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International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 6 (2018) pp. 4403-4408
© Research India Publications. http://www.ripublication.com
4403
The Implementation of Field Oriented Control for PMSM Drive Based on TMS320F28035 DSP Controller
Roopa C1 and Dr. S. Sujitha2
1,2 Department of Electrical and Electronics Engineering, New Horizon College of Engineering, Bangalore-560103, India.
Abstract
This paper presents the implementation of the Permanent magnet synchronous motor (PMSM) controller by using Field Oriented Control (FOC) method. The digital signal processor (DSP) was used as a controller to interface between the FOC and the PMSM. In this project, a floating 32 bit DSP controller TMS320F28035 is used to realize the drive system. TMDSHVMTRPFCKIT board by Texas Instrument is used to run the motor. The results show that the speed of PMSM was successfully follows the reference speed.
Keywords: Digital Signal Processor, Field Oriented Control, Permanent Magnet Synchronous Motor and Drive system
INTRODUCTION
Permanent magnet synchronous motor (PMSM) become popular in industry because of their advantageous such as light weight, compactness and cost performances [1]-[3]. This type of motor is most applicable where the high speed performance is needed. With elimination of a commutator, PMSM is become more reliable than a DC motor and become more efficient than an AC induction motor because the production of the rotor flux is from a permanent magnet. In order to achieve high performance control characteristics, vector control is used to control the PMSM [4],[5].
The FOC is one of the vector based method that aims to control the torque and rotor flux of the PMSM effectively. The FOC is carry out to control the space vector of magnetic flux, current and voltage of the machines in order to achieve the precise speed target. The stator currents is set as a control variable and this three phase static reference frame of the stator current is transformed and is performed in the d-q coordinate reference frame of the motor. The magnetic flux produced from the rotor of PMSM is locked to the vector of the rotor flux and will rotate at the stator frequency. The voltage supplied to the motor is transformed from d-q coordinate reference frame of the rotor to the three phase static reference frame of the stator before it can be fed to Space Vector Pulse Width Modulation (SVPWM) to get PWM output. The implementation of vector based FOC which is build upon stator-flux oriented method gives a better steady state operation. In order to yield a high performance system, the selection of the microprocessor is important. Many controllers available in market have high capability to achieve high performance application in electrical motor drive. The use of DSP controllers now becomes beneficial because it can incorporate with a multiple advanced power electronics peripherals and simplify the design process, it also have the capability to incorporate with various extra features in the drive [6], [7], [8].
This paper describes the implementation of the PMSM controller by using FOC method and application of the DSP to interface between the FOC and PMSM. All the architecture of the FOC as shown in Figure1 was implemented in a TMS320F28035 DSP controller.
FIELD ORIENTED CONTROL
Mathematical model of PMSM used is according to the d-q Synchronous reference frame. The stator voltages and magnetic flux equation in the d-q synchronous reference frame are given as follows:
Vds = Rs ids + Lds𝑑𝑖𝑑𝑠𝑑𝑡 − ωr Ψqs ---------------------------(1)
Vqs = Rs iqs+ 𝐿𝑞𝑠𝑑𝑖𝑞𝑠𝑑𝑡 − ωr Ψds --------------------------(2)
Ψds= Lds ids+ Ψm------------------------------------------(3)
Ψqs= Lqsiqs-------------------------------------------------(4)
Vds and Vqs are the stator’s d-q axis voltage respectively, ids and iqs are the stator’s d-q axis currents, 𝑅𝑠 is the stator resistance, 𝐿𝑑𝑠 and 𝐿𝑞𝑠 are the d-q axis stator inductances, Ψ𝑑𝑠 and Ψ𝑞𝑠 are the d-q axis stator magnetic flux, 𝜔𝑟 is the electrical rotor speed and Ψ𝑚 is the rotor’s permanent magnetic flux. The current model can be represented by combining equation (1) and (3) for d-axis current and equations (2) and (4) for q-axis current and can be described by equations (5) and (6) as follows.
𝑑𝑖𝑑𝑠𝑑𝑡 = - 𝑅𝑠𝐿𝑑𝑠 ids + 𝜔𝑟𝐿𝑞𝑠𝐿𝑑𝑠 iqs + 1𝐿𝑑𝑠 Vds----------------------(5)
𝑑𝑖𝑞𝑠𝑑𝑡 = - 𝑅𝑠𝐿𝑞𝑠 iqs - 𝜔𝑟𝐿𝑑𝑠𝐿𝑞𝑠 iqs + 1𝐿𝑞𝑠 Vqs – ωr Ψm𝐿𝑞𝑠 -----------(6)
The developed torque motor is given by;
τe = 32(𝑝2) (Ψds iqs – Ψqs ids)-------------------------------(7)
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 6 (2018) pp. 4403-4408
© Research India Publications. http://www.ripublication.com
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The mechanical torque motor is given by;
τe = τL + Bωm + J𝑑𝜔𝑚𝑑𝑡----------------------(8)
The rotor mechanical speed equation is obtained by rearranging equation (8);
ωm = ∫𝜏𝑒−𝜏𝐿+𝐵𝜔𝑚𝐽 --------------------------(9)
And;
ωm = ωr 2𝑝 ----------------------------------(10)
𝜏𝑒 is developed torque, 𝜏𝐿 is load torque, P is number of pole, 𝜔𝑚 is rotor mechanical speed and 𝜔𝑟 is rotor electrical speed. Based on the FOC scheme diagram shown in figure 1, the closed loop control is applied to the PMSM. Due to the use of permanent magnet type of therotor, the flux linkage remains constant. For this project, the torque of PMSM is controlled by the q-axis and the d-axis of the stator current is set to zero.The implementation of SVPWM has been adapted to the inverter circuit as illustrated in Figure 1.
Figure 1: Block Diagram of the Drive system
Park transformation is applied to change the phase current to the d-q components to obtain a complete decoupling of torque and flux. By taking equation (3), the d-axis flux linkage remain unchanged when 𝑖𝑑 is set to zero such that
𝛹ds = 𝛹ms ------------------------(11)
The electromagnetic torque is given by following equation.
𝜏𝑒 = 3/2 [iqs ] ------------------(12)
The torque control of PMSM is done when stator currents interact with rotor flux linkage. The transformation of the voltage and current is done by the following transformation:
 Clarke transformation: stationary a-b-c frame to stationary 𝛼 – 𝛽 frame.
[𝑓 𝛼𝑓𝛽] = [23−13−1301√3−1√3] [𝑓𝑎𝑓𝑏𝑓𝑐] -----------------(13)
 Inverse Clarke transformation: stationary 𝛼- 𝛽 frame to stationary a-b-c frame
[𝑓𝑎𝑓𝑏𝑓𝑐] = [ 10−12√32−12−√32] [𝑓𝛼𝑓𝛽] --------------------------(14)
 Park transformation: stationary 𝛼- 𝛽 frame to synchronously rotating d-q frame.
[𝑓𝑑𝑠𝑓𝑞𝑠] = [𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜃−𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃][𝑓𝛼𝑓𝛽] --------------------(15)
 Inverse park transformation: synchronously rotating d-q frame to stationary 𝛼- 𝛽 frame
[𝑓𝛼𝑓𝛽] = [𝑐𝑜𝑠𝜃−𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃][𝑓𝑑𝑠𝑓𝑞𝑠] --------------------(16)
DSP CONTROLLER
The TMS320F28035 Digital Signal Processor (DSP) is used in this project. The selected DSP controller, TMS320F28035 has High-Performance Static CMOS Technology operating at 60MHz (16.67-ns Cycle Time), low-power supply 1.8V for DSP Core and 3.3V for the I/O buffers [9]. The DSP controllers offer 60 MIPS of 32-bit DSP performance possible to position the edge of a PWM signal with 150 ps precision or 16 bits accuracy in a 100 KHz control loop [10],[11],[12]. Figure 2 shows a block diagram of TMS320F28035 controller. The controllers combine a number of peripherals, such as 64 KB of flash memory, Boot ROM
(8K x16), 45-GPIO pins,16-channel (2 x 8 Channel Input Multiplexer) 12 bit analog to digital converter (ADC), 3 32-bit CPU timers, 14 independent PWM channels, 1 quadrature encoder pulse (QEP), and 1 CAP input for position sensing [9]. A 32-bit wide data path enough to give awful system performance while mixed 16-bit/32-bit instruction achieves code density. Key communication interfaces include multiple serial ports peripheral such as SCI, CAN, I2C, UART, SPI ports and Watch Dog timer module.
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 6 (2018) pp. 4403-4408
© Research India Publications. http://www.ripublication.com
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For this process the reference speed is set at pre- specified values in DSP controller. The High Voltage Digital Motor control (DMC) and Power Factor Correction (PFC) kit (TMDSHVMTRPFCKIT), provides a great way to control the high voltage motors digitally. In this project 3 phase PMS motor is connected with a incremental encoder, the output of the encoder is fed to QEP module at TMS320F28035 to read the actual speed and resulting angle. The voltage and current sensors sense the voltage across the motor and current through the motor respectively.[13],[14].
Figure 2: Block diagram of DSP(TMS320F28035) [18]
This voltage and current values are in analog form, using ADC in TMS320F28035 DSP which is converted to digital. On the basis of the obtained values from encoder, voltage sensor and current sensor the DSP will configure and generate 6 PWM signals. This PWM signals drives the driver circuit block to operate the 3 phase Voltage Source Inverter (VSI) as shown in Figure 3. VSI 3-phase output is given to motor[15],[16].
The voltage and current obtained by sensors is monitored continuously [17],[18],[19]. This analog signal will be converted to digital signal to be processed by the DSP. The FOC operation of Park, Inverse Park, Clark, Inverse Clark, SVPWM and PI controller are executed in this DSP.
HARDWARE EXPERIMENTAL SETUP
Figure 4 shows the experimental setup for this project. It consists of TMS320F28035 DSP controller, PMSM and TMDSHVMTRPFCKIT. The 3-phase, 8 poles and a incremental encoder mounted along with shaft of the PMSM used is manufactured by ESTUN (EMJ- 04APB22). The main controller which is DSP development board is interfaced with three phase voltage source inverter.
Figure 3: TMDSHVMTRPFCKIT with F28035 DSP Controller [19]
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 6 (2018) pp. 4403-4408
© Research India Publications. http://www.ripublication.com
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Figure 4: Hardware experimental setup
This TMDSHVMTRPFCKIT board has the following specification,Kit contents
TMS320F28035 DSP Control card
 High Voltage DCM board
 400V to 15V and 5V power supply
 USB-B to A cable
 Onboard isolated JTAG emulation
 Heat sink attached with DC fan
3-phase inverter stage
 350V DC max input voltage
 1.5KW max load
 QEP and CAP inputs available for speed and position measurement
Power factor correction stage
 750W max power rating
 400V DC max output voltage
 200KHz switching frequency for power stage
 85-132VAC/ 170-250VAC rectified input
 Up to 100KHz PFC control loop frequency
AC rectifier stage
 750W max power rating
 85-132VAC/ 170-250VAC input.
In this project, the response of the system is evaluated by using difference pre defined speeds. The parameters of the motor is shown in Table 1.0
Table 1: Motor parameters
Parameters
Values
Voltage (V)
220
Output Power (kw)
0.4
Rated speed (rpm)
3000
Rated torque (Nm)
1.27
No of Poles
8
Stator resistance (ohm)
0.79
Stator inductance (mH)
1.17
Flux (volt.sec/rad)
0.017666
EXPERIMENTAL RESULTS
Figure 5 until figure 8 shows the obtained response of the motor. The system is tested under no-load and load conditon at Deadband = 0.83usec, dlog.trig_value=100, Vdcbus=300V, dlog.prescalar =3 at room temperature.
Figure 5: Output of 𝑻𝒂, 𝑻𝒃, 𝒄 and 𝑻𝒃-𝑻𝒄 waveform
Figure 5 shows the output wave form of 𝑇𝑎, 𝑇𝑏 and 𝑇𝑐 are 1200 apart from each other.
Figure 6 : The waveform to measure theta and phase A & B current waveform
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 6 (2018) pp. 4403-4408
© Research India Publications. http://www.ripublication.com
4407
Figure 7: Measured theta, svgen dutycycle and phase A&B current under no-load and 0.3 pu speed
As shown in figure 7 at no load condition noice is pressent in current waveform at low speed. After enploying 0.33pu load on motor at same low speed the noise is reduced as shown in figure 8. At the low speed range , the performance of speed response relies heavily on the good rotor position angle provided by QEP encoder. Figure 9 shows the speed response when the motor is observed through GUI. At starting, the motor is under forward mode of operation which was the speed set at 750 rpm. Then, after some time, the motor speed is changed to 450 rpm and estimated speed is recorded as 456rpm. It clearly shows in Figure 9 that the actual speed follows the reference speed.
Figure 8: Measured theta, svgen dutycycle and phase A&B current under 0.33pu load and 0.3 pu speed
Figure 9: Speed Response
CONCLUSION
From the result obtain, it shows that the speeds follow the reference speed under various mode of operation. Therefore, FOC method can be used to control the PMSM and DSP controller can be implemented to give the high performance drives system.
ACKNOLOWLEDGEMENT
Thank full for the Texas Instrumentation and cranes software limited for allowing doing project in their laboratories.
REFERENCES
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International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 6 (2018) pp. 4403-4408
© Research India Publications. http://www.ripublication.com
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[9]. Narayanan G., Zhao Di, Krishnamurthy Harish K, Ayyanar Rajapandian, Ranganathan V.T, “Space Vector Based Hybrid PWM Techniques for Reduced Current Ripple”, IEEE Transactionon India Electronics, Vol. 55, No 4, April 2008.
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