Abstract As an electric mechanical converter, Motor has been widely used from every field of national economy to people's everyday life. The Permanent

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1 CAN SJA1000 CAN DSP DSP CAN DSP I

2 Abstract As an electric mechanical converter, Motor has been widely used from every field of national economy to people's everyday life. The Permanent-Magnet Brushless DC motor (BDCM) is a new type of motor with the development of electronic technology and permanent magnet material, which has the merits of both Brush DC motor and asynchronous motor. Because Permanent-Magnet BDCM has the advantages of high power-density, high efficiency, high rate between torque and current, simpleness for control, it has been talent showing itself in motor drives family for recent years and widely used in every industry area especially in speed-variable applications and servo systems. First, this thesis introduces the development history, present research and trend, analyzes the operational principle of the Permanent-Magnet BDCM. Then, it deduces the key parts of BDCM s control system, with introducing their hardware and software design. CAN bus is used to solve the communications problem in this multi-phase control system. Especially further analyses are made on CAN bus system principle, communication agreement and debugging methods, including the hardware design and software flow chat with SJA1000. This thesis also introduces the difference between the singlechip and DSP, describes how to use DSP to design control system. The thesis makes the simulation for different control methods. By many times of examination, the influence of key parameters to the whole control system is discussed. And some important waveforms are recorded. The comparison and analysis validate the correctness of the conclusion in this thesis. Key words: Permanent-Magnet BDCM, CAN bus, DSP, Parameter Selection, Simulation II

3 [1] 55% [2]

4 2 1-1 [2]~[6] 1-1 /

5 [7] (1) 20 (2) 80 (3)

6 20 21 (4) GE [9] (5) 70% [10] 4

7 [12]

8 6 [13] KeithACorzine H.G.Chen C.M.ian [17], ( ),, 45ZW-1,55ZW-1,70ZW-1,,

9 21 (1) NdFeB (2) 70 (3) [18] 7

10 8 [20] DSP (4) 80 [21] (1)

11 9 (2) (3) VVVF (4)

12 G 11 G GTO GTO GTO (3000V ) GTO GTO GTO

13 CAN FCS(Fieldbus Control System) IEC1158 FCS CAN(Controller Area Network) CAN CAN 80CAN ECU CAN 19862Robert Bosch SAE( )

14 Controller Area Network CANCAN CAN CAN CAN CAN CAN 1992 CiA(CAN in Automation) CiA 400 CiA CiA CAN CAN BENZ( ) BMW( ) PORSCHE( ) ROS-ROYCE( ) JAGUAR( ) CAN CAN CAN SAEJ1939 ISO11783 CANOpen CANaerospace DeviceNet NMEA2000 CAN CAN (1) (2) (3) CAN (4) DSP (5) 12

16 (1) BDCM (2) [23]

17 15 (3) BDCM (4) ADC 2.1.3

18 VF M PS PWM (a) S1 Fa S6 A B A B Ff 2.3(a) 120 Sl A B S (b) 60 S6 S2 S1 A C A C 2.3(c)Fa 120 S1 A C S2 60 S3S2 S3S4 S5S4 S5S6 S1S6 16

19 2.2 a b c (a)(b)60 2.3(a)Fa (b) Ff 2.3(a)Fa 2.3(c)Fa

20 l A B C π 2 π 4 π

21 19 q d q d p N [24] (5) = c b a c b a c cb ca bc b ba ac ab a c b a c b a c b a e e e i i i p i i i R R R u u u (2-1) p dt d p = c b a u u u c b a e e e c b a i i i c b a R R R c b a ab A B c b a cb bc ca ac bc ab s c b a R R R R = = = σ c b a = = = M cb bc ca ac bc ab = = = = = = M + + = c b a c b a c b a s s s c b a e e e i i i M M M M M M p i i i R R R u u u σ σ σ (2-2)

22 20 = c b a i i i (2-3) a c b Mi Mi Mi = + (2-4) + + = c b a c b a c b a s s s c b a e e e i i i p i i i R R R u u u (2-5) M = σ (2-5) 2.5 R ib ub s R uc ic s R ia ua s e ea e b c r c c b b a a p em i e i e i e N T ω 1 ) ( + + = (2-6)

23 P = N ( e i + e i + e i ) = 2N e i (2-7) e p a a b b c c p s s T em 1 1 = Pe = 2N pesis (2-8) ω ω r r e s N p N es = mn = K 60 e n T 60 em = Ke i s = K T i s (2-9) (2-10) dω J dt r = N p ( T T ) em n U 2R (2-11) s = Tem (2-12) Ke KT Ke ω r N p N m is T J U Ke KT 21

24 3 3.1 S 1 S6 S7 S8 C3 S9 S10 3 T1 1 T2 2, 2 P T1 i I 1 i2 2 S9 D1 S1 S3 S5 S11 S7 S10 A Ra a e a 3 Ud R1 E T2 C2 u C2 ia ib B C Rb Rc b c e b ec D C3 u C3 F i c S4 S6 S2 S8 N 3.1 T 1 S9 S 8 U d C3 U C3 22

25 S10 C 3 10 S 3 u c3 S S1 2 S S S U C S7 C 3 U C3 S 3 S7 2 S3 S S S1 6 S S1 6 T T1 U d S 1 23

26 3.2 80C196KC D/A CAN U f U PN U f (1) D/A 3.2 [25] A/50mA 24

27 R 16 ( 120 Ω ) 25A R16 3V TC5615 D/A A B C A B i g i f R20 = 2 E R20 + R21 2 D3 i a R2 10K R R1 10K M258 D4 R3 2K i g i f C18 1u R20 10K R19 2K R21 300K M E [26] 25

28 3.3.1 M T MT M, CPU,,,,, T,,,, M/T,,,,, 10 M/T 8 T 26

29 t t 1 n = 2 2 m t t t t M m n mc n = 60 f n / P = 60mn /( P Tn ) = (60 / P) mn /( mc / f c ) = 60 f d mn /( Pmc ) X X X X1 X 1 27

30 3.3.2 τ 1s + 1 W pi ( s) = K pi e( s) τ s 1 (s) i(s) e(s) W pi n(s) τ 1s + 1 i( s) = K pi n( s) τ s τ ( i( n) i( n 1)) = kτ ( n( n) n( n 1)) kts i( n) = i( n 1) + ( k + ) n( n) k n( n 1) τ 1 T s i( k) = i( k 1) + ( K + K ) n( k) K n( k 1) n( k) = ng ( k) n( k) p n( k 1) = ng ( k 1) n( k 1) ng n i p K p = k 2 K p + Ki = k3 k2 k 3 28

31 i( k) = i( k 1) + AX CX k n k) + k ( s3 k n k) + k ( s3 k s3 k n k 1) + K ( S 2 k n k 1) + K ( S 2 k s2 29

32 4 CAN

33 31 [27] [28]

34 32 Philips

35 33 S R 4.2 CAN

36 34 S R

37 35 S R Ω [29] [30]

38 CAN SJA1000

39 T T SJW T SC T BIT CK TSJW T CK TSYNCSEG T SC TTSEG1 T SC TTSEG 2 T SC T T SC CK TBIT T SYNCSEG T TSEG1 T TSEG 2 T BIT T BIT TSJW T T BIT SJW 37

41 39

42 A B A B A B CAN A B CAN A B B B A A A B A A B AB A A B A A B A B A B A B A B A A A A B A B 40

43 A B 80 /( ) 10 41

44 42

45 43

46 44

47 45

48 r/m r/m P P PI P PI I 46

49 47 5 DSP [37]

50 10 A/D CAN) SCI) 16 SPI) 40 / GPIO) 5 [39] DSP 48

51 49

52 DSP

53 5.3.1 A/D SCI CAN CPU TMS320F2407 U V W A B Z 51

54 5.3.2 ± 52

55 U C3 2.5 U AD = U = U AD 1 C3 U C3 U AD C3 U U AD 5.3 i i AF ± 3.3 AF 53

56 54

58 DSP ref i i Y N Y N

59 i i ref i ref i 2 i max i max i i ref i max i iref i max imax i iref imax i max 57

60 58 ref i i u r ref i i r u r u t t

61 i i ur = ( iref i) k i ref i u r i ref i i max i max 59

62 Ω H H T e = 50 B i 2 = i = 47 i T e T = ( ) 47 = 47 e = 47 i = = 940 T e a = 940 /( ) = E k B N = k N = k = 392 = e e e k = e k e a = k = e 60

64 62

65 63

66 64

67 PWM PWM 65

68 6.2.1 T1 T2 T1 T2 T1 T mH C2 66

69 T2 C3 T2 C2 T T2 C3 T2 C2 T2 T1 IGBT mH mH mH mH 2 67

70 T1 C3 C2 C3 C3 U T1 0 1mH 71mH C2 C3 T1 T2 C3 T2 C2 C3 C2 T1 T2 2 25mH C2 2 25mH 6.17 C C C2 68

71 C2 C2 C2 C C3 U0 C3 U 0 C C C3 69

72 6.20 =1.5mH C =1.5mH C =10.5mH C =10.5mH C3 C3 U 0 70

73 6.24 C C U ms 1.2ms ms 0.75ms U 0 U 0 U 0 U 0 U T1 T2 IGBT 75A/1700V; S1 S11 55A/1200V U 0 C3 1 35µF/800V 0.5mH/20A; 2 25mH/25A 71

75 73

76 74!

77 [1],.., 2002(1) [2],,.., 1982 [3]..,1999 [4] Sung Jun Park, Han Woong Park, Man Hyung ee, et al. A New Approach for Minimum-Torque-Ripple Maximum-Efficiency Control of BDCM Motor. IEEE Trans. Ind. Elect., 2000, 47(1): [5] H.e-Huy, R.Penet, R.Feuillet. Minimization of Torque Ripple in Brushless DC Motor Drive. IEEE Trans. Ind. Appl., 1986, 22(4): [6] Thomas M.Jahns. Wen.Soong. Pulsating Torque Minimization Techniques for Permanent Magnet AC Motor Drives-A Review. IEEE Trans. Ind. Elect., 1996, 46(2): [7].,1991,24(5):26-29 [8].., 1997 [9] C.S. Berendsen, G. Champenios, J. Pavoine. Commutations Strategies for Brushless D.C. Motor Influence on the Instant Torque. IEEE, 1990, [10],.., 2001,34(1): [11] H.R.Bolton, Y.D.iu, N.M.Mallison. Investigation Into a class of Brushless DC Motor With Quasisquare Voltages and Currents. IEE Proc 1986,133(2): [12].,1995,28(1):23-29 [13] Y.S.Chen, Z.Q.Zhu, D.Howe.Slotless Brushless Permanet Magnet Machines: Influence Design Parameter[J], IEEE. Transaction Energy oversion, 1999, 14(3): [14] MOREIRA J C. Indirect sensing for rotor flux position of permanent magnet AC motors operating in a wide speed range. IEEE-IAS, Annual Meeting Conference Record, [15], (3): 75

78 17-21 [16].., 2002,30(3):11-13 [17] H.C.Chen, C.Mliaw. Sensorless Control Via Intelligent Commutation Tuning for Brushless DC Motor[J]. IEE Por-Electr. Power Aool,1999,146(6), [18],,.., 1999, 14(3):1-5 [19] C.C. Chan, K.T. Chau. An Overview of Power Electronics in Electric Vehicles. IEEE Trans. Ind. Elect., 1997, 44(1) 3-13 [20] T.M. Jahns, W.. Soong. Pulsating Torque Minimization Techniques for permanent Magnet AC Drives-A Review. IEE Trans. on Industrial Electronics, 1996, 43(2): [21],.., 1996,29(3):13-17 [22] Miller T J E. Brushless Permanent Magnet and Reluctance Motor Drives. Oxford University Press, 1989 [23],.., 1999 [24] P.Pillay, R.Krishnan. Modeling Simulation and Analysis of Permanent-magnet Motor Drives Part : The Brushless DC Motor Drive[J]. IEEE Trans. On Industry Applications, 1989,25(2): [25].., [26],,. X25043/45 E2PROM., 2001(11) [27]. CAN., 1996: [28]..,1999: [29] Philips PCA82C250 CAN Controller Interface, DATA SHEET, 1997 [30] Philips SJA1000-Stand-alone CAN Controller, DATA SHEET, 1999 [31]. CAN., 2001, 27(9):

79 [32]. CAN., 2001,(6):13-15 [33]. CAN., 2002,(6):36-38 [34]. SJA1000 CAN., 2001,9(2):48-49,58 [35]. CAN., 2003,(1):59-61 [36]. CAN., 2002, (4): [37]. DSP., 2003 [38].., 2002,36(6): [39]. TMS320F240xDSP. 2002: 1-2 [40]. DSP., 2000, 33(4): [41]. TMS320F240xDSP., 2003,(3): [42],,. DSP., 2001, 35(6): 51-52,58 [43].., 1999,32(3):15-17,27 [44]. DSP., 2003,(5):40-42 [45].., 1999,21(3): [46]

80 29(4): [47],,. TMS320F240., 2003,(3): 48-49,53 78

81 CAN 79

u d = R s i d - ωl q i q u q = R s i q + ωl d i d + ωψ 1 u d u q d-q i d i q d q L d L q d q ψ f R s ω i 1 i 5th i th 5 θ 1 θ θ 3 5 5

u d = R s i d - ωl q i q u q = R s i q + ωl d i d + ωψ 1 u d u q d-q i d i q d q L d L q d q ψ f R s ω i 1 i 5th i th 5 θ 1 θ θ 3 5 5 3 5 018 10 Vol. 3 No. 5 JOURNAL OF HARBIN UNIVERSITY OF SCIENCE AND TECHNOLOGY Oct. 018 150080 Matlab /Simulink DOI 10. 15938 /j. jhust. 018. 05. 011 TM35 A 100-683 018 05-006- 06 Stator Harmonic Optimal