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motorola.com/semiconductors 56f805 hybrid controller 56f805 3-phase ac induction motor v/hz control using targeting document processor expert tm 805acimtd/d rev. 0, 09/2003 f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
specifications 2 3-phase ac induction motor control v/hz application - closed loop motorola 3-phase ac induction motor control v/hz application - closed loop this application demonstrates a principal of the volts per hertz (v/hz) control of the 3-phase ac induction motor in closed-loop using the 56f805evm board, optoisolation board, and 3-phase ac bldc high-voltage power stage. 1. specifications this application performs principal control of the 3-phase ac induction motor using the 56f805 processor. the control technique sets the speed (rpm or hz) of the magnetic field and calculates the phase voltage amplitude according to a v/hz table. this table is private to the application and reflects ac induction motor parameters (base voltage/frequency; boost voltage/frequency; dc boost voltage). the incremental encoder is used to derive the actual rotor speed. the closed-loop system is characterized by a feedback signal (actual speed), derived from a quadrature decoder in the controlled system. this signal monitors the actual behavior of the system, and is compared with the reference signal (required speed). the magnitude and polarity of the resulting error signal are directly related to the difference between the required and actual values of the controlled variable, which may be the speed of a motor. the error signal is amplified by the controller, and the controller output makes a correction to the controlled system, reducing the error signal. protection is provided against drive faults overcurrent, overvoltage, undervoltage, and overheating. system outline the system is designed to drive a 3-phase ac induction motor (acim). the application has the following specifications: ? volt per hertz control technique used for acim control ? closed-loop control ? targeted for 56f805evm ? running on 3-phase ac induction motor control development platform at variable line voltage 115v ac and 230v ac (range -15% to +10%) ? motor mode ? generator mode ? dcbus brake ? minimum speed 50rpm ? maximum speed 2250rpm at input power line 230v ac ? maximum speed 1200rpm at input power line 115v ac ? power stage and optoisolation board identification ? fault protection ? manual interface (run/stop switch; up/down push buttons control; led indication) ? pc master software remote control interface (speed set-up) - pc master software remote monitor pc master software monitor interface (required speed; actual motor speed; drive fault status; dcbus voltage level; identified power stage boards) f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
specifications motorola 3-phase ac induction motor control v/hz application - closed loop 3 application description the volt per hertz control algorithm is calculated on the motorola 56f805 device. the algorithm generates the 3-phase pwm signals for ac induction motor inverter according to the user-required inputs, measured and calculated signals. the concept of the acim drive incorporates the following hardware components: ? ac induction motor-brake set ? 3-phase ac/bldc high voltage power stage ? 56f805evm board ? optoisolation box, which is connected between the power stage board and the 56f805evm the ac induction motor-brake set incorporates a 3-phase ac induction motor and attached bldc motor brake. the ac induction motor has four poles. the incremental position sensor (encoder) is coupled on the motor shaft. the detailed motor-brake specifications are listed in table 1-1 . table 1-1. motor-brake specifications the following software tools are needed for compiling, debugging, loading to the evm, remote control and monitoring, run/stop switch and up/down buttons: ? metrowerks codewarrior 6.0 ?pc master software ? processor expert v. 2.92 set manufactured em brno, czech republic motor specification motor type am40v 3-phase ac induction motor pole-number 4 nominal speed 1300rpm nominal voltage 3 x 200v nominal current 0.88a brake specification brake type sg40n 3-phase bldc motor pole-number 6 nominal speed 1500rpm nominal voltage 3 x 27v nominal current 2.6a position sensor (encoder) type baumer electric bhk 16.05a 1024-12.5 pulses per revolution 1024 f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
specifications 4 3-phase ac induction motor control v/hz application - closed loop motorola measured quantities include: ? dcbus voltage ? power module temperature ? rotor speed the faults used for drive protection: ? overvoltage (pc master software error message = overvoltage fault) ? undervoltage (pc master software error message = undervoltage fault) ? overcurrent (pc master software error message = overcurrent fault) ? overheating (pc master software error message = overheating fault) ? wrong hardware (pc master software error message = wrong hw used) the 3-phase ac induction motor v/hz application can operate in two modes: 1. manual operating mode the drive is controlled by the run/stop switch (s6). the motor speed is set by the up (s2-irqb) and down (s1-irqa) push buttons ( figure 1-1 ). if the application runs and motor spinning is disabled (i.e., the system is ready), the green user led (led3; see figure 1-2 ) will blink. when motor spinning is enabled, the green user led will be on and the actual state of the pwm outputs are indicated by pwm output leds. if overcurrent, overvoltage or overheating occur, or if the wrong system board is identified, the green user led starts to flash quickly and the pc master software signals the identified type of fault. this state can be exited only by an application reset. it is strongly recommended that you inspect the entire application to locate the source of the fault before starting it again. refer to table 1-2 for application states. figure 1-1. run/stop switch and up/down buttons f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
specifications motorola 3-phase ac induction motor control v/hz application - closed loop 5 figure 1-2. user and pwm leds f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
specifications 6 3-phase ac induction motor control v/hz application - closed loop motorola 2. pc master software (remote) operating mode the drive is controlled remotely from a pc through the sci communication channel of the cpu device via an rs-232 physical interface. the drive is enabled by the run/stop switch, which can be used to safely stop the application at any time. the following control actions are supported: ? set the required speed of the motor ? set close/open loop by checking/unchecking the close loop checkbox; see figure 1-3 pc master software displays the following information: ? actual and required speed of the motor ? phase voltage amplitude (related to given dcbus voltage) ? application mode - run/stop ? dcbus voltage and temperature of power module ? drive fault status ? identified hardware if overcurrent, overvoltage, undervoltage or overheating occur, the internal fault logic is asserted and the application enters a fault state (the user led will flash quickly). this state can be exited only by an application reset. it is strongly recommended that you inspect the entire application to locate the source of the fault before starting it again. project files for the pc master software are located in: ..\pc_master\external memory.pmp, uses map file to run in external memory ..\pc_master\internal prom-xram.pmp, ..\pc_master\internal xrom-xram.pmp, use map file to run in flash start the pc master software windows application and choose the pc master software project for the desired pc master software operating mode. figure 1-3 shows the pc master software control window for internal prom-xram.pmp . table 1-2. motor application states application state motor state green led state stopped stopped blinking at a frequency of 2hz running spinning on fault stopped blinking at a frequency of 8hz f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
hardware set-up motorola 3-phase ac induction motor control v/hz application - closed loop 7 figure 1-3. pc master software control window 2. hardware set-up figure 2-1 illustrates the hardware set-up for the 3-phase ac induction motor control v/hz a application - closed loop. f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
hardware set-up 8 3-phase ac induction motor control v/hz application - closed loop motorola figure 2-1. set-up of the 3-phase ac induction motor control application - closed loop the correct order of phases (phase a, phase b, phase c) for the ac induction motor shown in figure 2-1 is: ? phase a = red wire ? phase b = white wire ? phase c = black wire when facing a motor shaft, the phase order is: phase a, phase b, phase c, the motor shaft should rotate clockwise (i.e., positive direction, positive speed). for detailed information, see the 56f805 evaluation module hardware reference manual . the serial cable is needed for the pc master software debugging tool only. 2.1 evm jumper settings to execute the 3-phase ac induction motor control v/hz application - closed loop, the 56f805 board requires the strap settings shown in figure 2-2 and table 2-1 . f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
hardware set-up motorola 3-phase ac induction motor control v/hz application - closed loop 9 figure 2-2. 56f805evm jumper reference jg8 jg9 dsp56f805evm jg3 1 j29 jtag jg14 1 p3 user s/n led3 p1 y1 u1 u15 s2 s3 3 1 2 jg13 s1 s4 s5 s6 p1 j31 j2 pwm 4 7 3 6 9 jg12 1 3 2 jg13 1 3 2 j23 j24 jg6 jg1 jg2 1 1 jg9 jg7 jg5 u9 u10 jg4 1 jg8 reset irqb irqa run/stop gp2 gp1 1 2 7 8 jg4 1 2 7 8 jg3 3 1 2 jg12 31 4 jg14 jg10 6 9 7 jg10 1 jg1 3 1 jg6 3 1 jg2 3 jg5 jg15 3 1 jg11 3 1 jg16 3 1 jg15 1 jg16 1 jg11 1 jg18 jg17 jg17 jg18 jg7 f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
hardware set-up 10 3-phase ac induction motor control v/hz application - closed loop motorola note: when running the evm target system in a stand-alone mode from flash, the jg5 jumper must be set in the 1-2 configuration to disable the command converter parallel port interface. table 2-1. 56f805evm jumper settings jumper group comment connections jg1 pd0 input selected as a high 1-2 jg2 pd1 input selected as a high 1-2 jg3 primary uni-3 serial selected 1-2, 3-4, 5-6, 7-8 jg4 secondary uni-3 serial selected 1-2, 3-4, 5-6, 7-8 jg5 enable on-board parallel jtag command converter interface nc jg6 use on-board crystal for cpu oscillator input 2-3 jg7 select cpus mode 0 operation upon exit from reset 1-2 jg8 enable on-board sram 1-2 jg9 enable rs-232 output 1-2 jg10 secondary uni-3 analog temperature input unused nc jg11 use host power for host target interface 1-2 jg12 primary encoder input selected for quadrature encoder signals 2-3, 5-6, 8-9 jg13 secondary encoder input selected 2-3, 5-6, 8-9 jg14 primary uni-3 3-phase current sense selected as analog inputs 2-3, 5-6, 8-9 jg15 secondary uni-3 phase a overcurrent selected for faulta1 2-3 jg16 secondary uni-3 phase b overcurrent selected for faultb1 1-2 jg17 can termination unselected nc jg18 use on-board crystal for cpu oscillator input 1-2 f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
build motorola 3-phase ac induction motor control v/hz application - closed loop 11 3. build to build this application, open the 3ph_ac_vhz_cl.mcp project file and execute the make command, as shown in figure 3-1 . this will build and link the 3-phase ac v/hz motor control application and all needed metrowerks and processor expert libraries. figure 3-1. execute make command for more information about these commands, see: <...>\codewarrior manuals\pdf\targeting_56800.pdf f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
execute 12 3-phase ac induction motor control v/hz application - closed loop motorola 4. execute to execute the 3-phase ac v/hz motor control application, choose the program/debug command in the codewarrior ide, followed by the run command. to execute the 3-phase ac v/hz motor control applications internal flash version, choose the program/debug command in the codewarrior ide. when loading is finished, set jumper jg5 to disable the jtag port and jg7 to enable boot from internal flash, then push the reset button. for more help with these commands, refer to the codewarrior tutorial documentation in the following file, located in the codewarrior installation directory: <...>\codewarrior manuals\pdf\targeting_56800.pdf for jumper settings, see the 56f805 evaluation module hardware users manual . once the application is running, move the run/stop switch to the run position and set the required speed with the up/down push buttons. pressing the up/down buttons should incrementally increase the motor speed until it reaches maximum speed. if successful, the 3-phase ac induction motor will be spinning. note: if the run/stop switch is set to the run position when the application starts, toggle the run/stop switch between the stop and run positions to enable motor spinning. this is a protection feature that prevents the motor from starting when the application is executed from codewarrior. you should also see a lighted green led, which indicates that the application is running. if the application stops, the green led blinks at a frequency of 2hz. f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
execute motorola 3-phase ac induction motor control v/hz application - closed loop 13 f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
execute 14 3-phase ac induction motor control v/hz application - closed loop motorola f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
execute motorola 3-phase ac induction motor control v/hz application - closed loop 15 f r e e s c a l e s e m i c o n d u c t o r , i freescale semiconductor, inc. f o r m o r e i n f o r m a t i o n o n t h i s p r o d u c t , g o t o : w w w . f r e e s c a l e . c o m n c . . .
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