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MCF5235 bảng dữ liệu(PDF) 5 Page - Freescale Semiconductor, Inc

tên linh kiện MCF5235
Giải thích chi tiết về linh kiện  DC Motor with Speed and Current Closed Loops, Driven by eTPU on
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nhà sản xuất  FREESCALE [Freescale Semiconductor, Inc]
Trang chủ  http://www.freescale.com
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MCF5235 bảng dữ liệu(HTML) 5 Page - Freescale Semiconductor, Inc

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Target Motor Theory
DC Motor with Speed and Current Closed Loops, Driven by eTPU on MCF523x, Rev. 0
Freescale Semiconductor
5
Figure 3. 2-Phase DC Motor Power Stage (H-bridge)
2.1.1
Speed And Current Control
The motor speed depends on the amplitude of the applied voltage. The amplitude of the applied voltage is
adjusted using the PWM technique. The required speed is controlled by a speed controller, which is
implemented as a conventional proportional-integral (PI) controller. The difference between the actual and
required speeds is input to the PI controller which then, based on this difference, controllers the required
DC-bus current. The required DC-bus current is controlled by a current controller, which is also
implemented as a conventional proportional-integral (PI) controller. The difference between the actual and
required DC-bus current is input to the PI controller which then, based on this difference, controls the duty
cycle of the PWM pulses, which correspond to the voltage amplitude required to maintain the desired
speed.
The current controller, which is the inner-loop controller, is updated more frequently, for example every
PWM period, compared to the speed controller, which is the outer-loop controller.
The speed controller, as well as the current controller, calculates the PI algorithm given in the equation
below:
After transforming the equation into a discrete time domain using an integral approximation with the
Backward Euler method, we get the following equations for the numerical PI controller calculation:
ut
() K
c et
()
1
TI
----- e
τ
() τ
d
0
t
+
=
uk
() u
P k
() u
I k
()
+
=
uP k
() K
c ek
()
=
uI k
() u
I k
1
() K
c
+
T
TI
----- ek
()
=


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