PSpiceアプリケーションセミナー(モータアプリケーション回路)

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PSpiceアプリケーションセミナー(モータアプリケーション回路)

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PSpiceアプリケーションセミナー(モータアプリケーション回路)

  1. 1. PSpiceアプリケーションセミナー~モータアプリケーション回路~<br />1<br />株式会社ビー・テクノロジーhttp://www.bee-tech.com/<br />
  2. 2. モデル<br />デザインキット回路方式のテンプレート<br />回路解析シミュレータ<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />2<br />
  3. 3. 3<br />スパイス・パーク http://www.spicepark.com/⇒ スパイスモデルをご提供<br />今週のスパイスモデル:1週間に1回無料でスパイスモデルをご提供<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  4. 4. デバイスモデル、<br />シミュレーションに<br />関する月刊小冊子<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />4<br />
  5. 5. 売上<br />Break Even Time<br />(損益分岐点到達時間)<br />利益<br />Break Even After Release<br />(販売開始後損益分岐点到達時間)<br />Time to Market<br />(商品開発時間)<br />累積コスト・投資<br />Time to Marketの短縮が売上、利益の増大と投資、コストの削減に直結する<br />販売開始<br />開発開始<br />具体的な施策としてシミュレーション技術の導入がある<br />->1回でも試作回数を削減させるのが目的である<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />5<br />
  6. 6. All Rights Reserved Copyright (C) Bee Technologies Inc.<br />6<br />
  7. 7. 回路開発実験室と同じ環境をコンピュータ上に創る<br />自分が良く採用するデバイスのデバイスモデル(SPICE MODEL)を<br />最初から準備し、整備していく。<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />7<br />
  8. 8. 序論<br />コイルの等価回路の考え方(周波数を考慮する)<br />注意:動作周波数により、3素子モデルではなく、5素子モデル、ラダー・モデル<br />    が採用される事もあります。<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />8<br />
  9. 9. 序論<br />*$<br />*PART NUMBER: 22R105<br />*MANUFACTURER: Newport Components<br />*All Rights Reserved Copyright (C) Bee Technologies Inc. 2005 <br />.SUBCKT 22R105 1 2 <br />L1 1 2 XXXXXX<br />R1 1 2 XXXXXX<br />C1 1 2 XXXXXX<br />.ENDS<br />*$<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />9<br />
  10. 10. 序論<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />10<br />
  11. 11. 序論<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />11<br />
  12. 12. 序論<br />微小な抵抗を配置する<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />12<br />
  13. 13. 序論<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />13<br />
  14. 14. 14<br />1.ステッピングモーターのスパイスモデル1.1周波数モデルについて<br /> 周波数の任意の点<br /> 周波数の任意の帯域<br />   3素子モデル<br />   5素子モデル<br />   ラダーモデル1.2周波数モデル+内部電圧依存性について2.DCモーターのスパイスモデル2.1従来の等価回路モデル2.2新規開発した等価回路モデル<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  15. 15. Bipolar Stepping Motor Driver<br />Simulation Example: <br />Predict the Ripple Current Magnitude at set Chopping Frequency<br />15<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  16. 16. Test circuit:<br />TB62206FG Model is connected to Stepper Motor Model (100k-1MHz).<br /> Phase current is simulated at fchop=100kHz to predict motor current ripple.<br />16<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  17. 17. Block Diagram<br />Device Feature:<br />• Input logic to drive Bipolar Step Motor<br />• Internal OSC<br />• Current Level Set<br />• Mixed Decay Control<br />• Charge Pump Unit<br />• H-Bridge Output<br />• Protection Unit<br />17<br />All Rights Reserved Copyright (C) Bee Technologies Inc. 2010<br />
  18. 18. Model SUBCKT(Behavioral Logic Model)<br />Model is include:<br /> Input logic to drive Bipolar Step Motor<br /> Internal OSC<br /> Current Level Set<br /> Mixed Decay Control<br /> Charge Pump Unit<br /> H-Bridge Output<br /> Protection Unit (Over Current Protection<br />18<br />All Rights Reserved Copyright (C) Bee Technologies Inc. 2010<br />
  19. 19. Stepping Motor Phase Inductance (Ls) vs. Frequency<br />Phase Inductance (Ls) is selected at phase frequency 100kHz<br />19<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  20. 20. Phase Inductor model (100k-1MHz)<br />Motor coil is modeled from an inductor series with resistor. <br />Model parameters are extracted to fit characteristics around chopping frequency (100kHz).Ls=1.6mH, Rs=8.25ohm<br />20<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  21. 21. Recommended Application CircuitBench Test (Bread Board Circuit)<br />21<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  22. 22. Recommended Application CircuitBench Test (Bread Board Circuit)<br />Phase Signal Input<br />Bipolar Stepping Motor<br />Motor Phase Current<br />TB62206FG<br />Current Probe<br />22<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  23. 23. Measured result: Mixed Decay Mode ripple current<br />Measured result show the ripple current <br />OSC Signal<br />Ripple Current Magnitude<br />Motor Phase Current<br />VM=24,18,12V<br />23<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  24. 24. Simulated result: (the chopping frequency is approximately 100kHz)<br />The result show how model simulate Ripple Current Magnitude at fchop is approximately 100kHz.<br />Ripple Current Magnitude<br />24<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  25. 25. 25<br />1.1周波数モデルについて<br />TECO ELEC. & MACH.CO.,LTD.’s Unipolar Stepping Motor 4H4018-X0101 <br /><ul><li>DC Voltage........................DC 12.0 V
  26. 26. Rated Current....................0.23 A/Phase
  27. 27. Step Angle.........................1.8(degrees)
  28. 28. Leads ................................6 </li></ul>All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  29. 29. 26<br />1.1周波数モデルについて<br />The Winding Impedance vs. Frequency characteristicsare obtained with a Precision Impedance Analyzer (Agilent 4294A).<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  30. 30. 27<br />1.1周波数モデルについて<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  31. 31. 28<br />1.2周波数モデル+内部電圧依存性について<br />Impedance<br />Back EMF<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  32. 32. 29<br />1.2周波数モデル+内部電圧依存性について<br />3素子モデルからラダーモデルへ<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  33. 33. 30<br />1.2周波数モデル+内部電圧依存性について<br />PWM Controller IC<br /><ul><li> Current Mode
  34. 34. Voltage Mode</li></ul>Output Device<br /><ul><li> MOSFET
  35. 35. BJT
  36. 36. Darlington Transistor
  37. 37. etc… </li></ul>Microcontroller<br />STEPPING MOTOR<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  38. 38. 31<br />1.2周波数モデル+内部電圧依存性について<br />IDEAL MOSFT<br />Clock signal (600pps)<br />Input Speed [pps] here.<br />Unipolar stepping motor (driven with 600pps)<br /><ul><li>The clock signal and the motor model are synchronized. Input the value in the “PARAMETERS: pps= ” to set the speed condition.</li></ul>All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  39. 39. 32<br />1.2周波数モデル+内部電圧依存性について<br />Set current (0.100A)<br />Modulated control signal<br />Phase sequence control signal<br /><ul><li>Input the set current value and configure the phase sequence control signal. PWM will regulate the phase current a the set current level.</li></ul>All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  40. 40. 33<br />1.2周波数モデル+内部電圧依存性について<br />T=1/pps<br />Clock<br />FA Phase Excitation<br />/FA Phase Excitation<br />FB Phase Excitation<br />/FB Phase Excitation<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  41. 41. 34<br />1.2周波数モデル+内部電圧依存性について<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  42. 42. 35<br />1.2周波数モデル+内部電圧依存性について<br />Current Rise Time vs. Speed SimulationClock Rate = 600pps<br />600[pps]<br />Clock<br />Phase A<br />tr=172.935<br />Phase A Current<br />(ID of MOSFET)<br />Phase A current rise time is 172.935usec.At 600[pps] clock rate. <br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  43. 43. 36<br />1.2周波数モデル+内部電圧依存性について<br />Current Rise Time vs. Speed SimulationClock Rate = 750pps<br />750[pps]<br />Clock<br />Phase A<br />tr=173.619<br />Phase A Current<br />(ID of MOSFET)<br />Phase A current rise time is 173.619usec. At 750[pps] clock rate. <br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  44. 44. 37<br />1.2周波数モデル+内部電圧依存性について<br />Current Rise Time vs. Speed SimulationClock Rate = 1000pps<br />1000[pps]<br />Clock<br />Phase A<br />tr=174.773<br />Phase A Current<br />(ID of MOSFET)<br />Phase A current rise time is 174.773usec. At 1000[pps] clock rate. <br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  45. 45. 38<br />1.2周波数モデル+内部電圧依存性について<br />The measurement and simulation result of phase current rise time.<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  46. 46. 39<br />1.2周波数モデル+内部電圧依存性について<br />E_AEMF VALUE<br />?<br />?<br />?<br />BackEMFVoltage(v)<br />関数を作成する<br />Speed (pps)<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  47. 47. 40<br />1.2周波数モデル+内部電圧依存性について<br />Impedance<br />Back EMF<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  48. 48. 41<br />2.DCモーターのスパイスモデル2.1従来の等価回路モデル2.2新規開発した等価回路モデル<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  49. 49. 42<br />2.1従来の等価回路モデル<br />COMPONENTS: DC MOTOR<br />PART NUMBER: FA -130<br />MANUFACTURER: MABUCHI MOTOR CO.,LTD.<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  50. 50. 43<br />2.1従来の等価回路モデル<br />*$<br />*PART NUMBER: FA - 130<br />*All Rights Reserved Copyright (c) Bee Technologies Inc. 2005<br />*V=1.5V, I0=0.150A <br />.SUBCKT FA-130 1 2 PARAMS: IL=0.150<br />.........<br />.........<br />.........<br />.........<br />.........<br />.........<br />*$<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  51. 51. 44<br />2.1従来の等価回路モデル<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  52. 52. 45<br />2.1従来の等価回路モデル<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  53. 53. 46<br />2.1従来の等価回路モデル<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  54. 54. 47<br />2.2新規開発した等価回路モデル<br />MABUCHI MOTOR RS-380PH<br /><ul><li>Voltage Range..........................12.0 V
  55. 55. Normal Voltage.........................7.2 V
  56. 56. Normal Load.............................9.8 mNm
  57. 57. Speed at No Load.....................16,400 rpm
  58. 58. At Normal Load</li></ul>Speed................................14,200 rpm<br />Current...............................2.9A<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  59. 59. 48<br />2.2新規開発した等価回路モデル<br /><ul><li>The Torque Constant KT is obtained as:</li></ul>RS-380PH at Normal Load:<br />Torque = 9.8 mNm<br />INormal Load = 2.9 A<br />KT = 9.8/2.9 = 3.379 mNm/A<br />(1)<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  60. 60. 49<br />2.2新規開発した等価回路モデル<br /><ul><li>The Back EMF Constant KE is obtained as:</li></ul>RS-380PH at No Load:<br />Speed = 16,400 rpm<br />VEMF = VNormal - RMINo Load = 7.2-0.3456 = 6.8544 V <br /> ,RM=0.576 and INo Load=0.6A (measurement data).<br />KE =6.8544/16,400 = 0.41795 mV/rpm<br />(2)<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  61. 61. 50<br />2.2新規開発した等価回路モデル<br />Measured<br />Calculated<br />Precision Impedance Analyzer |Z| vs. Frequency measured data.<br /><ul><li>The Armature Inductance and Resistance are obtained with a Precision Impedance Anayzer (Agilent 4294A)
  62. 62. LS = 165 uH and RS = 575.977 m</li></ul>All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  63. 63. 51<br />1<br />PARAMETERS:<br />IL = 0.6<br />E_TORG<br />Trq<br />IN+<br />OUT+<br />PARAMETERS:<br />OUT-<br />IN-<br />0Vdc<br />kt = 3.38m<br />EVALUE<br />rpm<br />ke = 0.41795m<br />C1<br />RM<br />4.7n<br />0.575977<br />0<br />0<br />N1<br />1<br />N5<br />1<br />LM<br />165u<br />L1<br />IC = 0<br />R0<br />4.5u<br />2<br />N2<br />0<br />2<br />N6<br />Vsense<br />0Vdc<br />R1<br />E_EMF<br />N3<br />IN+<br />OUT+<br />OUT-<br />IN-<br />0<br />0<br />Gintg<br />Efctr<br />IN-<br />OUT-<br />ang<br />fctr<br />C2<br />IN+<br />OUT+<br />2<br />OUT+<br />IN+<br />4.7n<br />OUT-<br />IN-<br />Cdum<br />Cintg<br />0<br />EVALUE<br />10uF<br />GVALUE<br />Rdum2<br />0<br />0<br />0<br />0<br />0<br />IC = 0<br />0<br />0<br />2.2新規開発した等価回路モデル<br />物理的特性<br />|Z| - Frequency <br />Back EMF Voltage<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  64. 64. 52<br />2.2新規開発した等価回路モデル<br />Simulation<br />Steady-state current<br />=3.8A (motor with fan)<br />Input the Steady-State Current load condition.<br />(ex. IL=0.6A for the No Load or IL=3.8A for the motor with fan).<br />Steady-state current<br />=0.6A (no load)<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  65. 65. 53<br />2.2新規開発した等価回路モデル<br />Simulation<br />Input the value of “IL”=1.1A for the steady-state current condition 0.6A (the value is not matched).<br />Steady-state current<br />=0.6A<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  66. 66. 54<br />2.2新規開発した等価回路モデル<br />The test setup include 12Vdc source ,0.8 series resistor and the RS-380PH motor with fan.<br />Simulation<br />Measurement<br />VM(t) ,5V/DIV<br />IM(t) ,2A/DIV<br /><ul><li>This figure shows the result of the start-up transient simulation with RS-380PH motor model at condition 12V ,3.8A load.
  67. 67. The result is compared to the voltage and current waveforms obtained by the oscilloscope.</li></ul>All Rights Reserved Copyright (C) Bee Technologies Inc.<br />
  68. 68. 55<br />Bee Technologies Group<br />デバイスモデリング<br />スパイス・パーク(デバイスモデル・ライブラリー) <br />デザインキット<br />デバイスモデリング教材<br />【本社】<br />株式会社ビー・テクノロジー<br />〒105-0012 東京都港区芝大門二丁目2番7号 7セントラルビル4階<br />代表電話: 03-5401-3851<br />設立日:2002年9月10日<br />資本金:8,830万円 (資本準備金:1,500万円)<br />【子会社】<br />Bee Technologies Corporation (アメリカ)<br />Siam Bee Technologies Co.,Ltd. (タイランド) <br />お問合わせ先)<br />info@bee-tech.com<br />All Rights Reserved Copyright (C) Bee Technologies Inc.<br />

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