2012 Texas Instruments Motor Control Training

d-axis V3 = 010
Sector 2

V2 = 110

Sector 3

Vref

T2V2 T2
V1 = 100 q-axis

V4 = 011

T1V1 T1
Sector 4 Sector 5 Sector 6

V5 = 001

V6 = 101

-Vth

Quadrants of Operation
Second Quadrant negative speed-positive torque reverse-braking Torque First Quadrant positive speed-positive torque forward-accelerating

Generating

Motoring

II I III IV

Motoring
Speed

Generating
Fourth Quadrant Positive speed - negative torque forward-braking

Third Quadrant negative speed - negative torque reverse-accelerating

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

Simple 1 Quadrant Motor Drive Circuit

A single quadrant variable VM speed drive only needs one transistor.

im

+ -

Advantages
Easy to implement Low Cost Compact Only 1 diode snap per PWM cycle

Disadvantages
1 diode drop loss on current commutation Motor cannot reverse direction Does not regenerate power

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

Three Phase Inverter

VBus
PWM1 PWM3 PWM5

PWM2

PWM4

PWM6

Three-phase PWM waveforms and harmonic spectrum.

Source: Power Electronics, by Ned Mohan, Tore Undeland, and William Robbins, John Wiley & Sons, 1995 Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

Voltage Drop Resulting from AC-DC-AC Conversion

PWM 1 PWM 3 PWM 5

AC Mains

Vbus
PWM 2 PWM 6

Freescale

Daves Control Center

PWM 4

Input AC L-L Output AC L-N Output L-L

3 = 0.866 2
1 Vbus = peak l-n voltage

13% DROP!
Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

3rd Harmonic Modulation

i 2 sin 2 N 3
i 3 sin 6 N 9
100% PWM limit

Look-Up Table of size N

i=0N-1

0% PWM limit

wrap around when end of table is reached

V1 sin ( o t ) + V3 sin (3 o t ) A

4 + V3 sin (3 o t + 4 ) C V1 sin o t + 3

2 + V3 sin (3 o t + 2 ) V1 sin o t + 3

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

Space Vector Modulation

PWMs treat each phase individually. SVM treats the inverter as ONE unit!! - ALL 6 switches affected.
U

PWMs control the phase voltages.

120 offsets between A, B, and C.

TI Daves Control Center

SVM controls the Voltage Vector.

The inverter can be driven to 8 states.
A
V1 = 001
A B C

V3 = 011
A B C

V2 = 010
A B C

- 6 voltage vectors

V6=110
A B C

V4 = 100
A B C

V5 = 101
A B C

C
V0 = 000 V7 = 111 1 = Top Switch is on 0 = Bottom Switch is on

- 2 null vectors Source: Mahmoud Riaz, Sc.D., Professor of Electrical Engineering, Department of Electrical and Computer Engineering, University of Minnesota Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

Space Vector Modulation

V1 V3 V2 V6 V4 V5 V1
V2 120o V3 60o

V6 180o

0o V1

A
240o 0 60 120 180 240 300 0 V4 300o V5

6-Step Voltage Waveforms

Vector Diagram

Vref = VmagSIN()

Sinusoidal operation occurs when a reference vector (Vref) rotates around the d-q axis.
Output voltage vector created by repeatedly switching between adjacent vectors and the null vector (all three phases high or all three phases low). Output angle determined by relative on time between two adjacent vectors. Output magnitude determined by relative on time between two adjacent vectors and the null vector.
Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

SVM Implementation
V2 = 010 V3 = 011 (Vy)
Sector 2

Vref, is created by the two adjacent state vectors Vx, Vy, and a null vector in a time averaging fashion:
Vref = VxT1 + VyT2 + VnullT0
Where: Vx = lowest angle voltage vector Vy = highest angle voltage vector

Sector 3

Vref

T2Vy
V1 = 001 (Vx)

V6 = 110

T1Vx
Sector 4 Sector 5 Sector 6

If Vref is represented in POLAR notation ( m ): T1 = TmSIN(60 - ) T2 = TmSIN() T0 = T - T1 - T2

m = vector magnitude (0 to 1) = vector angle between Vref and Vx (0 to 60o) T = switching period SWITCHING PERIOD

V4 = 100

V5 = 101

Example vector reconstruction in sector 1.

Vx
T1

Vy
T2

Null

T0

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

SVM Variations
Choice of Null vectors effects SVM waveform creation and switching performance but motor still sees sinusoidal waveform at its phases.
NULL=V0
1 0.8 0.6 0.4 0.2 0 1 0.8 0.6 0.4 0.2 0 0 60 120 180 240 300 360 0 60 120 180 240 300 360

NULL=V7

Good choice when reduced switching losses are desired in an inverter with high-side bootstrap circuits.
Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

SVM Variations (continued)

Null = V7 in sectors 1,3,5 Null = V0 in sectors 2,4,6
1 0.8 0.6 0.4 0.2 0 0 60 120 180 240 300 360 1 0.8 0.6 0.4 0.2 0 0 60 120 180 240 300 360

Null = V0 in sectors 1,3,5 Null = V7 in sectors 2,4,6

C
1 0.8

Null = alt-rev (null alternates every sequence and sequence reverses.)

0.6 0.4 0.2 0 0 60 120 180 240 300

Similar waveforms to Third Harmonic

Most popular form of SVM

360

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

SVM Using Center-Aligned PWMs

PWM Period Sc Sb Sa V1 V3 V7 V3 V1 V0 V1 V3 V7 V3 V1 t1 t2 t0 t2 t1 t0 t1 t2 t0 t2 t1
http://www.ipes.ethz.ch

Alternating-Reversing Sequence

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

SVM with PWMs

Procedure for implementing SVM with Center-Aligned PWM Module
1 Check which sector the Vref vector is in. 2 Calculate T1, T2, and T0 from block below. 3 Adjust PWMs High times based on table below.
Null = V0 U = T1+T2 Sector 1 V = T2 W=0 U = T1 Sector 2 V = T1+T2 W=0 U=0 Sector 3 V = T1+T2 W = T2 U=0 Sector 4 V = T1 W = T1+T2 U = T2 Sector 5 V = 0 W = T1+T2 U = T1+T2 Sector 6 V = 0 W = T1 Null = V7 U = 100% V = T0+T2 W = T0 U = T0+T1 V = 100% W = T0 U = T0 V = 100% W = T0+T2 U = T0 V = T0+T1 W = 100% U = T0+T2 V = T0 W = 100% U = 100% V = T0 W = T0+T1

(5 compares) (3 multiples) (1-3 additions)

V7 in 1,3,5 V0 in 2,4,6 U = 100% V = T0+T2 W = T0 U = T1 V = T1+T2 W=0 U = T0 V = 100% W = T0+T2 U=0 V = T1 W = T1+T2 U = T0+T2 V = T0 W = 100% U = T1+T2 V=0 W = T1 V0 in 1,3,5 V7 in 2,4,6 U = T1+T2 V = T2 W=0 U = T0+T1 V = 100% W = T0 U=0 V = T1+T2 W = T2 U = T0 V = T0+T1 W = 100% U = T2 V=0 W = T1+T2 U = 100% V = T0 W = T0+T1 Alternating Reversing Sequencing U = T1+T2+.5T0 V = T2+.5T0 W = .5T0 U = T1+.5T0 V = T1+T2+.5T0 W = .5T0 U = .5T0 V = T1+T2+.5T0 W = T2+.5T0 U = .5T0 V = T1+.5T0 W = T1+T2+.5T0 U = T2+.5T0 V = .5T0 W = T1+T2+.5T0 U = T1+T2+.5T0 V = .5T0 W = T1+.5T0

T1 = TmSIN(60 - ) T2 = TmSIN() T0 = T - T1 - T2

Note: All calculations referenced to top switch

Source: Understanding Space Vector Modulation, by Peter Pinewski, EDN Products Edition, March 7, 1996

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

Sinusoidal Modulation Limited Amplitude

In sinusoidal modulation the amplitude is limited to half of the DC-bus voltage. The phase to phase voltage is then lower then the DC-bus voltage (although such voltage can be generated between the terminals).

Uphase-phase

PWM1

PWM3

PWM5

PWM2

PWM4

PWM6

Animation Source: Leos Chalupa

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

UDC-BUS

B A C

Full Phase-to-Phase Voltage Generation

Full phase-to-phase voltage can be generated by continuously shifting the 3-phase voltage system. The amplitude of the first harmonic can be then increased by 15.5%.

Uphase-phase

Uphase-phase

PWM1

PWM3

15%

PWM5

B A

PWM2

PWM4

PWM6

Animation Source: Leos Chalupa

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

How to Increase Modulation Index

Modulation index is increased by adding the shifting voltage u0 to first harmonic. Shifting voltage u0 must be the same for all three phases, thus it can only contain 3r harmonics!

15%

Animation Source: Leos Chalupa

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

SVM with Field Oriented Systems

Vy

Recall:
T1 = TmSIN(60 - ) T2 = TmSIN() T0 = T - T1 - T2
Vx

We could calculate m and :

V T1Vx T2Vy V

m=

(V )2 + (V )2
V V

= tan1

but with FOC, we dont have POLAR notation. We have RECTANGULAR notation (V and V). Reference Voltage Vector
Components of the Stator Reference Voltage Vector amplitude 1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1

Or We could use a simple procedure designed specifically for RECTANGULAR notation:

1. 2.

60

120

180

240

300

360 angle

3. 4.

Sector 1 Sector 2 Sector 3 Sector 4 Sector 5 Sector 6

Perform modified inverse Clarketransform on the voltage vector Calculate which sector the voltage vector is in Determine T1, T2, and T0 Directly calculate the PWM register values

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

1. Perform Modified Inverse Clark Transform

V
V
-

+ -

0.5

i j

V 3 i= V 2 2

j = V
V 3 k= V 2 2
k i

0.5

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

2. Identify the correct sector based on i, j, and k variables

a. Calculate the following expression:

N = sign(i ) + 2 sign ( j ) + 4 sign (k ) where sign( + ) = 1 ; sign( ) = 0

b. Use look-up table below to determine the sector from the value of N N= Sector = 1 6 2 2 3 1 4 4 5 5 6 3

Alternatively, you can determine the sector by using IF THEN statements to check the polarities of i, j, and k.

1
Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

3. Based on the sector, determine T1, T2, and T0

Sector Bounded by: T1 T2

1 (U0-U60)

2 (U60-U120)

3 (U120-U180)

4 (U180-U240)

5 (U240-U300)

6 (U300-U0)

i j

-k -i

j k
Null = V0 U = T1+T2 Sector 1 V = T2 W=0

-i -j
Null = V7 U = 100% V = T0+T2 W = T0 U = T0+T1 V = 100% W = T0 U = T0 V = 100% W = T0+T2 U = T0 V = T0+T1 W = 100% U = T0+T2 V = T0 W = 100% U = 100% V = T0 W = T0+T1 V7 in 1,3,5 V0 in 2,4,6 U = 100% V = T0+T2 W = T0 U = T1 V = T1+T2 W=0 U = T0 V = 100% W = T0+T2 U=0 V = T1 W = T1+T2 U = T0+T2 V = T0 W = 100% U = T1+T2 V=0 W = T1

k i
V0 in 1,3,5 V7 in 2,4,6 U = T1+T2 V = T2 W=0 U = T0+T1 V = 100% W = T0 U=0 V = T1+T2 W = T2 U = T0 V = T0+T1 W = 100% U = T2 V=0 W = T1+T2 U = 100% V = T0 W = T0+T1

-j -k
Alternating Reversing Sequencing U = T1+T2+.5T0 V = T2+.5T0 W = .5T0 U = T1+.5T0 V = T1+T2+.5T0 W = .5T0 U = .5T0 V = T1+T2+.5T0 W = T2+.5T0 U = .5T0 V = T1+.5T0 W = T1+T2+.5T0 U = T2+.5T0 V = .5T0 W = T1+T2+.5T0 U = T1+T2+.5T0 V = .5T0 W = T1+.5T0

T0 = 1 T1 T2

4. Load the PWM registers based on this table

U = T1 Sector 2 V = T1+T2 W=0 U=0 Sector 3 V = T1+T2 W = T2 U=0 Sector 4 V = T1 W = T1+T2 U = T2 Sector 5 V = 0 W = T1+T2 U = T1+T2 Sector 6 V = 0 W = T1

Recall that T1 always applies to Vx (the most clockwise vector), and T2 applies to Vy (the most counter-clockwise vector) for any given sector.

Note: All calculations referenced to top switch

Source: Understanding Space Vector Modulation, by Peter Pinewski, EDN Products Edition, March 7, 1996

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.

Modulation Summary
Feature VL-L (max) Modulation Sine 3rd Harmonic Alternating Vnull with Reverse Sequencing Non-Alternating Vnull 0.866 VDC VDC VDC Switching Loss Reduction No No Switching Harmonics High Lower than sine Lower than sine Better spectrum spreading than 3rd Harmonic ? FOC Compatibility Fair Fair

No

Good

VDC

33%

Good

Dave Wilson

TI Spins MotorsSmarter, Safer, Greener.