三相無刷直流馬達之無感測器驅動技術研究
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(3) The Research of The Sensorless Drive Technology for The Three-Phase Brushless DC Motor. .
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(7) The Research of The Sensorless Drive Technology for The Three-Phase Brushless DC Motor. ! Ö ±Át :
(8) . Student Advisor. Ö Ö. ×ØÙÚÛc ÜÝQÞßY`cà á)* A Thesis Submitted to Department of Electrical and Control Engineering National Chiao Tung University in partial Fulfillment of the Requirements for the Degree of Master in Electrical and Control Engineering June 2005 Hsinchu, Taiwan, Republic of China. Gâã×äå æÕ. Wei-Hsun Lai Dr. Shir-Kuan Lin.
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(15) The Research of The Sensorless Drive Technology for The Three-Phase Brushless DC Motor. Student : Wei-Hsun Lai. Advisor : Dr. Shir-Kuan Lin. Department of Electrical and Control Engineering National Chiao Tung University. ABSTRACT Sensorless brushless DC motors have been widely used for HDD ,DVD devices because of their high speed, fast response and small size. However, the rotation of motor requires special techniques because there are not any position sensors in the motor. Most techniques use the back EMF to detect motor position. However, the above techniques have a common problem: The amplitude of back EMF is too small at low speed to be detected because the amplitude is proportional to rotation speed. Therefore we need a serise of open-loop sequence to accelerate the motor speed. When the back EMF is large enough, the mode is changed from open-loop mode to close-loop mode and the motor is self-commutated by the back EMF. Thus the important thing during open-loop mode is to acquire the largest amplitude of back EMF as quickly as possible.This paper raises two new open-loop sequences that could acquire larger amplitude of back EMF in the short time. Therefore the time of the start-up of the motor can be shortened. Besides, in order to make research of the sensorless drive techniques of sensorless contorl IC, this paper uses IC:BD6609fv to drive a BLDCM and proposes a method to test this IC. The proposed new open-loop sequences are verified with the Visual C++ simulation firstly and then is realized with FPGA-based chip collocating with voltage sensing circuit, motor drive and peripheral circuit for proving the announced sequences are valid .. ii.
(16) . i. . ii. . ii. . iv. . ix.
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(22) { 3.27 VÁÂö÷© . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 £ ÚÞß . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 120 £ ÚB¹Þß . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 12 ·ö« = 6 &ÏR . . . . . . . . . . . . . . . . . . . . . 4.4 æ]ïðö . . . . . . . . . . . . . . . . . . . . . . . . 4.5 a]ïðö . . . . . . . . . . . . . . . . . . . . . . . . 4.6 40Hz ¨ª«æ] . . . . . . . . . . . . . . . . . . . . . . . . 4.7 ö÷©QÓ?¯ . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8 ö¤Q Üð © . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9 20Hz ¨ª«a] . . . . . . . . . . . . . . . . . . . . . . . . 4.10 ö÷©QÓ?¯ . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11 ö¤Q Üð © . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.12 BD6609fv CUop . . . . . . . . . . . . . . . . . . . . . . . . . 4.13 ö÷©QÓ?¯ . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.14 ö¤Q Üð © . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.15 ÔûCUop . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.16 ö÷©QÓ?¯ . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.17 ö¤Q Üð © . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.18 ÔûCUop . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.19 ö÷©QÓ?¯ . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.20 ö¤Q Üð © . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4.1. 5.1 5.2 5.3. 120 180. xy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . U ÌÜÍQ Üð © . . . . . . . . . . . . . . . . . . . . . . . U ÌÜÍQ Üð © . . . . . . . . . . . . . . . . . . . . . . .. viii 67 69 70 70 70 71 72 72 73 74 74 75 76 76 77 78 79 79 80 80 81 83 83 84.
(23) {. ix. 5.4. 85. 5.5. ÌÜÍQ Üð © . . . . . . . . . . . . . . . . . . . . . . . U ÌÜÍQ Üð © . . . . . . . . . . . . . . . . . . . . . . .. U. 86.
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(53) 2. ! açèéêëìFçíîïðñò. 11. 4>?@ ?-. æ]ïð]ra¦u Ú]YeI. 120 £æ]ï ðQ 180 £æ]ïð3 120 £æ]ïð!.¢ Ú ¦u> ?gïðëì ( %Üêv§Ì%Üêv¿Ìi%B6 ) 180 £æ]ïð7¢ Úa¦u>?gïðëì ( <G Üêv§Ìi%Üêv¿ÌX;!<G Üêv¿Ìi% Üêv§Ì )3 £æ]ïðr~ ] ¿açèéêëìöQ ?N 2.3 3 [120. 2.3: = >?@:A@ BC 2.4 Eaçèéêëìö Z S1,S2,S3 a&? K |ÜúÓQÝÝÓ³ü© ( ÜúÓ / ÝÝÓ =pole { /2=6.ÜúÓk 360 £ÝÝÓk 60 £M!fëìök 60 £) t.
(54) 2. ! açèéêëìFçíîïðñò. 12. 2.4: D K ( EFDG :degreeHIFDG :g*cm/A) t. 2.5 S1,S2,S3 a&¢ Ú ¦u>?gK |ÜúÓ ³ü©3 t. 2.5: J<KLM 4. Kt. ( EFDG :degreeHIFDG :g*cm/A).
(55) ! açèéêëìFçíîïðñò 13 3+açèéêëìv¿ö¤yKÛªY T = K · I I.,VpqÏ K yKÛ rª 2.5 ©~I.Ü ~JÜê R£N 2.13 2. t. t. 2.1: 120 N2OPQ R ST ²] Ú.Üê]Ú ^_ÜúÓ£ ²]% S2 → S3 [-30,30] ²] S1 → S3 [30,90] ²]a S1 → S2 [90,150] ²]å S3 → S2 [150,210] ²]j S3 → S1 [210,270] ²]æ S2 → S1 [270,330] ²]% ¹ ¹ ¹J£ -30,30,90,150,210,270,330 ª 2.1 GI.,VEëìÜúÓ [-30,30] Rk+ T KÛ Üê Ú]Úpq^_ S2 → S3
(56) EëìÜúÓ [30,90] R Üê Ú]Úpq^_ S1 → S33 ,Vaçèéêëì %&²]£iÉ0ÜêJHI.ìKÛö¤ ( N 2.6)3. 2.6: 120 N2OPQ ?UVQ.
(57) ! açèéêëìFçíîïðñò 14 [180 £æ]âör~ ] <y ]YQ 120 £æ] 2.7 S1,S2,S3 a&¢ Ú a¦u>?gK |ÜúÓ³ü©3 2. t. 2.7: J<KL= 4. Kt. ( EFDG :degreeHIFDG :g*cm/A). ~k+açèéêëìv¿ö¤yKÛrª 2.7 ©~I.Ü~JÜê R£N 2.2.,Vaç èéêëì%&²]£iÉ0ÜêJHI.ìKÛö¤ ( N 2.8)3.
(58) 2. ! açèéêëìFçíîïðñò 2.2: 180 N2OPQ R ST ²] Ú.Üê]Ú ^_ÜúÓ£ ²]% S2 → S3 [0,60] S1 → S3 ²] S1 → S3 [30,120] S1 → S2 ²]a S1 → S2 [120,180] S3 → S2 ²]å S3 → S2 [180,240] S3 → S1 ²]j S3 → S1 [240,300] S2 → S1 ²]æ S2 → S1 [300,360] S2 → S3 ²]% ¹ ¹ ¹J£ 0,60,120,180,240,300,360. 2.8: 180 N2OPQ ?UVQ. 15.
(59) 2. 2.2. ! açèéêëìFçíîïðñò. . 16. aÊ«ë쪦u(öÊk«l2=Ü6Û N 2.9 !& Y Ëëì=Ü6%#ªëì=ÜÀ6= Ü.(ëìö !ùÜð l23<G L Ù!=Ü hkëìÜ L QQR M
(60) ÜêæÌ£ê §Gë¦ S ]Ú¿RÜê3 p. 2.9: 7849.
(61) ! açèéêëìFçíîïðñò açèéêëì¿Ng : S ÖGë¦ V 6V 6 V ÖZëìaÜÍ i 6i 6i ÖZëìaÜê e , e , e : a,b,c aùÜð L ÖëìÜ M ÖëìQR RÖ¦uÀ ω Öëìö÷ ( .ÜúÓ ) θ ÖëìöÓ?¯ ( .ÜúÓ ) K ÖùÜð P Öëì· T Öëì¿ö¤ K Ö¤ T ÖÁÂö¤ J Öëì B ÖëìÀ 2. as. bs. a. b. a. b. 17. cs. c. c. p. r. r. emax. e. t. L. m. ôk.ëì¿Iª ¡¢£ÜÍy ¿aÊ«ë ìÜú]`Y ( 2.5Y )Xijª¤¥âðIy ¿aÊ«ëìÝ Ý]`Y (2.7 Y )3 4WPXY . Vas Vbs Vcs. . . R 0 0 = 0 R 0 0 0 R. . . . . ·. ia Ls −M −M ia · + ib −M Ls −M ib · ic −M −M Ls ic. . 2ω K r emax + P . . cos(θr ) cos(θr − 2π ) 3 cos(θr + 2π ) 3 (2.5). .
(62) 2. ! açèéêëìFçíîïðñò Z>[4 \]Y 2.6 . ^_PXY. . ea 2ω K r emax eb = P ec. . cos(θr ) cos(θr − 2π ) 3 cos(θr + 2π ) 3. 18. . √ ib ic 2J 2Bm 3 Te = Kt ((ia − − ) cos(θr ) + (ib − ic ) sin(θr )) = ω˙r + ωr + TL 2 2 2 P P. 2.3. (2.6). (2.7). !"#$%
(63) &' (. %óçíñòö`CI.å&`CN 2.10 (1) ? (2) B56ð (3) 456V÷ (4) 456=÷E12 å&`Cië ìM%é¦ å&§M!456=÷_`3{çíî ÞßñòÛ¨0 Üð H¡)!Eö÷_, Üð -À./0 12@!©8Ù9;ªZç8Ù9z«
(64) ë ìçbð.ëìð %sÝß ¬ëì,ö÷ çb Üð ¡)?.(B56ð`CM!äå ²?@! cdrª &§ð`CT+ö÷DZ Üð 8Ù9£I. Rg }¿HXFi456V÷Q456=÷ &`CHI.rª Ü ð íHr¢÷£Þßîìëì÷£Þß3.gÏ;L å&`C.(<¹*A®h3.
(65) 2. ! açèéêëìFçíîïðñò. 19. 2.10: `?Xab :(1) AG (2) Cc9d (3) ec9fg (4) e c97g ? : ª¸ëì?!ÄVkSëìTG/0öpqe_ ?`C
(66) ?`C!rª ¿w]Úª«+ëìð ¯R7öæKLR (Align) %&ö¤8x°£?N±Hë ìÄB56ðMI²,VöF?HI.]rB56C U Ú/CJKKÛö¤+ëìT/0ð3. (1). ¿.%íAÜêÚ§ëìw ¦u HI.Ïëìö7wìx°£ ( ö¤8 ) ?Nëì ÄB56ðMI²,VöF?FiHI.]rïð Ü6F Ú/CJKKÛö¤`C+ëìT/0ð3S.Ogasawara and H.Akagi [2] ô¿?`C3 ?×|0± 5,343,127 ± [3] ¿i%5çíð`C`C ?iHéËJK Üð 8Ù9£í3í Üð 8Ù9£7 éËJ§456V÷`CçB56`C3<?]b!.¨æ] ª«CU4³ .´µ%¶ R Úæ] %l ± Ïëì??1iHéËJK Üð 8Ù9í©N %Ê ?iô Üð 8Ù9£ 7^_ Úæ] al ± ( %lr !kØ,KÛö¤JK )JK Ê?ð AN%éË
(67) ·éí Üð ô8Ù9z«iÉJZ4 J. S. Kim and S. K. Sul[1].
(68) ! açèéêëìFçíîïðñò 20 56ð`C3÷f; ( N 2.11) 3e¸Eëìö¹º?» %l ± (UV) ìx°£? 7 %Ê?iëìeô ¢Oöð Mô¢O8Ù9@!.pqÉ %ÊQ %Ê CU%l ± (VW)jT.KÛö¤V÷ö., Ü ð 8Ù9£ 3 wZf;! (UV) !ëì U C V Ú (VW) !ëì V C W Ú3 2. 2.11: hih?U.
(69) ! açèéêëìFçíîïðñò 21 (2) B56ð : ª¸ëì,ö÷ Üð ²*_À í£ S ./0 12
(70) &2£:f<=
(71) +,ëìçb/0öX p qrªB56ð`Cëì¼ÄôFGÛ Üð FïðîÞ ßGN ¿wCU+,ëìI./0ö
(72) |CU [,¨kkVVZõ¨ëìö÷éê³õíFëì Üð ²*éêVVE Üð Ûe./0 12
(73) &2£:f <= HI.J§456Þß`C3½©¾*¿#ô;L wCU.(B56ðNOÀË456ð¸¹"k½©®h3 2. ?×|0± 6,153,993 ± [4] ¿ëìB56ð ô¼ ±I.Fí£?.v¿%l#aCU (forced commutation) CU! PWM ñòÞßB¹J.æ]³¨ª@] Yïð 2.12 Q 2.3Z!<æB¹(B¹J C3. 2.12: 456C ;<.
(74) 2. ! açèéêëìFçíîïðñò. 22. 2.3: C jRSa pattern m1 m2 m3 m4 m5 m6. T R1 PWM OF F OF F OF F OF F ON. T R2 OF F ON PWM OF F OF F OF F. T R3 OF F OF F OF F ON PWM OF F. T R4 OF F OF F ON PWM OF F OF F. T R5 OF F OF F OF F OF F ON PWM. T R6 ON PWM OF F OF F OF F OF F. ¿B56_`G+a]¨ª@N 2.4a]ª«CTG+ûæ]ª«CVV 20 % 30 % ö¤.ÁÂgI.(,ðÜê3 Shigen Nagamori[5]. 2.4: =OPQ:2OPQ k 1 2 3 4 5 6. Three-Step Start-Up U →V U →V V →W V →W W →U W →U. Six-Step Start-Up U →V U →W V →W V →U W →U W →V. ?×|0± 5,726,543 ± [6] ¿òkB56_`G+a] ¨ª@Á§i%lõ¨a]N 2.137ÏTVV Üð ²*ÛÀN 2.14GI@zr-a]¨ª@Ç g Üð ²*ô 370mv; I!EÁ§i%lõ¨a]i Ü ð ²*MI.VV 500mv
(75) |0B56ðJ456ðÝß !ØÏ Üð ²*Q%&+I.µÜͲ*+3 Üð ²*I.Û¸´µÜÍ7J456ðoY3. Üð ²* VÛI.+ëìTJ456ð`C[QB56ð R3.
(76) 2. ! açèéêëìFçíîïðñò. 2.13: flmn=OPQQo. 2.14: flmn=OPQpq%r s4 \tu k. 23.
(77) ! açèéêëìFçíîïðñò 24 (3) 456V÷ : ö÷ÂD%&$R÷£iMJ§456V÷`C ö÷ÿ GúF. !I. } Üð ©ëìæ]ÃÄM%é ¶ÅgÆ3456ÞßFñòÛ©0 Üð Híö«·? J
(78) ìÞß{+ Üð 8Ù9£H:f£ Ç0 ! 0 !©8Ù9£)ø£F í ;
(79) 0 ÛJÜê]Ú ! ÜÆJ Üê¯R ªgµ¶·Æê¿ M&2©8Ù9 %Ê i#pq èJ0 &2©8Ù93½©*¿#ô;L456 ð¸¹6 Üð 8Ù9£Fi?¬ñò.(»¼Ü6=" ¹®h3 2. ¿I.0ëìÌÜÍíFíÄ ª@ Üð 8Ù9£ ( ÜͪÁ³2R;ªR³2Á ) EĪ@ Üð @!8Ù9iÉÕ-%&ÜúÓ 30 £?¬ð AI.1KÈ£KÈ£AMI. !KÛ¤y ðëìöN 2.153 K. Iizaka, H. Uzuhashi, et. al.[7]. 2.15: 30 N Gvw;<.
(80) ! açèéêëìFçíîïðñò 25 R. C. Becerra ; T.M. Jahns ; M. Ehsani[8] ¿%&£íÜ6Ü 6.íĪ@ Üð 4³Ée¬Ü6IR1¿ £
(81) ãI.Õ-ö÷õ,JK?a;?ÊiËÌ3YAr~ ( _ 2.16) NgÖ©µa Üð Í~Ω , Ä ÚÓ¦ ëD;g( , 7IÏÄ Ú Üð 2. E(t) = E0 t. (2.8). E Üð @!8Ù9 , ÏÏ Üð ÐL _%&®î _ ®¦~iI, v int. vint =. Z. 0. t. E(t) dt k. (2.9). ÏY (2.8) Ù§Y (2.9)),Y (2.10)) vint =. E0 t2 2k. (2.10). E®i v ì´µ v iM ¿ ± e_ v (® k µI.ÑÜ?¬Ó£Õ-ö÷õ,JK?a; ?ÊiËÌijkäå ªJ0 !©8Ù9+®î !<=ðAñòhik MASK T<Ab!%ÊiÏ ®îµ%¶ ReðA (R ± High)=µ R_ijB í Üð 8Ù9£ !NMI.»¼xJ0 !©8 Ù93 int. th. st. th.
(82) 2. ! açèéêëìFçíîïðñò. 26. 2.16: s4 \xy ¿%&?Y?¯î?¯îh ik &ÒÛ¸8Óî P (k) C N (k)0 &ÓîìFíëì ÜúÓ 30 £?¬<r~N 2.17f;Ö ¿ P (k) Q N (k) Z RÁÔÕ@ÓîXÓîÖVQÖ.Z r Q r XZ(k) Üð 8Ù9 ±XC(k) ±3EB6 Üð ªÁ³2R ¯RRÚÓî P (k) B. r ÷Æ×VéB6 Üð ªR ³2Á¯R P (k) ÓëìöÜúÓ 60 £ Rk¬ëìöÜúÓ 30 £ RÏ P (k) Üð ªR ³2Á¯Rs. Ø r ÷Æg r = 2r E P (k) gZ8 MÙ ëìÙR R£3EB6 Üð ªR³2Á¯RÁÚÓ î N (k) B. r ÷Æ×VéB6 Üð ªÁ³2R¯ R N (k) ÓëìöÜúÓ 60 £ Rk¬ ëìöÜúÓ 30 £ RÏ N (k) Üð ªR³2Á¯ Rs. Ø r ÷Æg r = 2r E N (k) gZ8 MÙëìÙR R£3 K. Y. Cheng and Y. Y. Tzou [9]. i. i. i. d. i. i. d. i. i. d.
(83) 2. ! açèéêëìFçíîïðñò. 27. 2.17: ,GY Gz ?×|0± 5886486 [10] }%&?Y?¯îrì2 90 £?¬HJKëì3?¯îÈnGiæ&Óî P 6N 6 P 6N 6P 6N 3~Ú¿ S 6S 6S ±Z!ëìaÌÜÍQGë ÜÍ+giv¿ ±P 6P 6P ZÁÛÓ S 6S 6S ± high RN 6N 6N ZÁÛÓ S 6S 6S ± low R%&Ó îÓ R#!ëìÜúÓö 180 £ R<YAr~N 2.186 2.19E S ±ª high ö low( Üð @!8Ù9 )sª N Ó S ± low RE N Óî#Ó P Ó%¨ Ù ëìÛÜökÜúÓ 90 £M ¿ ± Ï P ÓîÝ8L
(84) N ÞPÓE S ±ª low ö high( Üð @!8Ù9 )s ª P ÓE P Óî#Ó N Ó%¨ Ú ¿ ± Ï N ÓîÝ8L~ P 6N 6P 6N ðA!% I. 0æ&ÓîFí¿æ]æ& ±3 a. b. b. c. c. a. a. a. b. b. c. b. c. c. a. a. b. b. c. c. a. a. a. a. a. a. a. a. a. a. a. a. a. b. b. c. c.
(85) 2. ! açèéêëìFçíîïðñò. 2.18: ,GY Gz. 2.19: 90 N Gvw. 28.
(86) ! açèéêëìFçíîïðñò 29 S.Ogasawara and H.Akagi[2] ¿I.0ëìïðÜ6Gµ¶·Æ (Fly- Wheel Diode) Hí Üð 8Ù9£e_ñòTù Ü ð ©!Ωëì3r~f;NgÖ 2.20æÜÆ 2.21æÜÆB¹°± T ßR! Ú ab . c ! open ²]ã. PWM J T B¹E T ª Ú²]³2´ Ú²] ÜêÚ_ T ൶·Æ D 2.22 =Ü6
(87) rª .gÜ6]`Yy ,VD B Ú Rܹ=¸ C Üð @!8Ù9 R.HI0íçèéêëìïðÜ6Gµ¶·Æ Ú RH" Üð 8Ù9£í3Ü6]`Yy NgÖ 2. 1. a+. a+. a−. a−. c−. 2.20: 23456;<.
(88) 2. ! açèéêëìFçíîïðñò. 2.21: 23456C {|. 2.22: T }KL~KL~ 7849 a+. 30.
(89) ! açèéêëìFçíîïðñò ª 2.22Iy, 2. VF + L. 31. di di + ri + ea − eb + ri + L + VCE = 0 dt dt. (2.11). <G V ÚÜÆÜÍ(6V Ú·ÆÜÍ( . CE. F. L. ea − eb VCE + VF di + ri = − − dt 2 2. (2.12). ijªIy¿Gë£ÜÍ V. n. Vn = VCE + ri + L. Vn =. . C ÜÍ. di di − eb = −VF − ri − L − ea dt dt. VCE − VF ea + eb − 2 2. Vc = ec + Vn = ec +. VCE − VF ea + eb − 2 2. (2.13). (2.14). (2.15).
(90) C gµ¶·Æ ÚÇ. Vc < −VF. ÏY (2.15) Ù§Y (2.16) I, ec −. (2.16). ea + eb VCE + VF <− 2 2.
(91) Üð !Ω , . e Ç. a. + eb = 0. ec < −. (2.17). C gµ¶·Æ Ú. VCE + VF 2. (2.18). Ú Üð ÜÍ e Û¸ V Q V E e B³± ( Üð @!8 Ù9²] ) C gµ¶·ÆB Ú íĪ @ÜÆ൶·Æ Ú²]HI." Üð 8Ù9£í 2.23H!á)*¿µ¶·Æ Ú²]íÜ63 c. CE. F. c.
(92) 2. ! açèéêëìFçíîïðñò. 32. 2.23: 6KL~ 49 ¿k%5 PWM(Pulse Width Modulation) J¸¹Hí Üð 8Ù9£3WX Üð 8Ù9£í Ü6ÏĪ@ (floating phase) ÜÍQGë¦ÜÍ _.bîi,Ü Í.AFq£¸3+ PWM ïðæB¹PWM °±Ï âVGë¦ Üð 8Ù9£íÜ6í½©©8Ù9 £ íÜ6pq+ãîãä PWM !0 I!ãî !?¬¡)&2£Fí<=å<!Eëìõö÷ ? ¬¡)UWL3k ¬¡)*^_. PWM Jëìïð îÜÆB¹LùgÜÆ7y Ú²]N 2.24 ª 2.25Ü6]`Yy I.,VE PWM °± offßR Üð Ī@ÌÜÍaFØ í¿Äª@ÌÜÍ 8Ù9£I,V Üð 8Ù9£ ]bI.äåãî ?¬¡)
(93) Rgæç£.I.ùö÷îï+g3 J. Shao, D. Nolan and T. Hopkinsy[11].
(94) 2. ! açèéêëìFçíîïðñò. 33. 2.24: PWM KL. 2.25: A → B ~7849 ~y ¹Ü6]`YNg©µ A → B Ú²]ã A PWM offßRëìÜê¼êZÜÆà·Æ V
(95) phase C !B6ô¢OÜêêÚª=Ü6Iy¿Ö d. Vn = 0 − ri − L. di − ea dt. (2.19).
(96) 2. ! açèéêëìFçíîïðñò Vn = ri + L. Y (2.19) QY (2.20) VI,Y (2.21) Ú e. Vn = −. a. + eb + ec = 0. 34. di − eb dt. (2.20). ea + eb 2. (2.21). .I.,. Vn =. Vc 2. (2.22). . C ÌÜÍ V c. Vc = ec + Vn =. 3Vc 2. (2.23). YG V c ÌÜÍe 6e 6e Zëì a 6b 6c tl ùÜð r C L ZëìÜÀCÜV ëìGë£ÜÍ3 c. a. b. c. n. ¿%&eí Üð 8Ù9£e¬ Ü6ñòI0 Üð aʺ1¿R£3]b þ£¸eÛ;è0ãî èkãî?¬¡)ÉV ,¨ aʺ+WXÌÜÍíbUS.í ( aʺ¨ Æ! Üð 4-aØ ).]bI.+ëìôgÛö÷îï !r~T¸ Üð ÎûÜðÝ<y Ngf;Ö ëì a6b6c a Üð e 6e 6e hik½©Üͺ2I Julio C. Moreira[12]. as. bs. cs. eas = E(cos(ωe t) + k3 cos(3ωe t) + k5 cos(5ωe t) + k7 cos(7ωe t) + .... (2.24). ebs = E(cos(ωe t + 120) + k3 cos 3(ωe t + 120) + k5 cos 5(ωe t + 120) + .... (2.25). ecs = E(cos(ωe t + 240) + k3 cos 3(ωe t + 240) + k5 cos 5(ωe t + 240) + .... (2.26). Y (2.24)+ Y (2.25)+ Y (2.26) I,.
(97) 2. ! açèéêëìFçíîïðñò. 35. eas + ebs + ecs = E[cos(ωe t) + cos(ωe t + 120) + cos(ωe t + 240)] +Ek3 [cos 3(ωe t) + cos 3(ωe t + 120) + cos 3(ωe t + 240)] +Ek5 [cos 5(ωe t) + cos 5(ωe t + 120) + cos 5(ωe t + 240)] +... = E[cos(ωe t) + cos(ωe t) cos(ωe t + 120) + sin(ωe t) sin(ωe t + 120) + cos(ωe t) cos(ωe t + 240) + sin(ωe t) sin(ωe t + 240)] +Ek3 [cos(3ωe t) + cos(3ωe t) cos(3ωe t + 360) + sin(3ωe t) sin(3ωe t + 360) + cos(3ωe t) cos(3ωe t + 720) + sin(3ωe t) sin(3ωe t + 720)] + ... = 3Ek3 cos 3(ωe t) + ....
(98) ëì¦u Y ûËÇgI.y ¿.gY Vas + Vbs + Vcs = 3Ek3 cos(3ωe t) + Vhigh f reg = V3 + Vhigh f reg. (2.27). Z. (2.28). λr3 =. V3 dt. <G V aʺÜÍÏ V L R®iI.,ö«Úaʺ λ E@!8Ù9 æ]£N 2.263 3. 3. r3. 2.26: =QR .
(99) ! açèéêëìFçíîïðñò 36 ?×|0± 6,316,894 [13] ¿%&»¼Ü6 (mask circuit){¸é ºíÜ6/J0 12
(100) &2©8Ù9z« !3 ¿ 2.27Gê± V , V , V aÜÍ ± P , P , P aÜÍ QGë¦ÜÍ.Fi ± D , D , D , D , D , D ïðæÜ ÆB¹ ± F GP F G ± ÜúÓ 30 £?¬i, ± F BU 1, F BU 2, F BV 1, F BV 2, F BW 1, F BW 2 D , D , D , D , D , D Q F GP _ SELECTOR CIRCUIT ÃÄâFi, ±X M , M , M !Ï F BU 1,F BU 2,F BV 1,F BV 2,F BW 1,F BW 2 ¼ Z GATE CIRCUITZQ P ,P ,P _ GATE CIRCUIT ¿ÃÄâ
(101) , F G !Ï M , M , M _ exclusive-OR ÃÄâi,3|0»¼r~¸I.0 F BU 1,F BU 2, F BV 1,F BV 2,F BW 1,F BW 2 Þ ß P , P , P ! ë T J M , M , M ² ôE F BU 1, F BU 2 # High ²] P jT ù M
(102) ! Üð @!8Ù9£ ì.e)ø8Ù9£íX3E F BU 1, F BU 2 e!# High ²] P Hçb ù M M yr? 3ôJ0 @! V N 2.28MI. F BU 1, F BU 2 ÀÐ M j
(103) ^ M , M , M ! D , D , D , D , D , D H e Üð ©8Ù9
(104) @!<= ±ì»¼É3 2. U. V. W. U. UU. UL. VU. VL. UU. UL. V. WU. W. WL. VU. VL. WU U. U. V. W. U. U. V. W. U. U. V. V. V. WL. W. W. W. U. U. U. U. U. U. U. V. W. UU. 2.27: (mask) 49. UL. VU. VL. WU. WL.
(105) 2. ! açèéêëìFçíîïðñò. 37. 2.28: fl49r Qo á)*G0 IC jÜS½¾ÜËß¿¿ ¶ R t Q t HAö?íð AN 2.29t !`ÜS½Ü RX t 7![ÜS¾Ü12ãg%Ê ÜS´í½Ü R3 t R#¹4 Üð 8Ù9£í T Full-wave sensorless drive ICs for brushless DC motors[14] 1. 1. 2. 1. 2.
(106) ! açèéêëìFçíîïðñò 38 M!f¶ RFijB Üð 8Ù9£í{¸éº 8Ù9£í/J0 12
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