2015 8th International Conference on Intelligent Computation Technology and Automation

Design of Asynchronous Motor Vector Control Frequency Converter Based on DSP

ZhenTao Wang, Mingyu Gao, Shengen Zhuang, Jiye Huang

College of Electronic and Information Engineering
Hangzhou Dianzi University, Hangzhou, Zhejiang, 310018, China
zhentao1321@163.com, 132040117@hdu.edu.cn

Abstract—This design of the asynchronous motor frequency

converter system is based on the use of fixed-point DSP II. THE OVERALL STRUCTURE OF FREQUENCY
TMS320F2812 controller, take voltage space vector CONVERTER
pulse-duration modulation (SVPWM) as the control method, The overall structure diagram of asynchronous
the full text take the frequency changer system hardware motor vector control frequency converter system based
design and the software realization as the leadership, and on DSP is shown in Figure
g 1.
introduced in detail the hardware electric circuit several
essential electric circuits, software part SVPWM principle and
realization, finally has carried on the result simulation
confirmation. The simulation results show that this system
speed of response is quick, the stability is good, has the good
static state, the dynamic performance.

Keywords-Asynchronous Motor; frequency transformer;

SVPWM; DSP; current measurement

I. INTRODUCTION
In recent years, with the development of power
electronics technology, computer technology and automation
technology, AC induction motor control technology has
become one of the fastest growing technology. As the
electrical control equipment, control of AC asynchronous
motor, frequency converter has been invented, has attracted
more attention in the field of electric drive, and has become a
high-tech products currently has development potential.
Variable frequency speed control system is outstanding in
speed, braking performance, high efficiency, high power
factor and energy saving effect, therefore, frequency
converters are widely used in the textile industry. As Figure 1. the overall structure diagram of system
previously most inverters are simple, traditional sinusoidal
pulse-width modulation (SPWM) technology in design, the This system is used in three-phase of 380V, after a
designed frequency converter has many disadvantages, such rectifier and filter steady 540V DC voltage, as the bus
as weaker loading capacity, higher switching loss, output voltage of the inverter circuit. The overall circuit structure
bigger harmonics, and lower voltage utilization, etc. Voltage diagram includes the DSP control, communication circuits,
space vector pulse width modulation (SVPWM) can have a current detection circuit, bus voltage detection circuit,
circular motor stator rotating magnetic field, so that the AC protection circuit, switching power supply, and signal
induction motor produce constant torque. SVPWM has isolating drive circuit etc.
higher modulation than SPWM, DC power supply voltage
utilization increase 15%, and with a small torque ripple, low III. THE DESIGN OF HARDWARE CIRCUIT OF THE
noise advantages, so access to a wide range of applications. FREQUENCY CONVERTER
In this paper, using TI’s TMS320F2812 DSP as the The hardware circuit of the frequency converter design
control core, as based on SVPWM technology, designed the mainly includes the main circuit design, driver circuit design,
hardware and software of AC asynchronous motor frequency optocoupler isolation circuit design, and the current
converter, among them, the hardware part consists of several measurement circuit design.
key circuits. In this paper, the reliability of the system is
verified through the Simulink simulation in MATLAB, and A. The main circuit
the simulation results and simulation waveform are given, The system uses three-phase 380V AC power supply,
we can see that the good dynamic performance of the main topology is AC to DC to AC. The main circuit structure
frequency converter system. of the system is shown Figure 2.

978-1-4673-7644-0/15 $31.00 © 2015 IEEE 389

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DOI 10.1109/ICICTA.2015.104
 Figure 2. The main circuit structure
The system includes three-phase bridge rectifier and
three-phase Inverter Bridge, 6 IGBTs in the inverter bridge
are connected in parallel with a diode. Optocoupler isolation
use three HCPL316J and three HCPL3120, the difference
between the two optocouplers is the chip of 316J contains an
internal hardware protection, protect the IGBT, and makes
voltage across it not more than 7V. If the current through the
IGBT is large, voltage drop across the IGBT from normal
2Vquickly rose to 7V above, at this time, the optical coupler
will automatically close the PWM output in 2us, which
protect the IGBT is not damaged. The PWM output can be
restored only by reset system.
B. Optocoupler isolation circuit design
In order to reduce the power ground noise interference on
the entire system, between the digital ground and power
ground use optical coupling isolation design. This system
between digital signal and IGBT gate driver use optical
coupling isolation, top tube used optocoupler A3120, pipe
used optocoupler HCPL-316J with hardware protection. The
HCPL-316J optical coupling isolation circuit is shown in
Figure
g 3.
Figure 3. Optocoupler isolation circuit with hardware protection
C. The current measurement circuit
Phase current output of the inverter is the starting point of
the vector control, accuracy of phase current measurement
plays a key role on the performance of the control system. In
this system, using the Hall sensor and subsequent operational
amplifier circuit. Hall sensors ACS758 is chosen, the current
range is 100A, the power supply voltage is 5V, output
voltage range of 0.5~4.5V, the sensitivity is 20 mV/A. The U
phase current detection circuit is shown in Figure 4.
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Figure 4. The current measurement circuit
Circuit explain: the current sensor ACS758 are connected
in series to the output end of the motor a phase, sensor output
VOUT produces corresponding voltage. The waveform of
output voltage and input current waveform are the same, is
sine wave. When no current is input, the output is 2.5V. With
the increase of input current, the amplitude of the output
voltage increases, the output range is 0.5V~4.5V. The
accuracy of 20mV/A. For example, at some point,
instantaneous current is 100A, the output voltage Vout is:
Vout=100A * 20mV / A  2.5V 4.5V !∀#
Because forward current sensor output voltage range is
0.5V~4.5V, exceeds the maximum value of 3V DSP AD
samples, therefore needs some voltage conditioning circuits
between the DSP and current sensor. LM324 is 4 op-amp IC
in Figure 5, firstly, the output current of the sensor voltage
amplitude is reduced to 2/3 times the original, through R69,
R73, and one op-amp of the LM32, in the DSP AD sampling
range. Then after the next two op-amps consisting of 4-order
Butterworth low-pass filter circuit, filters the high frequency
noise in the circuit. Finally after closing the filtered
sinusoidal voltage U_OUT through DSP AD samples and
after some simple software with real-time computing, that is
able to obtain the corresponding size of the phase current.
D. SVPWM software
Vector control, also known as a field-oriented control,
mainly controls the stator current with vector representation.
Vector control method based on three-phase static
coordinates (a, b, c) into a two-phase synchronous reference
frame (d-q coordinate system). Coordinate transformation
allows control of AC servo motors are similar to DC motor.
Space vector pulse width modulation (SVPWM) refers to
a specific rule to drive the switching bridge of three-phase
voltage-source inverter, mainly used to drive an AC
induction motor and permanent magnet synchronous motor.
This particular drive signal enables the motor's stator current
is sine wave. Experiments show that compared with SPWM
modulation technology, SVPWM output voltage and load
current to produce low harmonic distortion, power usage is
more efficient. Three-phase inverter bridge structure is
shown in Figure 5.
 Because the switch tube has only 8 types of switch state
combination, according to the specific conduction signal, the
value of Vsα and Vsβ also is limited in α-β coordinates.
Different Vsα and Vsβ of the corresponding the different
switch state are listed, as shown in table II.

Figure 5. Inverter bridge structure TABLE II. 8 KINDS OF SWITCH MODE VOLTAGE
COMPONENT IN Α-Β COORDINATE
The power tube in the inverter bridge expressed in switch
c b a Vsα Vsβ Vector
symbol, due to the switching of the upper bridge and down 0 0 0 0 0 O0
state are complementary, so just take three power tube on the 0 0 1 2VDC/3 0 U0
upper bridge to explain the situation. For the three power VDC
tube on the upper bridge, a total of 8 different combinations 0 1 0 -VDC/3 U120
3
of switches, in bus voltage VDC case, corresponds to the line VDC
voltage and the voltage is shown in table I. 0 1 1 VDC/3 U60
3
VDC
TABLE I. PHASE VOLTAGE AND LINE VOLTAGE IN 8 1 0 0 -VDC/3 ) U240
3
KINDS OF SWITCH MODE
VDC
1 0 1 VDC/3 ) U300
c b a VUN VVN VWN VUV VVW VWU 3
0 0 0 0 0 0 0 0 0 1 1 0 -2VDC/3 0 U180
0 0 1 2VDC/3 -VDC/3 -VDC/3 VDC 0 -VDC 1 1 1 0 0 O111
0 1 0 -VDC/3 2VDC/3 -VDC/3 -VDC VDC 0
-2VDC/
0 1 1 VDC/3 VDC/3 0 VDC -VDC Here is given a vector, take a look at how composition
3
1 0 0 -VDC/3 -VDC/3 2VDC/3 0 -VDC VDC basic vector with vectors required,
q , as shown in Figure 7.
-2VDC/
1 0 1 VDC/3 VDC/3 VDC -VDC 0
3
-2VDC/
1 1 0 VDC/3 VDC/3 -VDC 0 VDC
3
1 1 1 0 0 0 0 0 0
a. According to the switching tube a, b, and c, 0 means off, 1 means on.

Application of Clark transform, the phase voltage is

converted to α-β coordinates, may:
∃V V
% s UN
& (2V V ) !,# Figure 7. Base vector composition the vector diagram
%V VN UN
∋ s 3 Reference vectors Uout obtained by U0 and U60. So Uout
The formula is expressed in matrix form: can be expressed by U0 and U60. Therefore, we can get the
formula (4).
(1 1 1 −
∗ ) ) (VAN − ∃ T T1  T3  T0
(Vs − 2 .∗ %
. VBN . !0#
2 2
∗V . ∗ & T1 T3 !1#
+ s / 3∗ 3 3.∗ .
%∋U out T U 0  T U 60
∗+0 2 ) 2 ./ ∗+VCN ./
Thereinto, T1 and T3 respectively is the time of U0 and
In the 8 basic vector, there are 2 vector is zero vector in U60 vector in the period T. T0 is the time of the zero vector.
the center of a circle, the other six vectors of equal amplitude, These variables can be calculated as follows:
angle of 60 degrees between each other.
g
The vector is defined as shown in Figure 6. ∃ T1 T3
%%u T U 0  T U 60 cos(602)
& !3#
%u T3
U sin(60 2)
%∋  T 60
For standardization process, divided by the maximum
voltage is VDC 3 , the amplitude of the vector
space U 60 U0 2 3 . Into the formula 5 available:
T
T1 ( 3u ) u  ) !4#
Figure 6. Basic vector graphic 2

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 T3 Tu !5# sector 1 2 3 4 5 6
Among above, uα and uβ mean the component of Uout after No. of sector II VI I IV III V
standardization process in two phase static coordinates. The Calculation of t1 and t2 according to the sector, after have
extra time is the effect of T0 on the zero vector. The effect of t1 and t2, calculate three comparison register value in the
time period T, obtain: timer, set the timer compare register three values for Ta, Tb,
and Tc. Their formula is:
T1 3u ) u 
t1 !6# ∃ PWMPRD ) t1 ) t2
T 2 %Ta 2
T3 %
t2u !7# & Tb Ta  t1 !∀,#
T % Tc Tb  t
Similarly, when Uout is indicated by the other two % 2

adjacent space vector, duration of two vectors (after ∋

standardization) is shown in table III. In the formula 12, PWMPRD is the cycle of PWM timer.
Because the way of counting the center symmetric PWM
TABLE III. THE DUTY RATIO OF THE 6 SECTORS timer, the timer to count from 0 meter to PWMPRD, then the
PWMPRD count to 0, so the output of PWM wave is
Sector U0,U60 U60,U120 U120,U180 symmetric. According to Ta, Tb, and Tc, the final SVPWM
3u ) u u ) 3u waveform is shown in Figure
g 8.
t1 u
2 2
3u  u  ) 3u ) u 
t2 u
2 2

Sector U180,U240 U240,U300 U300,U360

) 3u ) u  3u  u 
t1 )u 
2 2
u ) 3u 3u ) u
t2 )u 
2 2

Figure 8. The final generated SVPWM ware

We need to determine which a sector output Uout is. This
can be obtained by following way, take the Uout components The program flow chart of SVPWM is showed as the
in the two-phase stationary coordinates through the figure 9.
transformation for three-phase voltage vector equilibrium,
transformation equation as follows:
∃
%Vref 1 u 
%
% 3u ) u 
& Vref 2 !∀8#
% 2
% ) 3u ) u 
% Vref 3
∋ 2
Thereinto, when Vref1>0, a = 1, otherwise a = 0; similarly
when Vref2>0, b = 1, otherwise b = 0; when Vref3>0, c = 1,
otherwise c = 0. We define the sector variables:
sec tor 4 9 c  2 9 b  a !∀∀#
Figure 9. SVPWM program flow chart
First, determine the positive or negative of Vref1,Vref2,and
Vref3, and then calculate the value of sector, a, b, and c take a
IV. THE EXPERIMENTAL SIMULATION RESULTS
different value corresponds to different sectors, and one to
one corresponding, the obtained values can determine the In order to check the validity of simulation model,
sector of the current uα and uβ, and sector of relationship, perform the following experiment: start the motor under
see table IV. no-load condition, given the speed of 1400r/min. After 0.4s,
the load torque TL=60N.m, in 0.5s, the motor speed is
TABLE IV. RELATIONSHIP BETWEEN VALUE AND adjusted form 1400r/min to 200r/min, Simulation results as
SECTOR shown in Figure 10-13.

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 The figure 10 is response waveform of the motor speed,
as can be seen, in the no-load start-up stage, torque increase
to the maximum value in a short period of time and kept
constant. In 0.4s, the motor suddenly with a torque of 60N.m
load, the rise time is very short, embodies the good dynamic
performance.
Figure 10. Motor speed response waveform
The figure 11 shows the motor response waveform, can
be seen from the start, the motor speed increases linearly to
rated speed 1400r/min, the rise time is about 0.15s, up to
constant rated speed. In 0.5s, the motor speed is set to
200r/min, the motor comes down to set the speed of about
0.5s, so there is good
g speed
p performance.
p the Simulink simulation results show that the MATLAB of
Figure 11. Motor torque response waveform
The figure 12 shows the three-phase motor stator current
waveform, the stator current is sine wave, the amplitude is
about 15A,, and the cycle
y is about 0.02s.
Figure 12. The three-phase stator current waveform
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393
As the figure 13 shows, the motor stator flux linkage
locus, thus it can be seen that stator flux linkage locus
approximating the ideal circular path, this is the pursuit of
the effect of vector control, and compared with other control
method biggest
gg advantages.
g
Figure 13. The motor stator flux waveform
V. CONCLUSION
In this paper is based on the voltage space vector pulse
width modulation and frequency conversion control system
with TMS320F2812 as the control core of the hardware
structure and the software implementation. Finally, through
the motor, the system response speed is fast, torque stability,
low noise, and motor flux linkage waveform nearly circular.
In general, the frequency converter system has good dynamic
performance, and has a high practical value.
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