AC Induction Motor Control with the dspic30f Microchip Technology Incorporated. All Rights Reserved. Slide 1

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Terence Waters
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2 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 2 Overview 1. dspic DSC Architecture Overview Motor Control Family Overview Motor Control Peripherals 2. Motor Theory Force DC Motors AC Induction Motors

3 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 3 3. AC Drives Overview 6-Step Drive Sine Weighted PWM Motor Control PWM Module dspic DSC Motor Control Development Tools Lab 1 : Use of MPLAB IDE & Tools Lab 2: Fixed-Speed Sinusoidal Drive Induction Motor Slip vs. Torque Constant V/Hz Control Lab 3: Variable Speed V/Hz Drive Space Vector Modulation Lab 4: V/Hz Drive with SVM

5 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 5 What is DSC? Digital Signal Control PERFORMANCE Embedded Control + Digital Signal Processing dspic33f dspic30f The DSP Space 32-bit MCU 8-bit MCU 1-10 MIPS 16-bit MCU 5-15 MIPS PRICE dspic DSC The 16-bit MCU with the power of DSP

6 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 6 dspic DSC Family: Architected from Scratch Seamlessly integrates a DSP and an MCU MCU look and feel, easy to use Competitive DSP performance Optimized for C compiler Fast, deterministic, flexible interrupts Excellent RTOS support

7 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 7 dspic DSC Highly Optimized C compiler Control Centric Benchmarks Relative Code Size 16-bit Applications (~ 40KB code) 32-bit Applications (~ 50KB code) 180% 188% 152% 153% 153% 157% 156% 129% 136% 113% 114% 114% 100% 100% dspic DSC Mitsubishi M16C Motorola HC12 Hitachi H8S TI 320C24x FS 56F8367 Infineon C16X dspic DSC Mitsubishi M16C FS 56F8367 Motorola HC12 Hitachi H8S TI 320C24x Infineon C16X MPLAB C30 v1.30 MPLAB C30 v1.30

8 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 8 dspic30f Products Power Conversion & Motor Control Family Product dspic DSC Pins Flash KB SRAM Bytes EE Bytes Timer 16-bit Input Cap Output Comp/ Std PWM Motor Cntrl PWM A/D 10-bit 1.0 Msps Quad Enc UART SPITM I 2 C TM CAN dspic30f ch Yes dspic30f ch Yes dspic30f ch Yes dspic30f ch Yes dspic30f ch Yes dspic30f ch Yes dspic30f ch Yes dspic30f ch Yes Brushless DC Motor Control AC Induction Motor Control Switch Reluctance Motor Control UPS, Inverters and Power Supplies Appliances Power Tools Automotive Industrial

9 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 9 dspic33f Products Power Conversion & Motor Control Family Product PINS Flash (KB) RAM (KB) Dual Port RAM (KB) T I M E R I C OC PWM M C P W M 10-bit ADC 1.1 Msps # ADC, # Ch U A R T S P I I 2 C C A N Q E I dspic33fj64mc ADC, 16 Ch dspic33fj64mc ADC, 18 Ch dspic33fj64mc ADC, 24 Ch dspic33fj64mc ADC, 16 ch dspic33fj64mc ADC, 24 ch dspic33fj128mc ADC, 16 Ch dspic33fj128mc ADC, 24 Ch dspic33fj128mc ADC, 16 ch dspic33fj128mc ADC, 18 Ch dspic33fj128mc ADC, 24 ch dspic33fj256mc ADC, 16 ch dspic33fj256mc ADC, 24 ch

11 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 11 dspic DSC Architecture Main Features Single core integrating an MCU & a DSP Modified Harvard Architecture Data is 16-bit wide Instruction is 24-bit wide Linear program memory up to 12 MB Linear data (RAM) up to 64 kb True DSP capability Many integrated peripherals

12 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 12 dspic DSC Architecture Main Features (continued) 16 x 16-bit working register array Software stack Fast, deterministic interrupt response Three operand instructions: C = A + B Extensive addressing modes DMAC w/ dual port SRAM - 8 channels for peripherals

2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 13 dspic DSC Operating Parameters Feature dspic30f dspic33f Operating Speed: DC to 30 MIPS DC to 40 MIPS VDD:(VDC) 2.5 to 5.

13 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 13 dspic DSC Operating Parameters Feature dspic30f dspic33f Operating Speed: DC to 30 MIPS DC to 40 MIPS VDD:(VDC) 2.5 to to 3.6 Temp: -40 C to +125 C -40 C to +85 C Program Memory: Flash Flash Data Memory: SRAM, EEPROM SRAM, Self-write Flash Package sizes 18-pin SO & SP 28-pin SO, SP and QFN 40-pin SP; 44-pin TQFP, QFN 64-, 80- and 100- pin TQFP DS 28 lead QFN: 6 x 6 x 0.9 mm

14 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 14 dspic Architecture Block Diagram Data Memory (RAM) 30 KB 2 KB Dual Port RAM DMAC 8 chan. Selected Peripherals DSP: dual access MCU: single access Instruction Pre-fetch & Decode DSP Engine Y AGU W Array 16 x 16 X AGU TABLE Access Cntrl Program Memory 256 KB MCU ALU 23-bit PC Control Address Path MCU/DSP Data Path DSP Data Path Program Data/Control Path

15 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 15 W Registers General Purpose Data Registers or Address Pointers Programmers Model W0 W1 W2 W3 W4 W5 W6 W7 W8 W9 W10 W11 W12 W13 W14 W Divide Quotient Divide Remainder Frame Pointer Stack Pointer Stack Pointer Limit SPLIM DSP OPERAND Registers DSP ADDRESS Registers DSP Accumulators (40-bit) ACCA ACCB OA OB SA SB OAB SAB DA DC IPL2IPL1 IPL0 RA N OV Z C Status Register

17 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 17 Interrupt Vector Table Interrupt Vector Table (IVT) Alternate Interrupt Vector Table (AIVT) Reset - GOTO Instruction Reset - GOTO Address Reserved Oscillator Fail Trap Address Error Trap Stack Error Trap Math Error Trap Reserved Reserved Reserved Interrupt Vector 0 Interrupt Vector 1 Interrupt Vector 2 Interrupt Vector 53 Reserved Reserved Reserved Oscillator Fail Trap Interrupt Vector 53 0x x x00007E 0x x0000FE Decreasing Natural Order Priority

18 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 18 Traps for Robust Operation Oscillator Failure Trap (level 14) Address Error Trap (level 13) Instruction fetch from illegal program space Data fetch from unimplemented data space Unaligned word access from data space Stack Error Trap (level 12) Stack overflow or underflow Arithmetic Error Trap (level 11) Divide by Zero Unsaturated Accumulator Overflow (A or B) Catastrophic Accumulator Overflow (either) Accumulator Shift Overflow

20 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 20 System Management Features dspic DSC has the same system management features that PIC MCU users love Configurable Watchdog Timer with its own RC oscillator Programmable Time out: 2 ms - 16 sec Power-On-Reset with a programmable delay 0, 4, 16, 64 ms Brown-out Reset with programmable levels Low VDD Detect Interrupt with programmable levels

21 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 21 Clock sources Low Pwr RC 512KHz Fast RC 8.0 MHz OSCI EC Clock XTL, XT, HS Primary Xtal OSC PLL 4x, 8x, 16x or bypass Clock Divide By 1, 4, 16, 64 System Clock OSCO SOSCI 32KHz Timer1 Xtal OSC SOSCO

22 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 22 Fail-Safe Operation Features that make the target system safe! Clock monitor detects oscillator failure Automatic switch to an internal RC clock Illegal Program Instruction Device Resets Traps let software handle error conditions Oscillator Fail Address out of range Stack out of range Math errors

23 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 23 dspic Peripherals MCU / DSP CORE 16-bit ALU 16 x 16 MAC Dual 40-bit ACC Program Memory Flash 256 KB Data Memory SRAM 32 KB ADC 12-bit 200 ksps 10-bit 1.0 Msps TIMER1 Real Time Clock 16 / 32 bit Timers TIMER2 / TIMER3 16 / 32 bit Timers TIMER4 / TIMER5 Output Compare Standard PWM (8 ch / 16-bit) Input Capture (8 ch / 16-bit) Motor Control PWM 16-bit, 6-8 ch Quadrature Encoder (TIMER6) Data Memory EEPROM 4 KB UART 1 UART 2 SPI 1 SPI 2 I2C DCI CAN 1 CAN 2

25 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 25 Basic Motor Theory What is a Motor? A Motor Converts Electrical Energy to Mechanical How? Force is developed when charge moves through a magnetic field F = I x B

28 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 28 DC Motor Torque Summary Torque = Force * Distance F = I x B T = ( I x B ) * D When B and D are constant T = Κ * Ι A When field is wound B = Κ * Ι F In wound DC motors Torque and Flux B can be controlled independently

29 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 29 AC Induction Motors Only have direct control of motor voltage and phase of modulation Torque and flux can be measured and controlled indirectly using a series of coordinate transforms These transforms are math intensive and must be done at the carrier rate which requires a high speed processor such as the dspic DSC

30 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 30 AC Induction Motor Rotating flux Generated by alignment of 3 phase windings on Stator(Armature) Synchronous speed of field depends on number of poles 2 pole@ 60 Hz, 3600 rpm 4 60 Hz, 1800 rpm

32 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 32 AC Induction Motor ACIM Rotor Laminated steel rotor with slots for copper rod conductor bars Rotating flux induces current on rotor conductors, and end ring completes circuit Induced rotor current creates force, which causes rotor to rotate Conductor bars End ring

2-Pole 3-Phase Stator Winding 2005 Microchip

38 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 38 Terms used in Induction motor Synchronous speed = 120X Frequency/Poles - Speed corresponding to the stator frequency Base speed - speed for which the motor is designed Number of Poles - Number of electrical path in the stator windings Slip - Difference between the stator frequency and rotor frequency <Torques> Full load torque(t) - Motor runs at base speed Break-down torque = approx. 2.5 X T, speed drops to approx. 80% of sync. Speed Locked-rotor torque = approx. 1.5 X 0 RPM

39 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 39 Induction motor Characteristic Break-down torqueworking range Locked rotor torque Torque, TRated Current Pull-up torque Torque Slip Current Speed NB Ns NS - Synchronous speed NB - Base speed

41 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 41 AC Motor Drives 6-Step Drive Sine Weighted PWM Motor Control PWM Module dspic DSC Motor Control Development Tools Lab 1 : Use of MPLAB IDE & Tools Lab 2: Fixed-Speed Sinusoidal Drive Induction Motor Slip vs. Torque Constant V/Hz Control Lab 3: Variable Speed V/Hz Drive Space Vector Modulation Lab 4: Variable Speed V/Hz Drive

43 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 43 Sine Weighted PWM Allows Fixed DC bus Output Voltage is PWM Motor Integrates PWM Voltage and produces Sinusoidal Current with small ripple at carrier frequency Voltage is output proportional to frequency to maintain constant steady state flux VDC

45 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 45 Motor PWM Feature Summary Four PWM generators 2 I/O pins per generator Complementary or independent pair Center or edge aligned PWM Non-volatile output polarity for I/O Dead time unit Manual override control 2 Fault pins

46 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 46 Motor Control PWM PWM module variants: pin devices 3 generators, 6 outputs 1 fault input pin 1 dead time generator pin devices 4 generators, 8 outputs 2 fault input pins 2 dead time generators

47 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 47 A/D Conversion Trigger Motor Control PWM Block Diagram 16-bit Time-base Dead Time A Dead Time B Override Control Duty Cycle Generator #4 Dead Time Unit PWM4H PWM4L Duty Cycle Generator #3 Duty Cycle Generator #2 Dead Time Unit Dead Time Unit PWM Override Logic PWM3H PWM3L PWM2H PWM2L Four PWM output pairs with output polarity control Duty Cycle Generator #1 Dead Time Unit PWM1H PWM1L Fault A Fault B Two fault pins w/ programmable fault states

48 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 48 Motor Control PWM PWM Timebase PWM timebase is 15-bits Timebase increments every Tcy PWM duty cycle registers are 16-bits PDC<15:1> compared to the timebase PDC<0> = 0, PWM toggles at Tcy PDC<0> = 1, PWM toggles at Tcy/2

49 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 49 Motor Control PWM Frequency/Resolution vs. Instruction rate Instruction Rate Max PWM Freq 10-bit Resolution Max PWM Freq 12-bit Resolution MIPS KHz KHz

50 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 50 Motor Control PWM PTCON register 4 timebase modes timebase mode determines PWM type 4 prescaler selections 16 postscaler options Stop in Idle mode bit R/W-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 PTEN - PTSIDL bit bit8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PTOPS<3:0> PTCKPS<1:0> PTMOD<1:0> bit bit0

51 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 51 Motor Control PWM PWM timebase modes Edge aligned Single event Useful for high speed SR control Center aligned Reduces switching noise Helpful with SVM Center aligned w/ double update Increases control bandwidth

55 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 55 MCPWM Operating Modes Center Aligned PWM w/ Double Update duty cycle changed duty cycle changed buffer update buffer update buffer update buffer update PTPER PWM

57 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 57 Motor Control PWM PWM Formula for Center Aligned PWM PTPER = (Fcy/Fpwm - 1)/2 PWM Formula for Edge Aligned PWM PTPER = (Fcy/Fpwm - 1)

58 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 58 Motor Control PWM Independent Output Mode Common PWM generator for output pair No restrictions on output pin states Useful for SR inverter V DD PWM Generator PWMxH PWMxH V DD PWMxL PWMxL

60 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 60 Motor Control PWM Dead Time Generators Two programmable dead times Control bits choose dead time for active/inactive events Two ways to use DTA and DTB Tcy minimum resolution Prescalers for increased dead time 6-output PWM does not have DTB

61 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 61 Motor Control PWM Dead Time Generator Block Diagram Dead time select bits Zero Compare Tcy Dead time prescale select A Clock Control and Prescaler 6-Bit Down Counter PWMxH PWMxL Dead time prescale select B Dead Time Register B PWM Generator Edge Det. Dead Time Register A

62 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 62 MCPWM Dead Time Used in complementary mode Two programmable dead times different inverter ckts. OR optimization 33 nsec minimum resolution, up to 10 usec Dead Time A Dead Time B PWM1H PWM1H PWM1L PWM1L

63 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 63 MCPWM A/D Synchronization SEVTCMP register sets A/D conversion start time in PWM cycle Ensure A/D properly captures shunt current Can also use to minimize control loop update delay Trigger conversion near end of bottom transistor on-time PWM1H PWM1H PWM1L T PWM1L To A/D

64 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 64 MCPWM Fault Inputs Automatic or latched fault protection Fault condition overrides all other pin control Current Limit Motor Current PWM LATCHED PWM1H PWM1L Current Limit Motor Current AUTOMATIC FLTA Current Limit PWM

65 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 65 PWM Setup for ACIM Drive PWM peripheral: Set for center aligned operation Set for 1,2,3 pairs in complementary mode Set for 2 us dead time (hardware-specific) 16 khz PWM base frequency Set ADC trigger as required Enable PWM interrupts and/or ADC interrupts

power modules Latched self-protection HV is fully

67 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 67 dspicdem MC Development Kit Two piece solution Simplify development phase of project HV and LV power modules Latched self-protection HV is fully isolated Many options for sensor feedback voltage, current, comparator, hall sensor, encoder Use either piece separately

68 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 68 dspicdem MC1 Board dspic30f6010 device emulation and ICD interface emulator pins allow adapter boards 37-pin interface to power modules buffered switch firing signals RC filtering for feedback QEI, Hall terminal block with RC filtering Comm and user interface

69 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 69 dspicdem MC1H Power Module 3-phase IGBT inverter Universal voltage input w/ bridge rectifier boost converter circuit for PFC apps brake circuit 230 VAC input max, 5A RMS input max electrically isolated in default configuration

70 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 70 dspicdem MC1L Power Module 3-phase MOSFET inverter reverse voltage input protection brake circuit 48 VDC input max, 15A input max

71 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 71 High Voltage Module Safety Tips ALWAYS make sure bus voltage status LED is not lit and power is unplugged prior to connecting motor or power wires To enable non-isolated sensor feedback: 1. Connect VDC bus rail to earth ground using external terminal connections 2. Use floating power source for power module 1:1 isolation transformer, OR High voltage laboratory DC supply

73 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 73 LAB1- Use of MPLAB IDE & Tools Install MPLAB IDE & MPLAB C30 Make Project using Lab1 source code Lab1.c / lcd_drivers.c / xlcd.h Linker Scripts : p30f6010.gld C:\Program Files\Microchip\MPLAB C30\support\gld Complete Source Code Set Button port as input Set LED1/2/3/4 port as output Toggle LED1/2/3/4 upon pressing button Configuration Primary OSC XT w/pll 4x, WDT - Disable

75 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 75 LAB2- Fixed Speed AC Drive Make Project using Lab2 source code Lab2.c/lcd_drivers.c/xlcd.h/hardware.h/foo.s Linker Scripts : p30f6010.gld Complete Source Code Make Sinetable(Fractional Value) using Excel Table Pointer No : Size : 2 16 Set PTPER as PWM Frequency at 16KHz Set PWMCON1 as complementary mode Set PTCON as center aligned mode Set Sync Speed of Stator Magnetic Field at 30Hz Enable PWM channel when pressing button1 Configuration Primary OSC XT w/pll 4x, WDT - Disable

77 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 77 ACIM Torque vs. Slip Torque 50V/15 50V/15 Hz Hz 100V/30 100V/30 Hz Hz 150V/45 150V/45 Hz Hz 200V/60 200V/60 Hz Hz Reactance of Motor is proportional to Drive Frequency Frequency Adjust Voltage Adjust

78 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 78 V/Hz Profile 240 Volts RMS Boost Region Amplitude = Frequency * V_Hz_Gain High Amplitude Note: Limit Phase currents remain relatively constant over freq. range when V/Hz slope is set properly. Constant V/F Boost region can be extended for additional low speed Region torque. 40 Low Frequency Cutoff Frequency (Hz)

81 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 81 A/D Feature Summary 10-bit Resolution with +/- 1-bit accuracy Sample time ns 1 usec conversion time Up to 16 analog inputs, 4 S/H Amplifiers

82 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 82 A/D Feature Summary External VREF+ and VREF- Programmable sampling sequence 16-sample, dual-ported result buffer Scan mode Alternate sample mode Multiple conversion trigger sources Selectable result formats Conversions in Sleep and Idle

83 Input Muxes 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide bit A/D Block Diagram VREF+ VREF- Conversion Control AN0 AN1 S/H S/H CH0 CH1 CH2 A D C 10 bit 500 KSPS 16 word Buffer Data Format Bus Interface S/H CH3 S/H AN15 Sample Sequence Control

84 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 84 Multi-Channel Sampling 10-bit A/D has 4 Sample/Hold amplifiers Enable 1, 2, or 4 per conversion sequence Simultaneous sample, then convert OR Sequentially sample AN0 AN1 AN2 AN3 SIMULTANEOUS SAMPLING SEQUENTIAL SAMPLING

85 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide bit A/D Converter ADCHS Register - CH0 S/H Input Selection AN1 AN0 - AN CH 0 ADCHS Register VREF- R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 CHXNB<1:0> CHXSB CH0NB CH0SB<3:0> bit bit8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 CHXNA<1:0> CHXSA CH0NA CH0SA<3:0> bit bit0

86 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide bit A/D Converter ADCHS - CH1, CH2, CH3 Input Select AN0 AN3 AN6 + CH 1 - AN1 AN4 AN7 + CH 2 - AN2 AN5 AN8 + CH 3 - AN9 VREF- VREF- AN10 AN11 VREF- ADCHS Register R/W -0 R/W -0 R/W -0 R/W -0 R/W -0 R/W -0 R/W -0 R/W-0 CHXNB<1:0> CHXSB CH0NB CH0SB<3:0> bit bit8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 CHXNA<1:0> CHXSA CH0NA CH0SA<3:0> bit bit0

88 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 88 LAB3- Variable speed V/Hz Drive Make Project using Lab3 source code Lab3.c/lcd_drivers.c/xlcd.h/hardware.h/foo.s Linker Scripts : p30f6010.gld Complete Source Code Set Jumper to connect AN12 & VR1 Set AN7(VR2) & AN12(VR1) as analog input Enable ADC Peripheral Start A/D sampling & Manual Conversion Configuration Primary OSC XT w/pll 4x, WDT Disable Torque Change Set Flags.TestMode =1 and try to turn VR1(amplitude) Feel Torque Variation at a low speed

89 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 89 Space Vector Modulation Solves problem of low voltage by using Space Vectors to calculate duty cycle Allows full voltage to motor with low harmonic distortion Simplifies calculation of PWM values

90 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 90 Output Voltage Considerations Rectified AC is only.86% of peak-to-peak Straight PWM will not be able to reproduce full voltage sine wave Vp-p VDC

92 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 92 Voltage Space Vector Van(t)+Vbn(t)+Vcn(t) ) = 0 Vs(t) ) = Van(t)e j0 + Vbn(t)e j2 j2π/3 /3 + Vcn(t)e j4 Van = VaN+VNn, Vbn = VbN+VNn, Vcn = VcN+VNn j4π/3 Vs(t) ) = VaN(t)ej0 + VbN(t)ej2π/3 + VcN(t)ej4π/3

100 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 100 SVM Algorithm Steps Determine sector and normalize phase angle Calculate T1, T2, and T0 times T1 = T m sin(60 - θ) T2 = T m sin(θ) T0 = T - T1 - T2 Determine SVM switching pattern Calculate PWM duty cycles from T1, T2, T0

102 2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 102 LAB4- V/Hz Drive with SVM Make Project using Lab4 source code Lab4.c/lcd_drivers.c/xlcd.h/hardware.h Linker Scripts : p30f6010.gld Complete Source Code Time-weight of each phase to make SV Set PDC1/2/3 proper to each sector Configuration Primary OSC XT w/pll 4x, WDT Disable

Low Cost Motor Control Family

Low Cost Motor Control Family 2011 Microchip Technology Incorporated. All Rights Reserved. Comparator with blanking and filtering Slide 1 Welcome to the Low Cost Motor Control Family web seminar. My Name