2012 Texas Instruments Motor Control Training

d-axis
V3 = 010 V2 = 110

Sector 2

Vref
Sector 3 T2•
T2•V2
V4 = 011 α V1 = 100
T1•
T1•V1 q-axis
Sector 4 Sector 6

Sector 5

V5 = 001 V6 = 101

-Vth
 Quadrants of Operation

Torque
Second Quadrant First Quadrant
negative speed-positive torque positive speed-positive torque
“reverse-braking” “forward-accelerating”

Generating Motoring
II I Speed

Motoring
III IV
Generating
Third Quadrant Fourth Quadrant
negative speed - negative torque Positive speed - negative torque
“reverse-accelerating” “forward-braking”

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Simple 1 Quadrant Motor Drive Circuit

A single quadrant variable VM

speed drive only needs one
transistor. im
+
-

Advantages Disadvantages
Easy to implement
1 diode drop loss on current commutation
Low Cost
Motor cannot reverse direction
Compact
Does not regenerate power
Only 1 diode snap per PWM cycle

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Three Phase Inverter
VBus

PWM1 PWM3 PWM5

PWM2 PWM4 PWM6

Three-phase PWM waveforms and harmonic spectrum.

Source: Power Electronics, by Ned Mohan, Tore Undeland, and William Robbins, John Wiley & Sons, 1995

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Voltage Drop Resulting from
AC-DC-AC Conversion
PWM 1 PWM 3 PWM 5

Vbus Freescale

AC Mains Dave’s
Control
Center

PWM 2 PWM 4 PWM 6

Input AC L-L
Output AC L-N
Output L-L
3
= 0.866
2
1 Vbus = peak l-n voltage

≈ 13% DROP!

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 3rd Harmonic Modulation
2 ⎛ i ⎞
sin ⎜ 2π ⎟ 100% PWM limit
3 ⎝ N⎠
3 ⎛ i ⎞
sin ⎜ 6π ⎟ Look-Up Table of size N
9 ⎝ N⎠

i=0…N-1

0% PWM limit
wrap around when
end of table is reached

V1 sin (ω o t ) + V3 sin (3 ω o t )
A

⎛ 4π⎞ ⎛ 2π⎞
V1 sin ⎜ ω o t + ⎟ + V3 sin (3ω o t + 4 π ) C B V1 sin ⎜ ω o t + ⎟ + V3 sin (3ω o t + 2 π )
⎝ 3 ⎠ ⎝ 3 ⎠

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Space Vector Modulation
• PWMs treat each phase individually.

• SVM treats the inverter as ONE unit!!

- ALL 6 switches affected.
U TI
Dave’s
Control
Center

V
• PWMs control the phase voltages. W

¾120° offsets between A, B, and C.

• SVM controls the Voltage Vector.
The inverter can be driven to 8 states.
V1 = 001 V3 = 011 V2 = 010
A
A B C A B C A B C

- 6 voltage
B vectors V6=110 V4 = 100 V5 = 101
A B C A B C A B C

V0 = 000 V7 = 111
- 2 null vectors 1 = Top Switch is on
0 = Bottom Switch is on
Source: Mahmoud Riaz, Sc.D., Professor of
Electrical Engineering, Department of Electrical and
Computer Engineering, University of Minnesota

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Space Vector Modulation
V1 V3 V2 V6 V4 V5 V1 V2 V3
120o 60o

θ
B V6 180o 0o V1

A
240o 300o
0 60 120 180 240 300 0 V4 V5

Vector Diagram
“6-Step” Voltage Waveforms
Vref = Vmag•SIN(θ)
• Sinusoidal operation occurs when a reference vector
(Vref) rotates around the d-q axis.
Output voltage vector created by repeatedly switching between adjacent vectors and the “null” vector
(all three phases high or all three phases low).

Output angle θ determined by relative “on” time between two adjacent vectors.

Output magnitude determined by relative “on” time between two adjacent vectors and the null vector.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 SVM Implementation
V2 = 010 V3 = 011 (Vy)

• Vref, is created by the two adjacent Sector 2

state vectors Vx, Vy, and a null
vector in a time averaging fashion: Vref T2•Vy
Sector 3

V6 = 110 α
Vref = Vx•T1 + Vy•T2 + Vnull•T0 V1 = 001
Where: Vx = lowest angle voltage vector T1•Vx (Vx)
Vy = highest angle voltage vector Sector 6
Sector 4

Sector 5

If Vref is represented in POLAR notation ( m∠α ): V4 = 100 V5 = 101

T1 = T•m•SIN(60 - α) Example vector reconstruction in sector 1.

T2 = T•m•SIN(α) SWITCHING PERIOD
T0 = T - T1 - T2 T
m = vector magnitude (0 to 1)
α = vector angle between Vref and Vx (0 to 60o)
T = switching period Vx Vy Null

T1 T2 T0

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 SVM Variations
• Choice of Null vectors effects SVM waveform creation
and switching performance but motor still sees sinusoidal
waveform at its phases.

NULL=V0 NULL=V7
1 1

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0
0
0 60 120 180 240 300 360 0 60 120 180 240 300 360

A B C A B C

Good choice when reduced switching losses

are desired in an inverter with
high-side bootstrap circuits.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 SVM Variations (continued)
Null = V7 in sectors 1,3,5 Null = V0 in sectors 1,3,5
Null = V0 in sectors 2,4,6 Null = V7 in sectors 2,4,6
1 1

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0 0
0 60 120 180 240 300 360 0 60 120 180 240 300 360
A B C A B C

0.8

Null = alt-rev 0.6

• Similar waveforms
(null alternates every sequence 0.4 to Third Harmonic
and sequence reverses.) 0.2

0
Most popular form of SVM 0 60 120 180 240 300 360

A B C

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 SVM Using Center-Aligned PWMs
http://www.ipes.ethz.ch
PWM Period

Sc

Sb

Sa

V1 V3 V7 V3 V1 V0 V1 V3 V7 V3 V1

t1 t2 t0 t2 t1 t0 t1 t2 t0 t2 t1

Alternating-Reversing Sequence

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 SVM with PWMs
Procedure for implementing SVM with Center-Aligned PWM Module
1 Check which sector the Vref vector is in. (5 compares)
2 Calculate T1, T2, and T0 from block below. (3 multiples)
3 Adjust PWMs High times based on table below. (1-3 additions)
Alternating
V7 in 1,3,5 V0 in 1,3,5 Reversing
Null = V0 Null = V7 V0 in 2,4,6 V7 in 2,4,6 Sequencing
U = T1+T2 U = 100% U = 100% U = T1+T2 U = T1+T2+.5T0
Sector 1 V = T2 V = T0+T2 V = T0+T2 V = T2 V = T2+.5T0
W=0 W = T0 W = T0 W=0 W = .5T0
T1 = T•m•SIN(60 - α) U = T1 U = T0+T1 U = T1 U = T0+T1 U = T1+.5T0
T2 = T•m•SIN(α) Sector 2 V = T1+T2 V = 100% V = T1+T2 V = 100% V = T1+T2+.5T0
W=0 W = T0 W=0 W = T0 W = .5T0
T0 = T - T1 - T2
U=0 U = T0 U = T0 U=0 U = .5T0
Sector 3 V = T1+T2 V = 100% V = 100% V = T1+T2 V = T1+T2+.5T0
W = T2 W = T0+T2 W = T0+T2 W = T2 W = T2+.5T0
U=0 U = T0 U=0 U = T0 U = .5T0
Sector 4 V = T1 V = T0+T1 V = T1 V = T0+T1 V = T1+.5T0
W = T1+T2 W = 100% W = T1+T2 W = 100% W = T1+T2+.5T0
U = T2 U = T0+T2 U = T0+T2 U = T2 U = T2+.5T0
Sector 5 V = 0 V = T0 V = T0 V=0 V = .5T0
W = T1+T2 W = 100% W = 100% W = T1+T2 W = T1+T2+.5T0
U = T1+T2 U = 100% U = T1+T2 U = 100% U = T1+T2+.5T0
Sector 6 V = 0 V = T0 V=0 V = T0 V = .5T0
W = T1 W = T0+T1 W = T1 W = T0+T1 W = T1+.5T0
Note: All calculations referenced to top switch
Source: Understanding Space Vector Modulation,
by Peter Pinewski, EDN Products Edition, March 7, 1996

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Sinusoidal Modulation -
Limited Amplitude
• In sinusoidal modulation the amplitude is limited to half of the DC-bus voltage.
• The phase to phase voltage is then lower then the DC-bus voltage (although such
voltage can be generated between the terminals).

PWM1 PWM3 PWM5

B
Uphase-phase

UDC-BUS
A
PWM2 PWM4 PWM6
C

Animation Source: Leos Chalupa

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Full Phase-to-Phase Voltage Generation
• Full phase-to-phase voltage can be generated by continuously shifting the
3-phase voltage system.

• The amplitude of the first harmonic can be then increased by 15.5%.

15%
PWM1 PWM3

B
PWM5

Uphase-phase
B
Uphase-phase

A
A
PWM2 PWM4 PWM6
C

C
Animation Source: Leos Chalupa

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 How to Increase Modulation Index
• Modulation index is increased by adding the “shifting” voltage u0 to first harmonic.

• “Shifting” voltage u0 must be the same for all three phases, thus it can only contain
3r harmonics!

A
15%

B C

Animation Source: Leos Chalupa

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 SVM with Field Oriented Systems
Vy Recall: We could calculate “m” and “α”:

T1 = T•m•SIN(60 - α)
Vβ T2 = T•m•SIN(α) m= (Vα )2 + (Vβ )2
T0 = T - T1 - T2
T2·Vy
Vβ
α
Vx α = tan−1
T1·Vx Vα
Vα
…but with FOC, we don’t have
POLAR notation. We have
RECTANGULAR notation Or…
(Vα and Vβ).
We could use a simple procedure designed
Reference Voltage Vector specifically for RECTANGULAR notation:
Components of the Stator Reference Voltage Vector
amplitude

1
0.8 Vα Vβ
0.6 1. Perform modified inverse Clarke-
0.4
0.2
0
transform on the voltage vector
-0.2
-0.4
2. Calculate which sector the
-0.6
-0.8
voltage vector is in
-1
0 α 60 120 180 240 300 360 3. Determine T1, T2, and T0
angle
4. Directly calculate the PWM
register values
Sector 1 Sector 2 Sector 3 Sector 4 Sector 5 Sector 6

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 1. Perform Modified Inverse
Clark Transform
3 Vβ
Vα +
0.5 i i= Vα −
3
- 2 2
Vβ
j = Vβ
j
-
-
0.5 k
3 Vβ
k=− Vα −
2 2
i j k i

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 2. Identify the correct sector
based on i, j, and k variables
a. Calculate the following expression:
N = sign(i ) + 2 sign ( j ) + 4 sign (k )
where sign( + ) = 1 ; sign( −) = 0
b. Use look-up table below to determine the sector from the value of N

N= 1 2 3 4 5 6
Sector = 6 2 1 4 5 3

Alternatively, you can determine the sector by using IF THEN statements to check the polarities of i, j, and k.

i j k

1 2 3 4 5 6
Dave Wilson TI Spins Motors…Smarter, Safer, Greener.
 3. Based on the sector, determine T1, T2, and T0
Sector→ 1 2 3 4 5 6
Bounded by: (U0-U60) (U60-U120) (U120-U180) (U180-U240) (U240-U300) (U300-U0)
†
T1 i -k j -i k -j
†
T2 j -i k -j i -k
Alternating
T0 = 1 – T1 – T2 Null = V0 Null = V7
V7 in 1,3,5
V0 in 2,4,6
V0 in 1,3,5
V7 in 2,4,6
Reversing
Sequencing
U = T1+T2 U = 100% U = 100% U = T1+T2 U = T1+T2+.5T0
Sector 1 V = T2 V = T0+T2 V = T0+T2 V = T2 V = T2+.5T0
W=0 W = T0 W = T0 W=0 W = .5T0
U = T1 U = T0+T1 U = T1 U = T0+T1 U = T1+.5T0
Sector 2 V = T1+T2 V = 100% V = T1+T2 V = 100% V = T1+T2+.5T0

4. Load the PWM W=0

U=0
W = T0
U = T0
W=0
U = T0
W = T0
U=0
W = .5T0
U = .5T0

registers based on
Sector 3 V = T1+T2 V = 100% V = 100% V = T1+T2 V = T1+T2+.5T0
W = T2 W = T0+T2 W = T0+T2 W = T2 W = T2+.5T0
U=0 U = T0 U=0 U = T0 U = .5T0
this table Sector 4 V = T1
W = T1+T2
V = T0+T1
W = 100%
V = T1
W = T1+T2
V = T0+T1
W = 100%
V = T1+.5T0
W = T1+T2+.5T0
U = T2 U = T0+T2 U = T0+T2 U = T2 U = T2+.5T0
Sector 5 V = 0 V = T0 V = T0 V=0 V = .5T0
W = T1+T2 W = 100% W = 100% W = T1+T2 W = T1+T2+.5T0
U = T1+T2 U = 100% U = T1+T2 U = 100% U = T1+T2+.5T0
Sector 6 V = 0 V = T0 V=0 V = T0 V = .5T0
W = T1 W = T0+T1 W = T1 W = T0+T1 W = T1+.5T0
†
Recall that T1 always applies to Vx (the most Note: All calculations referenced to top switch
clockwise vector), and T2 applies to Vy (the most
counter-clockwise vector) for any given sector. Source: Understanding Space Vector Modulation,
by Peter Pinewski, EDN Products Edition, March 7, 1996

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Modulation Summary
Feature→ Switching
Switching FOC
VL-L (max) Loss
Harmonics Compatibility
↓Modulation Reduction

Sine 0.866 VDC No High Fair

3rd Harmonic VDC No Lower than sine Fair

Lower than sine
Alternating Vnull
with Reverse VDC No Better spectrum Good
Sequencing spreading than
3rd Harmonic
Non-Alternating
VDC 33% ? Good
Vnull

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.