Targeting manual 3ph PMSM Vector Control.fm This application
Contents
1. J3 d4 UGS IGS PHASE_IS OVER_I JG 11 J512 GP SW 1 GP SW 2 S 52 53 RUN STOP SECONDARY ZERG GCROSSING ENCODER PFC_PWM PFC_ZERO_CROSS Serial_COM PFC_ENABLE BRAKE SECONDARY PFC FAULTA MONITOR d amp a SEC Back EWF Phose IS EVM Jumper Settings b gt J2 Figure 2 2 56F8300EVM LMDC Jumper Reference Table 2 1 56F8300EVM LMDC Jumper Settings SECONDARY UNI 3 Jumper Group Comment Connections JG1 Primary PFC 1 2 amp 3 4 amp 5 6 amp 7 8 amp 9 10 JG2 Secondary PFC NC JG3 Phase_IS Over_ 2 3 JG4 Primary Zero Crossing Encoder 2 3 amp 5 6 amp 8 9 JG5 Secondary Zero Crossing Encoder 2 3 amp 5 6 amp 8 9 JG6 Primary Back EMF Phase IS 1 2 amp 4 5 amp 7 8 JG7 Secondary Back EMF Phase IS 1 2 amp 4 5 amp 7 8 JG8 Fault A Monitor 1 2 amp 3 4 amp 5 6 JG9 Fault B Monitor 1 2 amp 3 4 amp 5 6 JG10 Switch 1 Up 1 2 JG11 Switch 2 Down 1 2 JG12 Switch 3 Run Stop 1 2 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor Preliminary 13 3 Build To build this application open the 3ph_pmsm_vc_56F83xx_onPE mcp project file and execute the Make command as shown in Figure 3 1 This will build and link the 3 phase PMSM Vector Control Application and all needed Metrowerks and Processor Expert libraries Metrowerk2. RAM target is selected the executable will be loaded to off chip RAM To execute the 3 phase PMSM Vector Control Application s internal Flash version choose the Program Debug command in the CodeWarrior IDE and when loading is finished in the 56F8346EVM set jumper JG9 to disable the JTAG port and JG3 to enable boot from internal Flash then push the RESET button In the 56F8357EVM or the 56F8367EVM set jumper JG3 to disable the JTAG port and JG4 to enable boot from internal Flash then push the RESET button 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor Preliminary EVM Jumper Settings For more help with these commands refer to the CodeWarrior tutorial documentation in the following file located in the CodeWarrior installation directory lt gt CodeWarrior Manuals PDF Targeting _56800E pdf For jumper settings see the appropriate 56F83xx Evaluation Module Hardware User s Manual for the device being implemented Once the application is running move the RUN STOP switch to the RUN position and set the required speed with the UP DOWN push buttons Pressing the UP DOWN buttons should incrementally increase the motor speed until it reaches maximum speed If successful the 3 phase PMSM will be spinning Note If the RUN STOP switch is set to the RUN position when the application starts toggle the RUN STOP switch between the STOP and RUN positions to enable motor spi
3. the MC56F83xxEVM as protection from dangerous voltage on the PC user side and to prevent damage to the PC and other hardware 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 10 Freescale Semiconductor Preliminary Do not touch any part of the EVM or the serial cable between the EVM and the In line Optoisolation Box unless you are using an insulation transformer The application is designed to be fully controllable only from PC master software To avoid inadvertently touching live parts use plastic covers In the rest of this application the description supposes use of the insulation transformer Power Line 3 Ph BLDC HV Motor sive A ip 56F83xxEVM Power Supply for Optoisolation Box gt arie ia Br ue z Legacy Motor Daughter Card LMDC 3 Ph AC BLDC High Voltage Power Stage Parallel Cable to PC Serial Cable to PC Figure 2 1 Application Set up 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor Preliminary 11 The correct order of phases for the AC induction motor shown in Figure 2 1 is e Phase A red wire Phase B white wire e Phase C black wire When facing a motor shaft the phase order is Phase A Phase B Phase C the motor shaft should rotate clockwise i e positive direction positive speed For detailed information see the 56F83xxEVM H
4. 56 F8300 3 Phase Permanent Magnet Synchronous Motor Vector Control using Processor Expert Targeting Document MC56F8300 16 bit Digital Signal Controllers 3 01010 d VRSE E D Rev 0 1 2005 e freescale com lt 2 freescale semiconductor Document Revision History Version History Description of Change Rev 0 Initial public release 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor Preliminary 3 Phase Permanent Magnet Synchronous Motor Vector Control on Processor Expert This application exercises vector control of the 3 Phase Permanent Magnet Synchronous Motor PMSM using Processor Expert PE a 56F8346 56F8357 or 56F8367 EVM board and a 3 Phase AC BLDC High Voltage Power Stage Applications developed for this demonstration board were not designed for the 56F 8100 devices The 56F8300 demonstration board does however fully support 56F8100 software development Note The PC master software referenced in this document is also known as Free Master software l Specifications This application performs principal vector control of the 3 phase PMSM using a 56F8300 processor The concept of the application is a speed closed loop PM synchronous drive using a vector control technique The control technique obtains d and q current components from regularly sampled 3 phase stator currents The d and q current components are then controlled separatel
5. ardware User Manual for the device being implemented The serial cable is needed only for the PC master software debugging tool 2 1 EVM Jumper Settings For jumper settings see the 56F8346 Evaluation Module Hardware User s Manual 56F8357 Evaluation Module Hardware User s Manual or 56F8367 Evaluation Module Hardware User s Manual Note When running the EVM target system in a stand alone mode from Flash in the 56F8346EVM the JG9 jumper must be set in the 1 2 configuration to disable the command converter parallel port interface In the 56F8357EVM or the 56F8367EVM the JG3 jumper must be set in the 1 2 configuration to disable the command converter parallel port interface For a detailed description for jumper settings see the appropriate 56F83xx Evaluation Module Hardware User s Manual for the device being implemented 2 1 1 Legacy Motor Daughter Card LMDC Jumper Settings To execute the 3 phase PMSM Vector Control Application the 56F8300 LMDC requires the strap settings shown in Figure 2 2 and Table 2 1 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 12 Freescale Semiconductor Preliminary PRIMARY UNI 3 Legoc Motor Interface Daughter Card COPYRIGHT 2002 J1 lt PFC_PWH PFC_ZERO_CROSS Serial COH PFC_ENABLE BRAKE PRIMARY ZERO CROSSING ENCODER PRI Back EMF Phase IS J t PRIMARY PFC RY ENCODER HALL EFFECT SECONDARY ENCODER HALL EFFECT 1
6. cale Semiconductor products are not designed intended or authorized for use as components in systems intended for surgical implant into the body 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 ey 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 2004 All rights reserved 8300PMSMTD Rev 0 1 2005
7. d by software while the overcurrent and overvoltage fault signals utilize a fault input of the hybrid controller Line voltage is measured during application initialization and the application automatically adjusts itself to run at either 115V AC or 230V AC depending on the measured value 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 6 Freescale Semiconductor Preliminary If any of the previously mentioned faults occur the motor control PWM outputs are disabled to protect the drive and the application enters the FAULT state The FAULT state can be left only when the fault conditions disappear and the RUN STOP switch is moved to the STOP position in the manual mode and by the PC master software in the PC master software remote mode The application can run on e External RAM or Flash e 3 Phase AC BLDC High Voltage Power Stage powered by 115V AC or 230V AC e Manual or PC master software operating mode The voltage level is identified automatically and the appropriate constants are set The 3 phase PM Synchronous Motor Control Application can operate in two modes 1 Manual Operating Mode The drive is controlled by the RUN STOP switch S3 on the Legacy Motor Daughter Card LMDC The motor speed is set by the UP S1 and DOWN S2 push buttons on the LMDC see Figure 1 1 In this application the PWMA module output LEDs are used as USER LEDS If the application runs and motor spinning is disabled i e the syste
8. ed PC master software mode START MOTOR STOP MOTOR controls Drive fault status DCBus voltage level Drive status Mains detection Software speed scope Observes actual and desired speed Software recorder for Phase currents d q currents Application Description The vector control algorithm is calculated on Freescale s 56F8346EVM 56F8357EVM or 56F8367EVM The algorithm generates 3 phase PWM signals for a PMSM inverter according to the user required inputs and measured and calculated signals The PMSM drive hardware components include e BLDC motor brake set e 3 phase AC BLDC High Voltage Power Stage 56F8346 56F8357 or 56F8367 EVM board e Legacy Motor Daughter Card LMDC In line optoisolation box Freescale Part ECOPTINL which is connected between the host computer and the EVM board 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 4 Freescale Semiconductor Preliminary The BLDC motor brake set incorporates a 3 phase BLDC motor and an attached BLDC motor brake The BLDC motor has six poles The incremental position sensor encoder is coupled on the motor shaft and position Hall Sensors are mounted between the motor and the brake They allow position sensing if required by the control algorithm Detailed motor brake specifications are listed in Table 1 1 Note The application software is targeted for PMSM with sine wave Back EMF shape In this dem
9. m is ready the GREEN USER LED LED2 shown in Figure 1 2 will blink When motor spinning is enabled the USER LED is On Refer to Table 1 2 for application states The actual state of the PWM outputs is indicated by PWMB output LEDs If overcurrent overvoltage or overheating occur the GREEN USER LED LED2 starts to flash quickly and the PC master software signals the type of fault identified This state can be exited only by an application reset It is strongly recommended that you inspect the entire application to locate the source of the fault before starting it again ww T C26 ej Figure 1 1 RUN STOP Switch and UP DOWN Buttons on the Legacy Motor Daughter Card LMDC 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor 7 Preliminary Ee amp j Mases o z tO ti YAPTIR M PERR g v2 Li A v pr PENAJ PwwAs ME Mf rs PwKAS ensi s heo m co8t Pwug Wh E09 1E s pu ens keow FAULTAI UA keon F AULTA2 fume feos FAULTBO JMI FAULTS MAh FAULTB2 Ehe r na z s 1 bs sD REFL AS P 4 Figure 1 2 USER and PWM LEDS on the Legacy Motor Daughter Card LMDC Table 1 2 Motor Application States Application State Motor State Green LED State Stopped Stopped Blinking at a frequency of 2Hz Running Spinning On Fault Stopped Blinking at a frequency of 8Hz 3 Phase Permanent Magnet Synchronous Motor Vector Co
10. nning This is a protection feature that prevents the motor from starting when the application is executed from CodeWarrior You should also see a lighted green LED which indicates that the application is running If the application is stopped the green LED will blink at a 2Hz frequency If an undervoltage overvoltage overcurrent or overheating fault occurs the green LED will blink at a frequency of 8Hz 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor 15 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 a
11. ntrol Rev 0 Freescale Semiconductor Preliminary 2 PC Master Software Remote Operating Mode The drive is controlled remotely from a PC through the SCI communication channel of the hybrid controller via an RS 232 physical interface The drive is enabled by the RUN STOP switch which can be used to safely stop the application at any time PC master software enables the user to set the motor s Required Speed The following PC master software control actions are supported e e Set the motor control system s PC master software mode Set the motor control system s manual mode Start the motor Stop the motor Set the motor s Required Speed PC master software displays the following information The motor s Required Speed The motor s Actual Speed Application status Init Stop Run Fault DCBus voltage level Identified line voltage Fault Status No Fault Overvoltage Overcurrent Undervoltage Overheating Start the PC master software window s application 3ph_pmsm_vector_control pmp Figure 1 3 illustrates the PC master software control window after this project has been launched Note If the PC master software project pmp file is unable to control the application it is possible that the wrong load map e f file has been selected PC master software uses the load map to determine addresses for global variables being monitored Once the PC master software pr
12. o application the BLDC motor is used instead due to the availability of the BLDC motor brake SM40V SG4ON supplied as Freescale Part ECMTRHIVBLDC Although the Back EMF shape of this motor is not ideally sine wave it can be controlled by the application software The drive parameters will be improved when a PMSM motor with an exact sine wave Back EMF shape is used Table 1 1 Motor Brake Specifications Motor Motor Type 6 poles 3 phase star connected BLDC motor Speed Range 2500rpm at 310V Maximum Electrical Power 150W Phase Voltage 3 x 200V Phase Current 0 55A Drive Characteristics Speed Range lt 2500rpm Input Voltage 310V DC Maximum DCBus Voltage 380V DC Control Algorithm Speed Closed Loop Control Optoisolation Required Motor Characteristics Motor type 6 poles 3 phase star connected BLDC motor Speed Range 150W Maximum Electrical Power 150W The drive can be controlled in two operating modes Inthe Manual operating mode the required speed is set by the UP DOWN push buttons and the drive is started and stopped by the RUN STOP switch on the EVM board Inthe PC master software operating mode the required speed is set by the PC master software active bar graph and the drive is started and stopped by the START MOTOR and STOP MOTOR controls Measured quantities e DCBus voltage e Phase currents Phase A Phase B Phase C e Power module temperature e Rotor speed 3 Pha
13. oject has been launched this option may be selected in the PC master software window under Project Select Other Map File Reload 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor Preliminary F 3ph_pmsm_vector_control pmp FreeMaster File Edit view Explorer Item Project Tools Help SOE mala eala S elelee fi 3 ph PM Synchro Motor Vector Contro EK 5 Interesting Variables te 48 phase currents Designed By pees Houmched a Mogens Ee Current Regulators Freescale Czech Systems Laboratories Roznov p Radh Czech Republic Pa freescale 48 DQ Recorder semiconductor u_s_0Q paren 3 ph PM Synchronous Motor Vector Control on MC56F8346 5 Speed Scope 3 000 rpm O rpm 3 000 rpm algorithm block description 4 Done R5232 COM1 speed 9600 I Bstart O as JHB Gowmaster BB Metrowerks Codewartior FEZ Adobe FrameMaker EE inbox microsoft Outlook A 3ph_pmsm_vector LOER CE FE Figure 1 3 PC master Software Control Window 2 Hardware Set up Figure 2 1 illustrates the hardware set up for the 3 phase Permanent Magnet Synchronous Motor PMSM Vector Control Application WARNING Danger high voltage risk of electric shock The application PCB modules and serial interface connector cable are not electrically isolated from the mains voltage they are live Use the In line Optoisolation Box ECOPTINL between the PC and
14. s CodeWarrior File Edit View Search Project Debug Processor Expert Window Help Bean 3ph_pmsm_vc_56F8346 sdm pROM xRAM Add Window Add Files Greate Group Greate Target Greate Segment Overlay Create Design Files Link Order Tar Export Project as GNU Makefile Gheck Syntax Gtrl amp Configurations Preprocess x Qn sdmextemalt precompile x 2a ldm extemaln Compile GEI F7 lt 20 sdm pROM F Disassemble Gtrl ShifE E7 2 Idm pROM xF x 2 sdm xROM xF Bring Up To Date Ctrl U x 2 Idm xROM xR Operating System Stop Build Gtrl Break aS CPUs Remove Object Code Ctrl Re search For Files a i Reset Project Entry Paths x Cpu 56F8346 Synchronize Modification Dates oS Beans G GTIMER_Bo Debug F5 HK EF OTIMER_B1 Cant Run Gtr HFS m v fi GTIMER_B2 Set Default Project v Gp QTIMER_83 Set Default Target gt i QTIMER_C3 Configuration Tool S6FB00E Ctri F12 2k ep OTIMER DOme a S E v fp DEC_1 Init_QD a v G PWM A ni PWM Modul mo zf Puad Plait Parhi Figure 3 1 Execute Make Command 4 Execute To execute the 3 phase PMSM Vector Control application select Project Debug in the CodeWarrior IDE followed by the Run command If the Flash target is selected CodeWarrior will automatically program the internal Flash of the hybrid controller with the executable generated during Build If the External
15. se Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor 5 Preliminary The faults used for drive protection e Overvoltage PC master software error message Overvoltage fault e Undervoltage PC master software error message Undervoltage fault e Overcurrent PC master software error message Overcurrent fault e Overheating PC master software error message Overheating fault The following software tools are needed for to compile debug and load to the EVM and to use remote control and monitoring and the RUN STOP switch and UP DOWN buttons e Metrowerks CodeWarrior v 6 1 2 e PC master software e Processor Expert v 2 94 Control Process After reset the drive enters the INIT state in manual operation mode When the RUN STOP switch is detected in the STOP position and there are no faults pending the STOP application state is entered Otherwise the drive waits in the INIT state or if faults are detected the drive goes to the FAULT state In the INIT and STOP states the operation mode can be changed from PC master software In the manual operational mode the application is operated by the RUN STOP switch and UP DOWN buttons in the PC master remote mode the application is operated remotely by PC master software When the Start command is accepted using the RUN STOP Switch or PC master software command the rotor position is aligned to a predefined position to obtain a known rotor po
16. sia freescale com For Literature Requests Only Freescale Semiconductor Literature Distribution Center P O Box 5405 Denver Colorado 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 Frees
17. sition The rotor alignment is done at the first start command only Required speed is then calculated according to UP DOWN push buttons or PC master software commands if in PC master software remote mode The required speed goes through an acceleration deceleration ramp The comparison between the actual speed command and the measured speed generates a speed error Based on the error the speed controller generates a stator current Is_qRegq which corresponds to torque A second part of the stator current s_dReg which corresponds to flux is given by the Field Weakening Controller Simultaneously the stator currents Js_a Is_b and Is _c are measured and transformed from instantaneous values to the stationary reference frame a B and consecutively to the rotary reference frame d q Clarke Park transformation Based on the errors between required and actual currents in the rotary reference frame the current controllers generate output voltages Us_q and Us_d in the rotary reference frame d q The voltages Us_q and Us _d are transformed back to the stationary reference frame a 6 and after DCBus ripple elimination are recalculated to the 3 phase voltage system which is applied on the motor Drive Protection The DCBus voltage DCBus current and power stage temperature are measured during the control process They protect the drive from overvoltage undervoltage overcurrent and overheating Undervoltage and overheating protection is performe
18. y The q component corresponds to torque and the d component corresponds to flux An incremental encoder is used to derive the actual rotor speed The Actual Speed derived from a quadrature decoder monitors the actual behavior of the system and is compared with the reference signal Required Speed Protection is provided against drive faults Overcurrent Overvoltage Undervoltage and Overheating System Outline The system is designed to drive a 3 phase permanent magnet synchronous motor The application has the following specifications e Vector control technique used for PMSM control Speed control loop e Targeted for a 56F8346EVM 56F8357EVM or 56F8367EVM e Runs on a3 phase PMSM control development platform at a variable line voltage 115V AC and 230V AC range of 15 to 10 e Motor mode e Generator mode e DCBus brake e Minimum speed 50rpm e Maximum speed 3000rpm at input power line 230V AC e Maximum speed 1500rpm at input power line 115V AC e Fault protection 3 Phase Permanent Magnet Synchronous Motor Vector Control Rev 0 Freescale Semiconductor 3 Preliminary Interfaces Manual interface RUN STOP switch UP DOWN push buttons control LED indication PC master software remote control interface START MOTOR STOP MOTOR push buttons Speed set up e PC master software remote monitor Software monitor interface provides information about Required Speed Actual motor spe
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