digital controller for pe
Post on 10-Apr-2018
222 Views
Preview:
TRANSCRIPT
-
8/8/2019 Digital Controller for PE
1/48
Digital Controller For PowerDigital Controller For Power
Electronic SystemsElectronic Systems
Renji Chacko, Scientist DRenji Chacko, Scientist D
Power Electronics GroupPower Electronics Group
CDAC (formerly ERDCI), Thiruvanathapuram.
Web Site: www.erdcitvm.org
-
8/8/2019 Digital Controller for PE
2/48
Emergence of Power Electronics SystemsEmergence of Power Electronics Systems
Applications
DC drives, AC drives, UPS systems
Automotive applications - EV, HEVNon conventional energy converters
- Solar, wind etc.
Power quality systems
- STATCOM, Harmonic compensatorsVector control techniques for AC systems
Implemented with digital controller
-
8/8/2019 Digital Controller for PE
3/48
Control HardwareControl Hardware
Analog Controller
Discrete Digital Logics
PLCSFPGAS, ASICS
Micro-Controller
Digital Signal Processor
Hardware Selection depends onApplication, Circuit complexity, Speed,
Accuracy
-
8/8/2019 Digital Controller for PE
4/48
High band-widthHigh resolution
Easy to design
Simple circuit for
small systems
Susceptible to EMI
Sensitive to Componentaging
Sensitive toTemperature
Hardwired Design
Limited to ClassicalControl SystemDesign
Ad
va
nta
ges
Lim
ita
tio
ns
To Summarize on AnalogTo Summarize on Analog
ControllerController
-
8/8/2019 Digital Controller for PE
5/48
Digital Systems
Data Processing
Large memory
Data storage
High level user interface
Keyboard/ display
interface
Standard networking
Data processing delay
acceptable
Non real time
Control Application
Minimum memory
No external data storage
Minimum user interface
Keypad and LCD display
Industrial fieldbus
networking
Computational delay
critical
Real time
-
8/8/2019 Digital Controller for PE
6/48
-
8/8/2019 Digital Controller for PE
7/48
DACDAC
80188CPU
80188CPU
WDTWDT MEMORYMEMORY UARTUART RS232CRS232C
ADCADCDIGITAL
I/ODIGITAL
I/O
SIGNALCONDITION
SIGNALCONDITION
OPTICAL
ISOLATOROPTICAL
ISOLATOR
OPTICAL
ISOLATOR
TRANSRELAY
OPTICAL
ISOLATOR
TRANSRELAY
DATABUS
ADDRESS BUS
CONTROL BUS
ANALOGINPUTS
DIGITALINPUTS
ANALOGOUTPUTS
DIGITALOUTPUTS
KEYBOARD
8888
Digital System for ControlApplications
Digital System for ControlApplications
-
8/8/2019 Digital Controller for PE
8/48
The CPUThe CPU
80C18880C188
DataBus
addressBus
controlBus
Int.
clock
controlin
I/ocs
Timout
16 bit CPU with
2 TimersInterruptController
Data Bus 8-bit
20 bit AddressControl lines forRead, write, etc
Clock 24MHzControl for DMA,
Timer etcInternal DecodersBuilt-in I/Os
-
8/8/2019 Digital Controller for PE
9/48
To summarize on Micro-ControllerTo summarize on Micro-Controller
Large Dynamic RangeInsensitive to Time
and TemperatureCommon Hardware
for many ApplicationsAlgorithmic
Implementation
RepeatableRemote ComputerInterface
Self Diagnostics
Creates Numerical
Patterns in an AnalogWorldMinimum Hardware
even for SimpleApplications
Design is TimeConsuming
Computational Delay isCritical
ADV
ANTA
GES
DISA
DVA
NTAG
ES
-
8/8/2019 Digital Controller for PE
10/48
DIGITAL SIGNAL PROCESSOR (DSP)DIGITAL SIGNAL PROCESSOR (DSP)
FORFOR
REAL TIME CONTROLREAL TIME CONTROL
-
8/8/2019 Digital Controller for PE
11/48
Real Time ControlReal Time Control
Reacts in deterministic way
Several tasks executed concurrently
-
8/8/2019 Digital Controller for PE
12/48
Comparison betweenComparison between
DSP and Micro-ProcessorDSP and Micro-Processor
High PerformanceSignal Processing
ArchitectureAdvanced Control
TechniquesAdditional functions
On-chip Peripherals
Supervisory functionsFamiliar Architecture
Limited Peripherals
Low PerformanceComputation Delay
Numerical Problems
DSP
Mic
ro
-controlle
r
-
8/8/2019 Digital Controller for PE
13/48
Architecture of TMS320F206 DSPArchitecture of TMS320F206 DSP
CPU
16-Bit TREG
16-Bit x 16-Bit Multiply
32-Bit PREG
ShiftL
32-Bit ALU32-Bit ACC
8 Auxiliary Registers
8 Level Hardware Stack
Repeat Instruction Counter
2 Status REG
D/P RAM256x16
D RAM288x16
D/P RAM4Kx16
P FLASH32Kx16
I/O64Kx16
SoftwareWSG
Timer
Serial Port(sync)
Serial Port(async)
A(0.15)
D(0.15)
-
8/8/2019 Digital Controller for PE
14/48
DSPDSP
FeaturesFeatures
Features Benefits
Single Cycle Instruction Advanced Algorithm
Pipelined Architecture High Band Width
Harvard Architecture Parallel Data & ProgramHardware Multiplier Min. Computation Delay
Hardware Shifters Large Dynamic Range
16-Bit Word Min. Quantization Errors
32-Bit Registers Min. Truncation ErrorHardware Stack Fast Int. Processing
Saturation Mode Prevents Wrap-Around
Built-in Timer, Wait State,
Serial I/O
Minimize Hardware
-
8/8/2019 Digital Controller for PE
15/48
Comparison between Floating PointComparison between Floating Point
and Fixed Point Digital Controllersand Fixed Point Digital Controllers
ProgrammableSoftware Development
Cost LowDevelopment in High
Level Language
Expensive and CostlyComponents
SoftwareDevelopment Cost High
Truncation and
Overflow ErrorsEffective codesthrough AssemblyLanguage
Floa
tingPoin
t
FixedPoin t
Less Expensive
Less Hardware
-
8/8/2019 Digital Controller for PE
16/48
Real time DSP Controller forReal time DSP Controller for
PEPE
NetworkDevelopment
System
FPGA
SensorsSensors
User
Interface
User
InterfaceDigital
Logic
Digital
Logic
AnalogInterfaceAnalog
Interface
ClockClock ResetReset
DSP
( AC Drive
Algorithm )
DSP
( AC Drive
Algorithm )
JTAG
Interface
JTAG
Interface
Serial
Interface
Serial
Interface
Analog output
(Debug)
Analog output
(Debug)
Gate Signal
Generation
Gate SignalGeneration
Gate DriverGate Driver
Fault
Interlock
Fault
Interlock
-
8/8/2019 Digital Controller for PE
17/48
DSP based PE ControllersDSP based PE Controllers
Stand Alone Small Systems
for UPS, small AC Drives etc.Stand Alone Medium PowerSystems
for Industrial Drives, UPS
etc.PC Based Controller
for large systems.
-
8/8/2019 Digital Controller for PE
18/48
Stand Alone SmallStand Alone Small
SystemsSystems
Ref.
TxDRxD
Isolation FPGA CktCPUTimerInt.
P FlashRAM
USART
RS232CFb.
Ckt
ADC
Fb.
To Gate
DSP Circuits for
PE
-
8/8/2019 Digital Controller for PE
19/48
STANDALONE CONTROLLER WITH SMPS
-
8/8/2019 Digital Controller for PE
20/48
Stand Alone Medium PowerStand Alone Medium Power
SystemsSystems
888888888888
ToGat
e
DSP
Ckts
DP
RAMCPU
ADC
DAC
DigitalI/O
RS232C
RS485
-
8/8/2019 Digital Controller for PE
21/48
STANDALONE CONTROLLER WITHSTANDALONE CONTROLLER WITH
NETWORKNETWORK
-
8/8/2019 Digital Controller for PE
22/48
PC Based ControllerPC Based Controller
PCBsOn PC MB
Industrial PCIndustrial PC
Features Standard Hardware One PCB PE Specific
Upto to date Hardware Cost High All software resource
easily adaptable Fast development
All PC Elements such as PC SMPS, FDD, HDD,VDU, Keyboard, Mouse Used during designFDD, VDU, Keyboard, Mouse RemovedSMPS by small one and HDD by Flash Replaced
-
8/8/2019 Digital Controller for PE
23/48
PE Specific Hardware onPE Specific Hardware on
PCPC
DSPCkts
DSPCkts
DPRAM
DPRAM
888888888888
I/O
interface
ToGate
ToGate
PCBus
-
8/8/2019 Digital Controller for PE
24/48
PC Add-on SystemPC Add-on System
-
8/8/2019 Digital Controller for PE
25/48
Control Hardware Flow Diagram
-
8/8/2019 Digital Controller for PE
26/48
Digital Controller HardwareFeatures
Multi layer PCB with Dedicated digital and ground planes
On board digital power supply regulator
Proper isolation from power circuit
Proper placement/ shielding to reduce EMI/EMC effect
Placement of components :
No mixing of high frequency
low frequency/ analog signals
Local decoupling for digital circuits
Isolation for I/O signals
-
8/8/2019 Digital Controller for PE
27/48
DesignDesignTechniquesTechniquesforforEMCEMC
Most preferred techniques Circuit design and choice of components
Cables and Connectors Filters and Transient suppressors Shielding PCB layout
ESD, Electromechanical devices and PFC
-
8/8/2019 Digital Controller for PE
28/48
Circuit design and choice ofCircuit design and choice of
componentscomponents
Digital components and circuit design
Choosing components,Bad IC sockets,
Spread spectrum clocking
Analog components and circuit designChoosing components, Preventing demodulation problem Switch-mode design
Topology,Snubbing,Heat sinks, Rectifiers, Magnetics
Signal communication components and circuit designNon-metallic communication,Optoisolation,
Communication,Protocols Choice of passive components
-
8/8/2019 Digital Controller for PE
29/48
Asyn link
Drive1Drive1
Drive 2Drive 2
Drive nDrive n
ActuatorsActuators
Sensor
Elements 1
Sensor
Elements 1
SensorElements n
SensorElements n
Syn link
. ..
Distributed Control ArchitectureDistributed Control Architecture
-
8/8/2019 Digital Controller for PE
30/48
Controller NetworkingController Networking
AddressAddress FunctionFunction DataData ChecksumChecksum
Address Is the Address of the ControllerFunction M-to-S, S-to-M, 16-bit, 8-bit, Variable or logicData Address, no of data, dataChecksum If no error acknowledge or skip
Master Slave configurationMessage oriented protocolCan be implemented on standard hardware like RS-232, RS-485
Mod BusMod Bus
EOFEOF
-
8/8/2019 Digital Controller for PE
31/48
Mod Bus Protocol
MasterMaster
Slave 1Slave 1 Slave 2Slave 2 Slave nSlave n
Master SlaveRead a variable value
Value of the variable
Master SlaveUpdate a variable value
Acknowledge
Data exchange in write mode
Data exchange in read mode
(Value updated)
Query
Response
Query
Response
-
8/8/2019 Digital Controller for PE
32/48
Controller Area Network(CAN)Controller Area Network(CAN)I
D
E
IdentifierR
T
R
S
O
F
r0 DLC Data EOF
I
FS
CRC
A
C
K
IdleIdle
Message Frame Format
CAN efficiently supports distributed real-time control applications Producer/Consumer broadcast model
Prioritization of messages, message identifiers instead of node address
Configuration flexibility
High reliability , Error detection and signaling
Automatic retransmission of corrupted messages.
Autonomous switching off of defect nodes
Carrier-sense, multiple-access-with-collision-resolution (CSMA/CR) protocol
Non-destructive bit-wise arbitration
Message oriented broadcast communication
-
8/8/2019 Digital Controller for PE
33/48
CAN Protocol
-
8/8/2019 Digital Controller for PE
34/48
Digital Controller for
Automotive Application
Processor basedController
3.3 V
12V
SMPS
RS232
15V, 5V
42V
SMPS
Peripheral Interface GATEdrive
JTAG
CANinterface
Analog
I/O
Digital
I/O
GATE
Signals
CAN
Bus
PC
42V DCBus
14V DC
Bus
(Optional)
-
8/8/2019 Digital Controller for PE
35/48
System DesignSystem Design
Formulate the Specification Develop the Overall Block Diagram
Develop the Control Block Develop the Flow Chart Develop the Flow Diagram Select an Appropriate Hardware Develop the Functional Software Modules Appropriately Cascade the Functional Modules Scale and Debug
-
8/8/2019 Digital Controller for PE
36/48
Common Software FunctionalCommon Software Functional
ModulesModules
Digital/ Analog input interface Space vector PWM PID controller
d-q Transformation and Re-transformation 3phase to 2phase transformation and vice versa Machine model implementation
Calculation of machine torque
Calculation of speed
Calculation of stator flux
Delay elements Integrator Sin and cos function generatorsDigital/ Analog output interface
-
8/8/2019 Digital Controller for PE
37/48
Functional Module Identification
f(n)input output
input output +==
=
=
ktsktst
t
s dttedttedttektu0
0
)()()()(
][*])1[()( ssss kteTtkuktu +=
input output
)()()(
tetudt
tduTd =+
]})1()({*)[(])1[()( ssdsss tkukteTTtkuktu +=
Look up table based function
generator
Delay element
Integrator
-
8/8/2019 Digital Controller for PE
38/48
Functional Module Identification
input output+= dttektektu ip )()()(
+= )()()( sisp ktekktekktsu
PI controller
input output3
2
)(*5.1)( ssrss ktikti =
)]()([*)2
3()( ssbssyss ktiktikti =
input output2
d-q
)]sin(*)([)]cos(*)([)( sssqsssdss ktktiktktikti =
)]cos(*)([)]sin(*)([)( sssqsssdss ktktiktktikti +=
d-q transformation
3-Phase to 2-Phase conversion
-
8/8/2019 Digital Controller for PE
39/48
PI ControllerPI Controller EquationEquation
)(12
TEK)(1EK)(1U
1)(2TEK1)(EK1)(U
2
TEKEKU
EK
EKU
eKeKu
IP
IP
IP
I
P
IP
111
z.(z)..z(z)..z(z).
z.(z)..z(z)..z(z).
1z
1z.(z)..(z).(z)
(s).
S
(s).(s)
dt(t).(t).(t)
++=
++=
++=
+=
+=
)( 11
2
T
+=
z
zS
-
8/8/2019 Digital Controller for PE
40/48
PIPI
ControllerController Equation cont..Equation cont..
2
T
2
T
2
T
2
T
2T
2T
2
T
2
T
.KKK
.KKK
eKeKuu
e.KKe.KKuu
E.KKE.KKUU
E.KKE.KKUU
IP2
IP1
21
IPIP
1IPIP
1
IPIP
)()(
)()(
)()(
+=
+=
++=
++++=
++++=
++++=
1)(k(k).1)(k(k)
1)(k.(k).1)(k(k)
..
(z).z.(z).(z).z(z)
.
11
-
8/8/2019 Digital Controller for PE
41/48
PI ControllerPI Controller Software moduleSoftware modulepiSpeed:
SETC OVM
LACC softSpeed
SUB wFb ;rotorSpeed
SACL sp0Error
* ----------------------------------------------------------
BCND negSpError,LTSUB #kpSpeedLimit
BCND skipSpError,LT
SPLK #kpSpeedLimit,sp0Error
B skipSpError
negSpError:
ADD #kpSpeedLimit
BCND skipSpError,GTSPLK #-kpSpeedLimit,sp0Error
skipSpError:----------------------------------------------------------
LT sp0Error
MPY kpSp ;e[k]*Kp
PAC
SACL tempA
-
8/8/2019 Digital Controller for PE
42/48
PI ControllerPI ControllerLACC torq0Error ;acc=e[k]
ADD torq1Error ;acc=e[k]+e[k+1]
SACL tempB ;tempB=e[k]+e[k+1]
LT tempB ;T=e[k]+e[k+1]
MPY kiTorq ;P={e[k]+e[k+1]}*Ki*T/2
LACL piTorqILo
ADD piTorqIHi,16 ;acc=Icon[k]LTD torq0Error ;acc=Icon[k]+{e[k]+e[k+1]}*Ki*T/2,
T=sp0Err0r, volt1Error=volt0Error
SACL piTorqILo
SACH piTorqIHi ;Icon[k+1]
ADD tempA,16
SACH tempA
LT tempA
MPY Tmax
PAC
SACH piTorqRef,1
CLRC OVM
RET
Software moduleSoftware module
-
8/8/2019 Digital Controller for PE
43/48
Structuring DSP ForStructuring DSP For
Power Electronics ControlPower Electronics Control
Int. RoutineMain Routine
Initialization
Timer Int.
Sampling time Sampling time
Timer outputTo the interrupt
-
8/8/2019 Digital Controller for PE
44/48
Software Development phasesPC based software development
C, C++, Assembly
Cross compiler/ assembler
Target Memory allocation for software
modules
Downloading and running in RAM
Debugging
Firmware into Flash/ EPROM
-
8/8/2019 Digital Controller for PE
45/48
Software development SupportSoftware development SupportSimulator
Software programs that simulate the
operation of the processorNo target hardware required
Monitor debugger-
Serial port, RS 232CIntel iaPX 86/88
-
8/8/2019 Digital Controller for PE
46/48
Software developmentSoftware development
SupportSupportIn Circuit Emulator- Emulation processor replaces
Actual processor
In circuitEmulatorIn circuitEmulator
JTAG (IEEE 1149.1)Emulator
PC Add on Card, Parallel port
Emulator header in target board
Target
Board
Target
Board
-
8/8/2019 Digital Controller for PE
47/48
Trends in digital controlTrends in digital control
HardwareHardware
Low voltage design: 3.3V instead of conventional 5VHigher level of integration, low power, Higher speed
High End Integration
ADC, DAC, PWM - Minimize the external interface for speed compatibility
No External data/ address bus and associated control lines
Flash / EEPROM memory
Power Down features in idle and fault condition
External Lower frequency crystal
10Mhz for 40-125 Mhz
Serial interface through SPI and SCI
Minimum I/O s for interface, if any
Complete system working on Single supply
Reduced power supply requirement
Built in industrial field bus network interface
CAN, I2C
-
8/8/2019 Digital Controller for PE
48/48
Power Electronics Group
C-DAC( Centre for Development of Advanced
Computing )
Thiruvananthapuram
top related