Constant Volts/Hertz Operation For Variable Speed Control of Induction Motors
Constant Volts/Hertz Operation For Variable Speed Control of Induction Motors
Constant Volts/Hertz Operation For Variable Speed Control of Induction Motors
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Table of Contents
SUMMARY...................................................................................................................... 3
1
1.1
Theory / Construction ....................................................................................................................................3
1.1.1
Change of Speed ......................................................................................................................................5
1.1.2
The Torque...............................................................................................................................................5
1.1.3
Number-plate of the machine ...............................................................................................................6
2
2.1
2.2
The control-functions build up in the ADMC401. .......................................................................................8
2.2.1
Basics - Standard .....................................................................................................................................8
2.2.2
Third-harmonic Injected ..........................................................................................................................9
2.2.3
Space Vector Modulation SVM..........................................................................................................10
2.2.4
Ramps / Boost........................................................................................................................................12
3.1
3.2
3.3
3.4
3.5
3.6
3.7
4.2
REFERENCE.......................................................................................................... 24
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Summary
This applications note describes how to control an ACIM with the use of a frequency converter. The
theory behind the system and several different ways of speed-controlling an induction motor are
discussed. Finally an example of control-schemes are described and illustrated in code.
1.1
Theory / Construction
The standard motor is designed with a short-circuiting rotor (on Figure 1 done in aluminum) and a set of
coils placed in the stator. The housing surrounds the complete "package" where the terminals for the
stator-coils are accessible.
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Stator
Rotor
R1
X1
X2
RFE
Xh
R2/s
I1
R1
X1
X2
I1
R2
I2
RFE
Xh
1 s
R2 '
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n = n0 ns =
f * 60
ns
p
[1]
where,
n0
ns
This equation indicates the three ways of changing the speed on the shaft. Changing the slip, the polepairs
or the frequency. Slip-changes can only be done from either changing the rotor resistant (Phase-Wound
Motors) or the input-voltage on stator. Polepair change; again a direct change of the motor-windings,
where a coupling between different phases can be achieved. The last control-way is the frequency here
the only limit is the source added to the motor. If the voltage applied to the machine can be changed from
low voltage / frequency to high voltage /frequency an optimal speed-control is achievable.
RTH
XTH
X2
R2
I2
1 s
R2 '
UTH
Z TH = (R 1 + jX1 ) ( jX h ) (R FE ) = R TH + jX TH
[2]
I'2 =
R TH
U TH
+ R' 2 /s + j(X TH + x'2 )
[3]
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U TH R' 2 /s
3
P
T=
*
=
2
2
0 (R TH + R' 2 /s ) + (X TH + X' 2 )
0
[4]
Where,
0
the Power.
The torque for the machine can now be expressed from [4] - the torque as a function of the slip-change
and gives us:
Tkip, nkip
1 = n/n0
n
n0
T=
[6]
Here specific motor-parameters are added to calculate the torque. (Power[P] and Speed[n])
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T=
[7]
This equation implies that if the ration between the voltage and the frequency are kept constant the torque
also stays constant. These terms are the ones used to implement the speed-controller for the inductionmachine.
2.1
The frequency converter can be build up in many different ways, depending on the topology and
flexibility of the system. One of the ways, which has become the most common is the way illustrated
below.
II.
The intermediate circuit - incorporates the DC-link control. Different control-aspects can be taken
into account, such as PFC, DC-chopping or stabilization.
III.
An Inverter used to reproduce three controlled waveforms. In this case the output from the
inverter is three 120-degree phase-shifted sine-shaped voltages.
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Control-block - here all the necessary adjustment of the system are done. For the frequency
converter this control-block controls the inverter to deliver the wanted waveforms to the motor,
meaning the voltage to frequency ratio.
Today many power-electronic companies manufacture integrated power devices, in this case the
integration of the rectifiers, inverters and drive-circuit for the IGBT's are packaged in one or two chips
and can be bought as standalone devices with all the relevant electronics included. Such a device is
chosen for this demo-application. The device is International Rectifiers PowIRtrain (IRPTXXX1) but any
other power device could have been used.
2.2
In this section three different topologies of constant Voltage over Frequency control are discussed.
Basically the induction motor needs a voltage-controlled input for the three phases. These three phase
voltages can be produced in many different ways. In this applications note the use of PWM controlled
from the ADMC401 is utilized.
In this section the theory behind basics, third-harmonic and Space-Vector-Modulated2 references are
discussed.
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[8]
where the displacement of the voltages are as expressed 120. These three-phase references can be used
directly in this simple three-phase generation as control-voltages for the frequency converter with
sinusoidal reference.
Motorvoltage =
3
Netvoltage = 0.866 * Netvoltage
2
[9]
One of the simple ways of extending the usage of the DC-link voltages is by adding an extra harmonic to
the sinusoidal voltage reference. In this case the third harmonic are added which results in three phase
references expressed as:
VrefA = u r (t) = u s1 (t) + u 0 (t) = U 1 sin( t) + U 3 sin(3 t )
2
) + U 3 sin(3 t )
3
2
) + U 3 sin(3 t )
VrefC = u t (t) = u s3 (t) + u 0 (t) = U 1 sin( t
3
Where
VrefB = u s (t) = u s2 (t) + u 0 (t) = U 1 sin( t +
u o = U 3 sin(3 t ),
U3 =
[10]
U1
6
By utilizing just the unity scaled sine as generation platform for the third harmonic, this results in a
maximum amplitude of 0.886*Netvoltage. By adjusting this value by 15.5% a better utilization of the
DC-bus voltage is achieved, meaning the efficiency from the distribution-net to the Power Inverter.
Vc Vc Vc
100% = 15.5 %
3 2 2
[11]
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r
r
r
r
2
V = V + jV = (VrefA a 0 + VrefB a 1 + VrefC a 2 )
3
[12]
where
2
j
r
a=e 3
[13]
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It is known that a balanced three-phase set of voltages is represented in the stationary reference frame by
a space vector of constant magnitude, equal to the amplitude of the voltages, and rotating with angular
speed = 2 fRe f . As can be seen at Figure 11, the eight possible states of an inverter are represented
as two null-vectors and six active-state vectors forming a hexagon. SVM now approximates the rotating
reference vector in each switching cycle by switching between the two nearest active-state vectors and the
null-vectors. In order to maintain the effective switching frequency of the power devices at a minimum,
the sequence of toggling between these vectors is organised such that only one leg is affected in every
step.
It may be anticipated that the maximum obtainable output voltage is increased with ordinary SVM up to
90% of the inverter capability. It is also a relatively easy task to improve this technique in order to reach
full inverter capability.
V3=(0,1,0)
Vd/2
0
V2=(1,1,0)
II
III
A
Vd
V4=(0,1,1)
I
V7=(1,1,1)
IV
Vd/2
V0=(0,0,0)
VI
V1=(1,0,0)
V
V5=(0,0,1)
a)
V6=(1,0,1)
b)
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Acceleration time
Boost Voltage
Max Speed
Boost Speed
Cut Speed
Frequency of Motor
Voltage (Hz)
PWM_freq
Number_of_steps
[14]
15 bit
, 15 bit = 32768
Number_of_steps
[15]
Count_Div =
Delta_init =
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PWMCycles_period =
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PWM_freq
,
MAX_FREQ
Boost Voltage =
Increment =
1
PWMCycles_period
15 Bit
VOLT_SCALING
[16]
[17]
15 bit * BOOST_FREQ
MAX_FREQ
[18]
Boost_speed =
15 bit * CUT_FREQ
MAX_FREQ
[19]
Boost_speed =
15 bit * MAX_FREQ
MAX_FREQ
[20]
Boost_speed =
All these general constants are defined in main.h and together with the associated macros (further
description see code section) they enable the full RAMP / Boost control. A specific macro is done to
calculate the acceleration speed anywhere in the code. The mathematical calculation of the parameters is
done in the "main.h" and the "v_f_ctrl.dsp" files.
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These application routines provide various functions that configure and enable the ADMC401 to control
an induction machine, with constant voltage over frequency ratio. With the use of ADIs Standard Motor
Control Library (see Library Documentation File) a full space vector modulation and control scheme are
performed on an induction machine. The routines are developed as easy-to-use blocks, which has to be
linked with the used library functions to build the complete application software. The routines for this
application consist of eight files.
File name
Usage
Main.dsp (dsp,h)
Set-up of the structure for the PWM generation. Define setpoints in frequencies and voltages
IR_Reset (dsp, h)
Ramp (dsp,h)
V_F_Ctrl (dsp,h)
Usage
IR_reset_PIO3;
Ramps_Init_Speed_profile;
Set_Minimum_Speed;
Ramps_Calculate_Speed_Profile(EXP,NOM)
V_F_ctrl_Calculate_Angle_volt
V_F_ctrl_SVM_Calculation
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3.2
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This macro initializes and resets the PowerIRtrain though PIO3. It checks the SYSSTAT(0) bit to clarify
the status of the PWMTRIP pin. If a PWMTRIP is detected the routine resets the PowerIRtrain though
PIO3. The routine is as described below - the nacros Set_Bit_DM , Clear_Bit_DM, Clear_Bit_DM,
Test_Bit_DM and If_Clr_Jump are macros defined in the general purpose macro file "macro.h".
Ir_reset_PIO3_:
Set_Bit_DM(PIODIR0, 3);
Clear_Bit_DM(PIOINTEN0, 3);
}
}
Set_Bit_DM(PIODATA0, 3);
rst:
{ wait 10 usec }
cntr = 150;
do IR_delay until ce;
nop;
IR_delay:
nop;
Clear_Bit_DM(PIODATA0, 3);
nop;
wait_IR:
Test_Bit_DM(SYSSTAT,0);
}
}
If_Clr_Jump(rst);
rts;
.ENDMOD;
3.3
The macro that configures the initialization of the Ramp module is defined to clear the input to the
routine. The Ramps_Init_Speed_profile macro calls the Ramps_Init_Speed_profile_ routine and clears
all input values
Ramps_Init_Speed_profile_:
ar = 0;
dm(speed_command) = ar;
dm(speed_profile) = ar;
dm(count) = ar;
dm(delta) = ar;
RTS;
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3.4
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This macro checks the setting of the minimum speed. If the speed command is less than the minimum
speed, the speed command is set to the minimum chosen speed. The Set_Minimum_Speed macro calls
the Set_Minimum_Speed_ routine and returns to subroutine.
Set_Minimum_Speed_:
ar = abs ar;
ay0 = Minimum_speed;
ar = ar - ay0;
if ge jump Over_Min_Speed;
my0 = Minimum_speed;
dm(Speed_command) = my0;
Over_Min_Speed:
RTS;
3.5
be
done in the
Change the speed set point using a ramp profile. When a speed change is requested, produce a ramp, which
takes the chosen acceleration-time to get to next speed level. The input value for this ramp generator is the
value stored in init_count and the constant Delta_Init calculated in "main.h". The routine checks the
speed_command value. Is the value less than the last calculated speed_profile the value is decreased. If the
value of speed_command is bigger than last calculation the speed_profile are increased.
Ramps_Speed_Profiles_:
ar = dm(count);
ar = pass ar;
if eq jump calc_profile;
ar = ar - 1;
dm(count) = ar;
jump End_Profile;
Calc_Profile:
ar = dm(init_count);
dm(count) = ar;
ar = Delta_Init;
dm(delta)=AR;
ar = dm(speed_command);
ay0 = dm(speed_profile);
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Positive_Speed_Change:
ar = ABS ar;
ay0 = dm(delta);
ar = ar - ay0;
if le jump Done;
ar = dm(speed_profile);
ay0 = dm(delta);
ar = ar + ay0;
dm(speed_profile) = ar;
jump End_Profile;
Negative_Speed_Change:
ar = ABS ar;
ay0 = dm(delta);
ar = ar - ay0;
if le jump Done;
ar = dm(speed_profile);
ay0 = dm(delta);
ar = ar - ay0;
dm(speed_profile) = ar;
jump End_Profile;
AN401-24
}
}
{ speed_profile + delta
{ speed_profile - delta
{ speed_profile = Speed_command
Done:
ar = dm(Speed_command);
dm(speed_profile) = ar;
End_Profile:
RTS;
}
}
CALL ramps_Speed_Profiles_;
.ENDMACRO;
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3.6
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This macro V_F_ctrl_Calculate_Angle_volt controls the voltage profile to the motor. As in the other
modules, constants are defined in the "main.h" file to enable control of the profile. As already discussed
in section 2.2.4 these constants defines the profile illustrated on Figure 13. The constants are as can be
seen on the figure: Voltage and Frequency related and are described below.
{***************************************************************************************
* Constants that need to be defined in main.h:
*
*.CONST V_F_SCALE
= xxx;
To get X in Scaling factor
*
*
Calculation (Gain of 8 in code)
*
*.CONST VOLT_SCALING
= xxx;
Voltage scaling factor (divisor of V)
*
*
*
*.CONST Maximum_voltage
= xxx;
*
*.CONST MAX_FREQ
= xxx;
Maximum frequency of the sine pwm
*
*.CONST CUT_FREQ
= xxx;
Maximum frequency of the end slope
*
*.CONST BOOST_FREQ
= xxx;
BOOST frequency of the sine pwm
*
*.CONST MIN_FREQ
= xxx;
MIN frequency of the sine pwm
*
*
*
***************************************************************************************}
From these values, the calculated constants for the voltage profile are defined and ready to use in the
related code. The complexity of the equations is easy to understand comparing with those of section 2.2.4.
.CONST
.CONST
.CONST
.CONST
.CONST
.CONST
PWMCycles_period
INCREMENT
Boost_voltage
Boost_speed
Maximum_speed
Cut_Speed
=
=
=
=
=
=
(PWM_freq/MAX_FREQ);
{ Number of pwm cycles pr period
0x10000 / PWMCycles_period; { Angle increment at MAX_FREQ
0x7FFF / VOLT_SCALING;
{ XX % Of maximum voltage
0x7FFF / MAX_FREQ * BOOST_FREQ;
{ In this case 30 Hz
MAX_FREQ / MAX_FREQ *0x7FFF;
{ The Maximum_speed
0x7FFF / MAX_FREQ * CUT_FREQ;
{ The Cut_speed
}
}
}
}
}
}
The macro itself calls the V_F_ctrl_Calculate_Angle_volt_ routine which and returns with d/q voltage
references for the space vector modulation.
The routine consists of two parts. First section calculates the angle on base of the calculated angle
increment (Increment) and the speed_profile returned from the Ramps_Calculate_Speed_Profile macro.
V_F_ctrl_CALCULATE_ANGLE_VOLT_:
mr = 0;
mr1 = dm(Theta);
mx0 = dm(Speed_Profile);
my0 = Increment;
mr = mr + mx0*my0 (SS);
dm(Theta) = mr1;
{ Clear mr
{ Preload Theta
{ Load Speed profile signal
}
}
}
Second section of the routine checks the Speed_profile and depending on the selected speed_profile see
Figure 13 the voltage is projected. Due to the SVM5, the voltage is applied in the d/q-frame and not the
standard three-phase frame. On additional parameter is included this code (V_F_SCALE) - The scaling
of voltages compared to the speed. By this meaning not an even ration of Voltage over Frequency
operation.
EX.
The motor needs to run from 0 to 120 Hz but the applied voltage has to be max. at 60 Hz. (see
Figure 13). In this case the ratio of V/F is not one but two. This means that the slope actually has
to be twice the size. For that reason a gain factor V_F_SCALE ("main.h") is introduced. This
factor controls the scaling of the V/F (In the code an extra scaling of 8 is done to overcome higher
frequencies).
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Boost_Frequency:
ar = dm(Speed_Profile);
ar = abs ar;
{ Check if speed is in the minimum speed range
ay0 = Boost_speed;
ar = ar - ay0;
if ge jump Over_Boost_Frequency;
{ if speed_profile=>Boost_speed jump Over_Boost_Frequency
my0 = Boost_voltage;
dm(voltage_profile) = my0;
DM(Vdq_ref)= my0;
ar = pass 0;
DM(Vdq_ref+1)= ar;
JUMP Out_of_Voltage_setting;
Over_Boost_Frequency:
ar = dm(Speed_Profile);
ar = abs ar;
{ Check if speed is in the minimum speed range
ay0 = Cut_Speed;
ar = ar - ay0;
if ge jump Max_voltage;
{ if speed_profile = Speedcommand jump Boost_added
ar = dm(Speed_Profile);
my0 = V_F_SCALE;
mr = ar*my0 (SS);
sr=LSHIFT mr1 by 3 (LO);
}
}
}
}
{
{
{
{
my0 = sr0;
dm(voltage_profile) = my0;
DM(Vdq_ref)= my0;
ar = pass 0;
DM(Vdq_ref+1)= ar;
JUMP Out_of_Voltage_setting;
Max_voltage:
my0 = Maximum_voltage;
dm(voltage_profile) = my0;
DM(Vdq_ref)= my0;
ar = pass 0;
DM(Vdq_ref+1)= ar;
Out_of_Voltage_setting:
RTS;
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3.7
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The final macro in the V_F-module is the V_F_ctrl_SVM_Calculation. This macro takes angle and the
Vdq_references returned from the V_F_ctrl_Calculate_Angle_volt macro and calculate the dutycycles of
the SVM6. The routine that the macro calls is described below.
V_F_ctrl_SVM_CALCULATION_:
{*******************************************************************************************}
{ Set up SVM-module for transformation and SVM-generated PWM
}
{*******************************************************************************************}
mr1 = dm(Theta);
{ control angle
refframe_Set_DAG_registers_for_transformations;
refframe_Forward_Park_angle(Vdq_ref,Valphabeta_ref,mr1);{ generate Vreference in
{ alpha-beta frame
SVPWM_Calc_Ontimes(Valphabeta_ref, OnTime_struct); { use SVPWM routines
SVPWM_Calc_Dutycycles(OnTime_struct, Dutycycles_struct);
SVPWM_Update_DutyCycles(Dutycycles_struct);
}
}
}
}
RTS;
.ENDMOD;
4.1
The file main.dsp contains the initialisation and PWM Sync and Trip interrupt service routines. To
activate, build the executable file using the attached build.bat either within your DOS prompt or clicking
on it from Windows Explorer. This will create the object files and the main.exe example file. This file
may be run on the Motion Control Debugger.
In the following, a brief description of this is given.
Start of code declaring start location in program memory
.MODULE/RAM/SEG=USER_PM1/ABS=0x60
Main_Program;
Next, the general systems constants and PWM configuration constants (main.h see the next section) are
included. Also included are the Library functions for the PWM, ADC, DAC, Transformations to D/Q - Alpha
/ Beta, SVM and of course the applications specific routines - IR_reset, ramps and v_f_ctrl.
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{***************************************************************************************
* Include General System Parameters and Libraries
*
***************************************************************************************}
#include <main.h>;
#include <adc401.h>;
#include <dac401.h>;
#include <pwm401.h>;
#include <refframe.h>;
#include <svpwm.h>;
#include <ir_reset.h>;
#include <ramps.h>;
#include <v_f_ctrl.h>;
First the Resetting of the PowerIRtrain is activated. Followed by the PWM block initialisation. Note how the
interrupt vectors for the PWMSync and PWMTrip service routines are passed as arguments. Then
initialisation of the ADC and DAC block is completed. The next step is to initialise the profiles used in the
speed definition. As the final thing in the start-up sequence the interrupt IRQ2 is enabled by setting the
corresponding bit in the IMASK register after this the program enters a loop which just waits for interrupts.
{**************************************************************************************}
{ Start of program code
}
{**************************************************************************************}
Startup:
IR_reset_PIO3;
PWM_Init(PWMSYNC_ISR, PWMTRIP_ISR);
Ramps_Init_Speed_profile;
IFC = 0x80;
ay0 = 0x200;
ar = IMASK;
ar = ar or ay0;
IMASK = ar;
}
}
ADC_Init;
DAC_Init;
Main:
jump Main;
rts;
The first thing that is the DAC is paused to ensure no pointer conflict. The Speed_command is read though
the converter on ADC1 and used as set-point for the control. With the call of Set_Minimum_Speed the
minimum selected speed (see "main.h") is selected. Using ramps_Calculate_Speed_Profile(0x5,0x4fff) the
acceleration time is set to 20 seconds and from here the Speed_profile value is used to calculate the Angle
and the Voltages. Finally the complete PWM sequence is calculated with the use of v
V_F_ctrl_SVM_Calculation.
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{**************************************************************************************}
{ PWM Interrupt Service Routine
}
{**************************************************************************************}
PWMSYNC_ISR:
DAC_Pause;
ADC_Read(ADC0, Offset_0to3);
DM(Speed_command) = ar;
Set_Minimum_Speed;
ramps_Calculate_Speed_Profile(0x5,0x4fff);
V_F_ctrl_Calculate_Angle_volt;
V_F_ctrl_SVM_Calculation;
}
}
}
}
}
DAC_resume;
my0
mx0
my0
my0
my0
=
=
=
=
=
DM(VrefA);
0x8;
DM(Dutycycles_struct );
DM(Dutycycles_struct+1);
DM(Dutycycles_struct+2);
Dac_Put(1, mr0);
Dac_Put(2, mr0);
Dac_Put(3, mr0);
my0 = DM(theta);
my0 = DM(Speed_Profile);
Dac_Put(4, my0);
Dac_Put(5, my0);
my0 = DM(Valphabeta_ref );
my0 = DM(Valphabeta_ref+1);
Dac_Put(6, my0);
Dac_Put(7, my0);
DAC_Update;
RTI;
The PWM-Trip routine is in this example used to check on the trip pin on the PowerIR-train7. This TRIP-pin
is hardwired to the PWM_TRIP_PIN on the ADMC401 device. When the PowerIRtrains pin goes low, in the
case of over-current or temperature the PWMTRIP_ISR check on the status of the pin. The actions are as
given
1. Check the PWMTRIP in the SYSSTAT if high jump to restart
2. If not wait 80 s and then check SYSSTAT again
3. If it now has gone high call restart PWM ..
PWMTRIP_ISR:
Test_Bit_DM(SYSSTAT,0);
If_Set_Jump(RESTART_PWM);
CNTR = H#3FF ;
DO Wait0 UNTIL CE;
Wait0:
NOP;
Test_Bit_DM(SYSSTAT,0);
If_Set_Jump(RESTART_PWM);
{ wait 80us }
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RESTART_PWM:
CNTR = H#3FF;
DO Wait20 UNTIL CE;
Wait20:
NOP;
{ wait 80us }
IFC = 0X80;
PWM_Init(PWMSYNC_ISR, PWMTRIP_ISR);
AR = 0;
DM(SPEED_PROFILE)=AR;
RTI;
.ENDMOD;
4.2
This file contains the definitions of ADMC401 constants, general-purpose macros and the configuration
parameters of the system and library routines. It should be included in every application. For more
information refer to the The Library Documentation File document.
This file is mostly self-explaining. The relevant sections to this example are shown here. The frequency of the
used crystal (12.96MHz in case of the ADMC401 Evaluation Kit) is expressed in kHz. Then ADMC401
specific constants, ROM-Utilities and general-purpose macros are included. Refer to the ADMC401
documentation for details on the ROM-Utilities.
{***************************************************************************************
* General System Parameters and Constants
*
***************************************************************************************}
.CONST
Cry_clock
= 12960;
#include <admc401.h>;
#include <macro.h>;
As described in the The Library Documentation File, every library routine has a section in main.h for its
configuration parameters. The following defines the parameters for the RAMPS and V_F_CTRL block used
in this example.
{**************************************************************************************}
{ Library: RAMP BLOCK
}
{ file
: Ramp.dsp
}
{ Application Note: V/F control with the ADMC401
}
.CONST Number_of_Steps
= 256;
{ Number of steps in the ramp 8 bit }
.CONST Count_div
= (PWM_freq/Number_of_Steps); { Count number for timescaling}
.CONST Delta_Init
= (32768/Number_of_Steps) ;
{ stepsize for the speedsteps }
{**************************************************************************************}
{**************************************************************************************}
{ Library: V_F_CTRL BLOCK
}
{ file
: V_F_CTRL.dsp
}
{ Application Note: V/f control with the ADMC401
}
.CONST V_F_SCALE
= 0x1000;
}
}
.CONST VOLT_SCALING
= 6;
.CONST
.CONST
.CONST
.CONST
.CONST
=
=
=
=
=
{
{
{
{
}
}
}
}
Maximum_voltage
MAX_FREQ
CUT_FREQ
BOOST_FREQ
MIN_FREQ
0x7FFF;
60;
60;
10;
6;
{**************************************************************************************}
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5 Reference
[1] A Tutorial in AC Induction and Permanent Magnet Synchronous Motors. Analog Devices Inc. '94.
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