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Coordinate Transform: 32-Bit Microcontroller MB9B100A/MB9B300A/MB9B400A/MB9B500A Series
Coordinate Transform: 32-Bit Microcontroller MB9B100A/MB9B300A/MB9B400A/MB9B500A Series
32-BIT MICROCONTROLLER
MB9B100A/MB9B300A/MB9B400A/MB9B500A Series
Coordinate transform
TM
ARM and Cortex-M3 are the trademarks of ARM Limited in the EU and other countries.
AN706-00032-1v0-E
AN706-00032-1v0-E
Revision History
Rev
Date
Remark
1.0
First Edition
AN706-00032-1v0-E
Table of Contents
Revision History.................................................................................................................... 2
Table of Contents.................................................................................................................. 3
1
Introduction.................................................................................................................... 4
Theory .................................................................................................................... 5
3.1.1
3.1.2
3.2
4
Overview ................................................................................................................ 4
Application.............................................................................................................. 9
Theory .................................................................................................................. 10
4.1.1
4.1.2
4.2
Application............................................................................................................ 14
AN706-00032-1v0-E
Introduction
This application note describes the coordinate transform which with the Clarke, Park,
Inverse Clarke and Inverse Park transformation.
This application note describes the coordinate transforms Theory, Block, Function, Flow,
Sample and Parameter in the ARM Inverter Platform.
.
Technical Background
Overview
In motor control, the motors start, stop, and speed and so on, all of them need to change
the motor magnetic torque, the motor torque with armature current is described in the
formulae:
DC motor:
(1)
AC motor:
I cos
(2)
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Clarke transform
Theory
3.1.1
In motor theory, balanced 3-phase AC motor has 3 fixed windings. Through 3-phase
balanced AC current ia,ib,ic will bring a rotating magnetic field with the speed .
Figure 3-1
.
B
ib
ia
F
i
ic
C
Figure 3-1
Figure 3-2
Not only balanced 3-phase fixed windings could bring rotating magnetic field, 2-phase
Clarke
Figure 3-3
AN706-00032-1v0-E
k1 ia
i
Where
ib cos 60 ic cos 60
k1 ia
k1 ib sin 60 ic sin 60
k1
1
i
2 b
3
i
2 b
1
i
2 c
3
i
2 c
(3)
k1 is the balanced
coefficient.
Is
a
I
Figure 3-4
i0 k1 k 2 ia ib ic
Add a zero-axis value:
Change the math formulae into motor application, have the matrix formulae
i
i
i0
1
k1
0
k2
1
CT
Where
k1
0
k2
1
2
3
2
k2
1
2 ia
3 ib
2 ic
k2
1
2
3
2
k2
1
2
3
2
k2
ia
CT ib
ic
(4)
(5)
(6)
(7)
(8)
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k2
Then
Take k 2 , k1 into the CT
1
2
3
2
1
1
2
0
3
1
CT
2
3
k1
1
2
3
2
1
(9)
1
CT
1
2
1
2
2
3
1
2
1
0
3
2
2
1
3
2
(10)
sin
sin
sin
Take
k2
1
2
k1
2
3
i
i
i0
(11)
Here, if defined
2 /3
2 /3
2
0
3
1
1
2
3
2
1
ia
23ib
3
sin
1
2
3
2
1
sin
sin
sin
2 /3
2 /3
ia ;
i
i
3ia
3
sin
/2
(12)
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ia
ib
ic
i i
a
b
c
Clarke
Figure 3-5
3.1.2
In motor theory, when have two current component vectors in the stationary - axis,
through complementary inverse transforms to get back to the 3-phase stationary A,B,C
axis. This transformation uses the Inverse Clarke transformation, Figure 3-6.
a
Inverted b
Clarke
Figure 3-6
CT 1 and the Figure 3-4, the Inverted Clarke transform
/2
/2
(13)
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3.2
Application
ClarkAmplitude.C, ClarkAmplitude.H
<Function interface>
void ClarkAmplitude
( volatile
_stDataInThreeAxis *stDataInThreeAxis, //Inputs: 3-axis system
volatile
_stDataInFixAxis *stDataInFixAxis
//Outputs: fixed 2-axis system )
typedef struct
{
Q15_VAL32 a_Q15;// phase-a variable
Q15_VAL32 b_Q15;// phase-b variable
Q15_VAL32 c_Q15;// phase-c variable
}_stDataInThreeAxis;
_stDataInThreeAxis *stDataInThreeAxis
typedef struct
{
Q15_VAL32 alpha_Q15;// stationary d-axis variable
Q15_VAL32 beta_Q15;// stationary d-axis variable
}_stDataInFixAxis;
_stDataInFixAxis *stDataInFixAxis
Table 1
Item
Inputs
Outputs
Name
Description
Format
Q15_VAL32
Q15_VAL32
Q15_VAL32
alpha
Q15_VAL32
beta
Q15_VAL32
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Park transform
Theory
4.1.1
2-phase symmetry windings ( phase=90) through 2-phase balance AC current i,i, and
keep the windings stop, will bring rotating magnetic EMF F1 with speed . Figure 4-1.
2-phase symmetry windings ( phase=90) through 2-phase balance DC current id,iq, and
rotate
windings at speed , will bring rotating magnetic EMF F2, Figure 4-2.
If EMF F1=F2, stationary system 2-phase through AC current equivalent with rotating
system 2-phase through DC current.
q
iq
id
F
d
Figure 4-1
Figure 4-2
The Park transformation convert the stationary 2-phase (i,i) system into rotating 2-phase
(id,iq) system. Figure 4-3
d
Park
Figure 4-3
Where the i,i come from Clarke transform; and the come from the rotor is displaced
from the direct axis of the stator reference frame by the rotor angle . Because it can be
10
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seen that the angle between the real axis (x) of the general reference frame and the real
axis of the reference frame rotating with the rotor is ,
Figure 4-4
As shown in Figure 4-4,
id
iq
i cos i sin
i sin i cos
(14)
id
iq
cos
sin
i
CP i
sin i
cos i
(15)
Where:
CP
cos sin
sin cos
(16)
This matrix convert the stationary 2-phase(, ) system into rotating 2-phase(d, q) system,
its called Park transform.
If the power fixedness, the formulae transform:
CP 1
cos
sin
sin
cos
(17)
This matrix convert rotating 2-phase(d, q) system into stationary 2-phase(, ) system, its
called Inverted Park transform. This transform course use wave shown in Figure 4-1 below:
11
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i i
id
d
Park
iq
Figure 4-5
4.1.2
In motor theory, these are two current component vectors in the rotating d-q axis, through
the complementary inverse transformation to get back to the 2-phase stationary - axis.
This transformation uses the Inverse Park Transform, Figure 4-5.
d
q
Inverted
Park
Figure 4-6
Through the Inverted Park matrix
i
i
id cos
id sin
1
iq sin
iq cos
(20)
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4.2
Application
Function Name:
Park`
C file name:
Park.C, Park.H
Function interface:
void Park(_stDataInFixAxis *stDataInFixAxis, //fixed 2-axis system
_stDataInRotAxis *stDataInRotAxis //rotational 2-axis system)
typedef struct
{
Q15_VAL32 alpha_Q15;
Q15_VAL32 beta_Q15;
}_stDataInFixAxis;
_stDataInFixAxis *stDataInFixAxis
typedef struct
{
Q15_VAL32 d_Q15;
Q15_VAL32 q_Q15;
Q15_VAL32 theta_Q15;
}_stDataInRotAxis;
_stDataInRotAxis *stDataInRotAxis
Item
Inputs
Outputs
Name
alpha
beta
Theta
d
q
Table 2
Description
phase- alpha of fixed 2- phase
phase- beta of fixed 2- phase
Phase angle between stationary
and rotating frame
alpha - alpha of rotational 2-axis system
alpha - beta of rotational 2-axis system
13
Format
Q15_VAL32
Q15_VAL32
Q15_VAL32
Q15_VAL32
Q15_VAL32
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Function Name:
C file name:
ParkInv
ParkInv.C, Park.H
Function interface:
void InvPark(_stDataInRotAxis *stDataInRotAxis, // rotating 2- phase system
_stDataInFixAxis *stDataInFixAxis // fixed 2- phase system)
typedef struct
{
Q15_VAL32 d_Q15;
Q15_VAL32 q_Q15;
Q15_VAL32 theta_Q15;
}_stDataInRotAxis;
_ stDataInRotAxis * stDataInRotAxis
typedef struct
{
Q15_VAL32 alpha_Q15;
Q15_VAL32 beta_Q15;
}_stDataInFixAxis;
_stDataInFixAxis *stDataInFixAxis
Item
Inputs
Outputs
Name
d
q
alpha
beta
Table 3
Description
alpha - d of rotating 2- phase
alpha - q of rotating 2- phase
Phase
angle
between
stationary
and rotating frame
alpha - alpha of fixed 2- phase
alpha - beta of fixed 2- phase
Format
Q15_VAL32
Q15_VAL32
Q15_VAL32
Q15_VAL32
Q15_VAL32
- End of File -
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