제어 알고리즘 설계

모터 제어 시스템에 대한 제어기 알고리즘 생성

토크 제어 서브시스템과 속도 제어 서브시스템을 만들고, 타깃 실행 시간을 확인하고, 제어 이득을 조정합니다.

참고

여기에 나열된 블록은 MISRA C™ 지침을 준수합니다.

블록

ACIM Control Reference	Compute reference currents for field-oriented control of induction motor
ACIM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
ACIM Slip Speed Estimator	Calculate slip speed of AC induction motor
ACIM Torque Estimator	Estimate electromechanical torque and power
DQ Limiter	Saturate voltages (or current) in the dq reference frame
MTPA Control Reference	암페어당 최대 토크(MTPA) 및 약계자 작동을 위한 기준 전류 계산
PMSM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
PMSM Torque Estimator	Estimate electromechanical torque and power
Position Generator	고정 주파수의 위치 램프 생성
Six Step Commutation	브러시리스 DC(BLDC) 모터의 6단계 정류를 위한 스위칭 시퀀스 생성
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 이후)
SRM Commutation	Generate switching sequences for n-phase switched reluctance motor (SRM) (R2022b 이후)
LUT based SynRM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of SynRM and PMaSynRM (R2024a 이후)
SynRM FeedForward Control	Decouple d-axis and q-axis current to eliminate disturbance (R2024a 이후)
SynRM Torque Estimator	Estimate electromechanical torque and power (R2024a 이후)

Derating Function	Compute derating factor
PI Controller	Discrete-time PID Controller (R2022a 이후)
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 이후)
VbyF Controller	Implement V/F (open-loop or scalar) control for three-phase motors (R2023b 이후)
Field-Oriented Current Controller	Implement current control for three-phase motors using field-oriented control (FOC) technique (R2023b 이후)
I-F Controller	Implement I-F control for a three-phase permanent magnet synchronous motor (R2024a 이후)
Sensorless Six-Step Commutation	Use six-step commutation to run a BLDC motor or PMSM using sensorless control (R2025a 이후)

3-Phase Sine Voltage Generator	평형 3상 정현파 신호 생성
atan2	4사분면 역탄젠트 계산
Clarke Transform	ab에서 αβ로의 변환 구현
Inverse Clarke Transform	αβ에서 abc로의 변환 구현
Inverse Park Transform	dq에서 αβ로의 변환 구현
Park Transform	αβ에서 dq로의 변환 구현
SinCos Embedded Optimized	Implement sine and cosine functions (R2024b 이후)
PWM Reference Generator	상 전압에서 변조 신호 생성
6-Phase VSD Transform	Compute vector space decomposition (VSD) based transformation on six-phase inputs (R2024b 이후)
6-Phase Inverse VSD Transform	Compute vector space decomposition (VSD) based inverse transformation on orthogonal inputs (R2024b 이후)

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

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	회전자 각위치로부터 속도 계산

Sliding Mode Observer	표면부착형 PMSM의 전기적 위치 및 기계적 속도 계산 (R2021b 이후)
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 이후)
Extended EMF Observer	영구 자석 동기 모터(PMSM)의 전기적 위치 및 기계적 속도 계산 (R2023a 이후)

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

Design Field-Oriented Control Algorithm

Design and integrate the torque-control and speed-control subsystems.
- 단계 1: Design Current and Position Scaling Subsystems
- 단계 2: 전류 제어기 서브시스템 설계하기
- 단계 3: Perform Manual Gain-Tuning of Current Controller
- 단계 4: Design Speed Control Algorithm
- 단계 5: Perform Manual Gain-Tuning of Speed Controller
Estimate Control Gains and Use Utility Functions
Perform control parameter tuning for speed and torque control subsystems.
PIL 테스트를 사용한 코드 검증 및 프로파일링
이 예제에서는 Texas Instruments® LAUNCHXL-F28379D 하드웨어 보드의 PIL 프로파일링을 설명합니다.
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).
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.