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1
TMS320LF2407 DSP
,(PMSM)
DSP
(QEP)(P)-
(IP)(Fuzzy)(SVPWM)
TMS320LF2407 DSP
-(PI),
(P)-
(IP)(Fuzzy)
PC
VB TI TMS320LF240X EVM
(PMSM)
()(75kg~250kg)
(75kg~ 105kg)
Fuzzy IP P
2
Abstract
A study on speed control system of the electronic treadmill based on the TI
TMS320LF2407 DSP is presented in this thesis, and systematic drive adopts the way of
PMSM. First of all, a fully digital servo motion controller for controlling PMSM is
developed in TMS320LF2407 DSP chip. That is, coordinate transformation, detection
of quadrature encoder pulse (QEP), Proportion (P) controller, integration proportion
(IP) controller, fuzzy controller, SVPWM output of ac motor, are all performed by
software in a TMS320LF2407 DSP chip. Current loop adopts proportion integration
(PI) controller. In order to improve the robustness of speed controller and understand
the treadmill of appears characteristic in different control rules. Speed controller adopts
three ways of proportion (P), integration proportion (IP) and Fuzzy. In addition, an
experimental system of structure - include controlling and shows the window (written
by VB), the experiment board regard TI TMS320LF240X EVM as the core, servo
motor driver, permanent magnetism synchronous motor (PMSM), treadmill machine
platform, etc. The experiment include the treadmill unloaded responding of step
command, the starting of treadmill loads, the running of treadmill real machine loads .
According to the experimental result, in the control of the speed loop, fuzzy controller
has better response and performance than IP controller and P controller.
3
................................................................................................................... i
.................................................................................................................. ii
........................................................................................................................ iii
...................................................................................................................... v
..................................................................................................................... ix
.......................................................................................................... 1
1.1 ............................................................................ 1
1.2 .................................................................................... 4
1.3 .................................................................................... 5
.................................................... 6
2.1 (PMSM).................................. 6
2.2 ......................................................................... 8
2.3 (Vector Control)............................ 11
2.4 (SVPWM)...................................................... 13
................................................................................. 19
3.1 -(IP)..................................................................... 19
3.2 -(IP)................................................................... 21
3.3 (Fuzzy)................................................................. 22
3.3.1 ........................................................................ 22
3.3.2 .................................................................................... 24
3.4 (Fuzzy)............................................................. 28
TMS320LF2407 ...................................................................... 33
4.1 DSP .............................................................................................. 33
4
4.2 (Event Manager Module)............................................. 38
4.3 ADC ............................................................................................. 39
..................................................................................... 42
5.1 ...................................................................................... 43
5.1.1 ......................................................................... 43
5.1.2 (DSP)EVM .............................................. 44
5.1.3 (PMSM)................................................................ 46
5.1.4 (Electric Treadmill Mechanics).................. 46
5.1.5 ......................................................................... 48
5.2 ...................................................................................... 56
................................................................................. 60
6.1 ............................................................................ 60
6.2 ()................................................... 65
6.3 ............................................................................ 71
6.4 .................................................................... 76
..................................................................................... 90
7.1 ...................................................................................................... 90
7.2 .............................................................................................. 91
................................................................................................................ 92
................................................................................................................ 97
5
1.119962002..................... 2
2.1 ......................................................................... 15
2.2()........................................................ 16
2.3T1T2.................................................................................. 17
2.4............................................................................. 18
3.1.................................................................................................. 32
4.1 TMS320 ............................................................................ 33
5.1 ................................................................................................... 46
5.2........................................................................................ 56
6
1.1 ............................................. 2
2.1 (PMSM)................................... 7
2.2 qd ...................................................................... 9
2.3 ..................................................................... 12
2.4................................................................................. 13
2.5 ..................................................................... 13
2.6 .................................................................................... 14
2.7............................................................................. 15
3.1................................................................................. 20
3.2 .................................................................................... 20
3.3................................................................................................ 23
3.4................................................................................................ 23
3.5................................................................................................ 24
3.6............................................................................................ 25
3.7 Min-Min-Max ............................................................................... 26
3.8 Min-Product-Max ......................................................................... 27
3.9 IP................................................................. 29
3.10.................................................................... 29
3.11........................................................ 30
3.12(B)................................................... 30
3.13........................................................ 31
4.1TMS320 DSP............................................... 34
4.2 TMS320LF240X ............................................................................ 36
4.3 TMS320LF240X..................................................................... 37
7
4.4(EVAEVB)........................................................................ 38
4.5 TMS320LF240X ADC ()............................................. 40
4.6 TMS320LF240X ADC()...................................... 41
5.1 DSP_Based .......................................... 42
5.2 DSP_Based ............................................. 43
5.3TMS320LF2407 DSP................................ 44
5.4 (DSP)EVM ................................................... 45
5.5 TMS320LF2407 EVM.................................................................... 45
5.6 ........................................................................................ 47
5.7 ........................................................................................ 47
5.8[17][20].................................................................. 48
5.9 ..................................................................... 51
5.10................................................... 52
5.11 ............................................................ 53
5.12 PWM................................................................................ 54
5.13 PWM........................................................................................ 55
5.14........................................................................... 56
5.15 ..................................................................................................... 57
5.16 DSP...................................................................................... 57
5.17 C code composer .......................................................................... 58
5.18 MATLABDSP.............................................................. 59
5.19 Visual basicDSP............................................................... 59
5.20 Visual basic .............................................................................. 59
6.1 SVPWM ............................................................................. 61
6.2 SVPWM................................................................................. 61
8
6.3 SVPWM........................................................................................ 62
(a) PWM2 PWM4........................................................................................ 62
(b) PWM2 PWM6........................................................................................ 62
6.4=500rpm(=3.3KPH)............... 63
6.5 75Kg=500rpm(=3.3KPH)..... 63
6.6 =1000rpm(=6.6KPH)................ 63
6.7 75Kg=1000rpm(=6.6KPH)... 64
6.8 =1500rpm(=10KPH)................. 64
6.9 75Kg=1500rpm(=10KPH).... 64
6.10 ()=120rpm(0.8KPH)
........................................................................................................................ 66
6.11()=600rpm(4KPH).... 67
6.12()=1200rpm(8KPH).. 68
6.13 ()=1800rpm(12KPH)
............................................................................................................................ 68
6.14 ()=2400rpm(16KPH)
............................................................................................................................ 69
6.15 ()=3000rpm(20KPH)
............................................................................................................................ 70
6.16 =75kg=30rpm(0.2KPH)... 72
6.17=90kg=30rpm(0.2KPH)....... 73
6.18 =120kg=30rpm(0.2KPH)..... 73
6.19 =150kg=30rpm(0.2KPH)..... 74
6.20 =180kg=30rpm(0.2KPH)..... 74
6.21 =210kg=30rpm(0.2KPH)..... 75
6.22 =250kg=30rpm(0.2KPH)..... 75
9
6.23 =75kg=120rpm(0.8KPH)..... 78
6.24=75kg=600rpm(4KPH)........ 78
6.25 =75kg=1200rpm(8KPH)...... 79
6.26 =75kg=1800rpm(12KPH).... 79
6.27 =75kg=2400rpm(16KPH).... 80
6.28 =75kg=3000rpm(20KPH).... 80
6.29 =90kg=120rpm(0.8KPH)..... 82
6.30=90kg=600rpm(4KPH)........ 82
6.31 =90kg=1200rpm(8KPH)...... 83
6.32 =90kg=1800rpm(12KPH).... 83
6.33 =90kg=2400rpm(16KPH).... 84
6.34 =90kg=3000rpm(20KPH).... 84
6.35 =105kg=120rpm(0.8KPH)... 86
6.36 =105kg=600rpm(4KPH)...... 86
6.37 =105kg=1200rpm(8KPH).... 87
6.38 =105kg=1800rpm(12KPH).. 87
6.39 =105kg=2400rpm(16KPH).. 88
6.40 =105kg=3000rpm(20KPH).. 88
10
1.1
2002
458 (NGSA) 2003
2% 468 2002 217
2001 216 2003 219 2%
(exercise equipment) 11% 10[43]
1990
OEM
1.1 1996
2002[44] 1.1
[45]
OEM
11
1.1 1.1 1.1 1.1 1996199619961996 2002200220022002
1.11.11.11.1
(1)
(2)
(
)
12
(BLDC)
(Mechanical Commutation
(BLDC)
[1]
[2]
[3]
[4]
[5]
[6] PIC [7]
[8]
(sensor-less)
[9]
[10]
[11]
[12]
[13]
13
(BLDC)[1-13]
(PMSM)
1.2
(1)(2)
(3)(4)
(DSP)[27-30]
DSP
DSP TI TMS320LF24X DSP(20 ~ 40MPIS)
32Kx16 2 (12 )PWM 2 QEP
12 12 A/D 56
PI
(P)-(IP)(Fuzzy)
14
TMS320LF2407 DSP
SVPWMPI (P)
-(IP)(Fuzzy)
DSP
1.3
DSP
(PMSM)
-(IP)
(Fuzzy) DSP TMS320LF2407
(P)-(IP)
(Fuzzy)
15
2.1 (PMSM)
(PMSM) 2.1 (Stator)
120 (Rotor)
d as
d
=d axis
16
2.1 (PMSM)
sR sL sM
(2.1)dt
ds =
+
+
+
+
=
cs
bs
as
cs
bs
as
ssss
ssss
ssss
cs
bs
as
s
i
i
i
sLRsMsM
sMsLRsM
sMsMsLR
v
v
v
2
1
2
12
1
2
12
1
2
1
(2.1)
axisbs
axisr
axisas
axiscs
e
e
asv +
bsv+
+csv
sR
sR
sR
sL
asi
bsi
csi
rLri
sL
sL
17
+
+
+
=
0
0
cos)3
2cos()
3
2cos(
)3
2cos(cos)
3
2cos(
)3
2cos()
3
2cos(cos
r
rrr
rrr
rrr
s
cs
bs
as i
M
(2.2)
(2.1)(2.2)
2.2
, qs dsg g q d 2.2
q a d q 90
qd 1k
0as bs csg g g+ + = (2.3)
0 0g 2k
qd0
2 23 32 2
1 3 3
0 2 2 2
cos cos( ) cos( )
sin sin( ) sin( )
qs as
ds bs
s cs
g g
g k g
g k k k g
+ = +
(2.4)
18
2.2 qd
0qd s s abcs=g K g (2.5)
sK 2 11 23 2,k k= =
2 23 3
2 2 23 3 3
1 1 12 2 2
cos cos( ) cos( )
sin sin( ) sin( )s
+
= +
K (2.6)
1 2 23 3
2 23 3
cos sin 1
cos( ) sin( ) 1
cos( ) sin( ) 1
s
= + +
K (2.7)
rK
0qd r r abcr=g K g (2.8)
csg
dsg
drg
e
ee
asg
qsgbsg
19
( )( )
2 23 3
2 2 23 3 3
1 1 12 2 2
cos cos( ) cos( )
sin sin( ) sin( )
r r r
r r r r
+
= +
K (2.9)
( ) ( )1 2 2
3 3
2 23 3
cos sin 1
cos( ) sin( ) 1
cos( ) sin( ) 1
r r
r r r
r r
= + +
K (2.10)
(2.5)(2.6) qd0
1 1 10 0 0( ) +s qd s s s s qd s ms r qd rp p
= +K v R L K i L K i (2.11)
qd0
( ) 1 10 0 0+qd s s r r s qd s s ms r qd rp p = +v K R L K i K L K i (2.12)
== frr Ii
frdmrdmf ILiL == (2.13)
d a
d d
+
+
+=
0
fe
ds
qs
dssqse
dseqss
ds
qs
i
i
sLRL
LsLR
v
v
(2.14)
dsL qsL qd e
20
+
=
ds
ds
qs
feqs
ds
qs
ds
s
ds
qs
e
qs
dse
qs
s
ds
qs
L
v
L
v
i
i
L
R
L
L
L
L
L
R
i
i
dt
d
(2.15)
(2.25)
2.3 (Vector Control)
d q
70
(Field Oriented
Control)
qd
(2.16) P eT
)(22
3dsqsqsdse ii
PT = (2.16)
ds
qs
frdmdrdmdsdsds ILiLiL ++= (2.17)
qrqmqsqsqs iLiL += (2.18)
21
( ) ( )[ ]
( )[ ]dsqsqsdsqsf
dsqsqsdsdsqrqmqsdrfrdme
iiLLiP
iiLLiiLiiILP
T
+=
++=
22
3
22
3
(2.19)
(2.19) qd
0=dsi
(2.16)
qsfe iP
T 22
3= (2.20)
d q PI dsi
dsi (2.19)
(2.20) 2.3
2.3
2.4 (2.21)
IP
KK
s+
IP
KK
s+
1
qsL
1
s
qs
Rs
L+
ds3
4
P
1
dsL
1
s
ds
Rs
L+
qs
*
qsi
* 0dsi = dsv
qsv
qsi
dsi
+
+
-
-
eT
+
+
22
Lrmr
me TBdt
dJT ++=
(2.21)
2.3 0=dsi
2.5
2.4
2.5
2.4 (SVPWM)
PWM(Pulse-Width Modulati
on)
1
s
ds
Rs
L+
* 0dsi =
qsv qsi
+
-
+ -
4 1
3 fP
*
eT +
-
*
qsi q 1
qsL
1
s
qs
Rs
L+
+
- *
rm
m m
1
J s B+
eT
lT
d 1dsL
dsv
dsi
ds 34
P
+
+
qs
rm
eTfd
dt
+
mB
r
JT
sv
sR sL
si
+
mJ
23
(Sinusoidal Pulse Width
Modulation, SPWM)
(Space Vector Pulse-Width Modulation, SVPWM)
SVPWM 1980
(VSI) 2.6
6 1
0 3 823 =
6 2 2.7
2.6
2.7 060
000O 111O
2.1
24
2.7
2.1
a b c ANV BNV CNV ABV BCV CAV
0 0 0 0 0 0 0 0 0
1 0 0 DCV3
2
3
DCV 3
DCV DCV 0 DCV
1 1 0 3
DCV 3
DCV DCV3
2 0 DCV DCV
0 1 0 3
DCV DCV3
2
3
DCV DCV DCV 0
0 1 1 DCV3
2
3
DCV 3
DCV DCV 0 DCV
0 0 1 3
DCV 3
DCV DCV3
2 0 DCV DCV
1 0 1 3
DCV DCV3
2
3
DCV DCV DCV 0
1 1 1 0 0 0 0 0 0
CLARK
(2.22)
25
=
=
BN
AN
CN
BN
AN
V
V
V
V
V
V
V
3
2
3
101
2
3
2
30
2
1
2
11
3
2
(2.22)
2.2
outU
2.8 outU
T
OOTU
T
TU
T
TU XXout
)( 111000060
21 ++= + (2.23)
210 TTTT = T PWM 1T 2T
(2.23) 000O 111O outU
2.2 ()
a b c V V
0 0 0 0 0 0000
0 0 1 3
DCV 3
DCV 2400
0 1 0 3
DCV 3
DCV
1200
0 1 1 DCV3
2 0 1800
1 0 0 DCV3
2 0 00
1 0 1 3
DCV 3
DCV 3000
1 1 0 3
DCV 3
DCV
600
1 1 1 0 0 1110
26
SVPWM
1 1refV 2refV 3refV (2.24)~(2.27)
0 1 0 1 ==> aelseathenVif ref (2.24)
0 1 0 2 ==> belsebthenVif ref (2.25)
0 1 0 3 ==> celsecthenVif ref (2.26)
cba 42 ++= (2.27)
2(2.28) XT YT ZT
=
2
3
13
ref
ref
ref
DC
Z
Y
X
V
V
V
V
T
T
T
T
(2.28)
3 2.3 1T 2T (2.29)~(2.30) 1T 2T
2.3 T1 T2
1 2 3 4 5 6
1T ZT YT ZT XT XT YT
2T YT XT XT ZT YT ZT
21
1)(1TT
TTT sat
+= (2.29)
21
2)(2TT
TTT sat
+= (2.30)
27
4(2.31)~(2.33) aonT bonT conT
2/)(2/)( 021 TTTTTaon == (2.31)
1TTT aonbon += (2.32)
2TTT boncon += (2.33)
5 2.4 (CMPR1CMPR2CMPR3)
2.4
60~0
S3
120~60
S1
180~120
S5
240~180
S4
300~240
S6
360~300
S2
CMPR1 Taon Tbon Tcon Tcon Tbon Taon
CMPR2 Tbon Taon Taon Tbon Tcon Tcon
CMPR3 Tcon Tcon Tbon Taon Taon Tbon
28
3.1 ----(IP)(IP)(IP)(IP)
PID
(1)rise timedelay time
overshootpercent
of maximum overshoot
(2)reduce or eliminatesteady state
error
(3)
PID
IP PI IP
3.1v
vv
as
bsG
+=)( (3.1)
PI 3.2 (3.2)
IvvPvvv
Ivv
kbskbas
kb
+++=
)(2*
(3.1)
IvvPvvv
Ivvpvv
kbskbas
kbskb
+++
+=
)(2*
(3.2)
29
+
--
+
*)(sGv
s
kIv
pvk
3.1 (IP)(IP)(IP)(IP)
-
+
++
* )(sGv
pvk
s
kIv
3.2 (PI)(PI)(PI)(PI)
(3.2) PI IP
(3.1) IP
PI
IP
IP PI :
(1) IP PI Ivk pvk PI IP
(2) Ik pk IP
30
(3) IP
I
k p
k
(4) PI
(5) IP
(IP)
3.1 IP (3.3)
n
22
2
2*2)( nn
n
IvvPvvv
Ivv
sskbskbas
kb
++=
+++= (3.3)
Ivk pvk (3.4)(3.5)
v
ni
bk
2
= (3.4)
v
vnp
b
ak
=
2 (3.5)
3.2 -(IP)
3.1
71.2s
5.2197
vG
+= ts=0.2
=1(3.4)(3.5) kIv 0.0436
kpv 0.00825
31
3.3 (Fuzzy)
(Fuzzy Theory)
1965 L.A.Zadeh
(Fuzzy Set)(Fuzzy Number and Membership Function)
(Fuzzy Relation)(Fuzzy Inference)(Fuzzy Control
System)
3.3.1 [33-42]
(a) (Triangular Membership Function)
32
(b) (Trapezoidal Membership Function)
33
3.3.2 [33[33[33[33----42]42]42]42]
[33-42]
1. (Fuzzification Interface, FI)
2. (Knowledge Base)
3. (Rule Base)
4. (Inference Engine)
5. (Defuzzification Interface, DFI)
3.6
m u
1
G
3.5
34
1.
(Normalization)
2.
3.
IF,THEN
(1)
(2)
(3)
Scaling factor
Normalization
Sensor
Inference
3.6
Rule
Base
FI
Knowledge
Base
DFI Plant
Input
Output
35
4.
(Fuzzy Logic)
IF X1 is A1 and X2 is B1 THEN y is C1 (3.9) IF X1 is A2 and X2 is B2 THEN y is C2 (3.10)
(1)Min-Min-Max
3.7 Min-Min-Max
(a) Wi { } 1,2i )(),(min
)()(
21
21
==
=
XX
XXW
BiAi
BiAii
(3.11)
(b) )(' yCi { } 1,2i )(,min)( '' == yCwyC iii (3.12)
(c) )(* yC
{ })(),(max)( '2'1* yCyCyC = (3.13)
3.7 Min-Min-Max
36
(2)Min-Product-Max
3.8 Min-Product-Max
(a) iW
{ } 1,2i )(),(min )()(
21
21
==
=
XX
XXW
II
II
BA
BAi
(3.14)
(b) )(' yCi
1,2i )()(' == yCWyC iii (3.15)
(c) )(* yC
{ })(),(max)( '2'1* yCyCyC = (3.16)
3.8 Min-Product-Max
(3)(Maximum Algorithm)
(Look-Up Table)
37
5.
(1)(Center of Area Method)
)(
)(
*
*
1
ic
ic
n
i
i
y
yy
y
=
=
(3.17)
C* Y { }nyyyY ,....,, 21= n Y
(2)(Mean of Height Method)
y
=
=
=n
i
i
n
i
ii
f
gf
y
1
1 (3.18)
if ig
(3)(Maximum Algorithm)
(Look-Up Table)
3333.4.4.4.4 (Fuzzy(Fuzzy(Fuzzy(Fuzzy logic logic logic logic))))
IP PI
38
3.9
S
1
3.9
1.
(positive big pb) (positive small ps) (zero zo)(negative big
nb)(negative small ns)(e)
3.10
nb ns zo ps pb
0-
1
0.5
0-1 0.3 10.3
3.10
(de)
3.11
39
3.12
nb ns zo ps pb
0
1
0.5
0-1 0.5 1-0.5
3.11
nb ns zo ps pb
0
1
0.5
0-1 0.5 1-0.5
3.12
2.
5
253.13
25
40
d e
e
3333....13 13 13 13
IF e IS nb AND de IS nb THEN U IS nb
IF e IS nb AND de IS ns THEN U IS nb
IF e IS nb AND de IS zo THEN U IS nb
IF e IS nb AND de IS ps THEN U IS ns
IF e IS nb AND de IS pb THEN U IS ns
IF e IS ns AND de IS nb THEN U IS nb
IF e IS ns AND de IS ns THEN U IS ns
IF e IS ns AND de IS zo THEN U IS ns
IF e IS ns AND de IS ps THEN U IS zo
IF e IS ns AND de IS pb THEN U IS pb
IF e IS zo AND de IS nb THEN U IS nb
IF e IS zo AND de IS ns THEN U IS ns
IF e IS zo AND de IS zo THEN U IS zo
IF e IS zo AND de IS ps THEN U IS ps
IF e IS zo AND de IS pb THEN U IS pb
IF e IS pb AND de IS nb THEN U IS ns
IF e IS pb AND de IS ns THEN U IS zo
IF e IS pb AND de IS zo THEN U IS ps
IF e IS pb AND de IS ps THEN U IS ps
IF e IS pb AND de IS pb THEN U IS pb
IF e IS ps AND de IS nb THEN U IS ns
IF e IS ps AND de IS ns THEN U IS ps
IF e IS ps AND de IS zo THEN U IS pb
IF e IS ps AND de IS ps THEN U IS pb
41
IF e IS ps AND de IS pb THEN U IS pb
25 3.1
3333.1.1.1.1
de de de de nbnbnbnb nsnsnsns zozozozo pspspsps PbPbPbPb
NbNbNbNb nb nb nb ns Ps
NsNsNsNs nb ns ns zo Pb
ZoZoZoZo nb ns zo ps Pb
PsPsPsPs ns zo ps ps Pb
PbPbPbPb ns ps pb Pb Pb
3.
min-min-max
(W)
(B)
(3.19)
(3.19)
(3.19)
=W
BW) (U F
e
42
TMS320LF2407
DSP DSP
DSP TI TMS320LF240X
TMS320LF320X DSP
4.1 DSP
TMS320 DSP
TI TMS320 CPU
(peripherals)
5.1
TMS320
4.1 TMS320
TMS 320 LF 2407 GFN ( ) 150
TMX=TMP=TMS=C=COMSE=COMS EPROMF=Flash EPROMLC=Low voltage COMS(3.3v)
43
TMS320DSP C2000C5000 C6000
C2000 C5000 C6000
(multi-channel) TMS320
4.1 TMS320 DSP
C2000(C24XC28X)
1.
2.
C5000(C54XC55XOMAP)
1.
2.MP3 PLAYER.
3.OMAP (Open Multimedia Applications Platform) TMS320C55X
DSP ARM(REAL-TIME)
C6000(C62XC64X/Fixed pointC67X/Float point)
1. /
2.
3.
44
4.
TMS320240X DSP
TMS320LF240X
A/DPWM
TMS320LF240X DSP
TMS320LF240X
4.2
TMS320LF240X CPU :
32 (CALU)
32 (ACC)
32
3
8 16
544 words16 bit(Dual-Access)/
16k words16 bit
224K words16 bit (64k words64k words
64k words I/O32kwords)
4(Pipeline operation)
8
6
3 6 16
12 /(PWM)
3 (Dead band) 16
45
4 90
A/D
16 ADC A/D 6s
(SPI)
16bit
(CAN)
2.0B
4.2 TMS320LF240X
4.3 TMS320LF240X TMS320LF240X DSP
TMS320LF240X
46
TMS320LF2xxx DSP
I/O
C2000 DSP
/(A/D)
4.3 TMS320LF240X
4.2 (Event Manager Module)e)e)e)
(EV)
47
TMS320LF240X DSP EV
4.4 TMS320LF240X EVA EVB
EC
2 GP (General-purpose times)
3 (Compare unit)
(Pulse-Width ModulationPWM)
PWM(Pulse-Width Modulation PWMSVPWM)
4.4 (EVAEVB)
(dead-band)
3 (Capture unit)
(Quadrature encoder pulsesQEP)
48
4.3 ADC
ADC (sample-and-holdS/H) 10 AD
ADC
S/H 10/
500us(S/H)
16(ADCIN0~ADCIN15)
16
16
8-(SEQ1 SEQ2)
16-(SEQ)
4 (CHSELSEQn)
16 (result)(RESULT0~RESULT15)
REFLoREFHi
REFLo
VV
V
= 1023 (4.1)
(SOC)
S/W
EVA A(EVA )
EVB B(EVB )
Ext(ADCSOC)
(EOS) EOS
(Sequencer)/
49
EVA EVB SEQ1 SEQ2
(prescaler)
ADC(Sequencer) 8-(SEQ1 SEQ2)
16-(SEQ)
(16-)( 8-) 4.5
4.6 ADC16
(RESULTn)( RESULT0)
RESUKT1)
4.5 TMS320LF240X ADC (((())))
50
4.6 TMS320LF240X ADC (((())))
51
DSP 5.1
TMS320LF2407 DSP
SVPWMd-q
RS485 DSP
5.15.15.15.1 DSP DSP DSP DSP----Based Based Based Based
52
5.15.15.15.1
5.2
(DSP)EVM (PMSM)
(Electric Treadmill Mechanics)(Servo Motor Driver)
(PC)
5.5.5.5.2 2 2 2 DSP-Based
5.1.1
(Texas Instrument)
TMS320LF2407
5.3
53
5.3 TMS320LF2407 DSP
5.1.2 (DSP)EVM
5.4
EVM
PC VB EVM
EVM TI TMS320LF2407
5.5 TMS320LF2407 EVMEMV
128KWord SRAM
16 10Bit AD
PWM I/O
4 DAC7625 DA
RS232 Driver
32KWord Flash ROM
U,V,W SVPWM
a,b,c
d,q
PI
PI
d/dt
+
- -
+
+
-
iq* id*=0
iq
id
d,q
54
5.4 (DSP)EVM
5.5 TMS320LF2407 EVM
55
CAN BUS
LED
4 (dataaddressI/Oand Control)
JATG
5V ( 3.3 )
5.1.3 (PMSM)
1.5KW
2500 DSP 4 10000
8 12 3000rpm
1~3000rpm 8.5A 50kg-cm 1.159
2.963mH 5.1
5.1
12
8
1500W
3000rpm
1~3000rpm
1.1
1.159
2.963mH
5.1.4 (Electric Treadmill Mechanics)
5.6
Pulley 5.7
Pulley
60mm Pulley 172mm 5.1 0.35
5.2 30rpm
=0.2KPH( 200 ) 1500rpm
56
=10KPH( 10 3000rpm
=19.4KPH( 19.4)
5.6
5.7
57
Pulley= (5.1)
( )1000
0.095m
=
(5.2)
5.1.5
5.8
(Inverter)EVM
(SVPWM)
UVW (Encoder)ABZ UVW
EVM n type IGBT IGBT
-(C-E) 600V-(G-E)20V
DC 50A(1ms) 100A IC
TLP250 DSP
PWM
5.8 [17][20]
58
(Encoder)ABZ(Hall sensor)UV
W EVM
DSP DSP
EVM (SVPWM)
IGBT
DSP EVM
DSP A/D
[17][20]
5.9 5.10
2 3
5.11
hI N hV
gR shV n
V n
50
4= NIV hh (5.3)
K
RVV
g
h10
1 = (5.4)
)2
1
39
10( 12 += sfVVV (5.5)
23VV = (5.6)
2=N VVsf 3.3= (5.3)~(5.6)
66.13925
43 +=K
RIV
gi
hii (5.7)
59
giR =16k giR -25A~+25A giR 0~3.3V
5.11 U W
PWM PWM
EVM DSP
A/D
60
5.9
12
34
56
ABCD
65
43
21
D C B A
Title
Num
ber
Revi
sion
Size B
Dat
e:
12-
Aug
-200
6Sh
eet
of
File
:D
:\\PCB\\PREVIO~1.DDBDra
wn
By
:
321
411
U7A
TL
084
567
U7B
TL
084
1098
U7C
TL
084
321
411
U10
A
TL
084
567
U10
B
TL
084
109
8
U10
C
TL
084
10p
100k
10p
100k
1k
10k
10k
1k
10k
IU IV IW
20k
20k
20k
20k
20k
10k
10k
1N40
01
1N40
01
IU
5.1k
5V
1 2 1312
U9A
MM
74H
C10
321
411
U11
A
TL
084
567
U11
B
TL
084
109
8
U11
C
TL
084
20k
20k
20k
20k
20k
10k
10k
1N40
01
1N40
01
IV
5.1k
5V
321
411
U12
A
TL
084
567
U12
B
TL
084
109
8
U12
C
TL
084
20k
20k
20k
20k
20k
10k
10k
1N40
01
1N40
01
IW
5.1k
5V
1u
RE
SET
10k
3 4 56
U9B
MM
74C
10
220
Red
+5V
Port
INT
1
10k
0.04
7u
0.04
7u10
k
U V W
U WV
121314
U11
D
TL
084
10k
+12
V
12
J6
1 2 3 4
J8
12
J7
1 2 3 4
J9
IU IW
200
200
123
JP14 1 2 3
JP15
1k
10k
1k
+12
V
-12V
1 2 3 4
J9
W( )
-12V+12V
1 2 3 4
J8
U( )
-12V+12V
U( )
W( )
AC (4) DSP
B Chien-Wu Chen
CL
K3
D2
SD4
CD1
Q5
Q6
U6A
74H
C74
0.1u 0
.1u
0.1u
IU'
IW'
+12
V
-12V
-12V
+12
V
+12
V
-12V
-12V
+12
V
: J6 U J7 W J8 U J9 W JP14&JP15
(1-2
TES
T ;
2-3
HA
LL
) N
AM
E
+15
V-1
5VO
UT
GN
D
U
+15V
-15V
OU
TG
ND
W
W( )
U( )
61
5.10
12
34
56
ABCD
65
43
21
D C B A
Title
Num
ber
Rev
isio
nSi
ze B
Dat
e:
11-A
ug-2
006
Shee
t o
f Fi
le:
C:\D
ocum
ents
and
Setti
ngs\
mic
hael
spar
tan\\DRIVE\PREVIO~31.DDBDrawn By:
12
34
56
78
910
1112
1314
1516
1718
1920
2122
2324
2526
2728
2930
3132
3334
3536
3738
3940
HEA
DER
20X
2
Vcc
SCIT
XD
XIN
T
QEP
2P
WM
1P
WM
3P
WM
5T
1PW
MT
MR
DIR
GN
DX
FSP
ISIM
OSP
ICL
KP
WM
8C
LKO
UT
CA
P4
AD
CIN
0A
DC
IN9
PD
PIN
T
GN
D
Vcc
SCIR
XD
QEP
1C
AP
3P
WM
2P
WM
4P
WM
6T
2PW
MT
MR
CL
KG
ND
BIO
SPIS
OM
ISP
IST
EP
WM
9
XIN
T2
PW
M7
AD
CIN
1A
DC
IN8
T3P
WM
GN
D
H2()+5V
+5V
AC (
3)
DSPB Chien-Wu Chen
3 21
4 11
U4A
TL0
84
5 67
U4B
TL0
84
10 98
U4C
TL0
84
1K 1K
1K
5V 5V 5V
-12V
+12
VR
ED
LED
Yel
low
LED
Gre
en
LED
680
680
680
+5V
+5V
+5V
10k
*6
321
411
U8A
TL08
41213
14
U8D
TL0
84
10K
10k
39K
10K
Vo_
u
DS
P
20
K
100p
567
U8B
TL08
4109
8
U8C
TL08
4
10K
10k
39K
10K
Vo_
w
DS
P
20
K
100p
IU IW
3 21
4 11
U5A
TL0
84
5 67
U5B
TL08
4
10 98
U5C
TL0
84
1K 1K 1K
5V
5V
5V
-12V
+12
V
RED
LED
Yel
low
LED
Gre
en
LED
680
680
680
+5V
+5V
+5V
10k
*6
U V W
A B Z
A /A B /B Z /Z
5V
5V
10k
U /U V /V W /W
IOP
x0
IOP
x1
IOP
x2
Xx=C
Yx=B
1 9 2 10
3 11
4 12
5 13
6 14
7 15
8
DB1
5
Z /Z U /U V W/V /W A /A B /B Gnd
+5V
Z /Z RX
/RX
/BB/AA+5V
+5V
Gnd
Gnd
1 10
9876543211 201918171615141312
DB2
0
123
JP10123
JP9
1 2 3 4 5 6
Enco
de2
HEA
DER
6
+!2
V
OW
OU
1 2 3
JP12
1 2 3
JP13
3.3V
3.3V
1 2 3
JP6 1 2 3
JP7 1 2 3
JP8
+5V
123456
HA
LL
HEA
DER
6
HU
HV
HW
A B Z
HW
HV
HU
GN
D5V
Z AB
123
JP11
H4
H3
: H3 Dynamo Sensor H4 Panasonic Sensor J7 Encode-->ABZ J8 HALL-->UVW J9:J11 (1-2 ; 2-3
) J
P1
2&
JP
13
(1-2
+5V
; 3
-4 +
3.3
V)
NA
ME
+5V
GN
D5V
BR0
2-6
BR0
3-6 3
2
V
R4
62
5.11
[[[[17][][][][20]]]]
5.12 /
DSP EVM
6 PWM /
IGBT
5.13 PWM IGBT IGBT
5.14
63
5.12 PWMPWMPWMPWM
12
34
56
ABCD
65
43
21
D C B A
Title
Num
ber
Rev
isio
nSi
ze B
Dat
e:
11-A
ug-2
006
Shee
t o
f Fi
le:
C:\D
ocum
ents
and
Setti
ngs\
mic
hael
spar
tan\ \DRIVE\PREVIO~11.DDBDrawn By:
12
34
56
78
910
1112
1314
1516
1718
1920
2122
2324
2526
2728
2930
3132
3334
3536
3738
3940
HEA
DER
20X
2
Vcc
SCIT
XD
XIN
T
QEP
2P
WM
1P
WM
3P
WM
5T
1PW
MT
MR
DIR
GN
DX
FSP
ISIM
OSP
ICL
KP
WM
8C
LKO
UT
CA
P4
AD
CIN
0A
DC
IN9
PD
PIN
T
GN
D
Vcc
SCIR
XD
QEP
1C
AP
3P
WM
2P
WM
4P
WM
6T
2PW
MT
MR
CL
KG
ND
BIO
SPIS
OM
ISP
IST
EP
WM
9
XIN
T2
PW
M7
AD
CIN
1A
DC
IN8
T3P
WM
GN
D
H2()
1 2 3678
4
5
TLP
250
98
U1D
SN74H
C04
5 6
U1C
SN
74H
C04
100
0.1u
+5V
PW
M_4
GN
DC
Yel
low
LED
330
330
1 2 3678
4
5
TLP
250
100
0.1u
+5V
PW
M_3
GN
D2
Yel
low
LED
330
330
Pow
_2
Pow
_2
Pow
_C
Pow
_C
1 2 3678
4
5
TLP
250
34
U1B
SN74H
C04
1 2
U1A
SN
74H
C04
100
0.1u
+5V
PW
M_2
GN
DC
Red
LED
330
330
1 2 3678
4
5
TLP
250
100
0.1u
+5V
PW
M_1
GN
D1
Red
LED
330
330
Pow
_1
Pow
_1
Pow
_C
Pow
_C
1 2 3678
4
5
TLP
250
1312
U1F
SN74H
C04
11 10
U1E
SN
74H
C04
100
0.1u
+5V
PW
M_6
GN
DC
Gre
en
LED
330
330
1 2 3678
4
5
TLP
250
100
0.1u
+5V
PW
M_5
GN
D3
Gre
en
LED
330
330
Pow
_3
Pow
_3
Pow
_C
Pow
_C
1 2 3
JP1
1 2 3
JP2 1 2 3
JP3 1 2 3
JP4
10K
10K
10K
10K
10K
10K
CO
ver
AC (
1)
DSPB Chien-Wu Chen
1 2 1312
U2A
SN
74H
C10
1 2 1312
U3A
SN
74H
C10
3 4 56
U2B
SN
74H
C10
3 4 56
U3B
SN
74H
C10
9 10 118
U2C
SN
74H
C10
9 10 118
U3C
SN
74H
C10
1234
J1P
ow
1k1k
1k
Yel
Red
Gre
1 2 3
JP5
+5V
0.1u
0.1u
0.1u
0.1u
0.1u
0.1u
+5V
GN
D-1
2V+
12V
+25
V
1000
uf
+
25V
1000
uf
+25V
100
0uf
1 2 3 4 5 6 7 8 9 10 11 12
J2 CO
N12
+12
V_1
-12V
_1G
ND
1+
12V
_2-1
2V_2
GN
D2
+12
V_3
-12V
_3G
ND
3+
12V
_C-1
2V_C
GN
DC
: H2 JP1:JP4 (1-2 ; 2-3 )
J1
J
2
JP
5 (1-2 ; 3-4 )
BR0
1-6
-1
BR0
1-6
-2
BR0
1-6
-3
BR0
1-6
-4
BR0
1-6
-5
BR0
1-6
-6
GN
D
1 1 1 1 1 1
NA
ME
64
5.13 PWM
12
34
56
ABCD
65
43
21
D C B A
Title
Num
ber
Rev
isio
nSi
ze B
Dat
e:
11-A
ug-2
006
Shee
t o
f Fi
le:
C:\D
ocum
ents
and
Setti
ngs\
mic
hael
spar
tan\\DRIVE\PREVIO~21.DDBDrawn By:
0.1
u*2
10/5
WFR
107
FR10
7
G
C E
N-C
h
IGBT
GT2
5J1
01
PW
M_1
0.1
u*2
10/5
WFR
107
FR10
7
G
C E
N-C
h
IGBT
GT2
5J1
01
PW
M_2
GN
D1
Vm
GN
Dm
12
J6
DSPB Chien-Wu Chen
AC (
2)
15V
15V
15V
15V
0.1
u*2
10/5
WFR
107
FR10
7
G
C E
N-C
h
IGBT
GT2
5J1
01
PW
M_3
0.1
u*2
10/5
WFR
107
FR10
7
G
C E
N-C
h
IGBT
GT2
5J1
01
PW
M_4
GN
D2
15V
15V
GN
D_C
15V
15V
0.1u
*2
10/5
WFR
107
FR10
7
G
C E
N-C
h
IGBT
GT2
5J1
01
PW
M_5
0.1u
*2
10/5
WFR
107
FR10
7
G
C E
N-C
h
IGBT
GT2
5J1
01
PW
M_6
GN
D3
12
J7
15V
15V
15V
15V
1 2 3 4 5
J3
SEN
V O
UT
U V W
J4 UV
W O
UT
VM
GN
D
J5 DC P
ower
IN
W V U +V
mG
ND
m
: J3 J4 UVW J5 J6 U J7 W SEN UI OUT
SE
N W
I OU
T
65
5.14
5.2
DSP
PWM IGBT
5.2
5.15 DSP 5.16
5.2
66.6sec(7.5k hz)
1msec(1k hz)
66
T T2 T3 T4 T5 T6 T7
5.15
1. 2. 3.dq 4.
1.2.
()
DSP
5.16 DSP
TMS320LF2407 C code composer
Visual Basic MATLAB
67
(1) C code composer
Texas Instrument C code composer TMS320LF2407
C code composer
C C code composer 5.17
5.17 C code composer
(2) MATLAB
IP
DSP
5.18
(3) Visual basic
DSP
5.19 Visual basic RS232 DSP
5.20 Visual basic
68
DSP 1. 2.DSPDSP 1. 2. 3. 4. 5.
c code composerDSPDSP
MATLAB
5.18 MATLAB DSP
Visual Basic
DSP
RS232
5.19 Visual basic DSP
5.20 Visual basic
69
(P)-(IP)
(Fuzzy)()
(75kg~250kg)(75kg~105kg)
6.1
SVPWM
SVPWMSVPWMSVPWMSVPWM
6-1 6-2
e 00 01 360 0 cos e sin e dV
0 qV ParkIMclarkI SVPWM
PWM SVPWMPWM 15KHz
PWM (Dead Band) 1.066us PWM2
PWM4PWM6 RC (R=2.2C=22Uf) PWM2PWM4
PWM2PWM6 6-3 PWM2
PWM4PWM6 120 0 SVPWM
70
6.1 SVPWM
6.2 SVPWM
71
(a) (b)(a) (b)(a) (b)(a) (b)
6.3 SVPWM (a)PWM2 PWM4 (b)PWM2 PWM6
() 75Kg
6.4 =500rpm(
=3.3KPH) 6.5 75Kg =500rpm(
=3.3KPH) 6.6 =1000rpm(=6.6KPH)
6.7 75Kg =1000rpm(=6.6KPH)
6.8 =1500rpm(=10KPH) 6.9 75Kg
=1500rpm(=10KPH)PI
IiK =1.0026 PiK =0.0011(6.1)
=500rpm 33.3Hz=1000rpm
66.7Hz=1500rpm 100Hz
72
6.4 =500rpm
(=3.3KPH)
6.5 75Kg =500rpm
(=3.3KPH)
6.6 =1000rpm
(=6.6KPH)
73
6.7 75Kg =1000rpm
(=6.6KPH)
6.8 =1500rpm
(=10KPH)
6.9 75Kg =1500rpm
(=10KPH)
74
6.4~6.9 120 6.4~6.5
=500rpm 32Hz(8clock0.25s) 6.6~6.7
=1000rpm 66Hz(16.5clock
0.25s) 6.8~6.9 =1500rpm
100 Hz(16.5clock0.25s)
6.2 ()
(PMSM)
PIPFuzzy
0.8KPH(120rpm)
6.10
4KPH(600rpm)
6.11 8KPH(1200rpm)
6.12
12KPH(1800rpm)
6.13 16KPH(2400rpm)
6.14
20KPH(3000rpm)
6.15
6.10 P IP
Fuzzy
Fuzzy
0.03 P IP
Fuzzy Over
0.05IP
0.4 P
75
6.10 ()=120rpm(0.8KPH)
6.11 FuzzyIPP
Fuzzy 0.17IP 0.18P
0.13 Fuzzy
Over 0.2
IP Over( 11rpm)
0.2 P 0.8
65rpm
Fuzzy P IP
Fuzzy
P IP
76
6.11 ()=600rpm(4KPH)
6.12 FuzzyIPP
Fuzzy 0.37IP 0.6 P
0.44 Fuzzy
Over 0.4
IP Over( 640rpm)
0.83P0.790rpm
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
200
400
600
800
Time(s)
SP
EE
D(r
pm
)
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-20
-10
0
10
20
Time(s)
CU
RR
EN
T(A
)
Fuzzy
P IP
Fuzzy
P IP
77
6.12 ()=1200rpm(8KPH)
6.13 ()=1800rpm(12KPH)
Fuzzy
P
IP Fuzzy
P
IP
Fuzzy
P
IP
Fuzzy
P
IP
78
6.13 FuzzyIPP
Fuzzy 0.57IP 0.85P
0.74 Fuzzy
Over0.58
IP Over( 800rpm)
1.1 P 0.85
200rpm
6.14 FuzzyIPP
Fuzzy 0.78IP 0.99 P
1.1 Fuzzy
Over 0.79
IP Over( 590rpm)
6.14 ()=2400rpm(16KPH)
Fuzzy
P
IP
Fuzzy
P
IP
79
1.27P1.290rpm
6.15 FuzzyIPP
Fuzzy 0.98IP 1.2P
1.4 Fuzzy
Over 1
IP Over( 390rpm)
1.35 P 1.6 100rpm
6.15 ()=3000rpm(20KPH)
Fuzzy
IP Over
P
Fuzzy
P
IP
Fuzzy
P
IP
80
6.3
(PMSM)
PIPFuzzy
0.2KPH (30rpm) 75Kg
6.16 90Kg
6.17 120Kg
6.18 150Kg
6.19 180Kg
6.20 210Kg
6.21 250Kg
6.22
P IP
Fuzzy
6.16 Fuzzy
0.2 IP 0.3
P 16rpm
6.17 Fuzzy
0.25 IP 0.3
P 0rpm
6.18 Fuzzy
0.35 IP 0.35
P 0rpm
6.19 Fuzzy
0.4 IP 0.4
P 0rpm
6.20 Fuzzy
0.4 IP 0.5
P 0rpm
81
6.21 Fuzzy
0.4 IP 0.6
P 0rpm
6.22 Fuzzy
0.4 IP 0rpm
P 0rpm
Fuzzy
250kg IP
250kg P
75kg 90kg
6.16 =75kg=30rpm(0.2KPH)
Fuzzy
P IP Fuzzy
P
IP
82
6.17 =90kg=30rpm(0.2KPH)
6.18 =120kg=30rpm(0.2KPH)
Fuzzy
P
IP
Fuzzy
P
IP
Fuzzy
P
IP
Fuzzy
P
IP
83
6.19 =150kg=30rpm(0.2KPH)
6.20 =180kg=30rpm(0.2KPH)
Fuzzy P
IP
Fuzzy P
IP
Fuzzy P
IP
Fuzzy
P
IP
84
6.21 =210kg=30rpm(0.2KPH)
6.22 =250kg=30rpm(0.2KPH)
Fuzzy
P
IP
Fuzzy
P
IP
Fuzzy
P
IP
Fuzzy P
IP
85
6.4
P IP
Fuzzy
75Kg90Kg105Kg
0.8KPH(120rpm)4KPH(600rpm)8KPH(1200rpm)12KPH(1800rpm)16KPH
(2400rpm)20KPH(3000rpm) 6.23 75Kg
=0.8KPH(120rpm) 6.24 75Kg
=4KPH(600rpm) 6.25 75Kg
=8KPH(1200rpm) 6.26
75Kg =12KPH(1800rpm)
6.27 75Kg =16KPH(2400rpm)
6.28 75Kg =20KPH(3000rpm)
6.29 90Kg
=0.8KPH(120rpm) 6.30 90Kg
=4KPH(600rpm) 6.31 90Kg
=8KPH(1200rpm) 6.32
90Kg =12KPH(1800rpm)
6.33 90Kg =16KPH(2400rpm)
6.34 90Kg =20KPH(3000rpm)
6.35 105Kg
=0.8KPH(120rpm) 6.36 105Kg
=4KPH(600rpm) 6.37 105Kg
=8KPH(1200rpm) 6.38
105Kg =12KPH(1800rpm)
6.39 105Kg =16KPH(2400rpm)
6.40 105Kg =20KPH(3000rpm)
86
P IP
Fuzzy
6.23 5 5
Fuzzy 6rpm IP
8rpm P 14rpm
6.24 5 5
Fuzzy 12rpm IP
31rpm P 36rpm
6.25 5 12
Fuzzy 26rpm IP
51rpm P 52rpm
6.26 5 13
Fuzzy 33rpm IP
71rpm P 85rpm
6.27 5 14
Fuzzy 53rpm IP
95rpm P 137rpm
6.28 5 16
Fuzzy 73rpm IP
129rpm P 135rpm
87
6.23 =75kg=120rpm(0.8KPH)
6.24 =75kg=600rpm(4KPH)
Fuzzy P
IP
Fuzzy
P
IP
Fuzzy P
IP Fuzzy
P
IP
88
6.25 =75kg=1200rpm(8KPH)
6.26 =75kg=1800rpm(12KPH)
Fuzzy P
IP Fuzzy P
IP
Fuzzy
P IP Fuzzy
P IP
89
6.27 =75kg=2400rpm(16KPH)
6.28 =75kg=3000rpm(20KPH)
Fuzzy P IP
Fuzzy P IP
Fuzzy
P
IP
Fuzzy
P
IP
90
6.295 4
Fuzzy 7rpm IP
8rpm P 24rpm
6.30 5 4
Fuzzy 14rpm IP
40rpm P 69rpm
6.31 5 12
Fuzzy 24rpm IP
56rpm P 122rpm
6.32 5 15
Fuzzy 37rpm IP
74rpm P 102rpm
6.33 5 15
Fuzzy 59rpm IP
95rpm P 141rpm
6.34 5 18
Fuzzy 74rpm IP
111rpm P
134rpm
91
6.29 =90kg=120rpm(0.8KPH)
6.30 =90kg=600rpm(4KPH)
Fuzzy P
IP Fuzzy
P
IP
Fuzzy
P
IP
Fuzzy P IP
92
6.31 =90kg=1200rpm(8KPH)
6.32 =90kg=1800rpm(12KPH)
Fuzzy P
IP Fuzzy
P
IP
Fuzzy P
IP Fuzzy P
IP
93
6.33 =90kg=2400rpm(16KPH)
6.34 =90kg=3000rpm(20KPH)
Fuzzy
P IP Fuzzy
P IP
Fuzzy
P IP Fuzzy
P IP
94
6.35 5 4
Fuzzy 6rpm IP
14rpm P 15rpm
6.365 4
Fuzzy 15rpm IP
42rpm P 60rpm
6.37 5 12
Fuzzy 21rpm IP
60rpm P 104rpm
6.38 5 12
Fuzzy 50rpm IP
93rpm P 142rpm
6.39 5 13
Fuzzy 88rpm IP
123rpm P 192rpm
6.40 5 15
Fuzzy 136rpm IP
137rpm P
208rpm
95
6.35 =105kg=120rpm(0.8KPH)
6.36 =105kg=600rpm(4KPH)
Fuzzy P
IP Fuzzy
P
IP
Fuzzy
P
IP
Fuzzy
P
IP
96
6.37 =105kg=1200rpm(8KPH)
6.38 =105kg=1800rpm(12KPH)
Fuzzy
P IP Fuzzy
P IP
Fuzzy P IP
Fuzzy P IP
97
6.39 =105kg=2400rpm(24KPH)
6.40 =105kg=3000rpm(20KPH)
Fuzzy P
IP Fuzzy P
IP
Fuzzy
P
IP
Fuzzy
P
IP
98
Fuzzy
IP
P
99
7.1
TMS320LF2407
DSP
MATLAB Visual Basic
(P)-(IP)(Fuzzy)
()(75kg~250kg)
(75kg~105kg)()
(Fuzzy)
-(IP)
Over (P)
(75kg~250kg)
(Fuzzy) 250kg
-(IP)
250kg (P) 75kg
90kg
(75kg~105kg)(Fuzzy)
-(IP)(P)
IP
100
7.2
1.
(Fuzzy)
2.
101
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1995 ~