Proceedings of ECTI-CON 2008

Modular Learning Laboratory of AC Servo Drive

Chatchai Yumun*, Mongkol Konghirun*, and Kanokvate Tungpimolrut**
*
King Mongkut’s University of Technology Thonburi (KMUTT)
Faculty of Engineering
Department of Electrical Engineering
Tungkru, Bangkok, 10140, Thailand
Phone +662-470-9042, Fax +662-470-9033
E-mail: [email protected], [email protected]
**
National Electronics and Computer Technology Center
112 Phahon Yothin Rd., Klong 1, Klong Luang, Pathumthani 12120, Thailand
Phone +662-564-6900 ext.2410, Fax +662-564-6901
E-mail: [email protected]

Abstract: This paper presents an implementation of hardware and software implementation as modules for this
learning laboratory of AC servo drive using the eZdspTM learning laboratory of AC servo drive using a fixed-point
F2812 Digital Signal Processor (DSP) for undergraduate DSP, which will be presented in the following sections.
senior students. Since the electric motor drive is an
interdisciplinary course, the students need to sufficiently II MATHEMATICAL DESCRIPTION OF AC SERVO
know several backgrounds such as machines, digital SYSTEM
control system, programming, and power electronics.
Therefore, the learning laboratory is intended to design The vector control of PMSM is well known that the rotor
both hardware and software as modules. So students position is required and its stator currents are measured for
would easily learn the hardware implementation of motor operation. Two stator currents are sensed and sent to
overall system circuit by circuit. Similarly, codes of each DSP through the signal conditioning circuit before they will
functional block are well defined and written by using transform to dq-axis stator currents in the rotor reference
object oriented programming (OOP) concept. As a frame. Then, the q-axis current would represent the motor
result, students can clearly understand the complex torque. The d-axis current is controlled to zero because the
control of Permanent Magnet Synchronous Motor machine does not need the field excitation from stator
(PMSM) using Quadrature Encoder Pulse (QEP), known windings. These d and q-axis currents are similar to the field
as AC servo drive. In this paper, the details of modular and armature currents (controlling torque) of separately-
hardware and software aspects will be presented along excited DC motor, respectively. The typical block diagram
with the experimental results. of vector control for the AC Servo motor drive using
Quadrature Encoder Pulse (QEP) is shown in Fig. 1.
Keywords: AC Servo motor, Digital signal processor,
Object oriented programming, QEP encoder, Vector control i eds,*
v eds,*
drive ieds e ,*
v qs vsds,*
ieqs,*
ω*r θ λr vsqs,*
ωr
I INTRODUCTION i eqs i sds
i sqs
θ λr
AC servo motor or Permanent Magnet Synchronous
Motor (PMSM) has several advantages compared with
induction motor such as higher efficiency, compact size, θ λr i sds i as

light weight, fast acceleration, and no slip. Consequently, i sqs i bs

this type of motor is typically used in position or speed

controlled drives in high performance applications like CNC
machines, robots, and etc. In undergraduate level, the study
of AC servo drive is not trivial if students lack the necessary
Fig.1. Vector control drive system of AC servo motor using QEP and DSP
backgrounds such as machines, digital control system,
programming, and power electronics. Learning only course The dynamic equation of stator voltages, the stator flux
work is not fulfilling the complete understandings of this linkages and the electromagnetic torque of AC servo motor
subject. Thus, the learning laboratory of AC servo drive is can be expressed in rotor reference frame as follows [4].
necessary by designing the hardware and software as
modules in order to easily be learned by students. Selected Stator voltage: vd = rsid - rq + pd (1)
literatures regarding to development of motor control vq = rsiq + rd + pq (2)
laboratory have been reviewed [1]-[3], However, none of Stator flux linkages: d = Lsid + m (3)
them focuses on the details of hardware and software q = Lsiq (4)
implementation. Thus, this paper mainly focuses on both

978-1-4244-2101-5/08/$25.00 ©2008 IEEE 1069

Electromagnetic torque: Te = §¨ 3 ·¸§¨ P ·¸ (d iq - qid) (5) 100W, 8pole, and 3000rpm. The QEP specifications are
© 2 ¹© 2 ¹ 5Vdc and 2000pulses/revolution (ppr).

where: vd and vq = stator voltages in dq-axis;

id and iq = stator currents in dq-axis;
d and q = stator flux linkages in dq-axis; Motor connections
m = permanent-magnet flux linkage;
Te = electromagnetic torque;
r = angular velocity of rotor; QEP connections

rs = stator resistance; Fig.3. AC servo motor (PMSM)

Ls = stator self inductance;
P = number of poles; 2) Digital Signal Processor (DSP): eZdspTMF2812
d evaluation board used is based on the Texas Instruments
p = . 150-MHz, fixed-point TMS302F2812 DSP. It is powered by
dt an external 5V power supply and consists of necessary ports:
Substituting equations (3) and (4) into the stator voltage
analog, I/O, JTAG, and parallel ports. The eZdspTMF2812
equations (1) and (2), the stator current dynamic equations in
evaluation board is shown in Fig. 4.
the state-space form can be derived as follows.
I/O signals
did TMS320F2812
= - id + riq + vd (6) Power Connector
dt
di q
= - iq + rid + rm + pvq (7) Parallel Port
dt Controller Interface
QEP Test
where  = 1 and  = rs
Ls Ls JTAG Interface

When the id current is controlled to be zero, the stator PWM Test

flux linkages and torque equations (3) and (5) become.
Fig. 4.eZdspTM F2812 evaluation board
d = m (8)
3) Opto-isolator driver board: the purposes of Opto-
Te = §¨ 3 ·¸§¨ P ·¸ (d iq) = Kt iq (9) isolator circuit are to isolate the ground of PWM signals
© 2 ¹© 2 ¹ between DSP and IGBT gate signals and to amplify these
As a result, the electromagnetic torque is controlled PWM signals from 3.3V (DSP’s PWM outputs) to 15V so
merely by the current iq, similarly to the DC motor that the IGBTs can be fully turned on. Fig. 5 shows this
operation. board.
PWM inputs (3.3V)
III MODULAR LEARNING LABORATORY
A. Hardware aspect
The overall blocks of system hardware can be depicted in
Fig. 2, which can be described block by block in the
following subsections. In this Fig., PC is used to interface PWM outputs (15V)
with eZdsp2812 board only for the purposes of code
development and real-time monitor.
Fig. 5.Opto-isolator driver board

4) IGBTs three-phase inverter: inverter provides an

alternating current supply from a DC source. The topology
of inverter uses six IGBTs as main switching devices as
shown in Fig. 6. The output of inverter will be directly
connected to three-phase terminals of PMSM.

Three-phase
terminals

Fig.2. Hardware block diagram of AC servo drive

DC supply 24V
1) AC servo motor (PMSM): AC servo used in the
laboratory has two connectors; motor and QEP connections PWM Signals (15V)
as shown in Fig. 3. Motor specifications are 3-phase, 24V,
.
Fig. 6.Three-phase voltage source inverter

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 5) Current sensing and signal conditioning board: two established by introducing the conditional branch of <count
stator currents are sensed by current transducers (LEM— = prescaler ??> as seen in Fig. 11.
LPS 15-NP). Then, the measured current signals from sensor
need to rescale to the proper range of analog input of DSP,
which is 0-3V, by using signal conditioning part of the
board. Fig. 7 shows this board.
Two phase stator
current inputs

(a)

Two phase stator

current outputs (0-3V)

Fig. 7.Current sensing and signal conditioning board

6) QEP interfacing board: three signal outputs of QEP

encoder (i.e., A, B, and index) also need to be readjusted
from 5V level to the proper range of I/O input of DSP, which (b)
is 0-3.3V, by using signal conditioning part of the board as
Fig. 9.Park transformation (a) structural object (b) its function
seen in Fig. 8.

(a)

QEP signal output (0-3.3V)

QEP signal input (0-5V)

and 5V supply
(b)
Fig. 8.QEP interfacing board
Fig. 10.Park transformation usage in main program (a) instancing pre-
B. Software aspect initialized object (b) Passing inputs and invoking its computing function

In this laboratory, the codes are written in C and

compiled to the machine codes, using DSP development tool
of Code Composer Studio (CCS) V3.1 [5]. The OOP
concept is used to create the functional software blocks. For
example, the objected structure including input/output
variables, and a pointer of function call for Park
transformation object is defined in Fig. 9(a). Park
transformation equations can be shown as follows:
id = i cosθe + isinθe (10)
iq = -i sinθe + icosθe (11)
These two equations can be implemented in the function call
as shown in Fig.9 (b). Thus, the pre-initialized objects of
Park transformation can be simply instanced and called in
the interrupt service routine (ISR) as shown in Fig. 10.
The software flowchart for speed control algorithm of
AC servo drive is shown the Fig.11. Each block represents a
functional object as already seen in Fig. 9 for Park
transformation object. By using OOP, students would clearly
learn how to instance and interface each functional object
block by block, starting from a couple of blocks to all
complete speed closed-loop system blocks. Notice that the
speed loop is configured to execute slower than the current
loops because the mechanical time constant is typically
Fig.11. Flow chart of AC servo drive
longer than the electrical time constant. This has been

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 IV EXPERIMENTAL RESULTS V CONCLUSION
The overall vector controlled drive system of AC Servo In this paper, an implementation of modular learning
motor using QEP is implemented on the 32-bit, fixed-point laboratory of AC servo drive is presented. The main
TMS320F2812 DSP based controller [6]. The PWM and ISR purpose of this laboratory is to help the undergraduate senior
frequency is set at 20 kHz. The speed loop is configured to students to learn this complex system, involving both
be executed slower than current loops 10 times. Some hardware and software aspects in the easy manner.
experimental results in the laboratory are captured in CCS Hardware boards are clearly separated and functional
graphs and in oscilloscope as shown in Figs. 12 through 14. software is written as objects. Actual implementation of all
Students can conveniently monitor every variable defined in related hardware and an example of Park transformation
the codes directly from CCS graphs as shown in Fig. 12. In object are presented. Some experimental results captured in
Figs. 13 and 14, the line-line voltage and line current at no- the laboratory are also provided.
load and with load for motor speed = 0.5 pu are monitored in
oscilloscope to confirm the successful implementation of AC APPENDIX
servo drive developed for this laboratory.
The motor parameters, base quantities, and PI gains used
in the system are summarized below:

d-axis current loop: Kp = 0.1, Ki = 0.02

q-axis current loop: Kp = 0.1, Ki = 0.02
Speed loop: Kp =1, Ki = 0.3

Table 1: Parameters of the PMSM motor

Quantity Value Unit
Stator resistance 0.79 Ohm
Stator inductance 1.17 mH
Number of poles 8 pole
Base voltage 13.86 volt
Base current 3 amp
Base flux linkage 0.79616 volt.sec/rad
Fig.12. Experimental results: SVPWM phase voltage waveforms, line
current, stationary q-axis stator current and rotor speed feedback Base electric frequency 200 Hz
Base Speed 3000 rpm
vab [20V/div]

ACKNOWLEDGMENT
The financial support from Young Scientist and
Technologist Programme (YSTP) is gratefully
acknowledged.
ia [0.8A/div]
REFERENCES
[1] D. Montesinos, S. Galceran, A. Sudria, O. Gomis, “A
laboratory test bed for PM brushless motor control”,
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Fig.13. Experimental results: stator voltage, stator current (no-load) Applications, pp.1-6, 2005.
[2] A. Emadi, “Grainger power electronics and motor drives
vab [20V/div]
laboratories at Illinois Institute of Technology”, IEEE Power
Engineering Society General Meeting Conference, pp. 1168-
1175, 2005.
[3] J.R. Wells, P.L Chapman, P.T Krein, “Development and
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ia [0.8A/div] [4] P.C. Krause, O. Wasynczuk, and S.D. Sudhoff, Analysis of
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[5] Code Composer Studio Development Tools v3.3: Getting
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[6] eZdspTM F2812 : Technical Reference, Spectrum Digital Inc.,
Fig.14. Experimental results: stator voltage, stator current (with-load) Texas, 2002.

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