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Power Electronicselectronics PowerPower ElectronicsElectronics E-mail: [email protected] http://web.yonsei.ac.kr/hgjung ElectronicallyElectronically ControlledControlled Switches,Switches, BJTBJT andand FETFET [2] BJT FET IB>θON saturation region short circuit VGS>θON ohmic region short circuit IB<θOFF cutoff region open circuit VGS<θOFF cutoff region open circuit E-mail: [email protected] http://web.yonsei.ac.kr/hgjung HydraulicHydraulic CircuitCircuit ofof EHBEHB [1][1] E-mail: [email protected] http://web.yonsei.ac.kr/hgjung HydraulicHydraulic CircuitCircuit ofof EHBEHB [1][1] Figure 15. Solenoids installed on the HECU. Solenoid driving circuit Forces related with valve E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SolenoidSolenoid DrivingDriving [1][1] PWM (Pulse Width Modulation) PWM or Pulse Width Modulation refers to the concept of rapidly pulsing the digital signal of a wire to simulate a varying voltage on the wire. This method is commonly used for driving motors, heaters, or lights in varying intensities or speeds. A few terms are associated with PWM: Period - how long each complete pulse cycle takes Frequency - how often the pulses are generated. This value is typically specified in Hz (cycles per second). Duty Cycle - refers to the amount of time in the period that the pulse is active or high. Duty Cycle is typically specified as a percentage of the full period. http://www.acroname.com/robotics/info/concepts/pwm.html E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SolenoidSolenoid DrivingDriving [1][1] Solenoid driving circuit ON state OFF state E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SolenoidSolenoid DrivingDriving [1][1] di di L Ri L 0 i 0 where, dt dt R t A 1st-order source-free circuit had the form Ae t=0 일때, i0 A I 0 A I0 i t it I0e I0 OFF state t E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SolenoidSolenoid DrivingDriving [1][1] di di L V Ri L V i I where, , I BAT dt BAT dt S R S R The complete response for 1st-order circuit with DC forcing t functions will have the form B Ae t it B Ae 을 윗 식에 대입하면, t t A B Ae e I B I S S t=0 일때, i0 I A I A I0 I S ON state S 0 t t t i t I I I e I e I 1 e S 0 S 0 S E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SolenoidSolenoid DrivingDriving [1][1] t t t i t I I I e I e I 1 e S 0 S 0 S t I0 I0 I S I0 I S e t i I0 I S I0 I S I0 e I t s I I I 1 e 0 S 0 I0 t E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SequenceSequence ofof InitialInitial CurrentCurrent [1][1] The initial current of each PWM period can be calculated recursively from the first period as below : δ : duty ratio I0 (1) 0 T IIsIs(1) 0 e (1 )TT IIsIs(2) 0 ee TTTT IIsIsIsIs(2) 0 eee (1 )TT (1 ) TTT 2 IIsIsIsIs(3) 0 eeee TTTTT22 TT IIsIsIsIsIsIs(3) 0 eee ee (1 )TTTTT (1 ) 2 2 TTT (1 ) 3 IIsIsIsIsIsIs(4) 0 eeeeee ... E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SequenceSequence ofof InitialInitial CurrentCurrent [1][1] nth initial current is the summation of geometric series. (1 )TT (1 ) TTT 2 IIsIsIsIs(3) 0 eeee (1 )TT (1 ) TT T IIs0 (3) Is ee eee (1)nT (1 )TT 1 e In0 ( ) Is ( )T (3-1) ee 1 e TTTTT22 TT IIsIsIsIsIsIs(3) 0 eee ee nT T 1 e In0 ( ) Is (1 )T (3-2) e 1 e E-mail: [email protected] http://web.yonsei.ac.kr/hgjung SequenceSequence ofof InitialInitial CurrentCurrent [1][1] The current integration of nth PWM ON state (1)nT tTTt(1 ) T VV V 1 BAT BAT BAT e IdtON {()} T 0 RReee R e 1 e The current integration of nth PWM OFF state nT Tt (1 )T V 1 BAT e IOFF {(1)T }dt 0 R ee 1 e E-mail: [email protected] http://web.yonsei.ac.kr/hgjung AverageAverage SolenoidSolenoid CurrentCurrent [1][1] By dividing the summation of ION and IOFF by the period T, the average solenoid current at time index n TnT Tt V V in()BAT {1(1) } nT t it( )BAT {1 (1 ) } (4-2) RT ee RT ee E-mail: [email protected] http://web.yonsei.ac.kr/hgjung AverageAverage SolenoidSolenoid CurrentCurrent [1][1] Tt V it( )BAT {1 (1 ) } (4-2) RT ee T x 1 x (1 ) x e If the PWM period T is sufficiently smaller than the solenoid time constant τ , x has a very small value and the coefficient becomes –1. Ex) In our case, τ=0.003, T=0.00005 → x<0.017 Tt t V V it()BAT {1 (1 ) } (4-2) it()BAT (1 ) (5-1) RT ee R e E-mail: [email protected] http://web.yonsei.ac.kr/hgjung AverageAverage SolenoidSolenoid CurrentCurrent [1][1] If there is non-zero initial current at first period, the average solenoid current is modified as below: V BAT t VV R it()BAT ( Io BAT ) RRe t VBAT Io( Io ) 1 (5-2) R e Envelop Io The saturated current is in linear relation with duty-ratio The envelop of solenoid current, in other words, the average current changes from the initial current to the saturated current exponentially If PWM frequency is sufficiently high, the average current has the same time constant with the instant solenoid current. E-mail: [email protected] http://web.yonsei.ac.kr/hgjung HH BridgeBridge An H bridge is an electronic circuit that enables a voltage to be applied across a load in either direction. These circuits are often used in robotics and other applications to allow DC motors to run forwards and backwards. H bridges are available as integrated circuits, or can be built from discrete components. http://en.wikipedia.org/wiki/H_bridge Structure of an H bridge (highlighted in red) E-mail: [email protected] http://web.yonsei.ac.kr/hgjung HH BridgeBridge The two basic states of an H bridge http://en.wikipedia.org/wiki/H_bridge E-mail: [email protected] http://web.yonsei.ac.kr/hgjung HH BridgeBridge A solid-state H bridge is typically constructed using opposite polarity devices, such as PNP BJTsor P-channel MOSFETs connected to the high voltage bus and NPN BJTs or N-channel MOSFETs connected to the low voltage bus. http://en.wikipedia.org/wiki/H_bridge http://people.ece.cornell.edu/land/courses/ece4760/FinalProjects/s1999/bell/abell.cnazarian.ee476.finalproject.rccar.html E-mail: [email protected] http://web.yonsei.ac.kr/hgjung HH BridgeBridge The most efficient MOSFET designs use N-channel MOSFETs on both the high side and low side because they typically have a third of the ON resistance of P-channel MOSFETs. This requires a more complex design since the gates of the high side MOSFETs must be driven positive with respect to the DC supply rail. However, many integrated circuit MOSFET drivers include a charge pump within the device to achieve this. http://en.wikipedia.org/wiki/H_bridge Typical solid-state H bridge http://www.intersil.com/data/an/an9405.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung BLDCBLDC MotorMotor http://ccie-accreditation.org/anonymizer-wind-i nrunner-bldc/ E-mail: [email protected] http://web.yonsei.ac.kr/hgjung BLACBLAC MotorMotor A 3-phase power supply provides a rotating magnetic field in an induction motor. http://en.wikipedia.org/wiki/Asynchronous_motor A symmetric rotating magnetic field can be produced with as few as three coils. The three coils will have to be driven by a symmetric 3-phase AC sine current system, thus each phase will be shifted 120 degrees in phase from the others. http://en.wikipedia.org/wiki/Rotating_magnetic_field Sine wave current in each of the coils produces sine Vector sum of the magnetic field vectors of the stator coils varying magnetic field on the rotation axis. Magnetic produces a single rotating vector of resulting rotating fields add as vectors. magnetic field. E-mail: [email protected] http://web.yonsei.ac.kr/hgjung 33--PhasePhase BridgeBridge [2][2] E-mail: [email protected] http://web.yonsei.ac.kr/hgjung 33--PhasePhase BridgeBridge [2][2] http://www.intersil.com/data/an/an9642.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung 33--PhasePhase DriverDriver [2][2] A simple method to generate the PWM pulse train corresponding to a given signal is the intersective PWM: the signal (here the red sinewave) is compared with a sawtooth waveform (blue). When the latter is less than the former, the PWM signal (magenta) is in high state (1). Otherwise it is in the low state (0). http://en.wikipedia.org/wiki/Pulse-width_modulation E-mail: [email protected] http://web.yonsei.ac.kr/hgjung 33--PhasePhase DriverDriver [2][2] Principle of the delta PWM. The output signal (blue) is compared with the limits (green). These limits correspond to the reference signal (red), offset by a given value. Every time the output signal reaches one of the limits, the PWM signal changes state. http://en.wikipedia.org/wiki/Pulse-width_modulation E-mail: [email protected] http://web.yonsei.ac.kr/hgjung PowerPower SemiconductorSemiconductor DeviceDevice http://en.wikipedia.org/wiki/Power_semiconductor_device E-mail: [email protected] http://web.yonsei.ac.kr/hgjung PowerPower SemiconductorSemiconductor DeviceDevice http://en.wikipedia.org/wiki/Power_semiconductor_device E-mail: [email protected] http://web.yonsei.ac.kr/hgjung PowerPower SemiconductorSemiconductor Device:Device: IGBTIGBT The IGBT(insulated gate bipolar transistor ) combines the simple gate-drive characteristics of the MOSFETs with the high-current and low–saturation-voltage capability of bipolar transistors by combining an isolated gate FET for the control input, and a bipolar power transistor as a switch, in a single device.
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