ĐiỀu khiỂn ĐỘng cƠ khÔng ĐỒng bỘ 3 pha sỬ dỤng vi ĐiỀu khiỂn pic18f4431 ...

8/8/2019 IU KHIN NG C KHNG NG B 3 PHA S DNG VI IU KHIN PIC18F4431 THEO PHNG PHP VECTOR

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i

I HC QUC GIA TP H CH MINH

TRNG I HC BCH KHOA

KHOA IN IN T

LUN VN TT NGHIP I HC

IU KHIN NG C KHNG NG B 3 PHA

S DNG VI IU KHIN PIC18F4431

THEO PHNG PHP VECTOR KHNG GIAN

TP H Ch Minh, 01/2007

SVTH : NGUYN HUNH QUANG

MSSV : 40202088

CBHD : TS. PHAN QUC DNG

B MN : CUNG CP IN


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ii

NHN XT CA GIO VIN HNG DN

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Tp H Ch Minh, thng 1 nm 2007

Gio vin hng dn


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iii

NHN XT CA GIO VIN PHN BIN

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Tp H Ch Minh, thng 1 nm 2007

Gio vin phn bin


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iv

LI CM N !

Ti xin gi li cm n chn thnh nhtn qu Thy C trngi Hc Bch

Khoa Tp. H Ch Minh, nhng ngi truyn t cho ti nhng kin thc v kinh

nghim qu bu trong sut thi gian ti hc tp ti trng.

Ti xin trn trng gi li cm n n tt c cc Thy, C Khoa in - in T :

thy L Minh Phng, thy Phan Quc Dng v thy Trn Thanh V..... tn tnh

hng dn, gip , to miiu kin thun li ti hon thnh tt lun vn tt

nghip ny.

Ti xin gi li cm n n tt c nhng ngi bn, nhng ngi anh em ( L

Trung Nam, V Vn V, Tit Vnh Phc..) nhng ngi cng gn b, cng hc

tp v gip ti trong nhng nm qua cng nhtrong sut qu trnh thc hin lun

vn tt nghip.

Cui cng, ti cm n gia nh, nhng ngi thn, ngi yu (.T.T.N) v c

bit l thn mu cho ti nhngiu kin tt nht hc tp trong sut thi gian

di.

Tp. H Ch Minh, thng 1 nm 2007


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v

MC LC

CHNG 1: 2GII THIU VNG C KB V PHNG PHP IU KHIN 2

1.1> TNG QUAN VNG CNG B: .........................................................21.1.1) Gii thiu: ....................................................................................................21.1.2) Cu to: .......................................................................................................21.1.3) ng dng:....................................................................................................3

1.2> CC PHNG PHPIU KHINNG C KB:....................................4CHNG 2: 5GII THIU V BIN TN NGUN P IU KHIN V/f=const 5

2.1> BIN TN NGUN P:.....................................................................................52.2> PHNG PHPIU KHIN V/f:..................................................................5

2.2.1) Phng php E/f .........................................................................................52.2.2) Phng php V/f .........................................................................................6

2.3> PHNG PHPIU CH SIN PWM:...........................................................72.3.1) Gii thiu: ....................................................................................................72.3.2) Cc cng thc tnh ton: .............................................................................9

2.3> PHNG PHPIU CH VECTOR KHNG GIAN ( SVM) ......................102.3.1) gii thiu chung: ........................................................................................102.3.2) S sp xp cc vector V0 -> V7 trn trc Va; Vb; Vc .........................112.3.2) Gii thiu vector Vs : .................................................................................132.3.3) Cch tnh ton thi gian to ra vectorVs

uur

:...........................................152.4> K THUTIU CH VECTOR KHNG GIAN: ..........................................16

2.4.1) Gin ng ngt cc kha to ra Vector Vs trong tng sector:.......162.4.2) S tm tt ca qu trnh iu ch : ......................................................192.4.3) Tnh ton gc update ca vector Vs theo phng php iu khin V/f:...20

CHNG 3: 22GII THIU V PICMicrocontrollers (MCUs) 223.1>TNG QUAN: ...................................................................................................22

3.1.1> Nhng c im ni bc PIC18F4431: ....................................................243.1.2> Nhng c im chnh: ............................................................................25

3.2>TM TT TRC PHN CNG:.......................................................................263.2.1> S chn MCU PIC18F4431 :...............................................................262.2.3) Chc nng ca tng chn:.......................................................................28

3.3> CC MODULE C BN: ...............................................................................323.3.1> Power control PWM module : ...................................................................323.3.2> Analog to digital converter module (A/D):................................................48

CHNG 4 : 51THIT K PHN CNG 51

4.1> YU CU C BN : .......................................................................................514.2> S KHI CA H THNG : ....................................................................524.3> MCHNG LC : .......................................................................................53

4.3.1) B chnh lu:..............................................................................................534.3.2) B nghch lu:............................................................................................544.3.3) Mch li ( driver) & cch ly: .......................................................................55

4.2> MCHIU KHIN: .......................................................................................59


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vi

4.2.1) S khi mch iu khin: .....................................................................594.2.2) Cc tn hiu vo ca mch iu khin: .....................................................594.2.3) Tn hiu u ra ca mch iu khin: .......................................................59

CHNG 5: 60LP TRNH 60

5.1> GII THUT LP TRNH : ..............................................................................605.1.1) Chng trnh chnh: ..................................................................................605.1.2) Chng trnh ngt: ....................................................................................61

5.2> GII THCH GII THUT :.............................................................................625.2.1) Chng trnh chnh: ..................................................................................625.2.2) Chng trnh ngt : ...................................................................................62

CHNG 6: 64KT QUT C 64

6.1> PHN CNG:..................................................................................................646.1.1> Mch ng lc: .........................................................................................646.1.2> Mch iu khin:.......................................................................................65

6.2> PHN MM GIAO TIP VI NGI S DNG:..........................................666.2.2) M t:.........................................................................................................676.3> DNG SNGIN P NG RA:...................................................................676.4> HNG PHT TRIN:...................................................................................68

6.4.1) Khc phc nhng khuyt im hin ti: ....................................................68CHNG 7: 69TI LIU THAM KHO 69CHNG 8: 70PH LC 70

8.1> S MCH (V TRN ORCAD):...............................................................708.1.1) S mch cch ly ...................................................................................70

8.1.2 S mch li: ...........................................................................................728.1.3) S mch nghch lu : ...........................................................................738.1.4) S mch iu khin :............................................................................74

8.2> CHNG TRNH VIT CHO PIC18F4431 : ..................................................768.3> CODE PHN MM GIAO TIP NGI S DNG:....................................102


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CHNG 1:GII THIU VNG C KB V PHNG PHP IU KHIN

2


1.1> TNG QUAN VNG CNG B:

1.1.1) Gii thiu:

ng cin khng ng b ba pha (AC Induction Motor) c s dngrt ph bin ngy nay vi vai tr cung cp sc ko trong hu ht cc h thngmy cng nghip. Cng sut ca cc ng c khng ng b c tht n500 kW (tng ng 670 hp) v c thit k tun theo quy chun c thnn c th thay i d dng cc nh cung cp.

1.1.2) Cu to:

Hnh 1.1: Cu to bn trong ng c KB

1.1.2a) Phn tnh: Stato c cu to gm v my, li st v dy qun

+ V my:V my c tc dng cnh li st v dy qun, khng dng lm mch dnt. Thng v my c lm bng gang. i vi my c cng sut tng iln ( 1000kW ) thng dng thp tm hn li lm thnh v my. Tu theo cchlm ngui my m dng v cng khc nhau.

+ li st:Li st l phn dn t. V t trng i qua li st l t trng quay nn gim tn hao: li st c lm bng nhng l thp k thut in p li.

+ Dy qun:Dy qun statorc t vo cc rnh ca li st v c cch in tt vili st.


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1.1.2b) Phn quay ( roto):

Rotor c 2 loi chnh : rotor kiu dy qun v rotor kiu lng sc.

+ rotor kiu dy qun:

Rto c dy qun ging nh dy qun ca stator. Dy qun 3 pha ca rtothng u hnh sao cn ba u kia c ni vo vnh trt thng lmbng ng t cnh mt u trc v thng qua chi than c thu vimch in bn ngoi. c im l c th thng qua chi than a in trph hay sut in ng ph vo mch in rto ci thin tnh nng mmy, iu chnh tc hoc ci thin h s cng sut ca my. Khi my lmvic bnh thng dy qun rotorc ni ngn mch. Nhc im so ving c rotor lng sc l gi thnh cao, kh s dng mi trng khcnghit, d chy n

+ rotor kiu lng sc:Kt cu loi dy qun ny rt khc vi dy qun stator. Trong mi rnh ca li

st rotort vo thanh dn bng ng hay nhm di ra khi li st v cni tt li hai u bng hai vnh ngn mch bng ng hay nhm lm thnhmt ci lng m ngi ta quen gi l lng sc

1.12c) Khe h khng kh:

V rotor l mt khi trn nn khe hu. Khe h trong my in khng ngb rt nh hn ch dng in t ha ly t li v nh vy mi c th lmcho h s cng sut ca my cao hn.

1.1.3) ng dng:

My in khng ng b l loi my in xoay chiu ch yu dng lm ng cin( c bit l loi rotor lng sc) c nhiu u im hn so vi ng c DC. Do ktcu n gin, lm vic chc chn, hiu sut cao, gi thnh h nn ng c khngng b l loi my c dng rng ri trong cng nghip, nng nghip , i snghng ngy.

Trong cng nghip, ng c khng ng b thng c dng lm ngunng lc cho cc my cn thp loi va v nh, cho cc my cng c cc nhmy cng nghip nh . . .

Trong nng nghip, c dng lm my bm hay my gia cng nng sn

phm. Trong i sng hng ngy, ng c khng ng b ngy cng chim mt v tr

quan trng vi nhiu ng dng nh: qut gi, ng c trong t lnh, my quay da,. ..

Tm li, cng vi s pht trin ca nn sn xut in kh ha v tng ha, phmvi ng dng ca ng c khng ng b ngy cng rng ri.


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1.2> CC PHNG PHP IU KHIN NG C KB:

So vi my in DC, vic iu khin my in xoay chiu gp rt nhiu kh khn biv cc thng s ca my in xoay chiu l cc thng s bin i theo thi gian,

cng nh bn cht phc tp v mt cu trc my ca ng cin xoay chiu sovi my in mt chiu.

Cc phng php iu khin ph bin:iu khin in p statoriu khin in tr rtoiu khin tn siu khin cng sut trt rto


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CHNG 2:GII THIU V BIN TN NGUN P IU KHIN V/f=const

5


2.1> BIN TN NGUN P:

c s dng hu ht trong cc bin tn hin nay. Tc ca ng c khngng b t l trc tip vi tn s ngun cung cp. Do , nu thay i tn s cangun cung cp cho ng c th cng s thay i c tc ng b, v tngng l tc ca ng c.

Tuy nhin, nu ch thay i tn s m vn gi nguyn bin ngun p cpcho ng c s lm cho mch t ca ng c b bo ha.iu ny dn n dng tha tng, mo dng in p v dng in cung cp cho ng c gy ra tn hao lit, tn hao ng trong dy qun Stator. Ngc li, nu t thng gim di nh mcs lm gim moment ca ng c.

V vy, khi gim tn s ngun cung cp cho ng c nh hn tn snh mcthng i i vi gim in p cung cp cho ng c. V khi ng c hot ng vi

tn snh mc th in p ng cc gi khng i v bng nh mc do giihn ca cch in ca Stator cng nh ca in p ngun cung cp, moment cang c s b gim.

2.2> PHNG PHP IU KHIN V/f:

2.2.1) Phng php E/f

Ta c cng thc sau:

mf

fa = (2.1)

+ Vi f: tn s hot ng ca ng c,+ fm: tn snh mc ca ng c.

Gi sng c hot ng di tn snh mc (a


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T 2 phng trnh trn suy ra iu kin dng in t ha khng i:

constf

E

f

EE

a

E

m

mm ===

(2.4)

Nh vy t thng ng cc gi khng i khi t l E/fc gi khng i(E/f = const).

2.2.2) Phng php V/f

Tuy nhin trong thc t, vic gi t thng khng i i hi mch iu khin rtphc tp. Nu b qua st p trn in tr v in khng tn mch stator, ta c thxem nh U E. Khi nguyn tc iu khin E/f=const c thay bng phngphp V/f=const.

Trong phng php V/f=const (gi ngn l V/f), nh trnh by trn th tsV/fc gi khng i v bng gi tr ts ny nh mc.

Ta c cng thc moment nh mc ng vi sn gin ca ng c:

( )

++

+

=

2'21

2'2

1

'22

m

b

XXs

RR

s

R.V

.3

M (2.5)

V moment cc i chnh mc:

( )

++

=2'

21211

2m

bmax

XXRR

V.

.2

3M (2.6)

Khi thay cc gi trnh mc bng gi tr nhn vi ts a (am, aVm, aX),Ta c c cng thc moment ca ng c tn s f khc nh mc:

( )2

'2 2

2'

2'1 2

1

.

3 .. ; ( 1)

m

b

RV

a sM aR R

X Xa as

=


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7

( )

1a,

XXa

R

a

R

V.

.2

3M

2'

21

211

2m

bmax >R1/a, st p trn R1 rt nh nn gi tr E suy gim rt t dn n t thng c gign nh khng i. Moment cc i ca ng c gn nh khng i.

Tuy nhin, khi hot ng tn s thp th gi trin tr R1/a s tng i lnso vi gi tr ca (X1+X2), dn n st p nhiu in tr stator khi moment ti ln.iu ny lm cho E b gim v dn n suy gim t thng v moment cc i.

b li s suy gim t thng tn s thp. Ta s cung cp thm cho ng

c mt in p Uo cung cp cho ng c t thng nh mc khi f=0. T ta cquan h nh sau:U=Uo+K.f

Vi K l mt hng sc chn sao cho gi tr U cp cho ng c bng Um tif=fm.

Khi a>1 (f>fm),in p c gi khng i v bng nh mc. Khi ng chot ng ch suy gim t thng.

Hnh 2.1: th biu din mi quan h gia moment v in p theo tn s trongphng php iu khin V/f=const.

2.3> PHNG PHP IU CH SIN PWM:

2.3.1) Gii thiu:

to ra mt in p xoay chiu bng phng php SIN PWM, ta s dngmt tn hiu xung tam gic tn s cao em so snh vi mt in p sin chun c tn


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8

s f. Nu em xung iu khin ny cp cho mt b bin tn mt pha th ng ra sthu c mt dng in p dng iu rng xung c tn s bng vi tn s ngun sinmu v bin hi bc nht ph thuc vo ngun in mt chiu cung cp v tsgia bin sng sin mu v sng mang. Tn s sng mang phi ln hn tn sca sng sin mu. Sau y l hnh v miu t nguyn l ca phng php iu rng

sin mt pha:

Hnh 2.2: nguyn l ca phng php iu rng SIN mt pha

Khi:

control triV V> th2

dcAO

VV = (2.9)

control triV V< th2

dcAO

VV =

Nh vy, to ra ngun in 3 pha dng iu rng xung, ta cn c ngun sin3 pha mu v gin kch ng ca 3 pha sc biu din nh hnh v di y:


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Hnh 2.3: nguyn l ca phng php iu rng SIN 3 pha v dng sng in p ngra

2.3.2) Cc cng thc tnh ton:

Ta cn tnh c bin hi bc nht ca in p ng ra t ts bin giasng mang v sng tam gic

Ta c cng thc sau tnh bin ca hi bc nht:

2

U

.maU

DC

SIN(1) = (2.10)Trong ma l ts gia bin sng sin mu v bin sng mang cn gi

l tsiu bin.

carry

SINsmp

U

Uam = (2.11)


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10

2.3> PHNG PHP IU CH VECTOR KHNG GIAN ( SVM)

2.3.1) gii thiu chung:

Sau y l s nguyn l ca b bin tn s dng 6 kha transitor cng sut :

Hnh 2.4: S nguyn l b nghch lu 3 pha

i vi phng php iu rng xung vector khng gian, b nghch lu cxem nh l mt khi duy nht vi 8 trng thi ng ngt ring bit t 0 n 7.

S0 S2 S4


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11

Hnh 2.5: Trng thi ng ngt cc kha bn nghch lu

Bng tm tt :

Trng thi ca cckha

in p pha in p dyVectorinp Q1 Q3 Q5 Van Vbn Vcn Vab Vbc Vca

V0 0 0 0 0 0 0 0 0 0V1 1 0 0 2/3 -1/3 -1/3 1 0 -1V2 1 1 0 1/3 1/3 -2/3 0 1 -1V3 0 1 0 -1/3 2/3 -1/3 -1 1 0V4 0 1 1 -2/3 1/3 1/3 -1 0 1V5 0 0 1 -1/3 -1/3 2/3 0 -1 1V6 1 0 1 1/3 -2/3 1/3 1 -1 0V7 1 1 1 0 0 0 0 0 0

Ghi ch: ln in p phi nhn vi VDC

2.3.2) S sp xp cc vector V0 -> V7 trn trc Va; Vb; Vc

i vi ngun p ba pha cn bng, ta lun c phng trnh sau:( ) ( ) ( ) 0a b cu t u t u t + + = (2.12)

V bt k ba hm s no tha mn phng trnh trn u c th chuyn sangh ta 2 chiu vung gc. Ta c th biu din phng trnh trn di dng 3vector gm: [ua 0 0]T trng vi trc x, vector [0 ub 0]T lch mt gc 120o v vector [0

0 uc]T lch mt gc 240o so vi trc x nh hnh sau y.

Hnh 2.6: Biu din vector khng gian trong h ta x-y


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12

T ta xy dng c phng trnh ca vector khng gian trong h ta phc nh sau

( )(2 / 3) (2 / 3)2

( ) . .3

j j

a b cu t u u e u e = + +

(2.13)

+ Ta xt trng hp b nghch lu trng thi u V1 :

+VDC/2

-VDC/2

S1 S3 S5

S0 S2 S4

N

a b c

Ra Rb Rc

+VDC/2

-VDC/2

N

Ra

Rb Rc

Hnh 2.7: B nghch lu trng thi V1

Ta c: Ra Rb Rc => Va= 2/3 Vdc ; Vb=Vc= -1/3 Vdc

Xt trn h ta : trong 1 *( )Vs V K Va Vb Vc= = + +uur uur uur uur uur

; K=2/3 l h sbin hnh

Vb

Hnh 2.8: Vectorin p V1 trn ta


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13

+ Tng t nh vy vi cc vector V2-> V6 , ta c gin sau:

Hnh 2.9: Vectorin p V1->V6 trn gin

+ Ngoi ra , chng ta cn 2 trng hp c bit l vector V0 =V7= 0

Hnh 2.10 : V7 & V0

2.3.2) Gii thiu vector Vs :

tng ca vic iu ch vector khng gian l to nn s dch chuyn lin tcca vector khng gian tngngca vectorin p b nghch lu trn quong trn, tng t nh trng hp ca vector khng gian ca i lng 3 phahnh sin to c. Vi s dch chuyn ca u n ca vector khng gian trn quo trn cc sng hi bc cao c loi b v bin p ra tr nn tuyn tnh.Vector tng ng y chnh l vector trung bnh trong thi gian mt chu k lymu Ts ca qu trnh iu khin b nghch lu p


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14

Hnh 2.11: Vector Vs trn h trc

Hnh 2.12:in p 3 pha ng ra trong min thi gian tng ng Hnh 2.11

VectorVsuur

lin quan n cc trng thi kha transtior trong b bin tn ngunp VSI ( Voltage Source Inverter). Trong phng php SVM th VSI c ng ngt tn s rt ln (FPWM). FPWM quyt nh thi gian ly mu Ts cho vectorVs

uur

( Ts=1/

FPWM)

C rt nhiu cch ng ngt cc kha BJT to ra vectorVsuur

t cc vector0V

uur

; 1Vuur

; 2Vuur

; 3Vuur

; 4Vuur

; 5Vuur

; 6Vuur

; 7Vuur

.


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15

2.3.3) Cch tnh ton thi gian to ra vectorVsuur

:

Hnh 2.13: Vs sector 1

Xt gc 1 phn su u tin ca hnh lc gic c to bi nh ca ba vector0V

uur

; 1Vuur

; 2Vuur

. Gi s trong khon thi gian Ts , ta cho tc dng vector 1Vuur

trong

khon thi gian TA,vector 2Vuur

trong khon thi gian TB; vector 0Vuur

trong khon thigian cn li trong chu k ly mu ( Ts- TA-TB). Vector tng ng c tnh bngvector trung bnh ca chui tc ng lin tip trn:

0/70/71 2

A ATT T

Vs V V V Ts Ts Ts

= + +

uur uur uur uuur

(2.14)

A B 0/7Ts= T +T +T (2.15)

Ta c tl bin c nh ngha nh sau :

2

3

Vsm

Vdc

= (2.16)

+ trong Vs in p (pha) ng ra ca b bin tn (Va, Vb, Vc )

Chiu phng trnh (2.14) ln trc X - Y ; s dng thm phng trnh (2.16) vts m (2.15)


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16

( )

( )

1

2

0 7 1 2

2. .sin / 3

3

2. .sin

3

s

s

s

T T m

T T m

T T T T

=

=

=

(2.17)

=> Nh vy trong khon thi gian ly mu Ts, thi gian tn ti ca cc trngthi TA; TB; T0/7 da vo tsm v gc pha ca vector Vs ( hay ni cch khc lda vo ln v v tr ca vector Vs trong khng gian)

2.4> K THUT IU CH VECTOR KHNG GIAN:

Thng thng, mt trong nhng tiu chun la chn gin ng kch linh

kin l sao cho gim thiu ti a s ln chuyn mch ca linh kin =>gim tn haotrong qu trnh ng ngt chng. S ln chuyn mch s t nu ta thc hin trnh tiu khin sau:

Hnh 2.14: Gin ng ngt linh kin

2.4.1) Gin ng ngt cc kha to ra Vector Vs trong tng sector:

Cc kha cng sut trong tng nhnh ng ngt i nghch nhau.n ginha s, ta chv trng thi ca 3 kha cng sut pha trn. Ba kha cn li ctrng thi i nghch vi 3 kha trn theo tng cp nh sau :

+ S0 S1+ S2 S3+ S4 S5


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2.4.2) S tm tt ca qu trnh iu ch :

Hnh 2.15: S tm tt ca qu trnh iu ch

Nh vy vector trung bnh ( Vs) c iu khin theo quo ng trn.Chiu quay c th thun hay nghch theo chiu kim ng h. ng trn ni tiphnh lc gic l qu o ca vector ko gian ln nht m phng php iu chvector khng gian ca b nghch lu p hai bc c tht c trong phm vi iukhin tuyn tnh. Bn knh ng trn ny chnh bng bin thnh phn c bnin p (pha) ti

Hay3

A B C

VdcVs V V V = = = =

uur uur uur uur

( )

( )

1

2

0 7 1 2

2. .sin / 3

3

2. .sin

3

s

s

s

T T m

T T m

T T T T

=

= =

Trong :

+2

3

Vsm

Vdc

= l tsiu bin

+ Ts l chu kiu rng xung

+ l gc lch gia VA v VB

(2.18)


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2.4.3) Tnh ton gc update ca vector Vs theo phng php iu khin V/f:

TPW

M

TPWM

Hnh 2.16: gc update ca vector Vs

1)u tin ta chia cc sector (mi sector 60 ), thnh n phn bng nhau:=> Gc chia nh nht trong 1 sector:

min

60

n = () (2.19)

2) Ti tn st f => ( T=1/f):

Vector Vs quay 360 trong thi gian TVector Vs quay ? trong thi gian TPWM

=>

WM' 360T

PT

= () : gc update ca vector Vs (2.20)

3) Xy dngmin' * _ K update angle = = ( K l s nguyn)


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=> WM60

360 *T

PT Kn

=

=> WM *360*T 60

PT n

K =

M T=1/f

=>WM

1.360. .

60P

nK f

f=

Ta chn TPWM= 5 KHz ; n=512 gi tr trong 1 sector

=>1 512

.360. .5000 60

K f=

=> 0.6144K f= = step size (2.21)

Ta c tn s ft thay i t 0 -> 60 Hz

=> K= (0 ->36.684 )

Hnh 2.17: Update vector Vs with stepsize

Vy gc ca Vs c tnh bi cng thc sau :

Vector update step size =DEGREE_CONSTANT x required Motor Speed (Hz)

(2.22)Vecter angle =Vector angle + Update_angle


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CHNG 3: GII THIU V PICMicrocontrollers (MCUs)

22

CHNG 3:GII THIU V PICMicrocontrollers (MCUs)

3.1>TNG QUAN:

H vi iu khin PIC v dsPIC do hng ch to v sn xut vicng ngh hin i, ph hp cho cc ng dng n gin cho n phc tp.c bitngoi ngn ng lp trnh assembler nh cc MCU khc, ngi dng c th lp trnhPIC trn ngn ng C quen thuc thng qua cc phn mm h tr ( PIC18C ; CCS C; .)

Gm cc h nh sau:

8 bit:+ PIC10+ PIC12+ PIC16+ PIC18

16 bit:

+ PIC24F+ PIC24H+ dsPIC30+ dsPIC33


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Ty theo cc ng dng c th m ngi dng c th chn ra Chip ph hp (theo hng dn ca nh sn xut ti trang ch ca microchip ). Trong PIC18F4431 l IC chuyn dng iu khin ng c 3 pha theo ngh ca caMicrochip


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3.1.1> Nhng c im ni bc PIC18F4431:

14 bit Power Control PWM module:+ C n 4 knh ( mi knh gm 1 cp xung i nghch)

+ Thi gian dead time linh hot+ update tng duty cycle => ng ra PWM p ng nhanh+.

Motion Feedback Module:+ C 3 knh capture c lp:

- cc ch hot ng linh hot cho vic o c rng xung- Module h tr Hall Sensor- Special event trigger cho cc module khc

+ Quadrature Encorder interface:

- 2 pha vo v 1 ng vo index t encorder- h tro c vn tc

High speed, 200Ksps 10-bit A/D Converter:+ C 9 knh A/D+ 2 knh ly mu tc thi+ Ly mu lin tc:1 ; 2 hay 4 knh c la chn+ .

Flexible Oscillator Structure:+ 4 ch thch anh ( h trn 40 MHz)

+ 2 ngun xung lock ngoi ln n 40 MHz+ Ch thch anh ni :

- C 8 tn s ngi dng c th la chn : t 31Khz -> 8 MHz- OSCTUNE c th b cho s lch tn s (?)

+..

Peripheral Highlights:+ Chu dng cao : sink/source ( 25mA/25ma)+ 3 ngun ngt ngoi+ 2 module Capture / Compare / PWM (CCP)

- Capture 16 bit, phn gii ti a 6.25 ns ( TCY/6)

- Compare 16 bit, phn gii ti a 100 ns ( TCY)- PWM output: phn gii t 1 -> 10 bt

+ Module USART:

- H tr RS-485, RS-232 v LIN1.2

- Auto weak-up on start bit

- Auto-Bound detect+ RS-232 s dng khi dao ng ni ( ko cn thch anh ngoi)


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3.1.2> Nhng c im chnh:

+ L CPU s dng tp lnh RISC v c tc x l cao , cng sut thp nhs dng cng ngh CMOS FLASH/EEPROM.+ Tp lnh c 75 lnh .+ Mt chu k lnh bng 4 chu k xung . S dng b dao ng 40 Mhz th chu k

lnh l 0,1 us .+ Tn s b dao ng cho php ti 40Mhz.+ 8K x 14 word b nh FLASH lp trnh.+ 768 byte b nh RAM , trong b nh EEPROM ln n 256 byte.+ Trang b ti 34 ngt vi 8 cp ngt+ 5 port I / O.+ Trang b 3 bnh thi: 2 b 8 bit,1 b 16 bit.+ 2 module Capture/Compare/PWM.+ B chuyn i 10 bit ADC vi tc 5-10us.+ Cng serial ng b vi ch SPI(Master) v I2C (Master/Slave) thc hin

bng phn cng .+ Ch chuyn nhn ng b/bt ng b vi 9 bit a chkim tra.+ Cng song song (PSP) 8bit .+ Cc chnh a ch:trc tip , gin tip , v tng i.+ Cho php c/ghi b nh chng trnh .+ C ch bo v m lp trnh .

+ Ch SLEEP(tm ngh) tit kim in nng .+ Cho php chn la ch dao ng ( ni , ngoi ).+ 2 chn cho php g ri hot ng ca vi iu khin.+ Lp trnh thng qua cng serial vi in th ch5 V.+ Tm in th hot ng rng: t 2 n 5.5V. Dng cp khong 25mA.+ c sn xut vi nhiu loi khc nhau cho cng 1 m vi iu khin , tu

thuc vo s tnh nng c trang b thm . Cc kiu cm:PDIP(40chn), PLCC v QFP (cng 44 chn).


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3.2>TM TT TRC PHN CNG:

3.2.1> S chn MCU PIC18F4431 :

3.2.2> S cc khi chc nng :


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2.2.3) Chc nng ca tng chn:

a)_PORT A:+ L port I/O . C tt c 6 chn, t RA0 n RA5.Trong RA2 v RA3 c thdng tip nhn in p Vref+ v Vref-.+ RA4 cn l ng vo xung clock cho Timer0. RA5 c th lm chn chn slavecho port serial ng b.

b)_PORT B:+ L port I/O ,c thc lp trnh bi phn mm lm chc nng ko lncho tt c ng vo.+ RB0 c th lm chn ngt ngoi.+ RB3 c th lm ng vo lp trnh in th thp.+ Cc chn cn li c th lm ng vo ngt trn chn,lp trnh vi xung v dliu serial.

c)_PORT C:+ L port I/O, c 8 chn:+ RC0 dng lm ng ra b dao ng Timer1 hoc ng vo xung timer1.+ RC1 ,RC2 c cng 3 chc nng: lm ng ra PWM / chn Compare( sosnh) / chn capture (ly mu).RC1 cn l ng vo b dao ng Timer1.+ RC3 l ng vo xung tun tng b/ hoc ra (vi ch SPI v I2C).+ RC4 lm chn nhn data (ch SPI) hay data I/O (ch I2C).+ RC5 c th xut data SPI ( ch SPI).+ RC6 c th lm chn pht bt ng b (USART) hoc xung ng b.

d)_PORT D:+ L port I/O ,c th lm port slave song song khi giao tip vi 1 bus vi x l.

e)_PORT E:_Port I/O ny thng dng iu khin chn/c/ghi cho port slave song song.

f)_Cc chn khc:+ Chn 13(OSC1/CLKIN) tip nhn xung ngoi cho b dao ng thch anhbn trong.

+ Chn 14(OSC2/CLKOUT) lm ng ra b dao ng thch anh. chRC,chn ny c tn s bng ca OSC1.+ Chn 1 : lm ng vo reset .+ Chn 12, 31 l ni t Vss.Chn 11, 32 l chn cp ngun Vdd.


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M t cc I/O trch t datasheet:


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3.3> CC MODULE C BN:

3.3.1> Power control PWM module :Power Control PWM module n gin l to ra nhiu xung ng b c rng

thay i c ( PWM : Pulse Width Modulation ). Cc ng ra PWM ng dng trongiu khin ng c v cc ng dng chuyn i cng sut . Module PWM ny h triu khin cc ng dng sau :

+ ng c KB 1 pha v 3 pha+ Swithched Reluctance Motor+ ng c DC khng chi than+ UPS ( Uninterruptible Power Suppliers)+ Mutiple DC Brush motor

Cc thng s c bn ca module PWM:

+ C 8 ng I/O PWM vi 4 duty cycle khc nhau+ phn gii 14 bit da trn PWM periode+ Thi gian dead time c th lp trnh ( ng dng trong trng PWM i

nghch => chng trng dn )+ Ngt h tr update khng i( asymmertrical update ) xng trong ch

canh gia ( center aligned mode)


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S khi ca module PWM


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Trong module PWM c 4 b to duty cycle ring bit, chng c nh s t 0 -> 3.Module ny c 8 ng ra, c nh s t 0->7. Trong chi nghch cc pinchn pin l l 1 cp. VD: PWM0 si nghch vi PWM1; PWM2 si nghch viPWM3; .


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B to dead time s chn 1 khon off gia lc xung PWM ca pin ny ang cnhxung v xung PWM ca chn i nghch ang ang cnh ln ( trong 1 cp chni nghch).iu ny ngn chn trng dn => cc kha cng sut c bo v

3.3.1a) Cc thanh ghi iu khin:Hot ng ca module PWM c iu khin thng qua 22 thanh ghi khcnhau. 8 trong s c dng iu chnh cc thng s ca module:

+ PWM timer control register 0 ( PTCON0)+ PWM timer control register 1 ( PTCON1)+ PWM control register 0 ( PWCON0)+ PWM control register 1 ( PWCON1)+ Dead time control register (DTCON)+ Output overide register(OVDCOND)+ Output state register (OVDCONS)

+ Fault configrration register (FLTCONFIG)

7 cp ( 14 thanh ghi) cn li : hiu chnh thng sc bit:+ PWM time base registers (PTMRH and PTMRL)+ PWM periode registers (PTPERH and PTPERL)+ PWM special event compare register ( SEVTCMPH and

SEVTCMPL)+ PWM duty cycle #0 register ( PDC0H and PDC0L)+ PWM duty cycle #1 register ( PDC1H and PDC1L)+ PWM duty cycle #2 register ( PDC2H and PDC2L)

+ PWM duty cycle #3 register ( PDC3H and PDC3L)Nhng cp thanh ghi trn u double buffers

3.3.1b) Cc module chc nng:PWM module h tr nhiu ch hot ng ph hp cho yu cu iu khin

ng c. PWM module c tng hp t cc khi chc nng sau:+ PWM Time Base+ PWM Time Base Interrrupts+ PWM Period+ PWM Duty Cycle

+ Dead Time Generators+ PWM Output Overrides+ PWM Fault Inputs+ PWM Special Event Trigger


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36

3.3.1c) PWM Time Base:PWM time base c cung cp 12 bit timer vi chc nng prescaler and postcaler.S khi n gin ca PWM time base c trnh by trong hnh 17-4. PWM timebase c hiu chnh thng qua 2 thanh ghi PTCON0 v PTCON1. Time base c

enabled hay disabled bi set hay clear bit PTEN trong thanh ghi PTCON1 . Ch ,cp thanh ghi PTMR ( PTMRH:PTMRL) s khng b clear khi bit PTEN b clear trongphn mm !!!

PWM time base c 4 ch hot ng nh sau

+ Free running mode => edge aligned PWM+ Single shot mode => center aligned PWM+ Continous Up/Down count mode => support electronically commtated motors+ Continous Up/Down count mode with interrupts for double updates

4 ch trn c la chn thng qua bit PTMOD1:PTMOD0 trong thanh ghiPTCON0.


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39

3.3.1d) PWM Time Base Interrrupts:PWM timer to ra interrupts da trn ch hot ng c la chn bi

nhng bit PTMOD v nhng bit postscaler

Interrupts trong ch FREE RUNNING:

PWM time base ch time base ( PTMOD=00 ), s kin interrupts xy rakhi gi tr trong thanh ghi PTPER bng gi tr ca thanh ghi PTMR. Gi tr ca thanhghi PTMR sc c a v zero ngay xung clock sau .

S dng postscaler ln hn 1:1 s gim tn s ca cc s kin interrupts .


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Interrupts trong ch SINGLE SHOT:

Khi bit PTMOD=01 =>PWM time base ch single shot. S kin interrupts

xy ra khi gi tr trong thanh ghi PTPER bng gi tr ca thanh ghi PTMR. Gi tr cathanh ghi PTMR sc c a v zero ngay xung clock sau .

Nhng bit postscaler ko c tc dng g khi timer ch ny.


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Interrupts trong ch COUNTINOUS UP/DOWN COUTING:

Khi bit PTMOD=10 =>PWM time base ch countinous up/down counting.S kin interrupts xy ra khi gi tr trong thanh ghi PTMR bng zero, v PWM timebase bt u m ln .

Nhng bit la chn postscaler c th s dng trong ch ny ca timer lmgim tn s ca s kin interrupts .


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Interrupts trong ch DOUBLE UPDATE:

Ch ny chc trong Up/Down Counting mode ( PTMOD=11 ). S kininterrupts xy ra mi khi gi tr thanh ghi PTMR tng ng vi zero hay khi gi trthanh ghi PTMR trng vi gi tr thanh ghi PTPER.

Ch double update cung cp cho ngi dng thm 2 chc nng trong ch center-align mode:

+ Bandwidth c ln gp i v PWM duty cycle c update 2 lntrong mi chu k (periode)

+ C th to ra c dng sng PWM center-align khng i xng, iuny rt hu dng trong vic hn ch ti a s mo dng ca dng

sng ng ra trong 1 sng dng iu khin ng c


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3.3.1e) PWM Period :

PWM periode c nh ngha bi cp thanh ghi PTPER ( PTPERH vPTPERL). PWM periode c phn gii 12 bit. PTPER l cp thanh ghi doublebuffered s dng set chm ca PWM time base.

Ni dung ca PTPER bufferc np vo thanh ghi PTPER cc thi imsau:

+ Free running mode v Single shot modes: thanh ghi PTMR c a vzero sau khi trng gi tr vi thanh ghi PTPER

+ Up/down counting mode: khi PTMR bng zero. Gi tr c lu trongPTPER buffer tng np vo thanh ghi PTPER khi PWM time base c

disabled ( PTEN=0)


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3.3.1f) PWM duty cycle:

PWM duty cycle c xc nh bi cc thanh ghi PDCx ( PDCxH v PDCxL).C tng cng 4 cp thanh ghi PWM duty cycle cho 4 cp xung PWM.

+ PDC0 (PDC0L v PDC0H)+ PDC1 (PDC1L v PDC1H)+ PDC2 (PDC2L v PDC2H)+ PDC3 (PDC3L v PDC3H)

Gi tr trong mi thanh ghi xc nh khon thi gian m ng ra PWM tchcc.

Trong ch Edge-aligned, PWM periode bt u ti Q1 v kt thc khi thanhghi duty cycle trng vi gi tr PTMR.

Duty cycle register buffer:4 thanh ghi PWM duty cycle u c double buffered. Mi duty cycle block, u c

thanh ghi duty clycle buffer m c th truy xut bi ngi dng. Thang ghi duty cyclebuffer th hai s gi gi tr so snh vi PWM periode hin ti.

Trong ch edge-aligned PWM output, gi tr duty cycle mi sc update mikhi gi tr thai thanh ghi PTMR v PTPER trng nhau. Sau PTMR sc resetnh trong hnh 17-12. Ni dung ca duty cycle buffer s tng cp nht vo thanhghi duty cycle khi PWM time base b disable ( PTEN=0)


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Khi PWM time base ch Up/Down couting, gi tr duty cycle mi scupdate khi gi tr thanh ghi PTMR bng zero v PWM time base bt u m ln. Nidung ca duty cycle buffer s tng cp nht vo thanh ghi duty cycle khi PWMtime base b disable ( PTEN=0). Hnh 17-13 trnh by gin thi gian khi duty cyclec update ch Up/Down counting . Trong ch ny PWM periode phic sn sng np v tnh ton trc PWM duty cycle mi trc khi cc thayi c hiu lc.

Khi PWM time base ch Up/Down couting vi double update mode, gi trduty cycle mi sc update khi gi tr thanh ghi PTMR bng zero v khi gi tr haithanh ghi PTMR v PTPER trng nhau. Ni dung ca duty cycle buffer s tngc np vo thanh ghi duty cycle khi mt trong hai iu kin trn xy ra.


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3.3.1g) B to thi gian dead time:

Trong b bin tn , khi cc xung PWM chi nghch iu khin cckha cng sut pha cao; pha thp trong cng 1 nhnh, phi chn 1 khon thi giandead time. Khon thi gian dead time lm cho ng ra PWM i nghch u trng thi khng tc ng trong 1 khon thi gian ngn=> trnh trng dn khi khany ang ON , kha kia ang OFF

Mi cp xung PWM i nghch u c mt counter 6 bit m xung, chnkhon dead time vo xung PWM. Mi b to dead time c b pht hin cnh ln vcnh xung c kt ni vi b so snh duty cycle. Dead time c np vo timerkhi pht hin PWM cnh ln hay cnh xung. Ty vo xung PWM ang cnh ln

hay cnh xung, m 1 khon thi gian chuyn tip c lm tr cho n khi timerm v zero.


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Thanh ghi DTCON:


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48

Bng tm tt cc thanh ghi c lin quan ca POWER CONTROL PWM MODULE :

3.3.2> Analog to digital converter module (A/D):

B A/D c 5 ng vo cho PIC 28 chn v 8 cho cc PIC khc . Tn hiu analogc ly mu v gi bi tin , sau a vo b chuyn i . B ny to ra 1 ktqu s tng ng . Gi tr ny l 1 s 10 bit.

B A /D c ng vo so snh p cao v thp ,v c th la chn thng qua kthp Vdd , Vss , RA2 hay RA3. B A/D c im c bit l c th hot ng trong khivi iu khin trng thi SLEEP . lm c iu ny , xung clock A/D phi cnhn t b dao ng RC ni ca b A/D.


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Module A/D c 9 thanh ghi :+ A/D Result High Register (ADRESH)+ A/D Result Low Register (ADRESL)+ A/D Control Register0 (ADCON0)+ A/D Control Register1 (ADCON1)

+ A/D Control Register2 (ADCON2)+ A/D Control Register3 (ADCON3)+ A/D chennel Select Register (ADCHS)+ Analog I/O Select Register 0 ( ANSEL0)+ Analog I/O Select Register 1 ( ANSEL1)

S khi b A/D :


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Cc bc sau lm vic vi b A/D :

1_Thit lp b A/D :+ Thit lp cc chn analog / so snh p v I/O s ( ADCON1 ) .+ Chn knh ng vo A/D (ADCONO).

+ Chn xung clock b A/D ( ADCONO).+ Kch hot A/D ( ADCONO ).2_Thit lp ngt A/D nu s dng

+ xo bit ADIF.+ Set bit ADIE.+ set bit PEIE+ set bit GIE

3_Ch thi gian p ng cn thit.4_Bt u chuyn i : set bit ADCONO.5_Ch chuyn i A/D hon thnh bng cch hi vng bit ADCONO c b

xo cha hay ch ngt A/D6_c kt qu t cp thanh ghi ADRESH : ADRESL , xo bit ADIF nu cn .

7_Lp li t bc 1 hay 2 nu c yu cu. Thi gian chuyn i A/D mi bit gil TAD .

Mt khong ch ti thiu 2TADc yu cu trc khi ln p ng k tip bt u.

Cc thanh ghi ADRESH : ADRESL cha 10 bit kt qu ca chuyn i A/D .Khi s chuyn i A/D hon tt , kt qua vo cp thanh ghi ny , bit ADCON0 b xo v c ngt ADIF c set. Cp thanh ghi ny rng 16 bit . Do nu bitADFM =1 :ly 10 bit bean phi v ADFM = 0 th ly 10 bit bn tri , cc bit cn libng 0. Nu A/D b v hiu , cc thanh ghi ny c th dng nh 2 thanh ghi a mcch


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CHNG 4 : THIT K PHN CNG

51

CHNG 4 :THIT K PHN CNG

4.1> YU CU C BN :

Thit k b bin tn truyn thng ( 6 kha) ba pha iu khin ng cKB 1.5 kW

Thng s tiu biu ca ng c 1.5 kW ( 2 HP) tn s 50 Hz nh sau :

Cc thng s n v ng cu / saoPm Cng sut nh mc (KW) 1.5Vm in p nh mc (Vac) 380/220Im Dng in nh mc (A) 5.9/3.4

osc H s cng sut 0.81RPM Vn tc ( vng /pht) 1420


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53

4.3> MCH NG LC :

4.3.1) B chnh lu:

Yu cu:

in p VDCu ra ca b chnh lu:

+Trong phng php SVPWM th :3

DC A B C

VV V V= = =

uur uur uur

+ng c vn hnh chnh mc ( ) => tr bin (380* 2) / 3phaV =

=> 3* 540( )DC phaV V V uuuuur

+ng c vn hnh chnh mc ( ) tr bin (220* 2) / 3phaV =

=> 3* 311( )DC phaV V V

uuuuur

Tr tc thi ca VDC c nn tng i phng Gn nh , gi thnh r

=> Ta s dng phng php chnh lu cu vi 6 diode ( c th chnh lu 1 pha ,hay 3 pha )

Tr trung bnh in p u ra khi chnh lu cu 3 pha (khng iu khin):3 6 *

osDCVpha

V c

= 515 (V) VDC yu cu (C chu sao)

+Vpha : tr hiu dng p pha ngun (220 VAC)+= 0 : b chnh lu khng iu khin


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54

Ghi ch:

Trong iu kin thc t, nu chc ngun 1 pha thc hin chnh lu th inp VDC sau chnh lu :

2 2 *os 200( )DC

VphaV c V

= =>ng c s khng th vn hnh ht nh

mc c hai ch

4.3.2) B nghch lu:

C hai la chn chnh cho vic s dng kho ng ct cng sut trong iukhin ng c l MOSFET v IGBT. C hai loi MOSFET v IGBT u l linh kinc iu khin bng in p, ngha l vic dn v ngng dn ca linh kin ciu khin bng mt ngun in p ni vi cc gate ca linh kin thay v l dngin trong cc b nghch lu s dng transitor nh trc y. V vy cch s dngloi linh kin ny lm cho vic iu khin tr nn d dng hn.

Thng thng MOSFET c s dng vi cc ng dng i hi tc cao,tuy nhin MOSFET khng c kh nng chu dng in cao. Trong khi IGBT thchhp vi cc ng dng tc thp, tuy nhin IGBT c kh nng chu c dngin cao. V vy tu vo c im ca ng dng m c s la chn linh kin phhp.

Cc yu cu chnh t ra cho linh kin s dng lm b nghch lu :

in p VDS ( Mosfet) hay VCE ( IGBT) > VDC

Dng in qua linh kin > dng nh mc ca ng c 10A nhit hotng

Chu c tn sng ngt cao


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55

=> IRFP460Pc la chn : tha mn cc yu t trn, c th mua d dngv gi thnh r !

4.3.3) Mch li ( driver) & cch ly:

a) Mch li :

C hai phng n chnh li MOSFET hay IGBT :+ Bin p xung+ IC li

Trong cc phng n c bin p xung, trng hp xung iu khin c cnh tcng ko di hoc tn s thp, bin p xung sm t trng thi bo ha v ng raca n khng ph hp yu cu iu khin. Do ta nn s dng loi high voltagebootstrap diver ICs.

Trong : IR2136 l loi IC chuyn dng li MOSFET v IGBT ca hng IR- International Rectifier. IC ny c 3 knh output c lp (mi knh gm high side andlow side) dng cho cc ng dng 3 pha.


61/110


56


62/110


57

b) mch cch ly:

Cc mch pht ra tnh hiu iu khin mch cng sut dng bn dn phic cch ly vin.iu ny c th thc hin bng opto hoc bng bin p xung.

+ Bin p xung :Gm mt cun dy s cp v c th nhiu cun th cp. Vi nhiu cun dy

pha th cp, ta c th kch ng nhiu transistor mc ni tip hoc song song.

Bin p xung cn c cm khng tn nh v p ng nhanh. Trong trng hpxung iu khin c cnh tc ng ko di hoc tn s thp, bin p xung sm ttrng thi bo ha v ng ra ca n khng ph hp yu cu iu khin.

+ Opto :Gm ngun pht tia hng ngoi dng diode (IR - LED) v mch thu dng

phototransistor. Do tha mn yu cu cch ly vin, ng thi p ng caopto tt hn my bin p xung.

=> ta la chn phng n dng OPTO. Yu cu t ra i vi opto l phi chuc tn sng ngt kh cao (>5KHz) m in p xung ng ra ko b mo dng.Trong , HCPL-2630 l optocouplers ca hng fairchild c tn sng ngt lntha mn yu cu trn.


63/110


58


64/110


59

4.2> MCH IU KHIN:

4.2.1) S khi mch iu khin:

4.2.2) Cc tn hiu vo ca mch iu khin:

Nt n iu khin ng c:+ RUN+ STOP+ F/R+ Bin triu chnh tc

Nt n iu khin LCD:+ MODE+ UP+ DOWN+ LEFT+ RIGHT+ SELECT

Tn hiu hi tip: (*)+ Dng in ca ng c+ in p ng c+ Tc ng c+ Nhit ca kha BJT

Tn hiu iu khin t PC

4.2.3) Tn hiu u ra ca mch iu khin:+ 6 xung PWM iu khin b nghch lu+ Hin th trng thi hot ng ca mch thng qua n LED+ Hin th cc thng siu khin bng LCD+ Xut tn hiu cho PC

Ghi ch: (*) => s pht trin sau


65/110

CHNG 5: LP TRNH

60

CHNG 5:LP TRNH

5.1> GII THUT LP TRNH :

5.1.1) Chng trnh chnh:


66/110


67/110

CHNG 5: LP TRNH

62

5.2> GII THCH GII THUT :

5.2.1) Chng trnh chnh:

(1) Chng trnh bt u khi cp ngun cho PIC

(2) Xc lp cc thng s ban u :+ I/O pin+ A/D module+ Timer+ Power Contrl PWM module+ Interrupts event

(3) X l nt n RUN

(4) Trng thi IDLE: hin th LED bo trng thi idle, ng thi qua li phn (3)kim tra xem nt RUN c c n hay khng

(5) c gi tr f yu cu t bin tr (mode 1) ; LCD (mode 2) hoc PC (mode 3)

(6) Khi tn s f yu cu thay i: tnh ton cc bin sVref, stepsize. Hai thngs ny dng update cc gi tr v ln v bc nhy ca vector Vs khichng trnh ngt PWM xy ra. Vref dng tnh ton t siu bin m =Vref/Vdc. Stepsize xc nh gc update ca vector Vs

(7) Kim tra xem button no c n ( STOP , F/R) => x l button c

n+ STOP button: => set cc duty cycle v zero => qua li v tr (4) : IDLE+ F/R button: => gi hm RAM_DOWN gim tc ng c v zero => o chiu

quay vector Vs => gi hm RAM_UP tng tc ng cn tn st+ ..

5.2.2) Chng trnh ngt :

(1) Khi c ngt c set ln 1, sao lu trng thi ca vi iu khin

(2) Gc ca vector Vs = gi tr gc ban u + gc update ( bc nhy). lnca vector Vs c xc nh trn tn st (=> tsiu bin m)

(3) C tng cng 6 sector. Mi sector 60 c chia thnh 512 phn bngnhau. Khi vector Vs qut ht sector hin ti ( stepsize > 512), chuyn sang Vssector mi => (4)

(4) Vs chuyn sang sector mi v reset gi tr stepsize. ( stepsize = stepsize 512 ). Hnh trnh by c th vn ny.


68/110

CHNG 5: LP TRNH

63

(5) V (6) reset gi tr ca sector khi Vs qua ht 1 vng.

(7) xc nh thi gian TA, TB, T0/2 v (Ts - T0/2)

(8) Np cc gi tr trn vo thanh ghi PWM duty cycle


69/110

CHNG 6: KT QUT C

64

CHNG 6:KT QUT C

6.1> PHN CNG:

6.1.1> Mch ng lc:

Hnh 6.1: Mch ng lc

+ u im:Mch ng lc vn hnh n nh ng c 2 HP ( u ; khng ti ) tt ccc chiu khin thng thng( RUN, STOP, o chiu, thay i tc..).

+ Khuyt im:- Nhit cc kha cng sut kh cao ( 70-80 C)- Cha c khu hi tip dng ,hi tip tc , hi tip nhit kha cng

sut


70/110

CHNG 6: KT QUT C

65

+ Gii php khc phc:- Nhit cc kha cng sut kh cao => thay th cc kha cng sut bngloi cht lng tt, p ng tt hn .

- Pht trin thm khu hi tip dng => ngn chn qu dng ng c

- Pht trin khu hi tip tc => iu khin vng kn ng c- Pht trin khu hi tip nhit ca kha cng sut => ngn chn hintng qu nhit

6.1.2> Mch iu khin:

Hnh 6.2: Mch iu khinu im:

Mch iu khin c kh nng p ng cc yu cu iu khin ng c trongthc t:

+ Cc buttons iu khin ng c: RUN, STOP, o chiu, bin tr hiuchnh tc

+ Cc buttons iu khin LCD: set cc thng s ci t (thi gian tng tc,gim tc.)

+ LCD : hin th trng thi hot ng ca ng c

+ giao tip vi PC: nhn gi tr tc t t PC, hin th trng thi hotng ca motor ln my tnh


71/110

CHNG 6: KT QUT C

66

6.2> PHN MM GIAO TIP VI NGI S DNG:

]Hnh 6.3: phn mm iu khin

Hnh 6.4: phn mm iu khin ( lc ng c hot ng)


72/110

CHNG 6: KT QUT C

67

6.2.2) M t:

Phn mm iu khin c vit trn ngn ng Visiual Basic 6.0Phn mm giao tip vi vi x l PIC18F thng qua cng COM ( chun RS232)

Cc nt iu khin:+ RUN / SEND: Khi ng ng c / gi tn s yu cu n vi x l+ STOP: dng ng c+ CHANGE: o chiu ng c

Cc hin th v nhp liu:+ f request: nhp liu tn s t bn phm+ f out: hin th gi tr tn s ng ra+ V out: hin th dng in p ng ra ( V/f = const)+ Status: hin th trng thi ng c ( RUNNING , STOP)+ Direction: hin th chiu quay ca ng c ( thun ; nghch )

6.3> DNG SNG IN P NG RA:

Hnh 6.5: in p pha ng ra ( ti R)


73/110

CHNG 6: KT QUT C

68

Hnh 6.6: in p pha ng ra ( ti R)

Hnh 6.7: in p dy ng ra ( ti ng c)

6.4> HNG PHT TRIN:

6.4.1) Khc phc nhng khuyt im hin ti:

+ Phn cng: cp ti phn 6.1.1 trang 63

+ Phn mm ( giao tip ngi s dng v PIC18F):

Pht trin thm phn ci t cc thng s ( PID cho u khin vng kn)

+ Phng php iu khin:iu khin vng kn


74/110

CHNG 7: TI LIU THAM KHO

69

CHNG 7:TI LIU THAM KHO

[1] Ts. Phan Quc Dng ,Truyn ngin[2] Ts. Nguyn Vn Nh, in tcng sut 1

[3] Jon Buroughs,AN900: Controlling 3 phase induction motors using thePIC18F4431, Microchip Techology Inc

[4] Rakesh Parekh,AN955:V/f Control of 3 phase induction motor usingspace vecter modulation, Microchip Techology Inc

[5] Prof. Ali Keyhani, Pulse-Width Modulation (PWM) Techniques lecture 25,Department of Electrical and Computer EngineeringThe Ohio State University

[6] PIC18F4431 datasheet

[7] CCSC User Manual

[8] Flex LCD Driver Aministrator of CCS Forum

[9]


75/110

CHNG 8: PH LC

70

CHNG 8:PH LC

8.1> S MCH (V TRN ORCAD):

8.1.1) S mch cch ly

R35

110

R42

110

5V_1

5V_1

Vin1+1

Vin1-2

Vin2-3

Vin2+4

VCC8

Vout17

Vout26

GND5

U11

HCPL2631

R37 220

R38 220

0

5V_1

Vin1+1

Vin1-2

Vin2-3

Vin2+4

VCC8

Vout17

Vout26

GND5

U12

HCPL2631

R40 220

R41 220

0

R43

110

R44

110

+ C7

0.1uF

H1H2H2H3H3L1L1L2L2L3L3

1234567

J8

0

+ C8

0.1uF

+ C9

0.1uF

Vin1+1

Vin1-2

Vin2-3

Vin2+4

VCC 8

Vout17

Vout26

GND5

U10

HCPL2631

5V_2

R33 220

R36

110

R34 220

R45

110

5V_2

5V_2

0


76/110

CHNG 8: PH LC

71

5V_1

15V

C10

100uF

C11

100uFC12470uF

C1310uF

C14470uF

C1510uF

C16

104

C17104

12

J5

6V_AC

12

J6

12V_AC

IN1

OUT3

GND

2

U3 LM7805C

IN1

OUT3

GND

2

U4 LM7815C

2

1

3

4

-

+

D15

BRIDGE_3A

2

1

3

4

-

+

D16

BRIDGE_3A

R1

330

D17

LED

R2

1k

D18

LED

5V_2

C18

100uFC19470uF

C2010uF

C21

104

12

J7

6V_AC

IN1

OUT3

GND

2

U5 L M7 80 5C

2

1

3

4

-

+

D19

BRIDGE_3AR3

330

D20

LED


77/110

CHNG 8: PH LC

72

8.1.2 S mch li:

15V

+ C4.1uF

ITRIP

ENABLE

ITRIP

FAULT

H1H1H2H2H2H2H3H3H3H3

L1L1L1L1L2L2L2L2L3L3

RVAR2

+C5

10uF

15V 12V

ENABLE

+ C6

10uF

15V

ENABLEENABLEENABLEENABLEFAULTFAULTFAULTFAULT

R26 100R27 100R28 100

R29 100R30 100R31 100

R20

100

R32

100

R21

100

R22

100

R23 100

R24 100

R25 100

ITRIPITRIPITRIPITRIP

VCC1

HIN12

HIN23

HIN34

LIN15

LIN26

LIN37

FAULT8

ITRIP9

EN10

RCIN11

VSS12

COM13

LO314

LO215

LO11617

17

VS318

VS222

VS126

VB128

VB224

VB320

HO127

HO223

HO319

2121

2525

U1

IR2136

1234

56789

10

J1OUTPUTS

+ C11uF

+ C21uF

+ C31uF

D1 DIODE XUNG

D2 DIODE XUNG

D3 DIODE XUNG

VS1HO1

HO3

VS2HO2

LO1VS3

LO3LO2

12345

J3CONTROL

COM

HO2

HO1

VS2

VS1

HO3

VS3

PR 1R 5W

LO1

COM

LO3

LO2

15V

COM

RVAR1


78/110

CHNG 8: PH LC

73

8.1.3) S mch nghch lu :

R1

10K

R2

10K

R3

10K

R4

10K

R5

10K

R6

10K

H2H2H2 H3

L1 L2 L3L3

S3

H1

S1

COM

F1

FUSE

VDC

1

2

3

J1

MOTOR

P1

P2

P31

2

J2

CON2

VDC

COM

1

2

34

5

6

7

8

9

10

J3

CON10

COM

L3

L2

L1

H2

S2

H3

S3

H1

S1

S2S2S2 S3

P1

P2

P3

S3S3S3S3S3S3

1

2

3

Q1

1

2

3

Q2

1

2

3

Q3

1

2

3

Q4

1

2

3

Q5

1

2

3

Q6

12

J4

AC_VOLTAGE

D1

D2

D3

D4

C1C

VDC

COM


79/110

CHNG 8: PH LC

74

8.1.4) S mch iu khin :

8.1.4.a) Phn chnh:

VCC

PWM0

RA2

PWM5

C3 22P

SW_RESET

1

3

C_Vcc1

104

SW_DIP

SW DIP-8

VCC

STOP

D2

D7

RA4

PGD

UPDOWN

LED4

RC7

D5

OSC2

D0

D4

PWM3PWM4

ENTER

LED7

MCRL

PWM4

PGC

U16_1ZENNER

VCC

PWM2

Y2 20MHZ

PWM0

C4 22P

VCC

D5

PORTA_1

123456

123456

MCRL

D4

LED8

PGC

D2

PWM1

PGD

PWM2

VCC

OSC1

LED5

RA1

RA3

OSC1

D1

FR

RC6

PORTC_1

8

67

54321

8

67

54321

MODE

MCRL

LED3

D0

PORTD_1

PORTD_1

8

67

54321

8

67

54321

PIC18F4431

1234567

89

10

1112

1314

15161718

1920

4039383736353433

3231

30292827

26252423

2221

MCRLRA0/AN0RA1/AN1RA2/AN2RA3/AN3RA4/AN4RA5/AN5

RE0/AN6RE1/AN7RE2/AN8

VddVss

OSC1/RA7OSC2/RA8

RC0RC1/CCP2RC2/CCP1RC3/INT0

RD0RD1/SDO

RB7/PGDRB6/PGC

RB5/PWM4RB4/PWM5RB3/PWM3RB2/PWM2RB1/PWM1RB0/PWM0

VddVss

RD7/PWM7RD6/PWM6RD5/PWM4

RD4

RC7/RX/DTRD6/TX/CKRC5/SCKRC4/SDA

RD3/SCKRD2/SDI

PORTB_1

PORTB_1

8

67

54321

8

67

54321

RA5

D3

D3

LED2

D7

RUN

PWM3

PWM1

LEFT

LED1

PORTB_PWM

PORTB_PWM

67

54321

67

54321

D6

D1

D6

OSC2

Programing conector

CON6N

123456

123456

R_RESET_SW

1K PWM5

C_Vcc2

104

RA0

VCC

RIGHT

LED6

8.1.4.b) Phn hi

n th

v giao ti

p my tnh nt

n:


80/110

CHNG 8: PH LC

75

C_C3

C_cocuc

VCC

VCC

R_MODESW

4k7

SW_MODE

1

3

C_1

1UF

SW_UP

1

3

SW_RUN

1

3

C_DOWNSW

104

C_MODESW

104

R_UPSW

4k7

BUTTON

SW_DOWN

1

3

C_C5C_cocuc

SW_FR

1

3

RC6

R_STOPSW

4k7

VCC

C_LEFTSW

104

D4

R_FRSW

4k7

RS2

VCC

R_RUNSW

4k7

U18

10k

1

3

2

VCC

D7

U10

MAX232

13

8

11

10

1

3

4

5

2

6

12

9

14

7

16

15

R1IN

R2IN

T1IN

T2IN

C+

C1-

C2+

C2-

V+

V-

R1OUT

R2OUT

T1OUT

T2OUT

VCC

GND

VCC

RIGHT

VCC

D6

SW_LEFT

1

3

C_UPSW

104

RC7

VCC

D2

LEFT

RUN

U7

COM9NS

59

48

37

26

1

C_C21UF

C_FRSW

104

VCC

RS3

MODE

VCC

R_RIGHTSW

4k7

D5

STOP

C_C4C_cocuc

SW_STOP

1

3

U17

LCD

12345678910

11

12

13

14

15

16

GND

VCC

Vee

RS

R/W

E

DB0

DB1

DB2

DB3

DB4

DB5

DB6

DB7

Lamp-

Lam+

R_LEFTSW

4k7

DOWN

RS2

SW_RIGHT

1

3UP

C_RIGHTSW

104

VCC

C_STOPSW

104

D0

FR

R_DOWNSW

4k7

D1

RS3


81/110

CHNG 8: PH LC

76

8.2> CHNG TRNH VIT CHO PIC18F4431 :

Chng trnh sau y c vit trn ngn ng CCS

////////////////////////////////////////////////////////////////////////////////////////////////

// MODE 1: R_VAR => dieu khien = RUN , FR, STOP button va` R_VAR// MODE 2: AUTO// 1) nhap gia tri f1 (freq1)// 2) nhap gia tri f2 (freq2)// 3) nhap gia tri T ramp_up// 4) nhap gia tri T ramp_down// =>dieu khien = RUN , FR, STOP button va` mode 2 toc do ( thongbutton //thay doi toc do= "^" key)// MODE 3: PC control//////////////////////////////////////////////////////////////////////////////////////////////////////

#include //Header file in project manager of MPLAB

#device *=16 adc=8 HIGH_INTS=TRUE#fuses HS,NOWDT,NOPROTECT,PUT,NOBROWNOUT,NOLVP#use delay (clock=20000000) //use delay function#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)

#include // Other files in project manager of MPLAB

//PTPER*4*sqrt(3)*SIN {data[0] -> data[511] }int16 const data[512]={0, 7, 14, 21, 28, 35, 43, 50, 57, 64,71, 78, 85, 92, 99, 106, 114, 121, 128, 135,142, 149, 156, 163, 170, 177, 184, 192, 199, 206,213, 220, 227, 234, 241, 248, 255, 262, 269, 277,284, 291, 298, 305, 312, 319, 326, 333, 340, 347,354, 361, 368, 376, 383, 390, 397, 404, 411, 418,425, 432, 439, 446, 453, 460, 467, 474, 481, 488,495, 502, 509, 516, 523, 530, 537, 544, 551, 558,565, 572, 579, 586, 593, 600, 607, 614, 621, 628,635, 642, 649, 656, 663, 670, 677, 684, 691, 698,705, 712, 719, 726, 733, 740, 747, 754, 760, 767,774, 781, 788, 795, 802, 809, 816, 823, 830, 836,843, 850, 857, 864, 871, 878, 885, 891, 898, 905,912, 919, 926, 933, 939, 946, 953, 960, 967, 973,

980, 987, 994, 1001,1007,1014,1021,1028,1035,1041,1048,1055,1062,1068,1075,1082,1089,1095,1102,1109,1116,1122,1129,1136,1142,1149,1156,1163,1169,1176,1183,1189,1196,1203,1209,1216,1223,1229,1236,1242,1249,1256,1262,1269,1275,1282,1289,1295,1302,1308,1315,1322,1328,1335,1341,1348,1354,1361,1367,1374,1380,1387,1393,1400,1406,1413,1419,1426,1432,1439,1445,1452,1458,1465,1471,1477,1484,1490,1497,1503,1509,1516,1522,1529,1535,1541,1548,1554,1560,1567,


82/110

CHNG 8: PH LC

77

1573,1579,1586,1592,1598,1605,1611,1617,1623,1630,1636,1642,1648,1655,1661,1667,1673,1680,1686,1692,1698,1704,1710,1717,1723,1729,1735,1741,1747,1754,1760,1766,1772,1778,1784,1790,1796,1802,1808,1814,1820,1826,1832,1839,1845,1851,1857,1863,1868,1874,

1880,1886,1892,1898,1904,1910,1916,1922,1928,1934,1940,1946,1951,1957,1963,1969,1975,1981,1986,1992,1998,2004,2010,2015,2021,2027,2033,2038,2044,2050,2056,2061,2067,2073,2078,2084,2090,2095,2101,2107,2112,2118,2124,2129,2135,2140,2146,2151,2157,2163,2168,2174,2179,2185,2190,2196,2201,2207,2212,2218,2223,2228,2234,2239,2245,2250,2256,2261,2266,2272,2277,2282,2288,2293,22982304,2309,2314,2320,2325,2330,2335,2341,2346,2351,2356,2361,2367,2372,2377,2382,2387,2392,2398,2403,2408,2413,2418,2423,2428,2433,2438,2443,2448,2453,2458,2463,2468,2473,2478,2483,2488,2493,2498,2503,2508,2513,2518,2522,2527,

2532,2537,2542,2547,2551,2556,2561,2566,2571,2575,2580, 2585,2589,2594,2599,2604,2608,2613,2618,2622,2627,2631,2636,2641,2645,2650,2654,2659,2664,2668,2673,2677,2682,2686,2691,2695,2699,2704,2708,2713,2717,2722,2726,2730,2735,2739,2743,2748,2752,2756,2761,2765,2769,2773,2778,2782,2786,2790,2795,2799,2803,2807,2811,2815,2820,28242828,2832,2836,2840,2844,2848,2852,2856,2860,2864,28682872,2876,2880,2884,2888,2892,2896,2900,2903,2907,2911,2915,2919,2923,2927,2930,2934,2938,2942,2945,2949,2953,2957,2960,2964,2968,2971,2975,2978,2982,2986,2989,2993,2996,3000 };

#define RUN PIN_C0 //all BUTTON is active LOW#define FR PIN_E0#define STOP PIN_E1

#define MENU PIN_E2 // back to previous level in MENU#define OK PIN_C1#define UP PIN_C2#define DOWN PIN_C3#define BACK PIN_C4#define NEXT PIN_C5

//--------------------------------------------------------caculation variblefloat f_float=0,temp_float=0;

signed long Vs_angle; //long=int16long update_angle;

long M,Vref,Vdc=311;long TS=2000,TA,TB,Tz; //TS=PTPER*4


83/110

CHNG 8: PH LC

78

// Fpwm=5Khz=> PTPER=500;// real TS is PTPER*0.2uS, when Fosc=20M )//Tz= T0/2

unsigned int temp_int=0,sector,adc,count_timer1_interupt;int f,f_req;

int1 first_run_flag,direction_flag;

//-------------------------------------------------------- varible in MODEsint mode_select=1;int return_2_mode_select;int f1,f2;int

T_ramp_up=10,T_ramp_down=5,T_ramp_up_ms=50,T_ramp_down_ms=25;//default value

int eeprom_check;int1 f_select=0; //as defaultf_select=0 => f1 ; f_select=1 => f2( use in

mode2)

//--------------------------------------------------------TEMP varibleint32 count=0,interrupt_number=0;

int1 disable_update_freq=0; //1= active

#INT_PWMTB HIGH //It will generate code to save and restore the machine state,and will clear the interrupt flagvoid PWM_INTERRUPT() //caculating base on "Vref" and "stepsize"{interrupt_number=interrupt_number+1;

TB=data[Vs_angle]; //data=PTPER*4*sqrt(3)*SIN ;// at 1st RUN: n=0

TA=data[511-Vs_angle];M=Vref*16/Vdc; // mutiply 16=> will shift right 4 bit laterTA=TA*M;TB=TB*M;TA=(TA>>4)&0x0FFF; //4TATB=(TB>>4)&0x0FFF; //4TBTz=(TS-TA-TB)/2; //TS=4TS

if(direction_flag==1) //FORWARD direction//

{ Vs_angle=Vs_angle+update_angle;if(Vs_angle>511){ Vs_angle=Vs_angle-511;

sector=sector+1;if(sector>6) //sector (1)->(6){ sector=1;}

}}


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else //REVERSE direction//{ Vs_angle=Vs_angle-update_angle; //n overflow to value (2^16)-

"negative value" if n is unsigned intif(Vs_angle(6){ sector=6;}

}}

switch (sector){

case 1: set_power_pwm0_duty(TS-Tz);set_power_pwm2_duty(Tz+TB);set_power_pwm4_duty(Tz);

break;case 2: set_power_pwm0_duty(TA+Tz);

set_power_pwm2_duty(TS-Tz);set_power_pwm4_duty(Tz);break;

case 3: set_power_pwm0_duty(Tz);set_power_pwm2_duty(TS-Tz);set_power_pwm4_duty(Tz+TB);break;

case 4: set_power_pwm0_duty(Tz);set_power_pwm2_duty(Tz+TA);set_power_pwm4_duty(TS-Tz);break;

case 5: set_power_pwm0_duty(Tz+TB);set_power_pwm2_duty(Tz);set_power_pwm4_duty(TS-Tz);break;

case 6: set_power_pwm0_duty(TS-Tz);set_power_pwm2_duty(Tz);set_power_pwm4_duty(Tz+TA);break;

}

}#INT_TIMER1void READ_AD_RESULT() //With an internal clock at 20mhz and with theT1_DIV_BY_8 mode, the timer will increment every 1.6us. It will overflow every104.8576ms.{

if(count_timer1_interupt==10) // 1s{

adc=read_adc();


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f_req=adc/4; //required motor speed in Hz {adc=0-255 => f_req=1-60 (Hz)}

if(f_req>60){f_req=60;}

count_timer1_interupt=1;

}

if(disable_update_freq==1){count_timer1_interupt=9;}else{count_timer1_interupt=count_timer1_interupt+1;}

}

void PORTS_INIT() //1

{set_tris_a(0b00000001); //RA0 as input ( AD converter)set_tris_b(0b11000000); //PWM0=>PWM5 as output

//PWM6,PWM7 as inputset_tris_c(0b11111111); //portC as BUTTON inputset_tris_d(0b00000000); //portD as output for display led

}void PWM_MODULE_INIT() //2{

setup_power_pwm_pins(PWM_COMPLEMENTARY,PWM_COMPLEMENTARY,PWM_COMPLEMENTARY,PWM_OFF );

//module 0(PWM0,PWM1) = COMPLEMENTARY//module 1(PWM2,PWM3) = COMPLEMENTARY//module 2(PWM4,PWM5) = COMPLEMENTARY//module 3(PWM6,PWM7) = OFF

setup_power_pwm(PWM_CLOCK_DIV_4|PWM_UP_DOWN|PWM_DEAD_CLOCK_DIV_4,1,0,500,0,1,10);

// 1) mode:PWM_CLOCK_DIV_4; PWM_UP_DOWN;PWM_DEAD_CLOCK_DIV_4,

// 2) postscale:1// 3) time_base:=> first value of timebase// 4) period:chu ky` xung 6 PWM =500 =>200uS// 5) compare:0

// 6) compare_postscale:1// 7) dead_time:10 => Tdeatime=10*0.2=2uSset_power_pwm0_duty(0);set_power_pwm2_duty(0);set_power_pwm4_duty(0);

}

void INTERRUPTS_INIT() //3 //INT_PWM will be enable after run button ispressed !


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{enable_interrupts(INT_TIMER1);enable_interrupts(GLOBAL);

}

void ADC_INIT() //4{setup_adc_ports(sAN0); //AN0 as analog INPUTsetup_adc(ADC_CLOCK_DIV_32);set_adc_channel(0);delay_us(10);

}void TIMER_INIT() //5{setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);set_timer1(62500); //All timers count up. When a timerreaches the maximum value it will flip over to 0 and continue counting (254, 255, 0, 1,

2...)//62500*1.6 us =0.1s

}void PARAs_CAL(){

f_float=f;

temp_float=f_float*3;Vref=temp_float; //Vref(Vphase; motor in deltal mode) at f

frequency to maintain V/f=cont=(220*sqrt(2)/sqrt(3))/60=3

temp_float=0.6144*f_float; //0.6144=Tpwm*360*n/60 ; n=512update_angle=temp_float; //stepsize is INTERGER after this line

}void RAM_DOWN_SPEED(){

while(f>f_req){

f=f-1;PARAs_CAL();delay_ms(T_ramp_down_ms); // 0.05s/Hzif(f


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lcd_gotoxy(10,0);printf(lcd_putc,"%2.0d",f);

break;case 2:

lcd_gotoxy(10,0);

printf(lcd_putc,"%2.0d",f);break;case 3:

fputc(f); //send value of f for PC

lcd_gotoxy(4,0);printf(lcd_putc,"%2.0d",f_req);lcd_gotoxy(10,0);

printf(lcd_putc,"%2.0d",f);break;

}//end switch

}}void RAM_UP_SPEED(){ while(ff_req){

f=f_req; //f=f_req when ram speed finished !}

switch(mode_select){ case 1:



case 2:lcd_gotoxy(10,0);


case 3: fputc(f); //send value of f for PC



}//end switch


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}

}void defaul_value_in_EEPROM() //use in MODE2: AUTO ; P18F has 256 bytes

eeprom which address from 0x00 -> 0xFF{write_eeprom(0X00,100); //temp_eeprom for checking at 1st readingwrite_eeprom(0X10,30); //f1write_eeprom(0X20,60); //f2write_eeprom(0X03,6); //T_ramp_upwrite_eeprom(0x04,3); //T_ramp_down

}/////////////////////////////////////////////////////////////////////

void MAIN (){

PORTS_INIT(); //1lcd_init(); // this subrotine in flex_LCD.C filePWM_MODULE_INIT(); //2INTERRUPTS_INIT(); //3ADC_INIT(); //4TIMER_INIT(); //5

MODE_SELECT:return_2_mode_select=0; //return_2_mode_select=0 as default;return_2_mode_select=1 when mode button is pressedswitch (mode_select){ case 1:

lcd_gotoxy(1,1);printf(lcd_putc,"< M1:Read_AD >");

lcd_gotoxy(1,0);printf(lcd_putc," ok");

while( 1){

if(!input(OK)){ output_bit(PIN_D3,1);

delay_ms(200);output_bit(PIN_D3,0);

goto MODE_R_VAR;}if(!input(NEXT)){ output_bit(PIN_D3,1);

delay_ms(200);output_bit(PIN_D3,0);mode_select=2;goto MODE_SELECT;

}


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if(!input(BACK)){ output_bit(PIN_D3,1);

delay_ms(200);output_bit(PIN_D3,0);mode_select=3;

goto MODE_SELECT;}}break;

case 2:lcd_gotoxy(1,1);

printf(lcd_putc,"< M2:Set freq >");lcd_gotoxy(1,0);

printf(lcd_putc," ok");while( 1){

if(!input(OK))

{ output_bit(PIN_D3,1);delay_ms(200);output_bit(PIN_D3,0);goto MODE_AUTO;

}if(!input(NEXT)){ output_bit(PIN_D3,1);


}if(!input(BACK)){ output_bit(PIN_D3,1);


}}

break;case 3:

lcd_gotoxy(1,1);printf(lcd_putc,"< M3:COMPUTER >");lcd_gotoxy(1,0);

printf(lcd_putc," ok");while( 1){

if(!input(OK)){ output_bit(PIN_D3,1);

delay_ms(200);


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output_bit(PIN_D3,0);goto MODE_COMPUTER;

}if(!input(NEXT)){ output_bit(PIN_D3,1);


}if(!input(BACK)){ output_bit(PIN_D3,1);


}

}break;

}//==================================================// MODE_R_VAR//==================================================MODE_R_VAR:

lcd_gotoxy(1,1);printf(lcd_putc,"T ramp up :?? s"); //clear screenlcd_gotoxy(1,0);printf(lcd_putc," "); //clear screen

T_RAMP_UP_MODE1:while(1){

if(!input(OK)) // OK button is pressed?{ output_bit(PIN_D3,1);


goto NEXT_MODE1;}if(!input(UP)) // UP button is pressed?

{ output_bit(PIN_D3,1);delay_ms(200);output_bit(PIN_D3,0);

T_ramp_up=T_ramp_up+1;if(T_ramp_up>20){T_ramp_up=5;}

}if(!input(DOWN)) // DOWN button is

pressed?


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T_ramp_up=T_ramp_up-1;if(T_ramp_up user press stop BUTTON => want to return to main menu)

}}//end while T ramp up mode1:

T_RAMP_DOWN_MODE1:lcd_gotoxy(1,0);printf(lcd_putc,"T ramp down:?? s");

while(1){

if(!input(UP)) // UP button is pressed?{ output_bit(PIN_D3,1);


T_ramp_down=T_ramp_down+1;if(T_ramp_down>20){T_ramp_down=5;}

}if(!input(DOWN)) // DOWN button is

pressed?{ output_bit(PIN_D3,1);



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T_ramp_down=T_ramp_down-1;if(T_ramp_down user press stop BUTTON => want to return to main menu)

}}//end while T ramp down mode1:

NEXT_MODE1:MODE_R_VAR_return_from_stop_button:

lcd_gotoxy(1,1);printf(lcd_putc,"M1 freq READY "); //clear screenlcd_gotoxy(1,0);printf(lcd_putc,"Rv ?? 2 RUN "); // ?? wil be cleard when value update

//----------------- DEFAULT VALUE ------------------------------------------first_run_flag=1;direction_flag=1;

f=0,f_req=0;

Vs_angle=0; //default value for 1st Vs; direction=1update_angle=0;sector=1;

count_timer1_interupt=10; // get 1st value of A/D//--------------------------------------------------------------------------

while (1) //MAIN of MODE 1


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{lcd_gotoxy(4,0);printf(lcd_putc,"%2.0d",f_req); //int_timer1 is enable as default to read AD

result =>f_req

if(return_2_mode_select==1) //return_2_mode_select=0 as default;return_2_mode_select=1 when mode button is pressed{

goto MODE_SELECT; //return to MODE select}

if(!input(MENU)){ output_bit(PIN_D3,1);


goto MODE_SELECT; //return to MAIN menu (motor isrunning => user press stop BUTTON => want to return to main menu)

}

//RUN Button is pressed ? ----------------------------------------------------if(!input(RUN)){ output_bit(PIN_D3,1);


enable_interrupts(INT_PWMTB);//int_PWM must be enable after RUNbutton is pressed to prevent HIGH CURRENT ( don't know why it is, just seen it intesting if int_PWM enable b4 run button is pressed !!!)

lcd_gotoxy(1,1);printf(lcd_putc," "); //clear screenlcd_gotoxy(1,0);printf(lcd_putc," ");lcd_gotoxy(1,1);printf(lcd_putc,"M1 freq fo DIR"); //clear screenlcd_gotoxy(1,0);printf(lcd_putc,"AD ?? ?? ? "); // ?? wil be cleard when value update

switch(direction_flag) // direction display{ case 1:

lcd_gotoxy(15,0);printf(lcd_putc,"F");

break;

case 0: lcd_gotoxy(15,0);printf(lcd_putc,"R");

break;}

if(first_run_flag==1) //RAM UP SPEED at 1st RUN{

RAM_UP_SPEED();


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first_run_flag=0; //disable RUN button when motor isRUNNING

}} //end if(!PIN_E0)//------------------------------------------------END of "RUN Button is pressed ?"

while (first_run_flag==0){RAM_UP_SPEED();RAM_DOWN_SPEED();

if(!input(FR))//FR Button is pressed ? ----------------------------------------------------


disable_interrupts(INT_TIMER1); //stop reading A/D

temp_int=f_req; //save current f_reqf_req=0;RAM_DOWN_SPEED();direction_flag=direction_flag+1; //complement

direction_flag=direction_flag+1switch(direction_flag) //change direction display{ case 1:

lcd_gotoxy(15,0);printf(lcd_putc,"F");

break;case 0:

lcd_gotoxy(15,0);printf(lcd_putc,"R");

break;}

f_req=temp_int; //restore f_reqRAM_UP_SPEED();

enable_interrupts(INT_TIMER1); //enable reading A/D}//------------------------------------------------END of "FR Button is pressed

?"

if(!input(STOP)){ output_bit(PIN_D3,1);


STOP_MOTOR_MODE1: //lable for MODEbutton is pressed => stop motor

//disable_interrupts(INT_TIMER1); //stop reading A/Ddisable_update_freq=1;


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f_req=0;RAM_DOWN_SPEED();

first_run_flag=1; //prepare for RAM_UP ifRUN button is pressed next time

//enable_interrupts(INT_TIMER1); //enable reading A/Ddisable_update_freq=0;disable_interrupts(INT_PWMTB); // it'll enable later when

run button is pressed

goto MODE_R_VAR_return_from_stop_button; //return tocurrent mode

}if(!input(MENU)){ output_bit(PIN_D3,1);


return_2_mode_select=1;goto STOP_MOTOR_MODE1;

}}//end while(first_run=0)

}//while(1)

//==================================================// END of MODE R_VAR ////==================================================

//==================================================// MODE AUTO ////==================================================

MODE_AUTO:lcd_gotoxy(1,1);

printf(lcd_putc,"T ramp up :?? s"); //clear screenlcd_gotoxy(1,0);printf(lcd_putc," "); //clear screen

T_RAMP_UP_MODE2:

while(1){if(!input(OK)) // OK button is pressed?{ output_bit(PIN_D3,1);


goto NEXT_MODE2;}


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T_ramp_up=T_ramp_up+1;

if(T_ramp_up>20){T_ramp_up=5;}}if(!input(DOWN)) // DOWN button is

pressed?{ output_bit(PIN_D3,1);


T_ramp_up=T_ramp_up-1;if(T_ramp_up user press stop BUTTON => want to return to main menu)

}}//end while T ramp up mode3:

T_RAMP_DOWN_MODE2:lcd_gotoxy(1,0);printf(lcd_putc,"T ramp down:?? s");

while(1){


delay_ms(200);


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output_bit(PIN_D3,0);T_ramp_down=T_ramp_down+1;

if(T_ramp_down>20){T_ramp_down=5;}

}

if(!input(DOWN)) // DOWN button ispressed?{ output_bit(PIN_D3,1);


T_ramp_down=T_ramp_down-1;if(T_ramp_down user press stop BUTTON => want to return to main menu)

}}//end while T ramp down mode2:

NEXT_MODE2:MODE_AUTO_return_from_stop_button:

if(return_2_mode_select==1) //return_2_mode_select=0 as default;return_2_mode_select=1 when mode button is pressed

{goto MODE_SELECT; //return to MODE select

}

disable_interrupts(INT_TIMER1); //disable reading AD from R_VAR


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lcd_gotoxy(1,1);printf(lcd_putc," "); //clear screenlcd_gotoxy(1,0);printf(lcd_putc," ");

lcd_gotoxy(1,1);printf(lcd_putc,"M2 f1 ->"); //clear screenlcd_gotoxy(1,0);printf(lcd_putc,"Au ?? "); // ?? wil be cleard when value update

eeprom_check=read_eeprom(0x00);if(eeprom_check!=100) //100 is default set for

eeprom_check{ defaul_value_in_EEPROM(); //load default value}

f1_select://f1=read_eeprom(0x10); //read f_req2 value in eepromf1=30;

while(1){

if(!input(OK)) //

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