Wireless control and measurement system for a hydropower

TVE15056

Examensarbete 30 hpJuni 2015

Wireless control and measurement system for a hydropower generator with brushless exciter

Fredrik Evestedt

Masterprogram i förnybar elgenereringMaster Programme in Renewable Electricity Production

Teknisk- naturvetenskaplig fakultet UTH-enheten Besöksadress: Ångströmlaboratoriet Lägerhyddsvägen 1 Hus 4, Plan 0 Postadress: Box 536 751 21 Uppsala Telefon: 018 – 471 30 03 Telefax: 018 – 471 30 00 Hemsida: http://www.teknat.uu.se/student

Abstract

Wireless control and measurement system for ahydropower generator with brushless exciter

Fredrik Evestedt

Hydropower has been around for more than a century and is considered a maturetechnology, but with recent advancements in power electronics and simulationcapability new exciting ways to increase efficiency and reliability is possible. AtUppsala University a brushless exciter has been constructed for the experimental testrig, SVANTE. Power electronics are mounted on the shaft for control of thegenerator's excitation current. In addition a wireless control and measurementsystem is needed to provide the desired switching patterns to the power electronicsand to evaluate performance of the system.

In this thesis a shaft mounted embedded system for control and measurement isconstructed as well as magnetic field sensors with measurement range up to 700mT.The computational power comes from a National Instruments sbRIO-9606. Thesystem has 14 individual totem pole power electronics driving channels, 48 analoginput channels for current signals and it communicates wirelessly through a bluetoothconnection.

The system is tested and works satisfactory but has not been mounted on therotating side of the generator due to delays in the manufacturing.

TVE15056Examinator: Juan de SantiagoÄmnesgranskare: Urban LundinHandledare: José Perez

Sammanfattning

Vattenkraft har det senaste arhundradet varit och ar fortfarande en av Sveriges framsta kallortill elektrisk energi. Tekniken som vattenkraft bygger pa ar mogen och driftsaker, men med densenaste tidens utveckling inom kraftelektronik och simuleringsverktyg oppnas nya mojligheter attoka effektivitet, styrbarhet och driftsakerhet.

Pa Uppsala Universitet finns en experimentgenerator, SVANTE, dar nya tekniker kan utvarderas.Pa generatorns axel har en borstlos matare monterats och for att kunna kora denna kravs kraftelek-tronik for att kontrollera exciteringsstrommen till rotorn. Kraftelektroniken behover i sin tur re-gleras samt att olika storheter sasom spanning, strom och magnetfalt behover matas.

Detta examensarbete handlar om konstruktionen av ett inbyggt system for att tradlost hamta inmatdata fran sensorer samt styra kraftelektronik som sitter monterat pa axeln i ett vattenkraftverk.Detta implementeras i programvaran LabVIEW fran National Instruments pa en sbRIO-9606.Utover detta konstrueras kretskort for matning av magnetfalt upp till 700mT.

Det konstruerade systemet fungerar tillfredsstallande och testas genom att en vaxelriktare samt enDC-DC omvandlare styrs fran systemet. Magnetfaltsensorerna fungerar bra over hela matomradetmed bra linjaritet och matnoggrannhet. Allt som allt har fyra kretskort designats och utvarderatsdessutom har LabVIEW-kod skrivits.

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Contents

1 Introduction 31.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.2 Project description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Theory 62.1 Excitation systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.2 Power electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.3 Bluetooth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.4 Serial peripheral interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.5 Aliasing and anti-aliasing filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92.6 Successive approximation analog to digital converters . . . . . . . . . . . . . . . . . . 92.7 The Hall effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102.8 Current measurement techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.8.1 Resistive current sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112.8.2 Current transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112.8.3 Hall effect based current measurement . . . . . . . . . . . . . . . . . . . . . . 12

2.9 Voltage measurement techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122.9.1 Resistive divider . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122.9.2 Hall effect based voltage measurement . . . . . . . . . . . . . . . . . . . . . . 13

2.10 LabVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 Method 143.1 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143.2 Single Board RIO, sbRIO-9606 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153.3 General purpose inverter controller, NI 9683 . . . . . . . . . . . . . . . . . . . . . . . 163.4 Rotor main board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.4.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173.4.2 RN41XV, bluetooth module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183.4.3 ADC input signal conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . 183.4.4 AD7490, analog to digital converter . . . . . . . . . . . . . . . . . . . . . . . 203.4.5 Relay control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.5 Current measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.6 Voltage measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.7 Magnetic field measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.8 Serial communication in LabVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.9 SPI in LabVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4 Results 254.1 Magnetic field sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254.2 Rotor main board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284.3 The finished main unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294.4 Rotor distribution boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.4.1 Distribution board for rotor power electronics and SPI . . . . . . . . . . . . . 314.4.2 Distribution board for rotor sensors . . . . . . . . . . . . . . . . . . . . . . . 32

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5 Conclusions 33

Bibliography 34

Appendices 36

Appendix A LabVIEW code 36

Appendix B Schematics and Layouts 41

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1 Introduction

The first modern hydropower plant in Sweden was constructed at the end of the ninetieth century,it was situated in the river Viskan and could produce 2.2kW. An extremely small generator bytoday’s standards but it was the start of an enormous exploitation of the Swedish rivers. Today,the total installed power is 16.15GW and in 2013, hydropower supplied 60.8TWh of energy to theSwedish grid. This corresponds to 41% of the total energy consumption [1].

The majority of today’s big hydropower plants were built in the 1950s and 1960s as a result of theconstruction of a 400kV transmission line from Harspranget to Hallsberg. The power plants aregetting old so refurbishment and upgrades are required to keep up with today’s standards. In thisprocess new technologies can be implemented to potentially increase reliability, controllability andefficiency.

1.1 Background

At the Division of Electricity, Uppsala University, an 185kVA experimental generator called SVANTEis available. Specifications of the machine can be seen in Tab. 1 [2].

Table 1: Main specifications of SVANTE.

Frequency 50HzNumber of pole pairs 6Speed 500rpmSlots per pole and phase 3Number of stator slots 108Stator inner diameter 725mmStator length 303mmAir gap length 8.3mmPower of driving motor 75kWRotor weight 900kgStator weight 700kg

At the moment upgrades are done to facilitate new research projects, below is a list of the newadditions.

• New shaft lathed to fit the new additions.

• A six-phase brushless exciter.

• Permanent magnet thrust bearing.

• Electromagnetic thrust actuator.

• Power electronics for active control of the exciter and rotor currents.

• Sensor and control electronics.

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A CAD-drawing of the experimental rig with the new components installed can be seen in Fig. 1.

Figure 1: CAD-drawing of SVANTE with the new shaft [3].

1.2 Project description

With the installation of a brushless exciter on the shaft, there is a need for a way to rectify andcontrol the excitation current in the main generator. An embedded control and measurement systemmounted on the shaft is needed for for this purpose, the system shall communicate wirelessly to amain control unit and be able to drive power electronics devices.

The project is separated into two parts with two thesis workers cooperating. This thesis will be

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about the construction of the control and measurement systems while the other part is about thepower electronics and the related control scheme.

A specification of requirements is presented below.

• Simultaneous sampling of currents and voltages relevant to the control of the active rectifierand the buck converters.

• Enough processing power to implement space vector modulation.

• Accurate measurement of magnetic field up to 700mT on the rotor poles.

• Magnetic field measurements of 28 positions on the shaft.

• Wireless communication to the system.

• LabVIEW-programmable hardware

The thesis describing the power electronics can be found here [4].

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2 Theory

2.1 Excitation systems

Excitation systems can be classified into three categories based on the power source for the excita-tion.

DC excitation systemsDC generators are used as power source and provide the current to the rotor through sliprings. They were used in early hydropower systems but got superseded by AC exciters in themid 1960s.

AC excitation systemsA second generator is used as power source, generally the generator is on the same shaft asthe main generator. The AC output is then rectified and fed into the rotor windings. Therectification can either be stationary with current being fed through slip rings to the rotor,or it can be rotating and no slip rings is needed.

Static excitation systemsStatic excitation systems supply the excitation current through slip rings and take their powerdirectly from the main generator [6].

2.2 Power electronics

Power electronics is defined as the application of solid-state electronics to the control and conversionof electric power. It is based primarily on switching power semiconductor devices to generate adesired voltage or current [7].

2.3 Bluetooth

Bluetooth is a wireless technology for exchanging data, invented by Ericsson in 1994. It uses the2.4GHz ISM band with gaussian frequency shift keying (GFSK) as modulation scheme. In GFSKthe frequency of the carrier is shifted to carry the modulation, a binary 1 is represented by apositive deviation in frequency while a binary 0 is represented by a negative frequency deviation.Communication is based on a master-slave principle. One master device can control 7 slaves in apiconet, see Fig. 2.

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Figure 2: Bluetooth master-slave architecture with one master and four slaves.

Bluetooth uses frequency hopping techniques to avoid interference. A transmission changes channelwithin the 2.4GHz ISM band 1600 times per second in a random pattern, this makes it more immuneto interference. Version 2.1 + enhanced data rate (EDR) supports a bit rate of 3Mbps and utilizesphase shift keying (PSK) as well as GFSK as modulation schemes. Through the use of the protocolRFCOMM a wireless asynchronous serial port can be established between two devices, a usefulfeature for sending data between devices.

In Tab. 2 the different classes of bluetooth devices are listed. It is sorted based on the transmitpower, class 1 is mainly for industrial applications while class 2 is the standard for mobile phonesand similar items.

Table 2: Bluetooth classes and their corresponding transmit power and range.

Class Transmit power (dBm) Range (m)

1 20 1002 4 103 0 0.1

To start a bluetooth communication between devices a procedure known as pairing must take place.The process of pairing is as follows.

1. The devices look for other devices in range.

2. The user requests to pair with a specific device.

3. The device prompts for a passkey which is then compared with the other device.

4. If the keys are the same the connection is established.

This is only done once, afterwards the devices are paired until a user deletes the pair [8, 9].

2.4 Serial peripheral interface

Serial peripheral interface is a serial data transfer protocol developed by Motorola. It is usedfor communication between devices in full-duplex mode. Generally a bus has one master and anarbitrary amount of slaves connected to the same data lines. The following lines are available.

SCLK - Clock for the bus, controlled by the master.

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MOSI - Master Out Slave In, output from master to slave.

MISO - Master In Slave Out, output from slave to master.

SS - Slave Select, used to select which peripheral that is allowed to use the bus.

In Fig. 3 a block diagram of a typical SPI connection with two slaves is shown.

SCLKMOSIMISOSS1SS2

MasterSlave 1

Slave 2

SCLK

SCLK

MOSIMISOSS1

MOSIMISOSS2

Figure 3: Block diagram of a SPI bus with one master and two slaves.

Since SPI is full duplex, data is exchanged simultaneously from and to the master. This is accom-plished by using a circular buffer consisting of one shift register in the master and one in the slave,see Fig. 4, data exchange is done by shifting the bits between these two registers [10].

A0 A1 A2 A3 A4 A5 A6 A7 B0 B1 B2 B3 B4 B5 B6 B7

MASTER SLAVE

MOSI

MISO

Figure 4: Circular buffer between master and slave.

In Fig. 5 the timing diagram for a transfer of one byte is shown. The communication starts bypulling SS low and the first bit is outputted from the master and the slave on MOSI and MISO. Onthe rising edge of the SCLK the bit on MISO is read by the master while the bit on MOSI is readby the slave. At the falling edge of SCLK a new bit is outputted on MISO and MOSI respectivelyand the process repeats until all bits are sent and SS is pulled high.

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Figure 5: Timing diagram for one byte transfer.

2.5 Aliasing and anti-aliasing filters

In sampled measurement systems the aliasing effect has to be considered. The Nyquist samplingtheorem says that if you have a signal that is band limited to a bandwidth of fo then you cancollect all information in that signal as long as your sample rate is higher than 2 ∗ fo, see Eq. (1).

fo <fsample

2(1)

If you sample a signal that does not fulfill (1), the frequency content abovefsample

2will be aliased

back into the original signal. This leads to distortion of the sampled signal [11].

2.6 Successive approximation analog to digital converters

Succesive approximation register (SAR) ADCs implements a binary search algorithm to sample thesignal. In Fig. 6 a functional block diagram of the architecture is available.

Track&HoldVIn

DAC SAR Data out

Comparator

Figure 6: Functional diagram of a SAR ADC.

When a sampling starts the analog input is held in a track/hold and the digital to analog converter(DAC) is set to, VREF /2. A comparison between the analog input and the DAC output is doneto determine if VIn is less, or greater than VDAC . The SAR-logic then saves the result in the firstposition of the register. The control logic then moves to the next bit and repeats the process allthe way down to least significant bit (LSB), when finished it outputs the N-bit digital word in theoutput register [12]. In Fig. 7 the operation of a 4-bit SAR ADC can be seen.

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Figure 7: Operation of a 4-bit SAR ADC.

2.7 The Hall effect

The hall effect can be used to get the magnitude of a magnetic field. The effect can be observedwhen an electric current is passed through a conductive material which is in a magnetic field withan orthogonal component to the current. A force is then exerted on the charged electrons accordingto Eq. (2)

~F = q~v × ~B (2)

This leads to a charge build up on one side and charge depletion on the other. The voltage thatarises is called the hall voltage. See Fig. 8 for a sketch.

Figure 8: Sketch that shows the principle of the hall effect [13].

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2.8 Current measurement techniques

2.8.1 Resistive current sensing

A shunt resistor is inserted in series with the circuit in which the current shall be measured. A lowresistance is important to ensure a negligible impact on the original function of the circuit. Eq. (3)is used to get the current.

I =U

R(3)

Since Rshunt has a low resistance, the voltage drop over it will be small so a good voltage measure-ment is needed to get good performance. See Fig. 9 for a circuit diagram.

i

Rshunt

+−V

V

Circuit

to be

measured

Figure 9: Current measurement of an arbitrary circuit with a shunt resistor.

2.8.2 Current transformer

Non intrusive measurement of alternating current can be done by means of a current transformer,it consists of a magnetic core with a hole through it. The wire in which the current of interestflows is passed through the hole making the primary side of the transformer one turn whilst thesecondary winding has lots of turns, see Fig. 10.

Figure 10: Basic sketch of current transformer.

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The output current of the secondary is measured. See Eq. (4) for the ratio between Is and Ip.

Is = IpNp

Ns(4)

Where Np and Ns is the number of turns on the primary side of the transformer and Ns is thenumber of turns on the secondary side.

2.8.3 Hall effect based current measurement

Non intrusive measurement of both DC and AC can be done by utilizing the hall effect. It worksin the same way as a current transformer except that the secondary winding is replaced by a smallair gap in which a hall element is placed, see Fig. 11. The hall element will output a voltageproportional to the magnetic flux through it. This is directly proportional to the current passingthrough the core.

Figure 11: Basic sketch of a hall effect based current measurement.

2.9 Voltage measurement techniques

2.9.1 Resistive divider

For measuring high voltages a resistive divider can be used, Eq. (5).

Vm =R2

R1 +R2Vsupply (5)

It provides an easy way to measure high voltages with a low voltage ADC. In Fig. 12, a basic circuitdiagram of a voltage divider used for measuring an arbitrary circuit is presented.

12

+−Vsupply

Circuit

to be

measured

R1

R2 V Vm

Figure 12: Voltage measurement of an arbitrary circuit with a resistive divider.

2.9.2 Hall effect based voltage measurement

Voltage can be measured with a hall effect based sensor. Rm is dimensioned to provide a specificcurrent at different voltage levels. This current is passed through a hall element and an outputvoltage is generated at its output terminals, Fig. 13. The main benefit of this compared to a resistivedivider is that the measurement system and the high power system is galvanically isolated.

+−V

Circuit

to be

measured

imRm

Hall Vm

Figure 13: Voltage measurement of an arbitrary circuit with a hall element.

2.10 LabVIEW

LabVIEW is a graphical programming platform from National Instruments. It is most commonlyused for control systems and data acquisition.

Programs are created by connecting functional blocks together and associating these to a frontpanel with controls. The programming language is by nature parallel since multiple loops can runsimultaneously, this makes it powerful as a programming language for standard applications as wellas programming of devices capable of running many threads in parallel, such as FPGAs [14].

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3 Method

3.1 System overview

In Fig. 14, a schematic for the power electronics system is presented. Measurements of voltage andcurrent are done in six locations.

The brushless exciter is represented by three voltage sources, the output current is measured andthen fed to an active rectifier constructed with MOSFETs. A DC voltage is generated at VDC,1, thenext stage is a buck converter which lowers the voltage and creates another DC rail at node VDC,2,both these voltages are measured. An H-bridge topology is used to control the current through therotor, LRotor, for this a current measurement is needed as feedback to the current controller thatgenerates switching patterns of the H-bridge. An extra current measurement is done at Lbuck toanalyse the inductor currents in the buck circuit.

VDC,1

VDC,2C1

Lbuck

C2

LRotor

Figure 14: Full high power system with ideal switch representation [4].

In Fig. 15 a simplified block diagram of the electronics is presented.

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Figure 15: Block diagram of the control and measurement system.

3.2 Single Board RIO, sbRIO-9606

The processing unit used is sbRIO-9606 from National Instruments, see Fig. 16.

Figure 16: Single board RIO, sbRIO-9606.

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It features a 400MHz real-time processor, a Xilinx Spartan-6 LX45 FPGA and I/O on a singleprinted circuit board. Access to 96 DIO-lines is available through a high-speed connector, thisenables connection of custom made daughter boards. Integrated Ethernet, CAN, RS232 and USBis also available. The system is programmed from LabVIEW. For RS232 specifications see Tab. 3[15].

Table 3: RS232 DTE Serial port specifications.

Baud rate support ArbitraryMaximum baud rate 230.4kbpsData bits 5, 6, 7, 8Stop bits 1, 2Parity Odd, Even, Mark, Space, NoneFlow control RTS/CTS, XON/XOFF, DTR/DSR, None

3.3 General purpose inverter controller, NI 9683

The general purpose inverter controller is an off the shelf daughter board for sbRIO. It contains I/Ofor control and monitoring of power electronics. 14 channels in push-pull configuration are availablefor driving power electronics, the voltage level is set by providing a voltage at the Vext-pin. In Tab. 4specifications are presented [16].

Table 4: Half-bridge digital output.

Number of channels 14Maximum continuous output current 10mAOutput impedance 100ΩExternal power supply voltage range 5 - 30VMinimum pulse width 500nsMaximum switching frequency (50 pF) 500kHz

There are 32 DIO channels directly linked to the FPGA available. In Tab. 5 specifications arepresented.

Table 5: LVTTL digital input/output.

Number of channels 32Maximum tested current (per channel) 3mAMaximum total current (all lines) 96mATTL voltage level 3.3V

The GPIC also provides 16 pseudo-differential analog input channels. In Tab. 6 specifications arepresented.

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Table 6: Simultaneous analog input specifications.

Number of channels 16ADC resolution 12 bitsInput range ±10V, ±5VSample rate (per channel) 100kS/sBandwidth 210kHz

Scanned analog channels are available for monitoring of slow processes, such as temperature. InTab. 7 specifications are presented.

Table 7: Scanned analog input specifications.

Number of channels 8ADC resolution 12 bitsInput range 0 - 5VSample rate (per channel) 1kS/sBandwidth 130kHz

3.4 Rotor main board

The main board connects to the GPIC through 2.54mm headers and provides bluetooth connec-tivity, 32 extra ADC channels, power supply and DSUB-cable connectivity.

3.4.1 Power supply

The power for the system is supplied from the high voltage DC rail of the active rectifier. ATDK-Lambda HWS100A-24/A is used to convert the high voltage DC to 24V [17]. This 24V railis connected to the ”Power in” connector in Fig. 34.

The on board power supply accepts an external voltage between 18 - 36V and provides ±15V, 5Vand 3.3V. The external voltage is passed to the sbRIO connector. The main DC/DC converter,Fig. 17, is a Traco Power TEN60-2423N, it is a switching regulator that can provide 60W. Theefficiency is up to 92% and the output ripple is 125mV peak-to-peak maximum when measuredwith 20 MHz bandwidth [18].

Figure 17: The main DC/DC converter.

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The 5V rail is supplied by a Texas Instruments LM340-N, which is a 5V linear regulator with 75µVspecified output noise and the 3.3V rail is supplied by a ST LD1117, a low drop out regulator with0.003% of Vout as output noise [19, 20].

3.4.2 RN41XV, bluetooth module

The bluetooth module RN41XV from Roving Networks is used, see Fig. 18. It supports bluetoothversion 2.1 and is a Class 1 module. Communication is done through a serial interface via UARTat a maximum rate of 240kbps. An external antenna can be connected, this is essential since thechip will be mounted inside and aluminium chassis [21].

Figure 18: RN41XV, bluetooth module.

3.4.3 ADC input signal conditioning

All analog signals in the system use current as the signal carrier to increase noise immunity. Thecurrent signal is converted to voltage by passing it through a resistor Rs close to the ADC. Thevalue of Rs is determined by Eq. (6) and the maximum input voltage to the ADC.

U = RI (6)

The voltage signal is then buffered into an anti-aliasing filter implemented with a Sallen-Key topol-ogy. In Fig. 19 the input stage to the ADC can be seen.

18

−

+

R1 R2

C2

C1

VOut−

+

Rs

iIIn

Sallen-Key low pass filter

Figure 19: Input stage to ADC.

With R1, R2, C1 and C2 exchanged to impedances, see Fig. 20, the transfer function of the filtercan be calculated.

−

+

Z1 Z2

Z4

Z3

voutvin

v1

v+

v−

Figure 20: Sallen-Key with impedances.

In this analysis all components are assumed to be ideal, this leads to Eq. (7).

v+ = v− = vout (7)

Kirschoffs current law applied at v1, Eq. (8).

vin − v1Z1

=v1 − vout

Z3+v1 − vout

Z2(8)

Kirschoffs current law applied at v+, Eq. (9).

v1 − voutZ2

=voutZ4

(9)

From Eq. (9) the expression for v1 is obtained, Eq. (10).

v1 = vout

(Z2

Z4+ 1

)(10)

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The transfer function, Eq. (11) is found by combining Eq. (8) and (10).

voutvin

=Z3Z4

Z1Z2 + Z3(Z1 + Z2) + Z3Z4(11)

The cut-off frequency for the anti-aliasing filter is set to 10.6kHz with Q = 0.5 this reduces it’simpact on the signal of interest while filtering out high frequency noise. The following values are

used Z1 = Z2 = 15kΩ and Z3 = Z4 =1

s1 × 10−9. Eq. (12) shows the transfer function of the

filter.

H(s) =44.44 × 108

s2 + 13.33 × 104s+ 44.44 × 108(12)

3.4.4 AD7490, analog to digital converter

AD7490 is used as the ADC for the 32 additional analog input channels. It is a 16 channel, 12 bitconverter that uses the succesive approximation for conversion. For key specifications see Tab. 8.

Table 8: Key specifications of AD7490.

Number of channels 16ADC resolution 12 bitsInput range 0 - 5VSample rate (per channel) 1MS/sSignal-to-noise+distortion ratio 70.5dB

Serial communication with the integrated circuit (IC) is SPI compatible. The conversion clock andSPI clock is shared and comes from the SPI master, therefore conversion speeds is fully controllablefrom the software in the master [22].

3.4.5 Relay control

Four relays can be controlled from the main board. The output can handle 500mA continuouscurrent and has integrated flyback diodes. These can be used to connect and disconnect differentparts of the circuit when necessary.

3.5 Current measurement

For current measurement LEM LA55-P is used. It utilizes the hall effect to measure the current ina cable passing through the sensor, see Fig. 21.

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Figure 21: Current measurement board.

The sensor output is a current with conversion ratio 1:1000. A current of 50A in the main cablegenerates a 50mA output from the sensor, this current is then passed through a resistor close tothe measurement ADC and then sampled [23].

100nF

−15V

22µF

+15V

ioutIOutLEM LA55-p

Figure 22: Circuit diagram of a current sensor board.

Table 9: Specifications for LA55-P.

Overall accuracy ±0.65%Linearity error < 0.15%Response time < 1µsBandwidth (-1 dB) 200kHz

3.6 Voltage measurement

For voltage measurement LEM LV25-P is used, see Fig. 23. The measurement is based on the halleffect thus it provides galvanic isolation between the high voltage side and the measurement side.

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Figure 23: Voltage measurement board.

It is connected in parallel with the load and the desired measurement range is set by choosingresistor values on its input. The resistor should be set so that 10mA is passed into the device atthe nominal voltage. The current is then converted with a conversion ratio of 2500:1000, a 10mAcurrent into the terminal corresponds to a 25mA current on the output terminal [24].

im10kΩ 10kΩ

10kΩ 10kΩVm

100nF

−15V

22µF

+15V

ioutIOut

LEM LV25-p

Figure 24: Circuit diagram of a voltage sensor board..

Table 10: Specifications for LV25-P.

Overall accuracy ±0.9%Linearity error < 0.2%Response time 40µs

3.7 Magnetic field measurement

The magnetic field measurement need to be able to measure magnetic fields up to 700mT, for thispurpose the hall element, ChenYang CYSJ166A was used. Its main features is 0-3T measurementrange, good linearity and good temperature stability [25].

The output of the hall element is buffered then fed in to a XTR117 from Texas Instruments. It is a4 - 20mA current loop transmitter that enables a voltage signal to be converted to current and fedthrough the same wire as the power supply [26]. In this way only two wires for each sensor boardis required and the signal’s noise immunity is increased. See Fig. 25 for a complete circuit diagramof one sensor.

22

Hall-element −

+

10nF

iout

100nFVIn

NCIInIRET

IO

VREG

V+BE

XTR117

MCP6021

15kΩ

+VH

−VH

+V

−V

+4.7 V

npn

Figure 25: Circuit diagram for the magnetic field measurement board.

3.8 Serial communication in LabVIEW

LabVIEW’s integrated libraries for serial communication are used to communicate with the blue-tooth modules. A state machine is implemented that continuously checks the RX port for dataand then either reads the incoming data or writes measurement data back to the other device, seeFig. 26.

Figure 26: State diagram for the serial communication loop.

This state machine is used on the rotating side of the system. It should send measurement data allthe time until a new set point value for the rotor current is sent from the stationary system, whenthis becomes available it should be handled right away and then go back to sending measurementdata again. For the complete program see Appendix A.

3.9 SPI in LabVIEW

The SPI communication is implemented as a state machine, see Fig. 27. It initializes the transferby pulling SS low. Then it writes MOSI and reads MISO in 16 clock cycles before returning to theinitial state. In this way the clock frequency is configurable in LabVIEW [27]. For the completeprogram see Appendix A.

23

Figure 27: State diagram for the SPI communication loop.

24

4 Results

For detailed schematics and layouts for the presented circuit boards, see Appendix B.

4.1 Magnetic field sensor

The hall element and the magnetic field sensor was characterized by applying a magnetic field from-700mT to 700mT. The magnetic field was generated by a C-core, see Fig. 28.

Figure 28: The magnetic C-core used for characterization of the magnetic field sensor [28].

The sensor was placed in the air gap of the C-core along with the measurement probe from aLakeShore 410 Gaussmeter. The output voltage from the sensor was measured with a Fluke 175multimeter, the accuracy of the two instruments are as follows.

• Gaussmeter, 2% of reading 0.1% of full scale at 25C.

• Multimeter, 0.15% + 2 counts.

Two hall elements were characterized, both elements was measured from -700mT to 700mT threetimes, the result can be seen in Fig. 29. The output voltage as a function of magnetic field ispresented.

25

Figure 29: Linear curve fit of output voltage at different magnetic fields with residual plot for thehall element.

A picture of a fully populated magnetic field sensor board can be seen in Fig. 30. It uses only twowires for signal transmission and for powering the circuit. The dimensions of the board is 10x18mmand the maximum height is 2mm.

Figure 30: Fully populated hall sensor board.

The magnetic field sensor board was characterized with the same amount of measurement points asthe hall element. The current signal was converted to voltage by passing its output current througha resistor with R = 200.2Ω. In Fig. 31 the output voltage as a function of magnetic field can beseen.

26

Figure 31: Linear curve fit of output voltage at different magnetic fields with residual plot for thecomplete hall measurement system.

Mounting positions for the magnetic field sensors can be seen in Fig. 32.

Figure 32: Mounting of the magnetic field sensors on the rotor.

27

4.2 Rotor main board

The main board has connectors to fit the GPIC board from National instruments. It extends itsfunctionality by adding power supply for the complete system, 32 extra ADC channels, bluetoothconnectivity, and distribution of signals to the rest of the system. Pictures of the fully populatedmain board with the function of each section marked can be seen in Fig. 33.

Figure 33: Top side of main board with sections marked.

The bottom of the main board is populated with all the connectors necessary to distribute thesignals in the system. The main cable standard for signals is DSUB. See Fig. 34 for an overview ofthe bottom side of the board with connectors and their function marked.

28

Figure 34: Bottom side of main board with individual connector’s function marked.

4.3 The finished main unit

In Fig. 35 the fully assembled main system is shown.

29

Figure 35: Fully assembled system.

The system in Fig. 35 was put in an aluminium box with holes milled for the connectors, see Fig. 36.

Figure 36: Aluminium box with the circuit boards mounted.

30

4.4 Rotor distribution boards

To distribute the signals from the main board two circuit boards were created to fit around theshaft close to the rotor. The boards are mounted on a bakelite piece used for connecting the rotorwindings, see Fig. 37.

Figure 37: Distribution boards mounted on a bakelite piece meant for connection of rotor windings.

4.4.1 Distribution board for rotor power electronics and SPI

A fully populated distribution board for rotor power electronics and SPI can be seen in Fig. 38.

31

Figure 38: Distribution board for power electronics.

4.4.2 Distribution board for rotor sensors

A fully populated distribution board for sensor connections can be seen in Fig. 39.

Figure 39: Distribution board for sensors.

32

5 Conclusions

The control and measurement system works well and has been tested. Voltage rails are withinspecifications, all ADC channels are fully functional and the half bridge output drivers works sat-isfactory. The system’s capability for driving power electronics was tested by mounting everythingin the box and drive a buck converter and a three phase inverter with SVM control scheme. Thiswas successful and current and voltage measurements were working well.

Figure 40: Box for control, measurement and power electronics (control board not mounted) [4].

The distribution boards fits nicely and no problems were discovered when analysing and testingthese boards.

The software for the system has basic functionality, it can sample the ADC channels via SPI andit can communicate wirelessly between two bluetooth modules. No elaborate programming toautomatize the bluetooth connection setup or the sending of data between the two units has beendone.

Magnetic field sensors with high linearity and a large measurement range has been constructed.The sensors have low noise floor, 24mVp−p at 0T and increased noise immunity since current isused as signal carrier. A first degree polynomial fit, y = 9.741×10−4x+2.850, was done and showsgood consistency and linearity with R2 = 0.995. For further improvement the vias for mounting thecables, see Fig. 30, should be changed to pads so that the whole bottom side is free from exposedconducting surfaces. A list of minor errors in the layout of the board were discovered, see list below.

• Hole size for 10 pin connector too small.

• Protection diodes for TTL pins were incorrectly positioned.

• Pad size for flyback diodes in relay channels too small.

33

References

[1] Elaret, 2013. Svensk energi. http://www.svenskenergi.se/Global/Statistik/El%C3%

A5ret/Sv%20Energi_el%C3%A5ret2013_versJUNI2014.pdf. [Accessed 27 May 15].

[2] M. Wallin. Measurement and modelling of unbalanced magnetic pull in hydropower generators.2013. ISSN 1651-6214; 1029.

[3] J. Jose Perez-Loya (personal communication, 2015)

[4] T. Johansson. Active rectification and control of magnetization currents in synchronous gener-ators with rotating exciters. 2015.

[5] P. Schavemaker and L. van der Sluis. Electrical power system essentials. Wiley, 2008.

[6] P. Kundur. Power Systems Stability and Control. McGraw-Hill, 1994.

[7] Rashid, M.H. (2004). Power electronics : Circuits, devices and applications, 3rd edition. UpperSaddle River, N.J. ; London: Pearson Prentice Hall. 2004.

[8] H. Labiod, H. Afific, C. de Santis. Wi-Fi, Bluetooth, ZigBee AND WiMax. Springer, 2007.

[9] Ian Poole. Radio Electronics. Available at: http://www.radio-electronics.com/info/

wireless/bluetooth/bluetooth_overview.php. [Accessed 01 June 15].

[10] Mayank Prasad. Available at: http://maxembedded.com/2013/11/

serial-peripheral-interface-spi-basics/. [Accessed 01 June 15].

[11] T. Wescott. Sampling: What Nyquist Didnt Say, and What to Do About It Available at:http://www.wescottdesign.com/articles/Sampling/sampling.pdf. [Accessed 01 June 15].

[12] Maxim Integrated. Understanding SAR ADCs: Their Architecture and Comparison with OtherADCs. Available at: http://pdfserv.maximintegrated.com/en/an/AN1080.pdf. [Accessed05 June 15].

[13] Picture from wikipedia. Available at: http://en.wikipedia.org/wiki/Hall_effect#

/media/File:Hall_Effect_Measurement_Setup_for_Electrons.png. [Accessed 05 June 15].

[14] LabVIEW homepage. Available at: http://www.ni.com/labview/. [Accessed 08 June 15].

[15] National Instruments. OEM operating instructions and specifications, NI sbRIO-9605/9606and NI sbRIO-9623/9626/9633/9636. 2012.

[16] National Instruments. User guide and specifications, NI 9683. 2013.

[17] TDK-Lambda. TDK-Lambda, HWS100A-24/A dataheet. 2015. Available at: http://www.

mouser.com/ds/2/400/hws-a-525007.pdf. [Accessed 23 June 15].

[18] Traco Power. Traco Power, TEN 60N Series dataheet. 2013. Available at: http://assets.

tracopower.com/TEN60N/documents/ten60n-datasheet.pdf. [Accessed 04 June 15].

[19] Texas Instruments. LM340-N, datasheet. 2013. Available at: http://www.ti.com/lit/ds/

symlink/lm340-n.pdf. [Accessed 04 June 15].

34

http://www.svenskenergi.se/Global/Statistik/El%C3%A5ret/Sv%20Energi_el%C3%A5ret2013_versJUNI2014.pdf

http://www.svenskenergi.se/Global/Statistik/El%C3%A5ret/Sv%20Energi_el%C3%A5ret2013_versJUNI2014.pdf

http://www.radio-electronics.com/info/wireless/bluetooth/bluetooth_overview.php

http://www.radio-electronics.com/info/wireless/bluetooth/bluetooth_overview.php

http://maxembedded.com/2013/11/serial-peripheral-interface-spi-basics/

http://maxembedded.com/2013/11/serial-peripheral-interface-spi-basics/

http://www.wescottdesign.com/articles/Sampling/sampling.pdf

http://pdfserv.maximintegrated.com/en/an/AN1080.pdf

http://en.wikipedia.org/wiki/Hall_effect#/media/File:Hall_Effect_Measurement_Setup_for_Electrons.png

http://en.wikipedia.org/wiki/Hall_effect#/media/File:Hall_Effect_Measurement_Setup_for_Electrons.png

http://www.ni.com/labview/

http://www.mouser.com/ds/2/400/hws-a-525007.pdf

http://www.mouser.com/ds/2/400/hws-a-525007.pdf

http://assets.tracopower.com/TEN60N/documents/ten60n-datasheet.pdf

http://assets.tracopower.com/TEN60N/documents/ten60n-datasheet.pdf

http://www.ti.com/lit/ds/symlink/lm340-n.pdf

http://www.ti.com/lit/ds/symlink/lm340-n.pdf

[20] ST Microelectronics. LD1117, datasheet. 2013. Available at: http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00000544.pdf. [Accessed04 June 15].

[21] Microchip. RN41XV, datasheet. 2012. Available at: http://ww1.microchip.com/downloads/en/DeviceDoc/RN41XV-RN42XV-ds-v1.0r.pdf. [Accessed 09 June 15].

[22] Analog Devices. AD7490 datasheet. 2012. Available at: http://www.analog.com/media/en/

technical-documentation/data-sheets/AD7490.pdf. [Accessed 08 June 15].

[23] LEM. LA55-P, datasheet. 2009. Available at: http://www.lem.com/docs/products/la%

2055-p%20e.pdf. [Accessed 04 June 15].

[24] LEM. LV25-P, datasheet. 2012. Available at: http://www.lem.com/docs/products/lv%

2025-p.pdf. [Accessed 04 June 15].

[25] ChenYang. CYSJ166A, datasheet. Available at: http://www.hallsensors.de/CYSJ166A.

pdf. [Accessed 04 June 15].

[26] Texas Instruments. XTR117, datasheet. 2012. Available at: http://www.ti.com/lit/ds/

symlink/xtr117.pdf. [Accessed 04 June 15].

[27] Implementing SPI Communication Protocol in LabVIEW FPGA. Available at: http://www.

ni.com/example/9117/en/. [Accessed 08 June 15].

[28] S. Sjokvist and S. Eriksson. Experimental Verification of a Simulation Model for Partial De-magnetization of Permanent Magnets. IEEE Transactions on Magnetics, vol.50, no.12, pp.1,5,Dec. 2014.

35

http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00000544.pdf

http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00000544.pdf

http://ww1.microchip.com/downloads/en/DeviceDoc/RN41XV-RN42XV-ds-v1.0r.pdf

http://ww1.microchip.com/downloads/en/DeviceDoc/RN41XV-RN42XV-ds-v1.0r.pdf

http://www.analog.com/media/en/technical-documentation/data-sheets/AD7490.pdf

http://www.analog.com/media/en/technical-documentation/data-sheets/AD7490.pdf

http://www.lem.com/docs/products/la%2055-p%20e.pdf

http://www.lem.com/docs/products/la%2055-p%20e.pdf

http://www.lem.com/docs/products/lv%2025-p.pdf

http://www.lem.com/docs/products/lv%2025-p.pdf

http://www.hallsensors.de/CYSJ166A.pdf

http://www.hallsensors.de/CYSJ166A.pdf

http://www.ti.com/lit/ds/symlink/xtr117.pdf

http://www.ti.com/lit/ds/symlink/xtr117.pdf

http://www.ni.com/example/9117/en/

http://www.ni.com/example/9117/en/

Appendix A LabVIEW code

36

37

38

39

40

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F

Date: 03 maj 2015KiCad E.D.A. kicad (after 2015-mar-04 BZR unknown)-product

Rev: ASize: A4Id: 1/12

Title: Rotating RIO ADD-ON boardFile: Add_on_Board_NI9683.schSheet: /Uppsala UniversityFredrik Evestedt

Bluetooth

Bluetooth.sch

PSU

PSU.sch

Half_Bridge

Half_Bridge.sch

Simultaneous_AI

Simultaneous_AI.sch

ADC1_2

ADC1_2.sch

Relay_CTRL

Relay_CTRL.sch

Scanned_AI_AO

Scanned_AI_AO.sch

Sourcing_DI

Sourcing_DI.sch

Global NETS

+2.5V_REF+3.3V+3.3V_MEZZ+5V+15V+24V-15VCOM

Ethernet

Ethernet.sch

H2

Hole

H3

Hole

H4

Hole

H5

Hole

Appendix B Schematics and Layouts

41

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO BluetoothFile: Bluetooth.schSheet: /Bluetooth/Uppsala UniversityFredrik Evestedt

READY1

C1+2

V+3

C1-4

C2+5

C2-6

V-7

RIN8 ROUT 9INVALID 10

DIN 11FORCEON 12

DOUT 13GND 14VCC 15

FORCEOFF 16

U1

MAX3227E

C3

100n

C4

100n

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

10 10

X1

CON-10P

VDD_3V31

TXD2

RXD3

GPIO104

RESET_N5

GPIO66

GPIO97

GPIO48

GPIO119

GND10

AIO1 20

GPIO8 11RTS 12

GPIO2 13NC 14

GPIO5 15CTS 16

GPIO3 17GPIO7 18

AIO0 19

U2

RN41XV

R1

100k

R2

100k

R3

100k R

510

0k

R6

100k

R4

100k

12

D1

LED

C1

100n

C2

100n

C5

100n

C6

100n

C7

100n

C8

100n

+3.3V

COM

+3.

3V

H1

Hole

CO

M

Decoupling

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO PSUFile: PSU.schSheet: /PSU/Uppsala UniversityFredrik Evestedt

+VIN1

-VIN2

RMT3

+15V 4

COM 5

-15V 6

U3

TEN_30-2423WIN

GN

D1

VO 2VI3

U4LD1117S33TR

C9

4.7u

C121n

C101n C13

220nF

C15

100n

C16

10u

12

P1

24V

_IN 1 2F1

FUSE

12

P2BA

TT

_IN 1 2F2

FUSE

D2

DIODE

D3

DIODE

+5V

+15VCOM-15V

+3.3V

+24V

12

P3

24V_RIO

24V_IN

BATT_IN

C14

100n

Vin1

GN

D2

Vout 3

GN

D4 U5

LM7805_sot223

1 2D16

LEDR1191.5k -15VCOM

V1 X9

+15V

V1 X10

+5V

V1 X11

+3.3V

V1 X12

-15V

V1 X13

COM

V1 X8

+24V

+24

V

+5V

+15

V

+3.

3V

-15V

CO

M

Test points Power LED

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO Half-Bridge DriverFile: Half_Bridge.schSheet: /Half_Bridge/Uppsala UniversityFredrik Evestedt

123456789

10

20

11

21

12

22

13

23

14

24

15

25

16

26

171819

X2

HALF_BRIDGE_DOHB_DO13HB_VextHB_DO12GNDHB_DO11GNDHB_DO10GNDHB_DO9GNDHB_D08GNDHB_DO7HB_DO6GND

GND

GND

GND

GND

HB_DO5

HB_DO4

HB_DO3

HB_D02

HB_DO1

HB_DO0

1

2

3

4

5

6

7

8

9

J6

DB9

1

2

3

4

5

6

7

8

9

J7

DB9

1

2

3

4

5

6

7

8

9

J4

DB9

1

2

3

4

5

6

7

8

9

J2

DB9

1

2

3

4

5

6

7

8

9

10

20

11

21

12

22

13

23

14

24

15

25

16

17

18

19

J1

DB25

GND

+15

VC

OM

+15V

COM

C120

10uF

C121

10uF

C122

10uF

C123

10uF

C124

10uF

C125

10uF

C127

10uF

C128

10uF

C129

10uF

Fault_ROTOR_HB

Fault_Buck

VCC1

AOUT2

AIN3

BOUT4

BIN5

COUT6

CIN7

VSS8 DIN 9DOUT 10

EIN 11EOUT 12

SEL 13FIN 14

FOUT 15VDD 16

U25

CD4504+15

V

CO

M

+5V

Fault_RectifierA1

B2

D3

E4

F5D+E+F 6

VSS 7

C8A+B+C 9

G+H+I 10

I11H12G13

VDD14

U26

CD4075

CO

M

+15

V

C130

100nF

C131

100nF

COM

+15V

C132

100nF

+5V

CO

M

C126

10uF

Power supply decoupling

CO

M

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO Simultaneous AIFile: Simultaneous_AI.schSheet: /Simultaneous_AI/Uppsala UniversityFredrik Evestedt

12345678910

20

30

40

11

21

31

12

22

32

13

23

33

14

24

34

15

25

35

16

26

36

17

27

37

18

28

38

19

29

39

X3

SIMULTANEOUS_AI

ADC0_AI15+ADC0_AI15-ADC0_AI14+ADC0_AI14-ADC0_AI13+

ADC0_AI12+

ADC0_AI11+

ADC0_AI10+

ADC0_AI9+

ADC0_AI8+

ADC0_AI7+

ADC0_AI6+

ADC0_AI5+

ADC0_AI4+

ADC0_AI3+

ADC0_AI2+

ADC0_AI1+

ADC0_AI0+

ADC0_CS_COMADC0_CS_COMADC0_CS_COMADC0_CS_COM


ADC0_AI13-

ADC0_AI12-

ADC0_AI11-

ADC0_AI10-

ADC0_AI9-

ADC0_AI8-

ADC0_AI7-

ADC0_AI6-

ADC0_AI5-

ADC0_AI4-

ADC0_AI3-

ADC0_AI1-

ADC0_AI0-

R18

120

R17

120

R16

120

R15

120

R19

120

R20

120

R21

120

R22

120

R10

120

R9

120

R8

120

R7

120

R11

120

R12

120

R13

120

R14

120

1

2

3

4

5

6

7

8

9

J9

DB9

1

2

3

4

5

6

7

8

9

J10

DB9

1

2

3

4

5

6

7

8

9

J11

DB9

1

2

3

4

5

6

7

8

9

J12

DB9

1

2

3

4

5

6

7

8

9

J13

DB9

ADC0_AI15+ADC0_AI15-ADC0_AI14+ADC0_AI14-ADC0_AI13+

ADC0_AI12+

ADC0_AI11+

ADC0_AI10+

ADC0_AI9+

ADC0_AI8+

ADC0_AI7+

ADC0_AI6+

ADC0_AI5+

ADC0_AI4+

ADC0_AI3+

ADC0_AI1+

ADC0_AI0+



ADC0_AI13-

ADC0_AI12-

ADC0_AI11-

ADC0_AI10-

ADC0_AI9-

ADC0_AI8-

ADC0_AI7-

ADC0_AI6-

ADC0_AI5-

ADC0_AI4-

ADC0_AI3-

ADC0_AI0-

1

2

3

4

5

6

7

8

9

J8

DB9

CO

M+

15V

-15V

CO

MADC0_AI2-

CO

M

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO ADC1_2File: ADC1_2.schSheet: /ADC1_2/Uppsala UniversityFredrik Evestedt

12345678910

20

30

40

50

60

11

21

31

41

51

12

22

32

42

52

13

23

33

43

53

14

24

34

44

54

15

25

35

45

55

16

26

36

46

56

17

27

37

47

57

18

28

38

48

58

19

29

39

49

59

X4

LVTTL

ADC_CH1

ADC_CH1.sch

ADC1_CS

ADC1_SCLK

ADC1_DIN

ADC1_DOUT

ADC1_VIN14+

ADC1_VIN15+ADC1_REFIN

ADC1_VIN15-

ADC1_VIN14-

ADC1_VIN12+

ADC1_VIN13+ADC1_VIN13-

ADC1_VIN12-

ADC1_VIN10+


ADC1_VIN10-

ADC1_VIN8+


ADC1_VIN8-

ADC1_VIN6+


ADC1_VIN6-

ADC1_VIN4+


ADC1_VIN4-

ADC1_VIN2+


ADC1_VIN2-

ADC1_VIN0+


ADC1_VIN0-

ADC_CH2

ADC_CH2.sch

ADC2_CS

ADC2_SCLK

ADC2_DIN

ADC2_DOUT

ADC2_REFIN

ADC2_VIN14+


ADC2_VIN14-

ADC2_VIN12+


ADC2_VIN12-

ADC2_VIN10+


ADC2_VIN10-

ADC2_VIN8+


ADC2_VIN8-

ADC2_VIN6+


ADC2_VIN6-

ADC2_VIN4+


ADC2_VIN4-

ADC2_VIN2+


ADC2_VIN2-

ADC2_VIN0+


ADC2_VIN0-

GND

GND

GNDDIO26

DIO25GND

DIO23GNDDIO22DIO21

GNDDIO20DIO19

GNDDIO18DIO17

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

GND

DIO16DIO15

DIO14

DIO13

DIO12

DIO11

DIO10

DIO9

DIO8

DIO7

DIO6

DIO5

DIO4

DIO3

DIO2

DIO1

DIO0

CO

M

1

2

3

4

5

6

7

8

9

10

20

11

21

12

22

13

23

14

24

15

25

16

17

18

19

J14

DB25

1

2

3

4

5

6

7

8

9

10

20

11

21

12

22

13

23

14

24

15

25

16

17

18

19

J15

DB25

1

2

3

4

5

6

7

8

9

J16

DB9

VD

D1

GN

D2

2.5_V 3

U24

AD580

+5V

GNDA

+2.5V_REF

+2.5V_REF

1 2

3

D4

DOUBLE_SCHOTTKY_Correct

1 2

3

D5


1 2

3D6


1 2

3

D7


1 2

3

D8


1 2

3

D9


1 2

3

D10


1 2

3

D11


+2.5V_REF

+3.

3V_M

EZ

Z

+3.

3V_M

EZ

Z

1

2

3

4

5

6

7

8

9

J3

DB9

DIO28

Fault_BuckFault_ROTOR_HBFault_Rectifier

12

P8

12

P9

12

P10

12

P11

DIO24

CO

M

ADC Reference

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: File: ADC_CH1.schSheet: /ADC1_2/ADC_CH1/Uppsala UniversityFredrik Evestedt

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6

VOUTB7 VOUTC 8VINC- 9VINC+ 10

VSS 11VIND+ 12VIND- 13

VOUTD 14

U6

MCP6024

ADC1_CS

ADC1_SCLK

ADC1_DIN

ADC1_DOUT

ADC1_VIN14+

ADC1_VIN15+

AD

C1_

RE

FIN

C49

100nF

C50

10uF

C51

10uF

C52

10uF

C53

100nF

C54

100nF

C55

100nF

C56

100nF

C57

100nF

C58

10uF

R23200

R31200

R39R

R40R

R55R

R56R

C17 C C33 C

C18 C C34 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U7

MCP6024 R41R

R42R

R57R

R58R

C19 C C35 C

C20 CC36 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U8

MCP6024 R43R

R44R

R59R

R60R

C21 C C37 C

C22 C C38 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U9

MCP6024 R45R

R46R

R61R

R62R

C23 C C39 C

C24 C C40 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U10

MCP6024 R47R

R48R

R63R

R64R

C25 C C41 C

C26 C C42 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U11

MCP6024 R49R

R50R

R65R

R66R

C27 C C43 C

C28 CC44 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U12

MCP6024 R51R

R52R

R67R

R68R

C29 C C45 C

C30 C C46 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U13

MCP6024 R53R

R54R

R69R

R70R

C31 C C47 C

C32 C C48 C

GN

DA

GN

DA

C59

10uF

C60

100nF

C61

10uF

C62

10uF

C63

100nF

C64

100nF

C65

10uF

C66

10uF

ADC1_VIN15-

ADC1_VIN14-

ADC1_VIN12+

ADC1_VIN13+R24200

R25200

ADC1_VIN13-

ADC1_VIN12-

ADC1_VIN10+

ADC1_VIN11+R26200

R27200

ADC1_VIN11-

ADC1_VIN10-

ADC1_VIN8+

ADC1_VIN9+R28200

R29200

ADC1_VIN9-

ADC1_VIN8-

ADC1_VIN6+

ADC1_VIN7+R30200

R32200

ADC1_VIN7-

ADC1_VIN6-

ADC1_VIN4+

ADC1_VIN5+R33200

R34200

ADC1_VIN5-

ADC1_VIN4-

ADC1_VIN2+

ADC1_VIN3+R35200

R36200

ADC1_VIN3-

ADC1_VIN2-

ADC1_VIN0+

ADC1_VIN1+R37200

R38200

ADC1_VIN1-

ADC1_VIN0-

+3.3V_MEZZ

COM

+3.

3V_M

EZ

Z

+5V

CO

M

VIN111

VIN102

VIN93

NC4

VIN85

VIN76

VIN67

VIN58

VIN49

VIN310CS 20

VIN211

AGND 21

VIN112

VDD 22

VIN013

REF_IN 23

AGND14

AGND 24

DOUT 15

VIN15 25

SCLK 16

VIN14 26

VDRIVE 17

VIN13 27

NC 18

VIN12 28

DIN 19

U14

AD7490

+15V

CO

M

CO

M+

5V

+5V

CO

M

+5V

GNDA

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: File: ADC_CH2.schSheet: /ADC1_2/ADC_CH2/Uppsala UniversityFredrik Evestedt

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U15

MCP6024

ADC2_CS

ADC2_SCLK

ADC2_DIN

ADC2_DOUT

AD

C2_

RE

FIN

C99

10uF

C100

100nF

C101

10uF

C102

100nF

C103

100nF

C104

100nF

C105

100nF

C106

10uF

C107

10uF

C108

10uF

GNDA

+5V

R87R

R88R

R103R

R104R

C67 C C83 C

C68 C C84 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U16

MCP6024 R89R

R90R

R105R

R106R

C69 C C85 C

C70 CC86 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U17

MCP6024 R91R

R92R

R107R

R108R

C71 C C87 C

C72 C C88 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U18

MCP6024 R93R

R94R

R109R

R110R

C73 C C89 C

C74 CC90 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U19

MCP6024 R95R

R96R

R111R

R112R

C75 C C91 C

C76 C C92 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U20

MCP6024 R97R

R98R

R113R

R114R

C77 C C93 C

C78 C C94 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U21

MCP6024 R99R

R100R

R115R

R116R

C79 C C95 C

C80 C C96 C

GN

DA

GN

DA

VOUTA1

VINA-2

VINA+3

VDD4

VINB+5

VINB-6



VOUTD 14

U22

MCP6024 R101R

R102R

R117R

R118R

C81 C C97 C

C82 C C98 C

GN

DA

GN

DA

C109

10uF

C110

100nF

C111

100nF

C112

100nF

C113

10uF

C114

10uF

C115

10uF

C116

100nF

ADC2_VIN14+

ADC2_VIN15+

R71200

R72200

ADC2_VIN15-

ADC2_VIN14-

ADC2_VIN12+

ADC2_VIN13+R73200

R74200

ADC2_VIN13-

ADC2_VIN12-

ADC2_VIN10+

ADC2_VIN11+R75200

R76200

ADC2_VIN11-

ADC2_VIN10-

ADC2_VIN8+

ADC2_VIN9+R77200

R78200

ADC2_VIN9-

ADC2_VIN8-

ADC2_VIN6+

ADC2_VIN7+R79200

R80200

ADC2_VIN7-

ADC2_VIN6-

ADC2_VIN4+

ADC2_VIN5+R81200

R82200

ADC2_VIN5-

ADC2_VIN4-

ADC2_VIN2+

ADC2_VIN3+R83200

R84200

ADC2_VIN3-

ADC2_VIN2-

ADC2_VIN0+

ADC2_VIN1+R85200

R86200

ADC2_VIN1-

ADC2_VIN0-

COM

C11

10uF

C117

100nF

C118

10uF

C119

100nF

+3.3V_MEZZ

+3.

3V_M

EZ

Z+

5V+

5V

CO

MC

OM

+5V

COM

VIN111

VIN102

VIN93

NC4

VIN85

VIN76

VIN67

VIN58

VIN49

VIN310CS 20

VIN211

AGND 21

VIN112

VDD 22

VIN013

REF_IN 23

AGND14

AGND 24

DOUT 15

VIN15 25

SCLK 16

VIN14 26

VDRIVE 17

VIN13 27

NC 18

VIN12 28

DIN 19

U23

AD7490

CO

M

+15V

+5V

GNDA

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO Relay ControlFile: Relay_CTRL.schSheet: /Relay_CTRL/Uppsala UniversityFredrik Evestedt

123456789

10

20

30

40

11

21

31

12

22

32

13

23

33

14

24

34

15

25

35

16

26

36

17

27

37

18

28

38

19

29

39

X5

SINKING_DO

RL_DO3+RL_DO3-RL_DO2+RL_DO2-RL_DO1+RL_DO1-RL_DO0+RL_DO0-

GND

GND

D14

DIO

DE

D15

DIO

DE

GNDA

12

P5

RL3_OUT

12

P6

RL2_OUT

12

P7

RL1_OUT

12

P4

RL0_OUT

+24

V

GND

D13

DIO

DE

D12

DIO

DE

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO Scanned AI_AOFile: Scanned_AI_AO.schSheet: /Scanned_AI_AO/Uppsala UniversityFredrik Evestedt

Scan_AI7Scan_AI6

Scan_AI2Scan_AI1Scan_AI0

1

2

3

4

5

6

7

8

9

J20

DB9

+15V

-15V

1

2

3

4

5

6

7

8

9

J5

DB9

+15V

-15V

COM

COM

COM

COM

R12

0R

R12

1R

R12

2R

R12

3R

R12

4R

R12

5R

CO

M

12345678910

20

111213141516171819

X6

SCANNED_AI_&_AO

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO Sourcing DIFile: Sourcing_DI.schSheet: /Sourcing_DI/Uppsala UniversityFredrik Evestedt

123456789

10

20

30

11

21

31

12

22

32

13

23

33

14

24

34

15

25

16

26

17

27

18

28

19

29

X7

SOURCING_DIC

OM

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotating RIO EthernetFile: Ethernet.schSheet: /Ethernet/Uppsala UniversityFredrik Evestedt

12345678

SH

IELD

9

J18

RJ4

5

12345678

SH

IELD

9

J19

RJ4

5

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F

Date: 23 april 2015KiCad E.D.A. kicad (after 2015-mar-04 BZR unknown)-product

Rev: Rev ASize: A4Id: 1/1

Title: Rotor board (Drivers)File: Rotor_Board_driver.schSheet: /Uppsala UniversityFredrik Evestedt

1

2

3

4

5

6

7

8

9

10

20

11

21

12

22

13

23

14

24

15

25

16

17

18

19

J4

DB25

+15

V

CO

M

1

2

3

4

5

6

7

8

9

J1

DB9

1

2

3

4

5

6

7

8

9

J2

DB9

1

2

3

4

5

6

7

8

9

J3

DB9

1

2

3

4

5

6

7

8

9

J5

DB9

1

2

3

4

5

6

7

8

9

J6

DB9

1

2

3

4

5

6

7

8

9

J7

DB9

COM

COM

COM

COM

COM

COM

COM

COM

COM

COM

COM

COM

+15V

+15V

+15V

+15V

+15V

+15V

1

2

3

4

5

6

7

8

9

J8

DB9

1 2D1

LEDR17.15k+15V COM

COM_TTL

+3.3V

SCLKMISOMOSI

CS1

CS2

123456

P1

CO

NN

_01X

06

123456

P2

CO

NN

_01X

06

COM_TTL+3.3V

COM_TTL+3.3V

H1

Hole

H2

Hole

H3

Hole

Mounting holesSPI for two slaves Power LED

Half-bridge driver distribution

A1

B2

D3

E4

F5D+E+F 6

VSS 7

C8A+B+C 9

G+H+I 10

I11H12G13

VDD14

U1

CD4075

+15V COM

C1

100n

F

COM

FAULT

Fault_J1

Fault_J2

Fault_J3

Fault_J5

Fault_J6

Fault_J7

SW_J1

SW_J2

SW_J3

SW_J5

SW_J6

SW_J7

Enable_Rotor

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotor board (sensors)File: Rotor_Board_sensor.schSheet: /Uppsala UniversityFredrik Evestedt

Hall_sensor_distribution

Hall_sensor_distribution.sch

1

2

3

4

5

6

7

8

9

J1

DB9

1

2

3

4

5

6

7

8

9

J3

DB9

1

2

3

4

5

6

7

8

9

J2

DB9 COM

COM

COM

COM

COM

+15V

COM

+15V COM1 2D1

LEDR17.15k

H1

Hole

H2

Hole

H3

Hole

1

2

3

4

5

6

7

8

9

J6

DB9

12

P25

12

P26

12

P27

12

P28

Mounting holes

Power LED

Arbitrary current loop input

VIN1

GN

D2

VOUT 3

U1

LM2937

C1

100nF

C2

10uF

CO

M

12V+15V

Damper winding measurement

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F



Title: Rotor board (sensors)File: Hall_sensor_distribution.schSheet: /Hall_sensor_distribution/Uppsala UniversityFredrik Evestedt

1

2

3

4

5

6

7

8

9

10

20

11

21

12

22

13

23

14

24

15

25

16

17

18

19

J4

DB25

12

P1

12

P3

12

P5

12

P7

12

P9

12

P11

12

P13

12

P15

12

P17

12

P19

12

P21

12

P23

1

2

3

4

5

6

7

8

9

10

20

11

21

12

22

13

23

14

24

15

25

16

17

18

19

J5

DB25

12

P2

12

P4

12

P6

12

P8

12

P10

12

P12

12

P14

12

P16

12

P18

12

P20

12

P22

12

P24

1 2 3 4

1 2 3 4

A

B

C

D

E

F

A

B

C

D

E

F


Rev: Rev BSize: A4Id: 1/1

Title: Hall sensor boardFile: Hall_sensor_board_RevB.schSheet: /Uppsala UniversityFredrik Evestedt

Vin+1 VH+ 2

Vin-3 VH- 4

U1

CYSJ166A-HALL

VOUT 1

VS

S2

VIN+3

VIN-4

VD

D5

U2

MCP6021NC1

Iin2

IRET3

IO4 E 5B 6

V+ 7VREG 8

U3

XTR117

R115k

R2

DN

P

B1

E2

C3

Q1

SOT-23NPNC1

1uF

1P1

CO

NN

_01X

01

1P2

CO

NN

_01X

01

C2

10nF

VREG

IRET

VH+

OP_FB

IIn

IO

V+

BE

Documents

Wireless control and measurement system for a hydropower