32-Bit-Digital Signal Controller TMS320F2812

Transcription

1 Module 15 : C28x Digital Motor Control 32-Bit-Digital ignal Controller TM320F2812 Texas Instruments Incorporated European Customer Training Centre Uniersity of Applied ciences Zwickau (FH) 15-1

2 Electrical Motor families Motor Classification: Direct Direct Current Motors (DC) Alternating Current Motors (AC) Asynchronous Induction Motor (ACI) Permanent Magnet ynchronous Motor (PMM) ynchronous Brushless DC Motor (BLDC) 15-2

3 Phase - Motor (PMM) For most three phase machines, the winding is stationery, and magnetic field is rotating Three phase machines hae three stator windings, separated 120 apart physically Three phase stator windings produce three magnetic fields, which are spaced 120 in time = = = π ω π ω ω t j c t j b t j s a e I i e I i e I i = = = Ω Ω Ω π π t jp c t jp b t jp a e E e e E e e E e N a c b i a i c i b

4 3 Phase - Motor 1,50 1,00 0,50 0, ,50-1,00-1,50 Three stationary pulsating magnetic fields C B` ia A` Fc Fb A Phase currents Fa B C ` ia ib ic ωt The three phase winding produces three magnetic fields, which are spaced 120 apart physically. When excited with three sine waes that are a 120 apart in phase, there are three pulsating magnetic fields. The resultant of the three magnetic fields is a rotating magnetic field. 15-4

5 ynchronous Motor C B` F N F A` A N B C` Rotor field φ tator field Rotor is carrying a constant magnetic field created either by permanent magnets or current fed coils The interaction between the rotating stator flux, and the rotor flux produces a torque which will cause the motor to rotate. The rotation of the rotor in this case will be at the same exact frequency as the applied excitation to the rotor. This is synchronous operation. ω 60. f Rotor speed (rad/s) : Ω = gies (r.pm) Example: a 2 poles pair p p f : AC supply frequency (Hz) p : motor poles pair per phase synchronous motor will run at 1500 r.pm for a 50Hz AC supply frequency 15-5

6 ynchronous Motors: BLDC and PMM Phase A Hall A C B ` F i a N A ` A F B C ` Back EMF of BLDC Motor Both (typically) hae permanent-magnet magnet rotor and a wound stator BLDC (Brushless DC) motor is a permanent-magnet magnet brushless motor with trapezoidal back EMF PMM (Permanent-magnet magnet synchronous motor) is a permanent-magnet magnet brushless motor with sinusoidal back EMF E a θ e 1,50 1,00 0,50 Back EMF of PMM ea eb ec Phase B Hall B Phase C i b i c θ e θ e 0, ,50-1,00-1,50 ωt Hall C 15-6

7 3 Phase Voltage Inerter ix PWM signals to control Power witches DC - Voltage + Upper & lower deices can not be turned on simultaneously (dead band) 3 - phase outputs to motor terminals Power witching Deices 15-7

8 calar Control cheme ( V/f ) ω + Σ PI V V/f profile f PWM Command PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 3- Phase Inerter peed scaling peed calculator + imple to implement: All you need is three sine waes feeding the motor + Position information not required (optional). Doesn t delier good dynamic performance. Torque deliery not optimized for all speeds 15-8

9 Field Oriented Control (FOC) Field Oriented Control (FOC) or Vector Control, is a control strategy for 3-phases 3 induction motors where the torque producing and magnetizing components of the stator flux are separately controlled. The approach consists in imitating the DC motors operation FOC will be possible with system information: currents, oltages, flux and speed. 15-9

10 FOC control scheme Inerse Park ω + ω Σ I PID Q + I D + Field Weakening Controller Σ Σ PID PID V Q V D D,Q d,q q r V q V d pace Vector PWM PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 3- Phase Inerter r I Q D,Q I q d,q i a i b I D d,q I d a,b,c i c Park T Clarke T peed Calculator q r : i a + i b + i c = 0 ome key mathematical components are required! 15-10

11 PARK transform (1929): PARK transform (1929): (Vs): oltage ector applied to motor stator (index s) = ) ( s s V Park transform is a referential change [ ] [ ] = = = ) ( and. ) ( 1 ) 3 4 sin( ) 3 4 cos( 1 ) 3 2 sin( ) 3 2 cos( 1 sin cos s o q sd so sq sd s s s o q sd s s s P P θ θ π θ π θ π θ π θ θ θ s1 s3 s2 sd sq = 0 so ω t θ =

12 Park Transform key components s3 sd sq so = 0 θ = ω t s1 1 d d q +. q. o. o 2 + = 0 = 0 = 0 3 = 0 (tri - phases balanced system) s2 ( sd, sq, so ) are called the Park coordinates sd : direct Park component sq : squaring Park component so : homo-polar Park component V so is null for a three-phases balanced system Each pair of components is perpendicular to each other 15-12

13 CLARKE Transformation Transform is usually split into CLARKE transform and one rotation CLARKE conerts balanced three phase quantities into balanced two phase orthogonal quantities 2 q β d θ = ω t CLARKE = α β = = α d q = Rotation cos( θ ) sin( θ ) sin( θ ) cos( θ ) α β 3 PARK TRANFORM 15-13

14 1 PARK Transform summary α V d 2 Clarke β Park 3 V q Three phase rotating domain Two phase rotating domain tator phase current example: I s is moing at θ and its PARK coordinates are constant in (d,q) rotating frame. Can be applied on any threephase balanced ariables (flux ) q I q i s3 i s2 tationary domain I β d i so = 0 I d θ =ω t α i s

15 Texas Instruments Motor Control olution C Digital Motor Control Library (DMC) : ingle Phase ACI Motor Control Using Constant V/Hz 3-Phase ACI Motor Constant V/Hz Control 3-Phase ACI Motor Field Oriented Control 3-Phase ensored Field Oriented Control (PMM) 3-Phase ensorless Field Oriented Control (PMM) 3-Phase ensored Trapezoidal Control (BLDC) 3-Phase ensorless Trapezoidal Control (BLDC) 15-15

16 Digital Motor Control Library (DMC-Lib) The DMC-Library is a collection of most commonly used algorithms and function blocks for motor control systems For eery algorithm and function: Essential theoretical background information Data types for input/output parameters with numerical range and precision Function prototypes and calling conentions code size (program and data memory) Build Leel based code examples 15-16

17 Digital Motor Control Library (DMC-Lib) The DMC-Lib contains PID regulators, Clarke transformers, Park transformers, Ramp generators, ine generators, pace Vector generators, Impulse generators, and more 15-17

18 Laboratory: FOC for PMM PI i qs i ds PI PI qs ds i ds i qs In. Park θ λr Park αs βs i αs i βs pace Vector Gen. Clarke T a T b T c i as i bs PWM Drier Ileg2_ Bus Drier PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 ADCIN1 ADCIN2 ADCIN3 Voltage ource Inerter ω r PEED FRQ θ e dir QEP THETA DRV QEP_A QEP_B QEP_inc Encoder PMM TM320F28x controller 15-18

19 TI Library olution PMM (sprc129) Hardware for Laboratory setup: pectrum Digital ezdsp TM320F2812 pectrum Digital DMC550 drie platform 3-phase PMM with a QEP encoder Applied Motion 40mm Alpha Motor Type: A V DC power supply ( DC bus oltage ) load, e.g. DC Motor as Generator PC parallel port to JTAG 5V DC ( ezdsp ) R232 ( optional ) Oscilloscope 15-19

20 TI Library olution PMM (sprc129) PMM 3-1 Load 24V ezdsp DMC 550 R232 (optional) 5V DC PC- parallel port 15-20

21 PMM Laboratory tudent Workbench 15-21

22 TI DMC Library Modules i as i αs αs qs qs αs i bs Clarke i βs βs Park ds ds In. Park βs Variable transformation from phase ab-axis to stationary αβ-axis θ λr Variable transformation from Variable transformation from stationary αβ-axis to synchronously rotating dq-axis to synchronously rotating dq-axis stationary αβ-axis θ λr αs βs pace Vector Gen. T a T b T c pace-ector generator producing the duty cycle ratio of PWM signals 15-22

23 TI DMC Library Modules i qs i qs PI qs QEP_A QEP_B QEP_ind QEP THETA DRV θ e θ m dir θ e dir PEED FRQ ω r Proportional-Integral controller QEP drier and shaft position and rotor direction peed estimation from rotor position and rotor direction T a T b T c PWM Drier PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 ADCIN1 ADCIN2 ADCIN3 Ileg2_ Bus Drier i as i bs V dc PWM generation ADC drier for two line currents and DC-bus oltage measurement 15-23

24 Build Leel 1 Vq_testing αs T a PWM1 PWM2 Vd_testing In. Park βs pace Vector Gen. T b T c PWM Drier PWM3 PWM4 PWM5 PWM6 rmp_out speed_ref Ramp control Ramp Gen. key modules under test TM320F28x controller 15-24

25 Code Composer tudio with Real Time Mode 1. Load a workspace file pmsm3_1.wks 2. In build.h, #define BUILDLEVEL LEVEL1 3. Rebuild all 4. Load program to target (..\pmsm3_1.out) 15-25

26 Code Composer tudio with Real Time Mode 5. In Debug menu, Reset CPU and then set Real-time Mode. Then, click Yes when the message box pops up. 6. Click Run icon 15-26

27 Code Composer tudio with Real Time Mode 7. Right click on watch window. Then, check Continuous Refresh. 8. et enable_flg to 1 in watch window. (to enable T1UF interrupt and PWM drie on DMC550) 15-27

28 Code Composer tudio Leel 1 Changing!! watch window for build

29 Results: Build Leel 1 rmp_out Ta 15-29

30 Build Leel 2 Current erification Vq_testing αs T a PWM1 PWM2 Vd_testing In. Park θ e βs pace Vector Gen. T b T c PWM Drier PWM3 PWM4 PWM5 PWM6 Voltage ource Inerter i ds i qs Park i αs i βs Clarke i a i b Ileg2_ Bus Drier ADCIN1 ADCIN2 ADCIN3 peed_ref Ramp control Ramp Gen. rmp_out key module under test Encoder PMM TM320F28x controller 15-30

31 Instructions: Build Leel 2 1. Tune the 24V Power upply to 10 Volts with 1 Amp limit 2. Load a workspace file pmsm3_1.wks 3. In build.h, #define BUILDLEVEL LEVEL2 4. Reset CPU, Compile, Load, start RTM and Run 5. witch on 24V Power upply 6. et ariable enable_flg to 1 in watch window. 7. Try to change motor speed by setting speed_ref (p.u.) in watch window. Then, motor should change its speed accordingly

32 Results: Build Leel 2 1. PMM should run open-loop smoothly 2. The currents in the motor phases should be sinusoidal

33 Build Leel 3 - Tuning of dq-axis current closed loops key modules under test Iq_ref Id_ref i ds PI PI qs ds In. Park αs βs rmp_out pace Vector Gen. T a T b T c PWM Drier PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Voltage ource Inerter i ds i qs Park i αs i βs Clarke i a i b Ileg2_ Bus Drier ADCIN1 ADCIN2 ADCIN3 peed_ref Ramp control Ramp Gen. Encoder PMM TM320F28x controller 15-33

34 Instructions: Build Leel 3 1. In build.h, #define BUILDLEVEL LEVEL3 2. Compile, Load, start RTM and Run 3. et enable_flg to 1 in watch window. 4. Tune-up up the PI Obsere dq-axis current regulations at PI inputs (i.e., reference and feedback). For example, pid1_iq.pid_ pid1_iq.pid_ref_reg3 and pid1_iq.pid_ pid1_iq.pid_fdb_reg3. Try to change motor speed by setting speed_ref (p.u.) in watch window. Then, obsere dq-axis current regulations. ref fdb P I D out 15-34

35 Build Leel 4 Encoder erification Iq_ref Id_ref PI PI qs ds i ds i qs In. Park Park αs βs rmp_out i αs i βs pace Vector Gen. Clarke T a T b T c i a i b PWM Drier Ileg2_ Bus Drier PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 ADCIN1 ADCIN2 ADCIN3 Voltage ource Inerter peed_ref Ramp control Ramp Gen. Theta_elec θ m dir QEP THETA DRV QEP_A QEP_B QEP_inc Encoder PMM TM320F28x controller 15-35

36 Instructions: Build Leel 4 1. In build.h, #define BUILDLEVEL LEVEL4 2. Compile, Load, start RTM and Run 3. et the DC-bus to 24 Volts 1 Amp 4. et enable_flg to 1 in watch window

37 Results: Build Leel 4 Emulated angle V sensed angle 15-37

38 Results: Build Leel 4 peed reference V real speed 15-38

39 Build Leel 5 close speed loop PI i qs i ds PI PI qs ds i ds i qs In. Park θ λr Park αs βs i αs i βs pace Vector Gen. Clarke T a T b T c i as i bs PWM Drier Ileg2_ Bus Drier PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 ADCIN1 ADCIN2 ADCIN3 Voltage ource Inerter ω r PEED FRQ θ e dir QEP THETA DRV QEP_A QEP_B QEP_inc Encoder PMM TM320F28x controller 15-39

40 Instructions: Build Leel 5 1. In build.h, #define BUILDLEVEL LEVEL5 2. Compile, Load, start RTM and Run 3. et the DC-bus to 24 Volts 4. et enable_flg to 1 in watch window

41 Results: Build Leel 5 Fastest response time with the closed loop! 15-41

42 Application of PMM 3-1: 3 img GmbH Nordhausen 15-42

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