The Journal of the Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회논문지)

The Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회)
권호 표지
DOI QR코드

DOI QR Code

Implementation of Multi-Motor Controller Based on a Single Microcontroller

단일 마이크로컨트롤러 기반 다중 모터제어기 구현

  • Received : 2014.11.04
  • Accepted : 2015.02.13
  • Published : 2015.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we consider a cascaded type of control architecture for a multi motor-based feedback control system and propose an ADC (Analog to Digital Converter) resource allocation method to efficiently utilize the limited ADC resources. The purpose of the resource allocation method is to minimize both the motor position measurement error and the d-q current measurement error. The cascaded type of control architecture is applied in parallel to each motor to independently control the speed of a motor in the multi motor control system. All the control algorithms are implemented by software using a single microcontroller without using additional microcontrollers. It is illustrated by experiments that the speed and the torque of each motor are controlled precisely by the proposed control architecture with the efficient ADC allocation method.

본 논문에서는 다중 모터 기반 피드백 제어 시스템에 대하여 캐스케이드 형태의 제어기를 고려하고 제한된 ADC(Analog to Digital Converter) 자원을 효과적으로 이용하기 위한 자원 할당 방법을 제안한다. 이 방법의 목적은 한정된 ADC 자원으로 모터 위치 측정값의 오차 및 d-q 축 전류 측정값의 오차를 최소화하는 것이다. 다중 모터 기반 피드백 제어 시스템에 대한 캐스케이드 제어 구조는 속도 제어기와 전류제어기로 구성되며, 이러한 구조가 각 모터에 병렬로 적용되어 각 모터의 회전 속도가 독립적으로 제어된다. 다중모터제어기는 추가되는 마이크로컨트롤러 없이 오직 하나의 컨트롤러에 구현된다. 다수의 AC 모터로 구성된 실험환경과 제안된 제어구조 및 ADC 할당방법을 이용함으로써 각 모터의 속도 및 토크가 주어진 속도 지령값을 정밀하게 추종함을 보인다.

Keywords

References

  1. X. Shaobo and L. Cheng, "Stability Control of a Dual-motor Vehicle based on Coordinated Application of Motor and Hydraulic Actuator," in Proc. Power Electronics Systems and Applications, pp. 1-5, 2011.
  2. S. Jacobs, D. Hectors, F. Henrotte, M. Hafner, M. H. Gracia, K. Hameyer and P. Goes, "Magnetic material optimization for hybrid vehicle PMSM drives," World Electric Vehicle Journal, Vol. 3, May 2009.
  3. T. M. Jahns, G. B. Kliman and T. W. Neuman, "Interior PM synchronous motors for adjustable speed drives," IEEE Trans. on Ind. Appl., vol. IA-22, no. 4, pp. 738-747, Jul./Aug. 1986. https://doi.org/10.1109/TIA.1986.4504786
  4. P. Raksincharoensak, M. Nagai and M. Shino, "Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle," Journal of Vehicle Mechanics and Mobility, Vol. 44, Supplement, pp. 192-201, 2006.
  5. V. T. Phan and H. H. Lee, "Dual Three-Phase Inverter Using a Single Processor to Drive Two Motors in Electric Vehicle Applications," In Proc. Strategic Technology, The 1st International Forum on, pp. 24-28, 2006.
  6. W. Shireen and M. S. Arefeen, "Controlling Multiple Motors Utilizing a Single DSP Controller," IEEE Trans. on Pow. Elec., vol. 18, no. 1, pp. 124-130, Jan. 2003. https://doi.org/10.1109/TPEL.2002.807182
  7. J.-H. Park and C.-W. Moon, "Design and Implementation of a FlexRay-CAN gateway for Real-Time Control," in Journal of Institute of Internet, Broadcasting and Communication, vol. 14, no. 2, pp.53-58, 2014 https://doi.org/10.7236/JIIBC.2014.14.2.53
  8. Y. Matsumoto, C. Osawa, T. Mizukami, and S. Ozaki, "A stator-fluxbased vector control method for parallel-connected multiple induction motors fed by a single inverter," in Proc. IEEE APEC'98, vol. 2, pp. 575-580, 1998.
  9. K. Matsuse, Y. Kouno, H. Kawai, and S. Yokomizo, "A speed-sensorless vector control method of parallel-connected dual induction motor fed by a single inverter," IEEE Trans. Ind. Applicat., vol. 38, pp. 1566-1571, Nov./Dec. 2002. https://doi.org/10.1109/TIA.2002.804763
  10. Y. S. Byun and Y. C. Kim, "A vector control method for multiple induction motors," in Proc. of Conference on Information and Control Systems, vol. 2, pp. 649-652, Nov, 2003.
  11. S. H. Kim, "DC, AC, BLDC Motor Control", Bogdoo, 1993.
  12. TC1797 Users Manual, Infineon Technologies AG, 2009
  13. "3-phase complementary Pwm with hardware triggered ADC conversion", Application Note AP32135, Infineon Technologies AG, 2009.

Cited by

  1. Controller Scheduling and Performance Analysis for Multi-Motor Control vol.15, pp.6, 2015, https://doi.org/10.7236/JIIBC.2015.15.6.71