DSP-Based Electromechanical Motion Control (Power Electronics and Applications Series)

DSP-Based Electromechanical Motion Control......Page 2
Preface......Page 6
Acknowledgements......Page 7
Table of Contents......Page 8
1.1 Introduction......Page 12
1.2 Brief Introduction to Peripherals......Page 14
1.3 Types of Physical Memory......Page 16
1.4.1 Becoming Aquatinted with Code Composer Studio (CCS)......Page 17
2.2 The Components of the C2xx DSP Core......Page 30
2.3 Mapping External Devices to the C2xx Core and the Peripheral Interface......Page 32
2.4 System Configuration Registers......Page 33
2.5 Memory......Page 37
2.5.2 Memory Space and Allocation......Page 38
2.5.3 Memory Maps......Page 39
2.6 Memory Addressing Modes......Page 42
2.6.2 Direct Addressing Mode......Page 43
2.6.3 Indirect Addressing Mode......Page 45
2.7.1 Using the Assembly Instruction Set......Page 47
2.7.2 Code Generation in Code Composer Studio (CCS)......Page 50
2.7.3 Code Generation Exercise Using Code Composer......Page 57
3.1 Pin Multiplexing (MUX) and General Purpose I/O Overview......Page 60
3.2 Multiplexing and General Purpose I/O Control Registers......Page 61
3.2.1 I/O Multiplexing (MUX) Control Registers......Page 62
3.2.2 Port Data and Direction Control Registers......Page 65
3.3 Using the General Purpose I/O Ports......Page 68
3.4 General Purpose I/O Exercise......Page 69
4.2.1 Interrupt Request Sequence......Page 72
4.3.1 Interrupt Flag Register (IFR)......Page 75
4.3.2 Interrupt Mask Register (IMR)......Page 77
4.3.3 Peripheral Interrupt Vector Register (PIVR)......Page 78
4.4.1 Configuring the LF2407 for Interrupt Operation......Page 81
4.4.2 Servicing Interrupts......Page 82
4.5 Interrupt Usage Exercise......Page 86
5.1.1 Summary of the LF2407 ADC......Page 88
5.2 Operation of the ADC......Page 89
5.2.1 Sequencer Configurations of the ADC......Page 90
5.2.2 Sequencer Operating Modes......Page 92
5.2.3 Triggering Sources for the LF2407 ADC......Page 94
5.2.4 The ADCTRL1 and ADCTRL2 Control Registers......Page 95
5.2.5 Specifying the Maximum Number of Auto-Conversions......Page 104
5.2.6 Specifying ADC Input Channels and Conversion Order......Page 105
5.2.7 Results of the ADC Conversion......Page 106
5.2.8 The Auto-Sequence Status Register......Page 107
5.3 Analog to Digital Converter Usage Exercise......Page 109
6.1 Overview of the Event Manager (EV)......Page 112
6.2 Event Manager Interrupts......Page 113
6.3 General Purpose (GP) Timers......Page 126
6.3.1 GP Timer Inputs and Outputs......Page 128
6.3.2 GP Counting Operation......Page 129
6.3.3 Control Registers Associated with the General Purpose Timers......Page 133
6.3.4 GP Timer Interrupts......Page 139
6.3.5 PWM Output and General Purpose Timer Compare Operation......Page 140
6.4 Compare Units......Page 145
6.4.1 Inputs and Outputs of the Compare Units......Page 146
6.4.2 Operation of Compare Units......Page 147
6.4.3 Dead Band Generation......Page 148
6.4.6 Data Memory Mapped Registers Associated with the Compare Units......Page 151
6.5 Capture Units and Quadrature Encoded Pulse (QEP) Circuitry......Page 158
6.5.1 Operation of the Capture Unit......Page 161
6.5.3 Quadrature Encoded Pulse (QEP) Circuitry......Page 162
6.5.4 Capture Unit / QEP Control Registers......Page 164
6.6 General Event Manager Information......Page 169
6.7 Exercise: PWM Signal Generation......Page 172
7.2 Converter Structure......Page 174
7.3 Continuous Conduction Mode......Page 175
7.5 Connecting the DSP to the Buck-Boost Converter......Page 176
7.5.2 Current Sensor......Page 177
7.5.3 Voltage Sensor......Page 178
7.6 Controlling the Buck-Boost Converter......Page 179
7.7.1 Variables Initialization......Page 182
7.7.3 Initialization of GP Timer 1 for PWM Generation......Page 183
7.7.4 Sampling Period Interrupt Initialization......Page 184
7.8.1 Reading Voltage Sensors......Page 185
7.8.4 Filtering the ADC Readings......Page 186
7.9.1 Calculating the Voltage and Current Average Values......Page 187
7.9.4 PI Regulator......Page 188
7.9.6 Output Action to PWM......Page 189
7.9.7 Return to Main Code......Page 190
7.10 Results......Page 191
8.2.1 The Structure of Hybrid Stepper Motor......Page 194
8.3 The Basic Operation......Page 195
8.3.1 Full-step Mode......Page 196
8.3.2 Half-Step Mode......Page 198
8.4 The Stepper Motor Drive System......Page 199
8.4.2 Controller......Page 200
8.5 The Implementation of Stepper Motor Control System Using the LF2407 DSP......Page 201
8.6.1 Full-Step Mode......Page 202
Reference......Page 203
9.1 Introduction......Page 204
9.3 Torque Generation......Page 206
9.4.1 BLDC Machine......Page 207
9.4.2 Power Electronic Converter......Page 208
9.4.3 Sensors......Page 209
9.4.4 Controller......Page 210
9.5 Implementation of the BLDC Motor Control System Using the LF2407......Page 211
9.5.2 The Detection of Hall-Effect Signals......Page 213
9.5.3 The Subroutine of Speed Control Algorithm......Page 214
9.5.4 Measurement of the Current (ADC Module)......Page 215
9.5.5 Profile of the Reference Speed......Page 216
9.5.7 PID (Proportional, Integral, and Derivative) Regulation......Page 217
9.5.8 PWM Generation......Page 218
9.5.9 DAC Module......Page 219
10.2 Clarke’s Transformation......Page 220
10.3 Park’s Transformation......Page 221
10.4 Between Reference Frames......Page 223
10.5 Field Oriented Control (FOC) Transformations......Page 224
10.6.1 Implementing Clarke’s Transformation......Page 225
10.6.1.1 Inputs and Outputs of Clarke’s Transformation Block......Page 226
10.6.2 Inverse Clarke’s Transformation......Page 227
10.6.3 Calculation of Sine/Cosine with Fast Table Direct Look-Up and Linear Interpolation......Page 228
10.6.4 Implementation of Park’s Transformation on LF2407......Page 229
10.6.4.2 Transformation from the Stationary Reference Frame to the Arbitrary Rotary Reference Frame......Page 230
10.6.5 Transformation of the Arbitrary Rotating Reference Frame to the Stationary Reference Frame......Page 231
10.6.6 The 2-Phase to 3-Phase Transformation......Page 232
References......Page 233
11.2 Principle of Constant V/Hz Control for Induction Motors......Page 234
11.3 Space Vector PWM Technique......Page 235
11.3.1 Switching Patterns and the Basic Space Vectors......Page 236
11.3.2 Expression of the Stator Voltages in the (d-q) Frame......Page 237
11.3.3 Approximation of Output with Basic Space Vectors......Page 238
11.3.4 Calculating the Time Periods of the Switching States......Page 240
11.3.5 Finding the Sector Number......Page 241
11.3.6 SVPWM Switching Pattern......Page 242
11.4 DSP Implementation......Page 243
11.4.1 Algorithm Subroutines......Page 245
11.4.2 Verification of the SVPWM Algorithm and Conclusions......Page 250
References......Page 251
12.2.1 Mathematical Model of PMSM in the abc Stationary Reference Frame......Page 252
12.2.2 Mathematical Model of PMSM in Rotor Reference Frame......Page 254
12.3 PMSM Control System......Page 255
12.3.1 PMSM Machine......Page 256
12.3.3 Sensors......Page 257
12.4 Implementation of the PMSM System Using the LF2407......Page 259
12.4.1 The Speed Control Algorithm......Page 262
12.4.1.2 The abc-to-dq Transformation......Page 263
12.4.1.3 The d-q to a-b-c Transformation......Page 264
12.4.1.4 PWM Generation......Page 265
13.2.1 Three-Phase Induction Motor......Page 266
13.2.2 Induction Motor Construction......Page 267
13.3.1 Voltage Equations of the Idealized Motor Model......Page 268
13.4 Reference Frame Theory......Page 270
13.5 Induction Motor Model in the Arbitrary q-d-0 Reference Frame......Page 271
13.6 Field Oriented Control......Page 272
13.8 Field Oriented Control, Direct and Indirect Approaches......Page 273
13.10 Induction Motor Speed Control System......Page 277
13.11.2 Sensors......Page 279
13.11.3 Controller......Page 280
13.12.1 Software Organization......Page 281
13.12.2 Base Values and Per-Unit Model......Page 282
13.12.4 The Numerical Format Determination......Page 283
13.12.5 Current Measurement......Page 285
13.12.6 Speed Measurement......Page 287
13.12.7 Speed Estimation during High-Speed Region......Page 288
13.12.8 Speed Measurement during Low-Speed Region......Page 290
13.12.9 The Current Model......Page 291
13.12.10 The PI regulator......Page 294
13.12.11 Calculation of Sine and Cosine Functions......Page 297
13.13 Experimental Results......Page 298
References......Page 299
14.1 Introduction......Page 300
14.2 Fundamentals of Operation......Page 301
14.3 Fundamentals of Control in SRM Drives......Page 303
14.4 Open Loop Control Strategy for Torque......Page 304
14.4.1 Detection of the Initial Rotor Position......Page 305
14.4.2 Computation of the Commutation Thresholds......Page 307
14.4.4 A Control Strategy for Regulation of the Phase Current at Low Speeds......Page 308
14.5 Closed Loop Torque Control of the SRM Drive......Page 312
14.6 Closed Loop Speed Control of the SRM Drive......Page 315
14.8 Algorithm for Running the SRM Drive using an Optical Encoder......Page 316
15.1 Introduction......Page 318
15.2 Topology and Characteristics......Page 319
15.3 Control Algorithms......Page 320
15.3.1 Venturini Method......Page 321
15.3.2 The Initial Approach......Page 322
15.3.3 The Enhanced Approach......Page 323
15.4 Space Vector Modulation......Page 325
15.5 Bidirectional Switch......Page 330
15.6 Current Commutation......Page 331
15.7.3 Power Circuits......Page 332
15.8 Implementation of the Venturini Algorithm using the LF2407......Page 333
References......Page 336
A.2 Overview of VisSim™ Placing and Wiring Blocks......Page 338
A.2.1 Developing a Control Algorithm in VisSim™......Page 339
A.3 Computer Simulation of Vector Control of Three-Phase Induction Motor Using VisSim™......Page 340
A.3.1 Induction Motor (IM) Dynamic Model......Page 341
A.3.2 Field Oriented Control (FOC) Block......Page 346
A.3.4 The Space Vector PWM (SVPWM) Sub-System......Page 348
A.3.5 Feedback Sub-System......Page 350
A.3.6 Simulation Results......Page 351
A.4 Summary and Improvements......Page 352
References......Page 353