1

TMS320LF2407 DSP

,(PMSM)

DSP

(QEP)(P)-

(IP)(Fuzzy)(SVPWM)

TMS320LF2407 DSP

-(PI),

(P)-

(IP)(Fuzzy)

PC

VB TI TMS320LF240X EVM

(PMSM)

()(75kg~250kg)

(75kg~ 105kg)

Fuzzy IP P

2

Abstract

A study on speed control system of the electronic treadmill based on the TI

TMS320LF2407 DSP is presented in this thesis, and systematic drive adopts the way of

PMSM. First of all, a fully digital servo motion controller for controlling PMSM is

developed in TMS320LF2407 DSP chip. That is, coordinate transformation, detection

of quadrature encoder pulse (QEP), Proportion (P) controller, integration proportion

(IP) controller, fuzzy controller, SVPWM output of ac motor, are all performed by

software in a TMS320LF2407 DSP chip. Current loop adopts proportion integration

(PI) controller. In order to improve the robustness of speed controller and understand

the treadmill of appears characteristic in different control rules. Speed controller adopts

three ways of proportion (P), integration proportion (IP) and Fuzzy. In addition, an

experimental system of structure - include controlling and shows the window (written

by VB), the experiment board regard TI TMS320LF240X EVM as the core, servo

motor driver, permanent magnetism synchronous motor (PMSM), treadmill machine

platform, etc. The experiment include the treadmill unloaded responding of step

command, the starting of treadmill loads, the running of treadmill real machine loads .

According to the experimental result, in the control of the speed loop, fuzzy controller

has better response and performance than IP controller and P controller.

3

................................................................................................................... i

.................................................................................................................. ii

........................................................................................................................ iii

...................................................................................................................... v

..................................................................................................................... ix

.......................................................................................................... 1

1.1 ............................................................................ 1

1.2 .................................................................................... 4

1.3 .................................................................................... 5

.................................................... 6

2.1 (PMSM).................................. 6

2.2 ......................................................................... 8

2.3 (Vector Control)............................ 11

2.4 (SVPWM)...................................................... 13

................................................................................. 19

3.1 -(IP)..................................................................... 19

3.2 -(IP)................................................................... 21

3.3 (Fuzzy)................................................................. 22

3.3.1 ........................................................................ 22

3.3.2 .................................................................................... 24

3.4 (Fuzzy)............................................................. 28

TMS320LF2407 ...................................................................... 33

4.1 DSP .............................................................................................. 33

4

4.2 (Event Manager Module)............................................. 38

4.3 ADC ............................................................................................. 39

..................................................................................... 42

5.1 ...................................................................................... 43

5.1.1 ......................................................................... 43

5.1.2 (DSP)EVM .............................................. 44

5.1.3 (PMSM)................................................................ 46

5.1.4 (Electric Treadmill Mechanics).................. 46

5.1.5 ......................................................................... 48

5.2 ...................................................................................... 56

................................................................................. 60

6.1 ............................................................................ 60

6.2 ()................................................... 65

6.3 ............................................................................ 71

6.4 .................................................................... 76

..................................................................................... 90

7.1 ...................................................................................................... 90

7.2 .............................................................................................. 91

................................................................................................................ 92

................................................................................................................ 97

5

1.119962002..................... 2

2.1 ......................................................................... 15

2.2()........................................................ 16

2.3T1T2.................................................................................. 17

2.4............................................................................. 18

3.1.................................................................................................. 32

4.1 TMS320 ............................................................................ 33

5.1 ................................................................................................... 46

5.2........................................................................................ 56

6

1.1 ............................................. 2

2.1 (PMSM)................................... 7

2.2 qd ...................................................................... 9

2.3 ..................................................................... 12

2.4................................................................................. 13

2.5 ..................................................................... 13

2.6 .................................................................................... 14

2.7............................................................................. 15

3.1................................................................................. 20

3.2 .................................................................................... 20

3.3................................................................................................ 23

3.4................................................................................................ 23

3.5................................................................................................ 24

3.6............................................................................................ 25

3.7 Min-Min-Max ............................................................................... 26

3.8 Min-Product-Max ......................................................................... 27

3.9 IP................................................................. 29

3.10.................................................................... 29

3.11........................................................ 30

3.12(B)................................................... 30

3.13........................................................ 31

4.1TMS320 DSP............................................... 34

4.2 TMS320LF240X ............................................................................ 36

4.3 TMS320LF240X..................................................................... 37

7

4.4(EVAEVB)........................................................................ 38

4.5 TMS320LF240X ADC ()............................................. 40

4.6 TMS320LF240X ADC()...................................... 41

5.1 DSP_Based .......................................... 42

5.2 DSP_Based ............................................. 43

5.3TMS320LF2407 DSP................................ 44

5.4 (DSP)EVM ................................................... 45

5.5 TMS320LF2407 EVM.................................................................... 45

5.6 ........................................................................................ 47

5.7 ........................................................................................ 47

5.8[17][20].................................................................. 48

5.9 ..................................................................... 51

5.10................................................... 52

5.11 ............................................................ 53

5.12 PWM................................................................................ 54

5.13 PWM........................................................................................ 55

5.14........................................................................... 56

5.15 ..................................................................................................... 57

5.16 DSP...................................................................................... 57

5.17 C code composer .......................................................................... 58

5.18 MATLABDSP.............................................................. 59

5.19 Visual basicDSP............................................................... 59

5.20 Visual basic .............................................................................. 59

6.1 SVPWM ............................................................................. 61

6.2 SVPWM................................................................................. 61

8

6.3 SVPWM........................................................................................ 62

(a) PWM2 PWM4........................................................................................ 62

(b) PWM2 PWM6........................................................................................ 62

6.4=500rpm(=3.3KPH)............... 63

6.5 75Kg=500rpm(=3.3KPH)..... 63

6.6 =1000rpm(=6.6KPH)................ 63

6.7 75Kg=1000rpm(=6.6KPH)... 64

6.8 =1500rpm(=10KPH)................. 64

6.9 75Kg=1500rpm(=10KPH).... 64

6.10 ()=120rpm(0.8KPH)

........................................................................................................................ 66

6.11()=600rpm(4KPH).... 67

6.12()=1200rpm(8KPH).. 68

6.13 ()=1800rpm(12KPH)

............................................................................................................................ 68

6.14 ()=2400rpm(16KPH)

............................................................................................................................ 69

6.15 ()=3000rpm(20KPH)

............................................................................................................................ 70

6.16 =75kg=30rpm(0.2KPH)... 72

6.17=90kg=30rpm(0.2KPH)....... 73

6.18 =120kg=30rpm(0.2KPH)..... 73

6.19 =150kg=30rpm(0.2KPH)..... 74

6.20 =180kg=30rpm(0.2KPH)..... 74

6.21 =210kg=30rpm(0.2KPH)..... 75

6.22 =250kg=30rpm(0.2KPH)..... 75

9

6.23 =75kg=120rpm(0.8KPH)..... 78

6.24=75kg=600rpm(4KPH)........ 78

6.25 =75kg=1200rpm(8KPH)...... 79

6.26 =75kg=1800rpm(12KPH).... 79

6.27 =75kg=2400rpm(16KPH).... 80

6.28 =75kg=3000rpm(20KPH).... 80

6.29 =90kg=120rpm(0.8KPH)..... 82

6.30=90kg=600rpm(4KPH)........ 82

6.31 =90kg=1200rpm(8KPH)...... 83

6.32 =90kg=1800rpm(12KPH).... 83

6.33 =90kg=2400rpm(16KPH).... 84

6.34 =90kg=3000rpm(20KPH).... 84

6.35 =105kg=120rpm(0.8KPH)... 86

6.36 =105kg=600rpm(4KPH)...... 86

6.37 =105kg=1200rpm(8KPH).... 87

6.38 =105kg=1800rpm(12KPH).. 87

6.39 =105kg=2400rpm(16KPH).. 88

6.40 =105kg=3000rpm(20KPH).. 88

10

1.1

2002

458 (NGSA) 2003

2% 468 2002 217

2001 216 2003 219 2%

(exercise equipment) 11% 10[43]

1990

OEM

1.1 1996

2002[44] 1.1

[45]

OEM

11

1.1 1.1 1.1 1.1 1996199619961996 2002200220022002

1.11.11.11.1

(1)

(2)

(

)

12

(BLDC)

(Mechanical Commutation

(BLDC)

[1]

[2]

[3]

[4]

[5]

[6] PIC [7]

[8]

(sensor-less)

[9]

[10]

[11]

[12]

[13]

13

(BLDC)[1-13]

(PMSM)

1.2

(1)(2)

(3)(4)

(DSP)[27-30]

DSP

DSP TI TMS320LF24X DSP(20 ~ 40MPIS)

32Kx16 2 (12 )PWM 2 QEP

12 12 A/D 56

PI

(P)-(IP)(Fuzzy)

14

TMS320LF2407 DSP

SVPWMPI (P)

-(IP)(Fuzzy)

DSP

1.3

DSP

(PMSM)

-(IP)

(Fuzzy) DSP TMS320LF2407

(P)-(IP)

(Fuzzy)

15

2.1 (PMSM)

(PMSM) 2.1 (Stator)

120 (Rotor)

d as

d

=d axis

16

2.1 (PMSM)

sR sL sM

(2.1)dt

ds =

+

+

+

+

=

cs

bs

as

cs

bs

as

ssss

ssss

ssss

cs

bs

as

s

i

i

i

sLRsMsM

sMsLRsM

sMsMsLR

v

v

v

2

1

2

12

1

2

12

1

2

1

(2.1)

axisbs

axisr

axisas

axiscs

e

e

asv +

bsv+

+csv

sR

sR

sR

sL

asi

bsi

csi

rLri

sL

sL

17

+

+

+

=

0

0

cos)3

2cos()

3

2cos(

)3

2cos(cos)

3

2cos(

)3

2cos()

3

2cos(cos

r

rrr

rrr

rrr

s

cs

bs

as i

M

(2.2)

(2.1)(2.2)

2.2

, qs dsg g q d 2.2

q a d q 90

qd 1k

0as bs csg g g+ + = (2.3)

0 0g 2k

qd0

2 23 32 2

1 3 3

0 2 2 2

cos cos( ) cos( )

sin sin( ) sin( )

qs as

ds bs

s cs

g g

g k g

g k k k g

+ = +

(2.4)

18

2.2 qd

0qd s s abcs=g K g (2.5)

sK 2 11 23 2,k k= =

2 23 3

2 2 23 3 3

1 1 12 2 2

cos cos( ) cos( )

sin sin( ) sin( )s

+

= +

K (2.6)

1 2 23 3

2 23 3

cos sin 1

cos( ) sin( ) 1

cos( ) sin( ) 1

s

= + +

K (2.7)

rK

0qd r r abcr=g K g (2.8)

csg

dsg

drg

e

ee

asg

qsgbsg

19

( )( )

2 23 3

2 2 23 3 3

1 1 12 2 2

cos cos( ) cos( )

sin sin( ) sin( )

r r r

r r r r

+

= +

K (2.9)

( ) ( )1 2 2

3 3

2 23 3

cos sin 1

cos( ) sin( ) 1

cos( ) sin( ) 1

r r

r r r

r r

= + +

K (2.10)

(2.5)(2.6) qd0

1 1 10 0 0( ) +s qd s s s s qd s ms r qd rp p

= +K v R L K i L K i (2.11)

qd0

( ) 1 10 0 0+qd s s r r s qd s s ms r qd rp p = +v K R L K i K L K i (2.12)

== frr Ii

frdmrdmf ILiL == (2.13)

d a

d d

+

+

+=

0

fe

ds

qs

dssqse

dseqss

ds

qs

i

i

sLRL

LsLR

v

v

(2.14)

dsL qsL qd e

20

+

=

ds

ds

qs

feqs

ds

qs

ds

s

ds

qs

e

qs

dse

qs

s

ds

qs

L

v

L

v

i

i

L

R

L

L

L

L

L

R

i

i

dt

d

(2.15)

(2.25)

2.3 (Vector Control)

d q

70

(Field Oriented

Control)

qd

(2.16) P eT

)(22

3dsqsqsdse ii

PT = (2.16)

ds

qs

frdmdrdmdsdsds ILiLiL ++= (2.17)

qrqmqsqsqs iLiL += (2.18)

21

( ) ( )[ ]

( )[ ]dsqsqsdsqsf

dsqsqsdsdsqrqmqsdrfrdme

iiLLiP

iiLLiiLiiILP

T

+=

++=

22

3

22

3

(2.19)

(2.19) qd

0=dsi

(2.16)

qsfe iP

T 22

3= (2.20)

d q PI dsi

dsi (2.19)

(2.20) 2.3

2.3

2.4 (2.21)

IP

KK

s+

IP

KK

s+

1

qsL

1

s

qs

Rs

L+

ds3

4

P

1

dsL

1

s

ds

Rs

L+

qs

*

qsi

* 0dsi = dsv

qsv

qsi

dsi

+

+

-

-

eT

+

+

22

Lrmr

me TBdt

dJT ++=

(2.21)

2.3 0=dsi

2.5

2.4

2.5

2.4 (SVPWM)

PWM(Pulse-Width Modulati

on)

1

s

ds

Rs

L+

* 0dsi =

qsv qsi

+

-

+ -

4 1

3 fP

*

eT +

-

*

qsi q 1

qsL

1

s

qs

Rs

L+

+

- *

rm

m m

1

J s B+

eT

lT

d 1dsL

dsv

dsi

ds 34

P

+

+

qs

rm

eTfd

dt

+

mB

r

JT

sv

sR sL

si

+

mJ

23

(Sinusoidal Pulse Width

Modulation, SPWM)

(Space Vector Pulse-Width Modulation, SVPWM)

SVPWM 1980

(VSI) 2.6

6 1

0 3 823 =

6 2 2.7

2.6

2.7 060

000O 111O

2.1

24

2.7

2.1

a b c ANV BNV CNV ABV BCV CAV

0 0 0 0 0 0 0 0 0

1 0 0 DCV3

2

3

DCV 3

DCV DCV 0 DCV

1 1 0 3

DCV 3

DCV DCV3

2 0 DCV DCV

0 1 0 3

DCV DCV3

2

3

DCV DCV DCV 0

0 1 1 DCV3

2

3

DCV 3

DCV DCV 0 DCV

0 0 1 3

DCV 3

DCV DCV3

2 0 DCV DCV

1 0 1 3

DCV DCV3

2

3

DCV DCV DCV 0

1 1 1 0 0 0 0 0 0

CLARK

(2.22)

25

=

=

BN

AN

CN

BN

AN

V

V

V

V

V

V

V

3

2

3

101

2

3

2

30

2

1

2

11

3

2

(2.22)

2.2

outU

2.8 outU

T

OOTU

T

TU

T

TU XXout

)( 111000060

21 ++= + (2.23)

210 TTTT = T PWM 1T 2T

(2.23) 000O 111O outU

2.2 ()

a b c V V

0 0 0 0 0 0000

0 0 1 3

DCV 3

DCV 2400

0 1 0 3

DCV 3

DCV

1200

0 1 1 DCV3

2 0 1800

1 0 0 DCV3

2 0 00

1 0 1 3

DCV 3

DCV 3000

1 1 0 3

DCV 3

DCV

600

1 1 1 0 0 1110

26

SVPWM

1 1refV 2refV 3refV (2.24)~(2.27)

0 1 0 1 ==> aelseathenVif ref (2.24)

0 1 0 2 ==> belsebthenVif ref (2.25)

0 1 0 3 ==> celsecthenVif ref (2.26)

cba 42 ++= (2.27)

2(2.28) XT YT ZT

=

2

3

13

ref

ref

ref

DC

Z

Y

X

V

V

V

V

T

T

T

T

(2.28)

3 2.3 1T 2T (2.29)~(2.30) 1T 2T

2.3 T1 T2

1 2 3 4 5 6

1T ZT YT ZT XT XT YT

2T YT XT XT ZT YT ZT

21

1)(1TT

TTT sat

+= (2.29)

21

2)(2TT

TTT sat

+= (2.30)

27

4(2.31)~(2.33) aonT bonT conT

2/)(2/)( 021 TTTTTaon == (2.31)

1TTT aonbon += (2.32)

2TTT boncon += (2.33)

5 2.4 (CMPR1CMPR2CMPR3)

2.4

60~0

S3

120~60

S1

180~120

S5

240~180

S4

300~240

S6

360~300

S2

CMPR1 Taon Tbon Tcon Tcon Tbon Taon

CMPR2 Tbon Taon Taon Tbon Tcon Tcon

CMPR3 Tcon Tcon Tbon Taon Taon Tbon

28

3.1 ----(IP)(IP)(IP)(IP)

PID

(1)rise timedelay time

overshootpercent

of maximum overshoot

(2)reduce or eliminatesteady state

error

(3)

PID

IP PI IP

3.1v

vv

as

bsG

+=)( (3.1)

PI 3.2 (3.2)

IvvPvvv

Ivv

kbskbas

kb

+++=

)(2*

(3.1)

IvvPvvv

Ivvpvv

kbskbas

kbskb

+++

+=

)(2*

(3.2)

29

+

--

+

*)(sGv

s

kIv

pvk

3.1 (IP)(IP)(IP)(IP)

-

+

++

* )(sGv

pvk

s

kIv

3.2 (PI)(PI)(PI)(PI)

(3.2) PI IP

(3.1) IP

PI

IP

IP PI :

(1) IP PI Ivk pvk PI IP

(2) Ik pk IP

30

(3) IP

I

k p

k

(4) PI

(5) IP

(IP)

3.1 IP (3.3)

n

22

2

2*2)( nn

n

IvvPvvv

Ivv

sskbskbas

kb

++=

+++= (3.3)

Ivk pvk (3.4)(3.5)

v

ni

bk

2

= (3.4)

v

vnp

b

ak

=

2 (3.5)

3.2 -(IP)

3.1

71.2s

5.2197

vG

+= ts=0.2

=1(3.4)(3.5) kIv 0.0436

kpv 0.00825

31

3.3 (Fuzzy)

(Fuzzy Theory)

1965 L.A.Zadeh

(Fuzzy Set)(Fuzzy Number and Membership Function)

(Fuzzy Relation)(Fuzzy Inference)(Fuzzy Control

System)

3.3.1 [33-42]

(a) (Triangular Membership Function)

32

(b) (Trapezoidal Membership Function)

33

3.3.2 [33[33[33[33----42]42]42]42]

[33-42]

1. (Fuzzification Interface, FI)

2. (Knowledge Base)

3. (Rule Base)

4. (Inference Engine)

5. (Defuzzification Interface, DFI)

3.6

m u

1

G

3.5

34

1.

(Normalization)

2.

3.

IF,THEN

(1)

(2)

(3)

Scaling factor

Normalization

Sensor

Inference

3.6

Rule

Base

FI

Knowledge

Base

DFI Plant

Input

Output

35

4.

(Fuzzy Logic)

IF X1 is A1 and X2 is B1 THEN y is C1 (3.9) IF X1 is A2 and X2 is B2 THEN y is C2 (3.10)

(1)Min-Min-Max

3.7 Min-Min-Max

(a) Wi { } 1,2i )(),(min

)()(

21

21

==

=

XX

XXW

BiAi

BiAii

(3.11)

(b) )(' yCi { } 1,2i )(,min)( '' == yCwyC iii (3.12)

(c) )(* yC

{ })(),(max)( '2'1* yCyCyC = (3.13)

3.7 Min-Min-Max

36

(2)Min-Product-Max

3.8 Min-Product-Max

(a) iW

{ } 1,2i )(),(min )()(

21

21

==

=

XX

XXW

II

II

BA

BAi

(3.14)

(b) )(' yCi

1,2i )()(' == yCWyC iii (3.15)

(c) )(* yC

{ })(),(max)( '2'1* yCyCyC = (3.16)

3.8 Min-Product-Max

(3)(Maximum Algorithm)

(Look-Up Table)

37

5.

(1)(Center of Area Method)

)(

)(

*

*

1

ic

ic

n

i

i

y

yy

y

=

=

(3.17)

C* Y { }nyyyY ,....,, 21= n Y

(2)(Mean of Height Method)

y

=

=

=n

i

i

n

i

ii

f

gf

y

1

1 (3.18)

if ig

(3)(Maximum Algorithm)

(Look-Up Table)

3333.4.4.4.4 (Fuzzy(Fuzzy(Fuzzy(Fuzzy logic logic logic logic))))

IP PI

38

3.9

S

1

3.9

1.

(positive big pb) (positive small ps) (zero zo)(negative big

nb)(negative small ns)(e)

3.10

nb ns zo ps pb

0-

1

0.5

0-1 0.3 10.3

3.10

(de)

3.11

39

3.12

nb ns zo ps pb

0

1

0.5

0-1 0.5 1-0.5

3.11

nb ns zo ps pb

0

1

0.5

0-1 0.5 1-0.5

3.12

2.

5

253.13

25

40

d e

e

3333....13 13 13 13

IF e IS nb AND de IS nb THEN U IS nb

IF e IS nb AND de IS ns THEN U IS nb

IF e IS nb AND de IS zo THEN U IS nb

IF e IS nb AND de IS ps THEN U IS ns

IF e IS nb AND de IS pb THEN U IS ns

IF e IS ns AND de IS nb THEN U IS nb

IF e IS ns AND de IS ns THEN U IS ns

IF e IS ns AND de IS zo THEN U IS ns

IF e IS ns AND de IS ps THEN U IS zo

IF e IS ns AND de IS pb THEN U IS pb

IF e IS zo AND de IS nb THEN U IS nb

IF e IS zo AND de IS ns THEN U IS ns

IF e IS zo AND de IS zo THEN U IS zo

IF e IS zo AND de IS ps THEN U IS ps

IF e IS zo AND de IS pb THEN U IS pb

IF e IS pb AND de IS nb THEN U IS ns

IF e IS pb AND de IS ns THEN U IS zo

IF e IS pb AND de IS zo THEN U IS ps

IF e IS pb AND de IS ps THEN U IS ps

IF e IS pb AND de IS pb THEN U IS pb

IF e IS ps AND de IS nb THEN U IS ns

IF e IS ps AND de IS ns THEN U IS ps

IF e IS ps AND de IS zo THEN U IS pb

IF e IS ps AND de IS ps THEN U IS pb

41

IF e IS ps AND de IS pb THEN U IS pb

25 3.1

3333.1.1.1.1

de de de de nbnbnbnb nsnsnsns zozozozo pspspsps PbPbPbPb

NbNbNbNb nb nb nb ns Ps

NsNsNsNs nb ns ns zo Pb

ZoZoZoZo nb ns zo ps Pb

PsPsPsPs ns zo ps ps Pb

PbPbPbPb ns ps pb Pb Pb

3.

min-min-max

(W)

(B)

(3.19)

(3.19)

(3.19)

=W

BW) (U F

e

42

TMS320LF2407

DSP DSP

DSP TI TMS320LF240X

TMS320LF320X DSP

4.1 DSP

TMS320 DSP

TI TMS320 CPU

(peripherals)

5.1

TMS320

4.1 TMS320

TMS 320 LF 2407 GFN ( ) 150

TMX=TMP=TMS=C=COMSE=COMS EPROMF=Flash EPROMLC=Low voltage COMS(3.3v)

43

TMS320DSP C2000C5000 C6000

C2000 C5000 C6000

(multi-channel) TMS320

4.1 TMS320 DSP

C2000(C24XC28X)

1.

2.

C5000(C54XC55XOMAP)

1.

2.MP3 PLAYER.

3.OMAP (Open Multimedia Applications Platform) TMS320C55X

DSP ARM(REAL-TIME)

C6000(C62XC64X/Fixed pointC67X/Float point)

1. /

2.

3.

44

4.

TMS320240X DSP

TMS320LF240X

A/DPWM

TMS320LF240X DSP

TMS320LF240X

4.2

TMS320LF240X CPU :

32 (CALU)

32 (ACC)

32

3

8 16

544 words16 bit(Dual-Access)/

16k words16 bit

224K words16 bit (64k words64k words

64k words I/O32kwords)

4(Pipeline operation)

8

6

3 6 16

12 /(PWM)

3 (Dead band) 16

45

4 90

A/D

16 ADC A/D 6s

(SPI)

16bit

(CAN)

2.0B

4.2 TMS320LF240X

4.3 TMS320LF240X TMS320LF240X DSP

TMS320LF240X

46

TMS320LF2xxx DSP

I/O

C2000 DSP

/(A/D)

4.3 TMS320LF240X

4.2 (Event Manager Module)e)e)e)

(EV)

47

TMS320LF240X DSP EV

4.4 TMS320LF240X EVA EVB

EC

2 GP (General-purpose times)

3 (Compare unit)

(Pulse-Width ModulationPWM)

PWM(Pulse-Width Modulation PWMSVPWM)

4.4 (EVAEVB)

(dead-band)

3 (Capture unit)

(Quadrature encoder pulsesQEP)

48

4.3 ADC

ADC (sample-and-holdS/H) 10 AD

ADC

S/H 10/

500us(S/H)

16(ADCIN0~ADCIN15)

16

16

8-(SEQ1 SEQ2)

16-(SEQ)

4 (CHSELSEQn)

16 (result)(RESULT0~RESULT15)

REFLoREFHi

REFLo

VV

V

= 1023 (4.1)

(SOC)

S/W

EVA A(EVA )

EVB B(EVB )

Ext(ADCSOC)

(EOS) EOS

(Sequencer)/

49

EVA EVB SEQ1 SEQ2

(prescaler)

ADC(Sequencer) 8-(SEQ1 SEQ2)

16-(SEQ)

(16-)( 8-) 4.5

4.6 ADC16

(RESULTn)( RESULT0)

RESUKT1)

4.5 TMS320LF240X ADC (((())))

50

4.6 TMS320LF240X ADC (((())))

51

DSP 5.1

TMS320LF2407 DSP

SVPWMd-q

RS485 DSP

5.15.15.15.1 DSP DSP DSP DSP----Based Based Based Based

52

5.15.15.15.1

5.2

(DSP)EVM (PMSM)

(Electric Treadmill Mechanics)(Servo Motor Driver)

(PC)

5.5.5.5.2 2 2 2 DSP-Based

5.1.1

(Texas Instrument)

TMS320LF2407

5.3

53

5.3 TMS320LF2407 DSP

5.1.2 (DSP)EVM

5.4

EVM

PC VB EVM

EVM TI TMS320LF2407

5.5 TMS320LF2407 EVMEMV

128KWord SRAM

16 10Bit AD

PWM I/O

4 DAC7625 DA

RS232 Driver

32KWord Flash ROM

U,V,W SVPWM

a,b,c

d,q

PI

PI

d/dt

+

- -

+

+

-

iq* id*=0

iq

id

d,q

54

5.4 (DSP)EVM

5.5 TMS320LF2407 EVM

55

CAN BUS

LED

4 (dataaddressI/Oand Control)

JATG

5V ( 3.3 )

5.1.3 (PMSM)

1.5KW

2500 DSP 4 10000

8 12 3000rpm

1~3000rpm 8.5A 50kg-cm 1.159

2.963mH 5.1

5.1

12

8

1500W

3000rpm

1~3000rpm

1.1

1.159

2.963mH

5.1.4 (Electric Treadmill Mechanics)

5.6

Pulley 5.7

Pulley

60mm Pulley 172mm 5.1 0.35

5.2 30rpm

=0.2KPH( 200 ) 1500rpm

56

=10KPH( 10 3000rpm

=19.4KPH( 19.4)

5.6

5.7

57

Pulley= (5.1)

( )1000

0.095m

=

(5.2)

5.1.5

5.8

(Inverter)EVM

(SVPWM)

UVW (Encoder)ABZ UVW

EVM n type IGBT IGBT

-(C-E) 600V-(G-E)20V

DC 50A(1ms) 100A IC

TLP250 DSP

PWM

5.8 [17][20]

58

(Encoder)ABZ(Hall sensor)UV

W EVM

DSP DSP

EVM (SVPWM)

IGBT

DSP EVM

DSP A/D

[17][20]

5.9 5.10

2 3

5.11

hI N hV

gR shV n

V n

50

4= NIV hh (5.3)

K

RVV

g

h10

1 = (5.4)

)2

1

39

10( 12 += sfVVV (5.5)

23VV = (5.6)

2=N VVsf 3.3= (5.3)~(5.6)

66.13925

43 +=K

RIV

gi

hii (5.7)

59

giR =16k giR -25A~+25A giR 0~3.3V

5.11 U W

PWM PWM

EVM DSP

A/D

60

5.9

12

34

56

ABCD

65

43

21

D C B A

Title

Num

ber

Revi

sion

Size B

Dat

e:

12-

Aug

-200

6Sh

eet

of

File

:D

:\\PCB\\PREVIO~1.DDBDra

wn

By

:

321

411

U7A

TL

084

567

U7B

TL

084

1098

U7C

TL

084

321

411

U10

A

TL

084

567

U10

B

TL

084

109

8

U10

C

TL

084

10p

100k

10p

100k

1k

10k

10k

1k

10k

IU IV IW

20k

20k

20k

20k

20k

10k

10k

1N40

01

1N40

01

IU

5.1k

5V

1 2 1312

U9A

MM

74H

C10

321

411

U11

A

TL

084

567

U11

B

TL

084

109

8

U11

C

TL

084

20k

20k

20k

20k

20k

10k

10k

1N40

01

1N40

01

IV

5.1k

5V

321

411

U12

A

TL

084

567

U12

B

TL

084

109

8

U12

C

TL

084

20k

20k

20k

20k

20k

10k

10k

1N40

01

1N40

01

IW

5.1k

5V

1u

RE

SET

10k

3 4 56

U9B

MM

74C

10

220

Red

+5V

Port

INT

1

10k

0.04

7u

0.04

7u10

k

U V W

U WV

121314

U11

D

TL

084

10k

+12

V

12

J6

1 2 3 4

J8

12

J7

1 2 3 4

J9

IU IW

200

200

123

JP14 1 2 3

JP15

1k

10k

1k

+12

V

-12V

1 2 3 4

J9

W( )

-12V+12V

1 2 3 4

J8

U( )

-12V+12V

U( )

W( )

AC (4) DSP

B Chien-Wu Chen

CL

K3

D2

SD4

CD1

Q5

Q6

U6A

74H

C74

0.1u 0

.1u

0.1u

IU'

IW'

+12

V

-12V

-12V

+12

V

+12

V

-12V

-12V

+12

V

: J6 U J7 W J8 U J9 W JP14&JP15

(1-2

TES

T ;

2-3

HA

LL

) N

AM

E

+15

V-1

5VO

UT

GN

D

U

+15V

-15V

OU

TG

ND

W

W( )

U( )

61

5.10

12

34

56

ABCD

65

43

21

D C B A

Title

Num

ber

Rev

isio

nSi

ze B

Dat

e:

11-A

ug-2

006

Shee

t o

f Fi

le:

C:\D

ocum

ents

and

Setti

ngs\

mic

hael

spar

tan\\DRIVE\PREVIO~31.DDBDrawn By:

12

34

56

78

910

1112

1314

1516

1718

1920

2122

2324

2526

2728

2930

3132

3334

3536

3738

3940

HEA

DER

20X

2

Vcc

SCIT

XD

XIN

T

QEP

2P

WM

1P

WM

3P

WM

5T

1PW

MT

MR

DIR

GN

DX

FSP

ISIM

OSP

ICL

KP

WM

8C

LKO

UT

CA

P4

AD

CIN

0A

DC

IN9

PD

PIN

T

GN

D

Vcc

SCIR

XD

QEP

1C

AP

3P

WM

2P

WM

4P

WM

6T

2PW

MT

MR

CL

KG

ND

BIO

SPIS

OM

ISP

IST

EP

WM

9

XIN

T2

PW

M7

AD

CIN

1A

DC

IN8

T3P

WM

GN

D

H2()+5V

+5V

AC (

3)

DSPB Chien-Wu Chen

3 21

4 11

U4A

TL0

84

5 67

U4B

TL0

84

10 98

U4C

TL0

84

1K 1K

1K

5V 5V 5V

-12V

+12

VR

ED

LED

Yel

low

LED

Gre

en

LED

680

680

680

+5V

+5V

+5V

10k

*6

321

411

U8A

TL08

41213

14

U8D

TL0

84

10K

10k

39K

10K

Vo_

u

DS

P

20

K

100p

567

U8B

TL08

4109

8

U8C

TL08

4

10K

10k

39K

10K

Vo_

w

DS

P

20

K

100p

IU IW

3 21

4 11

U5A

TL0

84

5 67

U5B

TL08

4

10 98

U5C

TL0

84

1K 1K 1K

5V

5V

5V

-12V

+12

V

RED

LED

Yel

low

LED

Gre

en

LED

680

680

680

+5V

+5V

+5V

10k

*6

U V W

A B Z

A /A B /B Z /Z

5V

5V

10k

U /U V /V W /W

IOP

x0

IOP

x1

IOP

x2

Xx=C

Yx=B

1 9 2 10

3 11

4 12

5 13

6 14

7 15

8

DB1

5

Z /Z U /U V W/V /W A /A B /B Gnd

+5V

Z /Z RX

/RX

/BB/AA+5V

+5V

Gnd

Gnd

1 10

9876543211 201918171615141312

DB2

0

123

JP10123

JP9

1 2 3 4 5 6

Enco

de2

HEA

DER

6

+!2

V

OW

OU

1 2 3

JP12

1 2 3

JP13

3.3V

3.3V

1 2 3

JP6 1 2 3

JP7 1 2 3

JP8

+5V

123456

HA

LL

HEA

DER

6

HU

HV

HW

A B Z

HW

HV

HU

GN

D5V

Z AB

123

JP11

H4

H3

: H3 Dynamo Sensor H4 Panasonic Sensor J7 Encode-->ABZ J8 HALL-->UVW J9:J11 (1-2 ; 2-3

) J

P1

2&

JP

13

(1-2

+5V

; 3

-4 +

3.3

V)

NA

ME

+5V

GN

D5V

BR0

2-6

BR0

3-6 3

2

V

R4

62

5.11

[[[[17][][][][20]]]]

5.12 /

DSP EVM

6 PWM /

IGBT

5.13 PWM IGBT IGBT

5.14

63

5.12 PWMPWMPWMPWM

12

34

56

ABCD

65

43

21

D C B A

Title

Num

ber

Rev

isio

nSi

ze B

Dat

e:

11-A

ug-2

006

Shee

t o

f Fi

le:

C:\D

ocum

ents

and

Setti

ngs\

mic

hael

spar

tan\ \DRIVE\PREVIO~11.DDBDrawn By:

12

34

56

78

910

1112

1314

1516

1718

1920

2122

2324

2526

2728

2930

3132

3334

3536

3738

3940

HEA

DER

20X

2

Vcc

SCIT

XD

XIN

T

QEP

2P

WM

1P

WM

3P

WM

5T

1PW

MT

MR

DIR

GN

DX

FSP

ISIM

OSP

ICL

KP

WM

8C

LKO

UT

CA

P4

AD

CIN

0A

DC

IN9

PD

PIN

T

GN

D

Vcc

SCIR

XD

QEP

1C

AP

3P

WM

2P

WM

4P

WM

6T

2PW

MT

MR

CL

KG

ND

BIO

SPIS

OM

ISP

IST

EP

WM

9

XIN

T2

PW

M7

AD

CIN

1A

DC

IN8

T3P

WM

GN

D

H2()

1 2 3678

4

5

TLP

250

98

U1D

SN74H

C04

5 6

U1C

SN

74H

C04

100

0.1u

+5V

PW

M_4

GN

DC

Yel

low

LED

330

330

1 2 3678

4

5

TLP

250

100

0.1u

+5V

PW

M_3

GN

D2

Yel

low

LED

330

330

Pow

_2

Pow

_2

Pow

_C

Pow

_C

1 2 3678

4

5

TLP

250

34

U1B

SN74H

C04

1 2

U1A

SN

74H

C04

100

0.1u

+5V

PW

M_2

GN

DC

Red

LED

330

330

1 2 3678

4

5

TLP

250

100

0.1u

+5V

PW

M_1

GN

D1

Red

LED

330

330

Pow

_1

Pow

_1

Pow

_C

Pow

_C

1 2 3678

4

5

TLP

250

1312

U1F

SN74H

C04

11 10

U1E

SN

74H

C04

100

0.1u

+5V

PW

M_6

GN

DC

Gre

en

LED

330

330

1 2 3678

4

5

TLP

250

100

0.1u

+5V

PW

M_5

GN

D3

Gre

en

LED

330

330

Pow

_3

Pow

_3

Pow

_C

Pow

_C

1 2 3

JP1

1 2 3

JP2 1 2 3

JP3 1 2 3

JP4

10K

10K

10K

10K

10K

10K

CO

ver

AC (

1)

DSPB Chien-Wu Chen

1 2 1312

U2A

SN

74H

C10

1 2 1312

U3A

SN

74H

C10

3 4 56

U2B

SN

74H

C10

3 4 56

U3B

SN

74H

C10

9 10 118

U2C

SN

74H

C10

9 10 118

U3C

SN

74H

C10

1234

J1P

ow

1k1k

1k

Yel

Red

Gre

1 2 3

JP5

+5V

0.1u

0.1u

0.1u

0.1u

0.1u

0.1u

+5V

GN

D-1

2V+

12V

+25

V

1000

uf

+

25V

1000

uf

+25V

100

0uf

1 2 3 4 5 6 7 8 9 10 11 12

J2 CO

N12

+12

V_1

-12V

_1G

ND

1+

12V

_2-1

2V_2

GN

D2

+12

V_3

-12V

_3G

ND

3+

12V

_C-1

2V_C

GN

DC

: H2 JP1:JP4 (1-2 ; 2-3 )

J1

J

2

JP

5 (1-2 ; 3-4 )

BR0

1-6

-1

BR0

1-6

-2

BR0

1-6

-3

BR0

1-6

-4

BR0

1-6

-5

BR0

1-6

-6

GN

D

1 1 1 1 1 1

NA

ME

64

5.13 PWM

12

34

56

ABCD

65

43

21

D C B A

Title

Num

ber

Rev

isio

nSi

ze B

Dat

e:

11-A

ug-2

006

Shee

t o

f Fi

le:

C:\D

ocum

ents

and

Setti

ngs\

mic

hael

spar

tan\\DRIVE\PREVIO~21.DDBDrawn By:

0.1

u*2

10/5

WFR

107

FR10

7

G

C E

N-C

h

IGBT

GT2

5J1

01

PW

M_1

0.1

u*2

10/5

WFR

107

FR10

7

G

C E

N-C

h

IGBT

GT2

5J1

01

PW

M_2

GN

D1

Vm

GN

Dm

12

J6

DSPB Chien-Wu Chen

AC (

2)

15V

15V

15V

15V

0.1

u*2

10/5

WFR

107

FR10

7

G

C E

N-C

h

IGBT

GT2

5J1

01

PW

M_3

0.1

u*2

10/5

WFR

107

FR10

7

G

C E

N-C

h

IGBT

GT2

5J1

01

PW

M_4

GN

D2

15V

15V

GN

D_C

15V

15V

0.1u

*2

10/5

WFR

107

FR10

7

G

C E

N-C

h

IGBT

GT2

5J1

01

PW

M_5

0.1u

*2

10/5

WFR

107

FR10

7

G

C E

N-C

h

IGBT

GT2

5J1

01

PW

M_6

GN

D3

12

J7

15V

15V

15V

15V

1 2 3 4 5

J3

SEN

V O

UT

U V W

J4 UV

W O

UT

VM

GN

D

J5 DC P

ower

IN

W V U +V

mG

ND

m

: J3 J4 UVW J5 J6 U J7 W SEN UI OUT

SE

N W

I OU

T

65

5.14

5.2

DSP

PWM IGBT

5.2

5.15 DSP 5.16

5.2

66.6sec(7.5k hz)

1msec(1k hz)

66

T T2 T3 T4 T5 T6 T7

5.15

1. 2. 3.dq 4.

1.2.

()

DSP

5.16 DSP

TMS320LF2407 C code composer

Visual Basic MATLAB

67

(1) C code composer

Texas Instrument C code composer TMS320LF2407

C code composer

C C code composer 5.17

5.17 C code composer

(2) MATLAB

IP

DSP

5.18

(3) Visual basic

DSP

5.19 Visual basic RS232 DSP

5.20 Visual basic

68

DSP 1. 2.DSPDSP 1. 2. 3. 4. 5.

c code composerDSPDSP

MATLAB

5.18 MATLAB DSP

Visual Basic

DSP

RS232

5.19 Visual basic DSP

5.20 Visual basic

69

(P)-(IP)

(Fuzzy)()

(75kg~250kg)(75kg~105kg)

6.1

SVPWM

SVPWMSVPWMSVPWMSVPWM

6-1 6-2

e 00 01 360 0 cos e sin e dV

0 qV ParkIMclarkI SVPWM

PWM SVPWMPWM 15KHz

PWM (Dead Band) 1.066us PWM2

PWM4PWM6 RC (R=2.2C=22Uf) PWM2PWM4

PWM2PWM6 6-3 PWM2

PWM4PWM6 120 0 SVPWM

70

6.1 SVPWM

6.2 SVPWM

71

(a) (b)(a) (b)(a) (b)(a) (b)

6.3 SVPWM (a)PWM2 PWM4 (b)PWM2 PWM6

() 75Kg

6.4 =500rpm(

=3.3KPH) 6.5 75Kg =500rpm(

=3.3KPH) 6.6 =1000rpm(=6.6KPH)

6.7 75Kg =1000rpm(=6.6KPH)

6.8 =1500rpm(=10KPH) 6.9 75Kg

=1500rpm(=10KPH)PI

IiK =1.0026 PiK =0.0011(6.1)

=500rpm 33.3Hz=1000rpm

66.7Hz=1500rpm 100Hz

72

6.4 =500rpm

(=3.3KPH)

6.5 75Kg =500rpm

(=3.3KPH)

6.6 =1000rpm

(=6.6KPH)

73

6.7 75Kg =1000rpm

(=6.6KPH)

6.8 =1500rpm

(=10KPH)

6.9 75Kg =1500rpm

(=10KPH)

74

6.4~6.9 120 6.4~6.5

=500rpm 32Hz(8clock0.25s) 6.6~6.7

=1000rpm 66Hz(16.5clock

0.25s) 6.8~6.9 =1500rpm

100 Hz(16.5clock0.25s)

6.2 ()

(PMSM)

PIPFuzzy

0.8KPH(120rpm)

6.10

4KPH(600rpm)

6.11 8KPH(1200rpm)

6.12

12KPH(1800rpm)

6.13 16KPH(2400rpm)

6.14

20KPH(3000rpm)

6.15

6.10 P IP

Fuzzy

Fuzzy

0.03 P IP

Fuzzy Over

0.05IP

0.4 P

75

6.10 ()=120rpm(0.8KPH)

6.11 FuzzyIPP

Fuzzy 0.17IP 0.18P

0.13 Fuzzy

Over 0.2

IP Over( 11rpm)

0.2 P 0.8

65rpm

Fuzzy P IP

Fuzzy

P IP

76

6.11 ()=600rpm(4KPH)

6.12 FuzzyIPP

Fuzzy 0.37IP 0.6 P

0.44 Fuzzy

Over 0.4

IP Over( 640rpm)

0.83P0.790rpm

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50

200

400

600

800

Time(s)

SP

EE

D(r

pm

)

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

-20

-10

0

10

20

Time(s)

CU

RR

EN

T(A

)

Fuzzy

P IP

Fuzzy

P IP

77

6.12 ()=1200rpm(8KPH)

6.13 ()=1800rpm(12KPH)

Fuzzy

P

IP Fuzzy

P

IP

Fuzzy

P

IP

Fuzzy

P

IP

78

6.13 FuzzyIPP

Fuzzy 0.57IP 0.85P

0.74 Fuzzy

Over0.58

IP Over( 800rpm)

1.1 P 0.85

200rpm

6.14 FuzzyIPP

Fuzzy 0.78IP 0.99 P

1.1 Fuzzy

Over 0.79

IP Over( 590rpm)

6.14 ()=2400rpm(16KPH)

Fuzzy

P

IP

Fuzzy

P

IP

79

1.27P1.290rpm

6.15 FuzzyIPP

Fuzzy 0.98IP 1.2P

1.4 Fuzzy

Over 1

IP Over( 390rpm)

1.35 P 1.6 100rpm

6.15 ()=3000rpm(20KPH)

Fuzzy

IP Over

P

Fuzzy

P

IP

Fuzzy

P

IP

80

6.3

(PMSM)

PIPFuzzy

0.2KPH (30rpm) 75Kg

6.16 90Kg

6.17 120Kg

6.18 150Kg

6.19 180Kg

6.20 210Kg

6.21 250Kg

6.22

P IP

Fuzzy

6.16 Fuzzy

0.2 IP 0.3

P 16rpm

6.17 Fuzzy

0.25 IP 0.3

P 0rpm

6.18 Fuzzy

0.35 IP 0.35

P 0rpm

6.19 Fuzzy

0.4 IP 0.4

P 0rpm

6.20 Fuzzy

0.4 IP 0.5

P 0rpm

81

6.21 Fuzzy

0.4 IP 0.6

P 0rpm

6.22 Fuzzy

0.4 IP 0rpm

P 0rpm

Fuzzy

250kg IP

250kg P

75kg 90kg

6.16 =75kg=30rpm(0.2KPH)

Fuzzy

P IP Fuzzy

P

IP

82

6.17 =90kg=30rpm(0.2KPH)

6.18 =120kg=30rpm(0.2KPH)

Fuzzy

P

IP

Fuzzy

P

IP

Fuzzy

P

IP

Fuzzy

P

IP

83

6.19 =150kg=30rpm(0.2KPH)

6.20 =180kg=30rpm(0.2KPH)

Fuzzy P

IP

Fuzzy P

IP

Fuzzy P

IP

Fuzzy

P

IP

84

6.21 =210kg=30rpm(0.2KPH)

6.22 =250kg=30rpm(0.2KPH)

Fuzzy

P

IP

Fuzzy

P

IP

Fuzzy

P

IP

Fuzzy P

IP

85

6.4

P IP

Fuzzy

75Kg90Kg105Kg

0.8KPH(120rpm)4KPH(600rpm)8KPH(1200rpm)12KPH(1800rpm)16KPH

(2400rpm)20KPH(3000rpm) 6.23 75Kg

=0.8KPH(120rpm) 6.24 75Kg

=4KPH(600rpm) 6.25 75Kg

=8KPH(1200rpm) 6.26

75Kg =12KPH(1800rpm)

6.27 75Kg =16KPH(2400rpm)

6.28 75Kg =20KPH(3000rpm)

6.29 90Kg

=0.8KPH(120rpm) 6.30 90Kg

=4KPH(600rpm) 6.31 90Kg

=8KPH(1200rpm) 6.32

90Kg =12KPH(1800rpm)

6.33 90Kg =16KPH(2400rpm)

6.34 90Kg =20KPH(3000rpm)

6.35 105Kg

=0.8KPH(120rpm) 6.36 105Kg

=4KPH(600rpm) 6.37 105Kg

=8KPH(1200rpm) 6.38

105Kg =12KPH(1800rpm)

6.39 105Kg =16KPH(2400rpm)

6.40 105Kg =20KPH(3000rpm)

86

P IP

Fuzzy

6.23 5 5

Fuzzy 6rpm IP

8rpm P 14rpm

6.24 5 5

Fuzzy 12rpm IP

31rpm P 36rpm

6.25 5 12

Fuzzy 26rpm IP

51rpm P 52rpm

6.26 5 13

Fuzzy 33rpm IP

71rpm P 85rpm

6.27 5 14

Fuzzy 53rpm IP

95rpm P 137rpm

6.28 5 16

Fuzzy 73rpm IP

129rpm P 135rpm

87

6.23 =75kg=120rpm(0.8KPH)

6.24 =75kg=600rpm(4KPH)

Fuzzy P

IP

Fuzzy

P

IP

Fuzzy P

IP Fuzzy

P

IP

88

6.25 =75kg=1200rpm(8KPH)

6.26 =75kg=1800rpm(12KPH)

Fuzzy P

IP Fuzzy P

IP

Fuzzy

P IP Fuzzy

P IP

89

6.27 =75kg=2400rpm(16KPH)

6.28 =75kg=3000rpm(20KPH)

Fuzzy P IP

Fuzzy P IP

Fuzzy

P

IP

Fuzzy

P

IP

90

6.295 4

Fuzzy 7rpm IP

8rpm P 24rpm

6.30 5 4

Fuzzy 14rpm IP

40rpm P 69rpm

6.31 5 12

Fuzzy 24rpm IP

56rpm P 122rpm

6.32 5 15

Fuzzy 37rpm IP

74rpm P 102rpm

6.33 5 15

Fuzzy 59rpm IP

95rpm P 141rpm

6.34 5 18

Fuzzy 74rpm IP

111rpm P

134rpm

91

6.29 =90kg=120rpm(0.8KPH)

6.30 =90kg=600rpm(4KPH)

Fuzzy P

IP Fuzzy

P

IP

Fuzzy

P

IP

Fuzzy P IP

92

6.31 =90kg=1200rpm(8KPH)

6.32 =90kg=1800rpm(12KPH)

Fuzzy P

IP Fuzzy

P

IP

Fuzzy P

IP Fuzzy P

IP

93

6.33 =90kg=2400rpm(16KPH)

6.34 =90kg=3000rpm(20KPH)

Fuzzy

P IP Fuzzy

P IP

Fuzzy

P IP Fuzzy

P IP

94

6.35 5 4

Fuzzy 6rpm IP

14rpm P 15rpm

6.365 4

Fuzzy 15rpm IP

42rpm P 60rpm

6.37 5 12

Fuzzy 21rpm IP

60rpm P 104rpm

6.38 5 12

Fuzzy 50rpm IP

93rpm P 142rpm

6.39 5 13

Fuzzy 88rpm IP

123rpm P 192rpm

6.40 5 15

Fuzzy 136rpm IP

137rpm P

208rpm

95

6.35 =105kg=120rpm(0.8KPH)

6.36 =105kg=600rpm(4KPH)

Fuzzy P

IP Fuzzy

P

IP

Fuzzy

P

IP

Fuzzy

P

IP

96

6.37 =105kg=1200rpm(8KPH)

6.38 =105kg=1800rpm(12KPH)

Fuzzy

P IP Fuzzy

P IP

Fuzzy P IP

Fuzzy P IP

97

6.39 =105kg=2400rpm(24KPH)

6.40 =105kg=3000rpm(20KPH)

Fuzzy P

IP Fuzzy P

IP

Fuzzy

P

IP

Fuzzy

P

IP

98

Fuzzy

IP

P

99

7.1

TMS320LF2407

DSP

MATLAB Visual Basic

(P)-(IP)(Fuzzy)

()(75kg~250kg)

(75kg~105kg)()

(Fuzzy)

-(IP)

Over (P)

(75kg~250kg)

(Fuzzy) 250kg

-(IP)

250kg (P) 75kg

90kg

(75kg~105kg)(Fuzzy)

-(IP)(P)

IP

100

7.2

1.

(Fuzzy)

2.

101

[]

[1]

1995.

[2]

2000.

[3]

2003.

[4]

2004.

[]

[5] 2001

.

[6]

2002.

[7] PIC 2004

.

[8] 2004.

[]

[9]

2002.

[10]

2003.

102

[11]

2004.

[12] 2004

.

[]

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2002.

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106

1995 ~