基于反电动势观测器的无位置传感器无刷直流电机控制

Sensor-less  Brushless DC motor Control base on BEMF Observer

系统框架图

System Configuration

瑞萨RL78/R5F104BC微控制器特点：

The Advantage of Renesas RL78/R5F104BC Microcontroller

1. SVPWM正弦波控制，比SPWM的电压利用率高15.47% 左右

   The voltage utilization of sine wave SVPWM control is 15.47% higher than the SPWM

2. AD采样：2路电流和1路电压采样

   AD sample:2channel current and 1channel voltage sample

3. 乘除法器：快速计算处理数据

   Multiplier and divider:fast calculation and data prossing
   

4. DTC：不经过CPU进行外围硬件与RAM的数据传输

   DTC:extern module transmit wiht RAM without any usage of CPU core

   
   

正弦波控制与方波控制的区别

Difference form Square wave control

•120°Square wavedrive : Control system is  6 step control,by detected zero position by BEMF, no flux control ,big torque ripple, alsobig noise and vibrations.

•Sine wave drive： Current controlby flux information, accurate flux angle ,small current ripple, small torqueripple ,good noise performance.

、

•SPM  Id=0control:  d axis current PI controlreference id=0

•IPM  Max torque:Id≠0,normally using MTPA control

•Weaken flux : normally using control motor voltage 

全阶状态观测器

Full order state observer cart gram

PI控制

•PI control with Anti-wind

FOC矢量控制

•FOC vector control  

FOC矢量控制波形图

FOC vector control waveform