Design of An ACIM Vector Control Drive Using The 56F8013 Device

Design of an ACIM
Vector Control Drive

using the 56F8013
Device
Designer Reference Manual
56800E
16-bit Digital Signal Controllers
DRM075
Rev 1
11/2005
freescale.com
Design of an ACIM Vector Control Drive using the
56F8013 Device
Designer Reference Manual
To provide the most up-to-date information, the revision of our documents on the World Wide Web will be
the most current. Your printed copy may be an earlier revision. To verify that you have the latest
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The following revision history table summarizes changes contained in this document. For your
convenience, the page number designators have been linked to the appropriate location.
Revision History
Revision Page
Date Description
Level Number(s)
10/2005 0 Initial release N/A
11/2005 1 Corrected term “Intelligent Power Module” to “Integrated Power Module” xi, 3-3
TABLE OF CONTENTS
Chapter 1
Introduction
1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Chapter 2
Benefits and Features of the 56F8013 Controller
2.1 56F8013 Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 56800E Core Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.3 Memory Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.4 56F8013 Peripheral Circuit Reatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.5 AWARD-WINNING DEVELOPMENT ENVIRONMENT . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Chapter 3
Motor Drive System
3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Features of a Motor Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.3 Introduction to System Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3.1 Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3.2 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.4 Specification and Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Chapter 4
ACIM Theory
4.1 AC Induction Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Induction Motor Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Digital Control of an AC Induction Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Chapter 5
Design Concept of an ACIM Vector Control Drive
5.1 Vector Control of AC Induction Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Relationship between Rotor Flux Orientation and Stator Flux Orientation Induction
Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.3 Block diagram of Stator Flux Oriented (SFO) Control . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.4 Forward and Inverse Clarke Transformation (a, b, c to áa , b and backwards) . . . . . . 5-4
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Freescale Semiconductor i
Preliminary
5.5 Forward and Inverse Park Transformation (a, b to d-q and backwards) . . . . . . . . . . . 5-5
5.6 Rotor Speed Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.7 Speed Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.8 PFC Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.8.1 Inductor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.8.2 Output Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.8.3 Main Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.8.4 Output Diode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.8.5 Inductor Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Chapter 6
Hardware Implementation
6.1 56F8013 Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 High-Voltage Power Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 Sensor Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 PFC Hardware Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.4.1 Drive Circuit Hardware Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.4.2 Sample Circuit Hardware Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.5 Detailed Motherboard Configurations for ACIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Chapter 7
Software Design
7.1 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Stator Flux Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.3 Electromagnetic Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.4 Rotor Speed Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.5 Stator Flux Determination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.6 Space Vector Pulse Width Modulation (SVPWM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.7 Fault Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.8 PFC Software Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Chapter 8
JTAG Simulation and SCI Communication
8.1 JTAG Simulation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 SCI Communication Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Design of an ACIM Vector Control Drive using the 56F8013 Device, Rev. 1
ii Freescale Semiconductor
Preliminary
Chapter 9
Operation
9.1 Switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 During Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.3 Switch-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.4 Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
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Freescale Semiconductor iii
Preliminary
iv Freescale Semiconductor
Preliminary
LIST OF FIGURES
3-1 Washing Machine Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3-2 Washing Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-3 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-4 IRAMS10UP60A Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
4-1 Induction Motor Speed-Torque Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4-2 Hardware System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-3 Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
5-1 Block Diagram of the Stator Flux Oriented (SFO) System . . . . . . . . . . . . . . . . . . . 5-2
5-2 Stator Reference Voltage ref. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-3 Clark Transformation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-4 Park Tranformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-5 Speed Regulator Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-6 PFC Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
6-1 Demonstration System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6-2 Hierarchy Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-3 Motor Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6-4 DCBus Sampling Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-5 Bus Link Current Sample Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6-6 Methods to Detect Phase Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6-7 Protection Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6-8 Main PFC Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6-9 PFC Drive Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6-10 PFC Sampling Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6-11 ACIM Jumper Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
7-1 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7-2 Stator Reference Voltage ref. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7-3 Improved Stator Flux Estimation Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7-4 Simple PFC Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7-5 Discrete Voltage Loop Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
8-1 Communication Board’s Frame Figure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8-2 System Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8-3 Connections for JTAG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8-4 CodeWarrior Development Tool Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8-5 SCI Communication Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
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Freescale Semiconductor v
Preliminary
vi Freescale Semiconductor
Preliminary
LIST OF TABLES
5-1 Nameplate Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
6-1 Configuration of the 56F8013’s Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
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Freescale Semiconductor vii
Preliminary
viii Freescale Semiconductor
Preliminary
About This Document
This manual describes the use of a 56F8013 device in an ACIM Vector Control Drive application.
Audience
This manual targets design engineers interested in developing an ACIM Vector Control Drive
application.
Organization
This User’s Manual consists of the following sections:
• Chapter 1, Introduction, explains how an AC Induction Motor and a 56F8013 device facilitate a
vector control drive design.
• Chapter 2, Benefits and Features of the 56F8013 Controller, highlights the advantages in
using a 56F8013 controller.
• Chapter 3, Motor Drive System, details the features and design of a motor drive system.
• Chapter 4, ACIM Theory, describes software, control and configuration of an AC Induction Motor.
• Chapter 5, Design Concept of an ACIM Vector Control Drive, details the design concept of an
AC Induction Motor vector control drive.
• Chapter 6, Hardware Implementation, describes how to set up the hardware needed for a
vector control drive application.
• Chapter 7, Software Design, explains the software system design.
• Chapter 8, JTAG Simulation and SCI Communication, describes the application’s debugging
and communications functions.
• Chapter 9, Operation, explains how to use the application.
• Appendix A, Schematics, contains schematics for the ACIM vector control drive application.
• Appendix B, ACIM Bill of Materials, lists all parts used in the application.
Preface, Rev. 1
Freescale Semiconductor ix
Preliminary
Conventions
This document uses the following notational conventions:
Typeface, Symbol
Meaning Examples
or Term
Courier Code examples //Process command for line flash

Monospaced Type
Italic Directory names, ...and contains these core directories:

project names, applications contains applications software...
calls,
functions, ...CodeWarrior project, 3des.mcp is...
statements,
procedures, ...the pConfig argument....
routines,
arguments, ...defined in the C header file, aec.h....
file names,
applications,
variables,
directives,
code snippets
in text
Bold Reference sources, paths, ...refer to the Targeting DSP56F83xx Platform

emphasis manual....
...see: C:\Program Files\Freescale\help\tutorials
Blue Text Linkable on-line ...refer to Chapter 7, License....
Number Any number is considered a 3V

positive value, unless pre- -10
ceded by a minus symbol to DES-1
signify a negative value
ALL CAPITAL # defines/ # define INCLUDE_STACK_CHECK

LETTERS defined constants
Brackets [...] Function keys ...by pressing function key [F7]
Quotation Returned messages ...the message, “Test Passed” is displayed....

marks, “...”
...if unsuccessful for any reason, it will return “NULL”...
x Freescale Semiconductor
Preliminary
Definitions, Acronyms, and Abbreviations
The following list defines the acronyms and abbreviations used in this document. As this template
develops, this list will be generated from the document. As we develop more group resources, these
acronyms will be easily defined from a common acronym dictionary. Please note that while the
acronyms are in solid caps, terms in the definition should be initial capped ONLY IF they are
trademarked names or proper nouns.
ACIM Alternating Current Induction Motor
ADC Analog-to-Digital Conversion
COP Computer Operating Properly
DCM Discontinuous Current Mode
EMF Electro-Magnetic Force
EVM Evaluation Module
GPIO General Purpose Input/Output
HMI Human Machine Interface
I2C or I2C Inter-Integrated Circuit
IC Integrated Circuit
IM Induction Motor
IPM Integrated Power Module
ISR Interrupt Service Routine
LPF Low-Pass Filter
PFC Power Factor Correction
PI Proportional-Integral
PLL Phase Locked Loop
PWM Pulse Width Modulation or Modulator
RMS Root Mean Square
SCI Serial Communication Interface
SFOC Stator-Flux-Oriented Control
SPI Serial Peripheral Interface
SV Space Vector
SVPWM Space Vector Pulse Width Modulation
Preface, Rev. 1
Freescale Semiconductor xi
Preliminary
References
The following sources were used to produce this book; we recommend that you have a copy of these
references:
1. DSP56800E Reference Manual, DSP56800ERM, Freescale Semiconductor, Inc.
2. 56F8000 Peripheral User Manual, MC56F8000RM, Freescale Semiconductor, Inc.
3. 56F8013 Data Sheet, MC56F8013, Freescale Semiconductor, Inc.
4. Inside Code Warrior
5. X.Xu, R.De Donker, and D.W.Novonty, “A Stator Flux Oriented Induction Machine Drive”,
in PESC 1988 Conf.Rec. pp.870-876.
6. C.J.Francis,H.Z.de la Parra, and K.W.E.Cheng, “Practical Implementation of a Stator Flux
Oriented Control Scheme for an Induction Machine,” in Power Electronics and
Variable-speed Drives, October 1994, pp.54-59
7. J.O.Pinto,B.K.Bose, and L.E.B.da Silva, “A Stator-Flux-Oriented Vector-Controlled
Induction Motor Drive with Space-Vector PWM and Flux-Vector Synthesis by Neural
Networks,” IEEE Trans. Ind. Appli.,vol.37, no.5,pp.1308-1318. Sep. 2001.
8. M.H.Shin, D.S.Hyun, and S.B.Cho, “Maximum Torque Control of Stator-Flux-Oriented
Induction Machine Drive in the Field-Weakening Region,” IEEE Trans Ind. Appli.
vol.38,no.1,pp.117-122,Jan.2002.
9. Y.Ruan, X.H.Zhang, J.Xu and etc. “Stator Flux Oriented Control of Induction Motors,” Tans.
Of China Electro.Society, vol.18, no.2, pp.1-4, Apr.2003.
10. Yonghong Xue, Xingyi Xu, and T.G.Habelter, “A Stator Flux-Oriented Voltage Source
Variable-Speed Drive Based on DC Link Measurement,” IEEE Tran. Ind.Appl. vol.27, no.5,
pp.962-969, Sep.1991.
11. Jie Chen,Yongdong Li, and Wei Dong, “A Novel Stator-Flux-Oriented Speed Sensorless
Induction Motor Control System using Flux Tracking Strategy,” in Inter.Conf. On Power
Elec. And Drive System, PEDS’99, Hong Kong, pp.609-614.
12. Ju-Suk.Lee, T.Takeshita, and N.Matsui, “Stator-Flux-Oriented Sensorless Induction Motor
Drive for Optimum Low-Speed Performance,” IEEE Tran. Ind. Appli.
vol.33,no.5,pp.1170-1176, Sep.1997.
13. L.Ben-Brahim and A.Kawamura, “A Fully Digitized Field-Oriented Controlled Induction
Motor Drive using Only Current Sensors,” IEEE Trans. Ind. Electro.,vol.39,pp.241-249,
June 1992.
14. Jun Hu, and Bin Wu, “New Integration Algorithms for Estimating Motor Flux over a Wide
Speed Range,” IEEE Trans. on Power Electronics, vol.13, no.5, pp.969-977, Sep.1998.
15. N.R.N.Idris, and A.H.M Yatim, “An Improved Stator Flux Estimation in Steady-State
Operation for Direct Torque Control of Induction Machines,” IEEE Trans. Ind.Appl., vol.38,
no.1, pp.110-116, Jan.2002.
16. 3-Phase AC Induction Motor Vector Control using a 56F80x, 56F8100 or 56F8300 Device
Design of Motor Control Application, Freescale Semiconductor, Inc., 2004
17. 3-Phase AC Motor Control with VHz Speed Close Loop using the 56F80x, Freescale
Semiconductor, Inc., 2001
xii Freescale Semiconductor
Preliminary
Introduction
Chapter 1
Introduction
1.1 Introduction
This drive application allows vector control of an AC Induction Motor (ACIM) running in a closed-speed
loop without a speed/position sensor coupled to the shaft. The application serves as an example of AC
induction vector control drive design using a Freescale 56F8013 with Processor ExpertTM (PE) software
support.
AC induction motors, which contain a cage, are very popular in variable-speed drives. They are simple,
rugged, inexpensive, and available at all power ratings. Progress in the field of power electronics and
microelectronics enables the application of induction motors for high-performance drives, where
traditionally only DC motors were applied. Thanks to sophisticated control methods, AC induction drives
offer the same control capabilities as high-performance four-quadrant DC drives.
ACIM is an excellent choice for appliance and industrial applications. This design will employ sensorless
Field-Oriented Control (FOC) to control an ACIM using the 56F8013 device, which can accommodate
the sensorless FOC algorithm. A motor control system is flexible enough to implement a washing
machine protocol while it drives a variable load. The system illustrates the features of the 56F8013 in
motor control. The flexible Human Machine Interface (HMI) allows the control board to communicate with
a PC and supports a simplified HMI using push buttons on the processor board, making the system easy
to use.
This document describes the Freescale 56F8013 controller’s features, basic AC induction motor theory,
the system design concept, and hardware implementation and software design, including the PC master
software visualization tool.
Introduction, Rev. 1
Freescale Semiconductor 1-1
Preliminary
1-2 Freescale Semiconductor
Preliminary
56800E Core Features
Chapter 2
Benefits and Features of the 56F8013 Controller
2.1 56F8013 Benefits

• Hybrid architecture facilitates implementation of both control and signal processing functions in a
single device
• High-performance, secured Flash memory eliminates the need for external storage devices
• Extended temperature range allows for operation of nonvolatile memory in harsh environments
• Flash memory emulation of EEPROM eliminates the need for external non-volatile memory
• High performance with 16-bit code density
• On-chip voltage regulator and power management reduces overall system cost
• Diversity of peripheral configuration facilitates the elimination of external components, improving
system integration and reliability
• This device boots directly from Flash, providing additional application flexibility
• High-performance Pulse Width Modulation (PWM) with programmable fault capability simplifies
design and promotes compliance with safety regulations
• PWM and Analog-to-Digital (ADC) modules are tightly coupled, reducing processing overhead
• Low-voltage interrupts protect the system from brownout or power failure
• Simple in-application Flash memory programming via Enhanced OnCETM or serial
communication
2.2 56800E Core Features

• Up to 32 MIPS at 32MHz execution frequency
• DSP and MCU functionality in a unified, C-efficient architecture
• JTAG/Enhanced On-Chip Emulation (EOnCE) for unobtrusive, real-time debugging
• Four 36-bit accumulators
• 16- and 32-bit bidirectional barrel shifter
• Parallel instruction set with unique addressing modes
• Hardware DO and REP loops available
• Three internal address buses
• Four internal data buses
• Architectural support for 8-, 16-, and 32-bit single-cycle data fetches
• MCU-style software stack support
• Controller-style addressing modes and instructions
• Single-cycle 16 x 16-bit parallel Multiplier-Accumulator (MAC)
• Proven to deliver more control functionality with a smaller memory footprint than competing
architectures
Benefits and Features of the 56F8013 Controller, Rev. 1

Preliminary
2.3 Memory Features
• Architecture permits as many as three simultaneous accesses to program and data memory
• On-chip memory includes high-speed volatile and nonvolatile components:
— 16KB of Program Flash
— 4KB of Unified Data/Program RAM
• All memories operate at 32MHz (zero wait-states) over temperature range (-40° to +125°C), with
no software tricks or hardware accelerators required
• Flash security feature prevents unauthorized accesses to its content
2.4 56F8013 Peripheral Circuit Reatures

• Pulse Width Modulator (PWM) module
• Serial Peripheral Interface (SPI)
• Serial Communication Interface (SCI)
• Four 16-bit Timers
• Software-programmable Phase Lock Loop (PLL)
• Two 12-bit Analog-to-Digital Converters (ADC) with six inputs at rates up to 1.1µs per sequential
or simultaneous conversion
• Up to 26 General Purpose I/O (GPIO) pins
• Computer Operating Properly (COP)
• Integrated Power-On Reset and Low-Voltage Interrupt module
• I2C Communication Module supporting Slave, Master and MultiMaster Mode
2.5 AWARD-WINNING DEVELOPMENT ENVIRONMENT

Processor Expert (PE) provides a Rapid Application Design (RAD) tool that combines creation of an
easy-to-use, component-based software application with an expert knowledge system.
The CodeWarrior Integrated Development Environment (IDE) is a sophisticated tool for code navigation,
compiling, and debugging. A complete set of evaluation modules (EVMs) and development system
cards will support concurrent engineering. Together, PE, CodeWarrior, and EVMs create a complete,
scalable tools solution for easy, fast, and efficient development.
Preliminary
Features of a Motor Drive System
Chapter 3
Motor Drive System
3.1 Introduction
An AC Induction Motor (ACIM), which is simple, rugged, inexpensive, and available at all power ratings,
is often used in products targeting the consumer and industrial market. This application employs
sensorless Field-Oriented Control (FOC) to control an ACIM using the 56F8013 device, which can
support the complicated sensorless FOC algorithm. By using this algorithm, the motor drive system
achieves excellent torque control performance and supports the driving of variable loads.
3.2 Features of a Motor Drive System

• The design implements the washing machine protocol, shown in Figure 3-1
Figure 3-1. Washing Machine Protocol
• The design also fulfills the requirements of the washing cycle, shown in Figure 3-2
Motor Drive System, Rev. 1

Preliminary
Figure 3-2. Washing Cycle
• The motor control algorithm employs Stator-Flux-Oriented Control (SFOC); Power stage
switches are controlled by Space Vector Pulse Width Modulation (SVPWM)
• No position information devices or stator flux measurement are used, so a speed sensorless
method is employed
• The motor is capable of forward and reverse rotation and has a speed range from 50rpm to
3000rpm; the tumble wash has a speed of 40rpm and the spin cycle obtains a maximum drum
speed of 1600rpm. The drum can be driven directly or by a belt that connects to the motor shaft.
To acheive the wash and spin cycles, the speed-transfer ratio can be set at 1:2.
• The user controls motion profiles, rotation direction, and speed. The RS-232 communication
supports further R&D by enabling the easy tuning of control parameters.
• The motor drive system is designed to create minimal acoustic noise
3.3 Introduction to System Design

3.3.1 Hardware
This application uses a 56F8013 device to drive a 3-phase motor with a complicated motion protocol.
The resistor uses phase current sensors and no optocoupler, so the system is cost-sensitive.
PC master software communicates with the PC through the RS-232 and senses the mid-variables and
modifies the control-variables during the debug process.
The system comprises a 56F8013 board and an ACIM board. The ACIM board includes a 3-phase
power stage, Power Factor Correction (PFC), a communication module which links the PC with the
56F8013 demonstration, simplified Human Machine Interface (HMI) and a protection module, as well as
effective electrical isolation.
Preliminary
Introduction to System Design
L1 D1
VT1 VT3 VT5

VT0 IM
C
AC Input
LOAD
VT2 VT4 VT6
Vdc i i
ωr*
A B
Oscilloscope
56F8013 power
JTAG
Processor DA
Board
driver
VT0
VT1
VT2
VT3
VT4
VT5
VT6
1
HMI
Figure 3-3. System Block Diagram
Among the hardware system features are:

• Integrated Power Module (IPM)
An IRAMS10UP60A, a 600V, 10-Ampere IR Integrated Power Module, powers the ACIM. Its
built-in control circuits provide optimum gate drive and protection for the IGBT. Three bridges are
integrated in its body. It reduces the design scale of hardware and software. Figure 3-4 shows
the Circuit Diagram.

Preliminary
Figure 3-4. IRAMS10UP60A Circuit Diagram
• 56F8013
Guaranteeing excellent performance and accurate control of the ACIM requires more complex
software, but the powerful 56F8013 is capable of the heavy computation demanded.
The controller board includes:

— Control system circuit
— CPU circuit
— ADC circuit
— Power supply circuit
— DAC circuit
— SCI interface
— Parallel JTAG interface
— LED display circuit
— Signals output interface
Preliminary
Introduction to System Design
• No optocoupler
To keep the application’s costs low, optocouplers are not used as an interface between the
controller and the IPM. A reliable protection circuit improves system safety.
• Power stage for ACIM, BLDC, and PMSM
The power stage can drive ACIM, BLDC, and PMSM motors with only minor adjustments to
resistor values
• Signal sample and process board
To control hardware costs, rather than using a Hall effect transducer, a simple difference amplier
circuit detects the current and voltage signals
• 56F8013 Evaluation Module (EVM)
Freescale’s 56F8013 demostration board connects to the main board and highlights the
capability of the EVM
3.3.2 Software
This system drives a 3-phase ACIM using stator-flux orientation. The application features:
• Control technique, which includes:
—Phase currents and phase voltages reconstruction
—Stator-flux observation
—Electromagnetic torque estimation, used for the slip frequency calculation
—Stator flux orientation to calculate the torque-producing stator current to be used in the speed
regulation channel
— Speed closed loop, allowing the motor a good transient response
— Compensation for the voltage drops across the stator resistor
— SVPWM to generate the desired voltage by the inverter
• Minimum speed of 50rpm
• Maximum speed of 3000rpm
• Power factor correction which eliminates negative effects on the input electric use of switches
• Fault protection against:
— Bus overvoltage
— Bus undervoltage
— Bus overcurrent
— IPM overheating
• PC master software for debug and remote control of the ACIM

Preliminary
3.4 Specification and Performance
Input voltage: 85~265VAC
Input frequency: 45~65HZ
Rating bus voltage: 350V
Rating output power: 500W
Switch frequency of PFC switch: 100KHZ
Switch frequency of inverter: 10KHZ
Power factor: >95%
Efficiency: >90%
Preliminary
AC Induction Motor
Chapter 4
ACIM Theory
4.1 AC Induction Motor

Squirrel-cage AC induction motors are popular for their simple construction, low cost per horsepower,
and low maintenance (they contain no brushes, as do DC motors). They are available in a wide range of
power ratings. With field-oriented vector control methods, AC induction motors can fully replace
standard DC motors, even in high-performance applications. The AC induction motor is a rotating
electric machine designed to operate from a 3-phase source of alternating voltage. In variable-speed
drives, the source is normally an inverter that uses power switches to produce approximately sinusoidal
voltages and currents of controllable magnitude and frequency.
As the sinusoidally-distributed flux density wave produced by the stator magnetizing currents sweeps
past the rotor conductors, it generates a voltage in them. The result is a sinusoidally distributed set of
currents in the short-circuited rotor bars. Because of the low resistance of these shorted bars, only a
small relative angular velocity, ωr, between the angular velocity, ωs, of the flux wave and the mechanical
angular velocity, ω, of the two-pole rotor is required to produce the necessary rotor current. The relative
angular velocity, ωr, is called the slip velocity. The interaction of the sinusoidally distributed air gap flux
density and induced rotor currents produces a torque on the rotor. The typical induction motor
speed-torque characteristic is shown in Figure 4-1.
Figure 4-1. Induction Motor Speed-Torque Characteristic
ACIM Theory, Rev. 1

Preliminary
4.2 Induction Motor Model
Stator voltage differential equation:
v v v v
U s = Rs is + pΨ s + jω1Ψ s
Eqn. 4-1
Rotor voltage differential equation:
v v v
0 = Rr ir + pΨ r + jω s Ψ r
Eqn. 4-2
Stator and rotor flux linkages expressed in terms of the stator and rotor current space vectors:
v v v
Ψ s = Ls is + Lm ir
Eqn. 4-3
v v v
Ψ r = Lr ir + Lm is
Eqn. 4-4
Electromagnetic torque expressed by utilizing space vector quantities:
v v
Te = n p (Ψ s × is )
Eqn. 4-5
Where:
v Stator voltage vector
Us
v
Ψs Stator flux vector
v
Ψr Rotor flux vector
v Stator current vector
is
v Rotor current vector
ir
Ls Stator equivalent inductance
Lr Rotor equivalent inductance
Lm Mutual equivalent inductance
np Pole pairs
Te Electormagnetic torque
ω1 Synchronous speed frequency
ωs Synchronous slip frequency
Preliminary
Digital Control of an AC Induction Motor
4.3 Digital Control of an AC Induction Motor

In adjustable-speed applications, AC motors are powered by inverters, which convert DC power to AC
power at the required frequency and amplitude. Figure 4-2 shows the hardware system configuration.
L1 D1
VT1 VT3 VT5

VT0 IM
C
AC Input
LOAD
VT2 VT4 VT6
Vdc i i
ωr*
A B
Oscilloscope
56F8013 power
JTAG
Processor DA
Board
driver
VT0
VT1
VT2
VT3
VT4
VT5
VT6
1
HMI
Figure 4-2. Hardware System Configuration
The inverter consists of three half-bridge units in which the upper and lower switch are controlled
complementarily, meaning when the upper one is turned on, the lower one must be turned off, and vice
versa. Some dead time must be inserted between the time one transistor of the half-bridge is turned off
and its complementary device is turned on.
The output voltage is mostly created by a Pulse Width Modulation (PWM) technique, where an isosceles
triangle carrier wave is compared with a fundamental-frequency sine modulating wave. This technique is
shown in Figure 4-3. The 3-phase voltage waves are shifted 120° to one another and thus a 3-phase
motor can be supplied.
ACIM Theory, Rev. 1

Preliminary
Figure 4-3. Pulse Width Modulation
In this document, the Space Vector Pulse Width Modulation (SVPWM) is employed to reduce the
harmonic distortion and improves the efficient use of the bus voltage. Two basic neighboring voltage
vectors are used to compose the arbitary voltage vector in the control period.
The most popular power devices for motor control applications are Power MOSFETs and IGBTs. A
Power MOSFET is a voltage-controlled transistor. It is designed for high-frequency operation and has a
low-voltage drop, so it has low power losses. An Insulated-Gate Bipolar Transistor (IGBT) is controlled
by a MOSFET on its base. A built-in temperature monitor and overtemperature/overcurrent protection,
along with the short-circuit rated IGBTs and integrated under-voltage lockout function, make the
Integrated Power Module (IPM) more convenient for engineers to develop their systems and make IPMs
widely used in today’s home appliances. This application also incorporates an IPM.
Preliminary
Vector Control of AC Induction Machine
Chapter 5
Design Concept of an ACIM Vector Control Drive
5.1 Vector Control of AC Induction Machine

Aligning the d axis to the stator flux, Ψ s , written in d-q component, stator voltage is then transformed to:
uds = Rs ids + pΨ s
Eqn. 5-1
uqs = Rs iqs + Ψ sω1

Eqn. 5-2
From Equation 4-2 to Equation 4-4, the following equations can be derived:
(1 + στ r p ) Ls isq − ωsτ r (Ψ s − σ Ls isd ) = 0

Eqn. 5-3
(1 + τ r p )Ψ s = (1 + στ r p ) Ls isd − ωsστ r Ls isq

Eqn. 5-4
then:
Te = n pisq Ψ s
Eqn. 5-5
where:
τr Rotor Time Constant
L2m
σ = 1− Total Leakage Factor
Ls Lr
Equation 5-4 indicates the coupling between isd and isq. “A Stator Flux Oriented Induction Machine
Drive” presents a method to decouple the isd from isq using a decouple compensator. However, the use
of a decouple compensator will negatively affect the system performance, depending on the machine
parameters, and increase software complexity. Equation 5-1 represents the relationship between stator
flux, Ψs, and the d-axis stator voltage. The differential will introduce noise, so a Proportional-Integral (PI)
flux regulator is used to approach the effect of stator voltage on flux, as shown in Equation 5-6:
ˆ ) + K (Ψ * − Ψ
ˆ )dt
uds = K p (Ψ *s − Ψ s i∫ s s Eqn. 5-6
where:
Ψ∗s Commanded Stator Flux
Estimated Stator Flux

ˆ
Ψ ∗s
Design Concept of an ACIM Vector Control Drive, Rev. 1

Preliminary
This information allows calculation of voltage on the d axis.
Assuming Rsiqs < < Ψsω1, Equation 5-2 will simplified to:
uqs ≈ Ψ sω1
Eqn. 5-7
In the steady state, uqs is proportional to ω1 and, in a sense, ω1 possesses a characteristic of the
constant volts/hertz ratio, but at the low speed range, Rsiqs can’t be ignored.
From Equation 5-2 and Equation 5-6, the terminal reference voltage vector, V ref can be established as
shown in Figure 5-1, where ω*1 is the commanded synchronous speed.
θ = ∫ ω1*dt = ω1*Tc + θ 0
Eqn. 5-8
From Figure 5-1, it is clear that uqs takes up the majority of V ref, while uds compensates the stator flux
loss due to the voltage drop across the stator resistance in the transient state.
Based on the analysis, the control scheme can be obtained as shown in Figure 5-2.
ωr* isq* ∆w ω1* Usq*

SVPWM
iˆsq IM
Rs
iˆsq Ψ *
s U *
sd
iˆsq Vsαβ
ωˆr ω̂1 d θˆΨˆ
s
dt
ˆ
Ψ s
I sαβ αβ Iabc Feedback
ωˆ sl Slip Observer signal

Frequency Tê ABC detector
Estimator
Figure 5-1. Block Diagram of the Stator Flux Oriented (SFO) System
q β v
V re f
u qs
d
θ u ds
α
Figure 5-2. Stator Reference Voltage V ref
Preliminary
Block diagram of Stator Flux Oriented (SFO) Control
5.2 Relationship between Rotor Flux Orientation and Stator Flux

Orientation Induction Motor Drive
The aim of vector control is to implement control schemes which produce high-dynamic performance
and are similar to those used to control DC machines. To achieve this, the reference frames may be
aligned with the stator flux-linkage space vector, the rotor flux-linkage space vector, or the magnetizing
space vector.
From Equation 4-3 and Equation 4-4, the relationship between stator flux and rotor flux can be
calculated as follows:
v uv v
Ψ s = ∫ (U s − rs is )dt
Eqn. 5-9
v L v v
Ψ r = r (Ψ s − σ Ls is )
Lm
Eqn. 5-10
Equation 5-9 indicates that the stator flux depends only on the stator resistance, which is relatively easy
to calculate. Equation 5-10 demonstrates that the rotor flux requires the knowledge of instances of the
machine, especially the leakage inductance. The rotor flux estimation suffers when machine parameters
are detuned. When the estimated value of a parameter differs from its actual value, the estimated rotor
flux is then different from the actual rotor flux. The orientation is no longer accurate with respect to the
actual rotor flux. In this case, the system becomes coupled, and instantaneous torque control is lost.
The stator flux can be estimated more easily and precisely than the rotor flux. Thus, the Stator Flux
Oriented (SFO) system has been attracting more attention. However, a coupling exists between the
torque-producing component of the stator current isq and the stator flux-producing component.
Consequently, any change in isq without a corresponding change in isd will cause a transient in stator
flux. See “A Stator Flux Oriented Induction Machine Drive”. Accurate decoupling control still
depends on knowledge of machine parameters.
This application illustrates an ACIM drive using stator flux orientation, without the use of a speed sensor.
5.3 Block diagram of Stator Flux Oriented (SFO) Control

Figure 5-2 shows the basic structure of SFO control of an AC induction motor. To perform vector
control, follow these steps:
1. Measure bus voltage and phase currents
2. Transform these measurements into a 2-phase system using Clarke transformation
3. Estimate stator flux and slip frequency
4. Calculate synchrounous speed, then rotor speed
5. Calculate the torque-producing current, isq
6. Use the PI regulator to obtain the commanded slip frequency
7. Add the commanded slip frequency to the estimated rotor speed to find the commanded
synchronous speed
8. Use the compensation method to obtain the stator voltage on the direct axis and
quadrature axis.
9. Use SVPWM to generate stator voltage

Preliminary
5.4 Forward and Inverse Clarke Transformation (a, b, c to α , β and
backwards)
The forward Clarke transformation converts a 3-phase system (a, b, c) to a 2-phase coordinate system
(α, β). Figure 5-3 shows graphical construction of the space vector and projection of the space vector to
the quadrature-phase components, α, β. Assuming that the a axis and the α axis are in the same
direction, the quadrature-phase stator currents isα and isβ are related to the actual 3-phase stator
currents as follows:
Figure 5-3. Clark Transformation
isα = isa
Eqn. 5-11
1 2
isβ = isa + isb
3 3 Eqn. 5-12
The inverse Clarke transformation transforms from a 2-phase (α, β) to a 3-phase (isa, isb, isc) system.
isa = isα
Eqn. 5-13
1 3
isb = − isα + isβ
2 2 Eqn. 5-14
1 3
isb = − isα + isβ
2 2 Eqn. 5-15
Preliminary
Rotor Speed Estimation
5.5 Forward and Inverse Park Transformation (α, β to d-q and backwards)
In stator-vector oriented control, the quanties in the statar reference frame should be transformed into
the synchronous rotation with the stator flux vector reference frame. The relationship of the two
reference frames is shown in Figure 5-4. The d axis is aligned with the stator flux vector, where θΨ s is
the position of the stator flux.
q
β v
Ψs
d
θΨv
o s
α
Figure 5-4. Park Tranformation
The quantity in the stationary frame is transformed into synchrounous frame by:
isd = isα cos θ Ψv s + isβ sin θ Ψv s

Eqn. 5-16
isq = −isα sin θ Ψv s + isβ cos θ Ψv s

Eqn. 5-17
And the inverse relation is:
isα = isd cos θ Ψv s − isq sin θ Ψv s

Eqn. 5-18
isβ = isd sin θ Ψv s + isq cos θ Ψv s

Eqn. 5-19
5.6 Rotor Speed Estimation

The synchronous frequency can be calculated:
d ˆ d ˆ
Ψ ˆ − (u − R i )Ψ
(usβ − Rs isβ )Ψ ˆ
sβ sα sα s sα sβ
ωˆ1 = (θ Ψˆ ) = arctan( )=
dt s
dt ˆ
Ψ Ψˆ 2
sα s
Eqn. 5-20
where:
usα, usβ, isα, isβ are the stator voltage and current in the α—β stationary reference frame.
Slip frequency can be deduced from Equation 5-3:
(1 + στ r p ) Ls iˆsq
ωˆ s =
τ (Ψ ˆ − σ L iˆ )
r s s sd
Eqn. 5-21

Preliminary
It will add to the software complexity to calculate ω̂ s using Equation 5-21, and the detuning of the
parameters will affect the rotor speed calculation.
Slip frequency can be derived from nameplate specification of the induction machine, as shown in
Table 5-1.
Table 5-1. Nameplate Specification

Rated Power 0.12kw Rated Speed 1310rpm
Rated Current 0.76A Rated Frequency 50Hz
Rated Voltage 220V Pole Pairs 2
Slip frequency is obtained by:
(1500-1310)rounds (1500-1310)r × pn
∆ω N = = = 6.3Hz
minute 60seconds Eqn. 5-22
Estimated slip frequency can be determined by the observer of electric torque:
∆ω N ˆ 6.3Hz ˆ
slip _ estimated = × Te = × Te = 7.2 × Tê
TeN 0.875
Eqn. 5-23
Therefore, the rotor speed can be calculated:
ωˆ r = ωˆ1 − ωˆ s
Eqn. 5-24
5.7 Speed Regulator

From Equation 5-5, the torque is in proportion to the torque-producing current isq . Quick control on isq
will yield a fast transient state. The PI speed regulator generates the command i*sq from the difference
between the commanded rotor speed and estimated rotor speed. Commanded slip frequency can then
be obtained by the difference between the commanded isq and estimated î sq through another PI
regulator. The reference synchronous speed is calculated by finding the sum of the estimated rotor
speed and commanded slip frequency.
The speed regulator channel can be found as shown in Figure 5-5.
wr* isq* ∆w w1*
wˆ r Iˆsq wˆ r
Figure 5-5. Speed Regulator Channel
Preliminary
PFC Design
5.8 PFC Design

The main circuit adopted in this application is a single-switch PFC circuit (see Figure 5-6). The circuit is
composed of Q, D, L, and filter capacitance, C2, C3 and includes an EMI filter, input relay, and full-wave
rectifier. In the 56F8013-based PFC module system, the controller samples the voltage signal output
and voltage DC_bus, and processes these samples in the digital control loop. Because system is based
on current Discontinuous Current Mode (DCM) mode, there is only a voltage loop. Outer voltage loop G
insures the output voltage is constant.
C3 R1 R2
C2
C1
3. 3 VP
PWM1
G
RX RX
TX TX
V err DC_ b u s ADCIN0

+ -
V_ref 56F8013
Figure 5-6. PFC Configuration Diagram
5.8.1 Inductor selection

A. Maximum peak line current:
Eqn. 5-25
Ripple current:
Eqn. 5-26
B. Determine the duty factor at Ipk, where Vin(peak) is the peak of the rectified line voltage.
Eqn. 5-27

Preliminary
C. Calculate the inductance; fs is the switching frequency.
Eqn. 5-28
Round up to 250µH.
5.8.2 Output Capacitor

Output filter inductor can be calculated by the following equation:
Eqn. 5-29
Po = 500W
Vo(min) = 380 x (1 - 10%) = 342V
Vo(max) = 380 x (1+10%) = 418V
∆t = 50ms
According to Equation 5-29, C = 866µH.
Select the output capacitor to be C = 940µH.
Two 470µH/450V electrolytic capacitors connected in parallel are chosen.
5.8.3 Main Switch

The voltage limit of the main switch is:
VCEM(S) > 1.5Vcem(S) = 1.5Vin(max) = 1.5 x 380 = 570V Eqn. 5-30
The circuit limit of the main switch is calculated by RMS value:
Eqn. 5-31
Select main switch Q400—Q401 to be the MOSFET IRFPC60LC. Parameters are described as follows:
VDSS = 600V
ID = 16A
RDS (on) tye = 0.4Ω
TO-247AC Package
5.8.4 Output Diode

The voltage limit of the output diode is:
VCEM(S) > 1.5Vcem(S) = 1.5Vin(max) = 1.5 x 380 = 570V Eqn. 5-32
The circuit limit of the output diode is calculated by RMS value:
Eqn. 5-33
Preliminary
PFC Design
Select output diode D400—D402 to be FRED DSEP60-06A. Parameters are described as follows:
VRRM = 600V
IFAVM = 60A
trr = 35nS
TO-247AD Package
5.8.5 Inductor Design

In Section 5.8.1, it was found that L= 250µH.
Select Bm= 0.3T.
Select magnetic core to be EI33, with an effective area of 118mm2.
The number of inductor windings can be calculated as follows:
LI L (max)
N= =38.2
Ae Bm
Eqn. 5-34
Select N = 38.The gap is:
µ o N 2 Ae 1.25 × 10 −6 × 382 ×118 × 10 −6

δ= = = 0.85mm
L 250 × 10 −6 Eqn. 5-35
When work frequency of inductance is 100kHz, the penetrate depth of copper lead is:
2 1
Λ= = = 0.209mm
2πf s µγ 3.14 × 100 × 103 × 1.25 × 10 −6 × 58 ×10 6
Eqn. 5-36
Where:
γ is the electric conductive ratio of lead
µ is magnetical conductive ratio of lead
A copper lead with a smaller diameter than 0.42mm can be selected. In this case, select high intensity
lead with a diameter of 0.33mm and an effective area of 0.0855mm2.
3.84 = 1.1mm2
By selecting circuit density to be J = 3.5A/mm2,the area of leads is S = .
3.5
Thirteen leads with a diameter of 0.33mm must be used.
38 ×13 × 0.0855
Kc = = 0.32 <<0.35
132 Eqn. 5-37

Preliminary
Preliminary
56F8013 Device
Chapter 6
Hardware Implementation
The motor control system is designed to drive the 3-phase AC motor in a speed closed loop. The
prototype is pictured in Figure 6-1 and It consists of the following blocks:
• 56F8013
• High-voltage power stage board with sensor board
• Power supply stage and PFC
• 3-Phase AC motor without speed transducer
6.1 56F8013 Device

The demonstration system is illustrated in Figure 6-1 and the hierarchy diagram is depicted in
Figure 6-2. it clearly shows that the 56F8013 is the core of the system, highlighted atop the mother
board. Figure 6-3 shows the motor control system configuration.
Figure 6-1. Demonstration System
Hardware Implementation, Rev. 1

Preliminary
AC Induction Motor
DSC Controller Board
J1 on DSC
Controller Board
RS-232
Connector
Motherboard
Heatsink
J5000 on Power Board
Left Side Right Side
RS-232
Aeration holes
POWER
OFF
Input
Power
POWER ON
Front Side
Figure 6-2. Hierarchy Diagram
The 56F8013 is the drive’s brain. All algorithms are carried out in this single smart chip, which reads the
input commands, processes the routine, and generates the PWM to govern the power switches driving
the motor and the PFC to make the input current sinusoid.
Preliminary
High-Voltage Power Stage
Mother Board
Bus Voltage 3phase

High Voltage
110V-220V Power supply ACIM
ACINPUT Power Stage
stage & PFC
Auxillary Voltage Sensor
Stage
Control Signal Feedback Signal LOAD
Speed setup
56F8013EVM
Figure 6-3. Motor Control System Configuration
6.2 High-Voltage Power Stage

The HV Medium Power Board is designed to meet the power needed by a household washing machine
and lower-power industrial applications. An Integrated Power Module (IPM) is used to simplify the design
and board layout and to lower the cost. IPMs are available from various suppliers and it is simple to use
one from a supplier of choice. The IRAMS10UP60A is an IPM, which targets the household appliance
market. Its features include:
• Integrated gate drivers and bootstrap diodes
• Temperature monitor
• Temperature and overcurrent shutdown
• Fully isolated package
• Low VCE (on) non-punch-through IGBT technology
• Undervoltage lockout for all channels
• Matched propagation delay for all channels
• Low-side IGBT emitter pins for current conrol
• Schmitt-triggered input logic
• Cross-conduction prevention logic
• Lower di/dt gate driver for better noise immunity
Its maxium IGBT block voltage is 600V; phase current is 10A at 25°C and 5A at 100°C, making it
suitable for this appliance.

Preliminary
6.3 Sensor Stage
The control algorithm requires DCBus voltage, DCBus current and phase current sensing, so these
sensors are built on the power stage board. Schematics of the sensors circuits can be found in
Appendix A.
A. DCBus Voltage Sensor
The DCBus voltage must be checked because overvoltage protection and PFC are required. A simple
voltage sensor is created by a diffential amplifier circuit. The voltage signal is transferred through a
resistor and then amplified to the reference level. The amplifier output is connected to the 56F8013’s
ADC.
Figure 6-4. DCBus Sampling Circuit
B. DCBus Current Sensor

The bus current is sensed through the detection of the voltage drop across the resistor cascade into the
negative bus link. A differential amplifier is then used to draw the voltage out and transform it to a level
the 56F8013’s AD channel can accommodate. The sample circuit is depicted in Figure 6-5.
Preliminary
Sensor Stage
2
R6003 C6000
8.2K-0.1% 0.1uF
2 1
D+5V
8
R6001 U6001A
10K-0.1%
I_Sense_DCB1 3 MC33172 U6001B
1 R6005 5 MC33172
PGND 2 160 7 I_Sense_DCB
I_Sense_DCB
6
R6002 C6003
10K-0.1%
0.01uF
4
2 R6004 1
2 1
8.2K-0.1%
Figure 6-5. Bus Link Current Sample Circuit
C. Phase Current Sensor

The stator flux and electromagnetic torque can be derived from two phase currents and voltages. The
use of a Hall current transducer will sharply increase the cost, and two channel differential amplifiers are
used as the Analog-to-Digital Converter (ADC) to sample phase currents as shown in Figure 6-6. The
SVPWM is employed. The state in which all bottom switches are turned on and upper switches are
turned off is defined as state 0, and the corresponding equivalent topology is depicted in Figure 6-6 (b).
The sample is triggered at state 0, shown in Figure 6-6 (c). In this way, two phase currents can be
derived through the differential amplifier channels. The spot worth consideration is that a certain margin
∆ should be maintained between the circle track formed by the reference voltage vector V ref and the
inscribed circle of the hexagon shaped by the six base vectors as described in Figure 6-6 (a), especially
at the high speed range.
V3( 010) I I V2( 110)

∆ Cur r ent Sensi ng Ci r cui t
I
III Vr ef
T2
PhaseA
PhaseB
PhaseC
V4( 011) V1( 100) A

T1 Td Td
B
IV VI
AD1 AD2
I nduct i on Mot or C
T0 T1 T2 T3 T4 T5 T6
V5( 001) V V6( 101)
(a) SVPWM (b) Equivalent Topology (c) Sample Time
Figure 6-6. Methods to Detect Phase Currents
D. Power Supply Stage

The power supply stage provides a high-voltage DCBus +5V power supply for the drive and auxillary
power and +15V for the 56F8013, high-voltage drivers and amplifiers. A topswitch generates auxiliary
power supply of +15V for both the ICs and the IPM. PFC is employed to make the input current trace the
input voltage and to reduce the EMI.

Preliminary
E. Protection Circuit
To improve the system safety level, overcurrent and overvoltage in the bus link detection and protection
are introduced into the system, illustrated in Figure 6-7. The signal generated by the circuit “IPMLOCK”
will be connected to the IPM’s drive IC (74HC244) and to the 56F8013’s fault pin. When a fault is
generated, the IPMLOCK signal draws to high level. On the one hand, the IPMLOCK will disable the
74HC244 and the PWM signals won’t pass through; on the other hand, the IPMLOCK signal will drive
the 56F8013’s fault0 pin, and the 56F8013 will block the PWM signal instantly.
D+5V C6031
0.01uF
RV6002 D+5V C6032

10K 0.01uF
R6011
2K
4
U6002A
2 MC33172 D6000
1 IN4148
3
1
C6005 LED6001
8 RED DISPLAY
C D+5V
R6008
2
620 0.1uF
I_Sense_DCB R6009 R6010
1.2K R6016
220K
6.8K
C6004 IPMLOCK
C6033 D+5V IPMLOCK
0.01uF 0.01uF
D+5V C6030
0.01uF R6015
3K
RV6003
10K U6002B
6 LM293 D6001
7 IN4148
5
1
LED6001
RED DISPLAY
R6012
2
620 R6013 R6014

V_Sense_DCB
1.2K 220K R6016
6.8K
C6006
0.01uF
Figure 6-7. Protection Circuit
6.4 PFC Hardware Design

The topology of the main circuit is a boost circuit. One signal, output bus voltage DC_bus, is sampled
and sent to the 56F8013.
Preliminary
PFC Hardware Design
Figure 6-8. Main PFC Circuit
6.4.1 Drive Circuit Hardware Design

IC IR2125, a simple and reliable gate drive circuit based on a current-limiting single channel driver, is
used; it is shown in Figure 6-9.
Figure 6-9. PFC Drive Circuit
6.4.2 Sample Circuit Hardware Design

The output bus voltage, Vbus, sample circuit is shown in Figure 6-10. A simple voltage divider is used for
the bus voltage sample.

Preliminary
Figure 6-10. PFC Sampling Circuit
6.5 Detailed Motherboard Configurations for ACIM

The motherboard shown in Figure 6-2 comprises a high-voltage power stage, a sensor stage, a
protection circuit and PFC. It is a general board which can be used for ACIM, BLDC and PMSM after
simple configuration with resistances and jumpers.
Configurations for the ACIM are shown in Figure 6-11; shorten circuits for the jumpers circled in red.
C5004
JP6000
JP1005 JP1004
JP1008
U6002
U6003
U6001
U6008
C5003
JP1009
DSC
Figure 6-11. ACIM Jumper Configuration
Preliminary
Detailed Motherboard Configurations for ACIM
Table 6-1 details the configurations of the 56F8013 resources used in the system and the corresponding
variables used in the software.
Table 6-1. Configuration of the 56F8013’s Resources

Target Variables 56F8013 Resources Software Resources
DCBus Voltage: V_sense_DCB ANB1 (PC5) sample3 AD_VDC

Uphase Current Sample: I_sense_U ANA1 ( PC1 sample0 AD_iA
Vphase Current Sample: I_sense_V ANA0 (PC0) sample1 AD_iB
DCBus Current Sample: I_Sense_DCB ANB0 (PC4 sample4 AD_iDC
Relay: AC_RELAY PB5
OPEN: OPEN PB2
DACCLK PB0
DACDATA PB3
DACEN PB1
TXD PB7
RXD PB6
FAULT0 PA6

Preliminary
Preliminary
Data Flow
Chapter 7
Software Design
This section describes the design of the drive’s software blocks. The software will be described in terms
of:
• Control Algorithm Data Flow
• State Diagram
7.1 Data Flow

The drive requires the software to gather and process values from the user interface and generate
3-phase PWM signals for inverter. The control algorithm contains the processes, described in the
following sections.
PC master Washing machine

Phase current
work pattern
sample(A/D)
IPM temperature
monitor iA&iB U_dc_bus Desired rotor speed
DC_Bus Current(A/D) DC_Bus Voltage(A/D)
Stator flux Electromagnetic Speed

estimation torque regulator
I_dc_bus U_dc_bus
Stator_flux_est Elec_torque_est w1_command
Fault Control
Synchronous Slip frequency StatorFlux
speed estimation estimation Determine
Drive Fault status

w1_est Slip_est Stator_flux_
commanded
Block IPM Rotor speed

StatorFlux
estimation Usq determine
Regulator
w2_est
Usq Usd
SVPWM
PVAL0 PVAL2 PVAL4
Figure 7-1. Data Flow
Software Design, Rev. 1

Preliminary
7.2 Stator Flux Estimation
Estimating stator flux is one of the algorithm’s key tasks. Using the phase voltages and phase currents,
an estimation of stator flux can be derived from the stator flux model. Generally, the stator flux based on
the voltage model is determined by Equation 7-1.
v v v
v U s − Rs is E E v o
Ψs = = = e j ( ∠E −90 )
jω1 jω1 ω1
Eqn. 7-1
Where:
E is the back EMF
E is the magnitude of E
∠E is the phase of E
The pure integral of back EMF involves the drift and saturation problems due to initial condition and DC
offset. The Low-Pass Filter (LPF) is employed to replace the pure integral as shown in Figure 7-2.
q β v
V ref
u qs
d
θ u ds
α
Figure 7-2. Stator Reference Voltage V ref
v v ω
v E E j ( ∠E − arctan 1 )
ωc
Ψ ′s = = e
jω1 + ωc ω12 + ωc 2
Eqn. 7-2
Where:
ωc is the cutoff frequency of the LPF in radians per second
As expected, when ω1 >>ωc:
ω1
arctan ≈ 90o
ωc
Eqn. 7-3
ω12 + ω c 2 ≈ ω1
Eqn. 7-4
Design of ACIM Vector Control Drive using the 56F8013 Device, Rev. 1
Preliminary
Stator Flux Determination
In this case, the LPF estimator approaches the pure integrator estimator. But when the cut-off frequency,
ωc, is close to the synchronous ω1, errors occur, so a correction factor, G, is used to minimize the errors.
v v v
Ψ ′sG = Ψ s
Eqn. 7-5
Equation 7-6 can be deduced:
ω
v ω12 + ω c 2 j (arctan ω1c −90o )
G= e = G (ω1 )e j ρ (ω1 )
ω1
Eqn. 7-6
The improved stator flux observer channel is shown in Figure 7-3.
1 ˆ'
Ψ ˆ
Ψ
sα sα
ea G (ωˆ1 ) cos( ρ (ωˆ1 ))
jωˆ1 + ωc
Eq. ω̂1
5-20
1
eβ G (ωˆ1 ) sin( ρ (ωˆ1 ))
jωˆ1 + ωc ˆ' ˆ
Ψ sβ Ψ sβ
Figure 7-3. Improved Stator Flux Estimation Channel
7.3 Electromagnetic Torque

Electromagnetic torque can be estimated from stator flux and stator current and can be determined as
shown in Equation 7-7.
Te = −Ψ sβ isβ + Ψ sα isβ
Eqn. 7-7
7.4 Rotor Speed Estimation

A speed sensorless induction motor drive is a trend in today’s low cost variable speed applications. Due
to the cost and maintenance required by a speed transducer, speed sensorless technology is drawing
more attention. For convenience, this application assumes a simple method to estimate rotor speed,
described in Section 5.6.
7.5 Stator Flux Determination

The motor will get an optimum transformation from energy produced by magnetic field compared to that
produced mechanically when it works at the point of the flux linkage curve. At the high speed range,
however, the flux should be weakened to reach a high speed. Therefore, the electrical machine should
maintain the flux below the rated speed range, and the flux should be weakened at the high speed
range. The flux should be regulated depending on the rotor speed.

Preliminary
7.6 Space Vector Pulse Width Modulation (SVPWM)
Space Vector Modulation (SVM) can directly transform the stator voltage vectors from an α, β-coordinate
system to Pulse Width Modulation (PWM) signals (duty cycle values).
The standard technique for output voltage generation uses an inverse Clarke transformation to obtain
3-phase values. Using the phase voltage values, the duty cycles needed to control the power stage
switches are then calculated. Although this technique gives good results, space vector modulation is
more straightforward and realized more easily by a digital signal controller.
7.7 Fault Control

From the consideration of the cost control, optocoupler is not used in this system. The fault control
process and its hardware should be designed to provide a solid protection against damage. In this
application, due to the high complex of the pins, the fault1 to fault3 input pins are coupled with the PWM
output pads. Only fault0 is valid for the detection of the rising edge generated by the fault signals. The
overcurrent, overvoltage and overheat protections are merged together with the OR relation; that is, if
any of them occur, the pin Fault0 will catch the edge and the fault process will dominate all resources
and disable the PWM output pads. The routine will trap into the Interrupt Service Routine (ISR) once the
fault occurs.
7.8 PFC Software Design

Power Factor (PF) is defined as the ratio between real power and apparent power of AC input. Assuming
input voltage is a perfect sine wave, PF can be defined as the product of current distortion and phase
shift. Consequently, the PFC circuit’s main tasks are:
• Controlling inductor current, making the current sinusoidal and the same phase as input voltage
• Controlling output voltage, insuring the output voltage is stable.
The PFC main current needs two closed loops to control the circuit:
— The voltage loop is the outer loop, which samples the output voltage and controls it to a
stable level
— The current loop is the inner loop, which samples inductor current and forces the current to
follow the standard sinusoidal reference in order to reduce the input harmonic current
The system in this application is based on current Discontinuous Current Mode (DCM), in which there is
only a voltage loop. DCM can make the current both sinusoidal and the same phase as input voltage.
PI loop control is widely used in industry control because of its simplicity and reliability. In this
application, the voltage loop adopts PI regulator arithmetic.
These assumptions simplify analysis:
• Input current follows reference perfectly, which is proportional to the input voltage
• There is no additional power depletion in the circuit; power efficiency is 1
• Output power is constant
Preliminary
PFC Software Design
Figure 7-4. Simple PFC Mode
The function for output voltage:
⎧Uv(n) = K 0v × Ev(n) + Iv(n − 1)

⎪
⎨ Iv(n) = Iv(n − 1) + K1v × Ev(n) + Kcorrv × Epiv
⎪ Epiv = Usv − Uv(n)
⎩
⎧Uvmax whenUv(n) ≥ Uvmax

⎪
Usv = ⎨Uvmin whenUv(n) ≤ Uvmin
⎪Uv(n)
⎩ else
Uv(n) = the result of PI unit

Ev(n) = input error
Iv(n) = integral unit
K0v = proportional constant
K1v = integral constant
Kcorrv = resistant saturation constant
Usv = result of voltage loop after limit
iUvmax = maximum of voltage loop
Uvmin = minimum of voltage loop
Vo* vo
G ( Z)
-
K
Figure 7-5. Discrete Voltage Loop Structure

Preliminary
Preliminary
JTAG Simulation Function
Chapter 8
JTAG Simulation and SCI Communication
There are abundant software and hardware resources for JTAG simulation and communication in the
56F8013 device. With these resources, a 56F8013-based motor system can accomplish mixed
communication functions, such as JTAG debug and SCI interface, between the power module and PC.
Isolation is necessary between power electronics and microelectronics in the power system for safety.
The communication system consists of two parts:
• JTAG circuit, designed with for debugging and programming the 56F8013
• SCI circuit, designed for background communication from the PC; power management and
supervision can be realized conveniently
Figure 8-1. Communication Board’s Frame Figure
8.1 JTAG Simulation Function

Because the 56800E core integrates the JTAG/EOnCE function, the 56F8013 can be debugged and
programmed through the parallel port by a simple interface circuit without any special emulator. The
debug function is provided by JTAG interface.
The power main circuit must be removed to ensure safety. During debugging, the connection for main
power circuit should be cut off by disconnecting the J5000 connector on power board; see Figure 8-2.
JTAG Simulation and SCI Communication, Rev. 1

Preliminary
Figure 8-2. System Diagram
Figure 8-3. Connections for JTAG
As shown in Figure 8-3, the JTAG flat cable is connected to the 56F8013‘s J1. A parallel cable links the
JTAG to PC’s parallel port.
CAUTION
Disconnect J5000 in the Power Board before debugging or refreshing the control
program. Otherwise, damage to or invalidation of the demo, or even electrical
shock, can occur.
Debugging or refreshing the control program should only be done by

experienced personnel.
Preliminary
SCI Communication Function
Figure 8-4. CodeWarrior Development Tool Interface
CodeWarrior IDE is necessary to debug software and refresh the program; version 7.0 or later is
recommended. Figure 8-4 shows the software interface. Details about installation and use can be found
in the CodeWarrior documentation.
8.2 SCI Communication Function

Connections for SCI communication are shown in Figure 8-5. A serial cable links the RS-232 connector
on the demonstration board to the PC’s serial port.
JTAG Simulation and SCI Communication, Rev. 1

Preliminary
Figure 8-5. SCI Communication Connections
The PC Master software tool can be used for development and control of the application. Details about
installation and use of PC master software can be found in the CodeWarrior tool.
Preliminary
Cautions
Chapter 9
Operation
This section offers brief instructions on operating the ACIM application.
9.1 Switch-on
Follow these steps to start the ACIM application:
1. Make sure the power switch is on the POWEROFF state, then put the plug in a wall socket
2. Switch the appliance on by pressing down the POWERON button.
The 56F8013 starts the main power, and the ACIM begins to work
9.2 During Operation

1. LEDs on controllers can display system information
— LED 1 displays the operating mode
— LED 2 displays the rotation speed
2. SCI communication provides background supervision for the power module
— SCI baud rate configuration: 4800 BPS
3. Debug function is provided by the JTAG interface
See Caution, Section 8.1 and Section 9.4

4. To ensure the demo plate coupled on the shaft of the motor will not fly out, be sure the
upper cover of the box is closed
9.3 Switch-off
To turn the application off, follow these steps:
1. Switch off the POWERON Button
— The 56F8013 cuts off the main power and the bus voltage is decreased
2. Unplug the power line.
— The controller is powered off, and system is switched off
9.4 Cautions
To ensure safety, take care when:
1. Pressing the power switch to 1 on the unit after the power line is plugged in during the
switch-on process
2. Pressing the power switch to 0 before power line is unplugged during the switch-off
process
3. Debugging
Before beginning the debug process, cut off power to the main power circuit by
disconnecting the J5000 connector on the Power Board
Operation, Rev. 1
Preliminary
Preliminary
Appendix A
Schematics
Schematics, Rev. 1
Freescale Semiconductor Appendix A-1
Preliminary
Appendix A-2
U3000
C3005 5 4
10uF/10V VOUT CAP-
+ GND_PC1
6 3 J3001
LV GND
5 5
7 OSC CAP+ 2 9 9
C3006 4 4
+5V_SCI1 1 8 V+ NC 1 10uF/10V 8 8
3
1
1
1
GND_PC1 + 3
D+3.3V D3000 TC7660 7
BAV99 7
C3008 C3009 2 2
6 6
GND_PC1 1
D3004 C3007 1
0.1uF 0.1uF 10uF/10V
1N4733 + D3001 D3002 D3003 DB9
R3000 R3001 BAV99 BAV99 BAV99 +5V_SCI1
800 800 R3002 R3003
800 800 +5V_SCI1
+5V_SCI1
C3000
4
1
U3001 0.1uF
RXD1 U3003
RXD1
C A 9 R2O R2I 8
12 R1O R1I 13
10 T2I T2O 7 GND_PC1
NEC2501 11 14 GND_PC1
T1I T1O
C3001 5
0.1uF 4 C2- GND 15
C2+ VCC 16
1
4
U3002 3
C3002 1 C1- V- 6
C1+ V+ 2 C3003
A C 0.1uF C3004
TXD1 TXD1 MAX202CSE 0.1uF 0.1uF
NEC2501
+5V_SCI1
GND_PC1
DGND
DGND
D+3.3V
D+3.3V
ISOLATED SCI
V2.0
Preliminary
Freescale Semiconductor
Preliminary
PFC&AP_2 U1002
PFC&AP_2.SCH IRAMS10UP60A Induction Motor & Driver R1014
2 onlyForPMSM
BUS+ U1 UN1
BUS+ C1002
+
JP1000 JP1001
C1006 R1015
R1012 0.1uF/630V CBB 2 onlyForPMSM
470V1K 2.2uF/25V V1 VN1
C1036 C1003
0.1uF/630V CBB R1017 U2
+
HEAD 0.5ACIM R1016 UVW_OUTPUT
2 onlyForPMSM
PGND I_Sense_DCB1 R1018 V2 2.2uF/25V W1
C1004
DGND
PFCdrive1
AC_RELAY
P+15V
D+5V
PGND D+3.3V R1008 0.5ACIM
+
RP1000 0.5ACIM/2PMSM
8X5K PGND R1019
HIN1 HIN2 HIN3 LIN1 LIN2 LIN3 T/Itrip VDD VSS 2.2uF/25V
D+5V 0.5ACIM
TE10 TE12 TE14 TE11 TE13 TE15
15
16
17
18
19
20
21
22
23
C1000
PWM0 PWM2 PWM4 PWM1 PWM3 PWM5
P+15V
D+5V
DGND
PFCdrive1
AC_RELAY
8 7 86 75 64 53 42 31 2 1
0.01uF
20
U1000 JP1015
PWM0 2 U1
PWM2 1A1VCC 1Y1 18 U
4 1A2 1Y2 16
PWM4 6 U2
1A3 1Y3 14
8 1A4 1Y4 12 PhaseU_up
PWM1 11 JP1016
PWM3 2A1 2Y1 9
13 2A2 2Y2 7 UN1
PWM5 15
PFCdrive 17 2A3 2Y3 5 PFCdrive1 UN
2A4 2Y4 3 PWM INPUT SIGNALS LOW ACTIVE I_Sense_DCB1
C1030 C1031 C1032 C1033 C1034 C1035
1 1G D+5V
IPMLOCK 19 C1009 PhaseU_down
1nF 1nF 1nF 1nF 1nF 1nF 2G GND
MC74HC244
10
0.1uF
R1001
1.2K U1001 JP1017
2
DGND LM293 RV1000 P+15V
10K V1
JP1007 1 V
1
D+3.3V IPMLOCK D1001 V2
1 2 D+3.3V R1000
DGND 3 4 DGND IN4148 OUT
1
TXD1 TXD1 1.2K PhaseV_up
RXD1 5 6 RXD1
7 8 LED1001 R1004 R1009
OverTemp P+15V JP1018
9 10 U1001 6.8K D1000
SCI LM293 R1013 R1002 IN4148 10.2K VN1
5.1K 130K C1001 C1008 VN
0.1uF 0.1mF/25V I_Sense_DCB1
7
R1010
300 PhaseV_down
JP4000 PGND
D+3.3V 1 2 D+3.3V PSS8050
DGND OPEN R1011
LEDCLK 3 4 LEDDATA DGND Q1000
5 6 4.7K
/LEDEN
7 8 D+3.3V DSP Control ON IPM
9 10
LED and DA NOTE:PGND,DGND are conncected together,for no opto-isolat ion is used
PGND
JP1010
SensorV02 D+3.3V 1 LEDV02
SensorV02.SCH DGND 3.3V 2 LEDV02.SCH
3 GND 4
U V_Sense_U TXD1 5 PA7-VPP LEDCLK
U V_Sense_U V_Sense_V PB7-TXD/SCL 6 LEDCLK
UN UN V_Sense_V RXD1 7 LEDDATA LEDDATA
V V_Sense_W PWM0 PB6-RXD/SDA/CLKIN 8 /LEDEN
V V_Sense_W 9 PA0-PWM0 10 ANA00 /LEDEN
VN I_Sense_DCB PWM1 11 PC0-ANA0 ANA11
VN I_Sense_DCB PA1-PWM1 PC1-ANA1 12
V_Sense_DCB V_Sense_DCB PFCdrive 13 14 V_Sense_W DGND DGND
S1000 BUS+ AC_RELAY 15 PB4-T0/CLK0 PC2-VREFH D+5V
BUS+ LEDDATA 17 PB5-T1/FAULT3 16 D+5V
TDO PB3-MOSI/T3 18 I_Sense_DCB
OPEN 19 PC4-ANB0 V_Sense_DCB
I_Sense_DCB1 I_Sense_DCB1
PB2-MISO/T2 PC5-ANB1 20
Function1 C1037 LEDCLK 21 22 RotorSpeedGiv
PGND IPMLOCK /LEDEN 23 PB0-SCLK/SCL PC6-ANB2/VREFL SCIV02
0.1uF PGND IPMLOCK PB1-/SS/SDA 24
TDI 25 26 SCIV02.SCH
D+5V TDO PD0-TDI PB1-/SS/SDA D+3.3V
JP1011 D+5V 27 PD1-TDO 28 D+3.3V
DGND I_Sense_U TCK 29 PB0-SCLK/SCL PWM2 DGND
DGND DGND Jumper for PushButton DGND I_Sense_U PD2-TCK PA2-PWM2 30 DGND
S1001 TMS 31 32 PWM3
U1 PD3-TMS PA3-PWM3 RXD1
Schematics, Rev. 1
U1 IPMLOCK 33 34 PWM4 RXD1
TDI V1 I_Sense_V PA6-FAULT0 PA4-PWM4/FAULT1/T2 TXD1
V1 I_Sense_V 35 36 PWM5 TXD1
W1 PA5-PWM5/FAULT2/T3
Function2 W1 37 38
C1038
0.1uF 39 40
DSP
JP1012
DGND DGND Jumper for PushButton
S1002
TMS
Function2
C1039
0.1uF
JP1013 JP1004 JP1005
DGND DGND Jumper for Push Button JP1002
V_Sense_U V_Sense_V
S1003 ACur_hall ANA11 ANA00
BCur_hall SUB_ANA1 SUB_ANA0
TCK DGND
Function3 C1040 ADC Channel Jumper ADC Channel Jumper
LEM(FOR DEBUG PURPOSE)
0.1uF
JP1006 JP1009
JP1014 JP1008
DGND DGND Jumper for Push Button D+3.3V ACur_hall BCur_hall
RotorSpeedGiv SUB_ANA1 SUB_ANA0
DGND I_Sense_U I_Sense_V
Rotor Speed
ADC Channel Sub-Jumper ADC CHANNEL SUN_JUMPER
ACIM/PMSM MOTOR DRIVER Power Board Top View
V2.0
Appendix A-3
Appendix A-4
U4002
D+5V FYQ-3641A
12
9
8
6
11 DIG.1
a DIG.1 DIG.2
DIG.2 DIG.3
DIG.3 DIG.4
DIG.4
U4001 7 a a a a
b
14 4 c f g b f b f b f b
1 3 DIG1 2 g g g
A Q0 DIG2 d
D+5V 2 B Q1 4 1 e c e c e c
R4008 5 DIG3 10
e e d c d d d
Q2 DIG4 f dp dp dp dp
Q3 6 5 g
5K 10 DIG5 3
Q4 DIG6 dp
8 CLK Q5 11
12 DIG7
/LEDEN Q6 DIG8
9 MR Q7 13
7
/LEDEN /LEDEN 74HC164
LEDCLK
LEDCLK
LEDDATA LEDDATA
D+5V
D+5V
DGND D+5V U4003
FYQ-3641A
U4000
12
9
8
6
14
LEDDATA 1 3 100 R4007 SEGA 11 DIG.1 DIG.2 DIG.3 DIG.4
A Q0 SEGB a DIG.1
a DIG.2
a DIG.3
a DIG.4
a
2 B Q1 4 100 R4006 7 b
5 100 R4005 SEGC 4 f b f b f b
Q2 SEGD c f g b g g g
Q3 6 100 R4004 2 d
10 100 R4003 SEGE 1 e c e c e c
LEDCLK Q4 SEGF e e d c d d d
8 CLK Q5 11 100 R4002 10 f
12 100 R4001 SEGG 5 dp dp dp dp
/LEDEN Q6 SEGDG g
D+5V 9 MR Q7 13 100 R4000 3 dp
R4009 7
74HC164
5K
U4004
D+5V R4010 19 2 DIG1

10K V+ DIG0 DIG2
DIG1 11
C4000 18 6 DIG3
ISET DIG2
+
47uF/10V 7 DIG4
LEDDATA DIG3 DIG5
1 DIN DIG4 3
10 DIG6
DIG5 DIG7
24 DOUT DIG6 5
8 DIG8
DIG7
LEDCLK 13 14 SEGA
CLK SEGA SEGB
SEGB 16
20 SEGC
/LEDEN SEGC SEGD
12 LOAD SEGD 23
21 SEGE
SEGE SEGF
SEGF 15
9 17 SEGG
D+5V D+5V GND SEGG SEGDG
4 GND SEGDP 22
MAX7219
C4001 C4002
0.1uF 0.1uF
74LS164(U4000) 74LS164(4001) LED DISPLAY

V2.0
Preliminary
Preliminary
P+15V
P+15V
TE5022
PGND Q5001
PSS8050
JP5020
C5001 + C5036
0.1uF 47uF/10V P+15V
PGND 4 PGND
D5023 3
PGND PGND
1N4004 C5025 2 PFCdrive00
0.1uF 1
PGND R5022 AC_RELAY Plug for PFC Debug
1
5
PGND P+15V AC_RELAY
1K
1 5
F5000 D5001
U5021 250V/20A L5001 DSEP60-06A
RELAY BUS+ BUS+
220uH
R5002
J5002
10/3W
AC_IN1 R5023 C5002 R5006
680pF/2K D5021 470K/2W
120/3W 1N4007 PGND D5020
C5000 PowerJumper
D5000
470nF/275V Q5000
IR25XB08H C5020
1N4001
IXTH30N50 C5004
J5000 K A PFCdrive00C5003 330uF 220UF/25V
AC INPUT 330uF U5020 C5024
C PFC_AP P+15V
CS 1 VCC VB 8
R5007 0.1uF R5021
R5003 470K/2W C5021
6.8/0.5W
AC_IN2 R5008 30K PFCdrive1 PFCdrive1 2 7 PFCdrive2
0.1uF IN HO CS PGND
0.02 3 ERR CS 6
C5026
R5020 C5023 10nF
1K 10pF 4 COM 5
VS
IR2125
PGND PGND
PGND
JP5003
P+15V
PFCdrive3 R5024
PFCdrive00 6.8/0.5W
C50280.1uF U13 PFCdrive3
PFCdrive2
PGND 1 VDD VDD 8
PFC DRIVER JUMPER C5027
PFCdrive1 2 7
INPUT OUTPUT 0.1uF
3 NC OUTPUT 6
4 GND GND 5
TC4420
PGND PGND
D2005 L2002 Q2000

7805 C2018
1
3
MUR420 3.3uH
220UF/25V D+5V
D+5V
TR2001 C2015 C2016 2 C2019
PFC_AP 330uF/35V C2017 1uF
VR2000 220UF/25V
9
0.1uF DGND
P6KE200 DGND
9
L2003
D2006 3.3uH
MUR420
Schematics, Rev. 1
P+15V P+15V
F2000 D2002 D2001 C2020 C2021 C2022 JP2001
2A250VAC KBP10 330uF/35V 0.1uF P+15V
AC_IN11 1 C2006 BYV26C 220UF/25V 4 PGND
2 47uF/400V 3 D+5V
J2000 4 APC TRANSFORMER 2 DGND
C2005 1
AC INPUT
0.1uF/250VAC POWER PLUG
AC_IN22 PGND
C2007
0.1uF R2001
2K
1
D5022 R2002
1N4007 D2003 200/0.5W
1N4148 U2001
A 2
E RV2000
K 100K D+5V R2004
L2004 1
3.3uH NEC2501
DGND PGND PGND 300
LED2002
U2000 C2008
TOP223YAI 0.1uF RED DISPLAY
C2027
1 C2009 U2002
R2000 0.1uF
PGND 47uF 6.2 TL431 R2005
2 P+15V 1
DGND & PGND Connected together,for no 900
opto-isolation is used 3 R2003 LED2001
10K RED DISPLAY
C2028
1.6nF/450VAC
PGND PGND
PGND PFC & AP

V2.0
Appendix A-5
Appendix A-6
D+5V
C6008
D+5V 0.1uF
D+5V U6009
1 TP NC 8
R6052 2 7 R6021
4.7K VS NC 8 U6003
3 SLEEP OUTPUT 6 BUS+ 7.25M-0.1% VCC MC33172
U6003
1
4 5 C6039 R6024
GND TP MC33172
C6036 0.1uF PGND
160 7 V_Sense_DC B
0.1uF REF196 OUT V_Sense_DC B
+ R6050 D+5V 4
C6038 R6020 GND
C6037 10K 7.25M-0.1% C6010
0.1uF 0.01uF
10uF/16V U6010
MC33172 8 VCC R6022 R6023
1
1.65VREF 51K-0.1% 51K-0.1%
D6004 D6009
DGND OUT C6007 1N4733 1N4733 C6009
R6051 4 GND 0.1uF 0.01uF
10K
1.65VREF
(SAMPLE OF DC BUS+, FOR PROJECT OF
PMSM AND ACIM)
C6040
R6042 0.1uF DGND
D+5V D+5V 1M-0.1%PMSM D+5V
U1 DGND DGND
U1 C6012
R6040 U6007 8 0.1uF
V1 PGND VCC
V1 U 200K-0.1%PMSM MC33172 U6007
1
PGND R6044 D+5V
W1
7
W1 MC33172
UN I_Sense_U
OUT 160 I_Sense_U R6025
4 8 U6004
I_Sense_DCB 1 I_Sense_DCB 1 R6041 GND U1 7.25M-0.1% VCCMC33172
C6034 U6004
1
R6029
BUS+ 200K-0.1%PMSM 0.01uF MC33172
7
BUS+ 160
FOR BLDC I_Sense_DCB1 V_Sense_U
U OUT V_Sense_U
U 4 GND
R6043 R6026 C6014
UN 7.25M-0.1%
UN 0.01uF
V 1M-0.1%PMSM
V
VN (SAMPLE OF PHASE CURRENT,
VN FOR PMSM) D6002 D6006 R6028 51K-0.1%
1N4733 1N4733
(SAMPLE OF U PHASE VOLTAGE, FOR
C6011 PMSM ONLY)
1.65VREF 0.01uF C6013
R6027 0.01uF
51K-0.1%
C6041
R6047 0.1uF
D+5V 1M-0.1%PMSM
D+5V
C6031
0.01uF
1
D+5V
C6032 R6045 U6008 8
RV6002 V 200K-0.1%PMSM MC33172 VCC
0.01uF U6008
1
10K R6049
2
7
MC33172
VN I_Sense_V
OUT 160 I_Sense_V
C6005 R6011 4 GND C6017
330 R6046 C6035
D+5V D+5V 0.1uF
200K-0.1%PMSM 0.01uF
D6000
1
0.1uF
1N4148 R6030 8 U6005
R6048 V1 7.25M-0.1% VCC MC33172
U6005
1
OUT R6034
1
U6002 MC33172
7
160
LM293 1M-0.1%PMSM (SAMPLE OF PHASE CURRENT, I_Sense_DCB1 V_Sense_V
LED6001 OUT V_Sense_V
FOR PMSM) 4 GND
OverCur R6031 C6018
7.25M-0.1% 0.01uF
R6008
I_Sense_DCB 620 R6009 R6010 R6033
1.2K 220K R6016 51K-0.1%
D+5V 300 IPMLOCK C6015 D6003 D6007
C6004 C6033 IPMLOCK 0.01uF 1N4733 1N4733 C6016
0.01uF 0.01uF 0.01uF (SAMPLE OF V PHASE VOLTAGE, FOR
R6032 PMSM ONLY)
D+5V C6030 51K-0.1%
0.01uF
R6015
330
1
VREF JP6000
RV600 3 1.65VREF
10K U6002 D6001 VREF
2
7
R6003 C6000 DGND
1N4148 0.1uF C6020
8.2K-0.1%ACIM/1M-0.1%PMSM 0.1uF
D+5V
1
LM293 Reference Voltage Jumper(1.65V for PMSM and DGN D for ACIM) D+5V
LED6002
OverBusVo l R6001 8 U6001
I_Sense_DCB1 10K-0.1%ACIM/200K-0.1%PMSM VCCMC33172
U6001 R6035 8 U6006
1
R6012 7.25M-0.1%
620 R6005 W1 VCCMC33172
U6006
7
1
V_Sense_DCB R6013 R6014 MC33172 R6039

PGND I_Sense_DCB MC33172
7
OUT 160 I_Sense_DCB 160

1.2K 220K R6017 4 I_Sense_DCB1 V_Sense_W
300 R6002 GND C6003 OUT V_Sense_W
C6006 4 GND
10K-0.1%ACIM/200K-0.1%PMSM 0.01uF R6036 C6022
0.01uF 7.25M-0.1% 0.01uF
R6004 R6037
51K-0.1% R6038
8.2K-0.1%ACIM/1M-0.1%PMSM 51K-0.1% (SAMPLE OF W PHASE VOLTAGE, FOR
C6019 PMSM ONLY)
(SAMPLE OF DC BUS CURRENT, 0.01uF C6021
(PROTEC OF DCBUS CURRENT & DCBUS VOLTAGE, FOR FOR ACIM)
PROJECT OF ACIM AND PMSM) D6005 D6008 0.01uF
1N4733 1N4733
SENSOR CIRCUIT FOR ACIM & PMSM
V2.0
Preliminary
Appendix B
ACIM Bill of Materials
Designator Description Footprint Quantity
C1000, C6003, C6004,C6006, C6009, C6010, 0.01 µF RAD-0.1 21

C6011, C6013, C6014, C6015, C6016, C6018,
C6019, C6021, C6022, C6030, C6031, C6032,
C6033, C6034, C6035
C1001, C1009, C1037, C1038, C1039, C1040, 0.1 µF RAD-0.1 38

C2007, C2008, C2017, C2022, C2027, C3000,
C3001, C3002, C3003, C3004, C3008, C3009,
C4001, C4002, C5001, C5021, C5024, C5025,
C5027, C5028, C6000, C6005, C6007, C6008,
C6012, C6017, C6020, C6036, C6038, C6039,
C6040, C6041
C1002, C1003 2.2 µF / 25 V RB2.5/5 2
C1006, C1036 0.1 µF / 630V CBB RAD15/18/6 2
C1008 0.1 mF / 25V RB2.5/6 1
C1030, C1031, C1032, C1033, C1034, C1035 1 nF RAD-0.1 6
C2005 0.1 uF / 250VAC RAD15/18/6 1
C2006 47 µF / 400V RB10/22.4 1
C2009 47 µF RB2.5/5 1
C2015, C2020 330 µF / 35V RB5/10 2
C2016, C2018, C2021, C5020 220 µF / 25V RB3/8 4
C2019 1 µF RAD-0.2 1
C2028 1.6 nF / 450VAC RAD-0.4 1
C3005, C3006, C3007 10 µF / 10V RB2.5/5 3
C4000, C5036 47 µF / 10V RB2.5/5 2
C5000 470 nF / 275V RAD22/26/9 1
C5002 650 pF / 2K RAD-0.2 1
C5003, C5004 330 µF RB10/30 2
C5023 10 pF RAD-0.1 1
C5026 10 nF RAD-0.1 1
ACIM Bill of Materials, Rev. 1

Freescale Semiconductor Appendix B-1
Preliminary
C6037 10 µF / 16V RB2.5/5 1
D1000, D1001 IN4148 DIODE-0.4 2
D2001 BYV26C DIODE-0.4 1
D2002 KBP10 KBP19 1
D2003 IN4148 DIODE-0.4 1
D2005, D2006 MUR420 DIODE-0.5 2
D3000, D3001, D3002, D3003 BAV99 SOT-23 4
D3004 IN4733 DIODE-0.4 1
D5000 IR25XB08H IR25XB 1
D5001 DSEP60-06A TO247AD 1
D5020 IN4001 IN4007 1
D5021, D5022 IN4007 IN4007 2
D5023 IN4004 IN4004 1
D6000, D6001 IN4148 DIODE-0.4 2
D6002, D6003, D6004, D6005, D6006, D6006, IN4733 DIODE-0.4 8

D6008, D6009
F2000 Fuse 2A 250 VAC FUSE20/5/7 1
F5000 Fuse 250V / 20A FUSE20/5/7 1
J2000, J5000 AC INPUT Connectors CON5/3.96 2
J3001 DB9 Connector DB9/M 1
J5002 Power Jumper CON2/3.96 1
JP1000 Jumper HEAD CON5/3.96 1
JP1001 Jumper UVW_OUTPUT UVW 1
JP1002 Jumper LEM (For Debug HDR1X3 1

Purpose)
JP1004, JP1005 ADC Channel Jumper HDR1X3 2
JP1006 Jumper Rotor Speed HDR1X3 1
JP1007 Jumper SCI IDC10 1
JP1008 ADC Channel Jumper HDR1X3 1
Appendix B-2 Freescale Semiconductor
Preliminary
JP1009 ADC Channel Jumper HDR1X3 1
JP1010 DSC Demo Board HDR2X20 1

Connector
JP1011, JP1012, JP1013, JP1014 Jumper for Push Button HDR1X2 4
JP1015 Jumper PhaseU_up HDR1X3 1
JP1016 Jumper PhaseU_down HDR1X3 1
JP1017 Jumper PhaseV_up HDR1X3 1
JP1018 Jumper PhaseV_down HDR1X3 1
JP2001 Jumper PowerPlug HDR1X4-5 1
JP4000 LED and DA IDC10 1
JP5003 PFC Driver Jumper HDR1X3 1
JP5020 Jumper Plug for PFC HDR1X4 1

Debug
JP6000 Reference Voltage Jumper HDR1X3 1

(1.65 for PMSM and DGND
for ACIM)
L2002, L2003 3.3 µH IND3.3u 2
L2004 3.3 µH IND 1
L5001 220 µH IND_PFC 1
LED1001 LED OverTemp LEDA 1
LED2001, LED2002 RED LED DISPLAY LEDA 2
LED6001 LED OverCur LEDA 1
LED6002 LED OverBusVol LEDA 1
Q1000, Q5001 PSS8050 TO-92A 2
Q5000 IXTH30N50 TO247AC 1
R1000, R1001 1.2K Ohm AXIAL-0.4 2
R1002 130K Ohm AXIAL-0.4 1
R1004 6.8K Ohm AXIAL-0.4 1
R1008 6.8K Ohm AXIAL-0.4 1

Preliminary
R1009 10.2K AXIAL-0.4 1
R1010 300 Ohm AXIAL-0.4 1
R1011 4.7K Ohm AXIAL-0.4 1
R1012 470V 1K Ohm VVR 1
R1013 5.1K Ohm AXIAL-0.4 1
R1014, R1015, R1016 2 Ohm (PMSM) SHANT-0.5 3
R1017, R1018, R1019 0.5 Ohm (ACIM) SHANT-0.5 3
R2000 6.2 Ohm AXIAL-0.4 1
R2001 2K Ohm AXIAL-0.4 1
R2002 200 Ohm / 0.5W AXIAL-0.5 1
R2003 10K Ohm AXILA-0.4 1
R2004 300 Ohm AXIAL-0.4 1
R2005 900 Ohm AXIAL-0.4 1
R3000, R3001, R3002, R3003 800 Ohm AXIAL-0.4 4
R4000, R4001, R4002, R4003, R4004, R4005, 100 Ohm AXIAL-0.4 8

R4006, R4007
R4008, R4009 5K Ohm AXIAL-0.4 2
R4010, R6050, R6051 10K Ohm AXIAL-0.4 3
R5002 10 Ohm / 3W R2WV 1
R5003 30K Ohm AXIAL-0.4 1
R5006, R5007 470K Ohm / 2W R2WV 2
R5008 0.02 Ohm SHANT-0.2 1
R5020, R5022 1K Ohm AXIAL-0.4 2
R5021, R5024 6.8 Ohm / 0.5W AXIAL-0.5 2
R5023 120 Ohm / 3W RXWV 1
R6001, R6002 10K Ohm - 0.1% (ACIM) / AXIAL-0.4 2

200K Ohm - 0.1% (PMSM)
R6003, R6004 8.2K Ohm -0.1% (ACIM) / AXIAL-0.4 2

1M Ohm -0.1% (PMSM)
Preliminary
R6005, R6024, R6029, R6034, R6039, R6044, 160 Ohm AXIAL-0.4 7

R6049
R6008 620 Ohm AXIAL-0.4 1
R6009, R6013 1.2K Ohm AXIAL-0.4 2
R6010, R6014 220K Ohm AXIAL-0.4 2
R6011, R6015 330 Ohm AXIAL-04 2
R6012 620 Ohm AXIAL-04 1
R6016, R6017 300 Ohm AXIAL-04 2
R6020, R6021, R6025, R6026, R6030, R6031, 7.25M Ohm - 0.1% AXIAL-04 8
R6035, R6036
R6022, R6023, R6027, R6028, R6032, R6033, 51K Ohm - 0.1% AXIAL-04 8
R6037, R6038
R6040, R6041, R6045, R6046 200K Ohm - 0.1% (PMSM) AXIAL-04 4
R6042, R6043, R6047, R6048 1M Ohm - 0.1% (PMSM) AXIAL-04 4
R6052 4.7K Ohm AXIAL-04 1
RP1000 Resistor Pack 8 X 5K Ohm SIP9 1
RV1000, RV6002, RV6003 10K Ohm VRESLV 3
RV2000 100K Ohm VRESLV 1
S1000 Button Function1 BUTTON 1
S1001, S1002 Button Function2 BUTTON 2
S1003 Button Function3 BUTTON 1
TE10 Test point PWM0 SIP-1 1
TE5022 PGND SIP-1 1
TR2001 APC Transformer TRAN-E133-2 1

Preliminary
U13 TC4420 DIP8 2
U1000 MC74HC244 DIP20 1
U1001, U6002 LM293 DIP8 2
U1002 IRAMS10UP60A IRAMS10UP60A-2 1
U2000 TOP223YAI TO-220 1
U2001, U3001, U3002 NEC2501 DIP4 3
U2002 TL431 TL431 1
U3000 TC7660 SO-8 1
U3003 MAX202CSE DIP16 1
U4000, U4001 74HC164 DIP14 2
U4002, U4003 FYQ-3641A LG3641AH 2
U4004 MAX7219 DIP24 1
U5020 IR2125 DIP8 1
U5021 RELAY 1
U6001, U6003, U6004, U6005, U6006, U6007, MC33172 DIP8 8

U6008, U6010
U6009 REF196 DIP-8 1
VR2000 P6KE200 DIODE-0.4 1
Preliminary
INDEX
Numerics H
3-Phase AC Induction Motor Vector Control using a HMI Preface-xi
56F80x, 56F8100 or 56F8300 Device Design of Motor Human Machine Interface Preface-xi
Control Application Preface-xii
3-Phase AC Motor Control with VHz Speed Close Loop I
using the 56F80x Preface-xii
56F8300 Peripheral User Manual Preface-xii I2C Preface-xi
56F8323 Data Sheet Preface-xii Inter-Integrated Circuit Preface-xi
IC Preface-xi
A Integrated Circuit Preface-xi
IM Preface-xi
A Fully Digitized Field-Oriented Controlled Induction Induction Motor Preface-xi
Motor Drive using Only Current Sensors Preface-xii Inside Code Warrior Preface-xii
A Novel Stator-Flux-Oriented Speed Sensorless Induction IPM Preface-xi
Motor Control System using Flux Tracking Intelligent Power Module Preface-xi
Strategy Preface-xii ISR Preface-xi
A Stator Flux Oriented Induction Machine Drive Preface-xii Interrupt Service Routine Preface-xi
A Stator Flux-Oriented Voltage Source Variable-Speed
Drive Based on DC Link Measurement Preface-xii L
A Stator-Flux-Oriented Vector-Controlled Induction Motor
Drive with Space-Vector PWM and Flux-Vector LPF Preface-xi
Synthesis by Neural Networks Preface-xii
ACIM Preface-xi M
Alternating Current Induction Motor Preface-xi
Maximum Torque Control of Stator-Flux-Oriented Induction
ADC
Machine Drive in the Field-Weakening
Analog-to-Digital Conversion Preface-xi
Region Preface-xii
An Improved Stator Flux Estimation in Steady-State
Operation for Direct Torque Control of Induction N
Machines Preface-xii
New Integration Algorithms for Estimating Motor Flux over
C a Wide Speed Range Preface-xii
COP Preface-xi P
Computer Operating Properly Preface-xi
PFC Preface-xi
D Power Factor Correction Preface-xi
PI
DCM Preface-xi
Proportional-Integral Preface-xi
DSP56800E Reference Manual Preface-xii
PLL Preface-xi
E Phase Locked Loop Preface-xi
Practical Implementation of a Stator Flux Oriented Control
EMF Preface-xi Scheme for an Induction Machine Preface-xii
EVM Preface-xi Proportional-Integral Preface-xi
Evaluation Module Preface-xi PWM
Pulse Width Modulation or Modulator
G PWM Preface-xi
GPIO Preface-xi
General Purpose Input/Output Preface-xi
Index, Rev. 1
Freescale Semiconductor i
Preliminary
R
RMS
Root Mean Square Preface-xi
Root Mean Square Preface-xi
S
SCI
Serial Communication Interface
SCI Preface-xi
SFOC Preface-xi
Stator-Flux-Oriented Control Preface-xi
SPI Preface-xi
Serial Peripheral Interface Preface-xi
Stator Flux Oriented Control of Induction
Motors Preface-xii
Stator-Flux-Oriented Sensorless Induction Motor Drive for
Optimum Low-Speed Performance Preface-xii
SV Preface-xi
Space Vector Preface-xi
SVPWM Preface-xi
Space Vector Pulse Width Modulation Preface-xi
ii Freescale Semiconductor
Preliminary
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DRM075
Rev. 1
10/2005

Design of An ACIM Vector Control Drive Using The 56F8013 Device

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Design of An ACIM Vector Control Drive Using The 56F8013 Device

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Design of An ACIM Vector Control Drive Using The 56F8013 Device

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Design of an ACIM

Vector Control Drive

10/2005 0 Initial release N/A

Table of Contents, Rev. 1

Table of Contents, Rev. 1

List of Figures, Rev. 1

List of Tables, Rev. 1

Courier Code examples //Process command for line flash

Italic Directory names, ...and contains these core directories:

Bold Reference sources, paths, ...refer to the Targeting DSP56F83xx Platform

Blue Text Linkable on-line ...refer to Chapter 7, License....

Number Any number is considered a 3V

ALL CAPITAL # defines/ # define INCLUDE_STACK_CHECK

Brackets [...] Function keys ...by pressing function key [F7]

Quotation Returned messages ...the message, “Test Passed” is displayed....

2.1 56F8013 Benefits

2.2 56800E Core Features

Benefits and Features of the 56F8013 Controller, Rev. 1

2.4 56F8013 Peripheral Circuit Reatures

2.5 AWARD-WINNING DEVELOPMENT ENVIRONMENT

3.2 Features of a Motor Drive System

Figure 3-1. Washing Machine Protocol

Motor Drive System, Rev. 1

3.3 Introduction to System Design

VT1 VT3 VT5

Figure 3-3. System Block Diagram

Among the hardware system features are:

Motor Drive System, Rev. 1

The controller board includes:

Motor Drive System, Rev. 1

4.1 AC Induction Motor

Figure 4-1. Induction Motor Speed-Torque Characteristic

ACIM Theory, Rev. 1

Lr Rotor equivalent inductance

Lm Mutual equivalent inductance

4.3 Digital Control of an AC Induction Motor

VT1 VT3 VT5

Figure 4-2. Hardware System Configuration

ACIM Theory, Rev. 1

5.1 Vector Control of AC Induction Machine

uqs = Rs iqs + Ψ sω1

(1 + στ r p ) Ls isq − ωsτ r (Ψ s − σ Ls isd ) = 0

(1 + τ r p )Ψ s = (1 + στ r p ) Ls isd − ωsστ r Ls isq

τr Rotor Time Constant

Ψ∗s Commanded Stator Flux

Estimated Stator Flux

Design Concept of an ACIM Vector Control Drive, Rev. 1

ωr* isq* ∆w ω1* Usq*

ωˆ sl Slip Observer signal

Figure 5-2. Stator Reference Voltage V ref

5.2 Relationship between Rotor Flux Orientation and Stator Flux

5.3 Block diagram of Stator Flux Oriented (SFO) Control

Design Concept of an ACIM Vector Control Drive, Rev. 1

Figure 5-3. Clark Transformation

Figure 5-4. Park Tranformation

isd = isα cos θ Ψv s + isβ sin θ Ψv s

isq = −isα sin θ Ψv s + isβ cos θ Ψv s

isα = isd cos θ Ψv s − isq sin θ Ψv s