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Vector Control Development Kit
User Manual
18
The period of each PWM cycle is configured to be 50 μS, and the PWM
module generates an interrupt request at the end of each cycle. The PWM
interrupt service routine (ISR) leaves the PWM interrupt disabled while it
executes, and is tuned to execute within 200–250 μS. Therefore, the
PWM ISR is executed every five PWM cycles, or 250 μS.
The PWM ISR controls all of the ongoing application program functions
after initialization. The primary goal of the ISR is to update the duty cycle
value for each PWM channel as needed to produce the desired AC wave-
forms at the inverter bridge outputs.
The PWM duty cycle values are derived from a feedback loop based on
rotor speed and rotor flux position. The stator current waveform is deter-
mined by sampling two phases of the inverter output current and recon-
structing the third phase.
The rotor speed is sampled by a counter/timer configured to measure the
period of a magnetic position sensor on the motor. The measured speed is
periodically compared to the requested speed received via UART from an
external controller. The resulting speed command value is used to create a
rotation reference frame expressed as a two-phase direct/quadrature (DQ)
vector. The resulting vector is regulated to produce the necessary flux and
torque amplitude in the output vector.
An inverse Park transform is used to rotate the reference frame relative to
the rotor position. Then an inverse Clarke transform is used to convert the
rotated two-phase reference frame back into a three-phase expression. At
the same time, the vector ’s position is classified into one of six states,
each corresponding to one sixth of the vector circle.
When the ISR calculates duty cycles for the three PWM channels, one
phase is left unmodulated (ON or OFF for the whole PWM cycle), and the
flux vector is encoded by modulating the other two phases. This reduces
switching losses by one third. The two phases to be modulated depend on
the flux vector ’s state position. After the PWM space vector calculation is
complete, the corresponding PWM registers are updated.
UM021402-0407
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