Mfundo yoyendetsera galimoto ya brushless DC

Mfundo yolamulira ya brushless DC motor, kuti injiniyo izungulira, gawo lolamulira liyenera kudziwa kaye malo a rotor molingana ndi sensa ya holo, ndiyeno kusankha kutsegula (kapena kutseka) mphamvu mu inverter malinga ndi kukhazikika kwa stator.Dongosolo la ma transistors, AH, BH, CH mu inverter (izi zimatchedwa upper arm power transistors) ndi AL, BL, CL (izi zimatchedwa low arm power transistors), zimapanga kuyenda kwapano kudzera pa koyilo yamoto motsatizana. kupanga kutsogolo (kapena kubweza) ) imatembenuza mphamvu ya maginito ndikulumikizana ndi maginito a rotor kuti mota itembenuke motsata wotchi / mopingasa.Pamene rotor yamoto imazungulira pamalo pomwe sensa ya holo imamva gulu lina la zizindikiro, gawo lolamulira limatembenukira ku gulu lotsatira la ma transistors amphamvu, kotero kuti galimoto yozungulira ikhoza kupitiriza kuzungulira mbali imodzi mpaka gawo lolamulira lidzasankha. zimitsani mphamvu ngati rotor yamoto isiya.transistor (kapena kuyatsa m'munsi mkono mphamvu transistor);ngati rotor yamoto iyenera kutembenuzidwa, njira yosinthira mphamvu ya transistor imasinthidwa.Kwenikweni, njira yotsegulira mphamvu ya transistors ikhoza kukhala motere: AH, BL gulu → AH, CL gulu → BH, CL gulu → BH, AL gulu → CH, AL gulu → CH, BL gulu, koma sayenera Tsegulani monga AH, AL kapena BH, BL kapena CH, CL.Kuonjezera apo, chifukwa zipangizo zamagetsi nthawi zonse zimakhala ndi nthawi yoyankhira kusintha, nthawi yoyankhira ya transistor yamagetsi iyenera kuganiziridwa pamene transistor yamagetsi yazimitsidwa ndi kuyatsa.Apo ayi, pamene mkono wapamwamba (kapena m'munsi mwa mkono) sunatsekedwe kwathunthu, mkono wapansi (kapena pamwamba) wayamba kale Yatsani, chifukwa chake, manja apamwamba ndi apansi ndi ofupikitsidwa ndipo transistor yamphamvu imawotchedwa.injini ikazungulira, gawo lowongolera limafananiza lamulo (Lamulo) lopangidwa ndi liwiro lokhazikitsidwa ndi dalaivala komanso kuthamanga / kutsika kwa liwiro la kusintha kwa sensa ya holo (kapena kuwerengedwa ndi mapulogalamu), ndiyeno ganizirani gulu lotsatira ( AH, BL kapena AH, CL kapena BH, CL kapena ...) masiwichi amayatsidwa, ndi nthawi yayitali bwanji.Ngati liwiro silikwanira, lidzakhala lalitali, ndipo ngati lithamanga kwambiri, lidzafupikitsidwa.Gawo ili la ntchito likuchitidwa ndi PWM.PWM ndiyo njira yodziwira ngati liwiro la mota ndi lothamanga kapena pang'onopang'ono.Momwe mungapangire PWM yotere ndiye maziko oti mukwaniritse kuwongolera mwachangu.Kuthamanga kwa liwiro la kuthamanga kwapamwamba kuyenera kuganizira ngati CLOCK kusamvana kwa dongosolo ndikokwanira kuti amvetse nthawi yokonza malangizo a mapulogalamu.Kuonjezera apo, njira yopezera deta yosinthira chizindikiro cha holo-sensor imakhudzanso ntchito ya purosesa ndi kulondola kwa chiweruzo.pompopompo.Ponena za kuwongolera liwiro lotsika, makamaka kuyambika kocheperako, kusintha kwa chizindikiro chobwerera kuholo-sensor kumakhala pang'onopang'ono.Momwe mungatengere chikwangwani, kukonza nthawi, ndikusintha magawo owongolera moyenera molingana ndi mawonekedwe agalimoto ndikofunikira kwambiri.Kapena kusintha kwa liwiro lobwerera kumatengera kusintha kwa encoder, kotero kuti kusamvana kwa chizindikiro kumawonjezedwa kuti kuwongolera bwino.Galimoto imatha kuyenda bwino ndikuyankha bwino, ndipo kuyenera kwa kuwongolera kwa PID sikunganyalanyazidwe.Monga tanenera kale, brushless DC motor ndi yotsekedwa-loop control, kotero chizindikiro cha ndemanga ndi chofanana ndi kuuza unit control kuti liwiro la galimoto liri patali bwanji ndi liwiro la chandamale, chomwe chiri cholakwika (Zolakwika).Podziwa cholakwikacho, ndikofunikira kubweza mwachilengedwe, ndipo njirayo imakhala ndi zowongolera zachikhalidwe monga kuwongolera kwa PID.Komabe, boma ndi chilengedwe chowongolera ndizovuta komanso zosinthika.Ngati kuwongolera kukuyenera kukhala kolimba komanso kolimba, zinthu zomwe ziyenera kuganiziridwa sizingamvetsetsedwe bwino ndi kayendetsedwe ka uinjiniya wachikhalidwe, kotero kuwongolera movutikira, kachitidwe kakatswiri ndi neural network zidzaphatikizidwanso ngati chiphunzitso chanzeru Chofunikira pakuwongolera kwa PID.