Motor Control, Part 4: Understanding Field-Oriented Control
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- เผยแพร่เมื่อ 4 พ.ค. 2024
- Field-oriented control (FOC) is a technique used to control various motor types, including permanent magnet synchronous machines (PMSMs). FOC makes use of Clarke and Park transforms that convert the three-phase sinusoidal currents into the direct and quadrature currents. You’ll learn how the direct and quadrature currents are controlled to bring the stator field vector orthogonal to the rotor field vector to maximize the generated torque.
Additional Resources:
- Learn about Simscape Electrical: bit.ly/3aXNJoe
- Field-Oriented Control: bit.ly/3X1lQo7
- Clarke and Park Tranforms: bit.ly/3IA29Q2
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Dört video da temiz ve anlaşılır anlatımınızla mükemmel olmuş. Ellerinize sağlık...
Very useful series of videos on Brushless motor control. Thank you for your effort in creating and sharing these videos with us.
This is by far one of the best videos with proper description. Keep up the good work!
The visual explanation in this video is magnificent!
One of the best videos so far on FOC!
A great presentation with impressive animation. Thank you.
this explanation is brutally awesome and one of the best things I have ever seen in my life (including movies)
Great explanation of the core concept, thank you!
Melda， Thank you so much for preparing such an engaging video series. Although I have been working in motor control for many years, your illustrated explanations have helped me fill in many details that I had previously overlooked when explaining control principles to others or analyzing and troubleshooting motor control issues. Whether you are a novice just starting to learn about motor control or a seasoned professional, there is something to gain from your presentation. Once again, thank you and I wish you a happy and fulfilling work and personal life!
Having to watch this multiple times. Each time a little light blinks. Great instructional videos.
Thank you so much for the BLDC motor control series.. very useful to start simulation with Matlab Simulink
very helpful. Many thanks for your series !
Really simple to understand visually!
This is the best video I have come across on this subject. This is how a teacher has to tackle all the subjects then he goes to the equations. but you are the best
One of the best helpful video on FOC. Thank you.
Melda, you have truly made me proud. Thanks for a very clear and understandable explanation.
proud of what?
Incredible presentation!
Amazing video. I finally understand this with your help Thanks
Very good explanation. Thank you for all the details.
Best explanation and animation I have ever found
Excellent presentation! The graphics are superb and your explanation was great. Nice work!
Hi Brian, remember me?
Explanation and representation is great. Thanks
the animation really helps to understand and get the background
could not be clearer. Thanks a lot!!!
Beautiful Video. God bless you all
Very nice explanation. Thank you.
This was really good. Thank you
Extremely helpful
Amazing Explanation..Thanks a lot!
Great, both presenter and presentation
Really well explained!
Very nice explanation... now I have to find how this is applied to induction motors or more exactly how the controller knows when the vector is 90deg or not
So you are controlling the magnetic field to always be 90 degrees to the affected rotor, and the motor speed and torque by the amplitude of the magnetic force. You do this by sensing the rotor position, the current and voltage going through the coils, and controlling the current of each coil, to keep the magnetic field at 90 degrees.
Great video, this solved my worry. Thank you
This video helped me a lot
thank you so much you save me , I was struggling to understand foc
谢谢分享
thank you very much !
Very helpful. Thankyou
Thanks!!
Quite helpful
thanks a lot
Best explanation
another excellent video
Thank you
thank you sister
think you so much
Great Video.
One Doubt - Wouldn't we also require the angle measurement of the rotor for the clarke/park and inverse clarke/park transformations?
How to calculate the Iq reference from the parameters of motor, such as voltage, current and power? Thank you for your video!
Very clear explanation, Thanks for the video...
You are welcome!
Thanks a lot
Nice explanation..
Does V/f also remains constant in vector controlled VFD ?
i.e. if a motor which is rated as 460V/60Hz is made to run at 30 Hz, does the voltage still remain 460V ?
this is gold
Useful video
Melda hanım, açıklayıcı sade bir içerik olmuş, teşekkürler..
Is this an enough method to do precision control?
Thanks for the great Videos. Ich habe a question. You Said in the Video Id doesnt Producer Torque. But why the Torque equation is T= p*(psid*Iq + psiq*Id)?
ImO simply one of the best videos on the web regarding FOC basic explaination
how do we find the direction of the rotor field?
Hi! I'm building a bicycle with a tiny motor and a 28" cnc machined rim-gear to compensate the gear ratio difference. I solved everything out except the esc issue.
I'm pretty amateur on building ESCs and recently read about FOC controllers making the motor run cooler and smoother.
Then I found the microcontroller AMT49406, which requires the less electronics. Would you recommend using FOC if I can't order the AMT49406, does it worth the effort?
I'm ordering from Turkey btw
Nice tutorial. Thanks for that. I see everywhere hot to control a motor in case it is already rotating. It doesn't seem complicated. But how do I start the motor? I can not imagine that the inverter would give the rotor a "kick" and let it run before the control algorithm takes control over the inverter when people sitting in a car.
You know the position of the motor before it starts to rotate, or you only need a kick in the size of one encoder increment, the resolution is so high that you dont feel any kick. She could not show it in her animation we would not see it on the screen.
can we apply field oriented control to l6235 driver
I need your help if you don't mind, I'm in the process of designing a pancake BLDC motor of a diameter of around 30cm with 120 poles to drive a record player 33rpm and 45rpm, I chose a large diameter with that many poles to have a very smooth speed, I just need a FOC motor controller and encoder design that goes with it.
thanks alot.............................
Great Video! Phenomenal. One question. In the dq frame where the error signal is produced by comparing the feedback signals with the reference signal, in a PMSM the torque producing component reference is 0 right? what would the signal q component reference be for an induction machine? Thank You (what i basically mean in PMSM the id current axis stays 0 while the iq axis remains at its maximum, or anywhere between: And in induction machine how are id and iq summed up to result a rotor vector?)
Here's my two-cents answer. In an induction motor, Id is the stator magnetizing current and Iq is the rotor current. Id creates the stator field (phi_s) and also induces Iq which is proportional to the slip frequency (until a certain level). Then, torque is generated by the interaction of the phi_s and Iq.
I have a question. How do I get Vd and Vq?
Mam,I want to know inverter air conditioner compressor has technology? This technology has it? Please help
Tnx
Super
Nice Explanation. Which software do you use to create such animations?
The animations shown in the videos are created with MATLAB. Feel free to check out this GitHub repo where you'll find scripts that let you animate BLDC motors: github.com/mathworks/Design-motor-controllers-with-Simscape-Electrical
@@meldaulusoy8389 thank you so much Abla.It made me inspired to see you in under the MATLAB content.
where can i find this model of FOC?
Good video, I hope to learn in detail about MPC control for beginning, please.
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Hello how's it going all? Hey - I'm often asked the question - "What does LM mean?" I think its "limit modulation" - it seems to limit the rate of increase in current. Is this fing correct? also AN - another mysterious acronym that seems to have less noticeable impact than LM but is recommended to be set at 1-8 for most hub motors and 8-16 for IPMs. what is it and how does it affect motor performance?
At around 7:14, when the stator field is aligned with the quadrature axis there are always 3 currents present, even when directly aligned with a specific coil's field (e.g. stator field aligned with A). Would it be more efficient if only current through coil A was present at this moment? Likewise when the quadrature axis is aligned with B and C
The coils can both pull or push the magnets. BLDC motors do as you described and are very efficient. But I fell that there are always a contribution to be had by keeping a constant average voltage and current flowing. If the drive does not energize all 3 coils at some point the rotor will bleed it’s energy to do it, BLDC motors use this signal to find the zero crossing, but since the FOC are usually feed the position externally this is not needed. Writing this I realize that at holding torque or startup it is probably beneficial to energize only 2 coils as you said. All that I said could be wrong, so take it with a grain of salt.
👍
I have learned how to control motors and how to live decently at one go. I have to minimize my ID and maximize IQ :D
good
This is an excellent explanation, much better than the "lesics" channel trash
may u make a tutorial of published paper?? please replay me
melda hanım ağzınıza sağlık türkçe sini bekliyoruz . bu memleketin insanı da faydalansa zaten yeterince ingilizce kaynak var . 50 kişilik bir grubumuz var foc adına birgün gelip anlatırmısınız bi meet yapsak öğrenci arkadaşlar faydalanır . Saygılar..
Birde türkçesini yayınlarsanız çok kişi faydalanacak emeğiniz için teşekkürler
six-step commutation stator magnetic field magnitude animation is wrong.
This is for which course? Electrical engg or Mechanocal engg? Anyone can tell me the specific course/domain name?
Mechatronic engg :P
May I asking for paper as a tutorial please its too complicated
omg i just understood the whole semester in 10 minutes...why oh why are 99% of teachers so bad :(
@1:30 the second magenta arrow is full-length. That's horribly misleading - is should not be any longer than the shortest length in the BLDC example.
@@user-fo7ox3gb9b No, I'm not sure, but FOC does it's thing by reducing the PWM "on time" (among other tricks) to emulate a sine wave, while a square-wave does not. Plot a sine wave inside a square wave - which has the greater area?
And how sure are you about your 90-degree statement? Magnetic fields are not constant, and 90 degrees between 2 excited phases is the point where the field is exponentially the *least*. Yes, it's the best logical *angle*, but it's also the lowest *strength*.
FWIW - I believe FOC is garbage - even if the math worked out, it's never going to be correct in the real world. Vastly better than FOC would be a learning system based on feedback, so the MCU works out for itself (in real time, and continuously variably) the precise transforms that measurably are the best for the exact motor+rpm+voltage - sometimes that's easy (e.g. propeller in air - input easily affects output) sometimes that's really hard (e.g. skateboard input hard to judge because of terrain) - but either way, it learns, so it's going to beat any "canned" concept every time.
I think you misunderstand how motors are wired, or what PWM is. There are 6 FETs connected to + and - on one side, and 3 phase windings on the other: there is no magic that tells electrons to go through a motor instead of short-circuiting to a neighboring FET - so there's no possible way to excite 3 phases at once. FETs are either on of off, there's no inbetween. If you cannot explain FOC, or in your words "not going to try to convince" - it sounds like you want to win an argument, instead of understand the topic. HEAPS of stuff on the internet is untrue and wrong and misleading, you need to fully understand it yourself before you can trust it. If you google around a lot more on this topic as I have, it becomes clear that there are no real working explanations - just fake examples from vendors trying to sell chips, and bloggers in RC forums who basically repeat what they see in this video without understanding the electronics.
As for your silly "Full Stop" statement - besides that being both rude and indicative that you're not interested in looking at the math properly, I suggest you go out and buy a pair of magnets. Play with them, and take a note of whether or not they "pull harder" when they're closer. That's an exponential relationship missing from the maths here.
Cute baby
Wow, very pretty! Could I interest you in a cup of coffee some time?
It's not F.O.C, it's FOC. Wantsumfoc?