HVACI_Sensored.rar_Ti矢量控制_hvaci_sensored_ti高压套件_无传感器矢量

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HVACI_Sensored

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Sensored FOC of ACI.pdf 1.18MB

F2803x_RAM

sources.mk 2KB

ccsSrcs.opt 193B

DSP2803x_GlobalVariableDefs.obj 132KB

HVACI_Sensored-DevInit_F2803x.pp 5KB

HVACI_Sensored-DevInit_F2803x.obj 130KB

objects.mk 275B

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subdir_vars.mk 2KB

HVACI_Sensored.pp 9KB

ccsObjs.opt 351B

subdir_rules.mk 6KB

makefile 4KB

DSP2803x_usDelay.obj 1KB

HVACI_Sensored.obj 164KB

HVACI_Sensored.map 26KB

DLOG4CHC.obj 2KB

HVACI_Sensored.out 141KB

.launches

HVACI_Sensored.launch 6KB

HVACI_Sensored.h 2KB

HVACI_Sensored-DevInit_F2802x.c 20KB

Graph2.graphProp 814B

.cdtbuild 16KB

HVACI_Sensored.c 45KB

.project 1KB

dlog4ch-HVACI_Sensored.h 3KB

.cdtproject 553B

DSP2803x_usDelay.asm 3KB

F2803x_FLASH

sources.mk 2KB

ccsSrcs.opt 193B

DSP2803x_GlobalVariableDefs.obj 132KB

HVACI_Sensored-DevInit_F2803x.pp 5KB

HVACI_Sensored-DevInit_F2803x.obj 130KB

objects.mk 275B

DSP2803x_GlobalVariableDefs.pp 5KB

subdir_vars.mk 2KB

HVACI_Sensored.pp 9KB

ccsObjs.opt 353B

subdir_rules.mk 6KB

makefile 4KB

DSP2803x_usDelay.obj 1KB

HVACI_Sensored.obj 169KB

HVACI_Sensored.map 27KB

DLOG4CHC.obj 2KB

HVACI_Sensored.out 143KB

macros.ini 41B

HVACI_Sensored-Settings.h 3KB

HVACI_Sensored-DevInit_F2803x.c 31KB

F28035_FLASH_HVACI_Sensored.CMD 7KB

NewTargetConfiguration.ccxml 1KB

Graph1.graphProp 814B

F28035_RAM_HVACI_Sensored.CMD 5KB

DLOG4CHC.asm 7KB

Sensored Field Oriented Control of

3-Phase Induction Motors

ilal Akin C2000 Systems and Applications Team

Manish Bhardwaj

Abstract

This application note presents a solution to control an AC induction motor using the TMS320F2803x

microcontrollers. TMS320F2803x devices are part of the family of C2000 microcontrollers which enable

cost-effective design of intelligent controllers for three phase motors by reducing the system

components and increase efficiency. With these devices it is possible to realize far more precise digital

vector control algorithms like the Field Orientated Control (FOC). This algorithm’s implementation is

discussed in this document. The FOC algorithm maintains efficiency in a wide range of speeds and

takes into consideration torque changes with transient phases by processing a dynamic model of the

motor.

This application note covers the following:

 A theoretical background on field oriented motor control principle.

 Incremental build levels based on modular software blocks.

 Experimental results

Table of Contents

Introduction ............................................................................................................................................................................... 2

Induction Motors ....................................................................................................................................................................... 2

Field OrientedControl................................................................................................................................................................ 4

Benefits of 32-bit C2000 Controllers for Digital Motor Control ............................................................................................... 10

TI Motor Control Literature and DMC Library.......................................................................................................................... 11

System Overview.................................................................................................................................................................... 12

Hardware Configuration.......................................................................................................................................................... 16

Software Setup Instructions to Run HVACI_Sensored Project............................................................................................... 19

Incremental System Build ....................................................................................................................................................... 20

Version 1.1

–

Feb 2010

Introduction

The motor control industry is a strong, aggressive sector. To remain competitive new products must

address several design constraints including cost reduction, power consumption reduction, power factor

correction, and reduced EMI radiation. In order to meet these challenges advanced control algorithms

are necessary. Embedded control technology allows both a high level of performance and system cost

reduction to be achieved. According to market analysis, the majority of industrial motor applications

use AC induction motors. The reasons for this are higher robustness, higher reliability, lower prices and

higher efficiency (up to 80%) on comparison with other motor types. However, the use of induction

motors is challenging because of its complex mathematical model, its non linear behavior during

saturation and the electrical parameter oscillation which depends on the physical influence of the

temperature. These factors make the control of induction motor complex and call for use of a high

performance control algorithms such as “vector control” and a powerful microcontroller to execute this

algorithm.

During the last few decades the field of controlled electrical drives has undergone rapid expansion due

mainly to the benefits of micro-controllers. These technological improvements have enabled the

development of very effective AC drive control with lower power dissipation hardware and more

accurate control structures. The electrical drive controls become more accurate in the sense that not

only are the DC quantities controlled but also the three phase AC currents and voltages are managed

by so-called vector controls. This document briefly describes the implementation of the most efficient

form of a vector control scheme: the Field Orientated Control method. It is based on three major points:

the machine current and voltage space vectors, the transformation of a three phase speed and time

dependent system into a two coordinate time invariant system and effective Space Vector Pulse Width

Modulation pattern generation. Thanks to these factors, the control of AC machine acquires every

advantage of DC machine control and frees itself from the mechanical commutation drawbacks.

Furthermore, this control structure, by achieving a very accurate steady state and transient control,

leads to high dynamic performance in terms of response times and power conversion.

Induction Motors

Induction motors derive their name from the way the rotor magnetic field is created. The rotating stator

magnetic field induces currents in the short circuited rotor. These currents produce the rotor magnetic

field, which interacts with the stator magnetic field, and produces torque, which is the useful mechanical

output of the machine.

The three phase squirrel cage AC induction motor is the most widely used motor. The bars forming the

conductors along the rotor axis are connected by a thick metal ring at the ends, resulting in a short

circuit as shown in Fig.1. The sinusoidal stator phase currents fed in the stator coils create a magnetic

field rotating at the speed of the stator frequency (

). The changing field induces a current in the cage

conductors, which results in the creation of a second magnetic field around the rotor wires. As a

consequence of the forces created by the interaction of these two fields, the rotor experiences a torque

and starts rotating in the direction of the stator field.

As the rotor begins to speed up and approach the synchronous speed of the stator magnetic field, the

relative speed between the rotor and the stator flux decreases, decreasing the induced voltage in the

stator and reducing the energy converted to torque. This causes the torque production to drop off, and

the motor will reach a steady state at a point where the load torque is matched with the motor torque.

This point is an equilibrium reached depending on the instantaneous loading of the motor. In brief:

End Rings

Skewed Cage Bars

Figure

1: Induction Motor Rotor

 Owing to the fact that the induction mechanism needs a relative difference between the motor speed

and the stator flux speed, the induction motor rotates at a frequency near, but less than that of the

synchronous speed.

 This slip must be present, even when operating in a field-oriented control regime.

 The rotor in an induction motor is not externally excited. This means that there is no need for slip

rings and brushes. This makes the induction motor robust, inexpensive and need less maintenance.

 Torque production is governed by the angle formed between the rotor and the stator magnetic fluxes.

In Fig.2 the rotor speed is denoted by Ω . Stator and rotor frequencies are linked by a parameter called

the slip

s, expressed in per unit as

srs



/)(



 .

x Rotor flu

’

C’

B’

Rotor rotation

Stator flux







Aluminum bar

Figure 2: Squirrel cage rotor AC induction motor cutaway view

sssrad

srad



)1().1()/

)/:











:( speed rotating rotor -

number pairs poles stator

( freqsupply AC

. :( speed field rotating stator -

where s is called the “slip”: it represents the difference between the synchronous frequency and the

actual motor rotating speed.

Field Oriented Control

Introduction

A simple control such as the V/Hz strategy has limitations on the performance. To achieve better

dynamic performance, a more complex control scheme needs to be applied, to control the induction

motor. With the mathematical processing power offered by the microcontrollers, we can implement

advanced control strategies, which use mathematical transformations in order to decouple the torque

generation and the magnetization functions in an AC induction motor. Such decoupled torque and

magnetization control is commonly called rotor flux oriented control, or simply Field Oriented Control

(FOC).

The main philosophy behind the FOC

In order to understand the spirit of the Field Oriented Control technique, let us start with an overview of

the separately excited direct current (DC) Motor. In this type of motor, the excitation for the stator and

rotor is independently controlled. Electrical study of the DC motor shows that the produced torque

and the flux can be independently tuned. The strength of the field excitation (i.e. the magnitude of

the field excitation current) sets the value of the flux. The current through the rotor windings determines

how much torque is produced. The commutator on the rotor plays an interesting part in the torque

production. The commutator is in contact with the brushes, and the mechanical construction is designed

to switch into the circuit the windings that are mechanically aligned to produce the maximum torque.

This arrangement then means that the torque production of the machine is fairly near optimal all the

time. The key point here is that the windings are managed to keep the flux produced by the rotor

windings orthogonal to the stator field.

)(

IKT









Inductor (field

excitation)

Armature Circuit

Fig 3. Separated excitation DC motor model, flux and torque are independently controlled

and the current through the rotor windings determines how much torque is produced.

Inductio

n machines do not have the same key features as the DC motor. In both cases we have only

one source that can be controlled which is the stator currents. On the synchronous machine, the rotor

excitation is given by the permanent magnets mounted onto the shaft. On the synchronous motor, the

only source of power and magnetic field is the stator phase voltage. Obviously, as opposed to the DC

motor, flux and torque depend on each other.

The goal of the FOC (also called vector control) on synchronous and asynchronous machine is to be

able to separately control the torque producing and magnetizing flux components. The control

technique goal is to (in a sense), imitate the DC motor’s operation.

Why Field Oriented Control

As a well know fact about the asynchronous machine, we face some natural limitations with a V/Hz

control approach. FOC control will allow us to get around these limitations, by decoupling the effect of

the torque and the magnetizing flux. With decoupled control of the magnetization, the torque producing

component of the stator flux can now be thought of as independent torque control. Now, decoupled

control, at low sp

eeds, the magnetization can be maintained at the proper level, and the torque can be

controlled to regulate the speed.

To decouple the torque and flux, it is necessary to engage several mathematical transforms, and this is

where the microcontrollers add the most value. The processing capability provided by the

microcontrollers enables these mathematical transformations to be carried out very quickly. This in turn

implies that the entire algorithm controlling the motor can be executed at a fast rate, enabling higher

dynamic performance. In addition to the decoupling, a dynamic model of the motor is now used for the

computation of many quantities such as rotor flux angle and rotor speed. This means that their effect is

accounted for, and the overall quality of control is better.

Technical Background

The Field Orientated Control consists of controlling the stator currents represented by a vector. This

control is based on projections which transform a three phase time and speed dependent system into a

two coordinate (d and q coordinates) time invariant system. These projections lead to a structure similar

to that of a DC machine control. Field orientated controlled machines need two constants as input

references: the torque component (aligned with the q coordinate) and the flux component (aligned with

d coordinate). As Field Orientated Control is simply based on projections the control structure handles

instantaneous electrical quantities. This makes the control accurate in every working operation (steady

state and transient) and independent of the limited bandwidth mathematical model. The FOC thus

solves the classic scheme problems, in the following ways:

 The ease of reaching constant reference (torque component and flux component of the stator current)

 The ease of applying direct torque control because in the (d,q) reference frame the expression of the

torque is:

SqR





By maintaining the amplitude of the rotor flux (



) at a fixed value we have a linear relationship

between torque and torque component (i

). We can then control the torque by controlling the torque

component of stator current vector.

Space Vector Definition and Projection

The three-phase voltages, currents and fluxes of AC-motors can be analyzed in terms of complex

space vectors. With regard to the currents, the space vector can be defined as follows. Assuming that i

, i

are the instantaneous currents in the stator phases, then the complex stator current vector

i is

defined by:

cbas

iiii





where





e and





e , represent the spatial operators. The following diagram shows the stator

current complex space vector:

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