Dobór nastaw regulatorów cyfrowych w mechatronicznym układzie wózka inwalidzkiego

• Autorzy: Fręchowicz A. , Heyduk A.

Warianty tytułu

EN

Selection of digital regulator settings for mechatronic system of invalid wheelchair

• Języki publikacji: PL

Abstrakty

EN

Development of drive systems with BLDC motors created the necessity of working out appropriate control systems. During last few years, when PM motors started to attain large powers, the cascade control system started to be commonly applied. This is a standard system, previously used in classical commutator dc machines. This systems contains "master" (superior) speed control loop and "slave" (inferior) current control loop. In both loops digital PI-type controllers are used, and the settings of internal loop controller are selected according to criterion known as "module optimum", while external loop controller settings are selected per "symmetry optimum" criterion. System built in accordance with these rules is characterised by significant over-regulations in transient states and that is why it must be additionally equipped with speed setter, which will smooth abrupt changes in set speed. The paper presents design of BLDC motor speed control system, its control algorithm and ways of selecting controller parameters; this motor is used in invalid wheelchair drive. Method of speed measurement, basing on testing the interval between subsequent changes in Hall sensors outputs is described. A summary of mathematical model of basic drive system elements is presented and the parameters are calculated. The current and speed waveforms in transient states are also shown, calculated with the help of mathematical model of the drive.

Słowa kluczowe

PL

wózek inwalidzki; silnik bezszczotkowy prądu stałego; układ regulacji napędu; regulator cyfrowy

• Wydawca: Sieć Badawcza Łukasiewicz - Górnośląski Instytut Technologiczny
• Czasopismo: Maszyny Elektryczne : zeszyty problemowe
• Rocznik: 2010
• Tom: Nr 88
• Strony: 57--62
• Opis fizyczny: Bibliogr. 2 poz., rys., tab.

Twórcy

autor

Fręchowicz A.

autor

Heyduk A.

• Politechnika Śląska, ul. Akademicka 2; 44-100 Gliwice,

Bibliografia

• [1] Bisztyga K.: Sterowanie i regulacja silników elektrycznych, ISBN: 83-2040982-9, WNT Warszawa 1989
• [2] Frohr F.: Orttenburger F.: Wprowadzenie do elektronicznej techniki regulacji, WNT Warszawa 1977