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Electronic Systems
Applications
DC drives, AC drives, UPS systems
Automotive applications - EV, HEV
Non conventional energy converters
- Solar, wind etc.
Power quality systems
- STATCOM, Harmonic compensators
Vector control techniques for AC systems
Implemented with digital controller
Control Hardware
Analog Controller
Discrete Digital Logics
PLCS
FPGAS, ASICS
Micro-Controller
Digital Signal Processor
Susceptible to EMI
High band-width Sensitive to Component
aging
Advantages
Limitations
High resolution
Sensitive to
Easy to design Temperature
Simple circuit for Hardwired Design
small systems Limited to Classical
Control System
Design
Digital Systems
ADC
ADC DAC
DAC DIGITAL
DIGITAL
I/O
I/O
OPTICAL
OPTICAL
ISOLATOR
ISOLATOR
SIGNAL ANALOG TRANS
TRANS
SIGNAL RELAY
CONDITION OUTPUTS OPTICAL
OPTICAL RELAY
CONDITION ISOLATOR
ISOLATOR
DISADVANTAGES
Insensitive to Time
Patterns in an Analog
ADVANTAGES
and Temperature
World
Common Hardware
Minimum Hardware
for many Applications
even for Simple
Algorithmic
Applications
Implementation
Design is Time
Repeatable
Consuming
Remote Computer
Computational Delay is
Interface
Critical
Self Diagnostics
DIGITAL SIGNAL PROCESSOR (DSP)
FOR
REAL TIME CONTROL
Real Time Control
Micro-controller
Architecture Familiar Architecture
Advanced Control
DSP
Techniques
Additional functions Low Performance
Computation Delay
Numerical Problems
Limited Peripherals
Architecture of TMS320F206 DSP
I/O
CPU
64Kx16
16-Bit TREG
16-Bit x 16-Bit Multiply Software
32-Bit PREG WSG
ShiftL
Timer
32-Bit ALU
32-Bit ACC
Serial Port
8 Auxiliary Registers
(sync)
8 Level Hardware Stack
Repeat Instruction Counter Serial Port
2 Status REG (async)
DSP
Features
Features Benefits
Single Cycle Instruction Advanced Algorithm
Pipelined Architecture High Band Width
Harvard Architecture Parallel Data & Program
Hardware Multiplier Min. Computation Delay
Hardware Shifters Large Dynamic Range
16-Bit Word Min. Quantization Errors
32-Bit Registers Min. Truncation Error
Hardware Stack Fast Int. Processing
Saturation Mode Prevents Wrap-Around
Built-in Timer, Wait State, Minimize Hardware
Serial I/O
Comparison between Floating Point
and Fixed Point Digital Controllers
Less Expensive
Programmable
Less Hardware
Software Development
Floating Point
Fixed Point
Cost Low
Software
Development in High
Development Cost High
Level Language
Truncation and
Overflow Errors
Effective codes
Expensive and Costly through Assembly
Components Language
Real time DSP Controller for
PE
( AC Drive FPGA
Algorithm )
User Digital Analog output
Interface Logic (Debug)
Serial
Development Network
JTAG Interface
System
Interface
DSP based PE Controllers
Ref. To Gate
Isolation CPU FPGA Ckt
Timer
Int.
P Flash
Fb.
RAM Fb.
RS232C ADC
USART Ckt
TxD
RxD
DSP Circuits for
PE
STANDALONE CONTROLLER WITH SMPS
Stand Alone Medium Power
Systems
To
AD
DP DSP Gat
C
RAM Ckt e
DA CPU s
C
Digital
I/O
RS232C
888888
RS485
STANDALONE CONTROLLER WITH
NETWORK
PC Based Controller
Features
Standard Hardware
One PCB PE Specific
Upto to date Hardware
PCBs Cost High
On PC MB All software resource
easily adaptable
Fast development
Industrial PC
All PC Elements such as PC SMPS, FDD, HDD,
VDU, Keyboard, Mouse Used during design
FDD, VDU, Keyboard, Mouse Removed
SMPS by small one and HDD by Flash Replaced
PE Specific Hardware on
PC
DSP To
888888 Ckt Gat
s e
DP
RAM
I/O
PC
interfa
Bus
ce DP DSP To
RAM Ckt Gat
s e
PC Add-on System
Control Hardware Flow Diagram
Digital Controller Hardware
Features
Shielding
PCB layout
Non-metallic communication,Optoisolation,
Communication,Protocols
Choice of passive components
Distributed Control Architecture
Asyn link
Syn link
Drive1 Actuators
Actuators
Drive1
Sensor
Sensor
Drive
Drive 22 Elements
Elements 11
…. …..
Sensor
Sensor
Drive
Drive nn Elements
Elements nn
Controller Networking
Mod Bus
Address Function Data Checksum EOF
Query
Update a variable value
Master Slave
Acknowledge
Response
(Value updated)
Data exchange in write mode
Query
Read a variable value
Master Slave
Value of the variable
Response
14V DC 15V, 5V
Bus
(Optional) 42V Peripheral Interface GATE
42V DC drive
SMPS
Bus
Integrator
t = kts 0 kts
u (kts ) = ∫ e(t )dt = ∫ e(t )dt + ∫ e(t )dt
t = −∝ −∝ 0
input output
Delay element
input output
du (t )
Td + u (t ) = e(t )
dt
u (kts ) = u[(k − 1)ts ] + [(Ts Td ) * {e(kts ) − u (k − 1)ts}]
Functional Module Identification
PI controller
d-q transformation
isα (kts ) = [isd (kts ) * cos(kts)] − [isq (kts ) * sin(kts )] input 2φ output
U (z) = U (z).z
− 1
+ (K P
). E (z) + ( − K + K
+ KI .
2
T
P I
.
T
2
). E (z).z − 1
U = U + (K P
+ KI . ). E + (− K + K . ). E
T
2 P
T
2 I
− 1 − 1
u (k) = u (k − 1) + (K P
+ KI .
T
2
). e(k) + ( − K P
+ KI .
T
2
). e(k − 1)
u (k) = u (k − 1) + K 1 . e (k) + K 2 . e (k − 1)
T
K1 = K P + K I .
2
T
K 2 = −K P + K I .
2
PI Controller Software module
piSpeed:
SETC OVM
LACC softSpeed
SUB wFb ;rotorSpeed
SACL sp0Error
* ----------------------------------------------------------
BCND negSpError,LT
SUB #kpSpeedLimit
BCND skipSpError,LT
SPLK #kpSpeedLimit,sp0Error
B skipSpError
negSpError:
ADD #kpSpeedLimit
BCND skipSpError,GT
SPLK #-kpSpeedLimit,sp0Error
skipSpError:
•----------------------------------------------------------
LT sp0Error
MPY kpSp ;e[k]*Kp
PAC
SACL tempA
PI Controller Software module
LACC torq0Error ;acc=e[k]
ADD torq1Error ;acc=e[k]+e[k+1]
SACL tempB ;tempB=e[k]+e[k+1]
LT tempB ;T=e[k]+e[k+1]
MPY kiTorq ;P={e[k]+e[k+1]}*Ki*T/2
LACL piTorqILo
ADD piTorqIHi,16 ;acc=Icon[k]
LTD torq0Error ;acc=Icon[k]+{e[k]+e[k+1]}*Ki*T/2,
T=sp0Err0r, volt1Error=volt0Error
SACL piTorqILo
SACH piTorqIHi ;Icon[k+1]
ADD tempA,16
SACH tempA
LT tempA
MPY Tmax
PAC
SACH piTorqRef,1
CLRC OVM
RET
Structuring DSP For
Power Electronics Control
Timer Int.
Initialization
Sampling time Sampling time
Timer output
To the interrupt
Int. Routine
Main Routine
Software Development phases
In circuit Target
Emulator Board