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Joan Bergas CITCEA-UPC
DesignCITCEA-UPC and Control of Static Converters I International Conference in Energy Innovation Design and control of Static Converters Joan Bergas CITCEA-UPC CO-AUTHORS: Sergi Fillet, Daniel Montesinos, Oriol Gomis, Antoni Sudrià I International Conference in Energy Innovation Design and Control of Static Converters Power PowerConverter Converteras asinterface interface DSP DSP/Microprocessor /Microprocessoras asaaCore Core Applications Applications Motor MotorControl Control Distributed DistributedGeneration Generation Grid GridInterface Interface Design and Control of Static Converters Index • • • • Static Converters DSP core of application: From Hardware to software Inner current loop: power electronics building block. One topology, many applications: – DCM (Digital Motor Control). – Active Front-End. • Active compensator of Reactive energy • Active filter • Hybrid filters – Back-to-Back • UPS • Renewable power generators • Sag Generator. • More over: CAN, CANOpen, IEC 1131. I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation I International Conference in Energy Innovation Design and Control of Static Converters DSP core of application: From Hardware to software Code security 128Kw Flash + 1Kw OTP 18Kw RAM Event Manager (1 Module) 4Kw Boot ROM Event Mgr A GP Timer 1 (Counter & Period) Clock Select Event Mgr B XINTF Memory Bus 150 MIPs C28xTM 32-bit DSP 32x32-bit Multiplier 32-bit Timers (3) Real-Time JTAG RMW Atomic ALU Peripheral Bus Interrupt Management 12-Bit ADC GP Timer 2 (Counter & Period) Watchdog GP Compare 1 Output T1PWM/T1CMP Logic GP Compare 2 Output T2PWM/T2CMP Logic GPIO McBSP Full Compare CAN 2.0B MUX SCI-UART B SPI 5 PWM TRIPs/ PDPINTs Output Logic 6 PWMs Dead Band Logic TMRCLK QEP & MUX SCI-UART A 32-bit Register File PWM Trip Enable Controller Capture TMRDIR TIMERCLK TIMERDIR Input Logic 3 CAP/ QEP Design and Control of Static Converters I International Conference in Energy Innovation Inner Current loop: Power Electronics Building Block Torque Active/Reactive Power Voltage DSP Rotor PLL Synchronism Design and Control of Static Converters I International Conference in Energy Innovation Inner Current loop: Power Electronics Building Block Torque Active/Reactive Power Voltage DSP Rotor PLL Synchronism Design and Control of Static Converters Digital Motor Control I International Conference in Energy Innovation I International Conference in Energy Innovation Design and Control of Static Converters 1/Vbus CNC + - Err PID Iq* + ErrIq - Id* + 0 - ErrId PID PID Vq* Vd* q x x Q Rotation-1 d Iq Id DSP Vbus Divition Park D SVPWM Ia Ia Ib Ib Ic Motor 1/NºPoles Resolver-toDigital Sin Cos Exc Resolver Design and Control of Static Converters CNC I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation 3.3V 12V sin ( ω exc t ) 0V -12V sin ( ω exc t - γ ) 6V 3.3V -6V 0V 6V 3.3V -6V 0V sin ( ω exc t - γ ) sin ( ε ) sin ( ω exc t - γ ) cos ( ε ) 1 sin ( ε ) - 1 cos ( 2ω t - γ ) sin ( ε ) 1 sin ( ε ) exc 2 2 2 1 cos ( ε ) + 1 cos ( 2ω t - γ ) cos ( ε ) 1 cos ( ε ) exc 2 2 2 Design and Control of Static Converters I International Conference in Energy Innovation • Angle and speed determination • Resolution increase • Delay correction Speed sin ( ε ) = y Q cos ( ε ) = y D Angle Design and Control of Static Converters CNC I International Conference in Energy Innovation I International Conference in Energy Innovation Design and Control of Static Converters 1/Vbus CNC + - Err PID Iq* + ErrIq - Id* + 0 - ErrId PID PID Vq* Vd* q x x Vbus Divition Q Rotation-1 d Iq Id Park D SVPWM Ia Ia Ib Ib Ic Motor 1/NºPoles Ovesampling + PLL DSP Sin Cos Exc Resolver I International Conference in Energy Innovation Design and Control of Static Converters CNC 1/Vbus Divition V b u Speed Loop s Inner Current d Loop D, SVPWM SVPWM D Q Q Id ,Iq Park DSP Ia Ia Ib Ib Ia Ib Ib Ic Motor Ovesampling + PLL Ia Ic 1/NºPoles Exc 1/NºPoles Sin Cos Resolver Park Motor Sin Cos Resolver Inner Current Loop Exc Ovesampling + PLL Speed Loop Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation I International Conference in Energy Innovation Design and Control of Static Converters Grid Interface + + - I International Conference in Energy Innovation Design and Control of Static Converters + 1 cos(wi ·t ·k + ϕ k ) cos(w·k ·t ) vr ∞ v = V + cos w·t − 2π ·k + V − cos w ·t + 2π ·k + ϕ i k s ∑ k 3 3 k vt k =1 cos w·t + 2π ·k cos wi ·t − 2π ·k + ϕ k 3 3 ([ ([ ]) ]) ([ ([ ] ] ) ) Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation I r = 2 I eff cos(ω ·t − θ ) ( ( I s = 2 I eff cos ω ·t − 2π − θ 3 I t = 2 I eff cos ω ·t + 2π − θ 3 ) ) Design and Control of Static Converters I International Conference in Energy Innovation I d = I eff ·cos(θ ) I q = I eff ·sin (θ ) Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation I International Conference in Energy Innovation Design and Control of Static Converters 1/Vbus X2 Vbus* 2+ - ErrV PID Reactive Regulator Id* + ErrId Iq* + - ErrIq Vd* PID Vq* PID Id Iq d x x D q Rotation-1 Q SVPWM Ia Ia Park Vbus Divition Ib Ib Ic Park Va Vd Ib Ia DSP Vq SRF-PLL Vb I International Conference in Energy Innovation Design and Control of Static Converters 1/Vbus X2 Vbus* 2+ - ErrV PID Harmonic Regulator Id* + ErrId Iq* + - ErrIq Vd* PID Vq* PID Id Iq d x x D q Rotation-1 Q SVPWM Ia Ia Park Vbus Divition Ib Ib Ic Park Va Vd Ib Ia DSP Vq SRF-PLL Vb Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation I International Conference in Energy Innovation Design and Control of Static Converters Back-to-Back + + - Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters Harmonics ω after rotation V1+ DC V1- -2 ω V5+ -6 ω V7+ 6ω V11+ -12 ω V13+ 12 ω I International Conference in Energy Innovation Design and Control of Static Converters All Pass Filter I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation I International Conference in Energy Innovation Design and Control of Static Converters On shore installation Remote generator (Off shore facility) MVDC line G Removable power part : 500 kW 1000 Vdc 3 x 500 Vac Design and Control of Static Converters I International Conference in Energy Innovation Design and Control of Static Converters I International Conference in Energy Innovation
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