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  1. Hi there Here is my 3phase variable speed motor drive booster pack This has been in my mind for some years, but I always thought that a 3phase variable speed inverter drive is beyond my humble hobbyist scope. Too complicated for my old 8-bit mind ;-) Such a inverter contains: 6 high voltage FETs or IGBTs, 6 gatedrives, at least one DSP, a protection concept, all the software to create the 3-phase PWM, dead time control..... Still that was for quite some time on my long-term "to do" list, with no chance to actually materialize it, not enough time, too many other things to do. When playing around with the PWM module of the TM4C123 I found out that creating a 3phase PWM signal with this module is actually pretty easy. Combined that with an integrated Power Module such as the FSB50550 (Fairchild). So here it is: a booster pack for the Tiva Launchpad which drives big-ass 3phase motors. The booster pack contains the following: - the FSB50550 power module (6 FETs 500V 1.4Ohm, Gatedrivers, Bootstrap diodes, Temp sensor) - snubber capacitor Power supply: everything is powered from one DC source, 20V or (much) more. - 15V switchmode power supply from the high voltage side, built around a LNK304, for the FSB50550 - 3.3V switchmode power supply from the 15V to power the Launchpad, built around a LT1376 Measurement: - Passive voltage dividier to measure the input voltage - Sense resistor and LM339 comparator for overcurrent detection Display: - Nokia 5110 display Potentiometer for motor speed and direction The software is based on Energia using Tiva Ware function calls for all the PWM stuff. It is still work in progress, very basic and at the moment consists of: - calculate the sinwave lookup table at startup - PWM initialisation (PWM set to 15625 Hz, deadtime 1us, sync on) - a timer interrupt run every 10uSecs, do update the 3 PWD duty cycles - ADC measurement of temperature, voltage, current (moving average) - fault interrupt The main program is very short, the display is updated twice a second and the modulation factor is calculated out of the potentiometer speed setting and the applied DC voltage. Sudden changes in motor frequency are limited in the software, to prevent the motor to feed back energy and cause overvoltage. The motor on the picture is a 1/2hp, 900rpm, 6-pole motor, 12 kg of Italian steel and copper, probably 50 years old. For playing around, I apply about 50% of rated volt/hz, so current and maximum torque is reduced. Currently I use my dual 35V 4A lab supply, series connected, as a power source. here is the code: //simple 3phase frequency converter //27.9.2014 by maelli #define dots 192 //dots per halfhave, must be divisible with 3 #define period 5120 //80Mhz/5120 = 15625 switching frequency #define dt 80 //deadtime 80Mhz / 80 = 1uS #define PART_TM4C123GH6PM #include <stdint.h> #include <stdbool.h> #include "inc/hw_ints.h" #include "inc/hw_sysctl.h" #include "inc/hw_types.h" #include "driverlib/interrupt.h" #include "driverlib/sysctl.h" #include "driverlib/timer.h" #include "driverlib/pwm.h" #include "LCD_5110.h" #include "inc/tm4c123gh6pm.h" LCD_5110 myScreen (33,37,36,35,34,38,17); char celsius[3]={0x7f,'C',0x00}; uint16_t a,dire=0,modu,tensec; uint32_t timecount,sintable[dots]; volatile int32_t irqcount,timeset; volatile uint32_t temperature, voltage, current, poti; void setup(){ myScreen.begin(); myScreen.setBacklight(0); myScreen.text(0, 0, "3ph Converter"); for(int i=0;i<dots;i++) sintable[i]=sinf((i*3.14159)/dots)*(period/2-dt); unsigned long ulPeriod; unsigned int Hz = 10000; // interupt frequency in Hz ulPeriod = (SysCtlClockGet() / Hz); initTimer(); charge_gdu(); ROM_TimerLoadSet(TIMER0_BASE, TIMER_A,ulPeriod -1); initPWM(); } void loop(){ if (irqcount>499) { //20x per sec irqcount-=500; int32_t fsoll=732*(poti-16384); int32_t diff=fsoll-timeset; if (diff>0){ if (diff>150000) timeset+=150000; else timeset=fsoll; } else { if (diff<-150000) timeset-=150000; else timeset=fsoll; } modu=abs(timeset)/voltage/16; if (modu<(32000/voltage)) modu=32000/voltage; if (modu>256) modu=256; tensec++; if (tensec==10) { //2x per sec we display something tensec=0; myScreen.text(0, 1, mkstrg((temperature-325)/24,2)); myScreen.text(2, 1, celsius); myScreen.text(5, 1, mkstrg((voltage)/23,3)); myScreen.text(8, 1, "Volt"); myScreen.text(0, 2, mkstrg(abs(timeset)/322122,2)); myScreen.text(2, 2, "."); myScreen.text(3, 2, mkstrg(abs((timeset/32212)%10),1)); myScreen.text(4, 2, "Hz"); myScreen.text(7, 2, mkstrg(current,4)); myScreen.text(11, 2, "mA"); if (timeset<0) myScreen.text(0, 3, "links "); else myScreen.text(0, 3, "rechts"); } } } String mkstrg(int d,uint8_t l){ char display[l+1]; int q=1; display[l]=0; for (uint8_t a=l;a;a--){ display[a-1]=0x30+(d%(q*10))/q; q*=10; } return display; } void initTimer(){ ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC); // 32 bits Timer TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0Isr); // Registering isr ROM_TimerEnable(TIMER0_BASE, TIMER_A); ROM_IntEnable(INT_TIMER0A); ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT); } void charge_gdu(){ ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0 ); ROM_GPIOPadConfigSet(GPIO_PORTF_BASE,GPIO_PIN_0,GPIO_STRENGTH_4MA,GPIO_PIN_TYPE_STD); GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_7); //alle 3 oberen ausschalten HWREG(GPIO_PORTA_BASE + (GPIO_PIN_7 << 2)) = 0; GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_1); HWREG(GPIO_PORTD_BASE + (GPIO_PIN_1 << 2)) = 0; GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3); HWREG(GPIO_PORTF_BASE + (GPIO_PIN_3 << 2)) = 0; GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_0); //auch die 2 letzten aus HWREG(GPIO_PORTD_BASE + (GPIO_PIN_0 << 2)) = 0; GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2); HWREG(GPIO_PORTF_BASE + (GPIO_PIN_2 << 2)) = 0; GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_6); //den ersten unteren ein HWREG(GPIO_PORTA_BASE + (GPIO_PIN_6 << 2)) = GPIO_PIN_6; delay(1); HWREG(GPIO_PORTD_BASE + (GPIO_PIN_0 << 2)) = GPIO_PIN_0; delay(1); HWREG(GPIO_PORTF_BASE + (GPIO_PIN_2 << 2)) = GPIO_PIN_2; delay(1); } void initPWM(){ ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1); //The Tiva Launchpad has two PWM modules (0 and 1). We are using 1 ROM_GPIOPinConfigure(GPIO_PD0_M1PWM0); ROM_GPIOPinConfigure(GPIO_PD1_M1PWM1); ROM_GPIOPinConfigure(GPIO_PA6_M1PWM2); ROM_GPIOPinConfigure(GPIO_PA7_M1PWM3); ROM_GPIOPinConfigure(GPIO_PF2_M1PWM6); ROM_GPIOPinConfigure(GPIO_PF3_M1PWM7); ROM_GPIOPinConfigure(GPIO_PF4_M1FAULT0); ROM_GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1 ); ROM_GPIOPinTypePWM(GPIO_PORTA_BASE, GPIO_PIN_6 | GPIO_PIN_7 ); ROM_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4); PWM1_0_FLTSEN_R =3; //PWM fault inverted see page 1169 GPIO_PORTF_PUR_R=0x10; //weak pullup for Pin 4 ROM_PWMGenConfigure(PWM1_BASE, PWM_GEN_0, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_SYNC | PWM_GEN_MODE_FAULT_LEGACY); ROM_PWMGenConfigure(PWM1_BASE, PWM_GEN_1, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_SYNC | PWM_GEN_MODE_FAULT_LEGACY); ROM_PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_SYNC | PWM_GEN_MODE_FAULT_LEGACY); ROM_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_0, period); ROM_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_1, period); ROM_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, period); ROM_PWMDeadBandEnable(PWM1_BASE, PWM_GEN_0, dt,dt); ROM_PWMDeadBandEnable(PWM1_BASE, PWM_GEN_1, dt,dt); ROM_PWMDeadBandEnable(PWM1_BASE, PWM_GEN_3, dt,dt); ROM_PWMSyncTimeBase(PWM1_BASE,PWM_GEN_0_BIT |PWM_GEN_1_BIT|PWM_GEN_3_BIT); ROM_PWMGenEnable(PWM1_BASE, PWM_GEN_0); ROM_PWMGenEnable(PWM1_BASE, PWM_GEN_1); ROM_PWMGenEnable(PWM1_BASE, PWM_GEN_3); delay(1); PWMFaultIntRegister(PWM1_BASE, oh_shit); ROM_PWMIntEnable(PWM1_BASE,PWM_INT_FAULT0); ROM_PWMOutputState(PWM1_BASE, PWM_OUT_0_BIT | PWM_OUT_1_BIT | PWM1_BASE | PWM_OUT_2_BIT | PWM_OUT_3_BIT |PWM_OUT_6_BIT | PWM_OUT_7_BIT, true); } void Timer0Isr(void) { //10000x per second ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt irqcount++; timecount+=timeset; // 1 Hz is 192x256*256*256/10000=322122.5 if (timecount> 0xEFFFFFFF) timecount+=0xC0000000; if (timecount> 0xBFFFFFFF) timecount-=0xC0000000;; a=timecount>>16; a=a/(16384/(dots/3*2)); //a immer kleiner 2*dots: C000 *dots/3*2/ 4000= 12 *dots/3*2/4= 2*dots if (a<dots)ROM_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_0,period/2+sintable[a]*modu/256); else ROM_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_0,period/2-sintable[a-dots]*modu/256); a=a+dots*2/3; if (a>=2*dots) a-=2*dots; if (a<dots)ROM_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,period/2+sintable[a]*modu/256); else ROM_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2,period/2-sintable[a-dots]*modu/256); a=a+dots*2/3; if (a>=2*dots) a-=2*dots; if (a<dots)ROM_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6,period/2+sintable[a]*modu/256); else ROM_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6,period/2-sintable[a-dots]*modu/256); ROM_PWMSyncUpdate(PWM1_BASE,PWM_GEN_0_BIT |PWM_GEN_1_BIT|PWM_GEN_3_BIT); switch(irqcount%10){ case 0: temperature=(temperature*127+analogRead(26))/128; break; case 1: voltage=(voltage*31+analogRead(27)*3)/32; break; case 2: current=(current*127+analogRead(25)*8)/128; break; case 3: poti=(poti*127+analogRead(28)*8)/128; break; } } void oh_shit(void) { //in case of severe overcurrent we shut down! ROM_PWMFaultIntClearExt(PWM1_BASE,PWM_INT_FAULT0); ROM_PWMOutputState(PWM1_BASE, PWM_OUT_0_BIT | PWM_OUT_1_BIT | PWM1_BASE | PWM_OUT_2_BIT | PWM_OUT_3_BIT |PWM_OUT_6_BIT | PWM_OUT_7_BIT, false); }