Module 15 : C28x Digital Motor Control

32-Bit-Digital Signal Controller

TMS320F2812
Texas Instruments Incorporated
European Customer Training Centre
University of Applied Sciences Zwickau (FH)

15 - 1
 Electrical Motor families

Motor Classification:
Direct Current Motors (DC)
Alternating Current Motors (AC)
 Asynchronous Induction Motor (ACI)
 Permanent Magnet Synchronous Motor
(PMSM)
 Synchronous Brushless DC Motor (BLDC)

15 - 2
 3 – Phase - Motor (PMSM)
c
ia  I s .e jt
ic  2
 j t 
ib  I S .e 3

 j t 
4
ic  I S .e 3
N 

S a ea  E.e jpt

ia 
ib  jpt 
2

eb  E.e 3

 jpt 
4
e  E.e 3
b  c
 For most three phase machines, the winding is stationery, and
magnetic field is rotating
 Three phase machines have three stator windings, separated
120° apart physically
 Three phase stator windings produce three magnetic fields,
which are spaced 120°in time
15 - 3
 3 – Phase - Motor
Three stationary pulsating magnetic fields

ia A`  The three phase winding

produces three magnetic
C
Fc
B
fields, which are spaced
120° apart physically.
Fa  When excited with three
C
Fb
`
sine waves that are a 120°
B` apart in phase, there are
A three pulsating magnetic
1,50
Phase currents fields.
1,00
ia ib ic
0,50
 The resultant of the three
0,00
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
t magnetic fields is a rotating
-0,50

-1,00
magnetic field.
-1,50

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 Synchronous Motor
Rotor field
A`  Rotor is carrying a constant
 magnetic field created either
C
F
N by permanent magnets or
B current fed coils
N  The interaction between the
rotating stator flux, and the
S rotor flux produces a torque
C` which will cause the motor to
S Stator field
B` rotate.
F

A
 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.

 60. f
Rotor speed (rad/s) :   gives ([Link])  Example: a 2 poles pair
p p synchronous motor will
run at 1500 [Link] for a
f : AC supply frequency (Hz) 50Hz AC supply
frequency
p : motor poles pair per phase
15 - 5
Synchronous Motors: BLDC and PMSM
 Both (typically) have permanent-magnet rotor and a
A wound stator
CF N`  BLDC (Brushless DC) motor is a permanent-magnet
B brushless motor with trapezoidal back EMF
 PMSM (Permanent-magnet synchronous motor) is a
permanent-magnet brushless motor with sinusoidal
C back EMF
S F
B `
` A
Back EMF of BLDC Motor
Back EMF of PMSM
300 900 1500 2100 2700 3300 300 900
00 600 1200 1800 2400 3000 3600 600 Ea 1,50
Phase A ia
e 1,00
ea eb ec
Hall A
0,50

Phase B
ib e 0,00
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
t
-0,50
Hall B
-1,00
Phase C
ic e -1,50

Hall C

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 3 – Phase Voltage Inverter

Upper & lower

devices can not
be turned on
DC - Voltage simultaneously
(dead band)


Six PWM signals
to control
Power Switches
 3 - phase
outputs to motor
terminals

Power
Switching
Devices

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 Scalar Control Scheme ( “ V/f ” )
*  PI V PWM1
+ PWM2
PWM PWM3
3-
Command PWM4
PWM5 Phase
V/f profile f PWM6
Inverter

Speed scaling

Speed calculator

+ Simple to implement: All you need is three sine

waves feeding the motor
+ Position information not required (optional).

– Doesn’t deliver good dynamic performance.

– Torque delivery not optimized for all speeds
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 Field Oriented Control (FOC)
 Field Oriented Control (FOC) or Vector
Control, is a control strategy for 3-phases
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, voltages, flux and
speed.

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 FOC control scheme
Inverse Park
 IQ VQ Vq
 PID  PID D,Q Space
PWM1
+ + PWM2
Vector PWM3
3-
ID VD Vd PWM4
PWM PWM5 Phase
 PID d,q PWM6
+ Inverter
Field Weakening
Controller
qr

r
IQ Iq ia
D,Q d,q ib

ID ic†
Id
d,q a,b,c

Park T Clarke T

Speed
Calculator
qr
†: ia + ib + ic = 0

Some key mathematical components are required!

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 PARK transform (1929):
vs1 
 (Vs): voltage vector applied (VS )  vs 2 
to motor stator (index s) vS 3 

 Park transform is a referential change

vs 3 vsd  
cos S  sin  S 1
vs1    vsd 
vsq v   cos(  2 )  sin(  2 ) 1  v 
 S  St  s2   S
3
S
3   Sq 
vs 3    v 
4 4  So 
vs1 cos( S  )  sin( S  ) 1 
vso  0  3 3 
vs1  vsd  vsd  vs1 
v    P( ).v  and v    P( ) 1 v 
vs 2  S2 S  sq   Sq  S  S2 
vS 3  v  v  vS 3 
 so   So 
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 Park Transform key components
vs 3 vsd

vsq    
S  St vS 1  vS 2  vS 3  0 (tri - phases balanced system)
 
vSd .vSq  0
 
vso  0 vs1 vSd .vSo  0
v .v  0
 Sq So

vs 2
 (vsd, vsq, vso) are called the Park coordinates
 vsd: direct Park component
 vsq: squaring Park component
 vso: homo-polar Park component
 Vso is null for a three-phases balanced system
 Each pair of components is perpendicular to each other
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 CLARKE – Transformation
 Transform is usually split into CLARKE transform and one rotation
 CLARKE converts balanced three phase quantities into balanced two
phase orthogonal quantities

CLARKE
v v  v1
v2 vd
2.v2  v1
v 
3
vq  S  St
+
v1= v Rotation
v   cos( ) sin( )  v 
 d S S  
 v   sin( ) cos( ) v 
 q   S S   

v3 PARK TRANSFORM 15 - 13
 PARK Transform summary
v
v1
Vd
v2 Clarke Park
v
v3 Vq

Three phase rotating Two phase rotating

domain domain Stationary domain
is 2 IS β
d
 Stator phase current
example: Is is moving at θS ISd
and its PARK coordinates q
 S  S  t
are constant in (d,q) rotating ISq
is1
frame. iso  0 α
 Can be applied on any three-
phase balanced variables is 3
(flux…) 15 - 14
Texas Instruments Motor Control Solution

“C2000 - Digital Motor Control Library (DMC)” :

 Single 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 Sensored Field Oriented Control (PMSM)
 3-Phase Sensorless Field Oriented Control
(PMSM)
 3-Phase Sensored Trapezoidal Control (BLDC)
 3-Phase Sensorless Trapezoidal Control (BLDC)

15 - 15
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 every algorithm and function:
 Essential theoretical background information
 Data types for input/output parameters with
numerical range and precision
 Function prototypes and calling conventions

 code size (program and data memory)

 Build Level based code examples

15 - 16
Digital Motor Control Library (DMC-Lib)
The DMC-Lib contains
 PID regulators,
 Clarke transformers,
 Park transformers,
 Ramp generators,
 Sine generators,
 Space Vector generators,
 Impulse generators,

and more…
15 - 17
 Laboratory: FOC for PMSM
PWM1
iqs * vqs *
vs * Ta
PWM2
PI PI PWM3
Space Tb
Inv. PWM PWM4
Vector
ids* vds* Park vs* Driver PWM5
Gen. Tc
PI PWM6
Voltage
Source
r Inverter
ADCIN1
ids is ias
Ileg2_ ADCIN2
iqs Park is Clarke ibs Bus
Driver ADCIN3

Encoder
QEP_A PMSM
r SPEED QEP
FRQ e QEP_B
THETA
dir QEP_inc
DRV
TMS320F28x controller 15 - 18
TI Library Solution “PMSM 3-1” (sprc129)

Hardware for Laboratory setup:

• Spectrum Digital eZdsp TMS320F2812

• Spectrum Digital DMC550 drive platform
• 3-phase PMSM with a QEP encoder
• Applied Motion 40mm Alpha Motor
• Type: A0100-104-3-100
• 24V DC power supply ( DC bus voltage )
• load , e.g. DC Motor as Generator
• PC parallel port to JTAG
• 5V DC ( eZdsp )
• RS232 ( optional )
• Oscilloscope

15 - 19
TI Library Solution “PMSM 3-1” (sprc129)

PMSM 3-1

Load

24V
eZdsp

RS232
DMC 550 (optional)

5V DC

PC- parallel port 15 - 20

 PMSM 3-1 Laboratory

Student Workbench

15 - 21
 Build Level 1
PWM1
Vq_testing vs * Ta
PWM2
Space Tb PWM3
Inv. PWM PWM4
Vd_testing Vector
Park vs* Driver PWM5
Gen. Tc
PWM6

rmp_out
speed_ref Ramp Ramp
control Gen.
key modules under test

TMS320F28x controller

15 - 24
 Code Composer Studio 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
 Code Composer Studio 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
 Code Composer Studio with
Real Time Mode
7. Right click on watch window. Then, check
“Continuous Refresh”.

8. Set “enable_flg” to 1 in watch window.

(to enable T1UF interrupt and PWM drive on DMC550)
15 - 27
Code Composer Studio Level 1

Changing !!

watch window
for build 1

15 - 28
Results: Build Level 1

rmp_out

Ta

15 - 29
 Build Level 2 – Current verification
PWM1
Vq_testing vs * Ta
PWM2
Space Tb PWM3
Inv. PWM PWM4
Vd_testing Vector
Park vs* Driver PWM5
Gen. Tc
PWM6
Voltage
Source
e Inverter
ADCIN1
ids is ia Ileg2_ ADCIN2
iqs Park is Clarke ib Bus
Driver ADCIN3

key module under test

Encoder
Speed_ref PMSM
Ramp Ramp rmp_out
control Gen.

TMS320F28x controller 15 - 30
 Instructions: Build Level 2
1. Tune the 24V Power Supply 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. Switch on 24V Power Supply
6. Set variable “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.

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 Results: Build Level 2

1. PMSM should run open-loop smoothly

2. The currents in the motor phases should be
sinusoidal.

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 Build Level 3 - Tuning of dq-axis current closed loops
key modules under test
PWM1
vs * Ta
Iq_ref vqs* PWM2
PI Space Tb PWM3
Inv. PWM PWM4
ids* Vector
Id_ref vds* Park vs* Driver PWM5
Gen. Tc
PI PWM6
Voltage
Source
rmp_out Inverter
ADCIN1
ids is ia
Ileg2_ ADCIN2
iqs Park is Clarke ib Bus
Driver ADCIN3

Encoder
Speed_ref PMSM
Ramp Ramp
control Gen.

TMS320F28x controller 15 - 33
 Instructions: Build Level 3

1. In build.h, #define BUILDLEVEL LEVEL3

2. Compile, Load, start RTM and Run
3. Set “enable_flg” to 1 in watch window.
4. Tune-up the PI
• Observe dq-axis current regulations at PI inputs (i.e., reference and feedback). For
example, “pid1_iq.pid_ref_reg3” and “pid1_iq.pid_fdb_reg3”.
• Try to change motor speed by setting “speed_ref” (p.u.) in watch window . Then,
observe dq-axis current regulations.

ref
P out
fdb I
D

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 Build Level 4 – Encoder verification
PWM1
vqs *
vs * Ta
Iq_ref PWM2
PI Space Tb PWM3
Inv. PWM PWM4
Vector
Id_ref vds* Park vs* Driver PWM5
Gen. Tc
PI PWM6
Voltage
Source
rmp_out Inverter
ADCIN1
ids is ia
Ileg2_ ADCIN2
iqs Park is Clarke ib Bus
Driver ADCIN3

Speed_ref Ramp Ramp

Encoder
control Gen. Theta_elec PMSM
QEP_A
m QEP QEP_B
THETA
dir QEP_inc
DRV
TMS320F28x controller 15 - 35
 Instructions: Build Level 4

1. In build.h, #define BUILDLEVEL LEVEL4

2. Compile, Load, start RTM and Run
3. Set the DC-bus to 24 Volts 1 Amp
4. Set “enable_flg” to 1 in watch window.

15 - 36
 Results: Build Level 4

 Emulated angle VS sensed angle

15 - 37
 Results: Build Level 4

 Speed reference VS real speed

15 - 38
 Build Level 5 – close speed loop
PWM1
iqs * vqs *
vs * Ta
PWM2
PI PI PWM3
Space Tb
Inv. PWM PWM4
Vector
ids* vds* Park vs* Driver PWM5
Gen. Tc
PI PWM6
Voltage
Source
r Inverter
ADCIN1
ids is ias
Ileg2_ ADCIN2
iqs Park is Clarke ibs Bus
Driver ADCIN3

Encoder
QEP_A PMSM
r SPEED QEP
FRQ e QEP_B
THETA
dir QEP_inc
DRV
TMS320F28x controller 15 - 39
 Instructions: Build Level 5

1. In build.h, #define BUILDLEVEL LEVEL5

2. Compile, Load, start RTM and Run
3. Set the DC-bus to 24 Volts
4. Set “enable_flg” to 1 in watch window.

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 Results: Build Level 5
 Fastest response time with
the closed loop!

15 - 41
Application of PMSM 3-1:

img GmbH Nordhausen

15 - 42