Robot and Servo Drive Lab.

Introduction-
Motion control can be defined as a system integration technology
in the application of control theory,
theory power electronics,
electronics and
microcomputer control to achieve precise control of torque,
velocity, and/or position of mechanical systems.

南臺科技大學電機工程系
王 明 賢

Department of Electrical Engineering

2017/9/18
Southern Taiwan University of Science and Technology 2017/9/18 Block diagram of a motion control system 3
Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology

Introduction- Contents
1. Brushed DC Motors
Servo control is a closed-loop
p control used in servomechanisms 2. Chopper
(electro-mechanical control systems) and directs the precise 3. The Brushless Machine
movement of a physical object such as a radar antenna or 4. Permanent Magnet Synchronous Motor (PMSM) Modeling
5
5. Inverter
robot arm.
6. Brushless DC Motor (BLDCM) (Sensorless control)
Advanced servo control discusses the topics on advanced motor 7. Current Control
control.
l 8
8. Velocity
V l it Control
C t l (Low
(L speedd control
t l andd Field
Fi ld weakening
k i control)
t l)
Speed Current and Position Control (Sensorless control)
Position command command 9. Qualitative Methods and Systems of Nonlinear Differential
command Position Speed Current PWM Equations
+ M E 10. Variable Structure System-Introduction
controller + controller + controller inverter
- - -
11. Principles of Sliding Mode
Current loop 12. Design Techniques of Sliding-mode Controllers
Speed loop Speed sensor
+ 13. Sliding Vectors Design of Linear Invariant Systems
Position loop Position sensor
+ 14. Sliding-mode
g control
2017/9/18 Block diagram of a servo drive 2
15. Virtual sliding vector
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Reference Books 1. Brushed DC Motors
 1. B. K. Bose, Modern Power Electronics and AC Drives, USA,
2003
 2. R. Krishnan, Electric Motor Drives– Modeling, Analysis,

and Control
Control, Prentice Hall Inc.,
Inc New Jersey,
Jersey USA,
USA 2001.
2001
 3. G. Ellis, Control System Design Guide, 2nd ed., Academic

Press, San Diego, California, USA, 2000.

 4. Peter Moreton, Industrial Brushless Servomotors, Newnes,

2000.
 5. IEEE/IET Journal Papers

 6. F. Golnaraghi g and B. C. Kuo,, Automatic Control Systems,

y ,
9th edition, 2010.
 7. Kwang g Hee Nam, AC Motor Control and Electric Vehicle
Applications, 2010.
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

IEEE/IET Journals DC Motor

 1. IEEE Transactions on Power Electronics Fleming left-hand rule: l: coil length
 2 IEEE Transactions on Industry Applications
2. f  Bli Z: winding turn number
 3. IEEE Transactions on Industrial Electronics B   / A   /( D l ) a: winding loop number
 4 IEEE Transactions on Automatic Control
4.  D i
5. IEEE Transactions on Magnetics t1  f  D / 2  li1  1
D l 2 2


 6. IEEE/ASME Transactions on Mechetronics

i  ia PZ
 7. IEEE Transactions on Control Systems Technology Tm  t1ZP  1 ZP   ZP   ia  K i ia
2 2 a 2 a
 8. IEEE Transactions on Energy
gy Conversion
 9. IEEE Control System Magazine Fleming right-hand rule:
 10. IEEE Transactions on Instrumentation and Measurement e1  Blv  Bl m D / 2
11. IET Electric Power Applications Z  D Z PZ

eb  e1 P l m  P  m  K b m
 12. IET Control Theory Applications a D l 2 a 2 a
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Ki  Kb
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 DC Motor DC Motor

[7]

[7]
rev min 2 rad 2
di 1 rpm  1    rad / s
ea  Ra ia  La a  eb min
1
i 60 s rev 60
dt 1N m 
9 .8
kgf  m  1kgf  cm  0.098 N  m
d m
Tm  J m  Bm m  TL s2 1 s2
dt 1kg  m 2  1N  m   kgf  m 
rad 9.8 rad
Tm  K i ia , eb  K bm s 2

2017/9/18
 1gff  cm   0.98kgk  cm 2 2017/9/18
rad 9 11
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

DC Motor DC Motor
di a
0 Pa  air gap power  eb ia  Tmm
dt
ebia K bmia
ea ia  Ra ia2  eb ia Tm  K i ia    K b ia
m m
K i ( Nm / A)  K b (V /( rad / s ))
P a ( hp )  Tm ( Nm)   m ( rad / s ) / 746
[7]
1N 1m
 [Tm ( ft  lb)   m (rad / s ) / 746]  ea  24V , K i  0.07 Nm/A, Ra  0.70
0.224lb 3.28 ft 24 2400 rad rev 60 sec
 NL  ea / K b  rad / sec   3274 rpm
 Tm ( ft  lb)   m ( rad / s ) / 550 0.07 7 sec 2 rad min
Tm ( ft  lb) 1 Tstall 
ea K i
 2.4 Nm
Pa  eb ia / 746  K b (V / rad / s ) m Ra
K i ( ft  lb / A) 746
746
K b (V / rad / s )  K i ( ft  lb / A)
2017/9/18 550 2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 DC Motor DC Motor

[7]

2017/9/18 2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

DC Motor DC Motor

[7]

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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 DC Motor Electric time constant
Shaft locked operation:
di ea L di
ea  La a  Ra ia  a a  ia
dt Ra Ra dt
ea L
ia  (1  e  Ra t / La )  e  a
Ra Ra

Ploss   m (T f  Bm m )  I a Ra
2

2017/9/18
[4] 2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Mechanical time constant

No load operation:

Bm  0, T f  TL  0,
d
La  0, Tm  J m m
dt
ea  Ra ia  K b m
[4]  NL  ea / K b no  load speed
Ra J m d
Safe Operating Area for Continuous operation (SOAC)  NL  ea / K b   m  Ra ia / K b  m  m
K b K i dt
The safe operating area (SOA) describes the capability of a transistor
to withstand significant levels of voltage and current at the same time. Ra J m
 m   NL (1  e t / )  m 
m

2017/9/18
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2017/9/18 Ki Kb 20
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Voltage analysis

S1
 Calculate the maximum speed of the system V 0  t  t on
 If a gear system required
d
 Find the total inertia va ton Vdc  ia Ra  La ia  Eb
 Calculate the maximum torque dt
Vdc
 Find the power t on  t  T
VCE (sat )
 Check the maximum motor torque for
ia ton d
acceleration/deceleration
I a1 0  ia Ra  La ia  E b
dt
I a2

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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Class A chopper- 1st quadrant Transfer function

ia is
Q1 Va ia
Q1
S1 La Ra
D1
+ +
Vdc Va +
ia Vdc Va - Eb
- -

wr Vt
wr
dia d R V  Eb
ton
Va  La  Ra i a  E b  ia  a ia  a
PWM
T dt dt La La
t  0  Q1  on Va  Vdc , ia  I a 2

Vdc  Eb  t  t
t w
m  on  r  duty cycle t w 0  t  t on  ia  (1  e  a )  I a 2 e  a  a  La / Ra
2017/9/18 T
Vav  on Vdc  mV
Vdc  r Vdc Ra
Vt T Vt 22
2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Vdc  Eb  t on  t on S1 discontinuous current mode
t  t on (1  e  a )  I a 2 e  a
ia  I a1  (1)
Ra V 0  t  ton
t on  t  T Q  off V  0
1 a t'  t  t d
on
va Vdc  I a Ra  La I a  Eb
' ' ton dt
Eb t t
Vdc
t '  0 ia  I a 1  a
i   (1  e a
)  I a1e a d
ton  t  t1
Ra Eb
ia d
t  T  t on
'
t1 0  I a Ra  La I a  Eb
dt
Eb 
( T ton )
a 
( T ton )
a
t1  t  T
ia  I a 2   (1  e )  I a1e (2)
Ra I a  0, Va  Eb
2017/9/18
25
2017/9/18 ( La too small or  m too large) 27
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Class C chopper ( 4 quadrants )

 t on
Vdc 1  e  a Eb is Va
I a1   (3) Q1 iQ1
Ra 1  e T  a Ra
t on
S1 D2

Vdc e  a  1 Eb
iD 2 ia
Ia2   (4) +
ia M
Ra e T  a 1 Ra Vdc iQ 2 +
Va
-
G Q2 G
 -

Va  Va   cn sin( no t   n ) + S2 D1
n 1 Vdc
- iD1
t n t  no t on
Va  on Vdc cn  dc sin  o on 
2V
T n
n  
2017/9/18
 2  2 2 2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Waveform PWM
S1 Vtr Vˆtr
The half-bridge
Th h lf b id circuit
i it makes
k Vˆtr Vc

S2 poor use of the power source

T
as only half the supply voltage t1 Vc
2 t1
appears across the load.
ia The full-bridge circuit T
I a1 iQ1 4
iD1 needs two extra switches.
iD 2 T
ton  2t1 
Ia2 iQ 2 2
Va
Vdc Va t1 V  V T
Vdc  c  ton  1  c 
2
is
T Vˆtr  Vtr
ˆ

Vav 4
V dc
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Class D chopper- 4 quadrants Waveform

va
Vdc
is Q1 Q3 Va ia
D1 D3
Va
Vdc A B t0 t 1 t2 t4
ia t3
Q2 Q4 ia  Vdc
D2 D4

N
 vcc
vc
Q1 Q4

 vcc vtr Q2 Q3
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30 32
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Operation

Va

ia
PWM BiBi-polar
polar
voltage switching

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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical EngineeringRobotRobot and Servo
and Servo DriveDrive
Lab. Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

TA on : vc  vtri
TB  on :  vc  vtri

PWM Uni-polar
g switching
voltage g
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical EngineeringRobotRobot and Servo
and Servo DriveDrive
Lab. Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology