Sensorless Field Oriented Control of PMSM Field Oriented Control
FOC
Microchip dsPIC® DSC Permanent Magnet Synchronous Motor PMSM
FOC
FOC
FOC
PMSM FOC FOC PMSM PMSM
• Pulse-Width Modulation PWM
• Analog-to-Digital Converter ADC
MAC dsPIC DSC dsPIC DSC
dsPIC DSC A/D —— dsPIC DSC ADC 1 Msps ADC PWM A/D
Jorge Zambada Debraj Deb Microchip Technology Inc.
2010 Microchip Technology Inc. DS01078B_CN 1
AN1078
• AC Induction Motor ACIM
• Brushed DC Motor BDC
• Brushless DC Motor BLDC
• Permanent Magnet Synchronous Motor PMSM
dsPIC DSC “” Microchip www.microchip.com
dsPIC DSC PWM ADC PMSM dsPIC DSC DSP
Data Monitor and Control InterfaceDMCI MPLAB® IDE IDE /
DMCI
• 35 2
• 4 3
• 500 17000 RPM
• 50 µs 21 MIPS CPU CPU 2/3
• 450 6K dsPIC33FJ12MC202 dsPIC33F
•
AN1078
AN1078
1. 3 ia ib Ic ia + ib + ic = 0
2. 3 2 iα iβ ia ib ic iα iβ
3. 2 iα iβ Id Iq Id Iq IdIq
4. IdIq
• Id
• Iq
• Vd Vq
5. vα vβ iα iβ FOC
6. PI Vd Vq vα vβ
7. vα vβ 3 vavb vc 3 PWM 6 PI PWM
AN1078
AN1078
PI 3
dsPIC DSC 3 Microchip
AN1299 PMSM FOC DS01299A_CN
Clarke
Clarke 3 2 2 7 ia ib ic
7 CLARKE
Park
α β 2 2 Park 8 2 d- q θ
8 PARK
9 PI
ia + ib + ic = 0 iα = ia iβ = (ia +2ib)/√ 3
β b
Id = iα cosθ + iβ sinθ Iq = -iα sinθ + iβ cosθ
β q
α iα
InRef
Err = InRef - FB U = Sum + Kp.Err If (U > Outmax) Out = Outmax
else if (U < Outmin) Out = Outmin else Out = U Excess = U -
Out
Sum = Sum + (Ki.Err)-(Kc.Excess)
AN1078
PID
Proportional Integral Derivative PID PID
PID PID
PID
P P PID P
P P
PID I I I PID I
PID D D D PID D
D PID D I D D PWM
PID
PID P I D 0 P P “”“”
P I I I P IP
Kc Ki
UserParms.h SVGen()
15
W M
A /D
A /D
AN1078
F G
2
R L F G 2 L Hurst 20 kHz 5.34Ω 3.84 mH
3
• is
• vs
• es
• R
• L
• Ts
• z
Ts ----------------------------
is n 1+( ) 1 Ts R L ---•–
is n( ) Ts L --- vs n( ) es n( )–( )+=
G = T L s
G = T L s
F 1 Ts R L ---• 1
1 20αkHz ------------------–
3.84αmH( ) 2⁄ --------------------------------- 0.026===
AN1078
vs is* is es* es
17
+Kslide -Kslide
SMC SMC +1 -1 SMC K SMC Z isis*
Vsis* Zes* 18 es* es* eα eβ es θ*
*
PMSM is
AN1078
is* thetaθ*
19 THETA
eα eβ θ theta 5
5 THETA
arctan eα eβ
efiltered* s θ*
y n( ) y n 1–( ) T2πfc x n( ) y n( )–( )•+=
z e* 8 kHz fpwm
z(n) =
e n( ) e n 1–( ) 1 fpwm ----------- 2πfc• z n( ) e n( )–( )+=
eα eβ Q 1
|||||||||||||||||||| |||||||||||||||||||| ||||||||||||||||||||
|||||||||||||||||||||||||||||||||||||||||||||||||
AN1078
1. theta
2. 20
m theta 6
6
Omega ω* FilteredOmegaω*filtered
•
Z es* es*efiltered*s 7
20
Omega (ω) =
Kspeed =
m
i 0=
m 1–
AN1078
dsPICDEM MC1
• “dsPICDEM™ MCLV Development Board User’s Guide” DS70331
• “dsPICDEM™ MCHV Development System User’s Guide”DS70605
• “dsPICDEM™ MCSM Development Board User’s Guide”DS70610
• “dsPICDEM™ MC1 Motor Control Development Board User’s
Guide”DS70098
• “dsPICDEM™ MC1H 3-Phase High Voltage Power Module User’s
Guide”DS70096
• “dsPICDEM™ MC1L 3-Phase Low Voltage Power Module User’s
Guide”DS70097
Microchip www.microchip.com
2010 Microchip Technology Inc. DS01078B_CN 25
A
• dsPICDEM™ MCLV DM330021
• dsPICDEM™ MCHV DM330023
Microchip Microchip dsPIC
KEELOQ KEELOQ MPLAB PIC PICmicro PICSTART PIC32 rfPIC UNI/O
Microchip Technology Inc.
FilterLab Hampshire HI-TECH C Linear Active
ThermistorMXDEVMXLABSEEVAL The Embedded Control Solutions Company
Microchip Technology Inc.
Analog-for-the-Digital Age Application Maestro CodeGuard dsPICDEM
dsPICDEM.net dsPICworks dsSPEAK ECAN ECONOMONITOR FanSense HI-TIDE
In-Circuit Serial Programming ICSP Mindi MiWiMPASMMPLAB Certified
MPLIBMPLINK mTouch Omniscient Code Generation PICC PICC-18 PICDEM
PICDEM.net PICkit PICtail REAL ICE rfLAB Select Mode Total
Endurance TSHARC
UniWinDriver WiperLock ZENA Microchip Technology Inc.
SQTP Microchip Technology Inc.
ISBN978-1-60932-779-8
Microchip Chandler Tempe Gresham ISO/TS-16949:2002 PIC®
MCU dsPIC® DSCKEELOQ® EEPROM ISO/TS- 16949:2002Microchip ISO
9001:2000
DS01078B_CN 28 2010 Microchip Technology Inc.
Corporate Office 2355 West Chandler Blvd. Chandler, AZ 85224-6199
Tel: 1-480-792-7200 Fax: 1-480-792-7277
http://support.microchip.com www.microchip.com
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1-949-462-9608
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1-408-961-6445
Toronto Mississauga, Ontario, Canada Tel: 1-905-673-0699 Fax:
1-905-673-6509
