AP1608410_Field Oriented Control of a PMSM

AP16084FOCofPMSMIntroductionApplicationNote1ApplicationNote,V1.0,May200416BitCMOSMicrocontrollerProductFieldOrientedControlofaPMSMusingaSingleDCLinkShuntMicrocontrollersAP16084Neverstopthinking.RevisionHistory:2004-05V1.0PreviousVersion:-PageSubjects(majorchangessincelastrevision)ControllerAreaNetwork(CAN):LicenseofRobertBoschGmbHXC167CIWeListentoYourCommentsAnyinformationwithinthisdocumentthatyoufeeliswrong,unclearormissingatall?Yourfeedbackwillhelpustocontinuouslyimprovethequalityofthisdocument.Pleasesendyourproposal(includingareferencetothisdocument)to:[e-mail]16084FOCofPMSMIntroductionApplicationNote3TableofContentsPage1Introduction..............................................................................................................52TechnicalBases......................................................................................................62.1MathematicalModelsforaPMSM....................................................................62.1.1PerUnitQuantities..........................................................................................62.1.2BasicElectricalEquations..............................................................................72.2ConstructionofaPMSM....................................................................................82.3FieldOrientedControl.........................................................................................92.4PhasesCurrentAcquisitionviaDCLinkShuntMeasurement...................102.5SensorlessModel..............................................................................................133Components...........................................................................................................153.1Generalremarks................................................................................................153.2PMSM..................................................................................................................163.3Inverter................................................................................................................173.4XC167CI-Board.................................................................................................183.5Sensors...............................................................................................................193.5.1IncrementalEncoder.....................................................................................193.5.2Shunt-CurrentSensor...................................................................................214Implementations....................................................................................................224.1SoftwareFlowCharts.......................................................................................224.2FixedPointNumberRepresentation..............................................................234.3FrameConversions...........................................................................................254.4SpaceVectorModulation.................................................................................274.5PIController.......................................................................................................314.6CurrentMeasurementintheDCLink............................................................324.7AnalogOutput(D/AConversion)....................................................................355Optimizations.........................................................................................................365.1MeasurementHandlinginsectoredges(„BlackZones“)............................365.2FasterOperationswiththeMACUnit.............................................................376MeasurementResults..........................................................................................386.1PhasesandDC-LinkCurrents.........................................................................386.2DynamicalBehavior..........................................................................................406.3CPUPerformance.............................................................................................416.4Pictures...............................................................................................................427Conclusions............................................................................................................43References................................................................................................................................44Glossary……………………………………………………………………………………..45AP16084FOCofPMSMIntroductionApplicationNote4AP16084FOCofPMSMIntroductionApplicationNote51IntroductionABrushlessPermanentMagnetSynchronousMotor(PMSM)hasawoundstatorandapermanentmagnetrotorassembly.Thisconfigurationofferssomeadvantages:•Highefficiency•Reductionofthemotorsize(hightorquepervolume)•Lowmomentofinertia(rotorinertia)•IncomparisonwithDCmotors,theeliminationofbrushesreducesnoise,electromagneticemissiongenera