02 Intro To FOC

2014 Texas Instruments Motor
Control Training Series

In t ro to
Co n t r o l
r i en te d
Fie ld O
To schedule a motor control

seminar for your company, or in
your area, please contact me at
[email protected]
www.kappaiq.com
Dave Wilson
Maximum Torque Per Amp (MTPA)
Maximum torque per amp

(MTPA)
200
Newton-Meters
V(treaction)
200V
150150V
Simulated Reactance Torque as

100100V
a function of angle delta
from 2005 Prius Traction Motor
50 50V
0 0V
-50-50V
-100
-100V
-150
-150V
-200
-200V
0.0s 0.3s 0.6s 0.9s 1.2s 1.5s 1.8s 2.1s 2.4s 2.7s 3.0s 3.3s 3.6s
-180o -150o -120o -90o -60o -30o 0o 30o 60o 90o 120o 150o 180o
Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Field Oriented Control in Real Time
Low Torque
Medium Torque
High Torque
N
S
Interrupt:
Measure rotor flux angle
A B C Regulate current vector to be 90o wrt rotor flux
Exit ISR
Interrupt:
Currents Measure new rotor flux angle
Regulate current vector to be 90o wrt rotor flux
Exit ISR
Constant Constant
(for now)
 
Interrupt:
3P †
Measure new rotor flux angle
Torque  dr I qs Regulate current vector to be 90o wrt rotor flux
22 Adjustable
Exit ISR
†
Torque expression based on amplitude invariant form of Clarke Transform.

Establishing Space Vector Conventions
+b
Direction of positive rotation
Direction of positive speed
B Direction of positive torque
A
-a +a
C
Phase A leads phase B
Phase B leads phase C
Phase C leads phase A
-b Motor shaft axis

How Do You Control Torque
on a DC Motor?
Brush DC Motor
+
Desired Current Error Signal PI
PWM
Power Texas Instruments
Controller
Stage
Dave’s
Motor Control
Center
Measured Current ADC1

Commutator keeps
rotor and stator fields
properly aligned!
1.
sure current already flowing in the motor.
measured
2. current with the desired current, and generate an err
y the error
3. signal to generate a correction voltage.
4.correction voltage onto the motor terminals.
te the
Torque  K a i

1. Measure currents already flowing in the motor.
A, B, and C axes are “fixed” with
respect to the motor housing. This
reference frame is also called the
Only 2 phases are measured! “stationary frame” or “stator frame”.
WHY?
net current vector ib
B ia
A Texas Instruments
i c (implied)
B Dave’s
Motor Control
Center
ib ic
C
ia A
ia
Controller ib
with A/D
ic C

2. Compare the measured current (vector) with the desired
current (vector), and generate error signals.
Commanded i s
Error
}
The desired phase currents is
can be calculated via these B
equations:
ic
ia = -Im sin(q) ib
ib = -Im sin(q - 120 o) Ro A
ia Rottoor flux axis
r flu
x ax
?
ic = -Im sin(q - 240 o)

is?
C
Im is proportional to motor torque
q  is the angle of the rotor flux
So how do we get the rotor flux angle?

” a xis
“d
ct” or
e
e “dir
e d th
is call
s
Thi
q  or q d
N
Magnetic axis for phase A
S
Usually accomplished with a

resolver or encoder.

The CLARKE transform ib

allows us to convert
three vectors into two B
is Trick #1
orthogonal vectors that
produce the same net ic
vector.
ib
In other words, A
convert a 3-phase i a ia
motor into a 2-phase
motor. This is the Amplitude
C Invariant form of the
Forward Clarke Clarke Transform
A B C aA a b
b
 B - C
3

Stationary Frame Servo
b
q
i us a
r rad
rCos(q) -r
Tracking a rotating reference signal

from a stationary frame is tedious!
Synchronous Frame Servo
Tracking a rotating reference signal in

the same rotating frame is easy!
Take the “Coffee” Test
1. Give your coffee a
good stir so that
bubbles form on
the surface.
2. Holding the cup as
shown here, spin
around in the same
direction that you
stirred the coffee.
3. As soon as you
reach synchronous
speed, the bubbles
stop spinning.
Why?
ib
Trick #2
Jump up on the q axis
rotating reference is
frame, whose x-axis B iq
is the rotor flux axis.
lux axis
id da x i s rotor f
q
A
ia
This is called the
Park Transform
C
a b id  ia cos q  + ib sin q 
iq  -ia sin q  + ib cos q 

id and i q are handled independently. Since the comparison is

performed in the synchronous frame, motor AC frequency is not
seen. Thus, they are DC quantities!
Under normal conditions, we have all

the flux we need supplied by the
permanent magnets on the rotor. So
i d (commanded) + errord (t)
commanded id is set to zero. -

i d (measured)
This is how much torque we want! i q (commanded) + errorq (t)
-
i q (measured)
i d can be used to weaken the field of the machine.
i q controls the amount of torque generated by the motor

3. (Finally!) Amplify the error signals to generate correction voltages.
PI Controller (d-axis)
Error
Commanded Id + + Vd
Ka Kb ∫ +
Measured Id -
PI Controller (q-axis)
Error
Commanded Iq + + Vq
Ka Kb ∫ +
Measured Iq -
K a  L  Current Bandwidth (rad / sec) , K b  R L

4. Modulate the correction voltages onto the motor terminals.
q axis
Before we can apply the
vb
voltages to the motor Voltage vector
windings, we must first B

vq
jump off of the rotating is
vd istor
d axo
r flux ax
reference frame.
q
va A
Part A. Transfer the
voltage vectors back to C
the stationary rectangular
coordinate system.
a b
va  vd cos q  - vq sin q 
vd (t)
vb  vd sin q  + vq cos q 
vq(t)

vb
Part B. Next, we Voltage Vector
transform the voltage B vc

vectors from the
rectangular coordinate vb
system to three phase va va A
vectors.
Reverse Clarke Transformation

Aa
a b A B C
B- a+1
2 2
3
b
C  - 12 a - 2
3
b

Phase A - top
Phase A - bottom
Phase B - top
Phase B - bottom
Phase C - top
Phase C - bottom
Over time, under steady-state conditions, the correction voltages

va, vb, and vc will be sine waves phase shifted by 120o.

FOC in a Nutshell Va
Wilso
Torque Current
n
q
Flux Current
Reverse Vb Vc
Clarke-Park
q Transforms
i iq
Vq Vd B
Forward
+
+
i id
-1 C
Clarke-Park
i A Transforms
Desired Torque +
PI
-
q
Desired Flux +
-
PI

M o du la t i on
ec to r
Space V
d-axis
V3 = 010 V2 = 110
Sector 2
Vref
Sector 3 T2•V2
V4 = 011 a V1 = 100
T1•V1 q-axis
Sector 4 Sector 6
Sector 5
V5 = 001 V6 = 101
-Vth
Space Vector Modulation
• PWMs treat each phase individually.
• SVM treats the inverter as ONE unit!!

- ALL 6 switches affected.
U TI
Dave’s
Control
Center
V
• PWMs control the phase voltages. W
 120° offsets between A, B, and C.
• SVM controls the Voltage Vector.
The inverter can be driven to 8 states.
V1 = 001 V3 = 011 V2 = 010
A A B C A B C A B C
- 6 voltage
B vectors V6=110 V4 = 100 V5 = 101
A B C A B C A B C
V0 = 000 V7 = 111
- 2 null vectors 1 = Top Switch is on
0 = Bottom Switch is on
Source: Mahmoud Riaz, Sc.D., Professor of Electrical
Engineering, Department of Electrical and Computer
Engineering, University of Minnesota

Space Vector Modulation
V1 V3 V2 V6 V4 V5 V1 V2 V3
120o 60o
C
• Sinusoidal operation occurs
when a reference vector (Vref) 300
B rotates around the d-q axis. V6 180 o
0o V1
Vref = Vmag•SIN(q)
A
240o 300o
V4 V5
0 60 120 180 240 300 0 Vector Diagram
“6-Step” Voltage Waveforms
Output voltage vector created by repeatedly switching between adjacent vectors and the “null” vector
(all three phases high or all three phases low).
Output angle q determined by relative “on” time between two adjacent vectors.
Output magnitude determined by relative “on” time between two adjacent vectors and the null vector.

SVM Implementation
V2 = 010 V3 = 011 (Vy)
• Vref, is created by the two adjacent Sector 2

state vectors Vx, Vy, and a null
Vref T2•Vy
vector in a time averaging fashion: Sector 3
V6 = 110 a
Vref = Vx•T1 + Vy•T2 + Vnull•T0 V1 = 001
Where: Vx = lowest angle voltage vector T1•Vx (Vx)
Vy = highest angle voltage vector Sector 4
Sector 6
Sector 5
If Vref is represented in POLAR notation ( ma): V4 = 100 V5 = 101

T1 = T•m•SIN(60 - a) Example vector reconstruction in sector 1.
T2 = T•m•SIN(a)
SWITCHING PERIOD
T0 = T - T1 - T2 T
m = vector magnitude (0 to 1)
a = vector angle between Vref and Vx (0 to 60o) Vx Vy Null
T = switching period
T1 T2 T0

SVM Variations
• Choice of Null vectors effects SVM waveform creation
and switching performance but motor still sees sinusoidal
waveform at its phases.
NULL=V0 NULL=V7
1 1
0.8 0.8
0.6 0.6
0.4 0.4
0.2 0.2
0
0
0 60 120 180 240 300 360 0 60 120 180 240 300 360
A B C A B C
d choice when reduced switching losses

are desired in an inverter with
high-side bootstrap circuits.

SVM Variations (continued)
Null = V7 in sectors 1,3,5 Null = V0 in sectors 1,3,5
Null = V0 in sectors 2,4,6 Null = V7 in sectors 2,4,6
1 1
0.8 0.8
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 60 120 180 240 300 360 0 60 120 180 240 300 360
A B C A B C
0.8
Null = alt-rev 0.6

• Similar waveforms
(null alternates every sequence 0.4 to Third Harmonic
and sequence reverses.) 0.2
0
Most popular form of SVM 0 60 120 180 240 300 360
A B C

SVM Using Center-Aligned PWMs
PWM Period
Sc
Sb
Sa
V1 V3 V7 V3 V1 V0 V1 V3 V7 V3 V1
t1 t2 t0 t2 t1 t0 t1 t2 t0 t2 t1
Alternating-Reversing Sequence
Check out http://www.ipes.ethz.ch/ipes/Raumzeiger/e_RZ4.html for a neat SVM animation!

SVM with PWMs
ure for implementing SVM with Center-Aligned PWM M
1 Check which sector the Vref vector is in. (5 compares)
2 Calculate T1, T2, and T0 from block below. (3 multiples)
3 Adjust PWMs High times based on table below. (1-3 additions)
Alternating
V7 in 1,3,5 V0 in 1,3,5 Reversing
Null = V0 Null = V7 V0 in 2,4,6 V7 in 2,4,6 Sequencing
U = T1+T2 U = 100% U = 100% U = T1+T2 U = T1+T2+.5T0
Sector 1 V = T2 V = T0+T2 V = T0+T2 V = T2 V = T2+.5T0
W=0 W = T0 W = T0 W=0 W = .5T0
T1 = T•m•SIN(60 - a)
U = T1 U = T0+T1 U = T1 U = T0+T1 U = T1+.5T0
T2 = T•m•SIN(a) Sector 2V = T1+T2 V = 100% V = T1+T2 V = 100% V = T1+T2+.5T0
W=0 W = T0 W=0 W = T0 W = .5T0
T0 = T - T1 - T2
U=0 U = T0 U = T0 U=0 U = .5T0
Sector 3V = T1+T2 V = 100% V = 100% V = T1+T2 V = T1+T2+.5T0
W = T2 W = T0+T2 W = T0+T2 W = T2 W = T2+.5T0
U=0 U = T0 U=0 U = T0 U = .5T0
Sector 4 V = T1 V = T0+T1 V = T1 V = T0+T1 V = T1+.5T0
W = T1+T2 W = 100% W = T1+T2 W = 100% W = T1+T2+.5T0
U = T2 U = T0+T2 U = T0+T2 U = T2 U = T2+.5T0
Sector 5 V = 0 V = T0 V = T0 V=0 V = .5T0
W = T1+T2 W = 100% W = 100% W = T1+T2 W = T1+T2+.5T0
U = T1+T2 U = 100% U = T1+T2 U = 100% U = T1+T2+.5T0
Sector 6 V = 0 V = T0 V=0 V = T0 V = .5T0
W = T1 W = T0+T1 W = T1 W = T0+T1 W = T1+.5T0
Note: All calculations referenced to top switch
Source: Understanding Space Vector Modulation,
by Peter Pinewski, EDN Products Edition, March 7, 1996

Sinusoidal Modulation -
Limited Amplitude
• In sinusoidal modulation the amplitude is limited to half of the DC-bus voltage.
• The phase to phase voltage is then lower then the DC-bus voltage (although such
voltage can be generated between the terminals).
PWM1 PWM3 PWM5

B
Uphase-phase
UDC-BUS
A
PWM2 PWM4 PWM6
C
Animation Source: Leos Chalupa

Full Phase-to-Phase Voltage Generation
• Full phase-to-phase voltage can be generated by continuously shifting the
3-phase voltage system.
• The amplitude of the first harmonic can be then increased by 15.5%.
15%
PWM3
B
PWM1 PWM5
Uphase-phase
Uphase-phase
A
A
PWM2 PWM4 PWM6
C
C

How to Increase Modulation Index
• Modulation index is increased by adding the “shifting” voltage u0 to first harmonic.
• “Shifting” voltage u0 must be the same for all three phases, thus it can only contain
3r harmonics!
A
15%
B C

SVM with Field Oriented Systems
Vy Recall: We could calculate “m” and “a”:
T1 = T•m•SIN(60 - a)
Vb
T2 = T•m•SIN(a) m Va  2 + Vb  2
T0 = T - T1 - T2
T2·Vy Vb
a a  tan -1
Yuck!
Vx
T1·Vx Va Va
…but with FOC, we don’t have
POLAR notation. We have
RECTANGULAR notation Or…
(Va and Vb.
We could use a simple procedure designed
Reference Voltage Vector
specifically for RECTANGULAR notation:
Components of the Stator Reference Voltage
amplitude
1 VaVector Vb
0.8
0.6
0.4
1. Perform modified
0.2
0
inverse Clarke-
-0.2
-0.4 transform on the
-0.6
-0.8
-1 0
voltage vector
a 60 120 180 240 300 360
2. Calculate which
angle
sector the voltage
Sector 1Sector 2Sector 3Sector 4Sector 5Sector 6 vector is in
3. Determine T1, T2,
Dave Wilson TI Spins Motors…Smarter, Safer, andGreener.
T0
1. Perform Modified Inverse
Clarke Transform
3 Vb
Va
3
+
0 .5 i
i Va -
- 2 2
Vb
-
j
j  Vb
-
0 .5 k
3 Vb
k- Va -
2 2
i j k i

2. Identify the correct sector
based on i, j, and k variables
a. Calculate the following expression:
N  sign( i ) + 2 sign j  + 4 sign k 
where sign( + )  1 ; sign( - )  0
b. Use look-up table below to determine the sector from the value of N
N= 1 2 3 4 5 6
Sector = 6 2 1 4 5 3
Alternatively, you can determine the sector by using IF THEN statements to check the polarities of i, j, and k.
i j k
1 2 3 4 5 6
3. Based on the sector, determine T1, T2, and T0
Sector→ 1 2 3 4 5 6
Bounded by: (U0-U60) (U60-U120) (U120-U180) (U180-U240) (U240-U300) (U300-U0)
T1† i -k j -i k -j
T2† j -i k -j i -k
Alternating
T0 = 1 – T1 – T2 Null = V0
V7 in 1,3,5
Null = V7 V0 in 2,4,6 V0 in 1,3,5
V7 in 2,4,6
Reversing
Sequencing
U = T1+T2 U = 100% U = 100% U = T1+T2 U = T1+T2+.5T0
Sector 1 V = T2 V = T0+T2 V = T0+T2 V = T2 V = T2+.5T0
W=0 W = T0 W = T0 W=0 W = .5T0
U = T1 U = T0+T1 U = T1 U = T0+T1 U = T1+.5T0
Sector 2V = T1+T2 V = 100% V = T1+T2 V = 100% V = T1+T2+.5T0
4. Load the PWM W=0

U=0
W = T0
U = T0
W=0
U = T0
W = T0
U=0
W = .5T0
U = .5T0
Sector 3V = T1+T2
registers based on
V = 100% V = 100% V = T1+T2 V = T1+T2+.5T0
W = T2 W = T0+T2 W = T0+T2 W = T2 W = T2+.5T0
U=0 U = T0 U=0 U = T0 U = .5T0
this table Sector 4 V = T1
W = T1+T2
V = T0+T1
W = 100%
V = T1
W = T1+T2
V = T0+T1
W = 100%
V = T1+.5T0
W = T1+T2+.5T0
U = T2 U = T0+T2 U = T0+T2 U = T2 U = T2+.5T0
Sector 5 V = 0 V = T0 V = T0 V=0 V = .5T0
W = T1+T2 W = 100% W = 100% W = T1+T2 W = T1+T2+.5T0
† U = T1+T2 U = 100% U = T1+T2 U = 100% U = T1+T2+.5T0
Recall that T1 always applies to V x (the Sector 6 V = 0 V = T0 V=0 V = T0 V = .5T0
most clockwise vector), and T2 applies to V y W = T1 W = T0+T1 W = T1 W = T0+T1 W = T1+.5T0
(the most counter-clockwise vector) for any Note: All calculations referenced to top switch
given sector. Source: Understanding Space Vector Modulation,
by Peter Pinewski, EDN Products Edition, March 7, 1996

Axis Coupling
1/Ld
1/Lq

Current Regulator Decoupling
Permanent Magnet Motors
Commanded id +
Ka
- +
+ Vd
+ -
Kb ∫ Vd compensation
id
w Ls
iq
Vq compensation
Commanded iq -
Ka
+
+ + Vq
+
+ +
Kb ∫
KE

Too Much Flux???
The larger the flux, the higher the dλ/dt is for a given speed.
dλ/dt is voltage, so the back-EMF is higher for a given speed.
When the back-EMF amplitude reaches the bus voltage, current goes to zero.
When current goes to zero, torque goes to zero.
Therefore, the motor cannot go any faster…all because of too much flux.
Speed
Torque
Flux

Weakening the Field…LUT
Id_nominal
Idref
Rated Speed
Speed

Weakening the Field…Voltage Limit
Max Limit
Reset
==
ò
Vq - Idref
+
0.97
Min Limit
Slew Value
Vqlim
Vqlim Vq
0.7 -
Vq
S
VEMFq + Q
“1” or “0”
Reset
R Vd
Vlim
Vd is given 1st dibs on available voltage

Less Flux Means More Speed
Speed
Previous Speed Limit
Torque
Observe how the flux is weakened
Flux

C on t rol
d
O r i en t e
Field
A C IMs
of
-Vth
Dave Wilson
-2KV
-4KV
-6KV Speed-Torque Performance of

-8KV
-10KV Induction Motors

-12KV
Pull-out Torque
Torque (newton-meters)
-14KV
V(tem)
50V
40V
30V
20V
10V
Starting Torque
0V
-10V
-20V
-30V
-40V
-50V
-60V
-70V
0s
0 2s
0.2 4s
0.4 6s
0.6 8s
0.8 10s
1.0 12s
1.2 14s
1.4 16s
1.6 18s
1.8 20s
2.0
% Synchronous Speed

Stator and Rotor Fields
Source: Mahmoud Riaz, Sc.D., Professor of Electrical Engineering, Department of Electrical and Computer Engineering,
University of Minnesota

ACIM Circuit Representation with
Arbitrary Turns Ratio “a”
rs jw  Ls - aLm  
jw a 2 Lr - aLm 
a 2 rr
jwaLm
S
General equivalent circuit showing arbitrary value of referral ratio “a” (a=1
corresponds to a turns ratio of Ns/Nr, which yields the conventional circuit.)
If the actual value of rotor

current isn’t required, “a”
can be any value except
Dave Wilson
zero or
TI Spins infinity, resulting
Motors…Smarter, Safer, Greener. in
ACIM Circuit Representation with
Turns Ratio a=Lm/Lr
Torque current
iq
Rotor Flux
current
id Stator currentRotor leakage reactance now lum
with mutual and stator leakage reac
This implies that a

reference frame
exists where the
stator current can
be resolved into
torque current
and flux current.
Source: Vector Control and Dynamics of AC Drives, by Don Novotny and Tom Lipo, Oxford University Press, 2000

Torque Production in an ACIM
~ Lm ~ ~
Ir  - I sT
Lr I sT
rotor current Stator current is resolved
into flux producing and
torque producing
One expression for components.
torque is the cross
~
product between
the rotor current I s ~ Rotor flux is NOT fixed
w.r.t. rotor. It is
and the rotor flux. Is “asynchronous” to rotor
~ ~ position.
 r  Lm I s
rotor flux
 Lm  3 L2m
Te  3
P Er I r 3 P
 we Lm I s   I sT   P I s I sT
2 2w e 4 w e  Lr  4 Lr
rotor flux
rotor current
P is the number of poles

Dynamic Response of Rotor-
Referenced FOC
Step change in iqs Step change in ids
iqr  -
Lm
iqs
idr
Lr iqs
iqr iqs iqr iqs
ids ids
ids
dr dr
dr
Rotor current (and Rotor flux (and thus
thus torque) are torque) are gradually
instantaneously changed.
Dave Wilson TIchanged.
Spins Motors…Smarter, Safer, Greener.
ACIM Slip Frequency Calculation
Texas Instruments
is a
neat company!
Dave Wilson’s
Encoder
Motor Control
Center
qr
Slip Calculator
Poles/2
1
id 1 + St r tr qe
D +
w ^q slip q
^d
iq
N ^ slip
ò +
x
rotor flu
Axis of
qd
9.9�
Recall that the rotor flux sweeps

across the surface of the rotor at a A
speed equal to the slip frequency, i.e.,
it is “asynchronous” to the rotor.
C
P
+
+ Vd
Commanded id
(flux) - +
Commanded iq
(torque)
I ∫ Reverse
Clarke-Park
Va
Vb Texas Instruments
is a
neat company!
Transform Vc
Commanded P P Dave Wilson’s
Motor Control
Center
Rotor + +
Speed + + Vq θd
- + - +
I ∫ I ∫
id iq
ia
Forward
Speed
Clarke-Park
ib
Calculator
Transform -
ic
-
θd
Commanded id Slip
Slip + θd
∫
Frequency
Commanded iq Calculator
+
Actual Rotor Angle
Control Diagram of an Induction Motor Speed Controller Utilizing Field Oriented Control.

C on t rol
d
O r i ent e
Field
M o to rs
of IPM
-Vth
Dave Wilson
Buried Magnets Create NEW Torque
Buried rotor magnets

produce different
inductances on the d-q axes.
This results in a NEW torque

component proportional to
the difference in these
inductances.

Total Motor Torque
Ids
Iqs
N
Permanent Magnet Rotor
S
Reaction Torque Reluctance Torque
3P
   
†
Torque  dr I qs + Lds - Lqs I ds I qs

22
†
Torque expression based on amplitude invariant form of Clarke Transform.

Torque vs. Angle
Torque
Q Reaction Torque (magnet to magnet)
CCW
D
Stable Stable Unstable
0 o Unstable 45 o
90 o
135 o Unstable 180o
CW
Reluctance Torque (magnet to metal)
The magnets exerts force
on the rotor in an effort to
minimize the resistance
(reluctance) of the flux path.
Locked Rotor
Effect of Saliency on Optimum Torque Angle
Positive Ids Negative Ids

MTPA Control of IPM Motors
Commanded d i
Commanded Speed Limit i 
1 r  r2 
 Vd
+ T id  -  + + 8 iT2 
+ Current
4  Ld - Lq  Ld - Lq  2
 Controller
-   - id
Va
IPM
Actual Speed
Reverse
Vb
Clarke-Park
TI
Dave’s
Control
Center
Transform Vc
Commanded q i
+ Current Vq θd
Controller
-
id iq
d/dt ia
Forward
Clarke-Park
ib
Transform
ic Phase C
Current
Calculation
θd
Rotor Flux Angle

02 Intro To FOC

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02 Intro To FOC

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2014 Texas Instruments Motor

Control Training Series

To schedule a motor control

Maximum torque per amp

Simulated Reactance Torque as

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

-b Motor shaft axis

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Measured Current ADC1

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

net current vector ib

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

ic = -Im sin(q - 240 o)

So how do we get the rotor flux angle?

Usually accomplished with a

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

The CLARKE transform ib

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Tracking a rotating reference signal

Tracking a rotating reference signal in

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

id and i q are handled independently. Since the comparison is

Under normal conditions, we have all

commanded id is set to zero. -

This is how much torque we want! i q (commanded) + errorq (t)

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

K a  L  Current Bandwidth (rad / sec) , K b  R L

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

windings, we must first B

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

transform the voltage B vc

Reverse Clarke Transformation

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Over time, under steady-state conditions, the correction voltages

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

• SVM treats the inverter as ONE unit!!

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

• Vref, is created by the two adjacent Sector 2

If Vref is represented in POLAR notation ( ma): V4 = 100 V5 = 101

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

d choice when reduced switching losses

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Null = alt-rev 0.6

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

PWM1 PWM3 PWM5

Animation Source: Leos Chalupa

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Animation Source: Leos Chalupa

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

4. Load the PWM W=0

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.