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Design of an ACIM Vector Control Drive using the 56F8013 Device Designer Reference Manual 56800E 16-bit Digital Signal Controllers DRM075 Rev 1 11/2005 freescale.com Design of an ACIM Vector Control Drive using the 56F8013 Device Designer Reference Manual To provide the most up-to-date information, the revision of our documents on the World Wide Web will be the most current. Your printed copy may be an earlier revision. To verify that you have the latest information available, refer to http://www.freescale.com The following revision history table summarizes changes contained in this document. For your convenience, the page number designators have been linked to the appropriate location. Revision History Date Revision Level 10/2005 0 Initial release 11/2005 1 Corrected term “Intelligent Power Module” to “Integrated Power Module” Description Page Number(s) N/A xi, 3-3 TABLE OF CONTENTS Chapter 1 Introduction 1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Chapter 2 Benefits and Features of the 56F8013 Controller 2.1 2.2 2.3 2.4 2.5 56F8013 Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56800E Core Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Memory Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56F8013 Peripheral Circuit Reatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AWARD-WINNING DEVELOPMENT ENVIRONMENT . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2-1 2-2 2-2 2-2 Chapter 3 Motor Drive System 3.1 3.2 3.3 3.3.1 3.3.2 3.4 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Features of a Motor Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Introduction to System Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Specification and Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3-1 3-2 3-2 3-5 3-6 Chapter 4 ACIM Theory 4.1 4.2 4.3 AC Induction Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Induction Motor Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 Digital Control of an AC Induction Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 Chapter 5 Design Concept of an ACIM Vector Control Drive 5.1 5.2 5.3 5.4 Vector Control of AC Induction Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Relationship between Rotor Flux Orientation and Stator Flux Orientation Induction Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Block diagram of Stator Flux Oriented (SFO) Control . . . . . . . . . . . . . . . . . . . . . . . . . Forward and Inverse Clarke Transformation (a, b, c to áa , b and backwards) . . . . . . 5-1 5-3 5-3 5-4 Table of Contents, Rev. 1 Freescale Semiconductor Preliminary i 5.5 5.6 5.7 5.8 5.8.1 5.8.2 5.8.3 5.8.4 5.8.5 Forward and Inverse Park Transformation (a, b to d-q and backwards) . . . . . . . . . . . Rotor Speed Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PFC Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Inductor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Output Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Main Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Output Diode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Inductor Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 5-5 5-6 5-7 5-7 5-8 5-8 5-8 5-9 Chapter 6 Hardware Implementation 6.1 6.2 6.3 6.4 6.4.1 6.4.2 6.5 56F8013 Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . High-Voltage Power Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sensor Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PFC Hardware Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive Circuit Hardware Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sample Circuit Hardware Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Detailed Motherboard Configurations for ACIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6-3 6-4 6-6 6-7 6-7 6-8 Chapter 7 Software Design 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Stator Flux Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Electromagnetic Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rotor Speed Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Stator Flux Determination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Space Vector Pulse Width Modulation (SVPWM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PFC Software Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 7-2 7-3 7-3 7-3 7-4 7-4 7-4 Chapter 8 JTAG Simulation and SCI Communication 8.1 8.2 JTAG Simulation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 SCI Communication Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 ii Freescale Semiconductor Preliminary Chapter 9 Operation 9.1 9.2 9.3 9.4 Switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . During Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Switch-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 9-1 9-1 9-1 Table of Contents, Rev. 1 Freescale Semiconductor Preliminary iii Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 iv Freescale Semiconductor Preliminary LIST OF FIGURES 3-1 3-2 3-3 3-4 4-1 4-2 4-3 5-1 5-2 5-3 5-4 5-5 5-6 6-1 6-2 6-3 6-4 6-5 6-6 6-7 6-8 6-9 6-10 6-11 7-1 7-2 7-3 7-4 7-5 8-1 8-2 8-3 8-4 8-5 Washing Machine Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Washing Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IRAMS10UP60A Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Induction Motor Speed-Torque Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hardware System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Block Diagram of the Stator Flux Oriented (SFO) System . . . . . . . . . . . . . . . . . . . Stator Reference Voltage ref. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Clark Transformation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Park Tranformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed Regulator Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PFC Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Demonstration System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hierarchy Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DCBus Sampling Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Bus Link Current Sample Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Methods to Detect Phase Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Protection Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Main PFC Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PFC Drive Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PFC Sampling Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ACIM Jumper Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Stator Reference Voltage ref. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Improved Stator Flux Estimation Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Simple PFC Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Discrete Voltage Loop Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication Board’s Frame Figure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connections for JTAG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CodeWarrior Development Tool Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SCI Communication Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3-2 3-3 3-4 4-1 4-3 4-4 5-2 5-2 5-4 5-5 5-6 5-7 6-1 6-2 6-3 6-4 6-5 6-5 6-6 6-7 6-7 6-8 6-8 7-1 7-2 7-3 7-5 7-5 8-1 8-2 8-2 8-3 8-4 List of Figures, Rev. 1 Freescale Semiconductor Preliminary v Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 vi Freescale Semiconductor Preliminary LIST OF TABLES 5-1 6-1 Nameplate Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6 Configuration of the 56F8013’s Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 List of Tables, Rev. 1 Freescale Semiconductor Preliminary vii Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 viii Freescale Semiconductor Preliminary About This Document This manual describes the use of a 56F8013 device in an ACIM Vector Control Drive application. Audience This manual targets design engineers interested in developing an ACIM Vector Control Drive application. Organization This User’s Manual consists of the following sections: • Chapter 1, Introduction, explains how an AC Induction Motor and a 56F8013 device facilitate a vector control drive design. • Chapter 2, Benefits and Features of the 56F8013 Controller, highlights the advantages in using a 56F8013 controller. • Chapter 3, Motor Drive System, details the features and design of a motor drive system. • Chapter 4, ACIM Theory, describes software, control and configuration of an AC Induction Motor. • Chapter 5, Design Concept of an ACIM Vector Control Drive, details the design concept of an AC Induction Motor vector control drive. • Chapter 6, Hardware Implementation, describes how to set up the hardware needed for a vector control drive application. • Chapter 7, Software Design, explains the software system design. • Chapter 8, JTAG Simulation and SCI Communication, describes the application’s debugging and communications functions. • Chapter 9, Operation, explains how to use the application. • Appendix A, Schematics, contains schematics for the ACIM vector control drive application. • Appendix B, ACIM Bill of Materials, lists all parts used in the application. Preface, Rev. 1 Freescale Semiconductor Preliminary ix Conventions This document uses the following notational conventions: Typeface, Symbol or Term Meaning Examples Courier Monospaced Type Code examples //Process command for line flash Italic Directory names, project names, calls, functions, statements, procedures, routines, arguments, file names, applications, variables, directives, code snippets in text ...and contains these core directories: applications contains applications software... Bold Reference sources, paths, emphasis ...refer to the Targeting DSP56F83xx Platform manual.... ...see: C:\Program Files\Freescale\help\tutorials Blue Text Linkable on-line ...refer to Chapter 7, License.... Number Any number is considered a positive value, unless preceded by a minus symbol to signify a negative value 3V -10 DES-1 ALL CAPITAL LETTERS # defines/ defined constants # define INCLUDE_STACK_CHECK Brackets [...] Function keys ...by pressing function key [F7] Quotation marks, “...” Returned messages ...the message, “Test Passed” is displayed.... ...CodeWarrior project, 3des.mcp is... ...the pConfig argument.... ...defined in the C header file, aec.h.... ...if unsuccessful for any reason, it will return “NULL”... Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 x Freescale Semiconductor Preliminary Definitions, Acronyms, and Abbreviations The following list defines the acronyms and abbreviations used in this document. As this template develops, this list will be generated from the document. As we develop more group resources, these acronyms will be easily defined from a common acronym dictionary. Please note that while the acronyms are in solid caps, terms in the definition should be initial capped ONLY IF they are trademarked names or proper nouns. ACIM Alternating Current Induction Motor ADC Analog-to-Digital Conversion COP Computer Operating Properly DCM Discontinuous Current Mode EMF Electro-Magnetic Force EVM Evaluation Module GPIO General Purpose Input/Output HMI Human Machine Interface I2C Inter-Integrated Circuit or I2C IC Integrated Circuit IM Induction Motor IPM Integrated Power Module ISR Interrupt Service Routine LPF Low-Pass Filter PFC Power Factor Correction PI Proportional-Integral PLL Phase Locked Loop PWM Pulse Width Modulation or Modulator RMS Root Mean Square SCI Serial Communication Interface SFOC Stator-Flux-Oriented Control SPI Serial Peripheral Interface SV Space Vector SVPWM Space Vector Pulse Width Modulation Preface, Rev. 1 Freescale Semiconductor Preliminary xi References The following sources were used to produce this book; we recommend that you have a copy of these references: 1. DSP56800E Reference Manual, DSP56800ERM, Freescale Semiconductor, Inc. 2. 56F8000 Peripheral User Manual, MC56F8000RM, Freescale Semiconductor, Inc. 3. 56F8013 Data Sheet, MC56F8013, Freescale Semiconductor, Inc. 4. Inside Code Warrior 5. X.Xu, R.De Donker, and D.W.Novonty, “A Stator Flux Oriented Induction Machine Drive”, in PESC 1988 Conf.Rec. pp.870-876. 6. C.J.Francis,H.Z.de la Parra, and K.W.E.Cheng, “Practical Implementation of a Stator Flux Oriented Control Scheme for an Induction Machine,” in Power Electronics and Variable-speed Drives, October 1994, pp.54-59 7. J.O.Pinto,B.K.Bose, and L.E.B.da Silva, “A Stator-Flux-Oriented Vector-Controlled Induction Motor Drive with Space-Vector PWM and Flux-Vector Synthesis by Neural Networks,” IEEE Trans. Ind. Appli.,vol.37, no.5,pp.1308-1318. Sep. 2001. 8. M.H.Shin, D.S.Hyun, and S.B.Cho, “Maximum Torque Control of Stator-Flux-Oriented Induction Machine Drive in the Field-Weakening Region,” IEEE Trans Ind. Appli. vol.38,no.1,pp.117-122,Jan.2002. 9. Y.Ruan, X.H.Zhang, J.Xu and etc. “Stator Flux Oriented Control of Induction Motors,” Tans. Of China Electro.Society, vol.18, no.2, pp.1-4, Apr.2003. 10. Yonghong Xue, Xingyi Xu, and T.G.Habelter, “A Stator Flux-Oriented Voltage Source Variable-Speed Drive Based on DC Link Measurement,” IEEE Tran. Ind.Appl. vol.27, no.5, pp.962-969, Sep.1991. 11. Jie Chen,Yongdong Li, and Wei Dong, “A Novel Stator-Flux-Oriented Speed Sensorless Induction Motor Control System using Flux Tracking Strategy,” in Inter.Conf. On Power Elec. And Drive System, PEDS’99, Hong Kong, pp.609-614. 12. Ju-Suk.Lee, T.Takeshita, and N.Matsui, “Stator-Flux-Oriented Sensorless Induction Motor Drive for Optimum Low-Speed Performance,” IEEE Tran. Ind. Appli. vol.33,no.5,pp.1170-1176, Sep.1997. 13. L.Ben-Brahim and A.Kawamura, “A Fully Digitized Field-Oriented Controlled Induction Motor Drive using Only Current Sensors,” IEEE Trans. Ind. Electro.,vol.39,pp.241-249, June 1992. 14. Jun Hu, and Bin Wu, “New Integration Algorithms for Estimating Motor Flux over a Wide Speed Range,” IEEE Trans. on Power Electronics, vol.13, no.5, pp.969-977, Sep.1998. 15. N.R.N.Idris, and A.H.M Yatim, “An Improved Stator Flux Estimation in Steady-State Operation for Direct Torque Control of Induction Machines,” IEEE Trans. Ind.Appl., vol.38, no.1, pp.110-116, Jan.2002. 16. 3-Phase AC Induction Motor Vector Control using a 56F80x, 56F8100 or 56F8300 Device Design of Motor Control Application, Freescale Semiconductor, Inc., 2004 17. 3-Phase AC Motor Control with VHz Speed Close Loop using the 56F80x, Freescale Semiconductor, Inc., 2001 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 xii Freescale Semiconductor Preliminary Introduction Chapter 1 Introduction 1.1 Introduction This drive application allows vector control of an AC Induction Motor (ACIM) running in a closed-speed loop without a speed/position sensor coupled to the shaft. The application serves as an example of AC induction vector control drive design using a Freescale 56F8013 with Processor ExpertTM (PE) software support. AC induction motors, which contain a cage, are very popular in variable-speed drives. They are simple, rugged, inexpensive, and available at all power ratings. Progress in the field of power electronics and microelectronics enables the application of induction motors for high-performance drives, where traditionally only DC motors were applied. Thanks to sophisticated control methods, AC induction drives offer the same control capabilities as high-performance four-quadrant DC drives. ACIM is an excellent choice for appliance and industrial applications. This design will employ sensorless Field-Oriented Control (FOC) to control an ACIM using the 56F8013 device, which can accommodate the sensorless FOC algorithm. A motor control system is flexible enough to implement a washing machine protocol while it drives a variable load. The system illustrates the features of the 56F8013 in motor control. The flexible Human Machine Interface (HMI) allows the control board to communicate with a PC and supports a simplified HMI using push buttons on the processor board, making the system easy to use. This document describes the Freescale 56F8013 controller’s features, basic AC induction motor theory, the system design concept, and hardware implementation and software design, including the PC master software visualization tool. Introduction, Rev. 1 Freescale Semiconductor Preliminary 1-1 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 1-2 Freescale Semiconductor Preliminary 56800E Core Features Chapter 2 Benefits and Features of the 56F8013 Controller 2.1 56F8013 Benefits • Hybrid architecture facilitates implementation of both control and signal processing functions in a single device • High-performance, secured Flash memory eliminates the need for external storage devices • Extended temperature range allows for operation of nonvolatile memory in harsh environments • Flash memory emulation of EEPROM eliminates the need for external non-volatile memory • High performance with 16-bit code density • On-chip voltage regulator and power management reduces overall system cost • Diversity of peripheral configuration facilitates the elimination of external components, improving system integration and reliability • This device boots directly from Flash, providing additional application flexibility • High-performance Pulse Width Modulation (PWM) with programmable fault capability simplifies design and promotes compliance with safety regulations • PWM and Analog-to-Digital (ADC) modules are tightly coupled, reducing processing overhead • Low-voltage interrupts protect the system from brownout or power failure • Simple in-application Flash memory programming via Enhanced OnCETM or serial communication 2.2 56800E Core Features • Up to 32 MIPS at 32MHz execution frequency • DSP and MCU functionality in a unified, C-efficient architecture • JTAG/Enhanced On-Chip Emulation (EOnCE) for unobtrusive, real-time debugging • Four 36-bit accumulators • 16- and 32-bit bidirectional barrel shifter • Parallel instruction set with unique addressing modes • Hardware DO and REP loops available • Three internal address buses • Four internal data buses • Architectural support for 8-, 16-, and 32-bit single-cycle data fetches • MCU-style software stack support • Controller-style addressing modes and instructions • Single-cycle 16 x 16-bit parallel Multiplier-Accumulator (MAC) • Proven to deliver more control functionality with a smaller memory footprint than competing architectures Benefits and Features of the 56F8013 Controller, Rev. 1 Freescale Semiconductor Preliminary 2-1 2.3 Memory Features • Architecture permits as many as three simultaneous accesses to program and data memory • On-chip memory includes high-speed volatile and nonvolatile components: — 16KB of Program Flash — 4KB of Unified Data/Program RAM • All memories operate at 32MHz (zero wait-states) over temperature range (-40° to +125°C), with no software tricks or hardware accelerators required • Flash security feature prevents unauthorized accesses to its content 2.4 56F8013 Peripheral Circuit Reatures • Pulse Width Modulator (PWM) module • Serial Peripheral Interface (SPI) • Serial Communication Interface (SCI) • Four 16-bit Timers • Software-programmable Phase Lock Loop (PLL) • Two 12-bit Analog-to-Digital Converters (ADC) with six inputs at rates up to 1.1µs per sequential or simultaneous conversion • Up to 26 General Purpose I/O (GPIO) pins • Computer Operating Properly (COP) • Integrated Power-On Reset and Low-Voltage Interrupt module • I2C Communication Module supporting Slave, Master and MultiMaster Mode 2.5 AWARD-WINNING DEVELOPMENT ENVIRONMENT Processor Expert (PE) provides a Rapid Application Design (RAD) tool that combines creation of an easy-to-use, component-based software application with an expert knowledge system. The CodeWarrior Integrated Development Environment (IDE) is a sophisticated tool for code navigation, compiling, and debugging. A complete set of evaluation modules (EVMs) and development system cards will support concurrent engineering. Together, PE, CodeWarrior, and EVMs create a complete, scalable tools solution for easy, fast, and efficient development. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 2-2 Freescale Semiconductor Preliminary Features of a Motor Drive System Chapter 3 Motor Drive System 3.1 Introduction An AC Induction Motor (ACIM), which is simple, rugged, inexpensive, and available at all power ratings, is often used in products targeting the consumer and industrial market. This application employs sensorless Field-Oriented Control (FOC) to control an ACIM using the 56F8013 device, which can support the complicated sensorless FOC algorithm. By using this algorithm, the motor drive system achieves excellent torque control performance and supports the driving of variable loads. 3.2 Features of a Motor Drive System • The design implements the washing machine protocol, shown in Figure 3-1 Figure 3-1. Washing Machine Protocol • The design also fulfills the requirements of the washing cycle, shown in Figure 3-2 Motor Drive System, Rev. 1 Freescale Semiconductor Preliminary 3-1 Figure 3-2. Washing Cycle • The motor control algorithm employs Stator-Flux-Oriented Control (SFOC); Power stage switches are controlled by Space Vector Pulse Width Modulation (SVPWM) • No position information devices or stator flux measurement are used, so a speed sensorless method is employed • The motor is capable of forward and reverse rotation and has a speed range from 50rpm to 3000rpm; the tumble wash has a speed of 40rpm and the spin cycle obtains a maximum drum speed of 1600rpm. The drum can be driven directly or by a belt that connects to the motor shaft. To acheive the wash and spin cycles, the speed-transfer ratio can be set at 1:2. • The user controls motion profiles, rotation direction, and speed. The RS-232 communication supports further R&D by enabling the easy tuning of control parameters. • The motor drive system is designed to create minimal acoustic noise 3.3 Introduction to System Design 3.3.1 Hardware This application uses a 56F8013 device to drive a 3-phase motor with a complicated motion protocol. The resistor uses phase current sensors and no optocoupler, so the system is cost-sensitive. PC master software communicates with the PC through the RS-232 and senses the mid-variables and modifies the control-variables during the debug process. The system comprises a 56F8013 board and an ACIM board. The ACIM board includes a 3-phase power stage, Power Factor Correction (PFC), a communication module which links the PC with the 56F8013 demonstration, simplified Human Machine Interface (HMI) and a protection module, as well as effective electrical isolation. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 3-2 Freescale Semiconductor Preliminary Introduction to System Design L1 D1 VT1 VT3 VT5 VT2 VT4 VT6 IM VT0 C AC Input i B A LOAD i Vdc ωr* Oscilloscope JTAG 56F8013 Processor Board power DA driver VT6 VT5 VT4 VT3 VT2 VT1 VT0 1 HMI Figure 3-3. System Block Diagram Among the hardware system features are: • Integrated Power Module (IPM) An IRAMS10UP60A, a 600V, 10-Ampere IR Integrated Power Module, powers the ACIM. Its built-in control circuits provide optimum gate drive and protection for the IGBT. Three bridges are integrated in its body. It reduces the design scale of hardware and software. Figure 3-4 shows the Circuit Diagram. Motor Drive System, Rev. 1 Freescale Semiconductor Preliminary 3-3 Figure 3-4. IRAMS10UP60A Circuit Diagram • 56F8013 Guaranteeing excellent performance and accurate control of the ACIM requires more complex software, but the powerful 56F8013 is capable of the heavy computation demanded. The controller board includes: — Control system circuit — CPU circuit — ADC circuit — Power supply circuit — DAC circuit — SCI interface — Parallel JTAG interface — LED display circuit — Signals output interface Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 3-4 Freescale Semiconductor Preliminary Introduction to System Design • No optocoupler To keep the application’s costs low, optocouplers are not used as an interface between the controller and the IPM. A reliable protection circuit improves system safety. • Power stage for ACIM, BLDC, and PMSM The power stage can drive ACIM, BLDC, and PMSM motors with only minor adjustments to resistor values • Signal sample and process board To control hardware costs, rather than using a Hall effect transducer, a simple difference amplier circuit detects the current and voltage signals • 56F8013 Evaluation Module (EVM) Freescale’s 56F8013 demostration board connects to the main board and highlights the capability of the EVM 3.3.2 Software This system drives a 3-phase ACIM using stator-flux orientation. The application features: • Control technique, which includes: — — — — Phase currents and phase voltages reconstruction Stator-flux observation Electromagnetic torque estimation, used for the slip frequency calculation Stator flux orientation to calculate the torque-producing stator current to be used in the speed regulation channel — Speed closed loop, allowing the motor a good transient response — Compensation for the voltage drops across the stator resistor — SVPWM to generate the desired voltage by the inverter • Minimum speed of 50rpm • Maximum speed of 3000rpm • Power factor correction which eliminates negative effects on the input electric use of switches • Fault protection against: — Bus overvoltage — Bus undervoltage — Bus overcurrent — IPM overheating • PC master software for debug and remote control of the ACIM Motor Drive System, Rev. 1 Freescale Semiconductor Preliminary 3-5 3.4 Specification and Performance Input voltage: 85~265VAC Input frequency: 45~65HZ Rating bus voltage: 350V Rating output power: 500W Switch frequency of PFC switch: 100KHZ Switch frequency of inverter: 10KHZ Power factor: >95% Efficiency: >90% Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 3-6 Freescale Semiconductor Preliminary AC Induction Motor Chapter 4 ACIM Theory 4.1 AC Induction Motor Squirrel-cage AC induction motors are popular for their simple construction, low cost per horsepower, and low maintenance (they contain no brushes, as do DC motors). They are available in a wide range of power ratings. With field-oriented vector control methods, AC induction motors can fully replace standard DC motors, even in high-performance applications. The AC induction motor is a rotating electric machine designed to operate from a 3-phase source of alternating voltage. In variable-speed drives, the source is normally an inverter that uses power switches to produce approximately sinusoidal voltages and currents of controllable magnitude and frequency. As the sinusoidally-distributed flux density wave produced by the stator magnetizing currents sweeps past the rotor conductors, it generates a voltage in them. The result is a sinusoidally distributed set of currents in the short-circuited rotor bars. Because of the low resistance of these shorted bars, only a small relative angular velocity, ωr, between the angular velocity, ωs, of the flux wave and the mechanical angular velocity, ω, of the two-pole rotor is required to produce the necessary rotor current. The relative angular velocity, ωr, is called the slip velocity. The interaction of the sinusoidally distributed air gap flux density and induced rotor currents produces a torque on the rotor. The typical induction motor speed-torque characteristic is shown in Figure 4-1. Figure 4-1. Induction Motor Speed-Torque Characteristic ACIM Theory, Rev. 1 Freescale Semiconductor Preliminary 4-1 4.2 Induction Motor Model Stator voltage differential equation: v v v v U s = Rs is + pΨ s + jω1Ψ s Eqn. 4-1 v v v 0 = Rr ir + pΨ r + jω s Ψ r Eqn. 4-2 Rotor voltage differential equation: Stator and rotor flux linkages expressed in terms of the stator and rotor current space vectors: v v v Ψ s = Ls is + Lm ir Eqn. 4-3 v v v Ψ r = Lr ir + Lm is Eqn. 4-4 Electromagnetic torque expressed by utilizing space vector quantities: v v Te = n p (Ψ s × is ) Eqn. 4-5 Where: v Us v Ψs v Ψr v is v ir Stator voltage vector Stator flux vector Rotor flux vector Stator current vector Rotor current vector Ls Stator equivalent inductance Lr Rotor equivalent inductance Lm Mutual equivalent inductance np Pole pairs Te Electormagnetic torque ω1 Synchronous speed frequency ωs Synchronous slip frequency Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 4-2 Freescale Semiconductor Preliminary Digital Control of an AC Induction Motor 4.3 Digital Control of an AC Induction Motor In adjustable-speed applications, AC motors are powered by inverters, which convert DC power to AC power at the required frequency and amplitude. Figure 4-2 shows the hardware system configuration. L1 D1 VT1 VT3 VT5 VT2 VT4 VT6 IM VT0 C AC Input i B A LOAD i Vdc ωr* Oscilloscope JTAG 56F8013 Processor Board power DA driver VT6 VT5 VT4 VT3 VT2 VT1 VT0 1 HMI Figure 4-2. Hardware System Configuration The inverter consists of three half-bridge units in which the upper and lower switch are controlled complementarily, meaning when the upper one is turned on, the lower one must be turned off, and vice versa. Some dead time must be inserted between the time one transistor of the half-bridge is turned off and its complementary device is turned on. The output voltage is mostly created by a Pulse Width Modulation (PWM) technique, where an isosceles triangle carrier wave is compared with a fundamental-frequency sine modulating wave. This technique is shown in Figure 4-3. The 3-phase voltage waves are shifted 120° to one another and thus a 3-phase motor can be supplied. ACIM Theory, Rev. 1 Freescale Semiconductor Preliminary 4-3 Figure 4-3. Pulse Width Modulation In this document, the Space Vector Pulse Width Modulation (SVPWM) is employed to reduce the harmonic distortion and improves the efficient use of the bus voltage. Two basic neighboring voltage vectors are used to compose the arbitary voltage vector in the control period. The most popular power devices for motor control applications are Power MOSFETs and IGBTs. A Power MOSFET is a voltage-controlled transistor. It is designed for high-frequency operation and has a low-voltage drop, so it has low power losses. An Insulated-Gate Bipolar Transistor (IGBT) is controlled by a MOSFET on its base. A built-in temperature monitor and overtemperature/overcurrent protection, along with the short-circuit rated IGBTs and integrated under-voltage lockout function, make the Integrated Power Module (IPM) more convenient for engineers to develop their systems and make IPMs widely used in today’s home appliances. This application also incorporates an IPM. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 4-4 Freescale Semiconductor Preliminary Vector Control of AC Induction Machine Chapter 5 Design Concept of an ACIM Vector Control Drive 5.1 Vector Control of AC Induction Machine Aligning the d axis to the stator flux, Ψ s , written in d-q component, stator voltage is then transformed to: uds = Rs ids + pΨ s Eqn. 5-1 uqs = Rs iqs + Ψ sω1 Eqn. 5-2 From Equation 4-2 to Equation 4-4, the following equations can be derived: (1 + στ r p ) Ls isq − ωsτ r (Ψ s − σ Ls isd ) = 0 (1 + τ r p )Ψ s = (1 + στ r p ) Ls isd − ωsστ r Ls isq Eqn. 5-3 Eqn. 5-4 then: Te = n pisq Ψ s Eqn. 5-5 where: τr Rotor Time Constant L2m σ = 1− Ls Lr Total Leakage Factor Equation 5-4 indicates the coupling between isd and isq. “A Stator Flux Oriented Induction Machine Drive” presents a method to decouple the isd from isq using a decouple compensator. However, the use of a decouple compensator will negatively affect the system performance, depending on the machine parameters, and increase software complexity. Equation 5-1 represents the relationship between stator flux, Ψs, and the d-axis stator voltage. The differential will introduce noise, so a Proportional-Integral (PI) flux regulator is used to approach the effect of stator voltage on flux, as shown in Equation 5-6: ˆ )dt ˆ ) + K (Ψ * − Ψ uds = K p (Ψ *s − Ψ s i∫ s s Eqn. 5-6 where: Ψ∗s Commanded Stator Flux ˆ Ψ ∗s Estimated Stator Flux Design Concept of an ACIM Vector Control Drive, Rev. 1 Freescale Semiconductor Preliminary 5-1 This information allows calculation of voltage on the d axis. Assuming Rsiqs < < Ψsω1, Equation 5-2 will simplified to: uqs ≈ Ψ sω1 Eqn. 5-7 In the steady state, uqs is proportional to ω1 and, in a sense, ω1 possesses a characteristic of the constant volts/hertz ratio, but at the low speed range, Rsiqs can’t be ignored. From Equation 5-2 and Equation 5-6, the terminal reference voltage vector, V ref can be established as shown in Figure 5-1, where ω*1 is the commanded synchronous speed. θ = ∫ ω1*dt = ω1*Tc + θ 0 Eqn. 5-8 From Figure 5-1, it is clear that uqs takes up the majority of V ref, while uds compensates the stator flux loss due to the voltage drop across the stator resistance in the transient state. Based on the analysis, the control scheme can be obtained as shown in Figure 5-2. isq* ∆w ω1* Usq* iˆsq iˆsq ωˆr Ψ * s ω̂1 ωˆ sl SVPWM ωr* Rs U θˆΨˆ d dt * sd iˆsq Vsαβ s ˆ Ψ s Slip Frequency Estimator IM Tˆe I sαβ αβ Iabc Feedback Observer ABC signal detector Figure 5-1. Block Diagram of the Stator Flux Oriented (SFO) System q β v V re f u qs d θ u ds α Figure 5-2. Stator Reference Voltage V ref Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 5-2 Freescale Semiconductor Preliminary Block diagram of Stator Flux Oriented (SFO) Control 5.2 Relationship between Rotor Flux Orientation and Stator Flux Orientation Induction Motor Drive The aim of vector control is to implement control schemes which produce high-dynamic performance and are similar to those used to control DC machines. To achieve this, the reference frames may be aligned with the stator flux-linkage space vector, the rotor flux-linkage space vector, or the magnetizing space vector. From Equation 4-3 and Equation 4-4, the relationship between stator flux and rotor flux can be calculated as follows: uv v v Ψ s = ∫ (U s − rs is )dt Eqn. 5-9 v v L v Ψ r = r (Ψ s − σ Ls is ) Lm Eqn. 5-10 Equation 5-9 indicates that the stator flux depends only on the stator resistance, which is relatively easy to calculate. Equation 5-10 demonstrates that the rotor flux requires the knowledge of instances of the machine, especially the leakage inductance. The rotor flux estimation suffers when machine parameters are detuned. When the estimated value of a parameter differs from its actual value, the estimated rotor flux is then different from the actual rotor flux. The orientation is no longer accurate with respect to the actual rotor flux. In this case, the system becomes coupled, and instantaneous torque control is lost. The stator flux can be estimated more easily and precisely than the rotor flux. Thus, the Stator Flux Oriented (SFO) system has been attracting more attention. However, a coupling exists between the torque-producing component of the stator current isq and the stator flux-producing component. Consequently, any change in isq without a corresponding change in isd will cause a transient in stator flux. See “A Stator Flux Oriented Induction Machine Drive”. Accurate decoupling control still depends on knowledge of machine parameters. This application illustrates an ACIM drive using stator flux orientation, without the use of a speed sensor. 5.3 Block diagram of Stator Flux Oriented (SFO) Control Figure 5-2 shows the basic structure of SFO control of an AC induction motor. To perform vector control, follow these steps: 1. Measure bus voltage and phase currents 2. 3. 4. 5. Transform these measurements into a 2-phase system using Clarke transformation Estimate stator flux and slip frequency Calculate synchrounous speed, then rotor speed Calculate the torque-producing current, isq 6. Use the PI regulator to obtain the commanded slip frequency 7. Add the commanded slip frequency to the estimated rotor speed to find the commanded synchronous speed 8. Use the compensation method to obtain the stator voltage on the direct axis and quadrature axis. 9. Use SVPWM to generate stator voltage Design Concept of an ACIM Vector Control Drive, Rev. 1 Freescale Semiconductor Preliminary 5-3 5.4 Forward and Inverse Clarke Transformation (a, b, c to α , β and backwards) The forward Clarke transformation converts a 3-phase system (a, b, c) to a 2-phase coordinate system (α, β). Figure 5-3 shows graphical construction of the space vector and projection of the space vector to the quadrature-phase components, α, β. Assuming that the a axis and the α axis are in the same direction, the quadrature-phase stator currents isα and isβ are related to the actual 3-phase stator currents as follows: Figure 5-3. Clark Transformation isβ = isα = isa Eqn. 5-11 1 2 isa + isb 3 3 Eqn. 5-12 The inverse Clarke transformation transforms from a 2-phase (α, β) to a 3-phase (isa, isb, isc) system. isa = isα Eqn. 5-13 1 3 isb = − isα + isβ 2 2 Eqn. 5-14 1 3 isb = − isα + isβ 2 2 Eqn. 5-15 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 5-4 Freescale Semiconductor Preliminary Rotor Speed Estimation 5.5 Forward and Inverse Park Transformation (α, β to d-q and backwards) In stator-vector oriented control, the quanties in the statar reference frame should be transformed into the synchronous rotation with the stator flux vector reference frame. The relationship of the two reference frames is shown in Figure 5-4. The d axis is aligned with the stator flux vector, where θΨ s is the position of the stator flux. q β d θΨv o s v Ψs α Figure 5-4. Park Tranformation The quantity in the stationary frame is transformed into synchrounous frame by: isd = isα cos θ Ψv s + isβ sin θ Ψv s Eqn. 5-16 isq = −isα sin θ Ψv s + isβ cos θ Ψv s Eqn. 5-17 isα = isd cos θ Ψv s − isq sin θ Ψv s Eqn. 5-18 isβ = isd sin θ Ψv s + isq cos θ Ψv s Eqn. 5-19 And the inverse relation is: 5.6 Rotor Speed Estimation The synchronous frequency can be calculated: ωˆ1 = ˆ ˆ − (u − R i )Ψ ˆ (usβ − Rs isβ )Ψ Ψ d ˆ d sβ sα sα s sα sβ (θ Ψˆ ) = arctan( )= 2 s ˆ ˆ dt dt Ψ Ψ sα s Eqn. 5-20 where: usα, usβ, isα, isβ are the stator voltage and current in the α—β stationary reference frame. Slip frequency can be deduced from Equation 5-3: ωˆ s = (1 + στ r p ) Ls iˆsq ˆ − σ L iˆ ) τ (Ψ r s s sd Eqn. 5-21 Design Concept of an ACIM Vector Control Drive, Rev. 1 Freescale Semiconductor Preliminary 5-5 It will add to the software complexity to calculate ω̂ s using Equation 5-21, and the detuning of the parameters will affect the rotor speed calculation. Slip frequency can be derived from nameplate specification of the induction machine, as shown in Table 5-1. Table 5-1. Nameplate Specification Rated Power 0.12kw Rated Speed 1310rpm Rated Current 0.76A Rated Frequency 50Hz Rated Voltage 220V Pole Pairs 2 Slip frequency is obtained by: ∆ω N = (1500-1310)rounds (1500-1310)r × pn = = 6.3Hz minute 60seconds Eqn. 5-22 Estimated slip frequency can be determined by the observer of electric torque: slip _ estimated = ∆ω N ˆ 6.3Hz ˆ × Te = × Te = 7.2 × Tˆe 0.875 TeN Eqn. 5-23 Therefore, the rotor speed can be calculated: ωˆ r = ωˆ1 − ωˆ s Eqn. 5-24 5.7 Speed Regulator From Equation 5-5, the torque is in proportion to the torque-producing current isq . Quick control on isq will yield a fast transient state. The PI speed regulator generates the command i*sq from the difference between the commanded rotor speed and estimated rotor speed. Commanded slip frequency can then be obtained by the difference between the commanded isq and estimated ˆi sq through another PI regulator. The reference synchronous speed is calculated by finding the sum of the estimated rotor speed and commanded slip frequency. The speed regulator channel can be found as shown in Figure 5-5. isq* wr* wˆ r ∆w Iˆsq w1* wˆ r Figure 5-5. Speed Regulator Channel Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 5-6 Freescale Semiconductor Preliminary PFC Design 5.8 PFC Design The main circuit adopted in this application is a single-switch PFC circuit (see Figure 5-6). The circuit is composed of Q, D, L, and filter capacitance, C2, C3 and includes an EMI filter, input relay, and full-wave rectifier. In the 56F8013-based PFC module system, the controller samples the voltage signal output and voltage DC_bus, and processes these samples in the digital control loop. Because system is based on current Discontinuous Current Mode (DCM) mode, there is only a voltage loop. Outer voltage loop G insures the output voltage is constant. L D Q C2 C3 R1 R2 C1 1 3. 3 VP PWM1 RX TX G RX TX V err DC_ b u s + V_ref 56F8013 ADCIN0 Figure 5-6. PFC Configuration Diagram 5.8.1 Inductor selection A. Maximum peak line current: Eqn. 5-25 Ripple current: Eqn. 5-26 B. Determine the duty factor at Ipk, where Vin(peak) is the peak of the rectified line voltage. Eqn. 5-27 Design Concept of an ACIM Vector Control Drive, Rev. 1 Freescale Semiconductor Preliminary 5-7 C. Calculate the inductance; fs is the switching frequency. Eqn. 5-28 Round up to 250µH. 5.8.2 Output Capacitor Output filter inductor can be calculated by the following equation: Eqn. 5-29 Po = 500W Vo(min) = 380 x (1 - 10%) = 342V Vo(max) = 380 x (1+10%) = 418V ∆t = 50ms According to Equation 5-29, C = 866µH. Select the output capacitor to be C = 940µH. Two 470µH/450V electrolytic capacitors connected in parallel are chosen. 5.8.3 Main Switch The voltage limit of the main switch is: VCEM(S) > 1.5Vcem(S) = 1.5Vin(max) = 1.5 x 380 = 570V Eqn. 5-30 The circuit limit of the main switch is calculated by RMS value: Eqn. 5-31 Select main switch Q400—Q401 to be the MOSFET IRFPC60LC. Parameters are described as follows: VDSS = 600V ID = 16A RDS (on) tye = 0.4Ω TO-247AC Package 5.8.4 Output Diode The voltage limit of the output diode is: VCEM(S) > 1.5Vcem(S) = 1.5Vin(max) = 1.5 x 380 = 570V Eqn. 5-32 The circuit limit of the output diode is calculated by RMS value: Eqn. 5-33 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 5-8 Freescale Semiconductor Preliminary PFC Design Select output diode D400—D402 to be FRED DSEP60-06A. Parameters are described as follows: VRRM = 600V IFAVM = 60A trr = 35nS TO-247AD Package 5.8.5 Inductor Design In Section 5.8.1, it was found that L= 250µH. Select Bm= 0.3T. Select magnetic core to be EI33, with an effective area of 118mm2. The number of inductor windings can be calculated as follows: N= LI L (max) =38.2 Ae Bm Eqn. 5-34 Select N = 38.The gap is: δ= µ o N 2 Ae L = 1.25 × 10 −6 × 382 ×118 × 10 −6 = 0.85mm 250 × 10 −6 Eqn. 5-35 When work frequency of inductance is 100kHz, the penetrate depth of copper lead is: Λ= 2 1 = = 0.209mm 2πf s µγ 3.14 × 100 × 103 × 1.25 × 10 −6 × 58 ×10 6 Eqn. 5-36 Where: γ is the electric conductive ratio of lead µ is magnetical conductive ratio of lead A copper lead with a smaller diameter than 0.42mm can be selected. In this case, select high intensity lead with a diameter of 0.33mm and an effective area of 0.0855mm2. 3.84 = 1.1mm2 . By selecting circuit density to be J = 3.5A/mm2,the area of leads is S = 3.5 Thirteen leads with a diameter of 0.33mm must be used. Kc = 38 ×13 × 0.0855 = 0.32 <<0.35 132 Eqn. 5-37 Design Concept of an ACIM Vector Control Drive, Rev. 1 Freescale Semiconductor Preliminary 5-9 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 5-10 Freescale Semiconductor Preliminary 56F8013 Device Chapter 6 Hardware Implementation The motor control system is designed to drive the 3-phase AC motor in a speed closed loop. The prototype is pictured in Figure 6-1 and It consists of the following blocks: • 56F8013 • High-voltage power stage board with sensor board • Power supply stage and PFC • 3-Phase AC motor without speed transducer 6.1 56F8013 Device The demonstration system is illustrated in Figure 6-1 and the hierarchy diagram is depicted in Figure 6-2. it clearly shows that the 56F8013 is the core of the system, highlighted atop the mother board. Figure 6-3 shows the motor control system configuration. Figure 6-1. Demonstration System Hardware Implementation, Rev. 1 Freescale Semiconductor Preliminary 6-1 AC Induction Motor DSC Controller Board J1 on DSC Controller Board RS-232 Connector Motherboard Heatsink J5000 on Power Board Right Side Left Side RS-232 Aeration holes POWER OFF Input Power POWER ON Front Side Figure 6-2. Hierarchy Diagram The 56F8013 is the drive’s brain. All algorithms are carried out in this single smart chip, which reads the input commands, processes the routine, and generates the PWM to govern the power switches driving the motor and the PFC to make the input current sinusoid. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 6-2 Freescale Semiconductor Preliminary High-Voltage Power Stage Mother Board Bus Voltage 110V-220V ACINPUT 3phase ACIM High Voltage Power Stage Power supply stage & PFC Sensor Stage Auxillary Voltage Control Signal Feedback Signal 56F8013EVM LOAD Speed setup Figure 6-3. Motor Control System Configuration 6.2 High-Voltage Power Stage The HV Medium Power Board is designed to meet the power needed by a household washing machine and lower-power industrial applications. An Integrated Power Module (IPM) is used to simplify the design and board layout and to lower the cost. IPMs are available from various suppliers and it is simple to use one from a supplier of choice. The IRAMS10UP60A is an IPM, which targets the household appliance market. Its features include: • Integrated gate drivers and bootstrap diodes • Temperature monitor • Temperature and overcurrent shutdown • Fully isolated package • Low VCE (on) non-punch-through IGBT technology • Undervoltage lockout for all channels • Matched propagation delay for all channels • Low-side IGBT emitter pins for current conrol • Schmitt-triggered input logic • Cross-conduction prevention logic • Lower di/dt gate driver for better noise immunity Its maxium IGBT block voltage is 600V; phase current is 10A at 25°C and 5A at 100°C, making it suitable for this appliance. Hardware Implementation, Rev. 1 Freescale Semiconductor Preliminary 6-3 6.3 Sensor Stage The control algorithm requires DCBus voltage, DCBus current and phase current sensing, so these sensors are built on the power stage board. Schematics of the sensors circuits can be found in Appendix A. A. DCBus Voltage Sensor The DCBus voltage must be checked because overvoltage protection and PFC are required. A simple voltage sensor is created by a diffential amplifier circuit. The voltage signal is transferred through a resistor and then amplified to the reference level. The amplifier output is connected to the 56F8013’s ADC. Figure 6-4. DCBus Sampling Circuit B. DCBus Current Sensor The bus current is sensed through the detection of the voltage drop across the resistor cascade into the negative bus link. A differential amplifier is then used to draw the voltage out and transform it to a level the 56F8013’s AD channel can accommodate. The sample circuit is depicted in Figure 6-5. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 6-4 Freescale Semiconductor Preliminary Sensor Stage 2 2 1 8 1 R6001 10K-0.1% I_Sense_DCB1 C6000 0.1uF R6003 8.2K-0.1% D+5V U6001A MC33172 1 3 PGND 2 R6005 5 160 R6002 10K-0.1% U6001B MC33172 7 I_Sense_DCB I_Sense_DCB 6 C6003 0.01uF 4 2 R6004 1 2 1 8.2K-0.1% Figure 6-5. Bus Link Current Sample Circuit C. Phase Current Sensor The stator flux and electromagnetic torque can be derived from two phase currents and voltages. The use of a Hall current transducer will sharply increase the cost, and two channel differential amplifiers are used as the Analog-to-Digital Converter (ADC) to sample phase currents as shown in Figure 6-6. The SVPWM is employed. The state in which all bottom switches are turned on and upper switches are turned off is defined as state 0, and the corresponding equivalent topology is depicted in Figure 6-6 (b). The sample is triggered at state 0, shown in Figure 6-6 (c). In this way, two phase currents can be derived through the differential amplifier channels. The spot worth consideration is that a certain margin ∆ should be maintained between the circle track formed by the reference voltage vector V ref and the inscribed circle of the hexagon shaped by the six base vectors as described in Figure 6-6 (a), especially at the high speed range. V3( 010) I I V2( 110) ∆ III T2 Vr ef PhaseC IV PhaseB V1( 100) T1 PhaseA V4( 011) Cur r ent Sensi ng Ci r cui t I A Td B VI AD1 I nduct i on Mot or V5( 001) V Td C T0 T1 T2 AD2 T3 T4 T5 T6 V6( 101) (a) SVPWM (b) Equivalent Topology (c) Sample Time Figure 6-6. Methods to Detect Phase Currents D. Power Supply Stage The power supply stage provides a high-voltage DCBus +5V power supply for the drive and auxillary power and +15V for the 56F8013, high-voltage drivers and amplifiers. A topswitch generates auxiliary power supply of +15V for both the ICs and the IPM. PFC is employed to make the input current trace the input voltage and to reduce the EMI. Hardware Implementation, Rev. 1 Freescale Semiconductor Preliminary 6-5 E. Protection Circuit To improve the system safety level, overcurrent and overvoltage in the bus link detection and protection are introduced into the system, illustrated in Figure 6-7. The signal generated by the circuit “IPMLOCK” will be connected to the IPM’s drive IC (74HC244) and to the 56F8013’s fault pin. When a fault is generated, the IPMLOCK signal draws to high level. On the one hand, the IPMLOCK will disable the 74HC244 and the PWM signals won’t pass through; on the other hand, the IPMLOCK signal will drive the 56F8013’s fault0 pin, and the 56F8013 will block the PWM signal instantly. C6031 0.01uF D+5V C6032 0.01uF D+5V RV6002 10K 4 R6011 2K U6002A MC33172 1 2 3 D6000 IN4148 1 D+5V R6008 620 R6009 R6010 1.2K 220K C6004 0.01uF C6033 0.01uF D+5V C6030 0.01uF RV6003 10K 6 0.1uF R6016 6.8K IPMLOCK D+5V IPMLOCK R6015 3K U6002B LM293 7 D6001 IN4148 1 5 2 I_Sense_DCB LED6001 RED DISPLAY C6005 8 C LED6001 RED DISPLAY R6012 620 2 V_Sense_DCB R6013 R6014 1.2K 220K C6006 0.01uF R6016 6.8K Figure 6-7. Protection Circuit 6.4 PFC Hardware Design The topology of the main circuit is a boost circuit. One signal, output bus voltage DC_bus, is sampled and sent to the 56F8013. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 6-6 Freescale Semiconductor Preliminary PFC Hardware Design Figure 6-8. Main PFC Circuit 6.4.1 Drive Circuit Hardware Design IC IR2125, a simple and reliable gate drive circuit based on a current-limiting single channel driver, is used; it is shown in Figure 6-9. Figure 6-9. PFC Drive Circuit 6.4.2 Sample Circuit Hardware Design The output bus voltage, Vbus, sample circuit is shown in Figure 6-10. A simple voltage divider is used for the bus voltage sample. Hardware Implementation, Rev. 1 Freescale Semiconductor Preliminary 6-7 Figure 6-10. PFC Sampling Circuit 6.5 Detailed Motherboard Configurations for ACIM The motherboard shown in Figure 6-2 comprises a high-voltage power stage, a sensor stage, a protection circuit and PFC. It is a general board which can be used for ACIM, BLDC and PMSM after simple configuration with resistances and jumpers. Configurations for the ACIM are shown in Figure 6-11; shorten circuits for the jumpers circled in red. C5004 JP6000 JP1008 JP1004 JP1005 U6003 U6002 U6001 U6008 C5003 JP1009 DSC Figure 6-11. ACIM Jumper Configuration Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 6-8 Freescale Semiconductor Preliminary Detailed Motherboard Configurations for ACIM Table 6-1 details the configurations of the 56F8013 resources used in the system and the corresponding variables used in the software. Table 6-1. Configuration of the 56F8013’s Resources Target Variables 56F8013 Resources Software Resources DCBus Voltage: V_sense_DCB ANB1 (PC5) sample3 AD_VDC Uphase Current Sample: I_sense_U ANA1 ( PC1 sample0 AD_iA Vphase Current Sample: I_sense_V ANA0 (PC0) sample1 AD_iB DCBus Current Sample: I_Sense_DCB ANB0 (PC4 sample4 AD_iDC Relay: AC_RELAY PB5 OPEN: OPEN PB2 DACCLK PB0 DACDATA PB3 DACEN PB1 TXD PB7 RXD PB6 FAULT0 PA6 Hardware Implementation, Rev. 1 Freescale Semiconductor Preliminary 6-9 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 6-10 Freescale Semiconductor Preliminary Data Flow Chapter 7 Software Design This section describes the design of the drive’s software blocks. The software will be described in terms of: • Control Algorithm Data Flow • State Diagram 7.1 Data Flow The drive requires the software to gather and process values from the user interface and generate 3-phase PWM signals for inverter. The control algorithm contains the processes, described in the following sections. IPM temperature monitor DC_Bus Current(A/D) Washing machine work pattern PC master Phase current sample(A/D) iA&iB U_dc_bus Desired rotor speed DC_Bus Voltage(A/D) I_dc_bus U_dc_bus Stator flux estimation Speed regulator Electromagnetic torque Stator_flux_est Elec_torque_est w1_command Fault Control Slip frequency estimation Synchronous speed estimation Drive Fault status Slip_est w1_est Block IPM StatorFlux Determine Rotor speed estimation Stator_flux_ commanded Usq determine StatorFlux Regulator Usq Usd w2_est SVPWM PVAL0 PVAL2 PVAL4 Figure 7-1. Data Flow Software Design, Rev. 1 Freescale Semiconductor Preliminary 7-1 7.2 Stator Flux Estimation Estimating stator flux is one of the algorithm’s key tasks. Using the phase voltages and phase currents, an estimation of stator flux can be derived from the stator flux model. Generally, the stator flux based on the voltage model is determined by Equation 7-1. v v v v v o U s − Rs is E E Ψs = = = e j ( ∠E −90 ) jω1 jω1 ω1 Eqn. 7-1 Where: E is the back EMF E is the magnitude of E ∠E is the phase of E The pure integral of back EMF involves the drift and saturation problems due to initial condition and DC offset. The Low-Pass Filter (LPF) is employed to replace the pure integral as shown in Figure 7-2. q β v V ref u qs d θ u ds α Figure 7-2. Stator Reference Voltage V ref v Ψ ′s = v v ω j ( ∠E − arctan 1 ) E E ωc e = jω1 + ωc ω12 + ωc 2 Eqn. 7-2 Where: ωc is the cutoff frequency of the LPF in radians per second As expected, when ω1 >>ωc: arctan ω1 ≈ 90o ωc Eqn. 7-3 ω12 + ω c 2 ≈ ω1 Eqn. 7-4 Design of ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 7-2 Freescale Semiconductor Preliminary Stator Flux Determination In this case, the LPF estimator approaches the pure integrator estimator. But when the cut-off frequency, ωc, is close to the synchronous ω1, errors occur, so a correction factor, G, is used to minimize the errors. v v v Ψ ′sG = Ψ s Eqn. 7-5 Equation 7-6 can be deduced: ω v ω12 + ω c 2 j (arctan ω1c −90o ) G= e = G (ω1 )e j ρ (ω1 ) ω1 Eqn. 7-6 The improved stator flux observer channel is shown in Figure 7-3. ea eβ ˆ' 1 Ψ sα jωˆ1 + ωc 1 jωˆ1 + ωc G (ωˆ1 ) cos( ρ (ωˆ1 )) ˆ Ψ sα Eq. 5-20 ˆ' Ψ sβ G (ωˆ1 ) sin( ρ (ωˆ1 )) ω̂1 ˆ Ψ sβ Figure 7-3. Improved Stator Flux Estimation Channel 7.3 Electromagnetic Torque Electromagnetic torque can be estimated from stator flux and stator current and can be determined as shown in Equation 7-7. Te = −Ψ sβ isβ + Ψ sα isβ Eqn. 7-7 7.4 Rotor Speed Estimation A speed sensorless induction motor drive is a trend in today’s low cost variable speed applications. Due to the cost and maintenance required by a speed transducer, speed sensorless technology is drawing more attention. For convenience, this application assumes a simple method to estimate rotor speed, described in Section 5.6. 7.5 Stator Flux Determination The motor will get an optimum transformation from energy produced by magnetic field compared to that produced mechanically when it works at the point of the flux linkage curve. At the high speed range, however, the flux should be weakened to reach a high speed. Therefore, the electrical machine should maintain the flux below the rated speed range, and the flux should be weakened at the high speed range. The flux should be regulated depending on the rotor speed. Software Design, Rev. 1 Freescale Semiconductor Preliminary 7-3 7.6 Space Vector Pulse Width Modulation (SVPWM) Space Vector Modulation (SVM) can directly transform the stator voltage vectors from an α, β-coordinate system to Pulse Width Modulation (PWM) signals (duty cycle values). The standard technique for output voltage generation uses an inverse Clarke transformation to obtain 3-phase values. Using the phase voltage values, the duty cycles needed to control the power stage switches are then calculated. Although this technique gives good results, space vector modulation is more straightforward and realized more easily by a digital signal controller. 7.7 Fault Control From the consideration of the cost control, optocoupler is not used in this system. The fault control process and its hardware should be designed to provide a solid protection against damage. In this application, due to the high complex of the pins, the fault1 to fault3 input pins are coupled with the PWM output pads. Only fault0 is valid for the detection of the rising edge generated by the fault signals. The overcurrent, overvoltage and overheat protections are merged together with the OR relation; that is, if any of them occur, the pin Fault0 will catch the edge and the fault process will dominate all resources and disable the PWM output pads. The routine will trap into the Interrupt Service Routine (ISR) once the fault occurs. 7.8 PFC Software Design Power Factor (PF) is defined as the ratio between real power and apparent power of AC input. Assuming input voltage is a perfect sine wave, PF can be defined as the product of current distortion and phase shift. Consequently, the PFC circuit’s main tasks are: • Controlling inductor current, making the current sinusoidal and the same phase as input voltage • Controlling output voltage, insuring the output voltage is stable. The PFC main current needs two closed loops to control the circuit: — The voltage loop is the outer loop, which samples the output voltage and controls it to a stable level — The current loop is the inner loop, which samples inductor current and forces the current to follow the standard sinusoidal reference in order to reduce the input harmonic current The system in this application is based on current Discontinuous Current Mode (DCM), in which there is only a voltage loop. DCM can make the current both sinusoidal and the same phase as input voltage. PI loop control is widely used in industry control because of its simplicity and reliability. In this application, the voltage loop adopts PI regulator arithmetic. These assumptions simplify analysis: • Input current follows reference perfectly, which is proportional to the input voltage • There is no additional power depletion in the circuit; power efficiency is 1 • Output power is constant Design of ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 7-4 Freescale Semiconductor Preliminary PFC Software Design Figure 7-4. Simple PFC Mode The function for output voltage: ⎧Uv(n) = K 0v × Ev(n) + Iv(n − 1) ⎪ ⎨ Iv(n) = Iv(n − 1) + K1v × Ev(n) + Kcorrv × Epiv ⎪ Epiv = Usv − Uv(n) ⎩ ⎧Uvmax ⎪ Usv = ⎨Uvmin ⎪Uv(n) ⎩ whenUv(n) ≥ Uvmax whenUv(n) ≤ Uvmin else Uv(n) = the result of PI unit Ev(n) = input error Iv(n) = integral unit K0v = proportional constant K1v = integral constant Kcorrv = resistant saturation constant Usv = result of voltage loop after limit iUvmax = maximum of voltage loop Uvmin = minimum of voltage loop Vo* G ( Z) vo K Figure 7-5. Discrete Voltage Loop Structure Software Design, Rev. 1 Freescale Semiconductor Preliminary 7-5 Design of ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 7-6 Freescale Semiconductor Preliminary JTAG Simulation Function Chapter 8 JTAG Simulation and SCI Communication There are abundant software and hardware resources for JTAG simulation and communication in the 56F8013 device. With these resources, a 56F8013-based motor system can accomplish mixed communication functions, such as JTAG debug and SCI interface, between the power module and PC. Isolation is necessary between power electronics and microelectronics in the power system for safety. The communication system consists of two parts: • JTAG circuit, designed with for debugging and programming the 56F8013 • SCI circuit, designed for background communication from the PC; power management and supervision can be realized conveniently Figure 8-1. Communication Board’s Frame Figure 8.1 JTAG Simulation Function Because the 56800E core integrates the JTAG/EOnCE function, the 56F8013 can be debugged and programmed through the parallel port by a simple interface circuit without any special emulator. The debug function is provided by JTAG interface. The power main circuit must be removed to ensure safety. During debugging, the connection for main power circuit should be cut off by disconnecting the J5000 connector on power board; see Figure 8-2. JTAG Simulation and SCI Communication, Rev. 1 Freescale Semiconductor Preliminary 8-1 Figure 8-2. System Diagram Figure 8-3. Connections for JTAG As shown in Figure 8-3, the JTAG flat cable is connected to the 56F8013‘s J1. A parallel cable links the JTAG to PC’s parallel port. CAUTION Disconnect J5000 in the Power Board before debugging or refreshing the control program. Otherwise, damage to or invalidation of the demo, or even electrical shock, can occur. Debugging or refreshing the control program should only be done by experienced personnel. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 8-2 Freescale Semiconductor Preliminary SCI Communication Function Figure 8-4. CodeWarrior Development Tool Interface CodeWarrior IDE is necessary to debug software and refresh the program; version 7.0 or later is recommended. Figure 8-4 shows the software interface. Details about installation and use can be found in the CodeWarrior documentation. 8.2 SCI Communication Function Connections for SCI communication are shown in Figure 8-5. A serial cable links the RS-232 connector on the demonstration board to the PC’s serial port. JTAG Simulation and SCI Communication, Rev. 1 Freescale Semiconductor Preliminary 8-3 Figure 8-5. SCI Communication Connections The PC Master software tool can be used for development and control of the application. Details about installation and use of PC master software can be found in the CodeWarrior tool. Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 8-4 Freescale Semiconductor Preliminary Cautions Chapter 9 Operation This section offers brief instructions on operating the ACIM application. 9.1 Switch-on Follow these steps to start the ACIM application: 1. Make sure the power switch is on the POWEROFF state, then put the plug in a wall socket 2. Switch the appliance on by pressing down the POWERON button. The 56F8013 starts the main power, and the ACIM begins to work 9.2 During Operation 1. LEDs on controllers can display system information — LED 1 displays the operating mode — LED 2 displays the rotation speed 2. SCI communication provides background supervision for the power module — SCI baud rate configuration: 4800 BPS 3. Debug function is provided by the JTAG interface See Caution, Section 8.1 and Section 9.4 4. To ensure the demo plate coupled on the shaft of the motor will not fly out, be sure the upper cover of the box is closed 9.3 Switch-off To turn the application off, follow these steps: 1. Switch off the POWERON Button — The 56F8013 cuts off the main power and the bus voltage is decreased 2. Unplug the power line. — The controller is powered off, and system is switched off 9.4 Cautions To ensure safety, take care when: 1. Pressing the power switch to 1 on the unit after the power line is plugged in during the switch-on process 2. Pressing the power switch to 0 before power line is unplugged during the switch-off process 3. Debugging Before beginning the debug process, cut off power to the main power circuit by disconnecting the J5000 connector on the Power Board Operation, Rev. 1 Freescale Semiconductor Preliminary 9-1 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 9-2 Freescale Semiconductor Preliminary Appendix A Schematics Schematics, Rev. 1 Freescale Semiconductor Preliminary Appendix A-1 D+3.3V DGND TXD1 RXD1 D+3.3V DGND TXD1 RXD1 R3000 R3001 800 800 0.1uF C3008 C NEC2501 U3002 NEC2501 A U3001 R3003 800 GND_PC1 R3002 800 +5V_SCI1 A C 4 D+3.3V 1 1 0.1uF C3009 GND_PC1 D3000 BAV99 1 C3005 10uF/10V C3001 5 0.1uF 4 3 C3002 1 0.1uF C2- GND 15 C2+ VCC 16 C1- V- 6 C1+ V+ 2 MAX202CSE 8 13 7 14 D3001 BAV99 C3003 0.1uF GND_PC1 +5V_SCI1 C3004 0.1uF 1 +5V_SCI1 +5V_SCI1 C3007 10uF/10V C3006 1 10uF/10V GND_PC1 2 3 4 D3004 1N4733 NC CAP+ GND R2O R2I R1O R1I T2I T2O T1I T1O U3003 V+ TC7660 OSC LV VOUT CAP- U3000 9 12 10 11 8 7 6 5 + Appendix A-2 4 + + Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 Freescale Semiconductor Preliminary 1 D3002 BAV99 ISOLATED SCI D3003 BAV99 1 DB9 5 9 4 8 3 7 2 6 1 J3001 GND_PC1 C3000 0.1uF +5V_SCI1 5 9 4 8 3 7 2 6 1 GND_PC1 V2.0 Schematics, Rev. 1 DGND DGND DGND DGND D+3.3V DGND D+3.3V DGND Function3 S1003 Function2 S1002 Function2 S1001 Function1 S1000 LEDCLK /LEDEN TXD1 RXD1 2 4 6 8 10 DGND C1040 0.1uF DGND C1039 0.1uF DGND C1038 0.1uF DGND 1 2 3 4 5 6 7 8 9 10 LED and DA JP4000 1 3 5 7 9 SCI JP1007 TDO JP1014 Jumper for Push Button TCK JP1013 Jumper for Push Button TMS JP1012 Jumper for PushButton TDI JP1011 Jumper for PushButton C1037 0.1uF D+3.3V DGND D+3.3V DGND D+3.3V LEDDATA TXD1 RXD1 BUS+ U UN V VN SensorV02 SensorV02.SCH 1nF U1 V1 W1 D+5V DGND PGND U1 V1 W1 D+5V DGND PGND 1nF 1nF I_Sense_V I_Sense_U IPMLOCK V_Sense_U V_Sense_V V_Sense_W I_Sense_DCB V_Sense_DCB 1nF DGND 1nF U1001 LM293 1nF C1030 C1031 C1032 C1033 C1034 C1035 I_Sense_DCB1 I_Sense_DCB1 BUS+ U UN V VN P+15V P+15V DGND DGND PFCdrive1 PFCdrive1 AC_RELAY AC_RELAY D+5V D+5V I_Sense_V I_Sense_U IPMLOCK V_Sense_W I_Sense_DCB V_Sense_DCB V_Sense_U V_Sense_V PGND LED1001 OverTemp D1001 IN4148 D+5V R1010 300 R1001 1.2K PFCdrive1 35 37 39 DSP JP1004 JP1008 ADC Channel Sub-Jumper I_Sense_U ACur_hall SUB_ANA1 ADC Channel Jumper V_Sense_U ANA11 SUB_ANA1 PA5-PWM5/FAULT2/T3 38 40 3.3V 2 GND PA7-VPP PB7-TXD/SCL 6 PB6-RXD/SDA/CLKIN 8 PA0-PWM0 PC0-ANA0 PA1-PWM1 PC1-ANA1 PB4-T0/CLK0 PC2-VREFH PB5-T1/FAULT3 16 PB3-MOSI/T3 PC4-ANB0 PB2-MISO/T2 PC5-ANB1 PB0-SCLK/SCL PC6-ANB2/VREFL PB1-/SS/SDA 24 PD0-TDI PB1-/SS/SDA PD1-TDO PB0-SCLK/SCL PD2-TCK PA2-PWM2 PD3-TMS PA3-PWM3 PA6-FAULT0 PA4-PWM4/FAULT1/T2 JP1010 Rotor Speed JP1006 D+3.3V RotorSpeedGiv DGND C1000 0.01uF U1000 1Y1 18 1Y2 16 1Y3 14 1Y4 12 2Y1 9 2Y2 7 2Y3 5 2Y4 3 R1018 0.5ACIM V2 OUT R1002 130K U1001 LM293 0.1uF C1009 26 28 30 32 34 36 18 20 22 10 12 14 4 JP1005 JP1009 ADC CHANNEL SUN_JUMPER I_Sense_V BCur_hall SUB_ANA0 D1000 IN4148 RXD1 TXD1 D+3.3V DGND DGND D+5V LEDCLK LEDDATA /LEDEN RXD1 TXD1 D+3.3V DGND SCIV02 SCIV02.SCH DGND D+5V C1008 0.1mF/25V PGND C1001 0.1uF P+15V LEDV02 LEDV02.SCH PSS8050 Q1000 10.2K R1009 LEDCLK LEDDATA /LEDEN PGND RV1000 P+15V 10K OPEN R1011 4.7K DSP Control ON IPM ADC Channel Jumper V_Sense_V ANA00 SUB_ANA0 PWM2 PWM3 PWM4 PWM5 I_Sense_DCB V_Sense_DCB RotorSpeedGiv ANA00 ANA11 V_Sense_W 1 R1000 1.2K R1004 6.8K Induction Motor & Driver HIN1 HIN2 HIN3 LIN1 LIN2 LIN3 T/Itrip VDD VSS PWM INPUT SIGNALS LOW ACTIVE R1019 0.5ACIM TE10 TE12 TE14 TE11 TE13 TE15 PWM0 PWM2 PWM4 PWM1 PWM3 PWM5 I_Sense_DCB1 1G 2G GND MC74HC244 2A1 2A2 2A3 2A4 1A1VCC 1A2 1A3 1A4 R1013 5.1K LEM(FOR DEBUG PURPOSE) JP1002 1 19 D+5V R1008 0.5ACIM/2PMSM NOTE:PGND,DGND are conncected together,for no opto-isolat ion is used IPMLOCK D+3.3V 1 DGND 3 TXD1 5 RXD1 7 PWM0 9 PWM1 11 PFCdrive 13 AC_RELAY 15 LEDDATA 17 OPEN 19 LEDCLK 21 /LEDEN 23 TDI 25 TDO 27 TCK 29 TMS 31 IPMLOCK 33 ACur_hall BCur_hall DGND 2 4 6 8 PWM1 11 PWM3 13 PWM5 15 PFCdrive 17 PWM0 PWM2 PWM4 IPMLOCK 8 7 86 75 64 53 42 31 2 1 PGND 20 10 D+3.3V RP1000 8X5K 1 15 U2 16 HEAD 1 U1002 IRAMS10UP60A 17 C1006 0.1uF/630V CBB R1017 0.5ACIM 18 BUS+ 19 R1012 470V1K C1036 0.1uF/630V CBB 20 JP1000 2 PGND 7 21 BUS+ 22 PFC&AP_2 PFC&AP_2.SCH 23 C1002 W1 2.2uF/25V C1004 2.2uF/25V U1 U U2 JP1018 PhaseV_up JP1017 PhaseV_down VN1 VN I_Sense_DCB1 V1 V V2 PhaseU_down JP1016 PhaseU_up JP1015 R1016 2 onlyForPMSM R1015 2 onlyForPMSM VN1 R1014 2 onlyForPMSM UN1 UN1 UN I_Sense_DCB1 V1 U1 2.2uF/25V C1003 + + + Freescale Semiconductor Preliminary Appendix A-3 UVW_OUTPUT JP1001 ACIM/PMSM MOTOR DRIVER Power Board Top View V2.0 C4001 0.1uF 74LS164(U4000) D+5V D+5V DGND /LEDEN LEDCLK LEDDATA C4002 0.1uF 74LS164(4001) D+5V /LEDEN LEDCLK LEDDATA D+5V D+5V C4000 47uF/10V D+5V 24 1 18 19 /LEDEN 9 4 12 LEDCLK 13 LEDDATA R4010 10K 5K MR CLK A B GND GND MAX7219 LOAD CLK DOUT DIN ISET V+ MR CLK 3 4 5 6 10 11 12 13 DIG0 DIG1 DIG2 DIG3 DIG4 DIG5 DIG6 DIG7 3 4 5 6 10 11 12 13 14 16 20 23 21 15 17 22 2 11 6 7 3 10 5 8 DIG1 DIG2 DIG3 DIG4 DIG5 DIG6 DIG7 DIG8 SEGA SEGB SEGC SEGD SEGE SEGF SEGG SEGDP Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7 D+5V Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7 74HC164 U4004 9 7 A B U4000 74HC164 8 9 7 LEDCLK /LEDEN R4009 /LEDEN 8 14 1 2 5K R4008 U4001 LEDDATA D+5V 14 1 2 D+5V SEGA SEGB SEGC SEGD SEGE SEGF SEGG SEGDG DIG1 DIG2 DIG3 DIG4 DIG5 DIG6 DIG7 DIG8 100 100 100 100 100 100 100 100 R4007 R4006 R4005 R4004 R4003 R4002 R4001 R4000 SEGA SEGB SEGC SEGD SEGE SEGF SEGG SEGDG 11 7 4 2 1 10 5 3 11 7 4 2 1 10 5 3 DIG.1 a DIG.1 a b c f g b d e e d c f dp g dp 12 DIG.1 a DIG.1 a b c f g b d e e d c f dp g dp 12 d c d c c dp d LED DISPLAY d dp c e dp e f e DIG.3 DIG.3 a b g dp DIG.3 DIG.3 a f b g DIG.2 DIG.2 a b g f e DIG.2 DIG.2 a f b g 9 9 8 8 U4002 FYQ-3641A d c U4003 FYQ-3641A dp e d dp c DIG.4 DIG.4 a b g f e DIG.4 DIG.4 a f b g 6 6 Appendix A-4 + Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 Freescale Semiconductor Preliminary V2.0 Schematics, Rev. 1 J5000 AC INPUT PGND AC_IN11 L2004 3.3uH 2 K PGND 4 1 C A Q5001 PSS8050 PGND C2005 0.1uF/250VAC U5021 RELAY R5023 120/3W F2000 2A250VAC 5 1 TE5022 PGND PGND DGND & PGND Connected together,for no opto-isolation is used DGND AC_IN22 J2000 AC INPUT AC_IN2 AC_IN1 PGND P+15V D5023 1N4004 1 + C5036 47uF/10V 5 C5001 0.1uF VR2000 P6KE200 3 2 U2000 TOP223YAI 1 D5022 1N4007 D2001 BYV26C C2006 47uF/400V PGND D2002 KBP10 PFC_AP 220uH L5001 R5022 AC_RELAY 1K PGND C5000 D5000 470nF/275V IR25XB08H F5000 250V/20A C5025 0.1uF 9 R5008 0.02 C2009 47uF C2008 0.1uF D2003 1N4148 C2007 0.1uF R5002 10/3W C5002 680pF/2K D5001 DSEP60-06A R2000 6.2 D2006 MUR420 E C2020 330uF/35V L2003 3.3uH U2002 TL431 R2001 2K PGND C2028 1.6nF/450VAC K NEC2501 U2001 A C2027 0.1uF R2002 200/0.5W P+15V BUS+ PGND R2003 10K RV2000 100K 2 C2016 220UF/25V L2002 3.3uH NC GND TC4420 2 P+15V 5 6 900 R2005 300 PGND C2019 1uF DGND 1 LED2001 RED DISPLAY VB 5 7 6 8 CS 0.1uF PGND C5026 10nF C5024 DGND D+5V R5024 6.8/0.5W PFCdrive3 VS HO CS PFC & AP 1N4001 C5027 0.1uF LED2002 RED DISPLAY 1 P+15V 4 PGND 3 D+5V 2 DGND 1 POWER PLUG R2004 IN ERR VCC U5020 C2018 220UF/25V D+5V GND OUTPUT 7 8 PGND VDD JP2001 2 3 1 D5020 C5023 10pF 4 COM IR2125 C5021 0.1uF INPUT OUTPUT D+5V C2017 0.1uF R5020 1K VDD U13 Q2000 7805 PGND P+15V PGND 4 3 2 1 P+15V PFCdrive1 P+15V P+15V PGND PGND PFCdrive00 Plug for PFC Debug 4 3 2 1 JP5020 PGND C5020 220UF/25V PFCdrive1 C50280.1uF PFCdrive1 PGND C2015 330uF/35V C2022 0.1uF D2005 MUR420 PGND R5007 470K/2W R5006 470K/2W PGND D5021 1N4007 PFC_AP C2021 220UF/25V PFCdrive3 PFCdrive00 PFCdrive2 C5004 330uF BUS+ PFC DRIVER JUMPER JP5003 R5003 30K Q5000 IXTH30N50 PFCdrive00C5003 330uF APC TRANSFORMER TR2001 CS PowerJumper J5002 AC_RELAY 9 P+15V 1 P+15V 1 3 Freescale Semiconductor Preliminary Appendix A-5 R5021 6.8/0.5W V2.0 PFCdrive2 PGND Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 V_Sense_DCB I_Sense_DCB R6012 620 R6008 620 C6006 0.01uF C6004 0.01uF W1 R6015 330 D+5V LED6001 OverCur C6032 0.01uF D6001 1N4148 D6000 1N4148 R6017 300 LED6002 OverBusVo l R6016 300 R6011 330 D+5V U UN V VN BUS+ PGND DGND D+5V (PROTEC OF DCBUS CURRENT & DCBUS VOLTAGE, FOR PROJECT OF ACIM AND PMSM) 220K 1.2K LM293 0.1uF C6005 OUT C6033 0.01uF U6002 R6014 RV600 3 10K 2 D+5V C6030 0.01uF 220K R6013 1.2K U UN V VN BUS+ PGND DGND D+5V R6010 U6002 LM293 D+5V C6031 0.01uF RV6002 10K 2 D+5V I_Sense_DCB 1 R6009 FOR BLDC 1 I_Sense_DCB 1 1 1 U1 V1 7 U1 V1 W1 1 1 PGND VREF OUT GND R6004 4 + 160 R6044 C6038 0.1uF C6034 0.01uF DGND R6051 10K R6050 10K C6035 0.01uF JP6000 U6008 MC33172 U6007 MC33172 4 U6010 MC33172 8 C6039 0.1uF VCC OUT GND 160 C6003 0.01uF R6005 U6001 MC33172 I_Sense_V I_Sense_V I_Sense_U I_Sense_DCB 1.65VREF I_Sense_U D+5V I_Sense_DCB Reference Voltage Jumper(1.65V for PMSM and DGN D for ACIM) 1.65VREF VREF DGND (SAMPLE OF PHASE CURRENT, FOR PMSM) 160 R6049 (SAMPLE OF PHASE CURRENT, FOR PMSM) DGND C6037 10uF/16V 8 7 6 5 (SAMPLE OF DC BUS CURRENT, FOR ACIM) 8.2K-0.1%ACIM/1M-0.1%PMSM R6002 10K-0.1%ACIM/200K-0.1%PMSM U6001 VCCMC33172 C6000 0.1uF C6041 0.1uF OUT GND R6048 4 U6008 8 MC33172 D+5V VCC 1M-0.1%PMSM 1.65VREF C6040 0.1uF OUT GND R6043 4 U6007 8 MC33172 D+5V VCC REF196 U6009 TP NC VS NC SLEEP OUTPUT GND TP 1M-0.1%PMSM R6001 8 10K-0.1%ACIM/200K-0.1%PMSM R6003 8.2K-0.1%ACIM/1M-0.1%PMSM D+5V IPMLOCK I_Sense_DCB1 IPMLOCK R6046 200K-0.1%PMSM VN R6045 V 200K-0.1%PMSM R6047 1M-0.1%PMSM R6041 200K-0.1%PMSM UN R6040 U 200K-0.1%PMSM R6042 1M-0.1%PMSM 1 2 3 4 1.65VREF D+5V R6052 4.7K 1 1 1 C6036 0.1uF 1 7 7 D+5V 7 R6021 V1 I_Sense_DCB1 W1 C6015 0.01uF R6036 7.25M-0.1% D6004 1N4733 D6009 1N4733 D6005 1N4733 D6003 1N4733 D6008 1N4733 D6007 1N4733 D6002 D6006 1N4733 1N4733 R6037 51K-0.1% R6032 51K-0.1% R6027 51K-0.1% R6022 51K-0.1% C6019 0.01uF R6031 7.25M-0.1% R6030 7.25M-0.1% R6035 7.25M-0.1% I_Sense_DCB1 C6007 0.1uF C6011 0.01uF R6026 7.25M-0.1% R6025 7.25M-0.1% R6020 7.25M-0.1% I_Sense_DCB1 U1 PGND BUS+ 7.25M-0.1% 4 8 C6012 0.1uF 4 8 C6008 0.1uF OUT GND U6004 VCCMC33172 D+5V C6016 0.01uF R6033 51K-0.1% OUT GND OUT GND U6006 VCCMC33172 C6021 0.01uF R6038 51K-0.1% 4 8 D+5V U6005 VCC MC33172 C6017 0.1uF C6013 0.01uF C6020 0.1uF 4 8 D+5V C6009 0.01uF R6023 51K-0.1% OUT GND U6003 VCC MC33172 R6028 51K-0.1% D+5V 1 1 R6039 160 R6034 160 R6029 160 R6024 160 U6003 MC33172 C6022 0.01uF C6018 0.01uF C6014 0.01uF (SAMPLE OF W PHASE VOLTAGE, FOR PMSM ONLY) U6006 MC33172 V_Sense_W V_Sense_V (SAMPLE OF V PHASE VOLTAGE, FOR PMSM ONLY) U6005 MC33172 V_Sense_DC B V_Sense_U (SAMPLE OF U PHASE VOLTAGE, FOR PMSM ONLY) U6004 MC33172 (SAMPLE OF DC BUS+, FOR PROJECT OF PMSM AND ACIM) C6010 0.01uF 7 7 1 1 7 7 Appendix A-6 Freescale Semiconductor Preliminary V_Sense_W V_Sense_V V_Sense_U V_Sense_DC B SENSOR CIRCUIT FOR ACIM & PMSM V2.0 Appendix B ACIM Bill of Materials Designator Description Footprint Quantity C1000, C6003, C6004,C6006, C6009, C6010, C6011, C6013, C6014, C6015, C6016, C6018, C6019, C6021, C6022, C6030, C6031, C6032, C6033, C6034, C6035 0.01 µF RAD-0.1 21 C1001, C1009, C1037, C1038, C1039, C1040, C2007, C2008, C2017, C2022, C2027, C3000, C3001, C3002, C3003, C3004, C3008, C3009, C4001, C4002, C5001, C5021, C5024, C5025, C5027, C5028, C6000, C6005, C6007, C6008, C6012, C6017, C6020, C6036, C6038, C6039, C6040, C6041 0.1 µF RAD-0.1 38 C1002, C1003 2.2 µF / 25 V RB2.5/5 2 C1006, C1036 0.1 µF / 630V CBB RAD15/18/6 2 C1008 0.1 mF / 25V RB2.5/6 1 C1030, C1031, C1032, C1033, C1034, C1035 1 nF RAD-0.1 6 C2005 0.1 uF / 250VAC RAD15/18/6 1 C2006 47 µF / 400V RB10/22.4 1 C2009 47 µF RB2.5/5 1 C2015, C2020 330 µF / 35V RB5/10 2 C2016, C2018, C2021, C5020 220 µF / 25V RB3/8 4 C2019 1 µF RAD-0.2 1 C2028 1.6 nF / 450VAC RAD-0.4 1 C3005, C3006, C3007 10 µF / 10V RB2.5/5 3 C4000, C5036 47 µF / 10V RB2.5/5 2 C5000 470 nF / 275V RAD22/26/9 1 C5002 650 pF / 2K RAD-0.2 1 C5003, C5004 330 µF RB10/30 2 C5023 10 pF RAD-0.1 1 C5026 10 nF RAD-0.1 1 ACIM Bill of Materials, Rev. 1 Freescale Semiconductor Preliminary Appendix B-1 Designator Description Footprint Quantity C6037 10 µF / 16V RB2.5/5 1 D1000, D1001 IN4148 DIODE-0.4 2 D2001 BYV26C DIODE-0.4 1 D2002 KBP10 KBP19 1 D2003 IN4148 DIODE-0.4 1 D2005, D2006 MUR420 DIODE-0.5 2 D3000, D3001, D3002, D3003 BAV99 SOT-23 4 D3004 IN4733 DIODE-0.4 1 D5000 IR25XB08H IR25XB 1 D5001 DSEP60-06A TO247AD 1 D5020 IN4001 IN4007 1 D5021, D5022 IN4007 IN4007 2 D5023 IN4004 IN4004 1 D6000, D6001 IN4148 DIODE-0.4 2 D6002, D6003, D6004, D6005, D6006, D6006, D6008, D6009 IN4733 DIODE-0.4 8 F2000 Fuse 2A 250 VAC FUSE20/5/7 1 F5000 Fuse 250V / 20A FUSE20/5/7 1 J2000, J5000 AC INPUT Connectors CON5/3.96 2 J3001 DB9 Connector DB9/M 1 J5002 Power Jumper CON2/3.96 1 JP1000 Jumper HEAD CON5/3.96 1 JP1001 Jumper UVW_OUTPUT UVW 1 JP1002 Jumper LEM (For Debug Purpose) HDR1X3 1 JP1004, JP1005 ADC Channel Jumper HDR1X3 2 JP1006 Jumper Rotor Speed HDR1X3 1 JP1007 Jumper SCI IDC10 1 JP1008 ADC Channel Jumper HDR1X3 1 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 Appendix B-2 Freescale Semiconductor Preliminary Designator Description Footprint Quantity JP1009 ADC Channel Jumper HDR1X3 1 JP1010 DSC Demo Board Connector HDR2X20 1 JP1011, JP1012, JP1013, JP1014 Jumper for Push Button HDR1X2 4 JP1015 Jumper PhaseU_up HDR1X3 1 JP1016 Jumper PhaseU_down HDR1X3 1 JP1017 Jumper PhaseV_up HDR1X3 1 JP1018 Jumper PhaseV_down HDR1X3 1 JP2001 Jumper PowerPlug HDR1X4-5 1 JP4000 LED and DA IDC10 1 JP5003 PFC Driver Jumper HDR1X3 1 JP5020 Jumper Plug for PFC Debug HDR1X4 1 JP6000 Reference Voltage Jumper (1.65 for PMSM and DGND for ACIM) HDR1X3 1 L2002, L2003 3.3 µH IND3.3u 2 L2004 3.3 µH IND 1 L5001 220 µH IND_PFC 1 LED1001 LED OverTemp LEDA 1 LED2001, LED2002 RED LED DISPLAY LEDA 2 LED6001 LED OverCur LEDA 1 LED6002 LED OverBusVol LEDA 1 Q1000, Q5001 PSS8050 TO-92A 2 Q5000 IXTH30N50 TO247AC 1 R1000, R1001 1.2K Ohm AXIAL-0.4 2 R1002 130K Ohm AXIAL-0.4 1 R1004 6.8K Ohm AXIAL-0.4 1 R1008 6.8K Ohm AXIAL-0.4 1 ACIM Bill of Materials, Rev. 1 Freescale Semiconductor Preliminary Appendix B-3 Designator Description Footprint Quantity R1009 10.2K AXIAL-0.4 1 R1010 300 Ohm AXIAL-0.4 1 R1011 4.7K Ohm AXIAL-0.4 1 R1012 470V 1K Ohm VVR 1 R1013 5.1K Ohm AXIAL-0.4 1 R1014, R1015, R1016 2 Ohm (PMSM) SHANT-0.5 3 R1017, R1018, R1019 0.5 Ohm (ACIM) SHANT-0.5 3 R2000 6.2 Ohm AXIAL-0.4 1 R2001 2K Ohm AXIAL-0.4 1 R2002 200 Ohm / 0.5W AXIAL-0.5 1 R2003 10K Ohm AXILA-0.4 1 R2004 300 Ohm AXIAL-0.4 1 R2005 900 Ohm AXIAL-0.4 1 R3000, R3001, R3002, R3003 800 Ohm AXIAL-0.4 4 R4000, R4001, R4002, R4003, R4004, R4005, R4006, R4007 100 Ohm AXIAL-0.4 8 R4008, R4009 5K Ohm AXIAL-0.4 2 R4010, R6050, R6051 10K Ohm AXIAL-0.4 3 R5002 10 Ohm / 3W R2WV 1 R5003 30K Ohm AXIAL-0.4 1 R5006, R5007 470K Ohm / 2W R2WV 2 R5008 0.02 Ohm SHANT-0.2 1 R5020, R5022 1K Ohm AXIAL-0.4 2 R5021, R5024 6.8 Ohm / 0.5W AXIAL-0.5 2 R5023 120 Ohm / 3W RXWV 1 R6001, R6002 10K Ohm - 0.1% (ACIM) / 200K Ohm - 0.1% (PMSM) AXIAL-0.4 2 R6003, R6004 8.2K Ohm -0.1% (ACIM) / 1M Ohm -0.1% (PMSM) AXIAL-0.4 2 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 Appendix B-4 Freescale Semiconductor Preliminary Designator Description Footprint Quantity R6005, R6024, R6029, R6034, R6039, R6044, R6049 160 Ohm AXIAL-0.4 7 R6008 620 Ohm AXIAL-0.4 1 R6009, R6013 1.2K Ohm AXIAL-0.4 2 R6010, R6014 220K Ohm AXIAL-0.4 2 R6011, R6015 330 Ohm AXIAL-04 2 R6012 620 Ohm AXIAL-04 1 R6016, R6017 300 Ohm AXIAL-04 2 R6020, R6021, R6025, R6026, R6030, R6031, R6035, R6036 7.25M Ohm - 0.1% AXIAL-04 8 R6022, R6023, R6027, R6028, R6032, R6033, R6037, R6038 51K Ohm - 0.1% AXIAL-04 8 R6040, R6041, R6045, R6046 200K Ohm - 0.1% (PMSM) AXIAL-04 4 R6042, R6043, R6047, R6048 1M Ohm - 0.1% (PMSM) AXIAL-04 4 R6052 4.7K Ohm AXIAL-04 1 RP1000 Resistor Pack 8 X 5K Ohm SIP9 1 RV1000, RV6002, RV6003 10K Ohm VRESLV 3 RV2000 100K Ohm VRESLV 1 S1000 Button Function1 BUTTON 1 S1001, S1002 Button Function2 BUTTON 2 S1003 Button Function3 BUTTON 1 TE10 Test point PWM0 SIP-1 1 TE11 Test point PWM1 SIP-1 1 TE12 Test point PWM2 SIP-1 1 TE13 Test point PWM3 SIP-1 1 TE14 Test point PWM4 SIP-1 1 TE15 Test point PWM5 SIP-1 1 TE5022 PGND SIP-1 1 TR2001 APC Transformer TRAN-E133-2 1 ACIM Bill of Materials, Rev. 1 Freescale Semiconductor Preliminary Appendix B-5 Designator Description Footprint Quantity U13 TC4420 DIP8 2 U1000 MC74HC244 DIP20 1 U1001, U6002 LM293 DIP8 2 U1002 IRAMS10UP60A IRAMS10UP60A-2 1 U2000 TOP223YAI TO-220 1 U2001, U3001, U3002 NEC2501 DIP4 3 U2002 TL431 TL431 1 U3000 TC7660 SO-8 1 U3003 MAX202CSE DIP16 1 U4000, U4001 74HC164 DIP14 2 U4002, U4003 FYQ-3641A LG3641AH 2 U4004 MAX7219 DIP24 1 U5020 IR2125 DIP8 1 U5021 RELAY U6001, U6003, U6004, U6005, U6006, U6007, U6008, U6010 MC33172 DIP8 8 U6009 REF196 DIP-8 1 VR2000 P6KE200 DIODE-0.4 1 1 Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 Appendix B-6 Freescale Semiconductor Preliminary INDEX Numerics H 3-Phase AC Induction Motor Vector Control using a 56F80x, 56F8100 or 56F8300 Device Design of Motor Control Application Preface-xii 3-Phase AC Motor Control with VHz Speed Close Loop using the 56F80x Preface-xii 56F8300 Peripheral User Manual Preface-xii 56F8323 Data Sheet Preface-xii HMI Preface-xi Human Machine Interface Preface-xi A A Fully Digitized Field-Oriented Controlled Induction Motor Drive using Only Current Sensors Preface-xii A Novel Stator-Flux-Oriented Speed Sensorless Induction Motor Control System using Flux Tracking Strategy Preface-xii A Stator Flux Oriented Induction Machine Drive Preface-xii A Stator Flux-Oriented Voltage Source Variable-Speed Drive Based on DC Link Measurement Preface-xii A Stator-Flux-Oriented Vector-Controlled Induction Motor Drive with Space-Vector PWM and Flux-Vector Synthesis by Neural Networks Preface-xii ACIM Preface-xi Alternating Current Induction Motor Preface-xi ADC Analog-to-Digital Conversion Preface-xi An Improved Stator Flux Estimation in Steady-State Operation for Direct Torque Control of Induction Machines Preface-xii I I2C Preface-xi Inter-Integrated Circuit Preface-xi IC Preface-xi Integrated Circuit Preface-xi IM Preface-xi Induction Motor Preface-xi Inside Code Warrior Preface-xii IPM Preface-xi Intelligent Power Module Preface-xi ISR Preface-xi Interrupt Service Routine Preface-xi L LPF Preface-xi M Maximum Torque Control of Stator-Flux-Oriented Induction Machine Drive in the Field-Weakening Region Preface-xii N C New Integration Algorithms for Estimating Motor Flux over a Wide Speed Range Preface-xii COP Preface-xi Computer Operating Properly Preface-xi P D DCM Preface-xi DSP56800E Reference Manual Preface-xii E EMF Preface-xi EVM Preface-xi Evaluation Module Preface-xi G PFC Preface-xi Power Factor Correction Preface-xi PI Proportional-Integral Preface-xi PLL Preface-xi Phase Locked Loop Preface-xi Practical Implementation of a Stator Flux Oriented Control Scheme for an Induction Machine Preface-xii Proportional-Integral Preface-xi PWM Pulse Width Modulation or Modulator PWM Preface-xi GPIO Preface-xi General Purpose Input/Output Preface-xi Index, Rev. 1 Freescale Semiconductor Preliminary i R RMS Root Mean Square Preface-xi Root Mean Square Preface-xi S SCI Serial Communication Interface SCI Preface-xi SFOC Preface-xi Stator-Flux-Oriented Control Preface-xi SPI Preface-xi Serial Peripheral Interface Preface-xi Stator Flux Oriented Control of Induction Motors Preface-xii Stator-Flux-Oriented Sensorless Induction Motor Drive for Optimum Low-Speed Performance Preface-xii SV Preface-xi Space Vector Preface-xi SVPWM Preface-xi Space Vector Pulse Width Modulation Preface-xi Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1 ii Freescale Semiconductor Preliminary How to Reach Us: Home Page: www.freescale.com E-mail: [email protected] USA/Europe or Locations Not Listed: Freescale Semiconductor Technical Information Center, CH370 1300 N. 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Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. This product incorporates SuperFlash® technology licensed from SST. © Freescale Semiconductor, Inc. 2005. All rights reserved. DRM075 Rev. 1 10/2005