15 - 1 texas instruments incorporated european customer training centre university of applied...

15 - 15 - 11

Texas Instruments Incorporated

European Customer Training Centre

University of Applied Sciences Zwickau (FH)

Module 15 : C28x Digital Motor ControlModule 15 : C28x Digital Motor Control

32-Bit-Digital Signal ControllerTMS320F2812

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Electrical Motor familiesElectrical Motor families

Motor Classification:Motor Classification:Direct Current Motors (DC)Direct Current Motors (DC)Alternating Current Motors (AC)Alternating Current Motors (AC)

Asynchronous Induction Motor (ACI)Asynchronous Induction Motor (ACI) Permanent Magnet Synchronous Motor Permanent Magnet Synchronous Motor

(PMSM)(PMSM) Synchronous Brushless DC Motor (BLDC)Synchronous Brushless DC Motor (BLDC)

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3 – Phase - Motor (PMSM)

For most three phase machines, the winding is stationery, and magnetic field is rotating

Three phase machines have three stator windings, separated 120° apart physically

Three phase stator windings produce three magnetic fields, which are spaced 120°in time

3

4

3

2

.

.

.

tj

Sc

tj

Sb

tjsa

eIi

eIi

eIi

3

4

3

2

.

.

.

tjp

c

tjp

b

tjpa

eEe

eEe

eEe

N

S a

c

b

ia

ic

ib

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-1,50

-1,00

-0,50

0,00

0,50

1,00

1,50

1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346t

ia ib icPhase currents

A`

A

Fa

B

C`

C

B`

ia

Fb

Fc

Three stationary pulsating magnetic fields

The three phase winding produces three magnetic fields, which are spaced 120° apart physically.

When excited with three sine waves that are a 120° apart in phase, there are three pulsating magnetic fields.

The resultant of the three The resultant of the three magnetic fields is a magnetic fields is a rotating rotating magnetic fieldmagnetic field..

3 – Phase - Motor

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Rotor is carrying a constant magnetic field created either by permanent magnets or current fed coils

The interaction between the rotating stator flux, and the rotor flux produces a torque which will cause the motor to rotate.

The rotation of the rotor in this case will be at the same exact frequency as the applied excitation to the rotor.

This is synchronous operation.

Rotor fieldA`

B

C`

AB`

C N

S

F

F Stator field

S

N

Synchronous Motor

phaseper pair polesmotor :p

(Hz)frequency supply AC :

(r.pm) .60

:(rad/s) speedRotor

f

p

fgives

p

Example: a 2 poles pair

synchronous motor will run at 1500 r.pm for a 50Hz AC supply frequency

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Both (typically) have permanent-magnet rotor and a Both (typically) have permanent-magnet rotor and a wound statorwound stator

BLDC (Brushless DC) motor is a permanent-magnet BLDC (Brushless DC) motor is a permanent-magnet brushless motor with trapezoidal back EMFbrushless motor with trapezoidal back EMF

PMSM (Permanent-magnet synchronous motor) is a PMSM (Permanent-magnet synchronous motor) is a permanent-magnet brushless motor with sinusoidal permanent-magnet brushless motor with sinusoidal back EMFback EMF

300 900 1500 2100 2700 3300 300 900

60000 1200 1800 2400 3000 3600 600

Phase A

Phase B

Phase C

ia

ib

ic

e

e

e

Ea

Hall A

Hall B

Hall C

Back EMF of BLDC Motor

t

ea eb ec

Back EMF of PMSM

A`

B

C`

AB`

C N

S

F

F

Synchronous Motors: BLDC and PMSMSynchronous Motors: BLDC and PMSM

-1,50

-1,00

-0,50

0,00

0,50

1,00

1,50

1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346

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PowerSwitchingDevices

3 - phaseoutputs to motorterminals

Upper & lowerdevices can notbe turned on simultaneously(dead band)

Six PWM signalsto control Power Switches

DC - Voltage

3 – Phase Voltage Inverter 3 – Phase Voltage Inverter

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Scalar Control Scheme ( “ V/f ” ) Scalar Control Scheme ( “ V/f ” )

* PI3-

PhaseInverter

PWMCommand

+PWM1PWM2PWM3

PWM5PWM4

PWM6

V

fV/f profile

Speed scaling

Speed calculator

+ Simple to implement: All you need is three sine waves feeding the motor

+ Position information not required (optional).

– Doesn’t deliver good dynamic performance.– Torque delivery not optimized for all speeds

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Field Oriented Control (FOC)Field Oriented Control (FOC)

Field Oriented Control (FOC) or Vector Field Oriented Control (FOC) or Vector Control, is a control strategy for 3-phases Control, is a control strategy for 3-phases induction motors where the torque induction motors where the torque producing and magnetizing components producing and magnetizing components of the stator flux are separately of the stator flux are separately controlled.controlled.

The approach consists in imitating the The approach consists in imitating the DC motors’ operationDC motors’ operation

FOC will be possible with system FOC will be possible with system information: currents, voltages, flux and information: currents, voltages, flux and speed.speed.

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FOC control scheme FOC control scheme

Some key mathematical components are required!

PID

d,q

a,b,c

3-PhaseInverter

SpaceVectorPWM

Vq

Vd

VQ

VD

iaib

Iq

Id

IQ

ID

IQ

ID

+

+

+

r

qr

ic†

†: ia + ib + ic = 0

PWM1

D,Q

d,q

Park T Clarke T

qr

PWM2PWM3

PWM5PWM4

PWM6

Field Weakening Controller

Speed Calculator

Inverse Park

D,Q

d,qPID

PID

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PARK transform (1929):PARK transform (1929):

(Vs): voltage vector applied to motor stator (index s)

3

2

1

)(

S

s

s

S

v

v

v

V

Park transform is a referential change

3

2

11

3

2

1

3

2

1

)( and .)(

1 )3

4sin( )

3

4cos(

1 )3

2sin( )

3

2cos(

1 sin cos

S

S

s

S

So

Sq

sd

so

sq

sd

S

S

S

s

So

Sq

sd

SS

SS

SS

s

s

s

v

v

v

P

v

v

v

v

v

v

P

v

v

v

v

v

v

v

v

v

1sv

3sv

2sv

sdv

sqv

0sov

tSS

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Park Transform key componentsPark Transform key components

1sv

3sv

2sv

sdv

sqv

0sov

tSS

(vsd, vsq, vso) are called the Park coordinates vsd: direct Park component vsq: squaring Park component vso: homo-polar Park component Vso is null for a three-phases balanced system Each pair of components is perpendicular to each other

0.

0.

0.

system) balanced phases-(tri 0321

SoSq

SoSd

SqSd

SSS

vv

vv

vv

vvv

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CLARKE – TransformationCLARKE – Transformation

Transform is usually split into CLARKE transform and one rotationTransform is usually split into CLARKE transform and one rotation CLARKE converts balanced three phase quantities into balanced two CLARKE converts balanced three phase quantities into balanced two

phase orthogonal quantitiesphase orthogonal quantities

tSS

v1= v

v3

v2

v

3

.2 12

1

vvv

vv

vd

vq

v

v

SS

SSqvd

v

)cos()sin(

)sin()cos(

CLARKE

+

Rotation

PARK TRANSFORM

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PARK Transform summaryPARK Transform summary

Clarke

v1

v2

v3

v

vPark

Vd

Vq

Three phase rotating domain

Two phase rotating domain Stationary domain

1si

3si

2si

0soi

tSS

IS

ISd

ISq

Stator phase current example: Is is moving at θS and its PARK coordinates are constant in (d,q) rotating frame.

Can be applied on any three-phase balanced variables (flux…)

d

q

α

β

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Texas Instruments Motor Control SolutionTexas Instruments Motor Control Solution

““C2000 - Digital Motor Control Library (DMC)” :C2000 - Digital Motor Control Library (DMC)” :

Single Phase ACI Motor Control Using Constant Single Phase ACI Motor Control Using Constant V/HzV/Hz

3-Phase ACI Motor Constant V/Hz Control 3-Phase ACI Motor Constant V/Hz Control 3-Phase ACI Motor Field Oriented Control3-Phase ACI Motor Field Oriented Control 3-Phase Sensored Field Oriented Control (PMSM)3-Phase Sensored Field Oriented Control (PMSM) 3-Phase Sensorless Field Oriented Control 3-Phase Sensorless Field Oriented Control

(PMSM)(PMSM) 3-Phase Sensored Trapezoidal Control (BLDC)3-Phase Sensored Trapezoidal Control (BLDC) 3-Phase Sensorless Trapezoidal Control (BLDC)3-Phase Sensorless Trapezoidal Control (BLDC)

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Digital Motor Control Library Digital Motor Control Library (DMC-Lib)(DMC-Lib)

The DMC-Library is a collection of most The DMC-Library is a collection of most commonly used algorithms and function commonly used algorithms and function blocks for motor control systemsblocks for motor control systems

For every algorithm and function:For every algorithm and function: Essential theoretical background informationEssential theoretical background information

Data types for input/output parameters with Data types for input/output parameters with numerical range and precisionnumerical range and precision

Function prototypes and calling conventionsFunction prototypes and calling conventions

code size (program and data memory)code size (program and data memory)

Build Level based code examples Build Level based code examples

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Digital Motor Control Library Digital Motor Control Library (DMC-Lib)(DMC-Lib)

The DMC-Lib containsThe DMC-Lib contains PID regulators,PID regulators, Clarke transformers,Clarke transformers, Park transformers,Park transformers, Ramp generators,Ramp generators, Sine generators,Sine generators, Space Vector generators,Space Vector generators, Impulse generators,Impulse generators,

and more…and more…

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Laboratory: FOC for PMSMLaboratory: FOC for PMSM

TMS320F28x controller

vs*

vs*

Inv. Park

SpaceVector

Gen.

PWMDriver

Ta

Tb

Tc

VoltageSource

Inverter

PMSM

ias

ibs

Ileg2_Bus

Driver

ADCIN1

ADCIN2

ADCIN3is

Park Clarke

is

QEP_ASPEEDFRQ

dir

vqs*

vds*

PIiqs

*

PI

r

vds*

PI

r

iqs

Encoder

QEP_B

QEP_inc

e

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

ids

ids*

QEPTHETA

DRV

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TI Library Solution “PMSM 3-1” TI Library Solution “PMSM 3-1” (sprc129)(sprc129)

Hardware for Laboratory setup: • Spectrum Digital eZdsp TMS320F2812• Spectrum Digital DMC550 drive platform• 3-phase PMSM with a QEP encoder

• Applied Motion 40mm Alpha Motor• Type: A0100-104-3-100

• 24V DC power supply ( DC bus voltage )• load , e.g. DC Motor as Generator• PC parallel port to JTAG• 5V DC ( eZdsp )• RS232 ( optional )• Oscilloscope

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TI Library Solution “PMSM 3-1” TI Library Solution “PMSM 3-1” (sprc129)(sprc129)

eZdsp

DMC 550

PMSM 3-1

Load

24V

PC- parallel port

5V DC

RS232(optional)

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PMSM 3-1 LaboratoryPMSM 3-1 Laboratory

Student Workbench

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Build Level 1Build Level 1


vs*

vs*

Inv. Park

SpaceVector

Gen.

PWMDriver

Ta

Tb

Tc

Vq_testing

rmp_out

Vd_testing

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

speed_ref RampGen.

Rampcontrol

key modules under test

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Code Composer Studio with Code Composer Studio with Real Time ModeReal Time Mode

1.1. Load a workspace file ‘Load a workspace file ‘pmsm3_1.wkspmsm3_1.wks’’

2.2. In build.h, In build.h, #define#define BUILDLEVEL LEVEL1BUILDLEVEL LEVEL1

3.3. Rebuild allRebuild all

4.4. Load program to target Load program to target (..\(..\

pmsm3_1.out)pmsm3_1.out)

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5. In Debug menu, “Reset CPU” and then set “Real-time Mode”. Then, click “Yes” when the

message box pops up.

6. Click “Run” icon


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8. Set “enable_flg” to 1 in watch window.(to enable T1UF interrupt and PWM drive on DMC550)

7. Right click on watch window. Then, check “Continuous Refresh”.


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Changing !!

watch window for build 1

Code Composer Studio Level 1Code Composer Studio Level 1

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Results: Build Level 1Results: Build Level 1

rmp_out

Ta

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Build Level 2 – Current verificationBuild Level 2 – Current verification


vs*

vs*

Inv. Park

SpaceVector

Gen.

PWMDriver

Ta

Tb

Tc

VoltageSource

Inverter

PMSM

ia

ib

Ileg2_Bus

Driver

ADCIN1

ADCIN2

ADCIN3is

Park Clarke

is

Vq_testing

Vd_testing

iqs

Encoder

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

ids

RampGen.

Speed_ref Rampcontrol

e

key module under test

rmp_out

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Instructions: Build Level 2Instructions: Build Level 2

1.1. Tune the 24V Power Supply to 10 Volts with 1 Amp limitTune the 24V Power Supply to 10 Volts with 1 Amp limit

2.2. Load a workspace file ‘Load a workspace file ‘pmsm3_1.wkspmsm3_1.wks’ ’

3.3. In build.h, In build.h, #define BUILDLEVEL LEVEL2#define BUILDLEVEL LEVEL2

4.4. Reset CPU, Compile, Load, start RTM and RunReset CPU, Compile, Load, start RTM and Run

5.5. Switch on 24V Power SupplySwitch on 24V Power Supply

6.6. Set variable “enable_flg” to 1 in watch window.Set variable “enable_flg” to 1 in watch window.

7.7. Try to change motor speed by setting “speed_ref” (p.u.) Try to change motor speed by setting “speed_ref” (p.u.) in watch window. Then, motor should change its speed in watch window. Then, motor should change its speed accordingly.accordingly.

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1.1. PMSM should run open-loop smoothlyPMSM should run open-loop smoothly

2.2. The currents in the motor phases should be The currents in the motor phases should be sinusoidal.sinusoidal.

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Build Level 3 - Tuning of dq-axis current closed loopsBuild Level 3 - Tuning of dq-axis current closed loops


RampGen.


Iq_ref

key modules under test

vs*

vs*

Inv. Park

SpaceVector

Gen.

PWMDriver

Ta

Tb

Tc

VoltageSource

Inverter

PMSM

ia

ib

Ileg2_Bus

Driver

ADCIN1

ADCIN2

ADCIN3is

Park Clarke

is

ids*

PI

PI

rmp_out

iqs

Encoder

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

ids

Id_ref

vqs*

vds*

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1.1. In build.h, In build.h, #define#define BUILDLEVEL LEVEL3 BUILDLEVEL LEVEL3

2.2. Compile, Load, start RTM and RunCompile, Load, start RTM and Run

3.3. Set “enable_flg” to 1 in watch window.Set “enable_flg” to 1 in watch window.

4.4. Tune-up the PITune-up the PI• Observe dq-axis current regulations at PI inputs (i.e., reference and feedback). For Observe dq-axis current regulations at PI inputs (i.e., reference and feedback). For

example, “pid1_iq.pid_example, “pid1_iq.pid_refref_reg3” and “pid1_iq.pid__reg3” and “pid1_iq.pid_fdbfdb_reg3”._reg3”.

• Try to change motor speed by setting “speed_ref” (p.u.) in watch window . Then, Try to change motor speed by setting “speed_ref” (p.u.) in watch window . Then, observe dq-axis current regulations.observe dq-axis current regulations.

PID

outref

fdb

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Build Level 4 – Encoder verificationBuild Level 4 – Encoder verification


vs*

vs*

Inv. Park

SpaceVector

Gen.

PWMDriver

Ta

Tb

Tc

VoltageSource

Inverter

PMSM

ia

ib

Ileg2_Bus

Driver

ADCIN1

ADCIN2

ADCIN3is

Park Clarke

is

QEP_A

dir

vqs*

vds*

PI

rmp_out

vds*

PI

Theta_elec

iqs

Encoder

QEP_B

QEP_inc

m

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

ids

QEPTHETA

DRV

RampGen.


Iq_ref

Id_ref

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3.3. Set the DC-bus to 24 Volts 1 AmpSet the DC-bus to 24 Volts 1 Amp


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Emulated angle VS sensed angleEmulated angle VS sensed angle

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Speed reference VS real speedSpeed reference VS real speed

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Build Level 5 – close speed loopBuild Level 5 – close speed loop


vs*

vs*

Inv. Park

SpaceVector

Gen.

PWMDriver

Ta

Tb

Tc

VoltageSource

Inverter

PMSM

ias

ibs

Ileg2_Bus

Driver

ADCIN1

ADCIN2

ADCIN3is

Park Clarke

is

QEP_ASPEEDFRQ

dir

vqs*

vds*

PIiqs

*

PI

r

vds*

PI

r

iqs

Encoder

QEP_B

QEP_inc

e

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

ids

ids*

QEPTHETA

DRV

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3.3. Set the DC-bus to 24 VoltsSet the DC-bus to 24 Volts


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Results: Build Level 5Results: Build Level 5 Fastest response time with Fastest response time with

the closed loop!the closed loop!

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