DRM075, Design of an ACIM Vector Control Drive using the
Contents
1. ayol bd bd 4 4 Vou Oscilloscope Processor DA Ovir o Figure 4 2 Hardware System Configuration The inverter consists of three half bridge units in which the upper and lower switch are controlled complementarily meaning when the upper one is turned on the lower one must be turned off and vice versa Some dead time must be inserted between the time one transistor of the half bridge is turned off and its complementary device is turned on The output voltage is mostly created by a Pulse Width Modulation PWM technique where an isosceles triangle carrier wave is compared with a fundamental frequency sine modulating wave This technique is shown in Figure 4 3 The 3 phase voltage waves are shifted 120 to one another and thus a 3 phase motor can be supplied ACIM Theory Rev 1 Freescale Semiconductor 4 3 Preliminary Generated PWM Carrier Sine Wave Wave 1 mean Gt LL ens Le Figure 4 3 Pulse Width Modulation In this document the Space Vector Pulse Width Modulation SVPWM is employed to reduce the harmonic distortion and improves the efficient use of the bus voltage Two basic neighboring voltage vectors are used to compose the arbitary vo2. 2 2 2 5 AWARD WINNING DEVELOPMENT 2 2 Chapter 3 Motor Drive System EN ea eN ELE HL e i RR 3 1 3 2 Features of a Motor Drive 3 1 349 introduction io System Desh dw ds a iba 3 2 3 3 1 IN tik E E A EENE dt ed edo o CERE 3 2 3 3 2 E RE ee a ee E E ed ee 3 5 34 Specification and 3 6 Chapter 4 ACIM Theory AC A cs Seen ccna 7711 4 1 42 induction Motor Model tt 4 2 4 3 Digital Control of an AC Induction 4 3 Chapter 5 Design Concept of an ACIM Vector Control Drive 5 1 Vector Control of AC Induction Machine 5 1 5 2 Relationship between Rotor Flux Orientation and Stator Flux Orientation Induction DEM Lu Lu ceded jw a cama anche debe ee 5 3 5 3 Block diagram of Stator Flux Oriented SFO Control 5 3 5 4 Forward and Inverse Clarke Transformation a b c to b and backwards 5 4 Table of Contents Rev 1 Freescale Semiconductor i Preliminary 5 5 Forward and Inverse Park Transformation b to and backwards 5 5 5 6 Rotor
3. Designator Description Footprint Quantity R6005 R6024 R6029 R6034 R6039 R6044 160 Ohm AXIAL 0 4 7 R6049 R6008 620 Ohm AXIAL 0 4 1 R6009 R6013 1 2K Ohm AXIAL 0 4 2 R6010 R6014 220K Ohm AXIAL 0 4 2 R6011 R6015 330 Ohm AXIAL 04 2 R6012 620 Ohm AXIAL 04 1 R6016 R6017 300 Ohm AXIAL 04 2 R6020 R6021 R6025 R6026 R6030 R6031 7 25M Ohm 0 196 AXIAL 04 8 R6035 R6036 R6022 R6023 R6027 R6028 R6032 R6033 51K Ohm 0 1 AXIAL 04 8 R6037 R6038 R6040 R6041 R6045 R6046 200K Ohm 0 196 PMSM AXIAL 04 4 R6042 R6043 R6047 R6048 1M Ohm 0 196 PMSM AXIAL 04 4 R6052 4 7K Ohm AXIAL 04 1 RP1000 Resistor Pack 8 X 5K Ohm SIP9 1 RV1000 RV6002 RV6003 10K Ohm VRESLV 3 RV2000 100K Ohm VRESLV 1 1000 Button Function BUTTON 1 1001 51002 Button Function2 BUTTON 2 1003 Button Function3 BUTTON 1 TE10 Test point PWMO SIP 1 1 TE11 Test point PWM1 SIP 1 1 TE12 Test point PWM2 SIP 1 1 TE13 Test point PWM3 SIP 1 1 TE14 Test point PWM4 SIP 1 1 TE15 Test point PWM5 SIP 1 1 TE5022 PGND SIP 1 1 TR2001 APC Transformer TRAN E133 2 1 ACIM Bill of Materials Rev 1 Freescale Semiconductor Appendix B 5 Preliminary Designator Description Footprint Quantity U13 TC4420 DIP8 2 U1000 MC74HC244 DIP20 1 U1001 U6002 LM293 DIP8 2 U1002 IRAMS10UP60A IRAMS10UP60A 2 1 U2000 TOP223YAI TO 220 1 U2001 U3001 U3002 NEC2501 DIP4 3 U2002 TL431 TL431 1 U3000 TC766
4. Preliminary Freescale Semiconductor Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Appendix A 2 dog pog sod OLOW WSIAIWILOV 2 PNAS TANNVHO JGV uum aay ood SE s du 600141 10141 T KP NEN ness Eu gll EAR Wn SIS Tog INR Fare ios MES ao m anoa ioe IS ong Den a T zs lA mom AES HOSTS NDS TDSTUMTTI EN mj ed ES anoa m N azor Sar at re Area L Sn mop jm horr MOT STVNOIS IANI WAA EE depose 4 T l n fu L L amp SINAC TINA FINA OMA B te MAL PAL SSA GGA dux ZNIl INI
5. 7 4 PE ddl qi e HEU T edo 7 4 7 8 Software 7 4 Chapter 8 JTAG Simulation and SCI Communication 81 EAD Simulation cose chew ci oh dade de cece bi kk 8 1 8 2 SCI Communication Function cac doe Fedora i p ae OR CEU Ce ede Reb ar bwar OR SC 4 8 3 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 ii Freescale Semiconductor Preliminary Chapter 9 Operation 9 1 PU TIT BNET TT aide TREE TEILTE 9 1 Bx During 409134319 9 ERE E CU Cede oom ped bd ege 9 1 Eur Laudo dob dod dab ae ink dl ok Ee a E dao Ord 9 1 NES oc ooh ea ao oe os 9 1 Table of Contents Rev 1 Freescale Semiconductor iii Preliminary Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Freescale Semiconductor Preliminary LIST OF FIGURES 3 1 Washing Machine 3 1 3 2 o E e e PTT 3 2 3 3 Block Diala a gx dar kh Bibien Mr ol B 3 3 3 4 IRAMS10UP60A Circuit 3 4 4 1 Induction Motor Speed Torque Characteristic 4 1 4 2 Hardware System 4 3 4 3 Pulse Width MOOUIS
6. ZNIH INIH Best 5 DXDSUST TA AD MMONTAT ma Ny Ur MJ 7 ion Appendix A 3 Schematics Rev 1 Freescale Semiconductor Preliminary 10OP PAISTIPL AV IdSIG 2 anro anro 10082 gg 40048 mi 555 1055 BB T 3585 Gnas 955 5945 Spas o 4015 FH vous Lord a a TIT I Dd t oa 89 1 E x tO TIT dp dp 5 46 IT 20 S P P UT T ADAS oe IT y XTXTT F l A UT m t T dods d 910 4 4 zt DS oor aL Hier EA 300F l A E Aang VOS toor reot 9 b be E 900 00rn Asta L WTO HN bg dp Pp Or IE dp dp dp dp AES TOM 915 al pa pE 0A T WA Y 06 PI ma 4 q q H q I hi 2 zt Y T 1006 l vient
7. Drojami Fgocessor Expert Pindos i aa M FOVER syscurl4_908_10 Cade Thied C o nv void DispleyLED woid a Osa onerum Jery extera volatile int osy inputvoj bus f volatale vend me at output ur 4 Files Lim Order Processor Espert pears aa DA B e eur de long int Di conti 7 Di ec 1 i Gi Contgquastom E 0 0 1 amp Operating System int Led 1 0 wp Led BireQ Led Out Chg Nuni Chg H t Le ata t tput CPUs ine i4 init tele digit w Board extern word dc bus debu Beare extern long volevg volava man e y LEDDATA BMID extern ward pan iag start 8 LEDCLE 4 2 LEDEN pO FwMMC mtatic int de daf lsg date data 9 tnt data temp terp v iet Timer ya Ag a NR Exper internal initialisation DON T REMOVE THIS CODE e Cap 1 5 e PC M PC Maier oon End st y 244444 Expert internal initialization TOT Tree Did mt aet lt 3 w TORT bego tRes PUMA_E UMV WI Roa P MVALS ay M b Hv DACDATA 21 7 r s Y DACCLK Bini Fa 92 Valt DACEN PORS 1G BAL SetVali 4 AC PIELAY Bao pro rst Tet Vali reset fault display 4 PONSIGN
8. Stator flux orientation to calculate the torque producing stator current to be used in the speed regulation channel Speed closed loop allowing the motor a good transient response Compensation for the voltage drops across the stator resistor SVPWM to generate the desired voltage by the inverter Minimum speed of 50rpm Maximum speed of 3000rpm Power factor correction which eliminates negative effects on the input electric use of switches Fault protection against Bus overvoltage Bus undervoltage Bus overcurrent IPM overheating PC master software for debug and remote control of the ACIM Motor Drive System Rev 1 Freescale Semiconductor 3 5 Preliminary 3 4 Specification and Performance Input voltage 85 265VAC Input frequency 45 65HZ Rating bus voltage 350V Rating output power 500W Switch frequency of PFC switch 100KHZ Switch frequency of inverter 10KHZ Power factor gt 95 Efficiency gt 90 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 3 6 Freescale Semiconductor Preliminary AC Induction Motor Chapter 4 ACIM Theory 4 1 AC Induction Motor Squirrel cage AC induction motors are popular for their simple construction low cost per horsepower and low maintenance they contain no brushes as do DC motors They are available in a wide range of power ratings With field oriented vector control methods AC induction motors can fully replace standard
9. YRDAVO PET eos ps s HOJA SA IDA van A Moe ov ASTJANOZZ n 0008 4 TP 9005 sn P se li as sng K AVITA H v90 09d3sd We 1 ee AVE OV RATNA Anqaq 24420 L 18 aNDd MEI owas anco 9 052 10062 ososssd 10050 814 Appendix A 5 Schematics Rev 1 Freescale Semiconductor Preliminary limen Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Appendix A 6 Freescale Semiconductor Preliminary Appendix B ACIM Bill of Materials Designator Description Footprint Quantity C1000 C6003 C6004 C6006 C6009 C6010 0 01 RAD 0 1 21 C6011 C6013 C6014 C6015 C6016 C6018 C6019 C6021 C6022 C6030 C6031 C6032 C6033 C6034 C6035 C1001 C1009 C1037 C1038 C1039 C1040 0 1 uF RAD 0 1 38 C2007 C2008 C2017 C2022 C2027 C3000 C3001 C3002 C3003 C3004 C3008 C3009
10. 9 G a e 9 Eqn 7 6 The improved stator flux observer channel is shown in Figure 7 3 Figure 7 3 Improved Stator Flux Estimation Channel 7 3 Electromagnetic Torque Electromagnetic torque can be estimated from stator flux and stator current and can be determined as shown in Equation 7 7 Y sig T ul Eqn 7 7 7 4 Rotor Speed Estimation A speed sensorless induction motor drive is a trend in today s low cost variable speed applications Due to the cost and maintenance required by a speed transducer speed sensorless technology is drawing more attention For convenience this application assumes a simple method to estimate rotor speed described in Section 5 6 7 5 Stator Flux Determination The motor will get an optimum transformation from energy produced by magnetic field compared to that produced mechanically when it works at the point of the flux linkage curve At the high speed range however the flux should be weakened to reach a high speed Therefore the electrical machine should maintain the flux below the rated speed range and the flux should be weakened at the high speed range The flux should be regulated depending on the rotor speed Software Design Rev 1 Freescale Semiconductor 7 3 Preliminary 7 6 Space Vector Pulse Width Modulation SVPWM Space Vector Modulation SVM can directly transform the stator voltage vectors from an a p coordinate system to Pulse Width Modulation PWM signals
11. 940 Two 470 450 V electrolytic capacitors connected in parallel are chosen 5 8 3 Main Switch The voltage limit of the main switch is VCEM S gt 1 5 Vcem S 1 5 Vintmax 1 5x 380 2 570V Eqn 5 30 The circuit limit of the main switch is calculated by RMS value leans 1 51 p ag 715 15 13 86 D nel in min xm Eqn 5 31 Select main switch to be the MOSFET IRFPC60LC Parameters are described as follows Voss 600V lp 16A Hips tye 0 40 TO 247AC Package 5 8 4 Output Diode The voltage limit of the output diode is VCEM S 1 5 Vcem S 1 5 Vin max 1 5 x 380 570V Eqn 5 32 The circuit limit of the output diode is calculated by RMS value 1 57 2 1 5 x vedo 13x34 300 13 86 4 Limax 0 9 85 nmin Eqn 5 33 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 5 8 Freescale Semiconductor Preliminary PFC Design Select output diode D4oo D402 to be FRED DSEP60 06A Parameters are described as follows 600V 1 60A 35nS TO 247AD Package 5 8 5 Inductor Design In Section 5 8 1 it was found that L 250 Select Bm 0 3T Select magnetic core to be E133 with an effective area of 1 18mm The number of inductor windings can be calculated as follows H max 38 2 5 34 Select N 38 The gap is N A 125x107 x38 x118x107 f a ot 0 85mm 250x10 Eqn 5 35 When work frequency of induct
12. Design of an ACIM Vector Control Drive using the 56F8013 Device Designer Reference Manual 56800E 16 bit Digital Signal Controllers DRMO075 Rev 1 11 2005 e TM freescale com fr eescale Design of an ACIM Vector Control Drive using the 56F8013 Device Designer Reference Manual To provide the most up to date information the revision of our documents on the World Wide Web will be the most current Your printed copy may be an earlier revision To verify that you have the latest information available refer to http www freescale com The following revision history table summarizes changes contained in this document For your convenience the page number designators have been linked to the appropriate location Revision History Revision Page Date Level Description Number s 10 2005 0 Initial release N A 11 2005 1 Corrected term Intelligent Power Module to Integrated Power Module xi 3 3 TABLE OF CONTENTS Chapter 1 Introduction ki a E id 2 36 d EE dC di ic s C ed 1 1 Chapter 2 Benefits and Features of the 56F8013 Controller ZI BONN ao oe cena aa l l ei 2 1 2 2 568 00 LL uu di x p oa do a REOR fed D cadi e Od 2 1 codi EX pe dei Ead d cade Vac ep aC ide odes EU ce ge d ro eio 2 2 24 56F6013 Peripheral Circuit
13. Preliminary Freescale Semiconductor Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Appendix A 4 dv 24d Cnr t 4 AVTASIC m a r pasn st uonnjosr ondo ou 1 poroeuuo NDA 29 ANDA c9 Ir J 60022 T AVTASIC IVAEGCIOL T A 80079 0002 wee 1OSTOIN z AT E 0021 ae 0007A a CF M BFIFNI um Tosa a T TNT OV DV 1 S0073 ASq c 4 ve Asta t o d V WA pra wi re 1 I TL 61079 T Asta 81029 TOL 00020 aly afo ANALNOLNANI T md NAATA AUP AT PAP coro 37782052 OOPAUP 4 POSA foAup2dd Bune SA Woo amor Te T
14. D6000 1 M IN4148 LED6001 DISPLAY R6016 6 8K C6005 019 R6009 220K C6033 0 01u D45V IPMLOCK IPMLOCK D 5V C6030 RV6003 10K U6002B LM293 7 LED6001 DISPLAY R6013 la 0 01uF 12K Figure 6 7 Protection Circuit 6 4 PFC Hardware Design The topology of the main circuit is a boost circuit One signal output bus voltage DC bus is sampled and sent to the 56F8013 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 6 6 Freescale Semiconductor Preliminary PFC Hardware Design 5022 PGND 5001 58050 5036 7TuF 10V c C5001 0 luF PGND Figure 6 8 Main PFC Circuit 6 4 1 Drive Circuit Hardware Design IC IR2125 a simple and reliable gate drive circuit based on a current limiting single channel driver is used it is shown in Figure 6 9 PGND D5020 C5020 14001 220UF 25V R5021 6 8 0 5W PGND Figure 6 9 PFC Drive Circuit 6 4 2 Sample Circuit Hardware Design The output bus voltage sample circuit is shown in Figure 6 10 A simple voltage divider is used for the bus voltage sample Hardware Implementation Rev 1 Freescale Semiconductor 6 7 Preliminary cous E 400034 1 Rode 71544 1 AUS 100033 PHD Roo 134418 SAMPLE OF DE 305 FOR PRO
15. Software Design Rev 1 Freescale Semiconductor 7 1 Preliminary 7 2 Stator Flux Estimation Estimating stator flux is one of the algorithm s key tasks Using the phase voltages and phase currents an estimation of stator flux can be derived from the stator flux model Generally the stator flux based on the voltage model is determined by Equation 7 1 EJ U R i E E ei ZE 90 0 Eqn 7 1 Where Eis the back EMF E is the magnitude of ZEis the phase of E The pure integral of back EMF involves the drift and saturation problems due to initial condition and DC offset The Low Pass Filter LPF is employed to replace the pure integral as shown in Figure 7 2 IN Figure 7 2 Stator Reference Voltage V ref ET M ZE arctan T E E arctan o Jo o Eqn 7 2 Where is the cutoff frequency of the LPF in radians per second As expected when o4 50 72 3 arctan 90 e Eqn 7 3 2 2 D 0 RO i Eqn 7 4 Design of ACIM Vector Control Drive using the 56F8013 Device Rev 1 7 2 Freescale Semiconductor Preliminary Stator Flux Determination In this case the LPF estimator approaches the pure integrator estimator But when the cut off frequency IS close to the synchronous o errors occur so a correction factor G is used to minimize the errors Term Eqn 7 5 Equation 7 6 can be deduced 2 2 o 4 2 to j arctan 90 ul
16. or other applications intended to support or sustain life or for any other application in which the failure of the Freescale Semiconductor product could create a situation where personal injury or death may occur Should Buyer purchase or use Freescale Semiconductor products for any such unintended or unauthorized application Buyer shall indemnify and hold Freescale Semiconductor and its officers employees subsidiaries affiliates and distributors harmless against all claims costs damages and expenses and reasonable attorney fees arising out of directly or indirectly any claim of personal injury or death associated with such unintended or unauthorized use even if such claim alleges that Freescale Semiconductor was negligent regarding the design or manufacture of the part 7 2 freescale semiconductor Freescale and the Freescale logo are trademarks of Freescale Semiconductor Inc All other product or service names are the property of their respective owners This product incorporates SuperFlash technology licensed from SST Freescale Semiconductor Inc 2005 All rights reserved DRMO75 Rev 1 10 2005
17. 2A 250 VAC FUSE20 5 7 1 F5000 Fuse 250V 20A FUSE20 5 7 1 J2000 J5000 AC INPUT Connectors 5 3 96 2 J3001 DB9 Connector DB9 M 1 J5002 Power Jumper CON2 3 96 1 JP1000 Jumper HEAD 5 3 96 1 JP1001 Jumper UVW OUTPUT UVW 1 JP1002 Jumper LEM For Debug HDR1X3 1 Purpose JP1004 JP1005 ADC Channel Jumper HDR1X3 2 JP1006 Jumper Rotor Speed HDR1X3 1 JP1007 Jumper SCI IDC10 1 JP1008 ADC Channel Jumper HDR1X3 1 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Appendix B 2 Freescale Semiconductor Preliminary Designator Description Footprint Quantity JP1009 ADC Channel Jumper HDR1X3 1 JP1010 DSC Demo Board HDR2X20 1 Connector JP1011 JP1012 JP1013 JP1014 Jumper for Push Button HDR1X2 4 JP1015 Jumper PhaseU up HDR1X3 1 JP1016 Jumper PhaseU down HDR1X3 1 JP1017 Jumper PhaseV up HDR1X3 1 JP1018 Jumper PhaseV down HDR1X3 1 JP2001 Jumper PowerPlug HDR1X4 5 1 JP4000 LED and DA IDC10 1 JP5003 PFC Driver Jumper HDR1X3 1 JP5020 Jumper Plug for PFC HDR1X4 1 Debug JP6000 Reference Voltage Jumper HDR1X3 1 1 65 for PMSM and DGND for ACIM L2002 L2003 3 3 WH IND3 3u 2 L2004 3 3 uH IND 1 L5001 220 uH IND_PFC 1 LED1001 LED OverTemp LEDA 1 LED2001 LED2002 RED LED DISPLAY LEDA 2 LED6001 LED OverCur LEDA 1 LED6002 LED OverBusVol LEDA 1 Q1000 Q5001 PSS8050 TO 92A 2 Q5000 IXTH30N50 TO247AC 1 R1000 R1001 1 2K Ohm AXIAL 0 4 2 R
18. 3 2 Motor Drive System Rev 1 Freescale Semiconductor 3 1 Preliminary Drum Speed Figure 3 2 Washing Cycle The motor control algorithm employs Stator Flux Oriented Control SFOC Power stage switches are controlled by Space Vector Pulse Width Modulation SVPWM No position information devices or stator flux measurement are used so a speed sensorless method is employed motor is capable of forward and reverse rotation and has a speed range from 50rpm to 3000rpm the tumble wash has a speed of 40rpm and the spin cycle obtains a maximum drum speed of 1600rpm The drum can be driven directly or by a belt that connects to the motor shaft To acheive the wash and spin cycles the speed transfer ratio can be set at 1 2 The user controls motion profiles rotation direction and speed The RS 232 communication supports further R amp D by enabling the easy tuning of control parameters The motor drive system is designed to create minimal acoustic noise 3 3 Introduction to System Design 3 3 1 Hardware This application uses a 56F8013 device to drive a 3 phase motor with a complicated motion protocol The resistor uses phase current sensors and no optocoupler so the system is cost sensitive PC master software communicates with the PC through the RS 232 and senses the mid variables and modifies the control variables during the debug process The system comprises a 56F8013 board and an ACIM board The ACIM b
19. C4001 C4002 C5001 C5021 C5024 C5025 C5027 C5028 C6000 C6005 C6007 C6008 C6012 C6017 C6020 C6036 C6038 C6039 C6040 C6041 C1002 C1003 2 2 25 V RB2 5 5 2 C1006 C1036 0 1 uF 630V CBB RAD15 18 6 2 C1008 0 1 mF 25V RB2 5 6 1 C1030 C1031 C1032 C1033 C1034 C1035 1 RAD 0 1 6 C2005 0 1 uF 250VAC RAD15 18 6 1 C2006 47 uF 400V RB10 22 4 1 C2009 47 RB2 5 5 1 C2015 C2020 330 uF 35V RB5 10 2 C2016 C2018 C2021 C5020 220 25V RB3 8 4 C2019 RAD 0 2 1 C2028 1 6 nF 450VAC RAD 0 4 1 C3005 C3006 C3007 10 10V RB2 5 5 3 C4000 C5036 47 10V RB2 5 5 2 C5000 470 nF 275V RAD22 26 9 1 C5002 650 pF 2K RAD 0 2 1 C5003 C5004 330 uF RB10 30 2 C5023 10 pF RAD 0 1 1 C5026 10 nF RAD 0 1 1 ACIM Bill of Materials Rev 1 Freescale Semiconductor Appendix B 1 Preliminarv Designator Description Footprint Quantity C6037 10 16V RB2 5 5 1 D1000 D1001 IN4148 DIODE 0 4 2 D2001 BYV26C DIODE 0 4 1 D2002 KBP10 KBP19 1 D2003 IN4148 DIODE 0 4 1 D2005 D2006 MUR420 DIODE 0 5 2 D3000 D3001 D3002 D3003 BAV99 SOT 23 4 D3004 IN4733 DIODE 0 4 1 D5000 IR25XB08H IR25XB 1 D5001 DSEP60 06A TO247AD 1 D5020 IN4001 IN4007 1 D5021 D5022 IN4007 IN4007 2 D5023 IN4004 IN4004 1 06000 D6001 IN4148 DIODE 0 4 2 D6002 D6003 D6004 D6005 D6006 D6006 IN4733 DIODE 0 4 8 D6008 D6009 F2000 Fuse
20. DC motors even in high performance applications The AC induction motor is a rotating electric machine designed to operate from a 3 phase source of alternating voltage In variable speed drives the source is normally an inverter that uses power switches to produce approximately sinusoidal voltages and currents of controllable magnitude and frequency As the sinusoidally distributed flux density wave produced by the stator magnetizing currents sweeps past the rotor conductors it generates a voltage in them The result is a sinusoidally distributed set of currents in the short circuited rotor bars Because of the low resistance of these shorted bars only a small relative angular velocity between the angular velocity s of the flux wave and the mechanical angular velocity of the two pole rotor is required to produce the necessary rotor current The relative angular velocity is called the slip velocity The interaction of the sinusoidally distributed air gap flux density and induced rotor currents produces a torque on the rotor The typical induction motor speed torque characteristic is shown in Figure 4 1 Torque SM Braking Motor Generator me MM region region S 5 gt poe uli AIL 4 41 100 80 60 40 20 0 20 40 60 80 100 120 140 160 180 200 220 Speed in percent of synchronous speed 20 18 16 14 12 10 08 06 04 02 0 02 0 4 0 6 08 1 0 12 Slip as a
21. OPEN PB2 DACCLK PBO DACDATA PB3 DACEN PB1 TXD PB7 RXD PB6 FAULTO PA6 Hardware Implementation Rev 1 Freescale Semiconductor 6 9 Preliminary Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Freescale Semiconductor Preliminary Data Flow Chapter 7 Software Design This section describes the design of the drive s software blocks The software will be described in terms of e Control Algorithm Data Flow State Diagram 7 1 Data Flow The drive requires the software to gather and process values from the user interface and generate 3 phase PWM signals for inverter The control algorithm contains the processes described in the following sections Phase current PC master GR GENSAT sample A D IPM temperature 4 3 monitor iA amp iB U dc bus Desired rotor speed DC Bus Current A D DC Bus Voltage A D Y Stator flux lectromagnetic Speed imati torque regulator 1 dc bus U dc bus d bu 4 1 Vias Stator_flux_est Elec_torque_est w1_command Fault Control ES Synchronous frequency tatorFlux peed estimatio estimation_ Determine Drive Fault status wi est Slip_est tator_flux_ commanded Rotor speed SENE estimation Usq determine pu bu Regulator w2 est Usd PVALO PVAL2 PVAL4 Figure 7 1 Data Flow
22. PFC circuit see Figure 5 6 The circuit is composed of Q D L and filter capacitance C2 C3 and includes an EMI filter input relay and full wave rectifier In the 56F8013 based PFC module system the controller samples the voltage signal output and voltage DC bus and processes these samples in the digital control loop Because system is based on current Discontinuous Current Mode DCM mode there is only a voltage loop Outer voltage loop G insures the output voltage is constant Figure 5 6 PFC Configuration Diagram 5 8 1 Inductor selection A Maximum peak line current 7 _ 2 42x500 9 244 PN 0 9 85 Eqn 5 25 Ripple current Al 20 l 0 2 9 24 3 ph Eqn 5 26 B Determine the duty factor at where Vinipeak is the peak of the rectified line voltage 380 42x85 D 0 68 V 380 Eqn 5 27 Design Concept of an ACIM Vector Control Drive Rev 1 Freescale Semiconductor 5 7 Preliminary C Calculate the inductance f is the switching frequency V xD 42 85 0 68 L er 221 fsx M 100000 x3 Eqn 5 28 Round up to 250yuH 5 8 2 Output Capacitor Output filter inductor can be calculated by the following equation 2x P x M C 2 ax n i T Eqn 5 29 500W Vo min 380 x 1 10 342V Vo max 380 x 1410926 418V At 50ms According to Equation 5 29 866UH Select the output capacitor to be C
23. The rotor flux estimation suffers when machine parameters are detuned When the estimated value of a parameter differs from its actual value the estimated rotor flux is then different from the actual rotor flux The orientation is no longer accurate with respect to the actual rotor flux In this case the system becomes coupled and instantaneous torque control is lost The stator flux can be estimated more easily and precisely than the rotor flux Thus the Stator Flux Oriented SFO system has been attracting more attention However a coupling exists between the torque producing component of the stator current isg and the stator flux producing component Consequently any change in without a corresponding change in qwill cause a transient in stator flux See A Stator Flux Oriented Induction Machine Drive Accurate decoupling control still depends on knowledge of machine parameters This application illustrates an ACIM drive using stator flux orientation without the use of a speed sensor 5 3 Block diagram of Stator Flux Oriented SFO Control Figure 5 2 shows the basic structure of SFO control of an AC induction motor To perform vector control follow these steps Measure bus voltage and phase currents Transform these measurements into a 2 phase system using Clarke transformation Estimate stator flux and slip frequency Calculate synchrounous speed then rotor speed Calculate the torque producing current isq Use the PI regul
24. making the current sinusoidal and the same phase as input voltage Controlling output voltage insuring the output voltage is stable The PFC main current needs two closed loops to control the circuit The voltage loop is the outer loop which samples the output voltage and controls it to a stable level The current loop is the inner loop which samples inductor current and forces the current to follow the standard sinusoidal reference in order to reduce the input harmonic current The system in this application is based on current Discontinuous Current Mode DCM in which there is only a voltage loop DCM can make the current both sinusoidal and the same phase as input voltage PI loop control is widely used in industry control because of its simplicity and reliability In this application the voltage loop adopts PI regulator arithmetic These assumptions simplify analysis Input current follows reference perfectly which is proportional to the input voltage There is no additional power depletion in the circuit power efficiency is 1 Output power is constant Design of ACIM Vector Control Drive using the 56F8013 Device Rev 1 7 4 Freescale Semiconductor Preliminary PFC Converter Figure 7 4 Simple PFC Mode The function for output voltage Uv n KOvx Ev n Iv n 1 Iv n Iv n 1 Klvx Ev n Kcorrv x Epiv Epiv Usv Uv n Uv WhenUv n 2 Usv 4Uv whenUv n lt UV nin Uv
25. n else Uv n the result of PI unit Ev n input error Iv n integral unit KOv proportional constant Kiv integral constant Kcorrv resistant saturation constant Usv result of voltage loop after limit iUVmax maximum of voltage loop UWVmin minimum of voltage loop Figure 7 5 Discrete Voltage Loop Structure Software Design Rev 1 PFC Software Design Freescale Semiconductor Preliminary 7 5 Design of ACIM Vector Control Drive using the 56F8013 Device Rev 1 Freescale Semiconductor Preliminary JTAG Simulation Function Chapter 8 JTAG Simulation and SCI Communication There are abundant software and hardware resources for JTAG simulation and communication in the 56F8013 device With these resources a 56F8013 based motor system can accomplish mixed communication functions such as JTAG debug interface between the power module and Isolation is necessary between power electronics and microelectronics in the power system for safety The communication system consists of two parts e JTAG circuit designed with for debugging and programming the 56F8013 e SCl circuit designed for background communication from the PC power management supervision can be realized conveniently SCI INTERFACE OPTOCOULPER ISOLATION 56F8013 Controller JTAG INTERFACE PC TERMINAL Figure 8 1 Communication Board s Frame Figure 8 1 JTAG Simulat
26. 0 SO 8 1 U3003 MAX202CSE DIP16 1 U4000 U4001 74HC164 DIP14 2 U4002 U4003 FYQ 3641A LG3641AH 2 U4004 MAX7219 DIP24 1 U5020 IR2125 DIP8 1 U5021 RELAY 1 U6001 U6003 U6004 U6005 U6006 U6007 MC33172 DIP8 8 U6008 U6010 U6009 REF196 DIP 8 1 VR2000 P6KE200 DIODE 0 4 1 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Appendix B 6 Freescale Semiconductor Preliminary INDEX Numerics 3 Phase AC Induction Motor Vector Control using a 56F80x 56F8100 or 56F8300 Device Design of Motor Control Application Preface xii 3 Phase AC Motor Control with VHz Speed Close Loop using the 56F80x Preface xii 56F8300 Peripheral User Manual Preface xii 56F8323 Data Sheet Preface xii A A Fully Digitized Field Oriented Controlled Induction Motor Drive using Only Current Sensors Preface xii A Novel Stator Flux Oriented Speed Sensorless Induction Motor Control System using Flux Tracking Strategy Preface xii A Stator Flux Oriented Induction Machine Drive Preface xii A Stator Flux Oriented Voltage Source Variable Speed Drive Based on DC Link Measurement Preface xii A Stator Flux Oriented Vector Controlled Induction Motor Drive with Space Vector PWM and Flux Vector Synthesis by Neural Networks Preface xii ACIM Preface xi Alternating Current Induction Motor Preface xi ADC Analog to Digital Conversion Preface xi An Improved Stator Flux Estimation in Steady State Operation for Direct Torque Control of Induction Machines P
27. 1002 130K Ohm AXIAL 0 4 1 R1004 6 8K Ohm AXIAL 0 4 1 R1008 6 8K Ohm AXIAL 0 4 1 ACIM Bill of Materials Rev 1 Freescale Semiconductor Appendix B 3 Preliminary Designator Description Footprint Quantity R1009 10 2K AXIAL 0 4 1 R1010 300 Ohm AXIAL 0 4 1 R1011 4 7K Ohm AXIAL 0 4 1 R1012 470V 1K Ohm VVR 1 R1013 5 1K Ohm AXIAL 0 4 1 R1014 R1015 R1016 2 Ohm PMSM SHANT 0 5 3 R1017 R1018 R1019 0 5 Ohm ACIM SHANT 0 5 3 R2000 6 2 Ohm AXIAL 0 4 1 R2001 2K Ohm AXIAL 0 4 1 R2002 200 Ohm 0 5W AXIAL 0 5 1 R2003 10K Ohm AXILA 0 4 1 R2004 300 Ohm AXIAL 0 4 1 R2005 900 Ohm AXIAL 0 4 1 R3000 R3001 R3002 R3003 800 Ohm AXIAL 0 4 4 R4000 R4001 R4002 R4003 R4004 R4005 100 Ohm AXIAL 0 4 8 R4006 R4007 R4008 R4009 5K Ohm AXIAL 0 4 2 R4010 R6050 R6051 10K Ohm AXIAL 0 4 3 R5002 10 Ohm 3W R2WV 1 R5003 30K Ohm AXIAL 0 4 1 R5006 R5007 470K Ohm 2W R2WV 2 R5008 0 02 Ohm SHANT 0 2 1 R5020 R5022 1K Ohm AXIAL 0 4 2 R5021 R5024 6 8 Ohm 0 5W AXIAL 0 5 2 R5023 120 Ohm 3W RXWV 1 R6001 R6002 10K Ohm 0 196 ACIM AXIAL 0 4 2 200K Ohm 0 196 PMSM R6003 R6004 8 2K Ohm 0 1 ACIM AXIAL 0 4 2 1M Ohm 0 1 PMSM Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Appendix B 4 Freescale Semiconductor Preliminary
28. 5 5 Forward and Inverse Park Transformation a to 4 4 and backwards In stator vector oriented control the quanties in the statar reference frame should be transformed into the synchronous rotation with the stator flux vector reference frame The relationship of the two reference frames is shown in Figure 5 4 The d axis is aligned with the stator flux vector where Oy is the position of the stator flux 2 gt Figure 5 4 Park Tranformation The quantity in the stationary frame is transformed into synchrounous frame by i 1 0080 1 Sin Eqn 5 16 i 1 sin Hi cos 5 17 And the inverse relation is i i cos 1 sind Sa sd Y sq Y Eqn 5 18 i i sin i cos 5 3 sd Y sq P Eqn 5 19 5 6 Rotor Speed Estimation The synchronous frequency can be calculated A A d Ri Pa Usa Y py Risp P sa Uaa Roha sp Reisp P Yu E Pa s Eqn 5 20 where Uses Usps the stator voltage and current in the a f stationary reference frame Slip frequency can be deduced from Equation 5 3 tor Eqn 5 21 Design Concept of an ACIM Vector Control Drive Rev 1 Freescale Semiconductor 5 5 Preliminary It will add to the software complexity to calculate o s using Equation 5 21 and the detuning of the parameters will affect the rotor speed calculation Slip frequency can be derived from nameplate spec
29. 80217 1 800 441 2447 or 303 675 2140 Fax 303 675 2150 LDCForFreescaleSemiconductor hibbertgroup com Information in this document is provided solely to enable system and software implementers to use Freescale Semiconductor products There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits or integrated circuits based on the information in this document Freescale Semiconductor reserves the right to make changes without further notice to any products herein Freescale Semiconductor makes no warranty representation or guarantee regarding the suitability of its products for any particular purpose nor does Freescale Semiconductor assume any liability arising out of the application or use of any product or circuit and specifically disclaims any and all liability including without limitation consequential or incidental damages Typical parameters that may be provided in Freescale Semiconductor data sheets and or specifications can and do vary in different applications and actual performance may vary over time All operating parameters including Typicals must be validated for each customer application by customer s technical experts Freescale Semiconductor does not convey any license under its patent rights nor the rights of others Freescale Semiconductor products are not designed intended or authorized for use as components in systems intended for surgical implant into the body
30. AL Bi D pro rat CIrvali keep pro rst 10 for normal usage setiteat Puna PXOUT Qx0td00 unumext PUM pins 0 0 PUKI 15 used fl AS Aayrctrotena set Rey PUMA 0 0 02 unused pane O PUMI1 0 used FALILTDIS BHO ment 10 PROVI c eee PUNO PUNI ere mall used 2 4 setRegBite GPIO A DR 512 GPIO9 DACDeta 1 29 Gb Ure Modules cisRegli ts GPIO A DR 1024 GPIO10 DACELE 0 gt Modules 7 ee tReghs te GPIO_A_DR 2048 GPIOIIC DACKEN 1 disable D gt External Modules Ini LED Gi Documentabon nt Uc tea Clear of LED gt Led Clesr Diti of LID DiepleyLED Led Det Ox02300 Cleer Dit of IKO DisplayLED Line 17 Figure 8 4 CodeWarrior Development Tool Interface CodeWarrior IDE is necessary to debug software and refresh the program version 7 0 or later is recommended Figure 8 4 shows the software interface Details about installation and use can be found in the CodeWarrior documentation 8 2 SCI Communication Function Connections for SCI communication are shown in Figure 8 5 A serial cable links the RS 232 connector on the demonstration board to the PC s serial port JTAG Simulation and SCI Communication Rev 1 Freescale Semiconductor 8 3 Preliminary RS 232 Connector Computer s Serial Cable Serial Port Figure 8 5 SCI Communication Connections The PC Master
31. CIM requires more complex software but the powerful 56F8013 is capable of the heavy computation demanded The controller board includes Control system circuit CPU circuit ADC circuit Power supply circuit DAC circuit SCI interface Parallel JTAG interface LED display circuit Signals output interface Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 3 4 Freescale Semiconductor Preliminary 3 3 2 Introduction to System Design No optocoupler To keep the application s costs low optocouplers are not used as an interface between the controller and the IPM A reliable protection circuit improves system safety Power stage for ACIM BLDC and PMSM The power stage can drive ACIM BLDC and PMSM motors with only minor adjustments to resistor values Signal sample and process board To control hardware costs rather than using a Hall effect transducer a simple difference amplier circuit detects the current and voltage signals 56F8013 Evaluation Module EVM Freescale s 56F8013 demostration board connects to the main board and highlights the capability of the EVM Software This system drives a 3 phase ACIM using stator flux orientation The application features Control technique which includes Phase currents and phase voltages reconstruction Stator flux observation Electromagnetic torque estimation used for the slip frequency calculation
32. Flux Estimation 7 3 7 4 cd PFO MOG crsa 7 5 7 5 Discrete Voltage Loop 5 7 5 8 1 Communication Board s Frame 8 1 8 2 System 8 2 8 3 Conmections TOF JTAG iare aces dex dodo e eoe STEEL Fe He 8 2 8 4 CodeWarrior Development Tool 8 3 8 5 SCI Communication 5 8 4 List of Figures Rev 1 Freescale Semiconductor v Preliminary Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 vi Freescale Semiconductor Preliminary LIST OF TABLES 5 1 Nameplate 5 5 6 6 1 Configuration of the 56F8013 s 6 9 List of Tables Rev 1 Freescale Semiconductor vii Preliminary Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 viii Freescale Semiconductor Preliminary About This Document This manual describes the use of a 56F8013 device in an ACIM Vector Control Drive application Audience This manual targets design engineers interested in developing an ACIM Vector Control Drive application Organization This User s Manual consists of t
33. Hu and Bin Wu New Integration Algorithms for Estimating Motor Flux over a Wide Speed Range IEEE Trans on Power Electronics vol 13 no 5 pp 969 977 Sep 1998 N R N ldris and A H M Yatim An Improved Stator Flux Estimation in Steady State Operation for Direct Torque Control of Induction Machines IEEE Trans Ind Appl vol 38 no 1 pp 110 116 Jan 2002 9 Phase AC Induction Motor Vector Control using 56F80x 56F8100 or 56F8300 Device Design of Motor Control Application Freescale Semiconductor Inc 2004 9 Phase AC Motor Control with VHz Speed Close Loop using the 56F80x Freescale Semiconductor Inc 2001 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 xii Freescale Semiconductor Preliminary Introduction Chapter 1 Introduction 1 1 Introduction This drive application allows vector control of an AC Induction Motor ACIM running in a closed speed loop without a speed position sensor coupled to the shaft The application serves as an example of AC induction vector control drive design using a Freescale 56F8013 with Processor Expert M PE software support AC induction motors which contain a cage are very popular in variable speed drives They are simple rugged inexpensive and available at all power ratings Progress in the field of power electronics and microelectronics enables the application of induction motors for high performance drives where traditionally
34. IDO micra l ta ib 4 4 5 1 Block Diagram of the Stator Flux Oriented SFO System 5 2 5 2 Stator Reference Voltage 5 2 5 3 Clark Transtormalion m ees RR te 5 4 5 4 Gd uoce den re 5 5 5 5 Speed Regulator Channel mam ae hx RR ER mua RARE E RE E RE 5 6 5 6 PFO a Diagrami a oa ER eoe ee o ER ROI RR dol dale OR 5 7 6 1 Demonsiration SYSTEMI aae ba dia l o caede p l 6 1 6 2 o dior en UR HC ae Eee RC dide 6 2 6 3 Motor Control System 6 3 6 4 DCBus Sampling 6 4 6 5 Bus Link Current Sample Circuit ua hides CR EKG ea id eee E OR RC ees 6 5 6 6 Methods to Detect Phase 6 5 6 7 d dac a 6 6 6 8 PFO cee qusc UL ERGAAREICRRRCEquS dI ERES E 6 7 6 9 PFO De GE AMT PTT 6 7 6 10 PFO Samping ss acie ode ee aoi doa Coe ape dd ee ee 6 8 6 11 Jumper Configuration 1 6 8 7 1 LS PEE ETTE AE ET E E IA A ees 7 1 7 2 stator Reference Voltage 7 2 7 3 Improved Stator
35. JECT OF AND ACH Figure 6 10 PFC Sampling Circuit 6 5 Detailed Motherboard Configurations for ACIM The motherboard shown in Figure 6 2 comprises a high voltage power stage a sensor stage a protection circuit and PFC It is a general board which can be used for ACIM BLDC and PMSM after simple configuration with resistances and jumpers Configurations for the ACIM are shown in Figure 6 11 shorten circuits for the jumpers circled in red a P6000 ir e le o JP1005 P1004 999 C5004 C5003 e e elle ej e Figure 6 11 ACIM Jumper Configuration Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 6 8 Freescale Semiconductor Preliminary Detailed Motherboard Configurations for ACIM Table 6 1 details the configurations of the 56F8013 resources used in the system and the corresponding variables used in the software Table 6 1 Configuration of the 56F8013 s Resources Target Variables 56F8013 Resources Software Resources DCBus Voltage V_sense_DCB 1 PC5 sample3 AD_VDC Uphase Current Sample sense U 1 PC1 sampleO AD iA Vphase Current Sample sense V ANAO PCO sample1 AD iB DCBus Current Sample Sense DCB ANBO PC4 sample4 AD iDC Relay AC RELAY PB5 OPEN
36. Speed 5 5 or MOI dace d eR EE ra dra wd cee teed cence 5 6 Rd Ead prd ER ORG 5 7 5 8 1 Inductor selection 5 7 5 8 2 Gg ES PPM UIT 5 8 5 8 3 e EE EE E E E TL iio T es 5 8 5 8 4 a e de Ea E R E la E hie 5 8 5 8 5 Maucor DES a kid dis en i E a AAT ens 5 9 Chapter 6 Hardware Implementation SOFOS a a l 6 1 6 2 High Voltage Power 6 3 ii G 6 4 64 PFO Hardware Desig 6 6 6 4 1 Drive Circuit Hardware 6 7 6 4 2 sample Circuit Hardware Design 6 7 6 5 Detailed Motherboard Configurations for 6 8 Chapter 7 Software Design Fel I dad a A b ERE Edd 7 1 7 2 Stator Flux Estimation usu ll 7 2 7 3 Electromagnetic 7 3 TA Ot ee SS WE eden 7 3 7 5 Stator Flux 7 3 7 6 Space Vector Pulse Width Modulation SVPWM
37. al capped ONLY IF they are trademarked names or proper nouns ACIM ADC COP DCM EMF EVM GPIO HMI or 12C Alternating Current Induction Motor Analog to Digital Conversion Computer Operating Properly Discontinuous Current Mode Electro Magnetic Force Evaluation Module General Purpose Input Output Human Machine Interface Inter Integrated Circuit Integrated Circuit Induction Motor Integrated Power Module Interrupt Service Routine Low Pass Filter Power Factor Correction Proportional Integral Phase Locked Loop Pulse Width Modulation or Modulator Root Mean Square Serial Communication Interface Stator Flux Oriented Control Serial Peripheral Interface Space Vector Space Vector Pulse Width Modulation Preface Rev 1 Freescale Semiconductor Preliminary xi References The following sources were used to produce this book we recommend that you have a copy of these references 1 DSP56800E Reference Manual DSP56800ERM Freescale Semiconductor Inc 56F8000 Peripheral User Manual MC56F8000RM Freescale Semiconductor Inc 56F8013 Data Sheet MC56F8013 Freescale Semiconductor Inc Inside Code Warrior X Xu R De Donker and D W Novonty A Stator Flux Oriented Induction Machine Drive in PESC 1988 Conf Rec pp 870 876 C J Francis H Z de la Parra and K W E Cheng Practical Implementation of a Stator Flux Oriented Control Scheme for an Induction Machine in Power Electronics
38. ance is 100kHz the penetrate depth of copper lead is as 2 1 E I4x100x105x125x10 IT MORIN Pe EUNDUM TUER DUE Eqn 5 36 Where y is the electric conductive ratio of lead is magnetical conductive ratio of lead A copper lead with a smaller diameter than 0 42mm can be selected In this case select high intensity lead with a diameter of 0 33mm and an effective area of 0 0855 m 2 3 84 _ 4 4mm By selecting circuit density to be J 3 5A mm the area of leads is S 35 Thirteen leads with a diameter of 0 33mm must be used 38x13x0 0855 0 32 lt lt 0 35 132 5 37 Design Concept of ACIM Vector Control Drive Rev 1 Freescale Semiconductor 5 9 Preliminary Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Freescale Semiconductor Preliminary 5658013 Device Chapter 6 Hardware Implementation The motor control system is designed to drive the 3 phase AC motor in a speed closed loop The prototype is pictured in Figure 6 1 and It consists of the following blocks 56F8013 e High voltage power stage board with sensor board e Power supply stage and PFC 8 Phase AC motor without speed transducer 6 1 56F8013 Device The demonstration system is illustrated in Figure 6 1 and the hierarchy diagram is depicted in Figure 6 2 it clearly shows that the 56F8013 is the core of the system highlighted atop the mother board Figure 6 3 shows the motor con
39. and Variable speed Drives October 1994 pp 54 59 J O Pinto B K Bose and L E B da Silva A Stator Flux Oriented Vector Controlled Induction Motor Drive with Space Vector PWM and Flux Vector Synthesis by Neural Networks IEEE Trans Ind Appli vol 37 no 5 pp 1308 1318 Sep 2001 M H Shin D S Hyun and S B Cho Maximum Torque Control of Stator Flux Oriented Induction Machine Drive in the Field Weakening Region IEEE Trans Ind vol 38 no 1 pp 117 122 Jan 2002 Y Ruan X H Zhang J Xu and etc Stator Flux Oriented Control of Induction Motors Tans Of China Electro Society vol 18 no 2 pp 1 4 Apr 2003 Yonghong Xue Xingyi Xu and T G Habelter A Stator Flux Oriented Voltage Source Variable Speed Drive Based on DC Link Measurement IEEE Tran Ind Appl vol 27 no 5 pp 962 969 Sep 1991 Jie Chen Yongdong Li and Wei Dong A Novel Stator Flux Oriented Speed Sensorless Induction Motor Control System using Flux Tracking Strategy in Inter Conf On Power Elec And Drive System PEDS 99 Hong Kong 609 614 Ju Suk Lee T Takeshita and N Matsui Stator Flux Oriented Sensorless Induction Motor Drive for Optimum Low Speed Performance IEEE Tran Ind Appli vol 33 no 5 pp 1170 1176 Sep 1997 L Ben Brahim and A Kawamura A Fully Digitized Field Oriented Controlled Induction Motor Drive using Only Current Sensors IEEE Trans Ind Electro vol 39 pp 241 249 June 1992 Jun
40. ator to obtain the commanded slip frequency Add the commanded slip frequency to the estimated rotor speed to find the commanded synchronous speed 8 Use the compensation method to obtain the stator voltage on the direct axis and quadrature axis 9 Use SVPWM to generate stator voltage Seco Design Concept of an ACIM Vector Control Drive Rev 1 Freescale Semiconductor 5 3 Preliminary 5 4 Forward and Inverse Clarke Transformation a b c to p and backwards The forward Clarke transformation converts a 3 phase system a b c to a 2 phase coordinate system a B Figure 5 3 shows graphical construction of the space vector and projection of the space vector to the quadrature phase components a p Assuming that the a axis and the a axis are in the same direction the quadrature phase stator currents and are related to the actual 3 phase stator currents as follows By Phase Phase C Figure 5 3 Clark Transformation Isa 7 Eqn 5 11 Lo _ sb Eqn 5 12 The inverse Clarke transformation transforms from a 2 phase a to a 3 phase isa igh isc system BEC 755 Eqn 5 13 1 B lo F A 5g 2 2 Eqn 5 14 201 lp lsa 2 2 5 15 Design of an Vector Control Drive using the 5678013 Device Rev 1 5 4 Freescale Semiconductor Preliminary Rotor Speed Estimation
41. atures include Integrated gate drivers and bootstrap diodes Temperature monitor Temperature and overcurrent shutdown Fully isolated package Low VCE on non punch through IGBT technology Undervoltage lockout for all channels Matched propagation delay for all channels Low side IGBT emitter pins for current conrol Schmitt triggered input logic Cross conduction prevention logic Lower di dt gate driver for better noise immunity Its maxium IGBT block voltage is 600V phase current is 10A at 25 C and 5A at 100 C making it suitable for this appliance Hardware Implementation Rev 1 Freescale Semiconductor 6 3 Preliminary 6 3 Sensor Stage The control algorithm requires DCBus voltage DCBus current and phase current sensing so these sensors are built on the power stage board Schematics of the sensors circuits can be found in Appendix A A DCBus Voltage Sensor The DCBus voltage must be checked because overvoltage protection and PFC are required A simple voltage sensor is created by a diffential amplifier circuit The voltage signal is transferred through a resistor and then amplified to the reference level The amplifier output is connected to the 56F8013 s ADC SAMPLE OF DC BUS FOR PROJECT OF PMSM AND ACIM Figure 6 4 DCBus Sampling Circuit B DCBus Current Sensor The bus current is sensed through the detection of the voltage drop across the resistor cascade into the negative bus link A differential amp
42. cycle data fetches e MCU style software stack support e Controller style addressing modes and instructions Single cvcle 16 x 16 bit parallel Multiplier Accumulator MAC Proven to deliver more control functionality with a smaller memory footprint than competing architectures Benefits and Features of the 56F8013 Controller Rev 1 Freescale Semiconductor 2 1 Preliminary 2 3 2 5 Memory Features Architecture permits as many as three simultaneous accesses to program and data memory On chip memory includes high speed volatile and nonvolatile components 16KB of Program Flash 4KB of Unified Data Program RAM All memories operate at 32MHz zero wait states over temperature range 40 to 125 C with no software tricks or hardware accelerators required Flash security feature prevents unauthorized accesses to its content 56F8013 Peripheral Circuit Reatures Pulse Width Modulator PWM module Serial Peripheral Interface SPI Serial Communication Interface SCI Four 16 bit Timers Software programmable Phase Lock Loop PLL Two 12 bit Analog to Digital Converters ADC with six inputs at rates up to 1 1us per sequential or simultaneous conversion Up to 26 General Purpose I O GPIO pins Computer Operating Properly COP Integrated Power On Reset and Low Voltage Interrupt module 2 Communication Module supporting Slave Master and MultiMaster Mode AWARD WINNING DEVELOPMENT ENVIRONMENT Processor Expert PE pr
43. directories project names applications contains applications software calls functions CodeWarrior project 3des mcp is statements procedures pConfig argument routines arguments defined in the C header file aec h file names applications variables directives code snippets in text Bold Reference sources paths efer to the Targeting DSP56F83xx Platform emphasis manual see C Program Files Freescale help tutorials Blue Text Linkable on line efer to Chapter 7 License Number Any number is considereda 3V positive value unless pre 10 ceded by a minus symbol to pgs signify a negative value ALL CAPITAL defines define INCLUDE_STACK_CHECK LETTERS defined constants Brackets Function keys by pressing function key F7 Quotation Returned messages the message Test Passed is displayed marks if unsuccessful for any reason it will return NULL Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 X Freescale Semiconductor Preliminarv Definitions Acronyms and Abbreviations The following list defines the acronyms and abbreviations used in this document As this template develops this list will be generated from the document As we develop more group resources these acronyms will be easily defined from a common acronym dictionary Please note that while the acronyms are in solid caps terms in the definition should be initi
44. duty cycle values The standard technique for output voltage generation uses an inverse Clarke transformation to obtain 3 phase values Using the phase voltage values the duty cycles needed to control the power stage switches are then calculated Although this technique gives good results space vector modulation is more straightforward and realized more easily by a digital signal controller 7 7 Fault Control From the consideration of the cost control optocoupler is not used in this system The fault control process and its hardware should be designed to provide a solid protection against damage In this application due to the high complex of the pins the fault1 to fault3 input pins are coupled with the PWM output pads Only faultO is valid for the detection of the rising edge generated by the fault signals The overcurrent overvoltage and overheat protections are merged together with the OR relation that is if any of them occur the pin FaultO will catch the edge and the fault process will dominate all resources and disable the PWM output pads The routine will trap into the Interrupt Service Routine ISR once the fault occurs 7 8 PFC Software Design Power Factor PF is defined as the ratio between real power and apparent power of AC input Assuming input voltage is a perfect sine wave PF can be defined as the product of current distortion and phase shift Consequently the PFC circuit s main tasks are Controlling inductor current
45. es the need for external storage devices Extended temperature range allows for operation of nonvolatile memory in harsh environments Flash memory emulation of EEPROM eliminates the need for external non volatile memory High performance with 16 bit code density e On chip voltage regulator and power management reduces overall system cost Diversity of peripheral configuration facilitates the elimination of external components improving system integration and reliability This device boots directly from Flash providing additional application flexibility High performance Pulse Width Modulation PWM with programmable fault capability simplifies design and promotes compliance with safety regulations PWM Analog to Digital ADC modules are tightly coupled reducing processing overhead Low voltage interrupts protect the system from brownout or power failure e Simple in application Flash memory programming via Enhanced OnCE M or serial communication 2 2 56800E Core Features Upto 32 MIPS at 32MHz execution frequency e DSP and MCU functionality in a unified C efficient architecture e JTAG Enhanced On Chip Emulation EOnCE for unobtrusive real time debugging e Four 36 bit accumulators e 16 and 32 bit bidirectional barrel shifter Parallel instruction set with unique addressing modes Hardware DO and REP loops available Three internal address buses e Four internal data buses e Architectural support for 8 16 and 32 bit single
46. fraction of synchronous speed Figure 4 1 Induction Motor Speed Torque Characteristic ACIM Theory Rev 1 Freescale Semiconductor 4 1 Preliminary 4 2 Induction Motor Model Stator voltage differential equation U Ri PE jo Eqn 4 1 Rotor voltage differential equation 0 Ri p Eqn 4 2 Stator and rotor flux linkages expressed in terms of the stator and rotor current space vectors Y Li Lyi Eqn 4 3 VLE L Eqn 4 4 Electromagnetic torque expressed by utilizing space vector quantities Lem Eo Eqn 4 5 Where U Stator voltage vector y Stator flux vector Rotor flux vector b Stator current vector i Rotor current vector L Stator equivalent inductance 1 Rotor equivalent inductance L Mutual equivalent inductance Pole pairs Electormagnetic torque 01 Synchronous speed frequency Synchronous slip frequency Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 4 2 Freescale Semiconductor Preliminary Digital Control of an AC Induction Motor 43 Digital Control of an AC Induction Motor In adjustable speed applications AC motors are powered by inverters which convert DC power to AC power at the required frequency and amplitude Figure 4 2 shows the hardware system configuration L1 D1 Ga GIA 4 VTi VT3 VTS MES VTO FT M dig AC Input Kk lt 2 VT4 VT6
47. he following sections Chapter 1 Introduction explains how an AC Induction Motor and a 56F8013 device facilitate a vector control drive design Chapter 2 Benefits and Features of the 56F8013 Controller highlights the advantages in using a 56F8013 controller Chapter 3 Motor Drive System details the features and design of a motor drive system Chapter 4 ACIM Theory describes software control and configuration of an AC Induction Motor Chapter 5 Design Concept of an ACIM Vector Control Drive details the design concept of an AC Induction Motor vector control drive Chapter 6 Hardware Implementation describes how to set up the hardware needed for a vector control drive application Chapter 7 Software Design explains the software system design Chapter 8 JTAG Simulation and SCI Communication describes the application s debugging and communications functions Chapter 9 Operation explains how to use the application Appendix A Schematics contains schematics for the ACIM vector control drive application Appendix B ACIM Bill of Materials lists all parts used in the application Preface Rev 1 Freescale Semiconductor ix Preliminary Conventions This document uses the following notational conventions Typeface Symbol Meaning Examples or Term Courier Code examples Process command for line flash Monospaced Type Italic Directory names contains these core
48. i Stator Flux Oriented Control of Induction Motors Preface xii Stator Flux Oriented Sensorless Induction Motor Drive for Optimum Low Speed Performance Preface xii SV Preface xi Space Vector Preface xi SVPWM Preface xi Space Vector Pulse Width Modulation Preface xi Design of an ACIM Vector Conirol Drive using the 56F8013 Device Rev 1 Freescale Semiconductor Preliminary How to Reach Us Home Page www freescale com E mail support freescale com USA Europe or Locations Not Listed Freescale Semiconductor Technical Information Center CH370 1300 N Alma School Road Chandler Arizona 85224 1 800 521 6274 or 1 480 768 2130 support freescale com Europe Middle East and Africa Freescale Halbleiter Deutschland GmbH Technical Information Center Schatzbogen 7 81829 Muenchen Germany 44 1296 380 456 English 46 8 52200080 English 49 89 92103 559 German 33 1 69 35 48 48 French support freescale com Japan Freescale Semiconductor Japan Ltd Headquarters ARCO Tower 15F 1 8 1 Shimo Meguro Meguro ku Tokyo 153 0064 Japan 0120 191014 or 81 3 5437 9125 support japan freescale com Asia Pacific Freescale Semiconductor Hong Kong Ltd Technical Information Center 2 Dai King Street Tai Po Industrial Estate Tai Po N T Hong Kong 800 2666 8080 support asia freescale com For Literature Requests Only Freescale Semiconductor Literature Distribution Center P O Box 5405 Denver Colorado
49. ification of the induction machine as shown in Table 5 1 Table 5 1 Nameplate Specification Rated Power 0 12kw Rated Speed 1310rpm Rated Current 0 76A Rated Frequency 50Hz Rated Voltage 220V Pole Pairs 2 Slip frequency is obtained by _ 1500 131 0 rounds _ 1500 1310 _ Ao minute 60seconds Eqn 5 22 Estimated slip frequency can be determined by the observer of electric torque xf 6 3 Hz xf 272xf T 0 875 Eqn 5 23 Therefore the rotor speed can be calculated slip estimated vp ce og Eqn 5 24 5 7 Speed Regulator From Equation 5 5 the torque is in proportion to the torque producing current Quick control isg will yield a fast transient state The PI speed regulator generates the command i from the difference between the commanded rotor speed and estimated rotor speed Commanded slip frequency can then be obtained by the difference between the commanded isg and estimated i s through another regulator The reference synchronous speed is calculated by finding the sum of the estimated rotor speed and commanded slip frequency The speed regulator channel can be found as shown in Figure 5 5 Figure 5 5 Speed Regulator Channel Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 5 6 Freescale Semiconductor Preliminary PFC Design 5 8 PFC Design The main circuit adopted in this application is a single switch
50. ion Function Because the 56800E core integrates the JTAG EOnCE function the 56F8013 can be debugged and programmed through the parallel port by a simple interface circuit without any special emulator The debug function is provided by JTAG interface The power main circuit must be removed to ensure safety During debugging the connection for main power circuit should be cut off by disconnecting the J5000 connector on power board see Figure 8 2 JTAG Simulation and SCI Communication Rev 1 Freescale Semiconductor 8 1 Preliminary DSC Controller Board AC Induction Motor J1 on DSC Controller Board RS 232 Connector Motherboard Heatsink J5000 on Power Board Figure 8 2 System Diagram J203 of Communication Interface Board Parallel Cable Figure 8 3 Connections for JTAG As shown in Figure 8 3 the JTAG flat cable is connected to the 56F8013 s J1 A parallel cable links the JTAG to PC s parallel port CAUTION Disconnect J5000 in the Power Board before debugging or refreshing the control program Otherwise damage to or invalidation of the demo or even electrical shock can occur Debugging or refreshing the control program should only be done by experienced personnel Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 8 2 Freescale Semiconductor Preliminary SCI Communication Function Tike Edie View
51. lifier is then used to draw the voltage out and transform it to a level the 56F8013 s AD channel can accommodate The sample circuit is depicted in Figure 6 5 Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 6 4 Freescale Semiconductor Preliminary Sensor Stage C6000 0 1uF R6003 8 2K 0 1 D 5 U6001A 33172 1 R6001 3 10K 0 1 U6001B MC33172 7 I Sense DCB R6002 10K 0 1 0 01uF Figure 6 5 Bus Link Current Sample Circuit 8 2K 0 1 C Phase Current Sensor The stator flux and electromagnetic torque can be derived from two phase currents and voltages The use of a Hall current transducer will sharply increase the cost and two channel differential amplifiers are used as the Analog to Digital Converter ADC to sample phase currents as shown in Figure 6 6 The SVPWM is employed The state in which all bottom switches are turned on and upper switches are turned off is defined as state 0 and the corresponding equivalent topology is depicted in Figure 6 6 b The sample is triggered at state 0 shown in Figure 6 6 c In this way two phase currents can be derived through the differential amplifier channels The spot worth consideration is that a certain margin A should be maintained between the circle track formed by the reference voltage vector and the inscribed circle of the hexagon shaped by the six base vectors as described in Figure 6 6 a especially at
52. ltage vector in the control period The most popular power devices for motor control applications are Power MOSFETs and IGBTs A Power MOSFET is a voltage controlled transistor It is designed for high frequency operation and has a low voltage drop so it has low power losses An Insulated Gate Bipolar Transistor IGBT is controlled by a MOSFET on its base A built in temperature monitor and overtemperature overcurrent protection along with the short circuit rated IGBTs and integrated under voltage lockout function make the Integrated Power Module IPM more convenient for engineers to develop their systems and make IPMs widely used in today s home appliances This application also incorporates an IPM Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 4 4 Freescale Semiconductor Preliminary Vector Control of AC Induction Machine Chapter 5 Design Concept of an ACIM Vector Control Drive 5 1 Vector Control of AC Induction Machine Aligning the d axis to the stator flux s written in component stator voltage is then transformed to Ug Ri Eqn 5 1 Us 5 2 From Equation 4 2 to Equation 4 4 the following equations can be derived o7 p L i 9 7 P 0 Eqn 5 3 1 2 1 OT p Lj Eqn 5 4 then T ni 5 527 Eqn 5 5 where Rotor Time Constant L 1 Total Leakage Factor S r Equation 5 4 indicates the co
53. oard includes a 3 phase power stage Power Factor Correction PFC a communication module which links the PC with the 56F8013 demonstration simplified Human Machine Interface HMI and a protection module as well as effective electrical isolation Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 3 2 Freescale Semiconductor Preliminary Introduction to System Design La E vo 4 n Input 27 E 4 k 4 vt Ye Yn Yo Oscilloscope 56F8013 Processor UO OC DA Z X Board M OLA Figure 3 3 System Block Diagram Among the hardware system features are Integrated Power Module IPM An IRAMS10UP60A a 600V 10 Ampere IR Integrated Power Module powers the ACIM Its built in control circuits provide optimum gate drive and protection for the IGBT Three bridges are integrated in its body It reduces the design scale of hardware and software Figure 3 4 shows the Circuit Diagram Motor Drive System Rev 1 Freescale Semiconductor 3 3 Preliminary EE mu SIEHE LU Driver IC Figure 3 4 IRAMS10UP60A Circuit Diagram 56F8013 Guaranteeing excellent performance and accurate control of the A
54. only DC motors were applied Thanks to sophisticated control methods AC induction drives offer the same control capabilities as high performance four quadrant DC drives ACIM is an excellent choice for appliance and industrial applications This design will employ sensorless Field Oriented Control FOC to control an ACIM using the 56F8013 device which can accommodate the sensorless FOC algorithm A motor control system is flexible enough to implement a washing machine protocol while it drives a variable load The system illustrates the features of the 56F8013 in motor control The flexible Human Machine Interface HMI allows the control board to communicate with a PC and supports a simplified HMI using push buttons on the processor board making the system easy to use This document describes the Freescale 56F8013 controller s features basic AC induction motor theory the system design concept and hardware implementation and software design including the PC master software visualization tool Introduction Rev 1 Freescale Semiconductor 1 1 Preliminary Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Freescale Semiconductor Preliminary 56800E Core Features Chapter 2 Benefits and Features of the 56F8013 Controller 2 1 56F8013 Benefits Hybrid architecture facilitates implementation of both control and signal processing functions in a single device e High performance secured Flash memory eliminat
55. ovides a Rapid Application Design RAD tool that combines creation of an easy to use component based software application with an expert knowledge system The CodeWarrior Integrated Development Environment IDE is a sophisticated tool for code navigation compiling and debugging A complete set of evaluation modules EVMs and development system cards will support concurrent engineering Together PE CodeWarrior and EVMs create a complete scalable tools solution for easy fast and efficient development Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 2 2 Freescale Semiconductor Preliminary Features of a Motor Drive System Chapter 3 Motor Drive System 3 1 Introduction An AC Induction Motor ACIM which is simple rugged inexpensive and available at all power ratings is often used in products targeting the consumer and industrial market This application employs sensorless Field Oriented Control FOC to control an ACIM using the 56F8013 device which can support the complicated sensorless FOC algorithm By using this algorithm the motor drive system achieves excellent torque control performance and supports the driving of variable loads 3 2 Features of a Motor Drive System The design implements the washing machine protocol shown in Figure 3 1 Drum Speed RPM 1600 Figure 3 1 Washing Machine Protocol The design also fulfills the requirements of the washing cycle shown in Figure
56. reface xii COP Preface xi Computer Operating Properly Preface xi D DCM Preface xi DSP56800E Reference Manual Preface xii E EMF Preface xi EVM Preface xi Evaluation Module Preface xi G GPIO Preface xi General Purpose Input Output Preface xi H HMI Preface xi Human Machine Interface Preface xi 2 Preface xi Inter Integrated Circuit Preface xi IC Preface xi Integrated Circuit Preface xi IM Preface xi Induction Motor Preface xi Inside Code Warrior Preface xii IPM Preface xi Intelligent Power Module Preface xi ISR Preface xi Interrupt Service Routine Preface xi L LPF Preface xi Maximum Torque Control of Stator Flux Oriented Induction Machine Drive in the Field Weakening Region Preface xii N New Integration Algorithms for Estimating Motor Flux over a Wide Speed Range Preface xii P PFC Preface xi Power Factor Correction Preface xi PI Proportional Integral Preface xi PLL Preface xi Phase Locked Loop Preface xi Practical Implementation of a Stator Flux Oriented Control Scheme for an Induction Machine Preface xii Proportional Integral Preface xi PWM Pulse Width Modulation or Modulator PWM Preface xi Index Rev 1 Freescale Semiconductor Preliminarv R RMS Root Mean Square Preface xi Root Mean Square Preface xi 5 SCI Serial Communication Interface SCI Preface xi SFOC Preface xi Stator Flux Oriented Control Preface xi SPI Preface xi Serial Peripheral Interface Preface x
57. software tool can be used for development and control of the application Details about installation and use of PC master software can be found in the CodeWarrior tool Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 8 4 Freescale Semiconductor Preliminary Cautions Chapter 9 Operation This section offers brief instructions on operating the ACIM application 9 1 Switch on Follow these steps to start the ACIM application 1 Make sure the power switch is on the POWEROFF state then put the plug in a wall socket 2 Switch the appliance on by pressing down the POWERON button The 56F8013 starts the main power and the ACIM begins to work 9 2 During Operation 1 LEDs on controllers can display system information LED 1 displays the operating mode LED 2 displays the rotation speed 2 SCI communication provides background supervision for the power module SCI baud rate configuration 4800 BPS 3 Debug function is provided by the JTAG interface See Caution Section 8 1 and Section 9 4 4 To ensure the demo plate coupled on the shaft of the motor will not fly out be sure the upper cover of the box is closed 9 3 Switch off To turn the application off follow these steps 1 Switch off the POWERON Button The 56F8013 cuts off the main power and the bus voltage is decreased 2 Unplug the power line controller is powered off and system is switched off 9 4 Cautions To en
58. ss the stator resistance in the transient state Based on the analysis the control scheme can be obtained as shown in Figure 5 2 m Feedback Slip Observer signal Frequency detector Estimator Figure 5 1 Block Diagram of the Stator Flux Oriented SFO System IN Figure 5 2 Stator Reference Voltage V ref Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 5 2 Freescale Semiconductor Preliminary Block diagram of Stator Flux Oriented SFO Control 5 2 Relationship between Rotor Flux Orientation and Stator Flux Orientation Induction Motor Drive The aim of vector control is to implement control schemes which produce high dynamic performance and are similar to those used to control DC machines To achieve this the reference frames may be aligned with the stator flux linkage space vector the rotor flux linkage space vector or the magnetizing space vector From Equation 4 3 and Equation 4 4 the relationship between stator flux and rotor flux can be calculated as follows p Uie i dt JU ri v oLi m Eqn 5 10 Equation 5 9 indicates that the stator flux depends only on the stator resistance which is relatively easy to calculate Equation 5 10 demonstrates that the rotor flux requires the knowledge of instances of the machine especially the leakage inductance
59. sure safety take care when 1 Pressing the power switch to 1 on the unit after the power line is plugged in during the switch on process 2 Pressing the power switch to 0 before power line is unplugged during the switch off process 3 Debugging Before beginning the debug process cut off power to the main power circuit by disconnecting the J5000 connector on the Power Board Operation Rev 1 Freescale Semiconductor 9 1 Preliminary Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 Freescale Semiconductor Preliminary Appendix A Schematics Schematics Rev 1 Freescale Semiconductor Appendix A 1 Preliminary 105 GALV TOSI RT apa lt 99 10d dND 105 T mo Ro ASQOCXVIN lt 19 00 T m T9 152 t 29A 72 IT 9 FU ST 09 1OSZJAN S 19d qND is Js gt lt aro tmr 00089 1 T 008 008 0 0 08 008 TOSTASH 66AV8 66AVE acia dessin 100681 500 coord EELENT avo 80069 66AVE if 4 099 21 TOJ AN9 E Aor dnot TON T IOS 90069 WO Drago i lii FIS T 1004 be 0008
60. the high speed range Qurrent Sensi A rcuit r cD 19 gt l EA uide Mel 2 A T 16 V5 001 V V6 101 a SVPWM b Equivalent Topologv c Sample Time Figure 6 6 Methods to Detect Phase Currents D Power Supplv Stage The power supply stage provides a high voltage DCBus 5V power supply for the drive and auxillary power and 15V for the 56F8013 high voltage drivers and amplifiers A topswitch generates auxiliary power supply of 15V for both the ICs and the IPM PFC is employed to make the input current trace the input voltage and to reduce the EMI Hardware Implementation Rev 1 Freescale Semiconductor 6 5 Preliminary E Protection Circuit To improve the system safety level overcurrent and overvoltage in the bus link detection and protection are introduced into the system illustrated in Figure 6 7 The signal generated by the circuit will be connected to the IPM s drive IC 74HC244 and to the 56F8013 s fault pin When a fault is generated the IPMLOCK signal draws to high level On the one hand the IPMLOCK will disable the 74HC244 and the PWM signals won t pass through on the other hand the IPMLOCK signal will drive the 56F8013 s faultO pin and the 56F8013 will block the PWM signal instantly R6008 620 R6012 620 V Sense DCB D 5V C6031 lu RV6002 D 5V C6032 10K 0 01uF 5 ds U6002A 2 MC33172
61. trol system configuration E Figure 6 1 Demonstration System Hardware Implementation Rev 1 Freescale Semiconductor 6 1 Preliminary AC Induction Motor DSC Controller Board J1 on DSC Controller Board RS 232 Connector Motherboard Heatsink on Power Board Left Side Right Side Sr C Aeration holes holes Input Power POWER ON Front Side Figure 6 2 Hierarchy Diagram The 56F8013 is the drive s brain All algorithms are carried out in this single smart chip which reads the input commands processes the routine and generates the PWM to govern the power switches driving the motor and the PFC to make the input current sinusoid Design of an ACIM Vector Control Drive using the 56F8013 Device Rev 1 6 2 Freescale Semiconductor Preliminary High Voltage Power Stage Mother Board Bus Voltage 3phase p Sphas ACINPUT Auxillary Voltage Control Signal Figure 6 3 Motor Control System Configuration 6 2 High Voltage Power Stage The HV Medium Power Board is designed to meet the power needed by a household washing machine and lower power industrial applications An Integrated Power Module IPM is used to simplify the design and board layout and to lower the cost IPMs are available from various suppliers and it is simple to use one from a supplier of choice The IRAMS10UP60A is an IPM which targets the household appliance market Its fe
62. upling between i q and isq A Stator Flux Oriented Induction Machine Drive presents a method to decouple the i q from is using a decouple compensator However the use of a decouple compensator will negatively affect the system performance depending on the machine parameters and increase software complexity Equation 5 1 represents the relationship between stator flux Vs and the d axis stator voltage The differential will introduce noise so a Proportional Integral PI flux regulator is used to approach the effect of stator voltage on flux as shown in Equation 5 6 KV WI KI Y dt Eqn 5 6 where Commanded Stator Flux 5 Estimated Stator Flux Y s Design Concept of an ACIM Vector Control Drive Rev 1 Freescale Semiconductor 5 1 Preliminary This information allows calculation of voltage on the d axis Assuming lt lt V 504 Equation 5 2 will simplified to as A Eqn 5 7 In the steady state Ugs is proportional to o and a sense o possesses a characteristic of the constant volts hertz ratio but at the low speed range can t be ignored From Equation 5 2 and Equation 5 6 the terminal reference voltage vector Y can be established as shown in Figure 5 1 where o 1 is the commanded synchronous speed 6 0 Eqn 5 8 From Figure 5 1 it is clear that Ugs takes up the majority of Y ref While Ugs compensates the stator flux loss due to the voltage drop acro
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