TIDUBE5A January   2022  – October 2022

 

  1.   Description
  2.   Resources
  3.   Features
  4.   Applications
  5.   5
  6. 1System Description
    1. 1.1 Key System Specifications
  7. 2System Overview
    1. 2.1 Block Diagram
    2. 2.2 Design Considerations
    3. 2.3 Highlighted Products
      1. 2.3.1 TMS320F2800137
      2. 2.3.2 TMS320F280025C
      3. 2.3.3 TMS320F280039C
      4. 2.3.4 UCC28740
      5. 2.3.5 UCC27517
      6. 2.3.6 TLV9062
      7. 2.3.7 TLV76733
    4. 2.4 System Design Theory
      1. 2.4.1 Interleaved PFC
        1. 2.4.1.1 Full Bridge Diode Rectifier Rating
        2. 2.4.1.2 Inductor Ratings
        3. 2.4.1.3 AC Voltage Sensing
        4. 2.4.1.4 DC Link Voltage Sensing
        5. 2.4.1.5 Bus Current Sensing
        6. 2.4.1.6 DC Link Capacitor Rating
        7. 2.4.1.7 MOSFET Ratings
        8. 2.4.1.8 Diode Ratings
      2. 2.4.2 Three-Phase PMSM Drive
        1. 2.4.2.1 Field Oriented Control of PM Synchronous Motor
        2. 2.4.2.2 Sensorless Control of PM Synchronous Motor
          1. 2.4.2.2.1 Enhanced Sliding Mode Observer with Phase Locked Loop
            1. 2.4.2.2.1.1 Mathematical Model and FOC Structure of an IPMSM
            2. 2.4.2.2.1.2 Design of ESMO for the IPMSM
            3. 2.4.2.2.1.3 Rotor Position and Speed Estimation with PLL
        3. 2.4.2.3 Field Weakening (FW) and Maximum Torque Per Ampere (MTPA) Control
        4. 2.4.2.4 Compressor Drive with Automatic Vibration Compensation
        5. 2.4.2.5 Fan Drive with Flying Start
        6. 2.4.2.6 Hardware Prerequisites for Motor Drive
          1. 2.4.2.6.1 Motor Current Feedback
            1. 2.4.2.6.1.1 Current Sensing with Three-Shunt
            2. 2.4.2.6.1.2 Current Sensing with Single-Shunt
          2. 2.4.2.6.2 Motor Voltage Feedback
  8. 3Hardware, Software, Testing Requirements, and Test Results
    1. 3.1 Getting Started Hardware
      1. 3.1.1 Hardware Board Overview
      2. 3.1.2 Test Conditions
      3. 3.1.3 Test Equipment Required for Board Validation
      4. 3.1.4 Test Setup
    2. 3.2 Getting Started Firmware
      1. 3.2.1 Download and Install Software Required for Board Test
      2. 3.2.2 Opening Project Inside CCS
      3. 3.2.3 Project Structure
    3. 3.3 Test Procedure
      1. 3.3.1 Build Level 1: CPU and Board Setup
        1. 3.3.1.1 Start CCS and Open Project
        2. 3.3.1.2 Build and Load Project
        3. 3.3.1.3 Setup Debug Environment Windows
        4. 3.3.1.4 Run the Code
      2. 3.3.2 Build Level 2: Open Loop Check with ADC Feedback
        1. 3.3.2.1 Start CCS and Open Project
        2. 3.3.2.2 Build and Load Project
        3. 3.3.2.3 Setup Debug Environment Windows
        4. 3.3.2.4 Run the Code
      3. 3.3.3 Build Level 3: Closed Current Loop Check
        1. 3.3.3.1 Start CCS and Open Project
        2. 3.3.3.2 Build and Load Project
        3. 3.3.3.3 Setup Debug Environment Windows
        4. 3.3.3.4 Run the Code
      4. 3.3.4 Build Level 4: Full PFC and Motor Drive Control
        1. 3.3.4.1  Start CCS and Open Project
        2. 3.3.4.2  Build and Load Project
        3. 3.3.4.3  Setup Debug Environment Windows
        4. 3.3.4.4  Run the Code
        5. 3.3.4.5  Run the System
        6. 3.3.4.6  Tuning Motor Drive FOC Parameters
        7. 3.3.4.7  Tuning PFC Parameters
        8. 3.3.4.8  Tuning Field Weakening and MTPA Control Parameters
        9. 3.3.4.9  Tuning Flying Start Control Parameters
        10. 3.3.4.10 Tuning Vibration Compensation Parameters
        11. 3.3.4.11 Tuning Current Sensing Parameters
    4. 3.4 Test Results
      1. 3.4.1 Performance Data and Curves
      2. 3.4.2 Functional Waveforms
      3. 3.4.3 Transient Waveforms
      4. 3.4.4 MCU CPU Load, Memory and Peripherals Usage
        1. 3.4.4.1 CPU Load for Full Implementation
        2. 3.4.4.2 Memory Usage
        3. 3.4.4.3 Peripherals Usage
    5. 3.5 Migrate Firmware to a New Hardware Board
      1. 3.5.1 Configure the PWM, CMPSS, and ADC Modules
      2. 3.5.2 Setup Hardware Board Parameters
      3. 3.5.3 Configure Faults Protection Parameters
      4. 3.5.4 Setup Motor Electrical Parameters
      5. 3.5.5 Setup PFC Control Parameters
  9. 4Design and Documentation Support
    1. 4.1 Design Files
      1. 4.1.1 Schematics
      2. 4.1.2 Bill of Materials
      3. 4.1.3 Altium Project
      4. 4.1.4 Gerber Files
      5. 4.1.5 PCB Layout Guidelines
    2. 4.2 Software Files
    3. 4.3 Documentation Support
    4. 4.4 Support Resources
    5. 4.5 Trademarks
  10. 5Terminology
  11. 6Revision History
Rotor Position and Speed Estimation with PLL

With the arc tangent method, the accuracy of the position and velocity estimations are affected due to the existence of noise and harmonic components. To eliminate this issue, the PLL model can be used for velocity and position estimations in the sensorless control structure of the IPMSM. The PLL structure used with SMO is illustrated in Section 2.4.2.2.1.2. The back-EMF estimations e^α and e^β can be used with a PLL model to estimate the motor angular velocity and position as shown in Figure 2-20.

Figure 2-20 Block Diagram of Phase Locked Loop Position Tracker

Since eα=Ecosθe, eβ=Esinθe and E=ωeλpm, the position error can be defined as:

Equation 61. ε=e^βcosθ^e-e^αsinθ^e=Esinθecosθ^e-Ecosθesinθ^e=Esin(θe-θ^e)

Where E is the magnitude of the EEMF, which is proportional to the motor speed ωe. When (θe-θ^e)<π2, the Equation 61could be simplified as

Equation 62. ε=E(θe-θ^e)

Further, the position error after the normalization of the EEMF can be obtained:

Equation 63. εn=θe-θ^e

According to the analysis, the simplified block diagram of the quadrature phase locked loop position tracker can be obtained as shown in Figure 2-21. The closed-loop transfer functions of the PLL can be expressed as:

Equation 64. θ^eθe=kps+kis2+kps+ki=2ξωns+ωn2s2+2ξωns+ωn2

where the kp and ki are the proportional and the integral gains of the standard PI regulator, its natural frequency ωn and the damping ratio ξ is given:

Equation 65. kp=2ξωn,  ki=ωn2
Figure 2-21 Simplified Block Diagram of Phase Locked Loop Position Tracker