Mil Resolver’li Endüstriyel Sürücü Sistemlerde Pozisyon Kontrolü İçin Yüksek Hassasiyetli Açı Ölçümü

Abstract

Resolver motor miline mekanik olarak bağlanan ve indükleme prensibine göre çalışan mil açısı algılayıcısıdır. Girişine yüksek frekanslı sinusoidal sinyal uygulanır ve çıkışında sinus ve cosinus formunda iki adet sinyal üretir. Bu çıkış sinyalleri, motor milinin pozisyon bilgisini içerir. Bu sinyaller kullanılarak motorun mil açısının tespiti yapılır. Bu çalışmada resolver’in girişine önce geleneksel yöntem olarak 5 kHz frekansında bir sinusoidal sinyal uygulanmıştır. Daha sonra bu geleneksel yöntemden farklı olarak resolver’in davranışını analiz etmek amacı ile girişine 20 kHz ve 100 kHz frekansında d=0,5 görev periyoduna sahip iki ayrı PWM sinyalinin uygulanması önerilmiştir. Bu PWM sinyalleri resolveri’n giriş sinyallerini oluşturmaktadır. Böylece yüksek frekanslı sinusoidal sinyali üretmek için karmaşık donanıma ihtiyaç duyulmayacaktır. Sadece basit bir yükselteç devresi ile yüksek frekanslı giriş sinyali üretilmiş olacaktır. Yüksek frekanslı uyartım ile daha hassas açı bilgisi elde edilecektir. Geleneksel yöntem ile önerilen yönteme ilişkin benzetim çalışmaları MATLAB/Simscape ortamında gerçekleştirilmiştir. Benzetim çalışmaları sonucunda her iki yöntemden elde edilen motor açı bilgisi verilen grafikler yardımı ile detaylı olarak karşılaştırılmıştır. Uygulanan PWM sinyalinin 20 kHz ‘den 100 kHz ‘e yükseltilmesi ile birlikte mil açı değişimine ait ölçüm hataları minimize edilerek daha hassas konum bilgisi elde edilmiştir.

Keywords

• Mil resolver
• konum kontrolü
• endüstriyel sürücüler
• robotik

High-Precision Angle Measurement for Position Control in Industrial Drives Systems with Shaft Resolver

Abstract

Resolver is a shaft angle sensor, which is mechanically connected to the motor shaft and operates according to the induction principle. A high frequency sinusoidal signal is applied to its input and produces two signals in the form of sine and cosine at its output. The output signals include the angle information of the motor shaft. Using these signals, the shaft angle of the motor is determined. In the study, a sinusoidal signal at the 5 kHz frequency was applied to an input resolver as the conventional method. After, the fact that applied to two PWM signals which has a duty ratio d=0.5 at 20 kHz and 100 kHz frequency is proposed as different from the conventional method. These PWM signals are the input signals of the resolver. Thus, complex equipment will not be needed to produce the high frequency sinusoidal signal. With only a simple amplifier circuit, a high frequency input signal will be produced. More sensitive angle information will be obtained with high frequency stimulation. A simulation study of conventional and proposed methods has been performed in MATLAB/Simscape environment. As a result of the simulation study, the information on the motor angle obtained from both methods was compared by using figures and details. By increasing the applied PWM signal from 20 kHz to 100 kHz, measurement errors related to shaft angle change were minimized and more precise position information was obtained.

Keywords

• Shaft Resolver
• Position Control
• Industrial Drives
• Robotic

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