SPRUJF4A October   2024  – December 2024

 

  1.   1
  2.   Description
  3.   Features
  4.   Applications
  5.   5
  6. 1Evaluation Module Overview
    1. 1.1 Introduction
    2. 1.2 Kit Contents
    3. 1.3 Specification
    4. 1.4 Device Information
    5.     General Texas Instruments High Voltage Evaluation (TI HV EVM) User Safety Guidelines
  7. 2Hardware
    1. 2.1 Hardware Description
      1. 2.1.1 Auxiliary Power Supply
      2. 2.1.2 DC Link Voltage Sensing
      3. 2.1.3 Motor Phase Voltage Sensing
      4. 2.1.4 Motor Phase Current Sensing
        1. 2.1.4.1 Three-Shunt Current Sensing
        2. 2.1.4.2 Single-Shunt Current Sensing
      5. 2.1.5 External Overcurrent Protection
      6. 2.1.6 Internal Overcurrent Protection for TMS320F2800F137
    2. 2.2 Getting Started Hardware
      1. 2.2.1 Test Conditions and Equipment
      2. 2.2.2 Test Setup
  8. 3Motor Control Software
    1. 3.1 Three-Phase PMSM Drive System Design Theory
      1. 3.1.1 Field-Oriented Control of PMSM
        1. 3.1.1.1 Space Vector Definition and Projection
          1. 3.1.1.1.1 ( a ,   b ) ⇒ ( α , β ) Clarke Transformation
          2. 3.1.1.1.2 ( α , β ) ⇒ ( d ,   q ) Park Transformation
        2. 3.1.1.2 Basic Scheme of FOC for AC Motor
        3. 3.1.1.3 Rotor Flux Position
      2. 3.1.2 Sensorless Control of PM Synchronous Motor
        1. 3.1.2.1 Enhanced Sliding Mode Observer With Phase-Locked Loop
          1. 3.1.2.1.1 Mathematical Model and FOC Structure of an IPMSM
          2. 3.1.2.1.2 Design of ESMO for the IPMS
            1. 3.1.2.1.2.1 Rotor Position and Speed Estimation With PLL
      3. 3.1.3 Field Weakening (FW) and Maximum Torque Per Ampere (MTPA) Control
    2. 3.2 Getting Started Software
      1. 3.2.1 GUI
      2. 3.2.2 Download and Install C2000 Software
      3. 3.2.3 Using the Software
      4. 3.2.4 Project Structure
  9. 4Test Procedure and Results
    1. 4.1 Build Level 1: CPU and Board Setup
    2. 4.2 Build Level 2: Open-Loop Check With ADC Feedback
    3. 4.3 Build Level 3: Closed Current Loop Check
    4. 4.4 Build Level 4: Full Motor Drive Control
    5. 4.5 Test Procedure
      1. 4.5.1 Startup
      2. 4.5.2 Build and Load Project
      3. 4.5.3 Setup Debug Environment Windows
      4. 4.5.4 Run the Code
        1. 4.5.4.1 Build Level 1 Test Procedure
        2. 4.5.4.2 Build Level 2 Test Procedure
        3. 4.5.4.3 Build Level 3 Test Procedure
        4. 4.5.4.4 Build Level 4 Test Procedure
          1. 4.5.4.4.1 Tuning Motor Drive FOC Parameters
          2. 4.5.4.4.2 Tuning Field Weakening and MTPA Control Parameters
          3. 4.5.4.4.3 Tuning Current Sensing Parameters
    6. 4.6 Performance Data and Results
      1. 4.6.1 Load and Thermal Test
      2. 4.6.2 Overcurrent Protection by External Comparator
      3. 4.6.3 Overcurrent Protection by Internal CMPSS
  10. 5Hardware Design Files
    1. 5.1 Schematics
    2. 5.2 PCB Layouts
    3. 5.3 Bill of Materials (BOM)
  11. 6Additional Information
    1. 6.1 Known Hardware or Software Issues
    2. 6.2 Trademarks
    3. 6.3 Terminology
  12. 7References
  13. 8Revision History

3.1.1.3 Rotor Flux Position

Knowledge of the rotor flux position is the core of the FOC. In fact if there is an error in this variable the rotor flux is not aligned with the d-axis and isd and isq are incorrect flux and torque components of the stator current. Figure 3-7 shows the (a, b, c), (α, β) and (d, q) reference frames, and the correct position of the rotor flux, the stator current and stator voltage space vector that rotates with d, q reference at synchronous speed.

TIEVM-MTR-HVINV Current, Voltage and Rotor Flux Space Vectors in the (d, q) Rotating Reference Frame Figure 3-7 Current, Voltage and Rotor Flux Space Vectors in the (d, q) Rotating Reference Frame

The measure of the rotor flux position is different when considering the synchronous or asynchronous motor:

  • In the synchronous machine the rotor speed is equal to the rotor flux speed. Then θ (rotor flux position) is directly measured by the position sensor or by integration of rotor speed.
  • In the asynchronous machine, the rotor speed is not equal to the rotor flux speed (there is a slip speed), then a particular method is needed to calculate θ. The basic method is the use of the current model which needs two equations of the motor model in d, q reference frame.

Theoretically, the FOC for the PMSM drive allows the motor torque to be controlled independently with the flux like DC motor operation. In other words, the torque and flux are decoupled from each other. The rotor position is required for variable transformation from stationary reference frame to synchronously rotating reference frame. As a result of this transformation (so called Park transformation), q-axis current is controlling torque while d-axis current is forced to zero. Therefore, the key module of this system is the estimation of rotor position using enhance Sliding-Mode Observer (eSMO) or FAST estimator.

Figure 3-8 shows the overall block diagram of sensorless FOC of fan PMSM using eSMO with flying start in this reference design.

Figure 3-9 shows the overall block diagram of sensorless FOC of compressor PMSM using eSMO with field weakening control (FWC) and maximum torque per ampere (MTPA) in this reference design.

Figure 3-10 shows the overall block diagram of sensorless FOC of fan PMSM using FAST with flying start in this reference design.

Figure 3-11 shows the overall block diagram of sensorless FOC of compressor PMSM using FAST with field weakening control (FWC) and maximum torque per ampere (MTPA) in this reference design.

TIEVM-MTR-HVINV Sensorless FOC of PMSM Using eSMO With Flying Start (FS) Figure 3-8 Sensorless FOC of PMSM Using eSMO With Flying Start (FS)
TIEVM-MTR-HVINV Sensorless FOC of PMSM Using eSMO With FWC and MTPA Figure 3-9 Sensorless FOC of PMSM Using eSMO With FWC and MTPA
TIEVM-MTR-HVINV Sensorless FOC of PMSM Using FAST With Flying Start (FS) Figure 3-10 Sensorless FOC of PMSM Using FAST With Flying Start (FS)
TIEVM-MTR-HVINV Sensorless FOC of PMSM Using FAST With FWC and MTPA Figure 3-11 Sensorless FOC of PMSM Using FAST With FWC and MTPA