44
Fo
Induc ion
Mo o
Con ol
,
The
command
speed has
an'S'
o m, ypical
in
e ical ope a ion sys ems. The eason
I
o his
command
speed
is
ha a so accele a ion/decele a ion a oids ab up
mo emen s
in
he ele a o cabin, inc easing he com o le el. J.L. Mo a,
F.
Ba e o,
E.
Gal an,
F.
Colod o, J.N. Tombs,
M.
Ba anco*,
A.
To alba and L.G. F anquelo; Dp o.
de
Ingenie a Elec onica, Escuela Supe io
de
Ingenie os, Se illa Spain
Ajuzzy-logic based con olle
jo
he speed
and
posi ion con ol
I
is
well known ha high pe o mance speed
egula ion
o
an induc ion machine equi es
ec o
con ol.
By
means
o
a
coo dina e
ans o ma ion
o
measu ed cu en s,
we
can
ob ain
wo
new
cu en
componen s
di ec ly
ela ed wi h he lux and o que
o
he machine,
so
we
can con ol he induc ion mo o as a sep-
a a ely
exci ed
DC
machine.
The
angle
ha
de ines his coo dina e ans o ma ion mus be
es ima ed using he dynamic modelling
o
he
Olud
I
'1'
machine which equi es a p ope knowledge
o
he o o ime cons an .
The ope a ions ha mus be pe o med o a
ec o con ol algo i hm a e nowadays imple-
men ed
in
a mic op ocesso , usually a
DSP.
This
'0'
J
Vec o L
Con ol !
S
......
i .che
p og ammable bi s and s a e
o
hem
PCIM
Eu ope
May
2002
In eg a ed Solu ion o Induc ion Mo o Con ol
The ope a ions ha
mus
be
pe o med
o a ec o con ol
algo hm a e nowadays
implemen ed
in
a
mic op ocesso ,
usually a DSP
solu ion
is
expensi e
in
de elopmen cos , so a wi h a highly accu a e speed and o que
con-
speci ic chip ha could pe o m
all
he unc ions ol, especially
in
low speed ope a ion ange.
equi ed can be
an
in e es ing solu ion.
This a icle p esen s an ASIC,
named
ASITRON ha in eg a es
all
he logic equi ed
o
high
pe o mance
con ol
o
induc ion
mo o s. The ASIC is pa
o
a
compac
indus-
ial con ol
sys em
o
ele a o s build
by
Macpua sa
Company
( igu e
1).
In
ele a o
indus y, mo o s a e used
in
a pa icula way:
he mo o
is
ope a ed om ze o speed
o
nom-
inal posi i e
o
nega i e speed and hen
pu
back
o
ze o, while posi i e o nega i e o que
loads a e applied.
This unc ional ope a ion
is
accomplished due
o
ASITROI'J.
AS mON, igu e
2,
in eg a es he indi ec ec-
o con ol algo i hm, a digi al achome e , a 64-
ules buil -in uzzy logic based con olle o
speed and posi ion egula ion,
~
PWM based
cu en con olle and a se o
ex &naJ
in e aces,
such as
AID
con e e s o cu en measu e-
men s and a mic op ocesso pa allel in e ace.
Figu e 3 depic s a block diag am
o
he ASIC,
including i s p og ammabili y. No ice ha
i
can
pe o m a 3-phase PWM cu en o
o~age
gen-
speed and posi ion egula ion.
The com o eeling o passenge s
is
ela ed e a o , a classical ol age- equency con olle
The indi ec
ec o
con ol algo i hm,
he
coo dina e change and he cu en con ol loop
ha e been implemen ed using a 13-bi s mul i-
plie and
an
18-bi s
adde . Th ee inpu s,
he
command
o que
cu en (ob ained om he
uzzy con olle ), he lux cu en e e ence and
he mechanical speed (ob ained om a speed
measu emen block) a e used o de e mine he
elec ical angle, needed o coo dina e ans o -
ma ion, and
o
ob ain he e e ence cu en s,
necessa y o he inne cu en con ol loop, ig-
u e
4.
~
...
.J
...
J
---
...
---
-----
...
_-
,.
...
;-
Ton
FREO
T+!·
,
..
,
o o implemen a modem ec-
o ial con ol
o
he induc ion
mo o wi h a uzzy-logic based
MUX
NPUT,
R.IlM
(32x4x12)
bas
I---c--'-T----oo-i
Mo eo e , he cu en con ol loop is based
CT1
SOT,
CT2
de5i ed ou pu
------'--+I
DE
FUZZIFIER
I
I
I
CT1
CT2 1 I
1 I 1
1 1
1-
___________
-0-
_______
~_G.!.,_
--------
__
...!
In eg a ed
Solu ion
Fo
Induc ion
Mo o
Con ol
con inues
on
a 10-bi s esolu ion PWM modula ion, whe e
he iangula ca ie equency can be se om
5kHz
o
43kHz. A p og ammable
PI
con olle
closes
he
loop. The
chip
p oduces
6 digi al
pulses
o
d i e
he
ga es
o
a
h ee-phase
in e e wi h p og ammable dead imes (up
o
6ms) and na ow pulse dele ion (up o 3ms).
The wo ain pulses o
an
op ical encode
a e
used o de e mine speed wi h 16 bi s esolu ion.
A mul i ange CET
me hod
is implemen ed
o
co e a wide speed ange
(0
o ±82
Hz)
wi h a
limi ed absolu e e o depending on he num-
be
o
pulses pe e olu ion o he encode .
ASITRON implemen s a uzzy-logic based
con olle o he speed and posi ion con ol o
an
induc ion mo o , igu e
5.
This con olle has
h ee inpu s ( he speed
e o ,
he in eg al speed
e o and ano he one ex e nally p og ammed)
and one ou pu ( he command o que cu en ).
The d e en
ules
(up
o
63)
ha de ine he con-
ol su ace a e s o ed
in
a buil -ill RAM. Using
his con olle ,
an
imp o emen
in
speed con ol
can be ob ained when compa ed wi h a classi-
cal
PI
egula o .
46
Figu e 6 shows
an
induc ion mo o con olled
using ASITRON
om
low
speed
o
nominal
0
.0
5
0.1
0.15
0.2
0.25 0
.3
1"",
pO
(
S)
Co
H e
n
es
la
.10
speed and, hen, pu back
o
low speed wi h-
ou load o que. Mechanical speed and mo o
cu en s
ha e been
depic ed.
No ice
ha
he
command
speed
has
an'S'
o m, ypical
in e ical ope a ion sys ems. The eason
o
his
command
speed
is ha a so accele a-
ion/decele a ion a oids ab up mo emen s
in
he ele a o cabin, inc easing he com o
le el.
The
mo o
esponse, applying a a ed speed
s ep
is
shown
in
igu e
7.
I}inally, igu e 8 p es-
en s he sys em esponse when a a ed o que
s ep
is
applied a a mechanical speed o 25Hz.
The esul s ha e been ob ained using a
10kW
ac-mo o es - ig con olled wi h ASITRON ha
has
been
p og ammed
o
pe o m
bo h,
an
indi ec
ec o
and a uzzy
logic
based
24.4
24
.2
0.35
0.4
0.45
24
0
0.2
40
speed egula ion.
In
his a icle, a highly p og ammable ASIC o
con ol
3-phase
ac-machines
has been p e-
sen ed. ASITRON can be con igu ed o pe o m
3-phase
PWM
cu en ( ol age) gene a o , a
classical ol age-' equency
con olle
o
o
implemen
a
mode n
ec o ial con ol
o
he
induc ion mo o wi h a uzzy-logic based speed
and posi ion egula ion. The chip has been ab-
ica ed using a 0.7
mm
CMOS
digi al echnol-
ogy
and i is p esen ly
he
co e
o
a ligh-pe -
o mance AC-d i e o ele a o s manu ac u ed
by he
Macpua sa
Company.
Many
uni s a e
wo king oday showing excellen esul s. •
en e
pcim
10664
a
www
.
pcim-in o.com
PCIM
Eu ope
May
2002