Application Report SPRA588 Digital Signal Processing Solutions September 1999 Implementation of a Speed Field Oriented Control of 3-phase PMSM Motor using TMS320F240 Erwan Simon Digital Control Systems Abstract This application report presents a solution to control a 3-phase Permanent Magnet Synchronous motor using the Texas Instruments (TIä) MS320F240 digital signal processor (DSP). This processor is part of a new family of DSPs that enable cost-effective design of intelligent controllers for brushless motors. The use of this DSP yields enhanced operations, fewer system components, lower system cost and increased efficiency. The control method presented is field oriented control (FOC). The sinusoidal voltage waveforms are generated by the DSP using the space vector modulation technique. A practical solution is described and results are given in this application report. Contents Introduction......................................................................................................................................3 PMSM Model....................................................................................................................................3 Speed and Position Definition..................................................................................................3 Electrical Equations..................................................................................................................4 Mechanical Equations..............................................................................................................6 FOC Control for PMSM....................................................................................................................6 Expression of the Stator Current Vector.......................................................................................6 The Clarke and Park Transformations........................................................................................7 PMSM Control Structure.........................................................................................................10 Application Description....................................................................................................................11 Motor Characteristics..............................................................................................................11 DSP Development Board.......................................................................................................11 Power Electronics Board........................................................................................................12 Software Organization....................................................................................................................12 Initialization Module Description.............................................................................................13 Interrupt Module Description..................................................................................................13 Fixed-Point Arithmetic....................................................................................................................18 Representation of Numbers....................................................................................................18 PU Model and Base Values....................................................................................................20 Core Modules.................................................................................................................................21 Co-ordinate Transformations..................................................................................................21 Generation of Sine and Cosine..............................................................................................23 Space Vector Modulation.......................................................................................................24 PI Regulators......................................................................................................................34 Interface Modules..........................................................................................................................35 Current Sensing Module.........................................................................................................35 Current Scaling Module..........................................................................................................39
- transient stator
- rotation speed
- speed field
- motor using
- stator flux
- rotor shaft
- mechanical speed
- magnet poles
- phase pmsm
- permanent magnet