AN205342
FM3 MB9B500 Series Space Vector Pulse Width Modulation
This application note describes SVPWM function theory, block, function, flow, sample, parameter in ARM Inverter
Platform.
Contents
1
2
Introduction .................................................................. 1
1.1 Purpose .............................................................. 1
SVPWM Theory ........................................................... 1
2.1 Overview ............................................................. 1
2.2 Theory ................................................................. 2
2.3 SVPWM Actualize ............................................... 5
1
Introduction
1.1
Purpose
2.4 SVPWM Arithmetic in CM-3 ................................ 6
2.5 Starting Flash Memory Automatic Algorithm ..... 10
3 Additional Information ................................................ 10
Document History............................................................ 11
This application note describes SVPWM function theory, block, function, flow, sample, parameter in ARM Inverter
Platform.
2
SVPWM Theory
Theory of SVPWM
2.1
Overview
In motor theory, motor speed defines by the formula:
(1)
Where f means Power frequency, p means pole pairs
Through the formula ,speed regulate need change the power frequency or the motor pole pairs, and change power
frequency easier than change motor pole pairs, so, at present, the great mass of motor speed regulate use frequency
convert.
How to change power frequency? Currently, use the type of: AC-DC-AC. It means, converting 3-phase power AC into
DC, then, inverter the DC into 3-phase AC and change frequency.
First, define the 3-phase power AC interphase voltage is:
(2)
Take this 3-phase AC voltage into stationary system (α-β):
(The formulae deduce please reference the [AN] coordinate transform Clarke Transform formulae (12))
(3)
Take this into voltage space vector:
(4)
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
In sine power:
(5)
This equation is circularity in plural plane. So, in motor theory, invariableness voltage (U) and frequency, stator
voltage space vector in plural plane move along with circularity, and space vector move a cycle in a power frequency
cycle.
Figure 1. Voltage Space Vector
Figure 1, the line voltage space vector will move other circularity, it’s radius more than phase voltage circularity
and they have 30° phase angle.
,
In stator 3-phase voltage space vector will move along with a circularity (start)into another circularity(stabile).
The SVPWM use to regulate power frequency and draw a nice circularity through DC–AC part.
2.2
Theory
SVPWM: Space Vector Pulse Width Modulation.
Purpose: SVPWM can directly transform the stator voltage vectors from the two-phase α,β-coordinate system into
pulse-width modulation (PWM) signals (duty cycle values). proverbial motor formulae is :
(6)
is stator voltage vector,
is stator flux vector,
is stator current vector.
When
is a standard sine wave, that is the same size and direction continuous change, the trajectory is an ideal
circle. So,
(7)
When R1 *i1<<U1:
(8)
flux trajectory depends on voltage vector.
So we can design the circuit of DC to 3-phase AC
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Figure 2. Circuit of DC to 3-Phase AC
As shown in Figure 2, in the circuit diagram, have 6 power switch a,b,c,
[
], they control the switch ON/OFF, and they mutex,
, plot out they into 2 groups, S[ a,b,c] ,
it’s means each voltage vector is coded by the three-digit number and have eight possible switching states (vectors)
are feasible.
for example:
=[1,0,0]
the point [a], [b’], [c’] swith ON, and [a’], [b], [c]swith OFF.
In motor theory,
take
into the formula,
The same, can calculate other switching states, below in Table 1.
Table 1. Three-phase Voltage among Different Vector
Sa
Sa
Sa
Vector
UaN
UbN
UcN
Ua
Ub
Uc
0
0
0
U0
0
0
0
0
0
0
1
0
0
U4
Udc
0
0
2Udc/3
- Udc/3
- Udc/3
1
1
0
U6
Udc
Udc
0
Udc/3
Udc/3
- 2Udc/3
0
1
0
U2
0
Udc
0
- Udc/3
2Udc/3
- Udc/3
0
1
1
U3
0
Udc
Udc
- 2Udc/3
Udc/3
Udc/3
0
0
1
U1
0
0
Udc
- Udc/3
- Udc/3
2Udc/3
1
0
1
U5
Udc
0
Udc
Udc/3
- 2Udc/3
Udc/3
1
1
1
U7
0
0
0
0
0
0
Form formula (3) and (4), the voltage space vector formula:
(9)
Where
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Take Table 1 vector:
(10)
All of non-zero vectors have the same amplitude
example, f=50Hz, the vector change time:
, and between border two vectors angle is
, for
.
Graphical representation of all combinations is the hexagon shown in Figure 3. There are six non-zero vectors, U0,
U60, U120, U180, U240, U300, and two zero vectors, O000 and O111, defined in α, β coordinates.
Figure 3. Voltage Space Vector
In Figure 3, the red line plot out the hexagon into six sectors, every between border two vectors angle is 60°, the
border two vectors and zero vector could compose random voltage vector.
(11)
Or
(12)
This formula means, in sector the voltage vector rotating course could plot out many small part , it’s have the same
effect.
So, in the interest of bring 3-phase sine AC voltage, use the voltage vector compose, begin from U4(100),every time
increase a little increment, every increment could compose from between border two vectors and zero vector. Then
the enactment voltage vector equivalent with the rotating voltage vector, and that all is SVPWM.
The Figure 4 show the SVPWM transform course, a f = 50Hz single phase voltage transform into DC voltage, then
transform into a f=100Hz 3-phase voltage.
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Figure 4. Transform Course with SVPWM
DC
AC
f=50Hz
2.3
AC
f=100Hz
SVPWM Actualize
3-phase AC voltage rotating speed :
, rotating a cycle need time T=1/f, if carrier wave frequence is
, the
frequence ratio
, it’s means voltage rotating plane plot out R unit increment , so the voltage vector increment
angle is
For example, need compose a voltage vector
, it’s station at I at sector first increment, then will use two non-zero
vector(U4,U6) and two zero vector(U0,U7), shown the Figure 4.
Figure 5. Decomposing Process of Voltage Space Vector
In stationary system 2-phase (α-β), the
with U4 angle is θ, then
(13)
Because:
, the vector hold time is
(14)
Where m is SVPWM regulate ratio:
Then zero vector hold time:
For reduce the switch waste, every time only change one phase switch state, and the best sequence is below the
Table 2.
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Table 2. Best Switch Sequence with least waste
Uref
switch sequence
I sector (0 ≤θ≤60 )
0-4-6-7-7-6-4-0
II sector (60 ≤θ≤120 )
0-2-6-7-7-6-2-0
III sector (120 ≤θ≤180 )
0-2-3-7-7-3-2-0
IV sector (180 ≤θ≤240 )
0-1-3-7-7-3-1-0
V sector (240 ≤θ≤300 )
0-1-5-7-7-5-1-0
VI sector (300 ≤θ≤360 )
0-4-5-7-7-5-4-0
Then use the Table 2, after voltage rotating a cycle, will have R R unit compose vector, and in I sector have 3-phase
voltage wave shown in Figure 5.
Figure 6. Voltage Ware In one Sector
2.4
SVPWM Arithmetic in CM-3
In ARM Inverter platform SVPWM compose sina wave need have 4 steps:
2.4.1
1.
Make sure the
2.
To calculate X, Y, Z which are used to determine open time of 2 adjacent basic vector.
3.
To determine each conduction time for 2 adjacent basic vector.
4.
To determine To write OCCP register value to CH1,CH3,CH5 which used to create SVPWM waveform
Make sure the
Fuction Application
belong to which sector.
belong to which sector
Function: To calculate sector no. of SVPWM voltage vector.
Function Name: CalcSectorNo
C file name:
SVPWM.C, SVPWM.H
Function interface:
INT8U CalcSectorNo(_stDataInFixAxis *pstDataInFixAxis //fixed 2-axis system)
typedef struct
{
Q15_VAL32 alpha_Q15;//
Q15_VAL32 beta_Q15;//
}_stDataInFixAxis
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Table 3. Input and Output of the Function ClacSectorNo
Item
Name
Description
Format
alpha
phase- alpha of fixed 2- phase
Q15_VAL32
beta
phase- beta of fixed 2- phase
Q15_VAL32
SectorNo
Sector no. of SVPWM voltage vector
Q15_VAL32
Inputs
Outputs
The following code is the example for this module.
void
{
example_ CalcSectorNo ()
CurrentInFixAxis. alpha_Q15= INa;//Input alpha
CurrentInFixAxis. beta_Q15= INb;//Input beta
CalcSectorNo (&pstDataInFixAxis);
OUTa= SectorNo;
}
2.4.2
D e t e r m i n e o p e n t i m e o f 2 a d j a c e n t b a s i c ve c t o r
Fuction Application
Function:To calculate X,Y,Z which are used to determine open time of 2 adjacent
basic vector.
Function Name: CalcDutyTime
C file name:
SVPWM.C, SVPWM.H
void CalcDutyTime(_stDataInFixAxis *pstDataInFixAxis, _stXYZ *pstXYZ,
INT8U WhichMFT, INT8U WhichFRTCh)
typedef struct
{
Q15_VAL32 alpha_Q15;
Q15_VAL32 beta_Q15;
}_stDataInFixAxis;
Table
4. Inputstruct
and Output of the Function ClacDutyTime
typedef
{
Item
Name
Description
Format
INT32S
X;
INT32S Y; alpha
phase- alpha of fixed 2- phase
Q15_VAL32
INT32S Z;
beta
phase- beta of fixed 2- phase
Q15_VAL32
}_stXYZ;
Inputs
Outputs
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WhichMFT
Which MFT, valid value is MFT0, MFT1
INT8U
WhichFRTCh
Which FRT channel to configure
INT8U
X
X is conduction time
INT32S
Y
Y is conduction time
INT32S
Z
Z is conduction time
INT32S
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
The following code is example for this module.
Function: To calculate X,Y,Z which are used to determine open time of 2 adjacent
basic vector.
void example_ CalcDutyTime ()
{
pstDataInFixAxis. alpha_Q15= INa;//Input alpha
pstDataInFixAxis. beta_Q15= INb;//Input beta
WhichMFT=0;
WhichFRTCh=0;
CalcDutyTime (&pstDataInFixAxis,& pstXYZ, WhichMFT, WhichFRTCh);
OUTa= pstXYZ->X;
OUTb= pstXYZ->Y;
OUTc= pstXYZ->Z;
}
typedef struct
{
INT32S X;
INT32S Y;
INT32S Z;
}_stXYZ;
2.4.3
Calculate conduction time
Function Application
Function: To determine each conduction time for 2 adjacent basic vector.
Function Name: CalcTon
C file name:
SVPWM.C, SVPWM.H
void CalcTon(INT8U SectorNo, _stXYZ *pstXYZ, _stOnTimingOfUVW *pstOnTimingOfUVW,
INT8U WhichMFT, INT8U WhichFRTCh)
typedef struct
{
INT32S X;
INT32S Y;
INT32S Z;
}_stXYZ;
typedef struct
{
INT32S TU;
INT32S TV;
INT32S TW;
}_stOnTimingOfUVW;
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Table 5. Input and Output of the Function ClacTon
Item
Name
Description
Format
X
X is conduction time
INT32S
Y
Y is conduction time
INT32S
Z
Z is conduction time
INT32S
SectorNo
Sector no. of SVPWM voltage vector
INT8U
WhichMFT
Which MFT, valid value is MFT0, MFT1
INT8U
WhichFRTCh
Which FRT channel to configure
INT8U
TU
Conduction time of A phase connecting to DC power supply
INT32S
TV
Conduction time of B phase connecting to DC power supply
INT32S
TW
Conduction time of C phase connecting to DC power supply
INT32S
Inputs
Outputs
The following code is example for this module.
void
{
example_ CalcTon ()
pstXYZ .X= INa;
pstXYZ .Y = INb;
pstXYZ .Z=INc;
SectorNo=1;
WhichMFT=0;
WhichFRTCh=0;
CalcTon (SectorNo ,& pstXYZ,& pstOnTimingOfUVW, WhichMFT, WhichFRTCh);
OUTa= pstOnTimingOfUVW ->TU;
OUTb= pstOnTimingOfUVW ->TV;
OUTc= pstOnTimingOfUVW ->TW;
}
2.4.4
C r e a t e S V P W M w a ve f o r m
Fuction Application
Function: To determine To write OCCP register value to CH1,CH3,CH5 which used to
create SVPWM waveform
Function Name: WriteCmpValToReg
C file name:
SVPWM.C, SVPWM.H
void WriteCmpValToReg(INT8U WhichMFT, _stOnTimingOfUVW *pstOnTimingOfUVW)
typedef struct
{
INT32S TU;
INT32S TV;
INT32S TW;
}_stOnTimingOfUVW;
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Table 6. Input and Output of the Function WriteCmpValToReg
Item
Name
Description
Format
TU
Conduction time of A, phase connecting to DC power supply
INT32S
TV
Conduction time of B, phase connecting to DC power supply
INT32S
TW
Conduction time of C phase connecting to DC power supply
INT32S
WhichMFT
Which MFT, valid value is MFT0, MFT1
INT8U
Inputs
The following code is example for this module.
void
{
example_ WriteCmpValToReg ()
pstOnTimingOfUVW .TU=INa;
pstOnTimingOfUVW .TV=INb;
pstOnTimingOfUVW .TW=INc;
WhichMFT=0;
WriteCmpValToReg (WhichMFT,& pstOnTimingOfUVW);
}
2.5
Starting Flash Memory Automatic Algorithm
There are three types of commands that invoke the flash memory automatic algorithm: read/reset, write (program)
and chip-erase. Figure 7 lists commands used in programming/erasing flash memory.
Figure 7. Command Sequence
3
Additional Information
For more Information on Cypress semiconductor products, visit the following website:
www.cypress.com/32bitarmcore/fm3
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
Document History
Document Title: AN205342 - FM3 MB9B500 Series Space Vector Pulse Width Modulation
Document Number: 002-05342
Revision
ECN
Orig. of
Change
**
—
CCTA
*A
5260574
CCTA
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Submission
Date
Description of Change
03/24/2011
Initial release.
06/06/2012
Change the document format.
05/09/2016
Migrated Spansion Application note from MCU-AN-510103-E-11 to Cypress format.
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FM3 MB9B500 Series Space Vector Pulse Width Modulation
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