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1
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
1215
鄒應嶼 教 授
Fi lenam e C01 投影片電動機控制【 電 動機】 06【 1】數位 AC DRIVE之 設計與實 現ppt
數位交流驅動控制器之設計與實現
2007年9月12日
國立交通大學 電機與控制工程研究所
From Power System Design to Power IC Design
LA B808NC TU
Lab808 電力電子系統與晶片實驗室
Power Electronic Systems amp Chips N CT U TA IWA N
台灣新竹bull交通大學bull電機與控制工程研究所
台灣新竹交通大學電機與控制工程研究所808實驗室電源 系統與晶片 數位電源 馬達控制驅 動晶片單 晶片 DSPFPGA控制
http pe mcl abc n nct ue du twLab-808 Power Electronic Systems amp Chips Lab NCTU Taiwan
2215
Contents
Introduction Control Interface for Digital Servo Motor ControlDigital AC Servo Motor Controller Requirements Evolution of DSP Motor ControllersDigital Motor Control ICsDesign and Realization Issues in Digital Control808-PowerLab Research on Digital Motor Control
3215
Introduction
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
4215
Introduction
Motor Drives for Manufacturing AutomationComposition of a Motion Control SystemState of the Art AC ServosBlock Diagram of a Typical Digital Motor ControllerDSP Solution for Motor ControlCharacteristics of Power Electronic SystemsJournals and Conferences
5215
Motor Drives for Manufacturing Automation
Palletizer Application
Winder Application
Cutter Application Blender Application
CatcherStacker Application
6215
Embedded Motion Control System
DSP-Bas edMoti on M od ule
Powe r Su ppl y
Mo ti o n Firmwar ewit h
Real - Time Ker nel
(fro m Pa rker Au to ma tion)
Servo Drive
Motion Controller
2
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
7215
Motion Control (e g Electronic Gear)
Hauptantrieb
Virtue lle rMaster
Sync hronisie rteKomm unika tion
main drive
Virtualmaster
Synchronizedcommunication
8215
Real-Time Network Control of Distributed Motor Drives
SERCOS fiber optic ring
Interpolation
Synchro-niz ation
User interfaceSERCTOP
Control unitor PC SERCANS
Inte
rface f
or m
icrop
rocess
or P
C or V
ME-bu
s
NC-Program
executionDiagnostics
Synchroniz ation
Command channel
NC Service channel
Diagnostics channel
Actual value channel
Command value channel
M M I Service channel
9215
Firmware amp Software Architecture for Motion Control
DSP Device Driver
Servo Loop
PCL SICMulti-Tasks Kernel
IPO SIC
DSP System Module
PMC32-CPU
PMC32-DAC
PMC32-PWM
PMC32-SERCOS
PC Device Driver
Graphic Control SoftwarePC Software
DSP Firmware
DSP Hardware
LabVie wWi nMotion C ontr ol C Lib rar ies
Multi- Taski ng Ke rnelPos itio nVel ocity To rque PWM
8-axis co ntro lCIR P TP HOM E JOG
Encode r A DDA PWM IORS-2 32 S ERCO S 10215
AccelerationDeceleration Control
Acc Dec Interpolator
X
Y
M
MDx Dy
Servo
MotorP P
Px
Py
DigitalMotionController
馬達驅動器
馬達驅動器
擴充輸出入UNIT 1
機械輸入(4點 2) times
外部輸入(16點) 外部輸出(16點) RS-232C
電源(AC90~240V)
外部輸入(16點)
外部輸出(16點)
回授
回授
回授
回授
X 軸
Y 軸
附加機能
Servo
11215
Numerical Motion Controller
ΔS
ΔX
ΔSΔZ
nbullT
ΔS=v pat hbullT
(n+1)bullT
(n+2)bullT
Mathematical example for high speed machining vpath=30mmincong500mms cong05mm ms
CNC axes control
T[ ms] 10 2 0 5 02 5 0 1
Δs [ m m] 5 1 0 25 0 12 5 0 05
y-axisservomotor
x-axisservomotor
12215
2-axis Digital Motion Control System
G ss svx
x
x x x( ) =
+ +ω
ξ ω ω02
20 0
22
1s
+
_ K vx
ux ωx θ xexθ x
Ram pe r
and
Cont ou rInte rp ola to r
200
2
20
2)(
yyy
yvy ss
sGωωξ
ω++
=1s
+_ K vy
uy ω y θ yeyθ y
Y
X
desired contouring pathX-axis Servo Drive
Y-axis Servo Drive
X
Y
K vx
x
x
==
=
50200
0 7070
0
(sec( radsec
-1))
ω
ξ
X-axis Servo Y-axis Servo
Kvy
y
y
==
=
50200
07070
0
(sec(rad sec
-1))
ω
ξ
X-軸與 Y-軸伺服驅動器的參數值
3
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
13215
Composition of a Motion Control System
tacho-generator
encoder
servo driveposition controller
control box
The servo motor is conn ect ed to a mech anical loadThe tacho-g enerato r is usu ally not used in modern digital servo driveThe servo dri ve unit may be multiple-axis and con sist s of a motion controllerThe control unit provides man-machin e interf ace 14215
Modern Digital AC Servo Drive
encoder
servo driveposition controller
control box
AC Servo Motor
Optical network interface
Single-unit solution
15215
Typical Time and Frequency Responses
2000 rp m
-200 0 r pm
Speed
Curre nt
Gain
)( jwG
0db-3db ω
(rad s)
An example of mo tor current waveforms and Bode diagram of the whole system (a) speed response to step command and primary-phase current waveform (b) Bode diagrams of the speed-control system
dBBW 3minus
16215
Selection of Servo Drive Interface
伺服驅動器 優 點 缺 點
Pulse Servo Drive Step Drive
1 全數位化界面簡單
2 可接步進馬達
1 伺服動態響應受限
Velocity Drive Torque Drive
1 伺服動態響應佳
2 可接變頻器
1 類比界面輸出易飄移或
offset
PWM Power Amplifier
1 全數位界面
2 伺服動態響應較佳
3 功率放大器成本低
1 標準功率放大器尚未普及
2 使用者不易教育
Network Drive (SERCOS 1394
USB CAN)
1 網路介面配線容易
2 可依不同介面定義進行位置
速度電流等控制
1 網路界面驅動器尚未普及
2 各標準互不相容
17215
Evolution of Electrical Machines
Asynchro nous
Synchro nous
AC and DC Pow er Sup ply
Wound rotor
Squirrel cage
Salient poles
Var reluctance
Perm Magnet
Series
Compound
Shunt
Per Magnet
POWER CONVERSION
Universal
AC variable speed driv es
Intellige ntMoto r
AC Servo Brushless
DC Servo
Power Elect ronics
OPEN LOOP
Digital con trol
CLOSE LOOP
Smart I nte rface
EMBEDDED INTELLIGENCE
DC Brushless
Disc Mag net Steppe r
Hybrid Steppe r
VRSteppe r
DC
AC
18215
Induction Motor vs PM Synchronous Motor
ROTOR
AB
C
A
B
C
A
B
C
A
B
CSTATOR
ROTORCONDUCTOR
ROTOR
STATORSEGMENT
ROTORMAGNET
A
B
C
AC Induction Motor AC S ervo Motor
4
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
19215
What could an AC vector system do in servo applications
Speed Regulation up to 5 open loop 001 closed loop wexternal encoderFull torque at zero speedSmoothness at low speeds will be similarPositioning applications with low acceleration low response amp low bandwidth requirements (High power large inertia sy stem)
20215
AC Servo Driver with Synchronous or Induction Motors
R Lessmeie r W Schu macher and W Le onha rd Mic rop rocessor - cont rol led AC - serv o d river wit h synch rono us or inducti on m oto rs whic h is p refe rable IE E E Tra ns on Ind Ap pli vol 22 n o 5 pp 8 12-8 19 Sept Oct 1 986
AbstractmdashWith the rec ent advances of power transistors and microprocessors it has become possible to design high-dynamic-performance ac-servo drives free of moving contacts using synchronous or asynchronous motors Both schemes have their particular strengths A general control principle based on field or rotor orientation is described which has been re ali zed wi th a state-of-the-art microcomputer where all the signal processing including modulation of the inverter is performed by software Extensive tes ts have been carried out with different motors to compare the charact erist ics of the various types of drives
21215
VF Vector Induction Drive vs PM AC Servo
Heat buildup at low speedsEven though full torque at zero speed is possible the motor will run hot at low speeds because of the induction motor design The motor may need to be oversized to handle these effects or have a blower added
Very slow response times decreased bandwidth The AC Induction motor has higher rotor inertia due to its constructionHigher peak torques are required for ACCDEC
Potential for stability problemsThe overall bandwidth will be lower with the VFD system A system bandwidth lower than 40 radssec Could have stability problems in a closed loop system
There are Disadvantages of using a AC VFD for motion instead of AC Servo
22215
永磁交流伺服馬達的結構
permanentmagnetcore Armature
winding
永磁式交流馬達之剖面圖
stator winding
north pole rotor
frame stator iron core
end brackets
bearings
stationary field winding
south pole rotor
shaft
field winding holder
(a) (b)
複合式永磁式交流馬達之剖面圖
23215
Optimal Capacity Ranges of Brushless Servomotors
Output (W)Varieties
Stepping mo tor (includin g line ar mot or)
PM brus hless mot or
Vector-c ont rol inductio n m otor
Hall mot or
3 30 30010010 1000 3000
永磁式交流伺服馬達的構造
statorcoil
statorlaminatedcoil ferrite PM rotor pole
angular position andvelocity sensor
24215
Demagnetization Curves of Several Types of Permanent Magnets
14
12
10
8
6
4
2
012 10 8 6 4 2
磁通密
度[T
][1
04G
]
磁場強度 [ kOe]
Alnico
Ferrite
Rare-earthcobalt
Neodymium-iron
5
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
25215
Characteristics of AC Servo Motors
Model
Item ASM-061M AS M- 121M ASM-252MRated output ( W) 60 120 250Rated tor que ( kgmiddotcm) 1 95 390 812Rated speed ( rpm) 3000Rated voltage (V( a c) ) 37 41 103Rated curr ent (A(ac)) 1 6 27 22Maximum torque (kgmiddot cm) 9 75 195 406Maximum speed (rpm) 4000Power rate kWs 0 85 216 372Torque const ant (kgmiddotcmA) 0 95 113 288Mechanical time constant ( mmiddotsec) 143 894 724Electrical tim e constant (mmiddot sec) 1 85 233 372em f const ant ( mVrpm) 112 132 333Rotor inertia ( J) (kgmiddotcmmiddot s2) 044times 10-3 069times10-3 174times10-3
Armature res is tan ce ( Ω) 2 21 123 254
Protection s tructur e Totallyenclosed
Insulat ion type T ype BEnvir onmental co nditionst emper at ure () 0~40hum idity ( ) 90 RH or less ( no dew condensat ion)
Weight ( kg) 2 4 30 52So urc e S hib au ra En gin eer ing W ork s Co Ltd
26215
Characteristics of AC Servo Drives
Model
Item ADM-061A ADM-121A ADM-252A
Motor output (W ) 60 120 250Voltage of main circui t (V(dc)) 140 280Voltage of control circuit (A( dc)) 100200200Maximum output cur rent (A ) 6 8 8Maximum input cur rent (A ) 37 63 45Speed control range 10001
load charge (0~100 ) 01 or belowvoltage fluctuation ( 10 ) 01 or belowtemperature change (25) 0 5 or below
Control method Transis tor PWM produces a s inusoidal waveSpeed feedback Semi-absolute encoderSpeed command voltage ( V(dc)) 10rated speedCommand input impedance (k Ω) 10Environ mental conditions
temperature () 0~15
humidity ( ) 90 RH or less (no dew condensation)Weight (kg) 35
S o u rce S h ib a u ra Eng in eerin g Wo rks Co Ltd
27215
永磁交流伺服馬達的規格
GD2 (kgfcm2)
J (gfcmmiddots2)
090
時間額定連續絕緣種別F種振動階級V15取付方式直結形構造全閉自冷形塗裝色N15激磁方式希土類永久磁石周圍溫度0~+40濕度85RH以下(結露)
共通式樣
194概略重量 (kgf)
023轉子慣量
17靜止摩擦
DC24V plusmn 10額定電壓
保持
Encoder 2000PR速度位置檢出器
341概略重量 (kgf)
972GD2 (kgfcm2)
248J (gfcmmiddots2)轉子慣量
2353功率變率 (kws)
3000最大轉速 (rpm)
3000額定轉速 (rpm)
610瞬時最大 (kgfcm)
244額定 (kgfcm)
750額定出力 (w)
8CB75-2SE6馬達型號
DOSA016B-CB752伺服驅動器型號
28215
永磁交流伺服驅動器的規格
伺服馬達 型號 5CB06 -1 SE 6F 5CB12-1 SE 6F 7CB20-1 SE 6F 7CB30-2S E 6F 8CB5 0-2S E 6F 8 CB7 5-2S E6 F
額定輸出 Pr W 60 120 200 300 5000 750額定線間電壓 Vt V 318 43 1 54 5 107 7 118 5 1494額定扭矩 T kg fcm 195 39 65 9 7 16 2 24 4連續 sta ll扭矩 Ts kg fcm 21 42 71 10 7 17 8 26 8額定相電流 Ig A 18 22 28 2 0 3 0 3 4額定轉速 Ng rpm 3000 3000 3000 3000 3000 3000瞬間最大扭矩 Tp( N) kg fcm 5 85 11 7 19 5 20 2 48 7 73 1瞬間最大機子電流
Ip A 54 66 84 6 0 9 0 10 2
額定 pow er ra te Q R k wsec 5 82 11 9 939 14 1 16 7 23 5轉矩常數 K T kg fc m
A1 23 197 255 535 611 7 92
誘起電壓常數 K E Jkrp m 126 20 2 26 1 54 9 62 7 81 4轉子慣量 J g fcms 0 0 64times 012 5times 044 1times 065 8times 1 5 4times 2 4 8times
機子阻抗 Ra Ω 9 12 603 420 837 423 3 27機子感應 La mH 546 468 795 17 4 12 1 10 2機械時間常數 Tm ms ec 3 94 198 291 196 178 1032電氣時間常數 Te ms ec 0 60 078 189 205 286 3 12重量 k gf 0 71 089 155 182 259 3 41絕緣等級 F 種 F種 F種 F種 F 種 F 種機 額定電壓 V械 靜止摩擦扭力 k gfcm 3 3 12 12 24 24式 轉子慣量 kgfcm
s0 02times 10 0 02times 10 01times 10 01times 10 023times 10 0 23times 10
煞 消費電流 029A 029A 045A 045A 044A 044A
車周圍溫度 0~40
29215
State of the Art AC Servos
High Speed SpindleAC Servo Motor
High Torque Motor Spindle Motor
30215
Non-Salient Pole for AC Servo Motor
永磁馬達的轉子根據其結構可分為
Salient-pole (凸極式)氣隙分佈不均勻具有磁阻扭矩效率較高轉矩漣波較大但可經由轉子設計降低構造較複雜成本較高主要應用於高效率壓縮機
Non- salient-pole (隱極式) 氣隙均勻分佈外表呈現圓柱狀亦稱之為圓柱式(cylindrical-type)磁鐵貼覆於轉子表面或以不鏽鋼環套住轉矩漣波較小主要應用於伺服馬達
Non-salient po leSalient pole
6
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
31215
Architecture of Motor Drive
Controller
PowerAmp Motor Load
Man-Machine InterfaceSignal Processing amp PWM Control Vector Control Control Loop Control
PowerSource
Spee d
Torqu e
32215
伺服馬達驅動系統的控制架構
Power source (converter)
Semiconductor driver
Servomotor
Position speed sensor
Mechanical driver
Power control
GTO transistor MOSFET
Signal generator
IC OP amplifier semiconductor sensor
Control
Microprocessor DSP
GATE signal
Control
Controller
voltagecurrent
Gear backlash
Friction Compliance
Sensor
Microelectronics Power electronics Materials
Linearized decoupled p ower amplifier by minor curren t and speed lo ops
Level 1
Level 2
Level 3
33215
直流伺服馬達驅動器的系統方塊圖
Refere nce speed
Speed amplifie r
Curre nt amplifie r
PWM circuit
Rectifier bridg e
Tra nsisto r bridg e
DC Moto r
Tria ngula r wav e gene ratio n circ uit
Speed f eed back
Compa rat or
Curre nt f eedb ack
Filter Tach oge ner ator
Driver
Driver
Driver
Driver
DCM
TG
+minus
+minus
34215
+minus
交流伺服馬達驅動器的系統方塊圖
Reference speed
Speed amplifier
DC-SIN conversion Rectifier
bridge
Transistor bridge
Three-ph ase synchronous
motorSpeed feedback
Comparator
Speed detection
circuitRotary encoder
Driver
Driver
Driver
Driver
SM
RE
++minus
Driver
Driver
Comparator
Comparator
Triangular wave generation circuit
Sine wave generation
circuit
Rotor position detector
+
minus
minusminusminus
minus
Current amplifier
Current feedback
U
V
W
35215
Typical Motion Control System Block Diagram
Posi ti o nCo ntr oll er
Velo ci tyCo ntr oll er
Velo ci ty Fe e db ac k
Posi ti o n Fe ed b ac k
++- -
Ma ch in e Ta bl eCurre nt
Co ntr oll er
+
-Pow er
Amplifier
Curre nt Fe ed b ac k
Mo t or
Mo ti o nPlan ni n g
Comma n dInt erpr et er
Ma ch in eOp erat io n
CADCAM
Operation Command
MotionCommand
PositionCommand
Veloc ityCommand
36215
Hierarchical Control Architecture for AC Drive
ServoController
ACDCConverter
DCACConverter
VectorController
FieldController
FluxEstimator
AC MotorShaft
sensor
CurrentController
Cur re nt C on trolTo rq ue Co ntr ol
Back em f C on trol
Positio n amp V elo city C on tr ol
PWMController
Position amp Velocityestimator
PWM (Volt ag e) Co ntr ol
Cur re nt amp
volta geamp
positi onfee db ack
7
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
37215
AC Servo Drive Control
for asynchronousmachines
fiel d we ak en in g fiel d c on trol ler
sp ee dco ntr oll er
curre ntco ntr oll ers
-
_ -
- M3~
Encoder
n iq
idψ
ϕ
ψ
machinemodel
ir
vr
φjeminus
φjeminus
φjeminus
for sy nc hr on o usmac hi ne s 38215
Modeling of the Servo Motor with Connected Load Mechanical Nonlinear Dynamics
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+ Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θ L
Kv
TL
θ m
Tm
G fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
The load dynamics will couple to the motor as external disturbancesPower converter exists significant nonlinearity and voltage and current limitsControl algorithms and parameters are critical for specific applications
Controller
Power Converter amp Sensors
+Gp
+
minus
+
minusG v
minusGi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmG fi
RKs
v a
ia
ωm
fwG
fpG
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmGf i
RKs
v a
ia
ωm
fwG
fpG
21
2
22
22
mm
nnn
ss
ωωξωωξ
++++
21
2
22
22
mm
nnnss
ωωξωωξ
++++
40215
Digital AC Servo Motor Controller Design Issues
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
41215
Why Use DSP for Motor ControlTo Realize Complex Control amp Interface Algorithm
Rectifier Charger Inverter
T2
T1
110220V5060 Hz
+
_
ACload
EM
I 3-phaseload
C1
C2
M otorGenerator Flywheel
Battery
uεud
bull Power Factor Control
bull Regenerative Braking Control
bull DC-Link Voltage Regu lation
bull DC-Link Cap M inimization
bull PWM Contro lbull Vector Controlbull Current Controlbull Voltage Controlbull Power F low Controlbull Auto-Tuning
42215
Fully Digital Control Scheme for PMAC Drives
+
minusbase
drive
ADC
ADC
32
ϕϕ
_
_
ias
ibs
ics
23
ϕϕ
vcs
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
dd t
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )PM AC
servomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Feedback Signal
Processing
Servo Control FieldTorqueamp
CurrentVector
amp PW M
Control
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
2
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
7215
Motion Control (e g Electronic Gear)
Hauptantrieb
Virtue lle rMaster
Sync hronisie rteKomm unika tion
main drive
Virtualmaster
Synchronizedcommunication
8215
Real-Time Network Control of Distributed Motor Drives
SERCOS fiber optic ring
Interpolation
Synchro-niz ation
User interfaceSERCTOP
Control unitor PC SERCANS
Inte
rface f
or m
icrop
rocess
or P
C or V
ME-bu
s
NC-Program
executionDiagnostics
Synchroniz ation
Command channel
NC Service channel
Diagnostics channel
Actual value channel
Command value channel
M M I Service channel
9215
Firmware amp Software Architecture for Motion Control
DSP Device Driver
Servo Loop
PCL SICMulti-Tasks Kernel
IPO SIC
DSP System Module
PMC32-CPU
PMC32-DAC
PMC32-PWM
PMC32-SERCOS
PC Device Driver
Graphic Control SoftwarePC Software
DSP Firmware
DSP Hardware
LabVie wWi nMotion C ontr ol C Lib rar ies
Multi- Taski ng Ke rnelPos itio nVel ocity To rque PWM
8-axis co ntro lCIR P TP HOM E JOG
Encode r A DDA PWM IORS-2 32 S ERCO S 10215
AccelerationDeceleration Control
Acc Dec Interpolator
X
Y
M
MDx Dy
Servo
MotorP P
Px
Py
DigitalMotionController
馬達驅動器
馬達驅動器
擴充輸出入UNIT 1
機械輸入(4點 2) times
外部輸入(16點) 外部輸出(16點) RS-232C
電源(AC90~240V)
外部輸入(16點)
外部輸出(16點)
回授
回授
回授
回授
X 軸
Y 軸
附加機能
Servo
11215
Numerical Motion Controller
ΔS
ΔX
ΔSΔZ
nbullT
ΔS=v pat hbullT
(n+1)bullT
(n+2)bullT
Mathematical example for high speed machining vpath=30mmincong500mms cong05mm ms
CNC axes control
T[ ms] 10 2 0 5 02 5 0 1
Δs [ m m] 5 1 0 25 0 12 5 0 05
y-axisservomotor
x-axisservomotor
12215
2-axis Digital Motion Control System
G ss svx
x
x x x( ) =
+ +ω
ξ ω ω02
20 0
22
1s
+
_ K vx
ux ωx θ xexθ x
Ram pe r
and
Cont ou rInte rp ola to r
200
2
20
2)(
yyy
yvy ss
sGωωξ
ω++
=1s
+_ K vy
uy ω y θ yeyθ y
Y
X
desired contouring pathX-axis Servo Drive
Y-axis Servo Drive
X
Y
K vx
x
x
==
=
50200
0 7070
0
(sec( radsec
-1))
ω
ξ
X-axis Servo Y-axis Servo
Kvy
y
y
==
=
50200
07070
0
(sec(rad sec
-1))
ω
ξ
X-軸與 Y-軸伺服驅動器的參數值
3
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
13215
Composition of a Motion Control System
tacho-generator
encoder
servo driveposition controller
control box
The servo motor is conn ect ed to a mech anical loadThe tacho-g enerato r is usu ally not used in modern digital servo driveThe servo dri ve unit may be multiple-axis and con sist s of a motion controllerThe control unit provides man-machin e interf ace 14215
Modern Digital AC Servo Drive
encoder
servo driveposition controller
control box
AC Servo Motor
Optical network interface
Single-unit solution
15215
Typical Time and Frequency Responses
2000 rp m
-200 0 r pm
Speed
Curre nt
Gain
)( jwG
0db-3db ω
(rad s)
An example of mo tor current waveforms and Bode diagram of the whole system (a) speed response to step command and primary-phase current waveform (b) Bode diagrams of the speed-control system
dBBW 3minus
16215
Selection of Servo Drive Interface
伺服驅動器 優 點 缺 點
Pulse Servo Drive Step Drive
1 全數位化界面簡單
2 可接步進馬達
1 伺服動態響應受限
Velocity Drive Torque Drive
1 伺服動態響應佳
2 可接變頻器
1 類比界面輸出易飄移或
offset
PWM Power Amplifier
1 全數位界面
2 伺服動態響應較佳
3 功率放大器成本低
1 標準功率放大器尚未普及
2 使用者不易教育
Network Drive (SERCOS 1394
USB CAN)
1 網路介面配線容易
2 可依不同介面定義進行位置
速度電流等控制
1 網路界面驅動器尚未普及
2 各標準互不相容
17215
Evolution of Electrical Machines
Asynchro nous
Synchro nous
AC and DC Pow er Sup ply
Wound rotor
Squirrel cage
Salient poles
Var reluctance
Perm Magnet
Series
Compound
Shunt
Per Magnet
POWER CONVERSION
Universal
AC variable speed driv es
Intellige ntMoto r
AC Servo Brushless
DC Servo
Power Elect ronics
OPEN LOOP
Digital con trol
CLOSE LOOP
Smart I nte rface
EMBEDDED INTELLIGENCE
DC Brushless
Disc Mag net Steppe r
Hybrid Steppe r
VRSteppe r
DC
AC
18215
Induction Motor vs PM Synchronous Motor
ROTOR
AB
C
A
B
C
A
B
C
A
B
CSTATOR
ROTORCONDUCTOR
ROTOR
STATORSEGMENT
ROTORMAGNET
A
B
C
AC Induction Motor AC S ervo Motor
4
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
19215
What could an AC vector system do in servo applications
Speed Regulation up to 5 open loop 001 closed loop wexternal encoderFull torque at zero speedSmoothness at low speeds will be similarPositioning applications with low acceleration low response amp low bandwidth requirements (High power large inertia sy stem)
20215
AC Servo Driver with Synchronous or Induction Motors
R Lessmeie r W Schu macher and W Le onha rd Mic rop rocessor - cont rol led AC - serv o d river wit h synch rono us or inducti on m oto rs whic h is p refe rable IE E E Tra ns on Ind Ap pli vol 22 n o 5 pp 8 12-8 19 Sept Oct 1 986
AbstractmdashWith the rec ent advances of power transistors and microprocessors it has become possible to design high-dynamic-performance ac-servo drives free of moving contacts using synchronous or asynchronous motors Both schemes have their particular strengths A general control principle based on field or rotor orientation is described which has been re ali zed wi th a state-of-the-art microcomputer where all the signal processing including modulation of the inverter is performed by software Extensive tes ts have been carried out with different motors to compare the charact erist ics of the various types of drives
21215
VF Vector Induction Drive vs PM AC Servo
Heat buildup at low speedsEven though full torque at zero speed is possible the motor will run hot at low speeds because of the induction motor design The motor may need to be oversized to handle these effects or have a blower added
Very slow response times decreased bandwidth The AC Induction motor has higher rotor inertia due to its constructionHigher peak torques are required for ACCDEC
Potential for stability problemsThe overall bandwidth will be lower with the VFD system A system bandwidth lower than 40 radssec Could have stability problems in a closed loop system
There are Disadvantages of using a AC VFD for motion instead of AC Servo
22215
永磁交流伺服馬達的結構
permanentmagnetcore Armature
winding
永磁式交流馬達之剖面圖
stator winding
north pole rotor
frame stator iron core
end brackets
bearings
stationary field winding
south pole rotor
shaft
field winding holder
(a) (b)
複合式永磁式交流馬達之剖面圖
23215
Optimal Capacity Ranges of Brushless Servomotors
Output (W)Varieties
Stepping mo tor (includin g line ar mot or)
PM brus hless mot or
Vector-c ont rol inductio n m otor
Hall mot or
3 30 30010010 1000 3000
永磁式交流伺服馬達的構造
statorcoil
statorlaminatedcoil ferrite PM rotor pole
angular position andvelocity sensor
24215
Demagnetization Curves of Several Types of Permanent Magnets
14
12
10
8
6
4
2
012 10 8 6 4 2
磁通密
度[T
][1
04G
]
磁場強度 [ kOe]
Alnico
Ferrite
Rare-earthcobalt
Neodymium-iron
5
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
25215
Characteristics of AC Servo Motors
Model
Item ASM-061M AS M- 121M ASM-252MRated output ( W) 60 120 250Rated tor que ( kgmiddotcm) 1 95 390 812Rated speed ( rpm) 3000Rated voltage (V( a c) ) 37 41 103Rated curr ent (A(ac)) 1 6 27 22Maximum torque (kgmiddot cm) 9 75 195 406Maximum speed (rpm) 4000Power rate kWs 0 85 216 372Torque const ant (kgmiddotcmA) 0 95 113 288Mechanical time constant ( mmiddotsec) 143 894 724Electrical tim e constant (mmiddot sec) 1 85 233 372em f const ant ( mVrpm) 112 132 333Rotor inertia ( J) (kgmiddotcmmiddot s2) 044times 10-3 069times10-3 174times10-3
Armature res is tan ce ( Ω) 2 21 123 254
Protection s tructur e Totallyenclosed
Insulat ion type T ype BEnvir onmental co nditionst emper at ure () 0~40hum idity ( ) 90 RH or less ( no dew condensat ion)
Weight ( kg) 2 4 30 52So urc e S hib au ra En gin eer ing W ork s Co Ltd
26215
Characteristics of AC Servo Drives
Model
Item ADM-061A ADM-121A ADM-252A
Motor output (W ) 60 120 250Voltage of main circui t (V(dc)) 140 280Voltage of control circuit (A( dc)) 100200200Maximum output cur rent (A ) 6 8 8Maximum input cur rent (A ) 37 63 45Speed control range 10001
load charge (0~100 ) 01 or belowvoltage fluctuation ( 10 ) 01 or belowtemperature change (25) 0 5 or below
Control method Transis tor PWM produces a s inusoidal waveSpeed feedback Semi-absolute encoderSpeed command voltage ( V(dc)) 10rated speedCommand input impedance (k Ω) 10Environ mental conditions
temperature () 0~15
humidity ( ) 90 RH or less (no dew condensation)Weight (kg) 35
S o u rce S h ib a u ra Eng in eerin g Wo rks Co Ltd
27215
永磁交流伺服馬達的規格
GD2 (kgfcm2)
J (gfcmmiddots2)
090
時間額定連續絕緣種別F種振動階級V15取付方式直結形構造全閉自冷形塗裝色N15激磁方式希土類永久磁石周圍溫度0~+40濕度85RH以下(結露)
共通式樣
194概略重量 (kgf)
023轉子慣量
17靜止摩擦
DC24V plusmn 10額定電壓
保持
Encoder 2000PR速度位置檢出器
341概略重量 (kgf)
972GD2 (kgfcm2)
248J (gfcmmiddots2)轉子慣量
2353功率變率 (kws)
3000最大轉速 (rpm)
3000額定轉速 (rpm)
610瞬時最大 (kgfcm)
244額定 (kgfcm)
750額定出力 (w)
8CB75-2SE6馬達型號
DOSA016B-CB752伺服驅動器型號
28215
永磁交流伺服驅動器的規格
伺服馬達 型號 5CB06 -1 SE 6F 5CB12-1 SE 6F 7CB20-1 SE 6F 7CB30-2S E 6F 8CB5 0-2S E 6F 8 CB7 5-2S E6 F
額定輸出 Pr W 60 120 200 300 5000 750額定線間電壓 Vt V 318 43 1 54 5 107 7 118 5 1494額定扭矩 T kg fcm 195 39 65 9 7 16 2 24 4連續 sta ll扭矩 Ts kg fcm 21 42 71 10 7 17 8 26 8額定相電流 Ig A 18 22 28 2 0 3 0 3 4額定轉速 Ng rpm 3000 3000 3000 3000 3000 3000瞬間最大扭矩 Tp( N) kg fcm 5 85 11 7 19 5 20 2 48 7 73 1瞬間最大機子電流
Ip A 54 66 84 6 0 9 0 10 2
額定 pow er ra te Q R k wsec 5 82 11 9 939 14 1 16 7 23 5轉矩常數 K T kg fc m
A1 23 197 255 535 611 7 92
誘起電壓常數 K E Jkrp m 126 20 2 26 1 54 9 62 7 81 4轉子慣量 J g fcms 0 0 64times 012 5times 044 1times 065 8times 1 5 4times 2 4 8times
機子阻抗 Ra Ω 9 12 603 420 837 423 3 27機子感應 La mH 546 468 795 17 4 12 1 10 2機械時間常數 Tm ms ec 3 94 198 291 196 178 1032電氣時間常數 Te ms ec 0 60 078 189 205 286 3 12重量 k gf 0 71 089 155 182 259 3 41絕緣等級 F 種 F種 F種 F種 F 種 F 種機 額定電壓 V械 靜止摩擦扭力 k gfcm 3 3 12 12 24 24式 轉子慣量 kgfcm
s0 02times 10 0 02times 10 01times 10 01times 10 023times 10 0 23times 10
煞 消費電流 029A 029A 045A 045A 044A 044A
車周圍溫度 0~40
29215
State of the Art AC Servos
High Speed SpindleAC Servo Motor
High Torque Motor Spindle Motor
30215
Non-Salient Pole for AC Servo Motor
永磁馬達的轉子根據其結構可分為
Salient-pole (凸極式)氣隙分佈不均勻具有磁阻扭矩效率較高轉矩漣波較大但可經由轉子設計降低構造較複雜成本較高主要應用於高效率壓縮機
Non- salient-pole (隱極式) 氣隙均勻分佈外表呈現圓柱狀亦稱之為圓柱式(cylindrical-type)磁鐵貼覆於轉子表面或以不鏽鋼環套住轉矩漣波較小主要應用於伺服馬達
Non-salient po leSalient pole
6
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
31215
Architecture of Motor Drive
Controller
PowerAmp Motor Load
Man-Machine InterfaceSignal Processing amp PWM Control Vector Control Control Loop Control
PowerSource
Spee d
Torqu e
32215
伺服馬達驅動系統的控制架構
Power source (converter)
Semiconductor driver
Servomotor
Position speed sensor
Mechanical driver
Power control
GTO transistor MOSFET
Signal generator
IC OP amplifier semiconductor sensor
Control
Microprocessor DSP
GATE signal
Control
Controller
voltagecurrent
Gear backlash
Friction Compliance
Sensor
Microelectronics Power electronics Materials
Linearized decoupled p ower amplifier by minor curren t and speed lo ops
Level 1
Level 2
Level 3
33215
直流伺服馬達驅動器的系統方塊圖
Refere nce speed
Speed amplifie r
Curre nt amplifie r
PWM circuit
Rectifier bridg e
Tra nsisto r bridg e
DC Moto r
Tria ngula r wav e gene ratio n circ uit
Speed f eed back
Compa rat or
Curre nt f eedb ack
Filter Tach oge ner ator
Driver
Driver
Driver
Driver
DCM
TG
+minus
+minus
34215
+minus
交流伺服馬達驅動器的系統方塊圖
Reference speed
Speed amplifier
DC-SIN conversion Rectifier
bridge
Transistor bridge
Three-ph ase synchronous
motorSpeed feedback
Comparator
Speed detection
circuitRotary encoder
Driver
Driver
Driver
Driver
SM
RE
++minus
Driver
Driver
Comparator
Comparator
Triangular wave generation circuit
Sine wave generation
circuit
Rotor position detector
+
minus
minusminusminus
minus
Current amplifier
Current feedback
U
V
W
35215
Typical Motion Control System Block Diagram
Posi ti o nCo ntr oll er
Velo ci tyCo ntr oll er
Velo ci ty Fe e db ac k
Posi ti o n Fe ed b ac k
++- -
Ma ch in e Ta bl eCurre nt
Co ntr oll er
+
-Pow er
Amplifier
Curre nt Fe ed b ac k
Mo t or
Mo ti o nPlan ni n g
Comma n dInt erpr et er
Ma ch in eOp erat io n
CADCAM
Operation Command
MotionCommand
PositionCommand
Veloc ityCommand
36215
Hierarchical Control Architecture for AC Drive
ServoController
ACDCConverter
DCACConverter
VectorController
FieldController
FluxEstimator
AC MotorShaft
sensor
CurrentController
Cur re nt C on trolTo rq ue Co ntr ol
Back em f C on trol
Positio n amp V elo city C on tr ol
PWMController
Position amp Velocityestimator
PWM (Volt ag e) Co ntr ol
Cur re nt amp
volta geamp
positi onfee db ack
7
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
37215
AC Servo Drive Control
for asynchronousmachines
fiel d we ak en in g fiel d c on trol ler
sp ee dco ntr oll er
curre ntco ntr oll ers
-
_ -
- M3~
Encoder
n iq
idψ
ϕ
ψ
machinemodel
ir
vr
φjeminus
φjeminus
φjeminus
for sy nc hr on o usmac hi ne s 38215
Modeling of the Servo Motor with Connected Load Mechanical Nonlinear Dynamics
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+ Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θ L
Kv
TL
θ m
Tm
G fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
The load dynamics will couple to the motor as external disturbancesPower converter exists significant nonlinearity and voltage and current limitsControl algorithms and parameters are critical for specific applications
Controller
Power Converter amp Sensors
+Gp
+
minus
+
minusG v
minusGi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmG fi
RKs
v a
ia
ωm
fwG
fpG
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmGf i
RKs
v a
ia
ωm
fwG
fpG
21
2
22
22
mm
nnn
ss
ωωξωωξ
++++
21
2
22
22
mm
nnnss
ωωξωωξ
++++
40215
Digital AC Servo Motor Controller Design Issues
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
41215
Why Use DSP for Motor ControlTo Realize Complex Control amp Interface Algorithm
Rectifier Charger Inverter
T2
T1
110220V5060 Hz
+
_
ACload
EM
I 3-phaseload
C1
C2
M otorGenerator Flywheel
Battery
uεud
bull Power Factor Control
bull Regenerative Braking Control
bull DC-Link Voltage Regu lation
bull DC-Link Cap M inimization
bull PWM Contro lbull Vector Controlbull Current Controlbull Voltage Controlbull Power F low Controlbull Auto-Tuning
42215
Fully Digital Control Scheme for PMAC Drives
+
minusbase
drive
ADC
ADC
32
ϕϕ
_
_
ias
ibs
ics
23
ϕϕ
vcs
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
dd t
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )PM AC
servomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Feedback Signal
Processing
Servo Control FieldTorqueamp
CurrentVector
amp PW M
Control
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
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34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
3
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
13215
Composition of a Motion Control System
tacho-generator
encoder
servo driveposition controller
control box
The servo motor is conn ect ed to a mech anical loadThe tacho-g enerato r is usu ally not used in modern digital servo driveThe servo dri ve unit may be multiple-axis and con sist s of a motion controllerThe control unit provides man-machin e interf ace 14215
Modern Digital AC Servo Drive
encoder
servo driveposition controller
control box
AC Servo Motor
Optical network interface
Single-unit solution
15215
Typical Time and Frequency Responses
2000 rp m
-200 0 r pm
Speed
Curre nt
Gain
)( jwG
0db-3db ω
(rad s)
An example of mo tor current waveforms and Bode diagram of the whole system (a) speed response to step command and primary-phase current waveform (b) Bode diagrams of the speed-control system
dBBW 3minus
16215
Selection of Servo Drive Interface
伺服驅動器 優 點 缺 點
Pulse Servo Drive Step Drive
1 全數位化界面簡單
2 可接步進馬達
1 伺服動態響應受限
Velocity Drive Torque Drive
1 伺服動態響應佳
2 可接變頻器
1 類比界面輸出易飄移或
offset
PWM Power Amplifier
1 全數位界面
2 伺服動態響應較佳
3 功率放大器成本低
1 標準功率放大器尚未普及
2 使用者不易教育
Network Drive (SERCOS 1394
USB CAN)
1 網路介面配線容易
2 可依不同介面定義進行位置
速度電流等控制
1 網路界面驅動器尚未普及
2 各標準互不相容
17215
Evolution of Electrical Machines
Asynchro nous
Synchro nous
AC and DC Pow er Sup ply
Wound rotor
Squirrel cage
Salient poles
Var reluctance
Perm Magnet
Series
Compound
Shunt
Per Magnet
POWER CONVERSION
Universal
AC variable speed driv es
Intellige ntMoto r
AC Servo Brushless
DC Servo
Power Elect ronics
OPEN LOOP
Digital con trol
CLOSE LOOP
Smart I nte rface
EMBEDDED INTELLIGENCE
DC Brushless
Disc Mag net Steppe r
Hybrid Steppe r
VRSteppe r
DC
AC
18215
Induction Motor vs PM Synchronous Motor
ROTOR
AB
C
A
B
C
A
B
C
A
B
CSTATOR
ROTORCONDUCTOR
ROTOR
STATORSEGMENT
ROTORMAGNET
A
B
C
AC Induction Motor AC S ervo Motor
4
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
19215
What could an AC vector system do in servo applications
Speed Regulation up to 5 open loop 001 closed loop wexternal encoderFull torque at zero speedSmoothness at low speeds will be similarPositioning applications with low acceleration low response amp low bandwidth requirements (High power large inertia sy stem)
20215
AC Servo Driver with Synchronous or Induction Motors
R Lessmeie r W Schu macher and W Le onha rd Mic rop rocessor - cont rol led AC - serv o d river wit h synch rono us or inducti on m oto rs whic h is p refe rable IE E E Tra ns on Ind Ap pli vol 22 n o 5 pp 8 12-8 19 Sept Oct 1 986
AbstractmdashWith the rec ent advances of power transistors and microprocessors it has become possible to design high-dynamic-performance ac-servo drives free of moving contacts using synchronous or asynchronous motors Both schemes have their particular strengths A general control principle based on field or rotor orientation is described which has been re ali zed wi th a state-of-the-art microcomputer where all the signal processing including modulation of the inverter is performed by software Extensive tes ts have been carried out with different motors to compare the charact erist ics of the various types of drives
21215
VF Vector Induction Drive vs PM AC Servo
Heat buildup at low speedsEven though full torque at zero speed is possible the motor will run hot at low speeds because of the induction motor design The motor may need to be oversized to handle these effects or have a blower added
Very slow response times decreased bandwidth The AC Induction motor has higher rotor inertia due to its constructionHigher peak torques are required for ACCDEC
Potential for stability problemsThe overall bandwidth will be lower with the VFD system A system bandwidth lower than 40 radssec Could have stability problems in a closed loop system
There are Disadvantages of using a AC VFD for motion instead of AC Servo
22215
永磁交流伺服馬達的結構
permanentmagnetcore Armature
winding
永磁式交流馬達之剖面圖
stator winding
north pole rotor
frame stator iron core
end brackets
bearings
stationary field winding
south pole rotor
shaft
field winding holder
(a) (b)
複合式永磁式交流馬達之剖面圖
23215
Optimal Capacity Ranges of Brushless Servomotors
Output (W)Varieties
Stepping mo tor (includin g line ar mot or)
PM brus hless mot or
Vector-c ont rol inductio n m otor
Hall mot or
3 30 30010010 1000 3000
永磁式交流伺服馬達的構造
statorcoil
statorlaminatedcoil ferrite PM rotor pole
angular position andvelocity sensor
24215
Demagnetization Curves of Several Types of Permanent Magnets
14
12
10
8
6
4
2
012 10 8 6 4 2
磁通密
度[T
][1
04G
]
磁場強度 [ kOe]
Alnico
Ferrite
Rare-earthcobalt
Neodymium-iron
5
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
25215
Characteristics of AC Servo Motors
Model
Item ASM-061M AS M- 121M ASM-252MRated output ( W) 60 120 250Rated tor que ( kgmiddotcm) 1 95 390 812Rated speed ( rpm) 3000Rated voltage (V( a c) ) 37 41 103Rated curr ent (A(ac)) 1 6 27 22Maximum torque (kgmiddot cm) 9 75 195 406Maximum speed (rpm) 4000Power rate kWs 0 85 216 372Torque const ant (kgmiddotcmA) 0 95 113 288Mechanical time constant ( mmiddotsec) 143 894 724Electrical tim e constant (mmiddot sec) 1 85 233 372em f const ant ( mVrpm) 112 132 333Rotor inertia ( J) (kgmiddotcmmiddot s2) 044times 10-3 069times10-3 174times10-3
Armature res is tan ce ( Ω) 2 21 123 254
Protection s tructur e Totallyenclosed
Insulat ion type T ype BEnvir onmental co nditionst emper at ure () 0~40hum idity ( ) 90 RH or less ( no dew condensat ion)
Weight ( kg) 2 4 30 52So urc e S hib au ra En gin eer ing W ork s Co Ltd
26215
Characteristics of AC Servo Drives
Model
Item ADM-061A ADM-121A ADM-252A
Motor output (W ) 60 120 250Voltage of main circui t (V(dc)) 140 280Voltage of control circuit (A( dc)) 100200200Maximum output cur rent (A ) 6 8 8Maximum input cur rent (A ) 37 63 45Speed control range 10001
load charge (0~100 ) 01 or belowvoltage fluctuation ( 10 ) 01 or belowtemperature change (25) 0 5 or below
Control method Transis tor PWM produces a s inusoidal waveSpeed feedback Semi-absolute encoderSpeed command voltage ( V(dc)) 10rated speedCommand input impedance (k Ω) 10Environ mental conditions
temperature () 0~15
humidity ( ) 90 RH or less (no dew condensation)Weight (kg) 35
S o u rce S h ib a u ra Eng in eerin g Wo rks Co Ltd
27215
永磁交流伺服馬達的規格
GD2 (kgfcm2)
J (gfcmmiddots2)
090
時間額定連續絕緣種別F種振動階級V15取付方式直結形構造全閉自冷形塗裝色N15激磁方式希土類永久磁石周圍溫度0~+40濕度85RH以下(結露)
共通式樣
194概略重量 (kgf)
023轉子慣量
17靜止摩擦
DC24V plusmn 10額定電壓
保持
Encoder 2000PR速度位置檢出器
341概略重量 (kgf)
972GD2 (kgfcm2)
248J (gfcmmiddots2)轉子慣量
2353功率變率 (kws)
3000最大轉速 (rpm)
3000額定轉速 (rpm)
610瞬時最大 (kgfcm)
244額定 (kgfcm)
750額定出力 (w)
8CB75-2SE6馬達型號
DOSA016B-CB752伺服驅動器型號
28215
永磁交流伺服驅動器的規格
伺服馬達 型號 5CB06 -1 SE 6F 5CB12-1 SE 6F 7CB20-1 SE 6F 7CB30-2S E 6F 8CB5 0-2S E 6F 8 CB7 5-2S E6 F
額定輸出 Pr W 60 120 200 300 5000 750額定線間電壓 Vt V 318 43 1 54 5 107 7 118 5 1494額定扭矩 T kg fcm 195 39 65 9 7 16 2 24 4連續 sta ll扭矩 Ts kg fcm 21 42 71 10 7 17 8 26 8額定相電流 Ig A 18 22 28 2 0 3 0 3 4額定轉速 Ng rpm 3000 3000 3000 3000 3000 3000瞬間最大扭矩 Tp( N) kg fcm 5 85 11 7 19 5 20 2 48 7 73 1瞬間最大機子電流
Ip A 54 66 84 6 0 9 0 10 2
額定 pow er ra te Q R k wsec 5 82 11 9 939 14 1 16 7 23 5轉矩常數 K T kg fc m
A1 23 197 255 535 611 7 92
誘起電壓常數 K E Jkrp m 126 20 2 26 1 54 9 62 7 81 4轉子慣量 J g fcms 0 0 64times 012 5times 044 1times 065 8times 1 5 4times 2 4 8times
機子阻抗 Ra Ω 9 12 603 420 837 423 3 27機子感應 La mH 546 468 795 17 4 12 1 10 2機械時間常數 Tm ms ec 3 94 198 291 196 178 1032電氣時間常數 Te ms ec 0 60 078 189 205 286 3 12重量 k gf 0 71 089 155 182 259 3 41絕緣等級 F 種 F種 F種 F種 F 種 F 種機 額定電壓 V械 靜止摩擦扭力 k gfcm 3 3 12 12 24 24式 轉子慣量 kgfcm
s0 02times 10 0 02times 10 01times 10 01times 10 023times 10 0 23times 10
煞 消費電流 029A 029A 045A 045A 044A 044A
車周圍溫度 0~40
29215
State of the Art AC Servos
High Speed SpindleAC Servo Motor
High Torque Motor Spindle Motor
30215
Non-Salient Pole for AC Servo Motor
永磁馬達的轉子根據其結構可分為
Salient-pole (凸極式)氣隙分佈不均勻具有磁阻扭矩效率較高轉矩漣波較大但可經由轉子設計降低構造較複雜成本較高主要應用於高效率壓縮機
Non- salient-pole (隱極式) 氣隙均勻分佈外表呈現圓柱狀亦稱之為圓柱式(cylindrical-type)磁鐵貼覆於轉子表面或以不鏽鋼環套住轉矩漣波較小主要應用於伺服馬達
Non-salient po leSalient pole
6
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
31215
Architecture of Motor Drive
Controller
PowerAmp Motor Load
Man-Machine InterfaceSignal Processing amp PWM Control Vector Control Control Loop Control
PowerSource
Spee d
Torqu e
32215
伺服馬達驅動系統的控制架構
Power source (converter)
Semiconductor driver
Servomotor
Position speed sensor
Mechanical driver
Power control
GTO transistor MOSFET
Signal generator
IC OP amplifier semiconductor sensor
Control
Microprocessor DSP
GATE signal
Control
Controller
voltagecurrent
Gear backlash
Friction Compliance
Sensor
Microelectronics Power electronics Materials
Linearized decoupled p ower amplifier by minor curren t and speed lo ops
Level 1
Level 2
Level 3
33215
直流伺服馬達驅動器的系統方塊圖
Refere nce speed
Speed amplifie r
Curre nt amplifie r
PWM circuit
Rectifier bridg e
Tra nsisto r bridg e
DC Moto r
Tria ngula r wav e gene ratio n circ uit
Speed f eed back
Compa rat or
Curre nt f eedb ack
Filter Tach oge ner ator
Driver
Driver
Driver
Driver
DCM
TG
+minus
+minus
34215
+minus
交流伺服馬達驅動器的系統方塊圖
Reference speed
Speed amplifier
DC-SIN conversion Rectifier
bridge
Transistor bridge
Three-ph ase synchronous
motorSpeed feedback
Comparator
Speed detection
circuitRotary encoder
Driver
Driver
Driver
Driver
SM
RE
++minus
Driver
Driver
Comparator
Comparator
Triangular wave generation circuit
Sine wave generation
circuit
Rotor position detector
+
minus
minusminusminus
minus
Current amplifier
Current feedback
U
V
W
35215
Typical Motion Control System Block Diagram
Posi ti o nCo ntr oll er
Velo ci tyCo ntr oll er
Velo ci ty Fe e db ac k
Posi ti o n Fe ed b ac k
++- -
Ma ch in e Ta bl eCurre nt
Co ntr oll er
+
-Pow er
Amplifier
Curre nt Fe ed b ac k
Mo t or
Mo ti o nPlan ni n g
Comma n dInt erpr et er
Ma ch in eOp erat io n
CADCAM
Operation Command
MotionCommand
PositionCommand
Veloc ityCommand
36215
Hierarchical Control Architecture for AC Drive
ServoController
ACDCConverter
DCACConverter
VectorController
FieldController
FluxEstimator
AC MotorShaft
sensor
CurrentController
Cur re nt C on trolTo rq ue Co ntr ol
Back em f C on trol
Positio n amp V elo city C on tr ol
PWMController
Position amp Velocityestimator
PWM (Volt ag e) Co ntr ol
Cur re nt amp
volta geamp
positi onfee db ack
7
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
37215
AC Servo Drive Control
for asynchronousmachines
fiel d we ak en in g fiel d c on trol ler
sp ee dco ntr oll er
curre ntco ntr oll ers
-
_ -
- M3~
Encoder
n iq
idψ
ϕ
ψ
machinemodel
ir
vr
φjeminus
φjeminus
φjeminus
for sy nc hr on o usmac hi ne s 38215
Modeling of the Servo Motor with Connected Load Mechanical Nonlinear Dynamics
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+ Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θ L
Kv
TL
θ m
Tm
G fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
The load dynamics will couple to the motor as external disturbancesPower converter exists significant nonlinearity and voltage and current limitsControl algorithms and parameters are critical for specific applications
Controller
Power Converter amp Sensors
+Gp
+
minus
+
minusG v
minusGi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmG fi
RKs
v a
ia
ωm
fwG
fpG
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmGf i
RKs
v a
ia
ωm
fwG
fpG
21
2
22
22
mm
nnn
ss
ωωξωωξ
++++
21
2
22
22
mm
nnnss
ωωξωωξ
++++
40215
Digital AC Servo Motor Controller Design Issues
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
41215
Why Use DSP for Motor ControlTo Realize Complex Control amp Interface Algorithm
Rectifier Charger Inverter
T2
T1
110220V5060 Hz
+
_
ACload
EM
I 3-phaseload
C1
C2
M otorGenerator Flywheel
Battery
uεud
bull Power Factor Control
bull Regenerative Braking Control
bull DC-Link Voltage Regu lation
bull DC-Link Cap M inimization
bull PWM Contro lbull Vector Controlbull Current Controlbull Voltage Controlbull Power F low Controlbull Auto-Tuning
42215
Fully Digital Control Scheme for PMAC Drives
+
minusbase
drive
ADC
ADC
32
ϕϕ
_
_
ias
ibs
ics
23
ϕϕ
vcs
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
dd t
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )PM AC
servomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Feedback Signal
Processing
Servo Control FieldTorqueamp
CurrentVector
amp PW M
Control
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
4
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
19215
What could an AC vector system do in servo applications
Speed Regulation up to 5 open loop 001 closed loop wexternal encoderFull torque at zero speedSmoothness at low speeds will be similarPositioning applications with low acceleration low response amp low bandwidth requirements (High power large inertia sy stem)
20215
AC Servo Driver with Synchronous or Induction Motors
R Lessmeie r W Schu macher and W Le onha rd Mic rop rocessor - cont rol led AC - serv o d river wit h synch rono us or inducti on m oto rs whic h is p refe rable IE E E Tra ns on Ind Ap pli vol 22 n o 5 pp 8 12-8 19 Sept Oct 1 986
AbstractmdashWith the rec ent advances of power transistors and microprocessors it has become possible to design high-dynamic-performance ac-servo drives free of moving contacts using synchronous or asynchronous motors Both schemes have their particular strengths A general control principle based on field or rotor orientation is described which has been re ali zed wi th a state-of-the-art microcomputer where all the signal processing including modulation of the inverter is performed by software Extensive tes ts have been carried out with different motors to compare the charact erist ics of the various types of drives
21215
VF Vector Induction Drive vs PM AC Servo
Heat buildup at low speedsEven though full torque at zero speed is possible the motor will run hot at low speeds because of the induction motor design The motor may need to be oversized to handle these effects or have a blower added
Very slow response times decreased bandwidth The AC Induction motor has higher rotor inertia due to its constructionHigher peak torques are required for ACCDEC
Potential for stability problemsThe overall bandwidth will be lower with the VFD system A system bandwidth lower than 40 radssec Could have stability problems in a closed loop system
There are Disadvantages of using a AC VFD for motion instead of AC Servo
22215
永磁交流伺服馬達的結構
permanentmagnetcore Armature
winding
永磁式交流馬達之剖面圖
stator winding
north pole rotor
frame stator iron core
end brackets
bearings
stationary field winding
south pole rotor
shaft
field winding holder
(a) (b)
複合式永磁式交流馬達之剖面圖
23215
Optimal Capacity Ranges of Brushless Servomotors
Output (W)Varieties
Stepping mo tor (includin g line ar mot or)
PM brus hless mot or
Vector-c ont rol inductio n m otor
Hall mot or
3 30 30010010 1000 3000
永磁式交流伺服馬達的構造
statorcoil
statorlaminatedcoil ferrite PM rotor pole
angular position andvelocity sensor
24215
Demagnetization Curves of Several Types of Permanent Magnets
14
12
10
8
6
4
2
012 10 8 6 4 2
磁通密
度[T
][1
04G
]
磁場強度 [ kOe]
Alnico
Ferrite
Rare-earthcobalt
Neodymium-iron
5
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
25215
Characteristics of AC Servo Motors
Model
Item ASM-061M AS M- 121M ASM-252MRated output ( W) 60 120 250Rated tor que ( kgmiddotcm) 1 95 390 812Rated speed ( rpm) 3000Rated voltage (V( a c) ) 37 41 103Rated curr ent (A(ac)) 1 6 27 22Maximum torque (kgmiddot cm) 9 75 195 406Maximum speed (rpm) 4000Power rate kWs 0 85 216 372Torque const ant (kgmiddotcmA) 0 95 113 288Mechanical time constant ( mmiddotsec) 143 894 724Electrical tim e constant (mmiddot sec) 1 85 233 372em f const ant ( mVrpm) 112 132 333Rotor inertia ( J) (kgmiddotcmmiddot s2) 044times 10-3 069times10-3 174times10-3
Armature res is tan ce ( Ω) 2 21 123 254
Protection s tructur e Totallyenclosed
Insulat ion type T ype BEnvir onmental co nditionst emper at ure () 0~40hum idity ( ) 90 RH or less ( no dew condensat ion)
Weight ( kg) 2 4 30 52So urc e S hib au ra En gin eer ing W ork s Co Ltd
26215
Characteristics of AC Servo Drives
Model
Item ADM-061A ADM-121A ADM-252A
Motor output (W ) 60 120 250Voltage of main circui t (V(dc)) 140 280Voltage of control circuit (A( dc)) 100200200Maximum output cur rent (A ) 6 8 8Maximum input cur rent (A ) 37 63 45Speed control range 10001
load charge (0~100 ) 01 or belowvoltage fluctuation ( 10 ) 01 or belowtemperature change (25) 0 5 or below
Control method Transis tor PWM produces a s inusoidal waveSpeed feedback Semi-absolute encoderSpeed command voltage ( V(dc)) 10rated speedCommand input impedance (k Ω) 10Environ mental conditions
temperature () 0~15
humidity ( ) 90 RH or less (no dew condensation)Weight (kg) 35
S o u rce S h ib a u ra Eng in eerin g Wo rks Co Ltd
27215
永磁交流伺服馬達的規格
GD2 (kgfcm2)
J (gfcmmiddots2)
090
時間額定連續絕緣種別F種振動階級V15取付方式直結形構造全閉自冷形塗裝色N15激磁方式希土類永久磁石周圍溫度0~+40濕度85RH以下(結露)
共通式樣
194概略重量 (kgf)
023轉子慣量
17靜止摩擦
DC24V plusmn 10額定電壓
保持
Encoder 2000PR速度位置檢出器
341概略重量 (kgf)
972GD2 (kgfcm2)
248J (gfcmmiddots2)轉子慣量
2353功率變率 (kws)
3000最大轉速 (rpm)
3000額定轉速 (rpm)
610瞬時最大 (kgfcm)
244額定 (kgfcm)
750額定出力 (w)
8CB75-2SE6馬達型號
DOSA016B-CB752伺服驅動器型號
28215
永磁交流伺服驅動器的規格
伺服馬達 型號 5CB06 -1 SE 6F 5CB12-1 SE 6F 7CB20-1 SE 6F 7CB30-2S E 6F 8CB5 0-2S E 6F 8 CB7 5-2S E6 F
額定輸出 Pr W 60 120 200 300 5000 750額定線間電壓 Vt V 318 43 1 54 5 107 7 118 5 1494額定扭矩 T kg fcm 195 39 65 9 7 16 2 24 4連續 sta ll扭矩 Ts kg fcm 21 42 71 10 7 17 8 26 8額定相電流 Ig A 18 22 28 2 0 3 0 3 4額定轉速 Ng rpm 3000 3000 3000 3000 3000 3000瞬間最大扭矩 Tp( N) kg fcm 5 85 11 7 19 5 20 2 48 7 73 1瞬間最大機子電流
Ip A 54 66 84 6 0 9 0 10 2
額定 pow er ra te Q R k wsec 5 82 11 9 939 14 1 16 7 23 5轉矩常數 K T kg fc m
A1 23 197 255 535 611 7 92
誘起電壓常數 K E Jkrp m 126 20 2 26 1 54 9 62 7 81 4轉子慣量 J g fcms 0 0 64times 012 5times 044 1times 065 8times 1 5 4times 2 4 8times
機子阻抗 Ra Ω 9 12 603 420 837 423 3 27機子感應 La mH 546 468 795 17 4 12 1 10 2機械時間常數 Tm ms ec 3 94 198 291 196 178 1032電氣時間常數 Te ms ec 0 60 078 189 205 286 3 12重量 k gf 0 71 089 155 182 259 3 41絕緣等級 F 種 F種 F種 F種 F 種 F 種機 額定電壓 V械 靜止摩擦扭力 k gfcm 3 3 12 12 24 24式 轉子慣量 kgfcm
s0 02times 10 0 02times 10 01times 10 01times 10 023times 10 0 23times 10
煞 消費電流 029A 029A 045A 045A 044A 044A
車周圍溫度 0~40
29215
State of the Art AC Servos
High Speed SpindleAC Servo Motor
High Torque Motor Spindle Motor
30215
Non-Salient Pole for AC Servo Motor
永磁馬達的轉子根據其結構可分為
Salient-pole (凸極式)氣隙分佈不均勻具有磁阻扭矩效率較高轉矩漣波較大但可經由轉子設計降低構造較複雜成本較高主要應用於高效率壓縮機
Non- salient-pole (隱極式) 氣隙均勻分佈外表呈現圓柱狀亦稱之為圓柱式(cylindrical-type)磁鐵貼覆於轉子表面或以不鏽鋼環套住轉矩漣波較小主要應用於伺服馬達
Non-salient po leSalient pole
6
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
31215
Architecture of Motor Drive
Controller
PowerAmp Motor Load
Man-Machine InterfaceSignal Processing amp PWM Control Vector Control Control Loop Control
PowerSource
Spee d
Torqu e
32215
伺服馬達驅動系統的控制架構
Power source (converter)
Semiconductor driver
Servomotor
Position speed sensor
Mechanical driver
Power control
GTO transistor MOSFET
Signal generator
IC OP amplifier semiconductor sensor
Control
Microprocessor DSP
GATE signal
Control
Controller
voltagecurrent
Gear backlash
Friction Compliance
Sensor
Microelectronics Power electronics Materials
Linearized decoupled p ower amplifier by minor curren t and speed lo ops
Level 1
Level 2
Level 3
33215
直流伺服馬達驅動器的系統方塊圖
Refere nce speed
Speed amplifie r
Curre nt amplifie r
PWM circuit
Rectifier bridg e
Tra nsisto r bridg e
DC Moto r
Tria ngula r wav e gene ratio n circ uit
Speed f eed back
Compa rat or
Curre nt f eedb ack
Filter Tach oge ner ator
Driver
Driver
Driver
Driver
DCM
TG
+minus
+minus
34215
+minus
交流伺服馬達驅動器的系統方塊圖
Reference speed
Speed amplifier
DC-SIN conversion Rectifier
bridge
Transistor bridge
Three-ph ase synchronous
motorSpeed feedback
Comparator
Speed detection
circuitRotary encoder
Driver
Driver
Driver
Driver
SM
RE
++minus
Driver
Driver
Comparator
Comparator
Triangular wave generation circuit
Sine wave generation
circuit
Rotor position detector
+
minus
minusminusminus
minus
Current amplifier
Current feedback
U
V
W
35215
Typical Motion Control System Block Diagram
Posi ti o nCo ntr oll er
Velo ci tyCo ntr oll er
Velo ci ty Fe e db ac k
Posi ti o n Fe ed b ac k
++- -
Ma ch in e Ta bl eCurre nt
Co ntr oll er
+
-Pow er
Amplifier
Curre nt Fe ed b ac k
Mo t or
Mo ti o nPlan ni n g
Comma n dInt erpr et er
Ma ch in eOp erat io n
CADCAM
Operation Command
MotionCommand
PositionCommand
Veloc ityCommand
36215
Hierarchical Control Architecture for AC Drive
ServoController
ACDCConverter
DCACConverter
VectorController
FieldController
FluxEstimator
AC MotorShaft
sensor
CurrentController
Cur re nt C on trolTo rq ue Co ntr ol
Back em f C on trol
Positio n amp V elo city C on tr ol
PWMController
Position amp Velocityestimator
PWM (Volt ag e) Co ntr ol
Cur re nt amp
volta geamp
positi onfee db ack
7
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
37215
AC Servo Drive Control
for asynchronousmachines
fiel d we ak en in g fiel d c on trol ler
sp ee dco ntr oll er
curre ntco ntr oll ers
-
_ -
- M3~
Encoder
n iq
idψ
ϕ
ψ
machinemodel
ir
vr
φjeminus
φjeminus
φjeminus
for sy nc hr on o usmac hi ne s 38215
Modeling of the Servo Motor with Connected Load Mechanical Nonlinear Dynamics
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+ Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θ L
Kv
TL
θ m
Tm
G fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
The load dynamics will couple to the motor as external disturbancesPower converter exists significant nonlinearity and voltage and current limitsControl algorithms and parameters are critical for specific applications
Controller
Power Converter amp Sensors
+Gp
+
minus
+
minusG v
minusGi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmG fi
RKs
v a
ia
ωm
fwG
fpG
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmGf i
RKs
v a
ia
ωm
fwG
fpG
21
2
22
22
mm
nnn
ss
ωωξωωξ
++++
21
2
22
22
mm
nnnss
ωωξωωξ
++++
40215
Digital AC Servo Motor Controller Design Issues
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
41215
Why Use DSP for Motor ControlTo Realize Complex Control amp Interface Algorithm
Rectifier Charger Inverter
T2
T1
110220V5060 Hz
+
_
ACload
EM
I 3-phaseload
C1
C2
M otorGenerator Flywheel
Battery
uεud
bull Power Factor Control
bull Regenerative Braking Control
bull DC-Link Voltage Regu lation
bull DC-Link Cap M inimization
bull PWM Contro lbull Vector Controlbull Current Controlbull Voltage Controlbull Power F low Controlbull Auto-Tuning
42215
Fully Digital Control Scheme for PMAC Drives
+
minusbase
drive
ADC
ADC
32
ϕϕ
_
_
ias
ibs
ics
23
ϕϕ
vcs
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
dd t
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )PM AC
servomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Feedback Signal
Processing
Servo Control FieldTorqueamp
CurrentVector
amp PW M
Control
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
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S
λR
λ S
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q-axis
ω e
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β
α
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14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
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rsiq
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siq
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iuiviw
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80215
Field-Oriented Torque Controller
i sβ
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iqs
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ωsl ωe+
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Current Controller
compensator
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23
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2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
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λR
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ids
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Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
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1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
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mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
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G sv( )ω m
minus
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Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
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)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
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Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
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94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
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11
22
11
11
minusminus
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HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
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11
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11
11
minusminus
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++
Notch Filter
PKα
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minus
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Torquecommand
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α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
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Comman dInterprete r
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Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
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_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
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s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
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AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
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sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
5
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
25215
Characteristics of AC Servo Motors
Model
Item ASM-061M AS M- 121M ASM-252MRated output ( W) 60 120 250Rated tor que ( kgmiddotcm) 1 95 390 812Rated speed ( rpm) 3000Rated voltage (V( a c) ) 37 41 103Rated curr ent (A(ac)) 1 6 27 22Maximum torque (kgmiddot cm) 9 75 195 406Maximum speed (rpm) 4000Power rate kWs 0 85 216 372Torque const ant (kgmiddotcmA) 0 95 113 288Mechanical time constant ( mmiddotsec) 143 894 724Electrical tim e constant (mmiddot sec) 1 85 233 372em f const ant ( mVrpm) 112 132 333Rotor inertia ( J) (kgmiddotcmmiddot s2) 044times 10-3 069times10-3 174times10-3
Armature res is tan ce ( Ω) 2 21 123 254
Protection s tructur e Totallyenclosed
Insulat ion type T ype BEnvir onmental co nditionst emper at ure () 0~40hum idity ( ) 90 RH or less ( no dew condensat ion)
Weight ( kg) 2 4 30 52So urc e S hib au ra En gin eer ing W ork s Co Ltd
26215
Characteristics of AC Servo Drives
Model
Item ADM-061A ADM-121A ADM-252A
Motor output (W ) 60 120 250Voltage of main circui t (V(dc)) 140 280Voltage of control circuit (A( dc)) 100200200Maximum output cur rent (A ) 6 8 8Maximum input cur rent (A ) 37 63 45Speed control range 10001
load charge (0~100 ) 01 or belowvoltage fluctuation ( 10 ) 01 or belowtemperature change (25) 0 5 or below
Control method Transis tor PWM produces a s inusoidal waveSpeed feedback Semi-absolute encoderSpeed command voltage ( V(dc)) 10rated speedCommand input impedance (k Ω) 10Environ mental conditions
temperature () 0~15
humidity ( ) 90 RH or less (no dew condensation)Weight (kg) 35
S o u rce S h ib a u ra Eng in eerin g Wo rks Co Ltd
27215
永磁交流伺服馬達的規格
GD2 (kgfcm2)
J (gfcmmiddots2)
090
時間額定連續絕緣種別F種振動階級V15取付方式直結形構造全閉自冷形塗裝色N15激磁方式希土類永久磁石周圍溫度0~+40濕度85RH以下(結露)
共通式樣
194概略重量 (kgf)
023轉子慣量
17靜止摩擦
DC24V plusmn 10額定電壓
保持
Encoder 2000PR速度位置檢出器
341概略重量 (kgf)
972GD2 (kgfcm2)
248J (gfcmmiddots2)轉子慣量
2353功率變率 (kws)
3000最大轉速 (rpm)
3000額定轉速 (rpm)
610瞬時最大 (kgfcm)
244額定 (kgfcm)
750額定出力 (w)
8CB75-2SE6馬達型號
DOSA016B-CB752伺服驅動器型號
28215
永磁交流伺服驅動器的規格
伺服馬達 型號 5CB06 -1 SE 6F 5CB12-1 SE 6F 7CB20-1 SE 6F 7CB30-2S E 6F 8CB5 0-2S E 6F 8 CB7 5-2S E6 F
額定輸出 Pr W 60 120 200 300 5000 750額定線間電壓 Vt V 318 43 1 54 5 107 7 118 5 1494額定扭矩 T kg fcm 195 39 65 9 7 16 2 24 4連續 sta ll扭矩 Ts kg fcm 21 42 71 10 7 17 8 26 8額定相電流 Ig A 18 22 28 2 0 3 0 3 4額定轉速 Ng rpm 3000 3000 3000 3000 3000 3000瞬間最大扭矩 Tp( N) kg fcm 5 85 11 7 19 5 20 2 48 7 73 1瞬間最大機子電流
Ip A 54 66 84 6 0 9 0 10 2
額定 pow er ra te Q R k wsec 5 82 11 9 939 14 1 16 7 23 5轉矩常數 K T kg fc m
A1 23 197 255 535 611 7 92
誘起電壓常數 K E Jkrp m 126 20 2 26 1 54 9 62 7 81 4轉子慣量 J g fcms 0 0 64times 012 5times 044 1times 065 8times 1 5 4times 2 4 8times
機子阻抗 Ra Ω 9 12 603 420 837 423 3 27機子感應 La mH 546 468 795 17 4 12 1 10 2機械時間常數 Tm ms ec 3 94 198 291 196 178 1032電氣時間常數 Te ms ec 0 60 078 189 205 286 3 12重量 k gf 0 71 089 155 182 259 3 41絕緣等級 F 種 F種 F種 F種 F 種 F 種機 額定電壓 V械 靜止摩擦扭力 k gfcm 3 3 12 12 24 24式 轉子慣量 kgfcm
s0 02times 10 0 02times 10 01times 10 01times 10 023times 10 0 23times 10
煞 消費電流 029A 029A 045A 045A 044A 044A
車周圍溫度 0~40
29215
State of the Art AC Servos
High Speed SpindleAC Servo Motor
High Torque Motor Spindle Motor
30215
Non-Salient Pole for AC Servo Motor
永磁馬達的轉子根據其結構可分為
Salient-pole (凸極式)氣隙分佈不均勻具有磁阻扭矩效率較高轉矩漣波較大但可經由轉子設計降低構造較複雜成本較高主要應用於高效率壓縮機
Non- salient-pole (隱極式) 氣隙均勻分佈外表呈現圓柱狀亦稱之為圓柱式(cylindrical-type)磁鐵貼覆於轉子表面或以不鏽鋼環套住轉矩漣波較小主要應用於伺服馬達
Non-salient po leSalient pole
6
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
31215
Architecture of Motor Drive
Controller
PowerAmp Motor Load
Man-Machine InterfaceSignal Processing amp PWM Control Vector Control Control Loop Control
PowerSource
Spee d
Torqu e
32215
伺服馬達驅動系統的控制架構
Power source (converter)
Semiconductor driver
Servomotor
Position speed sensor
Mechanical driver
Power control
GTO transistor MOSFET
Signal generator
IC OP amplifier semiconductor sensor
Control
Microprocessor DSP
GATE signal
Control
Controller
voltagecurrent
Gear backlash
Friction Compliance
Sensor
Microelectronics Power electronics Materials
Linearized decoupled p ower amplifier by minor curren t and speed lo ops
Level 1
Level 2
Level 3
33215
直流伺服馬達驅動器的系統方塊圖
Refere nce speed
Speed amplifie r
Curre nt amplifie r
PWM circuit
Rectifier bridg e
Tra nsisto r bridg e
DC Moto r
Tria ngula r wav e gene ratio n circ uit
Speed f eed back
Compa rat or
Curre nt f eedb ack
Filter Tach oge ner ator
Driver
Driver
Driver
Driver
DCM
TG
+minus
+minus
34215
+minus
交流伺服馬達驅動器的系統方塊圖
Reference speed
Speed amplifier
DC-SIN conversion Rectifier
bridge
Transistor bridge
Three-ph ase synchronous
motorSpeed feedback
Comparator
Speed detection
circuitRotary encoder
Driver
Driver
Driver
Driver
SM
RE
++minus
Driver
Driver
Comparator
Comparator
Triangular wave generation circuit
Sine wave generation
circuit
Rotor position detector
+
minus
minusminusminus
minus
Current amplifier
Current feedback
U
V
W
35215
Typical Motion Control System Block Diagram
Posi ti o nCo ntr oll er
Velo ci tyCo ntr oll er
Velo ci ty Fe e db ac k
Posi ti o n Fe ed b ac k
++- -
Ma ch in e Ta bl eCurre nt
Co ntr oll er
+
-Pow er
Amplifier
Curre nt Fe ed b ac k
Mo t or
Mo ti o nPlan ni n g
Comma n dInt erpr et er
Ma ch in eOp erat io n
CADCAM
Operation Command
MotionCommand
PositionCommand
Veloc ityCommand
36215
Hierarchical Control Architecture for AC Drive
ServoController
ACDCConverter
DCACConverter
VectorController
FieldController
FluxEstimator
AC MotorShaft
sensor
CurrentController
Cur re nt C on trolTo rq ue Co ntr ol
Back em f C on trol
Positio n amp V elo city C on tr ol
PWMController
Position amp Velocityestimator
PWM (Volt ag e) Co ntr ol
Cur re nt amp
volta geamp
positi onfee db ack
7
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
37215
AC Servo Drive Control
for asynchronousmachines
fiel d we ak en in g fiel d c on trol ler
sp ee dco ntr oll er
curre ntco ntr oll ers
-
_ -
- M3~
Encoder
n iq
idψ
ϕ
ψ
machinemodel
ir
vr
φjeminus
φjeminus
φjeminus
for sy nc hr on o usmac hi ne s 38215
Modeling of the Servo Motor with Connected Load Mechanical Nonlinear Dynamics
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+ Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θ L
Kv
TL
θ m
Tm
G fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
The load dynamics will couple to the motor as external disturbancesPower converter exists significant nonlinearity and voltage and current limitsControl algorithms and parameters are critical for specific applications
Controller
Power Converter amp Sensors
+Gp
+
minus
+
minusG v
minusGi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmG fi
RKs
v a
ia
ωm
fwG
fpG
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmGf i
RKs
v a
ia
ωm
fwG
fpG
21
2
22
22
mm
nnn
ss
ωωξωωξ
++++
21
2
22
22
mm
nnnss
ωωξωωξ
++++
40215
Digital AC Servo Motor Controller Design Issues
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
41215
Why Use DSP for Motor ControlTo Realize Complex Control amp Interface Algorithm
Rectifier Charger Inverter
T2
T1
110220V5060 Hz
+
_
ACload
EM
I 3-phaseload
C1
C2
M otorGenerator Flywheel
Battery
uεud
bull Power Factor Control
bull Regenerative Braking Control
bull DC-Link Voltage Regu lation
bull DC-Link Cap M inimization
bull PWM Contro lbull Vector Controlbull Current Controlbull Voltage Controlbull Power F low Controlbull Auto-Tuning
42215
Fully Digital Control Scheme for PMAC Drives
+
minusbase
drive
ADC
ADC
32
ϕϕ
_
_
ias
ibs
ics
23
ϕϕ
vcs
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
dd t
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )PM AC
servomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Feedback Signal
Processing
Servo Control FieldTorqueamp
CurrentVector
amp PW M
Control
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
6
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
31215
Architecture of Motor Drive
Controller
PowerAmp Motor Load
Man-Machine InterfaceSignal Processing amp PWM Control Vector Control Control Loop Control
PowerSource
Spee d
Torqu e
32215
伺服馬達驅動系統的控制架構
Power source (converter)
Semiconductor driver
Servomotor
Position speed sensor
Mechanical driver
Power control
GTO transistor MOSFET
Signal generator
IC OP amplifier semiconductor sensor
Control
Microprocessor DSP
GATE signal
Control
Controller
voltagecurrent
Gear backlash
Friction Compliance
Sensor
Microelectronics Power electronics Materials
Linearized decoupled p ower amplifier by minor curren t and speed lo ops
Level 1
Level 2
Level 3
33215
直流伺服馬達驅動器的系統方塊圖
Refere nce speed
Speed amplifie r
Curre nt amplifie r
PWM circuit
Rectifier bridg e
Tra nsisto r bridg e
DC Moto r
Tria ngula r wav e gene ratio n circ uit
Speed f eed back
Compa rat or
Curre nt f eedb ack
Filter Tach oge ner ator
Driver
Driver
Driver
Driver
DCM
TG
+minus
+minus
34215
+minus
交流伺服馬達驅動器的系統方塊圖
Reference speed
Speed amplifier
DC-SIN conversion Rectifier
bridge
Transistor bridge
Three-ph ase synchronous
motorSpeed feedback
Comparator
Speed detection
circuitRotary encoder
Driver
Driver
Driver
Driver
SM
RE
++minus
Driver
Driver
Comparator
Comparator
Triangular wave generation circuit
Sine wave generation
circuit
Rotor position detector
+
minus
minusminusminus
minus
Current amplifier
Current feedback
U
V
W
35215
Typical Motion Control System Block Diagram
Posi ti o nCo ntr oll er
Velo ci tyCo ntr oll er
Velo ci ty Fe e db ac k
Posi ti o n Fe ed b ac k
++- -
Ma ch in e Ta bl eCurre nt
Co ntr oll er
+
-Pow er
Amplifier
Curre nt Fe ed b ac k
Mo t or
Mo ti o nPlan ni n g
Comma n dInt erpr et er
Ma ch in eOp erat io n
CADCAM
Operation Command
MotionCommand
PositionCommand
Veloc ityCommand
36215
Hierarchical Control Architecture for AC Drive
ServoController
ACDCConverter
DCACConverter
VectorController
FieldController
FluxEstimator
AC MotorShaft
sensor
CurrentController
Cur re nt C on trolTo rq ue Co ntr ol
Back em f C on trol
Positio n amp V elo city C on tr ol
PWMController
Position amp Velocityestimator
PWM (Volt ag e) Co ntr ol
Cur re nt amp
volta geamp
positi onfee db ack
7
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
37215
AC Servo Drive Control
for asynchronousmachines
fiel d we ak en in g fiel d c on trol ler
sp ee dco ntr oll er
curre ntco ntr oll ers
-
_ -
- M3~
Encoder
n iq
idψ
ϕ
ψ
machinemodel
ir
vr
φjeminus
φjeminus
φjeminus
for sy nc hr on o usmac hi ne s 38215
Modeling of the Servo Motor with Connected Load Mechanical Nonlinear Dynamics
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+ Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θ L
Kv
TL
θ m
Tm
G fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
The load dynamics will couple to the motor as external disturbancesPower converter exists significant nonlinearity and voltage and current limitsControl algorithms and parameters are critical for specific applications
Controller
Power Converter amp Sensors
+Gp
+
minus
+
minusG v
minusGi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmG fi
RKs
v a
ia
ωm
fwG
fpG
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmGf i
RKs
v a
ia
ωm
fwG
fpG
21
2
22
22
mm
nnn
ss
ωωξωωξ
++++
21
2
22
22
mm
nnnss
ωωξωωξ
++++
40215
Digital AC Servo Motor Controller Design Issues
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
41215
Why Use DSP for Motor ControlTo Realize Complex Control amp Interface Algorithm
Rectifier Charger Inverter
T2
T1
110220V5060 Hz
+
_
ACload
EM
I 3-phaseload
C1
C2
M otorGenerator Flywheel
Battery
uεud
bull Power Factor Control
bull Regenerative Braking Control
bull DC-Link Voltage Regu lation
bull DC-Link Cap M inimization
bull PWM Contro lbull Vector Controlbull Current Controlbull Voltage Controlbull Power F low Controlbull Auto-Tuning
42215
Fully Digital Control Scheme for PMAC Drives
+
minusbase
drive
ADC
ADC
32
ϕϕ
_
_
ias
ibs
ics
23
ϕϕ
vcs
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
dd t
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )PM AC
servomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Feedback Signal
Processing
Servo Control FieldTorqueamp
CurrentVector
amp PW M
Control
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
7
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
37215
AC Servo Drive Control
for asynchronousmachines
fiel d we ak en in g fiel d c on trol ler
sp ee dco ntr oll er
curre ntco ntr oll ers
-
_ -
- M3~
Encoder
n iq
idψ
ϕ
ψ
machinemodel
ir
vr
φjeminus
φjeminus
φjeminus
for sy nc hr on o usmac hi ne s 38215
Modeling of the Servo Motor with Connected Load Mechanical Nonlinear Dynamics
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+ Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θ L
Kv
TL
θ m
Tm
G fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
The load dynamics will couple to the motor as external disturbancesPower converter exists significant nonlinearity and voltage and current limitsControl algorithms and parameters are critical for specific applications
Controller
Power Converter amp Sensors
+Gp
+
minus
+
minusG v
minusGi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmG fi
RKs
v a
ia
ωm
fwG
fpG
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt+ minus 1
J s Fm m+1s
+ +minus
1
2sJ FL +1s
θ L
Kv
TL
θ m
TmGf i
RKs
v a
ia
ωm
fwG
fpG
21
2
22
22
mm
nnn
ss
ωωξωωξ
++++
21
2
22
22
mm
nnnss
ωωξωωξ
++++
40215
Digital AC Servo Motor Controller Design Issues
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
41215
Why Use DSP for Motor ControlTo Realize Complex Control amp Interface Algorithm
Rectifier Charger Inverter
T2
T1
110220V5060 Hz
+
_
ACload
EM
I 3-phaseload
C1
C2
M otorGenerator Flywheel
Battery
uεud
bull Power Factor Control
bull Regenerative Braking Control
bull DC-Link Voltage Regu lation
bull DC-Link Cap M inimization
bull PWM Contro lbull Vector Controlbull Current Controlbull Voltage Controlbull Power F low Controlbull Auto-Tuning
42215
Fully Digital Control Scheme for PMAC Drives
+
minusbase
drive
ADC
ADC
32
ϕϕ
_
_
ias
ibs
ics
23
ϕϕ
vcs
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
dd t
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )PM AC
servomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Feedback Signal
Processing
Servo Control FieldTorqueamp
CurrentVector
amp PW M
Control
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
8
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
43215
Fully Digital Control Scheme for PMAC Drives
+
minusgatedrive
ADC
ADC
32
ϕϕ
_
_
ia s
ib s
ics
23
ϕϕ
vc s
vbs
vas
AMPLIFIER and
SENSORS IF
encoderdecoder
e je
θ
vα
vβ
iβ
iα
minus
+
ddt
+0e
θ
ωr
θr
θr
θr+
minus
+
minus
ω r
K K zvp vd+ minus minus( )1 1Δθr iff
0 =di
iq
current limit
G s( )
SERVO C ON TRO L CURREN T amp PW M CO NT RO L
PM ACservomotor
current loopcontroller
Current LoopController
coordinatestransformer phases
transformer
position loopcontroller
velocity loopcontroller
++
initial rotorangle detector
2p
θe
β
i
α
i
Fe ed b ac k Si gn al Pr oc es si ng
44215
Sensors and Feedback Signal Processing
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
45215
Interface Requirements for Digital Motor Control
Encoder and Quadrature Decoder CircuitCurrent Sensors and Current Sensing Circuits Voltage Sensing Circuits Multiple Channel Analog-to-Digital ConverterProgrammable PW M Generator
46215
Encoder
Phase lag between A and B is 90 degreeAdvantages
low costhigh accuracy(e g by ge ar ratio)
Disadvantageselastic effectsand back lash
A
B
shaft
rotating codewheel
stationary mask
LowHighHighLow
HighHighLowLow
S1S2S3S4
CH BCH AState I
A
B
1 2 3 4
47215
High Resolution Encoder with SPI Interface
Programmable Absolute Rotary Encoders with Synchronous Seria l Interface
The encoder is programmed on a Win dows PC with HEIDENHAIN software
48215
Mechanism of Optical Encoder and Speed Calculation
Mechanism of optical encoders
Rotary disk
LED slit
Fixed board with slits
+A
minusA
output
comparatorLight-receiving
devices
+A
minusA
Fig 6 Quadrat ure direction sensing and r esolution enhance ment (CW = clockwise CCW = counter-clockwise)
For war d ( CW) Rev erse (C CW)A
B
CW
CCW
CW
CCW
CW
CCW
1X
2X
4X
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
9
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
49215
HCTL2020 Quadrature DecoderCounter Interface ICs
D0-D7
HCT L- 20XX MP or DSP
1
2
34
5
6
78
9
10
20
19
1817
16
15
1413
12
11
Do
CLK
SEL
MC
CHB
CHA
Vss
OE
DU
RST
VD D
D1
D2
D3
CNTD C DR
CNTC AS
D4
D5
D6
D7
hp Digital filter 4X decode logic 1216 bit binary CTR
1216 bit latch
OCTAL 2 bitMUXbuffer
CLK CK
CH A
CH B
channel A
channel B
CNT
DNUP
RSTSEL
OE
CNTDNUP
CLR
Q0-Q1115
Q0-Q7Q8-Q1115
D0-D1115
CLRINH
B0-B7A0-A7
SEL
OE
CNTDCDR
DU
CNTCAS
Decode output
Cascade output
INHIBITlogic
50215
Functional Block Diagram of an Encoder Decoder
計次脈波判定電路
緣檢知
四倍解碼電路
四倍解碼電路
選
擇
開
關
前處理器
指令脈波
指令脈波型態
接編碼器
CLK1
CLK1
CMDA
s3
CHA
CHB
CMDB
s1 s2GND UP DOWNCLK1 CLK2
DOWN
UP
C
D
A
B
DIR
COUNTCLK
CNT_ENABLE
GND
d11d10d9d8d7d6d5d4d3d2d1d0
RST
Vcc=+5VVcc=+5V
Vcc
12位元
計數器
倍率選擇
S
R
Q
12
GND
51215
What is Speed How to Measure Speed
ADCM TG
R1
R2
UTG
filter
Analog tacho-generator
UTG
bull
bull Ripple filtering
bull AD conversion (8 - 12) bits
Ωsdot= TGTG KU
t
52215
Incremental Position Feedback
encod er pulse
DIR
COUNTCLK
d11d10d9d8d7d6d5d4d3d2d1d0
12-bitcounter
Selection of Sampling Rate for Position FeedbackRing Counter Sign Change DetectionVelocity Calculation Based on Moving Averaging Algorithms Edge Synchronization for High- Precision Speed Control
R D Lorenz and K W Van Patten High-resolution velocity estimation for all-digital ac servo drives IEEE Trans on Ind Appl vol 27 no 4 pp 701-705 JulyAugust 1991
53215
Speed Estimation from Position Information
A Esti mation fro m encod er pulses counting
bull simple to implement
bull reduced accuracy even at high speeds [acc] = log2(Nv)Ωmax)
601)4(linesrot1000
ms1rpm3000
maxmax
encoder
max
timesΩtimestimestimes===
=Ω
vencoderV
v
hNNN
h
bits 6]accuracy[ ltrArr
tΔΔ=Ω θˆ
vbitsN=Ω
hv = fix (speed measurement sa mpli ng pe riod )
pulses50601
=
hv
Nv
encod er pulse
Ex
54215
Speed Estimation from Position Information
Low speed problems
bull minimum speed range
rots25010)10004(
1 Ex
)4(1
for
3min
encodermin
=timestimes
=Ω
timestimes=Ω
minus
vhN
bit 1ˆmin =Ω
hv
Nv = 1
encod er pulse
Nv = 0 Nv = 1
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
10
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
55215
Speed Estimation from Position Information
B Esti mation fro m encod er pulses length
requires a d ivis ion operation
high acc ur acy (h igher at low s peeds)
CLKNK
=ΩNCLK
4 x (e ncod er pulse )
Possible co mmutation scheme- high speeds - pulse counting- low speeds - pulse length
Problems - give average speed- possible instability of control at low speeds
Other solutions - esti mation schemes
Tpulse
CLK
56215
Current Feedback Sensing for AC Drives
SimplestNo reconstructionMost Rel iableExpensive
Cd
110220V5060Hz
dcV
PWM I n vert er
AC Motor
Complex (3 phase combined PWM dependent)Difficu l t to reconstructAmplitude only in formationCheapest
Medium Complex (PWM dependent)Easy to reconstructRequire additional circuit (SH)Less fl exib le (d iscret e IGBT only)
57215
Current Sensing for Fault Detection
Causebull Miswiringbull Motor phase insu lation
breakdownDetectionbull Low side shunt resistorbull IGBT desaturationbull Motor phase current
sense
Causebull Motor phase insu lation
breakdownDetectionbull IGBT desaturationbull Motor phase current
sense
Line to line short
Ground fault
mot or
mot or
58215
Motor Current Sensing Techniques
inpu tvolta ge
mot or
IdcDSP
Inv ert erIa
Ib
Ic
Ia Ib Ic
Udc
~Udcout
Idcout
shunt
59215
Single Current Sensing Scheme of PMSM Drives
ωrref iqr
idr = 0
ωr
vqr
vdr
vαr
vβr
iq
id
iβ
iα
idc
θ
DAinterface
SVPWM
PMSM
dq
αβ
dqαβ
αβdq
60215
Current Sensing Circuits
R1 = 10 KΩR2 = 100 KΩGain = 10 Vref = 2 V C1 = 120 pFC2 = 120 pF
The Resis tive Divider also forms a Low Pass Filter (LPF) to take out the diode reverse recovery current spike in the current sense signal Since this is usually in the MHz frequency range a single pole LPF is sufficient set at a couple of hundred kHz As the Operational Amplif ier circuit already has a LPF this is more important for the following comparator circuit
The Cutoff Frequency is calculated as follows
)used 0200(01250A8102
210max_2
Ω=timestimes
timesΩ=timestimes
= VkIGain
VR ref
sense
kHz256pF12052
12212
1 =timesΩtimes
=timestimes
=kCRR
fc ππ
A B C
+
minus
GNDRsense
R1
R1
R1
+VBUS
Vref
R1 C2
Vref
R2
C1
Amp To ADCANA3
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
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34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
11
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
61215
Isolated Current Sensor Using Opto Coupler
D1
180Ω1μF
820Ω1
820Ω1
A BD2
50 W
1K
+12V
2N2369
Q3
Z56V
ISOLATED STAGE
620Ω1
620Ω1
100K
100KQ1
Q2
C
100K
A1
741-
+A2
741-
+
10K
100K
1KD
+12V
D1 D2 LEDsQ1 Q2 PHOTO TRANSISTORS
680Ω
10Ω
1000PF
OUTPUT
OPTO ISOLATORS
FILTER AND GAIN ADJUST
62215
Isolated Current Sensing ICs HCPL-788J
HCPL-788J
Output Voltage Directly Compatib le with AD Converters (0 V to VRE F )Fast (3μs) Short Circuit De tec tion25kVμs Isolation Transient ImmunityTypical 30 kHz Bandwidth 25degC
Features
63215
Applications of HCPL-788J for Motor Current Sensing
Bypass capacitor for noise filtering64215
HCPL-788J for Three-Phase Motor Current Sensing
65215
High Voltage Current Sensing ICs
Featu resFloating channel up to +600VMonolithic integrationLinear current feedback through shunt resistorDirect digital PWM output for easy interfaceLow IQBS allows the boot strap power supplyIndependent fast overcurrent trip s ignalHigh common mode noise immunityInput overvoltage protection for IGBT short c ircuit conditionOpen Drain outputs
To M otor Phase
15VPWM Output
GNDOvercurrent
8 Lead SOICIR2175S
IR21 75
Timi ng wa vef or ms
PO
PO
Vin+ = minus260mVVs = 0V
Vin+ = +260mVVs = 0V
Duty = 91
Carrier frequency = 130kHz
Duty = 9
up to 600V
VCCPO
COMVSVB
V+
IR2175OC
66215
High Voltage Current Sensing ICs
High side gate driver- AD- Level shift down- It r i p protection
Low side gate driverIf dbk signal processingIt r i p fault processing
Rshunt
Motor phaseIfdbk levelshifter
Itrip downshifter
Ifdbk analog output
Fault
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
12
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
67215
International Rectifier IR2137 HV Driver IC3-PHASE BRIDGE DRIVER 33V compatible 6 PWM inverter IGBT dr iver + 1 for DB IGBT Dr ive
Featu resFloating channe l up to +600V or +1200Vldquosoftrdquo over-current shutdown turns off all six outputsIntegrated high side desaturationcircuitControlled ldquosoftrdquo turn on for EMI reductionIntegrated brake IGBT driverThree independent low side COM pinsSeparate pull-up pul l-down output drive pinsMatched delay outputs33V lo gic co mpatibleUnder voltage lockout with hysteresis band
68215
Prototype Hardware Design Concept
69215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
70215
3-Phase Space-Vector PWM Control
3-p ha seload
3-Ph as eMot or
3-PhasePowerSupply
SVPWM Ge ne rat or
71215
Space Vector PWM amp PI Loop
Debounce+SetpointController
sw
Speed( fr equency)Set point
X
+5v
I nc Fr eq
Dec Fr eq
Vejb V d Vq
b
V 4( 1 00)
V 6( 1 10)V 2( 0 10)
V 3( 0 11)
V 1( 0 01) V 5( 1 01)
int
sumsum
Ta T
b T
c
mVdmVq
3 phasePowerInverter
Va Vb Vc
Tmin=
sum1
251x
Volt s Hz Pr ofileM
ww 1 w2w
m a x
Mm in
Mm a x
M = F n ( w)
PWM1
PWM2
PWM3
Tm
Tf bω
f b
ωf b
ωsp +
_
+
+
M odulat i on I ndex cont r ol
V gener at io n amp decom po sit io n
3 phase A Cinduct i on m ot or
Box- car Aver ager
Hall effect speed sensor
Pr opor t ion al
I nt egr al
ω ωe
m
Vd V
q
PWM4
PWM5
PWM6
72215
Digital Space Vector PWM Implementation
A B C
A B C
Va Vb Vc
Switching Patterns - Vn (ABC)
Motor
n = 0 --gt 7
dy= Msin(a)
dx= Msin(60-a)
dz= 1 -d
x- d
y
V0 = (000)V7 = (111)
Zero Vectors
V4 ( 100)
V6 ( 110)V2 ( 010)
V3 ( 011)
V1 ( 001) V5 ( 101)
S1S3
S4
S5
S6
dyVy
dxVxa
b
M V m ax eja
Sect or
Vy Vx
60o
0000
FFFF0000
FFFF
w
- 1
minus 3 2
q
d
151413 1211 109 8 7 6 5 4 3 2 1 0I nt egr at or
8 bit sineTabl e looku p
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
13
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
73215
PWM Waveform Generation
Ta = ( T - dx - dy) 2
Tb = dx+ Ta
Tc = T - Ta
dx
dy
Phase Scrambler(A Function
of Sector 1--gt6)
Sector
Tc Tb Tc Ta Ta Tb
Tb Tc Ta
Phase APhase BPhase C
TaTb
Tc
Swap dxamp d
y
Timer Compare 1
Timer Compare 2
Timer Compare 3
A
B
C
Timer Module
Ta
Tb
Tc
T
d0 dx dy d7 d0 dx
Note d0= d7= dz
74215
Modulation Schemes for PWM Inverters
PWM ObjectiveMa xim um B us v olt a ge Uti liza ti o nMi nim um H armo nic s
Le ss Au di bl e A co u sti c N oi seLe ss M ot or Tem per at ure Ris e
PWM SchemesPlai n s in u soi d al PW MTh ird h armo nic s i nj ec te d PW MProgramm e d PW M
Spa ce V ec t or M o du la ti on
SVPWMTo ta l 8 Swi tc hi n g St at e2 Z ero Ve ct ors
6 Ac ti ve V ec tor s
75215
Vector Control for Torque Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
76215
Pioneer Paper on FOC Control of Induction Machines
F Bla sch ke Th e p rinci ple of fi eld ori ent ati on as a ppli ed to t he new TRA NSVEC TOR clos ed l oo p c ont ro l syste m fo r r ota tin g fi eld m achi nes Si e me ns R ev vol 3 4 pp 2 17 -2 20 1 972
AbstractmdashWhen rotating-field machines are employed as drive motors the question on of torque generation and control requires special consideration It is for instance possible touse the vector of the stator voltage or the vector of the s tatorcurrent as the manipulated variable for the torque depending on whether the static converter supplying the motor provides a variable voltage or a variable current This paper for describesthe principle of field orientation a new closed-loop control method for rotating-field machines [1-4] by way of reference to an induction motor It is shown how these manipulated variables must be influenced to provide instantaneous and well-damped adjustment of the torque independently of the inherent characteris tics of an induction motor
77215
Pioneer Paper on FOC Control of Synchronous Machines
K H Bay er H W ald m ann an d M Wei belz ahl Fi eld -O rie nte d Clos ed -L oo p C on tr ol o f a Sy nc hr ono us Mac hin e wi th the Ne w Tr ansv ect or Co nt rol Sy ste m Si em en s R ev vol 3 9 pp 22 0- 22 3 19 72
AbstractmdashSynchronous machines are being employed on an ever increasing scale in industrial drive systems fed by static converters The reasons for this lie in their straightforward robust construction the simple manner in which they can be magnetized [1] and their excellent character istics when used in conjunction with static converters [2] Since these drives are expected to offer the same high-grade dynamic characteristics as variable-speed dc drives provision must be made to control the torque instantaneously to a linear curve relationship The same applies to control of the magnetization Both control operationsmust be decoupled ie one must only influence the torque and active power and the other only the magnetization and reactive power TRANSVECTORreg control which operates on the principle of field orientation is eminently suitable for control functions of this type
78215
Principle of Field-Oriented Vector Control
N
S
N
S
λR
λ S
d-axis
q-axis
ω e
Τe
Vf
β
α
i sα
ris
is 1
ds
q s
1
2
Ψr
Ψr1
i s 2
Ψ r2
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
yrsquo
eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
14
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
79215
Vector Control of Synchronous Machines
represent command valuesτ is required torque
PI+minus
τ
PI+minus
λ
Inve rs epar k
tra nsf or m
Parktra nsf or m
Inve rs eClark e
tra nsf or m
PWMinve rte r
Integ rato r
M
E
Clark etra nsf or m
rsiq
rsid
siq
sid
iuiviw
rθ rω
rsid
rsiq
sidsiq
iuiv
iw
2P mω
80215
Field-Oriented Torque Controller
i sβ
i sα
iqs
i ds
ωsl ωe+
ωr
stati on ary to syn ch ro no uscoo rdi nat e t ra nsf or me r
Ls
m
r1 + τ
λr
L m
r rτ λ
θe
eje θ
(x y)
xrsquo
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eθx
y
81215
Current Controller
compensator
vas
vbs
vcs
v sβ
v sα
i sβ
i sα
i sβ
i sα
i as
i cs
ibs _
_
_
_
23
φφ
23
φφ
2-3 coordinatetransforme r
2-Axis Current Control in Stationary Coordinate
da(k)
db(k)
dc(k)
duty ratioconverter
darsquo(k)
dbrsquo(k)
dcrsquo(k)
82215
Torque Response Time
Test Con ditio ns 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
Test Con diti ons 8 pole moto r Kt =11 1oz -inA R= 76 L=1 25 mH to rque com mand =+ -1 8A 20 oz- in loa d
A conventional analog sinewave ac drive ha s d iffi cu lty in producing torque as quickly as nec ess ary for optimal performance especiall y when running at speed due to the back emf and lagged current response A soft ware-contro lled servo drives torque response is extreme ly fa st and virtuall y constant regardless of motor speed The desired instantaneous torque can be delivered immediately upon demand httpwwwworldservocom
83215
Current Control is not Torque Control N
S
N
S
λR
λS
d-axis
q-axis ω e
Τe
β
α
sir
i de
ds
q s
qe
d e
Ψr
iqe
ids
http w www orl dse rv oc om
Torque produced by the SSt drive(max power = 1026W 2800 RPM)
Torque produced by a competing s ine wave drive(max power = 780W 2720 RPM)
0 1000 2000 3000 4000
600
400
200
Speed (RPM)
Torq
ue (
oz-in
)
Lost to rq ue a nd p ower du e to c ur rent loop d elay in a sin e wave driv e A portio n of this los s go es int o he ating the m oto r windi ngs r edu cing t he continu ous outp ut ca pacity
84215
Field-Weakening ControlConstant torque
regionConstant power
regionEquivalent dc series
motor operation
Frequencyωω
e
b(pu)
Tem
b
max imu m to rq ue
b ase sp eedω
Tem
= co n stan t Te mω = co n stan t Tem e
ω 2 = co n stan t
Torque10
TT
e
em(pu)
10 25Sm
10
10 25Sm Frequency
ωω
e
b(pu)
Tor que
stator cur ren t
stator volta ge
slip
(a)
(b)
λ r k( )
T ke( )
i kds ( )
i kqs( )2 1
1P kr( ) ( )minus σ λ
1Lm
Fiel d W eak eni ngCont roll er
velocity-loopcontroller
ωr k ( )
$ ( )ω m k
spe ed fe ed back
Fiel d W eak eni ng P ro file
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
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Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
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p
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ssGsKK
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⎝
⎛
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rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
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34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
15
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
85215
Equivalent Block Diagram of the PM AC Motor Under FOC Decoupling Control
Te
Td
ω m1sL Ra a+ K T
+minus
1sJ Bm m+
K E
Ti
va
minus
+
v g
Ti
minus+
Current Controller
RmET KKK Ψ==
Fi RΨ
FK1
K PWM
Assumption The motor is u nder a well-deco upled current reg ulatio n contro l
86215
Equivalent Block Diagram the PM AC Motor Under Constant Field Control
When the P MS M motor is under constant field o peration the back-emf beco mes proportiona l to the rotating speed a nd the P MS M motor is behaved as a permanent-mag net DC motor
Te
Td
K T
+minus
K E
ia
ω m1sJ Bm m+
v a
minus
+
v g
K P
minus+G sv ( )
ω m
minus
+ is
1sL Rs s+
Brushless PM AC Motors
87215
Torque-Speed (Frequency) Curves of PM AC Motor Under FOC Decoupling Control
A
B
0
1
1
Fre que ncy pu b
eωω
Torq
ue
pu em
eTT
Vs
Is
Te
Iin = If
Constant-torqueregion
Constant-powerregion
88215
Mechanical Dynamics and Servo Loop Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
89215
Servo Control of Vector-Controlled AC Drive
s1)(sGP
mθ mθ
T e
Td
KT+minus
K E
i a
ω m1sJ Bm m+
va
minus
+
v g
)(sGC
minus+
G sv( )ω m
minus
+qi 1
sL Rs s+
Brushless PM AC Motors under Current-Regulated Vector Control
)(sHv
minus
+
)(sFp
Servo Loop Controller
The servo loop controller generate the desired torque The current-regulated vector controller generate three-phase PWM signalsThe servo motor is connected to a mechanical load and may be disturbed by external load torque disturbances and mechanical resonant torque disturbances
+
90215
Mechanical Resonance in Motion Control Systems
Placement of anti-resonant fi lters
Positionvelocitycontroller
Low-passand notch
filters
Currentcontroller andcommutation
M otorload(see first diagram
Right side)
Anti-reso nancefilters
Source control engineering w ith information from Kollmorgen
low-f re qu en cy r es on anc e high -f re qu ency r eso na nc e
Soft coupling store mechanical energy
Motor and load coupling models
Motor and loadRigidly coupled model Compliantly coupled model
So u rce co n tro l en g in eerin g with in fo rmatio n fro m k o llmo rg en
mo to r lo ad
Te Te
JM JMJL JL
PM = PLVM = VL
PM ne PLVM ne VL
Ks
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
16
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
91215
Stiffening the Coupling Decrease The Resonance
Effect of Stiffen Coupling
92215
Active Vibration Monitor for High Speed Machine Tools
Active v ibration monitoring (AVM) is a new approach to sensor technology for machine tool applications Ultrasonic technology allows noncontactv ibration testing monitoring and contro l The AVM can monitor v ibrations on the cutt ing tool spindle or work piece and can be easily reconfigured to change the specific position being monitored The AVM uses a f luid je t from a compact nozzle (Fig 1) to deliver the ul trasonic wave to the point of interest Upon contact with the tool the ultrasonic wave is modulated by tool v ibration and reflected back to a sensor inside the nozzle Proprietary demodulation techniques are then used to y ield a spectrum of v ibration (Fig 2)
93215
Mechanical Resonance
+Gp
+
minus
+
minusG v
minus
Gi KPWM
+
minus
1sL R+
Kt
+ minus 1J s Fm m+
1s
+ + minus1
2sJ FL +1s
θL
Kv
TL
θm
TmG fi
R Ks
v a
ia
ωm
Servo Motor Dynamics Load Dynamics
fwG
fpG
Controller
Coupling Dynamics
94215
Torque amp Servo Control of AC Drives
POSIT ION AND VEL OCI TY LO OP CON TRO L LER
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
TOR QUE
LO OP
CON TRO L LER
22
11
22
11
11
minusminus
minusminus
++
++
zazazbzb+
minus
G zv ( )
speedestimator
)( kmθ )( kTe
The torque loop controller determines the fastest torque response for per unit of controlled motor phase current The servo loop controller determines the robust position response under mechanical resonance and load disturbances
HCTL 2020Quadrature Decoder IC
95215
Digital Velocity Servo Control Algorithm
zdzdznzn
22
11
22
11
11
minusminus
minusminus
++
++
Notch Filter
PKα
+
minus
+
minus
PK)1( αminus
+Velocitycommand
Torquecommand
positionfeedback
)1024(
)1024(
4 Bz
AzK
+
minusIK
1minusz
ACC
Lead Compensator
α-IP Compensator
α -IP Controller ndash Velo city Regulation Lead Co mpen sator ndash Ph ase Co mpen sation Notch Filter ndash Mechani cal Reson ance Reduction
θTSpee dEstim ato r
96215
PDFF amp Friction Compensation Control Scheme
PI
VelocityFeedfo rwa rd
Accelerati onFeedfo rwa rd
Comman dInterprete r
RampingContro l
Quadrat ureDecoder
Positio nCounter
Encode rFeedback
_
+
VelocityFeedback
_
+
DAC Out put
To Servo Drives
Velocity or Torque command
Frict ionCompensato r
+N
S
S
N
+
MotionInterpolat ion
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
17
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
97215
Servo Controller Position and Velocity Loop Control
Kp
K TZ
I ss
11minus minus
ω r
K v
θ r
Tss
T ke( )u k( )
anti-windup control
cmd limit
K K zvp vd+ minus minus( )1 1
+
θr k( ) θr t( )
$ ( )ωm k
speedestimator
Δθr k( ) + + + ++
98215
PID Position Loop with Feed-Forward Control
Control System Design Guide George Ellis Academic P ress 3rd Ed February 17 2004 Chapter 16 Posit ion Loops
S2
S
APC
VPC
KPI
KPP
KPDs
Curren tloops and
commu tatio n
PEPC IC IF AF PF
IKPI-SAT
PF
VE
+ ++ + +
+minus
KFA
KFV
s1
+
JKT
21s
99215
Feed-Forward Control Scheme
KFFv
KFFa
KFFj
S
S
S
Kp G(s)Pcmd +
_Saturation
+ Pfeedback
s
1Vcmdrsquo
Vcmdrsquo = Kp Perr + KFFv SPcmd + KFFv S2Pcmd + KFFj S3Pcmd
+
100215
Analysis of the Feed-Forward Controller
fdfp KTzK
11 minusminus+
K p p
θ
vcffω
+ ω+minus
Encoder FeedbackCounter
FOVAC Drive Torque
Controller
+
eT
θ
mT
+1
Js
1
s
θωdT
Position Loo p Controll er
minus
T
M otionController
AB
VelocityLoop
Controller
T
In a practical servo system for machine tools a feedforward controller is usually employed to improve transient response of specific motion commands
101215
Steady-State Error for Step Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=
+
++minus=
minus=Δ
ssGK
ssGsKK
su
ssGK
ssGsKK
ssGK
susu
sysusx
Ap
Afdfp
Ap
AfdfpAp
1)(1
1)()(1
)(
1)(1
1)()(
1)(
)()(
)()()(
p
fp
Ap
Afdfp
ssss K
KU
ssGK
ssGsKK
sU
ssxstxminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr 1)(1
1)()(1
lim)(lim)(00
If the input is a step of U
there there will have a steady-state error therefore the Kfp should be set as zero
102215
Steady-State Error for Ramp Input
fdfp KTzK
11 minusminus+
pKθ
vcffω
+ ω+minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
Command
T
0A
0A)( ωω+= ssG A
Δ x
p
fdfp
Ap
Afdfp
ssss K
Ks
KU
ssGK
ssGsKK
sU
ssxstxminusminus
=⎟⎟⎟⎟
⎠
⎞
⎜⎜⎜⎜
⎝
⎛
+
+minus=Δ=Δ
rarrrarr
11
1)(1
1)()(1
lim)(lim)( 200
If the input is a ramp with a feedrate of U
then when Kfp=0 and Kfd=1 there will be no steady-state errorFrom the above analysis we can see there is no effect of Kfp for an inherent type-1 servo system
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
18
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
103215
Feed-Forward with Ramp and Parabolic Input
fdKTz 11 minusminus
pKθ
vcffω
+ ω+
minus
+
θ
1
s
θω
Position Loo p Controll er
T
RampPosition
CommandT
0A
0A)( ωω+= ssG A
Δ x
faKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
+
+
Based on the same principle we can also employ a double differentiator in the feedforward loop to eliminate steady-state error due to a parabolic input
104215
Advanced PIV Control Scheme
http w www orl dse rv oc om
Σ
int
Kp KvΣ Σ
Ki
Kfv
ddt Kfa
RAS
Ada p tiv e
iner tia ma tc hi ng
tec h n ol og y ( IM T )
Kvn
Knp
Measured to rque
digital command(steps in)
torquefilter torque
command
Measured position
imbeddedvelocity loop
veloci tyesti mat or
main gains
feed-forward gains
adaptive gains
minus minus
VP
integrator
105215
Regressive Auto Spline (RAS) for Digital Motion Cmd
250
200
150
100
50
-5 0 5 10 15 20 25 30 35 40 45 50 55 60Time (milliseconds)
input command After RAS processing
Ve
loc
ity (
Kilo
-co
unts
se
c)
106215
Digital Controller for Position Servo System
Torquecommand
PPKθ + ω +
minusminus
+
eT
θ θ
Posi ti o n C on tro ller
T
Mo ti o nCo ntr oll er
PIK
Feed-Forward Compensator
PVKTz 11 minus
minus
vcffω
PAKTz 211
⎟⎟⎠
⎞⎜⎜⎝
⎛ minus minus
++
ωˆ
PKα
+
minus
PK)1( αminus
+
IK
1minusz
ACC zdzdznzn
22
11
22
11
11
minusminus
minusminus
++++
Notch Filter
)1024(
)1024(
4 Bz
AzK
+
minus
Lead Compensator
positionfeedback
Weighted IP Controller
1 1minus minuszT
107215
Vector Closed-Loop Torque Control
out put vol ta ge ar e a dju ste d simul ta ne ousl y to loc k ma gn etic fiel d to r oto r
ma gn etic fiel d a ngl e rela tive to r oto r
ma gn etic fiel d a mpli tu de rela tive to r oto r
tor qu e com m an d rot or an gle
refere n ce fram eco nv ert er
(d e-r ot ati o n)
refere n ce fram eco nv ert er
(re-r ot ati o n)
sensor
Σ
Σ
int
Kip
Σ
Kip
Kip
intKip
Σ
Σ
rot or
stat or
φ90
I
108215
Hierarchical Software Servo Control Structure
PWMAmplifier
Motor LoadCurrent
LoopController
+
_
VelocityLoop
Controller+_
PositionLoop
Controller+_
CurrentVoltageFeedbackPosition Feedback
TorqueLoop
Controller
Torqueestimator
+_
M otion FunctionGenerator
N1 N2
VelocityFeedback
θ
1 1minus minuszT
mω
Servo
Inter
face U
nit
Servo M ax
Easy T u neS erv oT u ner
Aut o T un er
Win M oti o n
Aut o M ot or
WinDSPDSP Pro grammi n g L ev el De vel o pme nt So ft ware
PLC M oti o n C o ntr oll er
Servo C on tro llerMo ti o n C on tro ller Tor q ue Co ntr oll er BIOS
Servo M as terServo M o tor Co ntr ol S ys tem L ev el D ev el opm e nt S o ftw are
Application Level Userrsquos Software
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
19
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
109215
Realization Issues for Digital Servo Motor Controller
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
110215
Basic Functions for Motor Control Solutions
Servo Controller
Tmax
PLC+
minusTorquecmdlimiter
)( zGp
)(kmθ)(ˆ kmω
FIELDORIENTEDVECTOR
CONTR OL
22
11
22
11
11
minusminus
minusminus
++++
zazazbzb+
minus
G zv( )
speedestimator
)( kmθ )( kTe
HCTL 2020Quadrature Decoder IC
High-SideGate Drive IC
PWMCONTR OL
12-bit ADC
IGBT M odule
Computing of Control and Signal Processing
Algorithms
Feedback Signal Sensing and Conditioning
All These Functions Can Be Semiconductorized
Integration means Siliconlization
111215
Integrated Power Conversion Components
ActiveGate dr ive AGD AGD
ActiveGate dr ive AGD AGD
112215
Integration of Power and Control Electronics
DSPDSP Inside an IGBT Module
113215
Device Impact on Motor Drives (CPES)
114215
Device Impact on Distributed Power Systems (CPES)
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
20
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
115215
Mac Integrated Servo Motors
The MAC Integrated Servo Moto r - the complete motion solution a brushless servo motor with integrated controller giving all necessary components in one servo motor unit
httpwwwjvluk com116215
Modern Control System Components
Plant Physical system actuation sensingController Microprocessor plus conversion hardware (single chip)Feedback Interconnection between plant output controller input
Actua to rs Sens orsSyste m
noise external disturbances noise
out put
Inte rf aceamp
Com pu teamp
Cont rol ADDA
Plant
Controller
Operator input
SOPCFPGA
SpecificMotor
Control IC
CAPPWM Specific8-Bit mP
MotorController
117215
Block Diagram of a Typical Digital AC Motor Controller
PFCCircuitry Three-phase inverter Motor
Power stage
+
minus
On-boardPS
gate
VCCFault
Protection
PDPINT
VoltageCurrentConditioning
Circuits
ADC module
Driver Circuits
PWM Generator
SpeedPositionSensor IF
CaptureQEP
SCISPICAN
Comm IFSerial
Peripherals Digital IOs
Control Logic
Digital Motor Controller
Other Logic or I F
118215
DSP Solution for Motor Control
Selection of DSP Cont roller fo r Digital Motor Control Can eli minate g ears amp belts th rough variable sp eed direct d riveSupports use of inexp ensive AC induction motorCan greatl y impro ve low-sp eed effici ency
TM S320C2407ADSP
Controller
InputFilter Rectifier
AuxiliarySupply
Inp utVolta ge
Inverter
Mot or
communi ca tio n
Application
Enc o der
119215
Development of Integrated Motor Drive Module
bull 600V and 1200V Gate Driverbull Switching Power Supply Controllerbull SPI Communication and Isolator
bull 600V and 1200V Current Sensorbull Soft Start Converter Controllerbull CPUDSP IO PWM ADC
Discrete Inpu t
Discrete Outpu t
Analog I npu t
RS232C
Ma n Mac hin e Inte rf ace
I R1110 Sof t St ar t
I C
Discrete IOrsquos
Analog IOrsquos
Serial Comm
AC Drive M otion Profile Processing
M icro controller or
DSP
High Speed Serial Communication
O PTO s
uP DS P PWM
AD D A DI O
IR2137 IR2237 Gate Drive and Protection
I R2171 I R2271
CU RR ENT FDB KI C
5V15V
Power Supply
Power Conversion Processor
AC M OTOR
45V15V
120215
IR Programmable Integrated Motor Drive Module
PIIPM 50 12B 00 4 E c on oP ack 2 o ut li ne com p ati bl e
FEATURESDSP ( TMS 32 0 LF 24 06A ) Em be d de d
NPT I GB Ts 5 0A 12 00V
10 us S h ort Circ uit c ap a bili ty
Squ are RBSO A
Lo w V ce (o n) (215Vtyp 50A 25 degC)
Posi ti ve V ce (o n) t emp erat ure co ef fic ie nt
Ge n II I H ex Fre d Te ch n ol og y
Lo w di o de V F ( 178Vtyp 50A 25 degC)
Sof t re vers e re co ver y
2mΩ se ns in g r esi st ors o n all p ha se ou t pu ts a nd DC b us m in us rail
TC lt 50 p pmdeg C
Embe d de d fl yb ac k smp s f or flo at in g st a ge s ( si ng le 15V d c 300m A i n pu t re q uire d)
TM S320LF2406A
40M IPS
DC Link Input
Power Module
Current sensecircuit
IR 2213 based gate driver
EncoderHall interface
JTAG interface
PI-IPM50P12B004
RS
422
in
terfa
ce
ACDC motor
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
21
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
121215
Evolution of DSP Motor Controllers
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
122215
What is DSP
Digital Signal Processing ndash the processing or manipulation of signals using digital techniques
Digital Signal
Processor
In pu t Sig nal
Ou tp u t Sig nal
DACADC
)(ty)(ty)(nTy)(~ tx )(nTx)(tx
TM S320C6xxx
TEXASINSTRUM ENTS
123215
FIR Filtering A Motivating Problem
Two data fetchesMultiplyAccumulateMemory write-back to update delay line
Each tap (M+1 taps total) nominally requires
D D
x[ ]0h
x[ ]1h
+
[ ]nx [ ]1minusnxD
x[ ]1minusMh
x
+
( )[ ]1minusminus Mnx [ ]1minusnx
+
[ ]Mh
[ ]nh
bull bull bull
bull bull bull
a ldquotaprdquo
124215
DSP for FIR Filter Calculation
summinus
=
minus=1
0
][ ][ ][N
m
mkxmaky
Multiply and Addition In FIR filtering each sample in the output signal y[n] is found by multip lying samp les fro m the input signal x[n] x[n-1] x[n-2] by the fi lter kernel coefficients a[0] a[1] a[2] a[3] and su mming the products
Real-Time Processing In addit ion to perform mathematical calcu lations very rapidly DSPs must also have a predictable execution time
Continuously Processing In co mparison most DSPs are used in app lications where the processing is continu ous not having a defined start or end For instance consider an engineer designin g a DSP system for an audio signa l such as a hearin g aid
+
Input Signal x[ ][ ]3minusnx
[ ]2minusnx
[ ]1minusnx
[ ]nxhellip
Output Signal y[ ]
[ ]ny
a7 a5 a3 a1
a6 a4 a2 a0
125215
Digital Signal Processor A SISC Computer
AD DA
xi(t) xi[n] y i[n] y i(t)
Special Instruction Set Single Chip (SISC)
sum sdot 21 OpOp
sum minus 21 OpOp
( )2
21sum minus OpOp
4321 OpOpOpOp sdotminus
ΘplusmnΘplusmn sincos 21 OpOp
126215
Basic DSP Architecture
AD
xi(t) xi[n]
DA
y i[n] y i(t)
InstructionCache
Progr amMem ory
Data Memory
Special Instruction Set Single Chip (SISC)
DSP Processor Core
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
22
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
127215
Pipeline Operation of Instruction Cycles
Note Most instructions but NOT all can be executed within one clock cycleExternal readwrite of external devices need to insert wait-states this also adds extra cycles to the execution timeTo allow these longer steps without losing pipeline consistency wait cycles where the CPU does nothing are inserted in the pipeline
128215
DSP Controller
A DSP Core Based Single-Chip ControllerTarget on Specific Applications such as Motor or Power Control High efficiency interrupt controller (event manager) is a must High-Speed SPI is essential Control Interface is important Especially for on-chip multi-channel ADC converter Programmable timercapture for multi-phase multi-mode PW M generation and synchronizationHigh noise immunity capabilit y for industrial applications
129215
TMS320C14 ndash The First DSP Controller
160-ns instruction cycle100 object code co mpatible with TMS320C154 16-bit timers
-2 general-pur pose timers-1 watchdog timer-1 baud-rate generator
16 individual bit-selectable IO pinsSerial p ort - UARTEvent manager with 6-channel PW M DN capabilityCMOS technology68-pin PLCC and CLCC packages
Me mory
Da ta RAM2 56 X 16 Bi ts
Progra m ROMEPROM4K X 1 6 Bits
Wa tch do g
Seri al Po rt
Bi tIO
WDT
TXDRXD
IO P0IOP1 5
CAP0CAP1CMP5CAP3CMP4CAP2
CMP0CMP1CMP2CMP3
TCKL 1
TCKL 2
T im er 1Cou nte r 1T ime r 2Cou nter 1
Eve ntMa na ge r
Ca ptu reCo mp arePW M
Ba ud -Rate Ge ne rato r
Periphe ralsCPU
1 6-Bi tsBa rrel Sh if ter
3 2-Bi t AL U
3 2-Bi t ACC
16 -Bit T-Re g
1 6iexclNtilde16 -BitMu lt i pl i er
0- 1- 4-Bit Shi f te r 3 2-Bit T -Re g
2 Aux il ia ry Reg is ters
4-Le ve l HW Stac k
Status Re gi ster
Featu res
130215
TMS320C240 ndash A Revised Version
Program R OM Flash
Data RAM544w x 16 16Kw x 16
D (15-0)
A (15-0)
PA (64K-0 )(A 15- 0 D 1 5-0 )
16-bit T-register16 x 16 Mul tiply32-bit P-regis ter
16-bit Barrel
Shifter (L)
32-bit ALU32-bit Acc umulator
ShiftL (0 -7)
8 Auxiliary Regs8 Level HW Stack2 Status Regis ters
C25LP CORE
ShiftL (0 14-6 )
Repeat Cou nt
IO PortsThree 8- bit
4 Input Capt12 Compare
outputs
9 PWMoutputs
3 Timers amp1 Watchdog
QuadraturePulse control
2 10-bit ADCs
16 input ch
SCIamp SPI
50 ns In str uc ti on c ycl e t ime
192 Kw ex ter nal a d dres s28- bi t sel ec ta bl e I O pi nsWat ch d o g tim er amp GP timer sSPPWM m o du le wit h sy n c an d as yn c m o deEve nt m a na gerEnc o der I n terf ac e
Hig h sp ee d U AR T132 - pi n PQ FPFla s hR OM ver si on s
Features
131215
TMS320LF2407A (16-Bit) Single-Chip DSP Controller
Features25- n se c i ns tru cti o n cyc le tim e ( 40 MH z)Dua l 1 0- bi t A D c o nv ert ers w it h 37 5- ns (min imum c o nver si on tim e) c on ver si on timeUp to f o ur 16 - bit g e neral p ur po se tim ersWat ch d o g tim er m od ul eUp to 1 6 PW M c h an n elsUp to 4 1 GP IO pi nsFiv e ex ter nal in terr up tsDea d ba n d l og icUp to t wo ev e nt m a na gersUp to 3 2K wor ds o n- c hip s ec tor ed Fl as hCo ntr oll er Are a Ne tw ork (C AN) in ter fa ce mod ul eSerial c ommu ni ca ti on s i n terf ac e (S CI)Serial p er ip h eral i n terf ac e (SP I)Up to si x ca pt ure u ni ts (f o ur wi t h QEP )Bo ot RO M (L F2 40 x an d L F2 40 xA de vic es )Co de se c urity f or on -c hi p Fl as hR OM (L x2 40 xA de vic es )
32KSectored
Flash35KRAM
BootROM
JTAGEmulationControl
ProgramDataIO Buses (16-Bit)
Pe
rip
he
ral
Bu
s
2 EventManagers
SCI
SPI
CAN
Watchdo g Timer
GPIO
10-Bit16-Chann el
ADC
TMS320LF2407A DSP
ALURegisters
Barrel Shifter
Hardware Stack
Accumulator
C2xLP 16-Bit DSP Core
Emulation
132215
TMS320F2812 (32-Bit) Single-Chip DSP Controller
667-nsec instruction cycle time (150 MHz) 12-Bit AD converters with 167 MSPS128K On-chip Flash (16-bit word)18K Word Sing le-access RAM (SARAM)Up to four 32-bit general purpose timersWatchdog timer moduleUp to 16 PWM channelsFive external interruptsDeadband logicUp to two event managersController Area Network (CAN) interface moduleSerial co mmunications interface (SCI)Serial per ipheral interface (SPI)Up to six capture un its (four with Q EP)
150-MIPS C28xTM 32-bit DSP
32times 32-bitmultiplier
32-bitTimers (3)
Real-timeJTAG
R-M-WAtomic
ALU
32-bitRegister
file
Interrupt managementInterrupt management
128 kWSectored
flash
128 kWSectored
flash18 kWRAM
18 kWRAM
4kWBootROM
4kWBootROM
McBSPMcBSP
CAN20BCAN20B
SCI(UART) ASCI(UART) A
SPISPI
SCI(UART) BSCI(UART) B
EventManager A
EventManager A
EventManager B
EventManager B
12-bit ADC12-bit ADC
GPIOGPIO
watchd ogwatchd og
Memory bus
Code security
XINTF
Per
iphe
ral b
us
Features
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
23
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
133215
TMS320C2000TM DSP Platform Roadmap
134215
TMS320LFTMS320LFC2401A Worldrsquos Smallest DSP
135215
Microchip dsPIC33 Digital Signal Controller
40 MIPS deterministic core16x16 register fileBarrel shifter1 cycle 16x16 multiplyMultiply Accumulate (MAC)Address Generation Unit
33V operation 64 to 256 Kbytes Flash 8 to 30 Kbytes RAM Non-intrusive DMA 11 Msps 1-bit AD converters with four simultaneous sa mple and ho ld8 sample and hold on some Up to two each SP I I2C UART and CAN 64- to 100-Pin TQFP packages Codec interface on some Quadrature Encoder Interface on so me
dsPIC33F fami ly block diagra m
64-256kBflash
64-256kBflash
8-30kBRAM
8-30kBRAM DMADMA
Memory bus
40 MIPS 16-bit c ore
16-bit ALU
16 times 16 M PY
JTAG amp Emuinterface
DSPengine
Register file16 times 16
Addressgeneration
Barrel shifter
AccumulatorA amp B
16-bit timers
watchdog
AD 12 bit 16 ch
AD 12 bit 16 ch
UART-2
I2CTM-2
SPITM-2
CAN 1-2
CODE C IF
Motor controlP
eripheral bus
Micr oc hip
Interruptcontrol
Features
136215
Single-Chip DSP amp mP Controller for Motor Control
ZiLOG FMC16100TI TMS320F2407A amp TMS3320F2812 Microchip dsPIC33 Digital Signal ControllerIR IRMCK203 AC Motor Sensorless ControllerMotorola MC68HC908MR32
137215
ZiLOG FMC16100 A 8-Bit Single-Chip Microcontroller for Low-
Cost Vector-Controlled Induction Driv e
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
138215
2006-11-30ZiLOG推出首例具備向量控制性能8位元MCU
ZiLOG推出首例支援向量控制( vector control)性能的8位元MCU Z8 Encore MCtrade (FMC16 100系列)這項創新大大降低了製造商的材料清單 (BOM bill of materials)成本以及在家用電器如洗碗機和洗衣機等所使用的能源消耗和用水
量這些因素不僅為消費者和環境帶來好處也有助於延長產品自身的使用壽命
先前 有人 主張 向量 控制 只 屬於 數位 信號 處理 器 ( DSP digital signal processor s)數位信號控制器( DSC digital signal controllers)和16位或32位微控制
器的領域隨著ZiLOG的工程師開發出為他們贏得榮譽的具有向量控制能力的Z8Encore FMC161 00系列晶片只有高端MCU或DSC能使用向量控制演算法的
神話終被打破ZiLOG將高速CPU-(高達 1 0mips)高速模數轉換器 (ADC Analog to Digital Converter)集成運算放大器和優化的C語言編譯程序結合起來
可以提供與DSP向量控制同樣的功能ZiL OG估計與高端MCU解決方案相比ZiLOG的解決方案可節約全部BOM的 50
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
24
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
139215
ZiLOG 8-Bit Microcontroller for Motor Control
Torque
Speed
Position
Direction
FeedbackSensors
ZiLOGFMC16100
or Z8 EncoreXPregSeries
Input
MO
SFE
T o
r
IGB
T d
rive
r
Motor
140215
ZiLOG FMC16100 Flash mP for Digital Motor Control
FEATURES20 MHz ZiLOG eZ8 CPU coreUp to 16 KB Flash program memory512 B register SRAM6-channels of 12-bit PWM with dead-band generation and Fast Shutdown8-channel 25μs 10-bit ADC wInternal ReferenceOne 16-bit timer with capturecomparePWM capabilityOne analog comparator for current limiting or over current shutdownOne OP-AMP provides current level-shifting and amplification for ADC current samplingI2C in master slave and multimaster modes SPI controller UART with LIN interface
141215
ZiLOG FMC16100
FEATURES20 MHz Z iL OG e Z8 CPU core
Up to 1 6 KB Fl as h pr ogr am mem ory512 B re gi st er SRA M
Fa st 8- ch a nn el 1 0- bi t a na lo g -t o- di gi tal co nv ert er f or curre n t s am pli n g a n d b ack -E MF de te cti o n 12- bi t PW M mo du le w it h t hree com pl eme nt ary pa irs or si x i n de pe n de nt PWM o ut p ut s wi th de ad - ba nd ge ner ati o n a nd fa ult tr i p i n pu t
On e 1 6- bi t t imer wit h ca pt ure c om pareP WM ca pa bil it y
On e a n al og c om para t or f or c urre nt limi ti n g or ov er c urre nt sh u td o wn
On e O pera ti on al Am pli fier prov id es c urre nt lev el- s hif ti ng an d am pl ifi ca ti on for ADC curre nt s amp lin gI2C i n m as ter sl av e an d m ul ti-m as ter m o de s SPI c on tro ller
UART wi t h LIN i n terf ac eInt ern al Pr eci si on O sci lla tor (IP O)
142215
Z8FMC16100 Series Part Selection Guide
143215
ZiLOG FMC16100 for AC Induction Motor Control
Ref Zilog Vector Control of a 3-Phase AC Induction Motor Using FMC16100 MCU (AN0247)
(a) washing machine (b) induction motor with tachogenerator
Rated Power 500 WRPM max 15000 rp mMax current 28 ArmsContinuous current 15 ArmsDC Bus Voltage 350 Vdc
AC power
Power stage
HV main board
FMC16controlmodule
HVpowermodule
HVdrive
module
wash ingmachine
interfacemodule
DACmodule
XPcommand
module
3 phase ACinduction
motor
user interface
FM C1 61 00 ser i es m icr oc on tro ller
PC
UART
Speedregulator
Currentregulator
Inversepark
transform
InverseClarke
transformSpace vectormodulat i on
PWM
Sli pupdate
Fie ldweake nin g Tachometer
update
Parktransform
Clarketransform
Currentsample amp
reconstruct ion
Bus ripp lecompensati on
Bus voltag esample
ACinduction
motor
Three-phaseinverter
144215
VF Air-Conditioner Outdoor Unit Block Diagram Based on TMS320LFC24xx (Texas Instruments)
Car eabouts r eliability cost per for mance effic iency noise
Single DSP for Digital-PFC and VF compressor controlImproved compressor control techniquesNo position speed sensors Sensorless control methods for BLDCPMSMField Orient Control for PMSMEfficient use of supply voltage
AC input
EMI FilterRectifier
PFC
Invertershunt resistorsresistor dividers
12V33V PSPWM (UC3 842TLV43 1)LDO (TLV2217) SVS(TPS3 7809)
Signal conditioning(LM324TLV227 OPA340)
PWM driver
Comms interface (M AX232 SN75LBC179)
Fan relay
Expansionvalue
IF bu
ffer(U
LN
200
3) Tempperssure
sensing andconditioning
ADCSCICANIO
PWM
ADCPWMIO
TMS320LC240xA
ACIBLDCPMSM
indoorunit
pressure Temp
Pressuretemp Fan
coiltemp Coil pressure
From indoorunit
Outdoor airtemperature
To indoor unit
Expansionvalue
M
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
25
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
145215
MC68HC908MR32
146215
MC68HC908MR32 for Digiotal Motor Control
147215
IR iMotiontrade Solution for Sen sorless Control of W ashershttpwwwirfcomproduct-infoimotion
Sensorless Motor Control for WashersDrive -dr i ve mo tor c on tro l wi t ho u t H all se ns ors
Com ple te a pp lia n ce c on trol s ys tem o n a si n gl e IC
Embe d de d mo tor c o ntr ol al g orit hms wit h i nd e pe nd e n t ap pli ca ti on la yer pr oc ess or
Mo ti o n C o ntr ol E n gi neTM el imi na te s a lg ori thm s of tw are co di n g
Lo w no is e se ns orle ss c on tro l u si n g d c li n k c urre n t se ns or on ly
Ap pli an ce -s pe ci fic HVIC s a n d i n tel lig e nt p ow er mo d ul es
AC input
communication300V bus
system IO DC bus
powersupply
PWM
AD
RAM
MCU 8 bit
MCU 16 bit
Digital co ntrol IC
Isolation
HVICgate drive
PMmot or
Intelligent power module
EMIFilter
148215
DSP (TMS2407A) Realization of Digital AC Servo Control Algorithm
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
149215
DSP Solution for Induction Motor Drives
DSP CON TR O LLER
TMS 320 F 24 0
TEX AS
I NSTRUMENTS
INTELLIGENTPOWER MODULE
SQUIRREL-CAGEINDUCTION MOTOR
150215
240xA Device Architecture
P Bus I F
SPI SCI CAN WDADC
cont rolInte rr up tRese t e tc
IOregi ste rs
ADC
EventMa na ge rs
(EVA a nd EVB )
P bus
Flas hR O M(up to 3 2K times 16 )
Synth esiz ed ASIC gat es
C2xx CPU+ JTA G+ 5 44 times1 6DARA M
SARAM(up to 2K times1 6)
SARAM(up to 2K times1 6)
Me m I F
Logi cIF
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
26
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
151215
Event Manager Block Diagram
Each EV mo dule in the 240xA device contains the following functional blocksTwo general-purpose (GP) timersThree compare un its
Pulse-width modulation (PWM) circuits that include space vector PWMcircuits dead-band generation units and output lo gic
Three capture unitsQuadrature encoder pulse (QEP) circuit
Interrupt log ic
152215
Asymmetric Waveform Generation
GP Timer Co mparePWM Output in Up-Counting Mode
Active
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Inac tive
New c o mpvalu e g re at er
tha n p eri odTxPWMTxCMPactive low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ ++
+
153215
Symmetric Waveform Generation
GP Timer Comp arePWM Output in Up-Down- Counting Modes
Active
Tim er(PWM )peri od 1
Tim er(PWM )peri od 2
Com pa remat ch
Relo ad edCom p v alu e
gre at ertha n p eri odTxPWMTxCMP
active low
Timer value
TxPWMTxCMPactive high
+ Comp ar e ma tch es
+ +
++ +
+
Inac tive
154215
PWM Circuits Block Diagram
MUXDea dBandunits
Out putlogic
Sym asy mwave fo rmgen er at or
SVPWMsate
mac hin eDBTC ONAdea d- ba ndtine r c ont rol
regi ste r
ACTRAFull co mp ar eactio n c on tr ol
regi ste r
ACTRA[ 12 -1 5]
COM CONA [1 2]
COM CONA [1 1- 13]
PWM1PWM6
COM CONA [9]
Com pa remat ch es
GPT 1 fl ags
PHzX=1 23
DTPHxDTPHx _
155215
Analog-to-Digital Converter
FeaturesADC OverviewADC Clock PrescalerCalibrationRegister Bit DescriptionsADC Conversion Clock Cycles
156215
Autosequenced ADC in Cascaded Mod e
Your p ro gr am ca n b e hig hly simpli fie d a nd ex ecu te d e fficie ntly by u sin g t he aut o- se qu enc er
Th e st ar tin g of th e A D conv er sio n c an be tri gg er ed by the E ve nt Ma na ge r
Th e r es ults ar e st or ed in a pre -d efi ne d se qu en tial regi ste rs
MUXSelect
ResultSelect
Analog MUX Result MUXADCIN0ADCIN1ADCIN2
ADCIN15
10
SOC EOC
10-bit 375-nstSH + ADconverter
RESULT0
RESULT1RESULT2RESULT15
10
4 4
Statepointer
MAX CONV1
Ch Sel (state0)Ch Sel (state1)Ch Sel (state2)Ch Sel (state3)Ch Sel (state15)
Autosequencerstate machine
Note Possible value areChannel select = 0 to 15
MAXCONV = 0 to 15
State-of-sequence t riggerSoftware
EVAEVB
External pin (ADSCOS)
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
27
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
157215
Autosequenced ADC in Dual Sequencer
Th e re s ult s ar e s t ore d i n a pre- d efi n ed se p arat el y se qu e nti al re gi st ers
Not e SEQ 1 a n d SEQ 2 are tr ig ger ed by EV A a n d EVB res p ec tiv ely
MUXSelect
Analog MUXADCIN0ADCIN1ADCIN2
ADCIN15SOC EOC
10-bit 375-nstSH + ADconverter
10
ResultSelect
Result MUXRESULT0RESULT1
RESULT15
10
ResultSelect
Result MUXRESULT8RESULT9
RESULT1510
Statepointer
MAX CONV1
Ch Sel(state0)Ch Sel(state1)Ch Sel(state2)Ch Sel(state3)
Ch Sel(state7)
Statepointer
MAX CONV2
Ch Sel(state8)Ch Sel(state9)Ch Sel(state10)Ch Sel(state11)
Ch Sel(state15)
SOC1 EOC1 SOC2 EOC2
Sequencerarbiter
MUX
10
10
4 4
4
4
SEQ1 SEQ2Note Possible valuesChannel select = 0 to 15MAX CONV = 0 to 7MAX CONV2 = 8 to 15
SoftwareEVA
External pin (ADSCOS)
State-of-sequencetrigger Software
EVB
State-of-sequencetrigger
158215
DSP-Based DMC on AC Induction Motor
IM A C Mo t or
N
S
S 1
S 2
S 3
S 4
S 5
S 6
3-PhasePower
Supply
oV dc
DSPCo ntr oll er
JTAGPWM1PWM2PWM3PWM4PWM5PWM6
AB
CAP1
XDS510 PP
ADC1ADC2
+5v
Speedset point
Inc Freq
Dec Freq
IOPA0IOPA1
encoder
159215
Development Environment for DSP Motor Control
220V60Hz
ProtectionCircu it
BaseDriver
IPM
CurrentSensor
Phase Current
DSP-Based Motor Controller (DMCK-240)
PWM Power Converter
PM AC Servo Motor
dual-portRAM
320F240
PC-DSP La bSwitching
PowerSupply
TM S320F240
TEXASINSTRUMENTS
320C32
RS-2 32
160215
Hardware Implementation for DSP Servo Control
DSP Co n trol ler
SerialLi nk
In pu t E MI Fil ter
Aux ili ary S u ppl y
Pow er St ag e
Sen sor+ 1 5 V
+ 1 5 V
+ 1 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V
+ 5 V+ 5 V
+ 5 V
R 2 23 3 R
R 2 33 3 R
R 2 43 3 R
Q 3C O P AK
Q 2C O P AK
Q 1C O P AK
R 1 13 3 R
R 1 2
3 3 R
R 1 3
3 3 R
D 1 1
1 0 B F 4 0
U 4
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4 S D3
I N2 V C C1
U 5
I R 2 10 4
V B8
H O7
V S6
L O5
C O M4
S D3 I N2 V C C1
Q 6
C O P AK
R 3 3
1 K 2
R 3 1
1 K 2
C 1 92 0 p F
G 14 9M Hz R 2 0
1 0 K
R 1 8
1 0 K
R 1 71 0 K
R 2 61 2 K
D 1 0
1 0 B F 4 0
D 1 3
1 0 B F 4 0
U 3
I R 2 10 4
V B8
H O7
V S6
L O 5C O M4S D
3 I N2
V C C1
R 3 23 3 0 R
C 2 02 0 p F
R 31 M
C 22 5 nF
C 72 5 nF
C 51 0 0 n F
C 44 7 0 n F
V 1
F 12 A
C 1 1
1 0 0 n F
D 1
D 7
D 31 5 V
+C 32 2 0 u F
C 11 0 0 n F
Q 5
C O P AK
Q 4
C O P AK
R 9
1 0 K
C 1 3
1 0 0 n F
R 3 6
7 5 K
C 2 2
1 0 0 n F
R 3 71 5 K
+
C 1 42 2 u F
R 1 0
1 0 K
2 2 0 1 5 V 1 V A
T R A N S FO RM E R
C 1 21 0 0 n F
L 1
2 4 00 u H
D 1 41 N 4 1 4 8
R 3 4
R 1
R 1
2 2 0 R 0 5W
D 2
C 1 0
1 0 0 n F
R 41 2 0 R 1 5W
C 1 61 0 0 n F
C 1 71 0 0 n F
C 1 81 0 0 n F
D 6
D 8
D 5D 4
D 9
+ C 6
2 2 0 u F
+
-U 6 AT L E 2 1 41
3
2
1
84
N T C 1
C 2 1
1 0 u F
R 2 8
1 0 K
R 1 5
1 0 K
R 2 51 0 K
R 2 15 M
R 2 7
1 0 K
R 2 9
1 0 K
R 3 0
1 0 K
R 8
1 0 K
R 1 4
1 0 K
U 1
L M 78 0 5 A
1
2
3
R 1 91 0 K
D 1 5L L 4 1 48
TMS 32 0C 24 2
C M P 17
C M P 26
C M P 35
C M P 4 4
C M P 53
C M P 62
IO P C 25 6
AD
CI
N00
32
AD
CI
N01
31
AD
CI
N02
30
AD
CI
N03
29
AD
CI
N04
28
AD
CI
N05
26
AD
CI
N06
25
AD
CI
N07
22
IOP
C3
57
IOP
C4
58
IOP
C5
59
IOP
C6
11
IOP
C7
10
TC
K3
6
TD
I3
7
TD
O3
8
TM
S3
9
TR
ST
4
0
EM
U0
48
EM
U1
49
PM
T6
0
RS
3
5
V s s d d14 4
V s s d d29
V s s d d36 1
V s s d d44 3
V s s dc 15 1
V s s dc 21 7
V s s dc 34 1
Vc
cd
d14
5
Vc
cd
d2
8
Vc
cd
d36
2
Vc
cd
d44
2
Vc
cdc
15
2
Vc
cdc
21
6
WD
DIS
63
Te
st
pin3
3V
ss
o3
4
GN
DA
20
Vc
ca
21
VR
EF
HI
23
VR
EF
LO2
4
X T A L 14 6
X T A L 24 7
IOP
A3
15
IOP
A4
14
IOP
A5
13
IO P B 41 9 IO P B 51 8 IO P B 66 7
IO P B 76 8
SC
IT
XD
54
SC
IR
XD
55
XF
IOP
C0
50
BIO
IOP
C1
53
CL
KOU
TIO
PD0
12
NM
I6
4IO
PA
26
6X
IN
T26
5
P D P I N T1
C 9
2 2 n F
C 82 2 n F
R 71 0 K
R 1 61 0 0 K
C 1 5
1 n F
U 7
T L P 7 3 1
12
6
45
R 63 3 0 R
R 51 K
P H
N
E A R T H
U
V
W
C o m G ro u nd
T X
I S E N S
161215
DSP Tasks in Digital Motor Control Systems
Digital
Controller
Drive Command
PWMGeneration
Gate Drivers
Power-Converter
(Power Transistors)
Mo t or+
Lo a d
Sensors( I V Flux
Temp PosVel Acc)
SignalConditioning
amp Filtering
(1) (2) (3) (4) (5)
(7)(9)
(6)
DSP Controller
Reference Generation
Digital Con troller Drive Command PWM GenerationSignal Conversio n amp Conditi onin g
Diagnost ic amp Supervisory
- Polynomial- Lookup tableamp interpolation
- Control a lgorithms PID- Parameterstate estimation- FOC transformations- Sensorless Algo( Flux Acc
Speed Position Cal )- Adaptive control Algo
- A D control- Data filtering- Notch Filter
- PWM generation methods- Commutation control for AC motors- Power factor correction (PFC)- Compensation for line ripple ( DC Link Cap)- Field weakening High Speed Operation
Communication Netw orking- Current Voltage Temp control- Safety routines - Host and peripheral communication and
interface
Noise Control- Acoustic noise reduction- Electrical noise reduction
Reference Generation
AC DC Conversionamp Input Filter
(11)
ACInputAC
Input
Signal Conversion
( AD )Signal
Conversion( AD )
(8)
Communi-cation
NetworkingCommuni-
cationNetworking
(10)
162215
TMS320X240 AC Motor Control Program Structure
Start
Initialization Routines- DSP se t up- e ve n t ma na g er i nit ial iza ti on- e n ab le in terru p ts- s tar t ba ck gro u nd
Run RoutinesBackground- v is ua l ou tp u t- RS -2 32 c ommu ni ca ti on
Timer - ISR- PW M si gn al ge n erat io n- c urre nt c on tro l
XINT - ISR- v ec t or c on tro l- v el oc it y c o ntr ol- po si ti on c on tro l
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
28
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
163215
Flowchart for the DSP Initialization
DSP reset
disable i nterrupts
enable i nterrupts
initialize programcontrol c oun ters amp
flags
initialize c ontrolalgorithm parameters
initialize ev entmanager
DSP setup
start backgro und
create sine ta ble
bullSETC INTM
bull 20MHz CPUCLK bull 10MHz crystalbull 2X PLL multi-ratiobull low-power mode 0bull ACLK enablebull SYSCLK=CPUCLK2bull WDCLK outputbull enable WD timer
bull Clear pending interruptsbull enable INT3 amp INT6bull enable timer 3 interruptbull disable capture interruptbull set XINT1 low prioritybull reset XINT1bull global interrupt enable
bull initialize timer 3bull initialize timer 1bull setup compare unitsbull setup shared IO pinsbull setup AD converterbull setup QEP circuit
bull create 400 pts sine tablebull using Q12 format
164215
Flowchart for the Current Control Loop
32 phasetransformation
current controller
speedloop
RET
PWM modulationPWM signal gen eration
23 phasetransformation
interrupt vel ocity l oopyes
no
Timer-ISR
dead-t imecompensati on
bull parameters adjustmentbull AD current feedbac kbull encoder fe edba ck
IO subrou tine
165215
Flowchart for the Servo Control Loop
RET
XINT - ISR
subrouti ne
communicationinterface
positi onloop
anti-wi ndu pfuncti on
velocity c ontroll er
positi on c ontrolleryes
no
RSTransformation
outp ut c urrentcommand
positi oncommand
pos_ref=p os_ref + feed rate
reach thetarget po sitio n
feed ratecalculati on
positi on c ontroller
yes
outp ut s peedcommand
Kv
feed rate = 0
Err
Kv
RETtunin g rule
no
back EMFcalculati on
functi on
166215
PWM Generation and ADC Conversion for Dual ACDC Converters for 3-Phase PFC AC Motor Drive
Cd
to switches
Inputconverter
Outputconverter
ud
to switches
ursquo1ursquo2ursquo3
N S
SEQ1EVA
Res ul tMUX
ADCIN0ADCIN1ADCIN2ADCIN3ADCIN4ADCIN5ADCIN6ADCIN7
MUXsel ec t
RESULT0RESULT1RESULT2RESULT3RESULT4RESULT5RESULT6RESULT7
CON TRO L IO IN TER FACE
SEQ2EVB
Res ul tMUX
ADCIN8ADCIN9ADCIN10ADCIN11ADCIN12ADCIN13ADCIN14ADCIN15
MUXsel ec t
RESULT8RESULT9RESULT10RESULT11RESULT12RESULT13RESULT14RESULT15
167215
TMS320C24xx Event Manager Block Diagram
NOTE N um be r o f Tim er s PW M c ha nn els Co mp ar es QEPs a nd Ca ptu res va ry on 2 4x d evic es eg lsquo2 40 7 has 2 Ev en t- ma na ge rs li ke this
GP Timer Compare 2
GP Timer Compare 1
CM P1PWM 1CM P2PWM 2CM P3PWM 3CM P4PWM 4CM P5PWM 5CM P6PWM 6
GP Timer1
GP Timer compare 1
Memory(ROM RAM Flas h)
Output LogicCircuit
Output LogicCircuit
Output LogicCircuit
ProgramDeadbandProgramDeadbandProgramDeadband
Compare Unit 2
Compare Unit 3
Compare Unit 1 PPG
PPG
PPG
OutputLogicUnit
OutputLogicUnit
GP Timer2GP Timer compare 2
M UX
ADC 8 ADC 1 InputsMUX
QEP 1
QEP2
Capture Unit 1
Capture Unit 2
Capture Unit 3
CAP1QEP1
CAP2QEP2
CAP3
DSP Core
168215
Realization of PWM Signal Generator
T1CNTCPT1
count er
Comparelogic
CMPRxfull compare
register
ACTRfull compare
action c ontrol reg ister
Outpu tlogic
Outpu tlogic
PWMcircuits
MUX
PWMx
CMPx
iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiodT1CON = 0x9040
CMPR1 = 0x0CMPR2 = 0x0CMPR3 = 0x0
ACTR = 0x0111 Initialize action on output pins
Timer CounterValue (0-gtFFFF)
CompareValue
Timer (PWM ) period
Active High
Active low
DBTCON = 0x0 disable deadband COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
29
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
169215
Realization of Encoder Signal Feedback
GPT 2
ENDecoder
logicMUX
TMRDIR
dir
MUX
CLK
DIR
clock
T2CON
CAPCON
CAP1QEP1CAP2QEP2
Other clock s ource
2
2
2
2
T2CNT = 0x0000T2PER = 0xffff
CAPCON = 0xe4f0
T2CON = 0x9870
PulseOld = T2CNTPN = (long int)(PulseNew - PulseOld)PulseOld = PulseNewif ( ( abs(PN) - 1000 ) lt= 0 ) No Overflow
PulseNumber = (int)PNelse
if ( PN lt 0 )PulseNumber = (int)( PN + 65536 )
elsePulseNumber = (int)( PN - 65536 )
Speed
170215
Realization of 2φ3φ Function
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=⎥⎦
⎤⎢⎣
⎡
c
b
a
y
x
iii
ii
0222
0023
Ix=Ia108Iy=(int)(((long int)Ia+2(long int)Ib)1116
0 05 1 15 2 25 3 35 4 45 5-100
-80-60-40
-200
2040
60
80100
ai
bi
0 1 2 3 4 5-150
-100
-50
0
50
100
150
)(dspxi xi
yi)( dspyi
DSP real iza ti o n)(
)(
dspy
dspx
i
iba ii ba ii yx ii
Simul ati o n re aliz at io n
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
011plusmn=Δθ
0 20 40 60 80 100 120 140010
203040
50
6070
011plusmn=Δθ
θ
171215
Realization of 3φ2φ Function
0 1 2 3 4 5-100-80
-60
-40
-200
20
40
60
80
100
0 1 2 3 4 5-100
-80-60
-40
-20
020
40
6080
100
⎥⎦
⎤⎢⎣
⎡
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
minusminus
minus=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
y
x
c
b
a
vv
vvv
21
61
21
61
032
DSP real iza ti o n
yx vv cba vvv
Simul ati o n re aliz at io n
Va=(int)((long int)Vxc2632)Vb=(int)((long int)(-Vxc)1332+(long int)Vyc2332)Vc=(int)((long int)(-Vxc)1332-(long int)Vyc2332)
080plusmn=Δθ
xcvycv
Th e p ha se de vi ati o n be tw ee nsimu la ti on a nd DSP re ali zat io n
Va
Vc
Vb
080plusmn=Δθ
θ
172215
Realization of Rotating to Stationary Transformation Function
0 50 100 150 200 250 300 350 400-2500-2000-1500-1000-500
0500
10001500
20002500
⎥⎦
⎤⎢⎣
⎡⎥⎦
⎤⎢⎣
⎡ minus=⎥⎦
⎤⎢⎣
⎡
qs
ds
ee
ee
s
s
ff
ff
θθθθ
β
α
cossinsincos
void sin_table()int ifor(i=0ilt400i++)
SinTable[i]=(int)2048sin(6283185307i400)
Creat e 40 0 Pt s Si ne T a ble
void R_to_S()Ixc = (int)((long int)IdcSin(Theta_e-300)2048-((long int)IqcSin(Theta_e)2048))Iyc = (int)((long int)IdcSin(Theta_e)2048+((long int)IqcSin(Theta_e-300)2048))
DSP real iza ti o n
int Sin(int theta)while(theta gt=400)
theta = theta - 400while(theta lt 0)
theta = theta + 400return SinTable[theta]
173215
Realization of Slip Estimation Function
+
+
Lm
τ r
imr
iq s
iq s
divide
times
int
ids1
1s rτ +
PLL
m
r2
ωsl ω e
ωr
θe
Te
λr
ds
qs
r
rqs
r
r
ds
r
r
sl iisi
LR
i
sRL
ττω +
=
+
=1
1
r
rr R
L=τ
ds
qs
rsl i
iτ
ω 1=
wh ere
In st ea dy st at e
Psl = 9Iqc32 932 = Rad2Pulse(TrIdc)
DSP real iza ti o n
Wsl = Iqc(TrIdc) Tr = 002833
Rs = 54 (Ohm)Rr = 48 (Ohm)Ls = 0136 (H)Lr = 0136 (H)Lm = 0100 (H)Idc = 08 (A)
Psl = Rad2PulseIqc(TrIdc) Rad2Pulse = 063661977
Slip E st ima ti on F u nc ti on
The rotor flux model of induction motor
174215
Realization of Current Loop
K Vbus
500
-500
500PWM
1
1000
VDuty
+
Loop Gain
Curre nt Co n trol Al gori t hm Win di n gDyn ami cs
Ls + RR i
Feedback Gain
0
1023V
0125 VA
_
Current feedback
Currentcommand
10235
AD C o nv erter
4+
2048
WORD read_a2d(int a2d_chan)WORD invalif( a2d_chan == 1)
inval = (ADCFIFO1 gtgt 6) amp 0x03ffelse if (a2d_chan == 2)
inval = (ADCFIFO2 gtgt 6) amp 0x03ffreturn inval
DSP real iza ti o nerr_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_IyVxc = cKp err_IxVyc = cKp err_Iy
DSP real iza ti o nADCTRL1 = 0xfc25 ADCTRL2 = 0x0406
DSP in iti ali za tio n
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
30
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
175215
Calculation Time of Various Data Type Using C
int
Addition 01(us)
Subtraction 01(us)
Multip lication 08(us)
Division 08(us)
long
Addition 02(us)
Subtraction 02(us)
Multip lication 25(us)
Division 25(us)
float
Addition 22(us)
Subtraction 22(us)
Multip lication 17(us)
Division 7(us)176215
Timing Analysis of TMS320X240 for Vector Control of an Induction Drive
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM sig nal ge neration
vector con trol amp veloci ty co ntrol amp po sitio n co ntrol
visual o utp ut amp RS-232 commutati on
100us
1ms
timer 3 period interrupts
177215
Computation Analysis of Software Modules for a DSP-Based (TMS320F240) Induction Drive
SW block module execution freq execution timevisual output background 1 kHz 30 usRS -232 commutation background 1 kHz 670 uscurrent control timer ISR 10 kHz 40 us32 transformation timer ISR 10 kHz 90 us23 transformation timer ISR 10 kHz 230 usPWM signal output timer ISR 10 kHz 70 usAD current feedback timer ISR 10 kHz 140 usveloci ty control X INT IS R 1 kHz 280 usRS transformation X INT IS R 1 kHz 400 usslip estimation X INT IS R 1 kHz 50 usfield control X INT IS R 1 kHz 170 usveloci ty estimation X INT IS R 1 kHz 50 usposition control X INT IS R 1 kHz 400 usC context swi tch RTSLIB 10 kHz 60 us
Processor loading = = 851000 us850 us
178215
Example of Vector Table Using Assembler
length 58
option T
option X
text
def _int_0
_int_0 B _int_0 ILLEGAL INTERRUPT SPIN
sect VECTOR
ref _c_int0
ref _c_int3
ref _c_int6B _c_int0 RESET
B _int_0 INT1B _int_0 INT2B _c_int3 INT3 lt---- Timer ISR B _int_0 INT4B _int_0 INT5B _c_int6 INT6 lt---- XINT ISRB _int_0
B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0 B _int_0
B _int_0 B _int_0 B _int_0 TRAPB _int_0 NMIend
179215
Example of Initializing Event Manager Peripherals Using C
void eventmgr_init()WORD iperiod
-------------------------------------------------------- Initialize GP timer3 to provide desired CPU interrupt --------------------------------------------------------iperiod = (SYSCLK_FREQCPU_INT_FREQ)-1GPTCON = 0x1055 setup general purpose control reg T3PER = iperiod Load timer 3 period register T3CON = 0x9040 Initialize timer 3 control register
-------------------------------------------------------- Initialize GP timer1 to provide a 20kHz time base for fixed frequency PWM generation --------------------------------------------------------iperiod = (SYSCLK_FREQPWM_FREQ)-1T1PER = iperiod Load timer 1 period register T1CON = 0x9040 Initialize timer 2 control register
-------------------------------------------------------- Setup Compare units for PWM outputs --------------------------------------------------------ACTR = 0x0111 Initialize action on output pins DBTCON = 0x0 disable deadband CMPR1 = 0x0 clear period registers CMPR2 = 0x0CMPR3 = 0x0COMCON = 0x0207 setup COMCON wo enable COMCON = 0x8207 setup COMCON and enable 180215
Example of Initializing Event Manager Peripherals Using C (Contrsquod)
-------------------------------------------------------- Setup Shared Pins --------------------------------------------------------OCRA = 0x03 IOPA2 ~ IOPA3 IOPB0-7 OCRB = 0xf1 ADCSOC XF BIO CAP1-CAP4 PADATDIR = 0x0c00 IOPA2 IOPA3 Low PBDATDIR = 0xf0f0 input IOPB0-3 output IOPB4-7 -------------------------------------------------------- Setup AD Converter --------------------------------------------------------ADCTRL1 = 0xfc25 Initialize AD control register ADCTRL2 = 0x0406 Clear FIFOs pre-scaler = 20 -------------------------------------------------------- Setup QEP Circuit --------------------------------------------------------CAPCON = 0xe4f0 1110 0100 ffff 0000 T2CNT = 0x0000T2PER = 0xffffT2CON = 0x9870 1001 1000 0111 0000
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
31
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
181215
Example of Timer ISR for Current Loop Using C
void c_int3()
IFR_REG = 0x0004 clear interrupt flags IFRB = 0x00ff
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2
count = count + 1interrupt1 = interrupt1 + 1
cur_Ia = read_a2d(1)-4 A2D input channel 3 Offset 4 cur_Ib = read_a2d(2)-11 A2D input channel 11 Offset 11
cur_Ia = cur_Ia4-2048 change to 1A = 1024 cur_Ib = cur_Ib4-2048
========================================= [IxIy] = [IaIbIc] --gt 32 =========================================
cur_Ix =cur_Ia 108 Q3 cur_Iy =(int)(((long)cur_Ia + 2(long)cur_Ib)1116) Q4
err_Ix = cur_Ixc - cur_Ixerr_Iy = cur_Iyc - cur_Iy
==+======================================= Current Controller ====+=====================================
Vxc = cKp err_IxVyc = cKp err_Iy
182215
Example of Timer ISR for Current Loop Using C (Contrsquod)
============================================== [VaVbVc] = [VxcVyc] --gt 23 Va = Vxc sqrt(23) Vb = [-Vxc + Vycsqrt(3) ] 05sqrt(23) Vc = [-Vxc - Vycsqrt(3) ] 05sqrt(23) ==============================================Va = (int)((long)Vxc 2632) + 500Vb = (int)((long)(-Vxc) 1332 + (long)Vyc2332) + 500 Vc = (int)((long)(-Vxc) 1332 - (long)Vyc2332) + 500 ========================================= PWM Limit =========================================PWM_Limit() out_PWM()
if( count == ONE_HALF_SECOND)
Toggle_LED = 1 set flag for toggling the count = 0 DMCK-240 LED
if(interrupt1 == 10) enable XINT 1 PADATDIR = 0x0800 IOPA3 output HIGH interrupt1 = 0
else
PADATDIR = 0x0808 IOPA3 output LOW
183215
Example of XINT ISR for Servo Loop Using C
void c_int6()
IFR_REG = 0x0020 clear interrupt flags asm( CLRC INTM) global interrupt enable
WDTKEY = GOOD_WDT_KEY1 kick watchdog timer WDTKEY = GOOD_WDT_KEY2 PulseNew = T2CNT read encoder feedback pulse =========================== Servo Loop ===========================if ( ServoMode == 0 ) initial Mode
ServoMode = 1PulseOld = T2CNT read encoder feedback pulse else if( ServoMode == 1 )Pulse_Tss()Position_Controller() PulseError = PulseCommand - PulseNumberSpeed_Controller()Slip_Estimation()PulseIndex = PulseIndex + PulseNumber + Psl PulseLimiter()Pulse_to_Angle()AngleLimiter()R_to_S()
184215
Experimental Results of the Digital Band-Band Current Controller
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -18db (124)
(a) (b)
Stopped 19971027 12184850msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 00V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1Delay 00nsHold Off MINIMUM
Stopped 19971027 12113150msdiv(50msdiv)NORM20kSs
CH1=200mVDC 101
=Fileter= =Offset= =Record Length= =Trigger=Smoothing ONBW 20MHz
CH1 0000VCH2 0000VCH3 000VCH4 00V
Main 10KZoom 10K
Mode NORMALType EDGE CH1Delay 00nsHold Off MINIMUM
(a) ste p re sp ons e a nd ( b) ste ady -st at e re sp ons e of t he ph ase cur re nt (c) cu rre nt v ect or t raj ect ory i n stea dy -st ate a nd (d ) ha rm onic s s pec tr um
185215
Experimental Results of the Auto-Tuning Current Vector Controller
Stopped 19971027 13371850msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode SGL(S)Type EDGE CH1 Delay 00nsHold Off MINIMUM
Stopped 19971027 13251050msdiv(50msdiv)
NORM20kSsCH1=200mVDC 101
=Fileter=Smoothing ONBW 20MHz
=Offset=CH1 0000VCH2 0000VCH3 000VCH4 0000V
=Record Length=Main 10KZoom 10K
=Trigger=Mode NORMALType EDGE CH1 Delay 00nsHold Off MINIMUM
(a) (b)
(c) (d)0 200 400 600 800 1000-90
-80
-70
-60
-50
-40
-30
-20THD= -27db (473)
-04 -03 -02 -01 0 01 02 03 04-04
-03
-02
-01
0
01
02
03
04
(a) st ep r esp ons e an d (b) st ea dy- sta te re sp ons e of t he p has e c ur re nt (c ) c ur re nt vect or traj ect ory in ste ady -st at e and ( d) ha r moni cs s pe ctr um 186215
Various Velocity Step Responses of a PMAC Drive
0 002 004 006 008 01 012 0140
50
100
150
0 002 004 006 008 01 012 0140
2
4
6
8
10
12
(PulseNumberms)
(A)
(sec)
(sec)
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
32
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
187215
Experimental Results for Field-Weakening Control
Rotor Speed
4500
0 1000 2000 3000 4000
3000
(a)
[rpm]
3500
4000
2000
2500
5000
0 1000 2000 3000 4000 [msec]0
05
1
15Field Current id
(b)
[Amp]
[msec]
188215
Typical Positioning Response with Specified Motion Profile
0 05 1 15 2 25 3 35 4 45 5-5
-4
-3
-2
-1
0
1x 104
0 05 1 15 2 25 3 35 4 45 5-200
-150
-100
-50
0
50
100
150
200
(PulseNumber)
(sec)
(sec)
(PulseNumberms)
189215
Positioning Response with a Constant Feed Rate of 80kPPS
37 372 374 376 378 38 382 384 3860200400600800
100012001400160018002000
37 372 374 376 378 38 382 384 386-35
-3
-25
-2
-15
-1
-05
x 104
)(1786 rPulseNumbex =Δ
)(sec8441786
1080
1
3
minus
minus
=
=
Δ=
xvK s
vposition loop gain
Feed Rate=80 (kPPS)
(PulseNumber)
(sec)
(sec)
(PulseNumber)
190215
Digital Motor Control ICs
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
191215
IRMCK201 Digital Motor amp Motion Controller (IR)
M ulti-axisHost
Or
other hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
ejθ
+ +
+minus
minus
+ +
SpaceVectorPWM
Deadtime
Dc bus dynamicbreak control
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
Ks intdt
ejθ 23
1T counterSpeed
measurementQuadratedecoding
Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
encoder
AC power
IGBTmodule
AC Motor
IRAMX16UP60A
IR2
136
IRMCK201
iMOTIONTM chip set
192215
IRMCK203 Functional Block Diagram
Hostcontroller
EEPROM
RE232Cor
RS42
SPIinterface
Parallelinterface
Hostregisterinterface
currentejθ
current
+ +
+minus
minus
SpaceVector
PW (lossminimization)
ADinterface ADMUX
ConfigurationregistersMonitoringregisters
ejθ 23Perioddutycounters
Perioddutycounters
fault
brake
select
Analog speedreference
Dc bus feedback
IR2175
IR2175
AC power
IGBTmodule
mot or
IRAMY20UP60A
IR2
136
IRMCK203Dc bus dynamicbreak control
Plug-N-driveTM
IGBT module
4Channel
DA
Analogmonitor
speedSpeedramp
Flux currentreference
Torque currentreference
Rotor angleSpeed
estimator
Start-stopSequencer
And Fault
detector
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
33
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
193215
IRMCK203 Typical Application Connections
IRMCK203Digital Motion
Control IC
33MHzcrystal
MAx232A
8051up
AT24C01A
Gate driveamp
IGBTs
ADS7818
OSC1CLKOSC2CLK
SPICLKSPIMISOSIMOSISPICSN
TXRX
Systemclock
SPI interface
To PC
Optionalmicrocontroller
DiscreteIO
switches
LED
Serial EEPROM
BAUDSEL [10]
HPD []0-7HPOEN HPWEN
HPCSN HPASTARTSOP
DIRESTOP
FLTCLRSYNG
FAULTSCASCL
REDLEDGREENLED
DAC0DAC1DAC2DAC3Analog output
Bi-colorLED
isolatorIFB0 5VPo IR2175
Motor phaseshunt
isolatorIFB15V
Po IR2175Motor phase
shunt
Motor currentsensing
4051
Analog speedreference
Dc bus voltage
2-leg shuntCurrentSensing(optional)
ADCLKAOUT
ADCONVST
ADMUX0ADMUX1ADMUX2RESSAMPLECHGO
PLL low pasfilter
BYPASSCLKBYPASSMODEPLLTESTLPVSS
PWMUNPWMULPWMVHPWMVLPWMWHPWMWLBRAKE
GATEKILLFAULTCLR
194215
OptionalCurrent sense
IRMCK203 Detailed Block Diagram (IR)
RE232CRS422
interface
SPIslave
interface
Paralle linterface
Hostregisterinterface
Configurationregisters
Monitoringregisters
+minus PI PI
PI
+minus
+
++
minus
+ +
ejθ
IQ
ID
ID scale 4096
IQ scale 40960
4096Slip gain
StartStop
DirFLTCLR
SYNGFault
PWM active
RCVSNDRTSCTS
SCKSDOSDICS
DataAddress
control
17
Sequencecontrol
INT_REFReference
select
Accel rateDecelrate
IQLIM-IQLIM+
SPDKISPDKP
INT_VQVelo cityControlenabl e
IDREF
IQREF
REF scale4096
-VQLIMVQLIM
CURKICURKP
VQ
VD VDS
VQS
INT_VDVD enable-VDLIMVDLIM
FeedforwardPath enable
Slip gainenable
ejθ 23
IV
IW
+-16383=+-4X of rated current for IQ+-4095=+-rated ID for IM field flux
INT_DAC1INT_DAC2INT_DAC3INT_DAC4
DAC_PWM1DAC_PWM2DAC_PWM3DAC_PWM4
3
3
6
2Closed loop current controlUpdate rate = PWM carrier frequency x1 or x2
Closed loop velocity control sequencing controlUpdate rate = PWM carrier frequency 2
RAMP
+-16383=+-max_speedEXT_REF
2
Dtime2PenPWMmodePWMen
Angl e scale maxEnc CountSpd Sca le Init zval
BRAKE
Gatesignals
Fault
EncoderABZEncoder
Hall ABC
8 channelSerialAD
interface
MUX
DATACLK
CNVST
M otorPhase
Current VM otor
PhaseCurrent W
ZpolinitZEnc type
CurrentOffset W
CurrentOffset V
OptionalCurrent sense
ADS7818AD
Interface
DC bus dynamicBrake control
Space VectorPWM
Deadtime
Quadraturedecoding
IR2175interface
IR2175interface
4chDAC module
intdt
DCV_FDBK
GSerseUGSerseL
modscl
01312
1113
1211times
111312
013
1211 times
11013
1211 times
12 13
11013
1211 times
1213
195215
IR Digital Motor Control Chip ArchitectureMicro Co mputer Unit (M CU) amp Moto r Control Engine (M CE)
196215
MCU Interface with PWM Power Converters
197215
IRMCF311 Dual Chann el Senso rless Moto r Control IC fo r Appliances
AC input(100-230V)
IRMCF311
DC bus
communicationto indoor unit
motor PWM +PFC+GF
IRS2630D
Temp sensemotor PWM
IRS2631D
IPM
SPM
60-100WFan motor
Compressormotor
IGBT inverter
FREDFET inverter
multiplepowersupply
passiveEMIfilter
Galvanicisolation
fieldservice
Galvanicisolation
EEPROM
EEPROM
Analog inputAnalog output
Digital IO
temperatur e feedback
analog actuators
relay valves switches15V33V18V
fault
fault
serial comm
198215
Design and Realization Issues in Digital Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
34
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
199215
Problems in Digital Control Systems
Quantization Error
Micr oprocessorDSPASIC
FPGA SOPC
DelayTime
Sampl ingTime
SensorResolution
FiniteWord Length
Delay Timedue to
Detection
200215
Problems in Digital Control Systems
High Sampling Rate Lower senso r signal resolutionIncrease quantiz ation errorBring in system st ability problems
Low Sampling Rate
It is recommended to use simulation techniques to determine the optimal sampling rate for a specific application
Cau se ti me del ayResult poor syst em stability
201215
Task States of a Real-Time Operating System
WAITING
ISRRUNNINGREADYDORMANT
202215
Motor Control Running Tasks and RTOS
REVERSEM OTGEN
POWER89
REVERSEM OTGEN
TORQ UE45 SHUT
DOWN10
FORWAR DM OTGEN
POWER67
FORWAR DM OTGEN
TORQ UE23
STARTNEURAL
1
F 8
S8
F 9
S9
F 6 S6
F 7S7
F 1
S1 F 3
S3
F 2
S2
F 5 S5
F 4 S4Tas k 1
Rese t RTOS Shut dow n
Tas k 2 Tas k 3 Tas k 4
Idle tim e
Powe r u p T1clock PB
T1 T2 T3 T4
RTOS Real-Time Operating System
203215
Timing Analysis of a Digital Motor Controller
10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8Timer ISRProcessing
XINT ISRProcessing
BackgroundProcessing
TotalProcessing
current control amp PWM signal generation
vector control amp veloci ty control amp position control
visual output amp RS-232 commutation
100us
1ms
timer 3 period interrupts
204215
808-PowerLab Research on Digital Motor Control
電力電子系統與晶片設計實驗室
Power El ectro nic Sys tems amp C hips Lab交通大學 bull電機與控制工程研究所
Power Electronic Systems amp Chips Lab NCTU Taiwan
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
35
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
205215
Experimental Platform for the DSP Induction DriveA Single-Chip DSP (320C14) Based Digital Induction Drive
206215
Experimental Platform for a General Purpose DSP Drive
207215
TMS320F240全數位式伺服驅動器交通大學電力電子實驗室 (PEMCLAB)
208215
Adaptive Control of an Induction Motor
Load TorqueEstimation
RSTransform
ModelEstimation
ControllerParameterAdaptation
SpeedController
u v w
+ InductionMotor
Encoder
InterfaceProcess
ADConverter
PulseCounterRS-232C
θe
220V60Hz
Converter
PC Host
PWM InverterPower Stage
SPWM SignalGeneration
CurrentControllers
iqs
Dual-DSP-based adaptive speed controller
Rotor FluxCalculation
Filtering
iqs
$ $a a1 2
$ $b b1 2
r s s s t t t 0 1 2 0 1 2
$TL
iβ
iα
ids
iβ
iα
iqs
FeedforwardCompensation 32
Transform
SpeedDetectionamp Filtering
vα v β
ias ics
CurrentsDetection
Prefilters
i iα β
θm
ω m
ω m ω m
TMS 320C52 TMS 320C14
209215
Speed Performance as Load Inertia Sudden Change
06 08 1 12 14 16 18-10
0
10
20
Rads
06 08 1 12 14 16 18-10
0
10
20
Rads
Time sec
without adaptationwith adaptat ion
06 08 1 12 14 16 18-1
-05
0
05
1
Time sec
$a 1
$a 2
$b1
$b 2
ωm
200640 mKgJ sdot= suddenly added
210215
Adaptive of Speed Regulation under Load Variations
No loadJ L = sdot0 00 3 6 2 K g m
J L = sdot0 0 06 4 2 Kg m
without adaptation
12 14 16 18-10
0
10
20
30
40Rads
Time sec
ωm
Time sec12 14 16 18
-5
0
5
10
15
20
25
30
35Rads ω m
with adaptation
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習
36
課程講義【電動機】06【1】DSP交流驅動控制器之設計與實現
交通大學 808-電力電子實驗室 Sept 2007
台灣新竹交通大學電機與控制工程研究所808實驗室
電源系統與晶片數位電源馬達控制驅動晶片D SPF PGA控制
httppemclabcnnctuedutwLab-808 Power Elec tronic Systems amp Chips Lab NCT U Taiwan
211215
技術名稱全數位永磁交流伺服馬達控制驅動技術技術名稱(英文)Digital AC Servo Drive Control amp Drive Technique
技術簡介國內AC伺服驅動技術仍以類比或半數位為主
國內馬達驅動器普遍尚未採用ASIC本技術利用單晶片DSP(TMS320F2407A)及ASIC完成永磁弦波型AC伺服馬達之控制驅動技術採數位電流控制模式以ASIC產生數位式SVPWM脈寬調變使電流迴路頻寬提高至1k Hz以上
技術規格DSP-Based全數位式驅動控制軔體
以ASIC將數位電路縮裝
電流迴路取樣時間50μs速度迴路取樣時間為1ms可輸入類比之轉速轉矩命令
可輸入脈衝式之位置命令(包括CCW CWPULSE DIRΦAΦB)
212215
技術說明
技術特色採用全數位架構內部信號處理時無漂移之虞
系統調整或參數修改較容易毋需更換零件
容易搭配不同的馬達或編碼器
因使用ASIC減少控制板的元件數目提高系統可靠度
技術競爭力國產自動化產業機械需求量大國產品可提供迅速之技術服務
全數位化之設計可降低量產成本
技術發展與突破之重點使用DSP以向量控制達到轉矩快速響應之目的
全數位化之設計並配合ASIC可提供產品規劃彈性及保密性
213215
技術說明
應用範圍CNC工具機
自動化產業機械(放電加工機電子設備機械包裝機械木工機械)高效率家電
高性能電動載具
214215
技術說明
接受技術者具備基礎建議(設備)Dynometer for servo system testDSP development systemOscilloscope with DC current probes and isolation probesAC and DC Power supplies
接受技術者具備基礎建議(專業)familiar with principle of AC electric machinesfamiliar with classic control theoryfamiliar with DSP hardware and softwarefamiliar with digital and analog circuit design
215215
訓練課程 DSP數位馬達控制
馬達驅動技術的發展現況與趨勢
伺服系統設計基礎
永磁交流伺服馬達
磁場導向控制
數位控制理論
PWM換流器數位電流控制器之設計
數位式伺服控制器之設計
DSP (TMS320F2407A) 硬體設計
DSP (TMS320F2407A) 韌體設計
DMCK-2407A DSP數位伺服馬達控制實習