategies (cont’d) Vector Control (VC) (Controllo ad Orientamento di Campo o Vettoriale) Mechatronics

Control Strategies (cont’d) Vector Control (VC) Mechatronics

Control Strategies (con’d) Experimentally we would see… : w Iq Id Ia Ib Ic Mechatronics

…and indeed we actually see: Mechatronics

and: Mechatronics

Clark & Park Transform It’s the matrix T that transforms from 3 to 2* vectors and from fixed to rotary reference system. * Actually 3 currents id, iq and i 0, remains, where i 0 is the neutral wire (neutro) current (if there’s one). Mechatronics