Author: M. Di Guardo, V.Marino
AN1291
APPLICATION NOTE
SLIP CONTROL OF AN ASYNCHRONOUS
THREE-PHASE MOTOR WITH ST52X420
1/33July 2000
1. INTRODUCTION
Induction motors with squirrel-cage rotors aretheworkhorse of industrybecause of their low cost andrug-
ged construction.Theaim ofthis Application Note is toshowhow to perform theslip controlof anACthree-
phase induction motor with ST52x420, in order to obtain minimum input power and maximum efficiency
operations.
This type ofcontrol can be achieved byadjusting the amplitude of the appliedstator voltage versus torque
requirement. Efficiency improvement by voltage control is obtained by reducing the applied voltage when-
ever the torque requirement of the load can be met with less flux.
The reduced motor flux results in a reduction of core and stator copper losses since the magnetization
component of the stator current is reduced as well. However, it is to note that the minimization of the air
gap flux requires a larger slip to produce the torque requiredif compared with operations at full rated flux.
This application note shows the implementation of the slip control of an aynchronous motor in order to
have energysaving of the globalpowersystem, representing aconvenient solutionto reduce the rotor and
stator copper losses.
1.1 Torque Characteristics of Asynchronous Three-Phase Motors
Typical torque and current characteristics are represented in figure 1 where the torque Tem is plotted as
function of rotor speed and fsl (slip frequency is the difference between stator frequency f and rotor fre-
quency). Atlow values of fsl,T
em varieslinearly with fsl ,see theline plotted inboldinthe stable zone (fig.1).
The maximum torque that the motor can produce is represented by the pull-out point shown below.
Figure 1. Torque versus rotor speed at f and Vs constant.
Pull-out Torque
Flux decreases
T, rated
1.5
1.0 Flux =rated
rated
1.0
0.2 0.4 0.6 0.8
0
1.0f 0.8f 0.6f 0.4f 0.2f 0
1.0 0.8 0.6 0.4 0.2 0
fsl
sslip
slip frequency ( f-fr)
Unstable points
Stablezone
Rotor speed
Maximum torque
Tem/Trated
ωr
ωs
AN1291 - APPLICATION NOTE
2/33
If an induction motor is started directly from the power supply and the load torque is lower than the start-
up torque, at maximum slip (slip=1), the motor is able to run and enter in the stable zone. Then the inter-
section ofthe motortorque characteristic with load torque determines the steady-state point of operation.
If theload torque reachesthe maximum torque, the motor enters in the break down domain until the com-
plete stop of the motor.
1.2 Speed Control
Speed can be controlled by varying stator frequency f with power electronic inverter, in order to control
synchronous speed and, hence, the motor speed, if the slip is keptsmall, keeping the flux constant in the
air gap, varyingstator voltage in linear proportion to stator frequency f (Fig. 2).
Figure 2. Speed control by varying stator frequency
The torque speed characteristics shift horizontally in parallel, as shown in figure 2 for four different values
of fsl. Notethat, at aconstant load-torque, the slipfrequency (which isthe frequency ofthe induced voltage
and currents in the rotorcircuit in hertz) is constant.
1.3 V/F = constant speed control
The simplest method of control is to maintain constant the flux (V/F) with power converters varying the
motor speed. Thisregulation iscalled torque constantcontrol. If wechange the frequencyalso the voltage
applied must vary ina linearway in orderto maintain V/F constant. This ratio isdimensionally a flux(fig.3).
Figure 3. Voltage vs Frequency relation
T, rated
1.5
1.0
ra ted
1.0
0fsl3
Rotor speed increases at the
increasing of the Stator Frequency
1.0
1.0
f1 f2 f3 f4
fsl4
fsl1 fsl2
Tem, T rated
ωr
ωs
Vs
f
Vmax
Vmin
φ=constant
minimum frequency rated frequency (Stator frequency)
3/33
AN1291 - APPLICATION NOTE
V/F characteristics are listed below:
•It operates at constant flux and Torque
•Motor always supplies the maximum Torque
•Efficiency is not optimized
•Motor is oversized
In this application note, the flux minimization control has been implemented instead of the V/F constant
method. In this way, it is possible to reach good efficiency and torque regulation.
1.4 Motor Efficiency Optimization with Slip Control
The motor efficiency can be improved by controlling the stator voltage to maintainthe slip constant at min-
imum flux (flux minimization). Adapting the flux in the air gap to have a large slip, but not large enough to
reach the pull out torque otherwise the motor would stop, the required torque is generated so as to be
compared with operation at full rated flux.
Power losscan beminimized maintaining large andconstant the slip adjusting the available torque(Fig.4).
This voltage varying method of the phase motor offers limited possibilities of speed regulation. However,
combining both voltage control (minimum flux) and frequency control, the motor is well controlled in a wide
range of speed.
Figure 4. Motor characteristics fixing the stator voltage
T,rated
1.5
1.0
rated curve
1.0
0.2 0.4 0.6 0.8
0
1.0f 0.8f 0.6f 0.4f 0.2f 0
1.0 0.8 0.6 0.4 0.2 0
fsl
sslip
slipfrequency f-fr
T6
T5
T4
T3
T2
T1
f=constant
slip=constant
ADJUSTING
STATOR VOLTAGE
0
WORKINGZONE
Flux=rated
Tem
Trated
ωr
ωs
AN1291 - APPLICATION NOTE
4/33
2. Control Structure
The aim of the control is to bring the speed of the motor axis to the reference speed maintaining the slip
within a certain range fixed by the measures carried out during themodellization phase of the motor. Two
fuzzy loops are implemented (Fig.5 and 6):
Figure 5. Control structure
The first fuzzy loop (FUZZY1) is of the incremental type. The input of this Fuzzy block is the speed error
given bythe difference between the reference speed readthrough theA/D Converter andthe motor speed
“
Frotor
” calculated using the external interrupt input wherethe encoder signal is connected. The output of
the block ∆f is summed algebraically to the stator frequency Fstator to reach the motor speed to the ref-
erence set up.
The secondfuzzy loop (FUZZY2)receives ininput thedifference between“
Fstator
” and“
Frotor
” (slip), and
adjusts the voltage level (
voltage
) tooptimize the fluxand prevent overcurrents in the motor(Fig.5 and 6).
According to the stator frequency and the desired voltage level, the “
Pulse generator
” block generates
three PWM signals to drive the inverter (refer to “
Pulse Construction
” for further information).
Figure 6. Fuzzy Control Diagram
ENCODER
Externalinterrupt
(rotorperiod calcolation)
Rotorfrequency
FUZZY1
FUZZY2
A/D
Pulsegeneration PWM0
PWM1
PWM2
Reference
Voltage
StatorFrequency
ST52x420
Speed setpoint Speed Error
Rotor speed -
Fuzzy algorithm
∆f
+
-Stator frequency increment
Slip VsStator Voltage
Fuzzy algorithm
Stator speed
Rotor speed
5/33
AN1291 - APPLICATION NOTE
2.1 Fuzzy Controller Algorithm Stator Voltage Loop
The ST52x420microcontroller thanksto itsFuzzy Logic dedicated architecture, allows theimplementation
of complex systems such as three-phasemotors.
Thanks to the three Timers and to the multiplication and division functions itis possible to obtain the three
PWM sinusoidal modulation signals to be supplied to the inverter driver varying, in an independent way,
the Frequency and the modulation index.
From a set of preliminary measurements performed on the motor it is possible to build a table that de-
scribes the complete functionment of the motor at low and full load in every condition:
More precisely, using the electronic system:
Once thetables have beencompleted withallthe working points weknow exactlyhow to changethe stator
voltage. Implementing a fuzzy logic interpolation we can modify the voltage by using two Membership
Functions inputs that are respectively stator frequency
f
and slip frequency, using a set of rules of the kind:
IF Frequency is Low and slip is Very High then output is High
More precisely, the output of this function, i.e. a function of two variables: Vs=Vs(f,s) that is the required
voltage for the motor.
Now, if the loading conditions of the motor are such that the voltage controller is not able to set the motor
at the established slip and speed set points, for example under a great increase of the torque in the axis
of the motor, then the second controller is activated for the frequency adjustment.
Figure 7. Fuzzy logic voltage control surface
rotor
frequency
[rpm]
accuracy
[%]
stator
frequency
[Hz]
max slip
frequency
(f-fr)
[Hz]
minimum
stator voltage
[Vs]
max stator
voltage
[V]
max slip
[s%]
Stator period
[msec] tacho period
[msec]
tacho timer
value
obtained
[byte]
max stator
timer value
[byte]
min stator
timer value
[byte]
max slip
frequency
[byte]
Fuzzy Output (stator voltage)
StatorFrequency
S1
F1 Slip frequency
(f-fr)
AN1291 - APPLICATION NOTE
6/33
2.2 Fuzzy Controller Algorithm Stator Frequency Loop
Analogously, to build the fuzzy rule for the stator frequency adjustment, we can take into account the
speed error to obtain the right increment or decrement for the frequency adjustment. These rules will be
of the kind:
IF Speed Error is Negative Big and then output is Negative Big
More in details, the stator frequency f is equal to:
f(k)=f(K-1) ± ∆f
where ∆f is the increment or the decrement providedto the output of the fuzzy controller in order to adjust
the rotor speed (Fig.8).
Figure 8. Fuzzy Logic frequency adjustment
2.3 Sinewaves PWM Modulation
For pulse construction,a 24-byte table,representing the unit sinusoidsampling, is allocated in the internal
memory of the MCU. The three sinewaves are drawn by the same table using three 120o-shifted pointers
(Fig.9).
Figure 9. Pulses construction
Speed error
Stator Frequency
Adjustment
Fuzzy rules
023
0
127
255
k
vk
The three pointers with 1200 phase shift
give the values to be loaded in the PWMs PWM 0
PWM 1
PWM 2
vaK=1/128*Voltage*sin(ωtk)
vbK=1/128*Voltage*sin(ωtk-2/3π)
vcK=1/128*Voltage*sin(ωtk-2/3π)
tK+1-tK=T*16µs
Stator speed
by varying reading patterns
10.8Hz ≤F≤
65.1Hz
40 ≤ T≤240
F=1/[24*(tK+1-tK)]
VOLTAGE FREQUENCY
7/33
AN1291 - APPLICATION NOTE
The PWMsinusoidal modulation is obtained scanning the 24 samples with a variable period related to the
frequency to be assigned to the motor phases. Each sample is multiplied by the modulation index to
change the sinewave amplitude. This is obtained loading this value on the PWM counter thus obtaining a
duty-cycle variable that allows to build a sinusoid with an amplitude dependent on the modulation index
(Fig.10).
Figure 10. PWM Pulses Construction
23
0
127
255
k
vk
t0t1
x
t0t1
δ1δ2
Tt
modulationindex
PWM
AN1291 - APPLICATION NOTE
8/33
3. HARDWARE IMPLEMENTATION
This application consists of four functional blocks (Fig.11):
•A three-phase asynchronous motor
•A three-phase power inverter
•The closed loop Fuzzy motor control with ST52x420
•An AC-DC converted supplied by the mains
Figure 11. Three-Phase Inverter
THREE
PHASE
INVERTER
ST52x420
Microcontroller
AC/DC
converter
Feedback
Encoder
9/33
AN1291 - APPLICATION NOTE
3.1 Motor Interface
The motor interface consists of three inverter legs with IGBT or Power Mos, which are driven by the ST
L6386 drive (Fig.12).
Figure 12. DC-AC Inverter schematic
This structureneedsDC link voltage +HV, typical valueis 325V rectifying ACline voltage.The three-phase
motor is connected In the points named R, S, T.
Note: * The PCB can be found on the ST52 Microcontrollers pages at www.st.com/stonline/prodpres/
+15V +15V +15V
+15V
+15V
bus+
bus-
+
C9
22uF
+
C11
22uF
+
C10
22uF
R9
100k
U1
L6386
4
3
2
1
7
6
13
12
9
8
5
14
VCC
HIN
SD
LIN
SGND
CIN
HVG
OUT
LVG
PGND
DIAG
VBOOT R5
220k
R12
C1 .1uF
R1100
J1
PHASE1
1
J4 bus-
1
J5 bus+
1
J2
PHASE2
1
J6
EXT.INTERFACE
1
2
3
4
5
6
7
8
J3
PHASE3
1
Q1
GP7NB60HDFP
C12
220pF
Q4
GP7NB60HDFP
R6
100
C7
3.3nF-1KV
R2 8.2K
C2
.1uF
Q5
GP7NB60HDFP
Q2 GP7NB60HDFP
U2
L6386
4
3
2
1
7
6
13
12
9
8
5
14
VCC
HIN
SD
LIN
SGND
CIN
HVG
OUT
LVG
PGND
DIAG
VBOOT
R7
100
Q6
GP7NB60HDFP
U3
L6386
4
3
2
1
7
6
13
12
9
8
5
14
VCC
HIN
SD
LIN
SGND
CIN
HVG
OUT
LVG
PGND
DIAG
VBOOT
Q3
GP7NB60HDFP
C3
.1uF R4
100
R8
100
R10
68K
270
R11
R3
100
HI1
LI1
HI2
LI2
HI3
LI3
HI1
LI1
HI2
LI2
HI3
LI3
PRINTED RESISTOR
SEE PCB
*
AN1291 - APPLICATION NOTE
10/33
3.2 Closed Loop Fuzzy Control
In the following figure is shown the complete schematic of the digital control with ST52x420. To generate
the six signals to be sent to the inverter section, ST52x420 uses the three-PWM peripheral.
Figure 13. Scheme Diagram for signal generation with ST52x420
These three signals are used from the dead time net in order to obtain all thesix signals for the inverter
stage to avoid cross conduction in the power switch of each leg.
+15
+15 VCC
VCC
VCC
VCC
C10
1nF
C15
1nF
U4
TS831
21
3
IN OUT
GND
C22
0.1uF
C23
0.1uF
1
U2F
74HC14
13 12
C16
1nF
R7
3.3k
D6
1N4148
C13
0.1uF
C1
0.1uF
C14
0.1uF
~
~+- V1
0.5A 50V
1
U2A
74HC14
12
1
U2E
74HC14
11 10
1
U2B
74HC14
34
1
U2C
74HC14
56
1
U2D
74HC14
98
D1
1N4148
R1
3.3k
C4
1nF
1
U3A
7404
12
1
U3B
7404
34
1
U3D
7404
98
~
~
+-
V2
2A500V
1
U3C
7404
56
J2
CON8
1
2
3
4
5
6
7
8
J5 BUS+
1
T2
TRANSFORMER1:2
J6 BUS-
1
R2 10k
R8
220K
D2
1N4148
C5
1nF
C6
100pF
1
U3F
7404
13 12
1
U3E
7404
11 10
C3 0.1uF
J3
220Vac
1
2
J1
12 HEADER
1
2
3
4
5
6
7
8
9
10
11
12
F1
1A
U7
LM78L05ACZ
31
2
VIN VOUT
GND
+C21
68uF450V
+C20
470uF16V
+C19
1000uF25V
D3
1N4148
C9
1nF
R4
3.3k
C2
0.1uF
U1
ST52X420
25
24
23
22
21
20
19
18
9
10
11
12
15
16
17
23
4
1
26
28
13
27
14
5
6
7
8
PA0/T0RES
PA1/T0OUTN
PA2/T1OUTN
PA3/T2OUTN
PA4/T0STRT
PA5/T0CLK
PA6
PA7/AIN7
PB0/AIN0
PB1/AIN1
PB2/AIN2
PB3/AIN3
PB4/AIN4
PB5/AIN5
PB6/AIN6
OSCOUT OSCIN
TEST
RESET
VPP
VDD
VDDA
VSS
GNDA
PC0/INT
PC1/T0OUT
PC2/T1OUT
PC3/T2OUT R3
3.3k
Y1
20Mhz C8
22pF
C7
22pF
R5
3.3k
D5
1N4148
D4
1N4148
R6
3.3k
11/33
AN1291 - APPLICATION NOTE
Figure 14. Components layout of the three-phase inverter
Figure 15. Three-phase inverter board (Power section)
AN1291 - APPLICATION NOTE
12/33
Figure 16. Control board with ST52x420
AB420_4
ST52x420
13/33
AN1291 - APPLICATION NOTE
Figure 17. Control board (ST52X420)
AN1291 - APPLICATION NOTE
14/33
4. SOFTWARE DESCRIPTION
Before to analyze the structure of the software project, it is necessary to notice some connections on the
schematic. The pins 6, 7 and 8 of ST52x420, (outputs of the three PWM peripherals), are used to drive
the three legs of the bridge.
The three-phase voltage is obtained by indexing 3 pointers on the same look-up-table containing the de-
sired PWM pattern at modulation index equal to 1, to reconstruct a sinusoidal signal.
This pattern is recomputed every time for each modulation index, in order to obtain three PWM signals.
One single pointer is shifted on this table, synchronously with one PWM pointer, in order to obtain three
phases supplied with 120ophase shift.
Sine period is instead defined by the number N of ADC interrupts:
Statoric period = AD_int_counter*AD_int_period*number_of_samples=N*16 µs*24.
In fact, the AD peripheral of ST52x420, besides reading from the pin 9 (Ain0/PB0) the value of reference
for the motor speed,is used as time measurer, exploiting the fact that the peripheral requires an interrupt
every time that a conversion has been completed (see also paragraph 4). Finally pin5, configured as ex-
ternal interrupt, is used to measure the instantaneous motor speed by means of a tachometer.
4.1 Main program
The main program is shown in the following flowchart:
Figure 18. Flowchart
:
VARIABLESAND
PERIPHERALS
INITIALISATION
START
ROTATION
PERIOD IS
COMPLETED
WAIT FOR
INTERRUPT
READ
LOOK_UP_TABLE
AND CALCULATE
DUTY_CYCLE
NO
YES
CALCULATE
ERROR
FREQUENCY
FREQUENCY
FUZZY
CONTROL
CALCULATE
SLIP
SLIPFUZZY
CONTROL
A/D
INTERRUPT
ROUTINE
SET STATOR
FREQUENCY
RETI
EXTERNAL
INTERRUPT
ROUTINE
START/STOP
ROTOR
FREQUENCY
CALCULATION
RETI
PWM_0
INTERRUPT
ROUTINE
ROTOR
FREQUENCY
CALCULATION
RETI
MAIN
15/33
AN1291 - APPLICATION NOTE
In the following figure is shown the main program in FUZZYSTUDIOTM4 environment. The appendix at
the end of this application note contains the whole assembler code generated by the compiler.
Figure 19. Main Program window
4.2 ’Initialize’folder
The folder ’initialize’contains the blocks usedto initialize the global variables andthe interrupts mask, and
to start the peripherals ADC, PWM0, PWM1 and PWM2.
Figure 20. Variables and Peripherals Initialization
AN1291 - APPLICATION NOTE
16/33
4. 3 ’AD interrupt’ routine
The AD interrupt is used as counter; in fact, each 16 µs an interrupt is generated and the counter
’AD_int_counter’is incremented.
The period between two interrupts is given by the formula:
Tconv=number_of_channels*[78*SCK+4]*TCKM
when ’SCK’ is 2 or 1 if AD frequency is divided by 2 or not, and TCKM is the period of the clock master.
In the case described, when the number of channels converted are 2 (0 and 1) and the AD frequency is
the clock master frequency (20 Mhz) divided by 2,
Tconv=2*[78*2+4]*50 ns= 16 µs.
Figure 21. A/D Interrupt routine
When the counter ’AD_int_counter’ reaches the value ’Fstator’, the pointers are incremented in order to
read on the look-up-table the new sample value of thesine wave (see Read_table folder paragraph), and
’AD_int_counter’is first put to 255, so that, when increased, it is reset.
4.4 ’External interrupt’ and ’PWM0 interrupt’ routines
The external interrupt is used to measure the rotor period; in fact it is measured by counting the time be-
tween two positive edges of the square wave supplied by a tachometer system, that is connected to the
INT pin; a variable named ’flag’ is used to select the edge. If the variable value is 0, the PWM0_int is en-
abled, in order to start the calculation of a period, and the variable ’flag’ is set to 1. At the next external
interrupt the PWM0_int is disabled andthe value reached from the variable ’Fr_measure’is a measure of
the rotor period.
Moreover, the variable ’flag’is set to 0, in order to restart the calculationat the following edgeandthe vari-
able ’flag_fuzzy’is set to 1, in order to perform the fuzzy control (see Fig. 23).
17/33
AN1291 - APPLICATION NOTE
Figure 22. External interrupt routine
Of coursethe variable ’Fr_measure’is incremented in the ’PWM0_int’routine, and the value obtained be-
tween two external interrupt edges must be compared with the value of the stator frequency.
In fact the stator period is: Tstator=Fstator*16 µs*24=(384*Fstator) µs,
instead the rotor period measured with a tacho that gets a period 1/8 of the rotor period is:
Trotor=Fr_measure*102 µs*8=(816*Fr_measure) µs.
You have to notice that the value 102 ls is the period of PWM0, corresponding at a frequencyvalue of 9.8
KHz, as you can see in figure 5 in the ’working frequency’ box.
In orderto makeconsistent the measure of rotor frequency withthat of thestator, youhave to useanother
variable ’Frotor’so that: Frotor=(816/384)*Fr_measure=(17/8)*Fr_measure
AN1291 - APPLICATION NOTE
18/33
Figure 23. PWM
4.5 ’Read_table’folder
The block “
read_table
” is used to obtain three PWM signals; each of the three instantaneous duty-cycle
values are generated addressing three pointers, (called ’
sina_phase
,
sinb_phase
,
sinc_phase
”) in the
look-up-table where unitary and sampled sinewave are stored.
The voltage amplitude of the sinewave is obtained by using the multiplication and division capabilities of
ST52x420, as you can see in the figures 24 and 25.
In the block “
read_table0
” the instruction “table_value=sinus[sina_phase]” allows to access the look-up-
table ’sinus’ and store the value addressed from the index “
sina_phase
” in the variable “
table_value
”.
Then the subroutine ’voltage’ is called, in order to calculate the duty-cycle in accordance with the modu-
lation index; this procedure is performed three times, for each duty-cycle value, that willbe charged in the
respective PWM_COUNT with the block “
PWM_COUNT_set
”.
In the block “
duty_cycle_calculator
” the module of the value read from the look-up-table is multiplied by
the value “
voltage_level
”, (obtained from fuzzy block “
slip_control
”) and divided by “
level_number
”, in or-
der toobtain theinstantaneous duty-cycle. Moreover, the block “
reset_cursor
” is usedto control if the val-
ues of the indexes reached the maximum, in order to reset them if that happened.
19/33
AN1291 - APPLICATION NOTE
Figure 24. Read Table folder
Figure 25. Voltage
4.6 Fuzzy Controls
Two fuzzy blocks are present in this program: the first is used to control the frequency, the second to con-
trol the slip.
The block “
error_calculator
” performs the instruction ’error=reference-Frotor’; “
reference
” is the value de-
sired for the motor speed, that can be varied with a trimmer, in the range ’1/(16e-6*24*240)= 10.8Hz -- 1/
(16e-6*24*40)=65.1Hz’, instead “
Frotor
” is the frequency measured with the tachometer.
AN1291 - APPLICATION NOTE
20/33
Before sending the “
error
” value to the fuzzy input, a control to avoid an overflow or underflow is per-
formed. In according with the input value, the fuzzy block “
frequency_control
” produces the incremental
value “dFstator”, that is added (with sign), in the block “
frequency_calculator
”, to the current value of the
variable “
Fstator
”. In this way, the speed motor is adjusted to reach the reference value.
Figure 26. Frequency control
The block “
slip_calculator
” is used to calculate the slip, as ’slip=Fstator-Frotor’, with a control to avoid an
overflow or underflow.
According withthe “
slip
” value and thestatoric frequency, the fuzzy block “
slip_control
” calculatesthe val-
ue of the modulation index “
voltage_level
”, that allows to adjust the voltagelevel of the sinusoidal phases.
The memberships and the fuzzy rules of this block represent the mathematical model of the motor and
were obtained through experiments with different points of operation.
Figure 27. Slip calculation
21/33
AN1291 - APPLICATION NOTE
APPENDIX A - Assembler code
; Interrupt Vector Configuration
irq 4 External
irq 0 AD_Converter
irq 1 PwmTimer0
irq 2 PwmTimer1
irq 3 PwmTimer2
; Global MBF Definition
mbf 0 45 195 45
mbf 1 6 128 8
mbf 2 45 240 0
mbf 3 0 98 24
mbf 4 45 105 45
mbf 5 17 113 13
mbf 6 24 122 6
mbf 7 0 96 17
mbf 8 5 140 0
mbf 9 17 160 0
mbf 10 15 128 15
mbf 11 0 60 45
mbf 12 7 135 5
mbf 13 45 150 45
mbf 14 13 143 17
; Tables Allocation
; ”BYTE sinus[24]” use 24 eprom locations from 63(Page:0 Offset:63) to 86(Page:0
Offset:86)
data 0 63 0 ; sinus[0] = 0
data 0 64 33 ; sinus[1] = 33
data 0 65 63 ; sinus[2] = 63
data 0 66 90 ; sinus[3] = 90
data 0 67 110 ; sinus[4] = 110
data 0 68 123 ; sinus[5] = 123
data 0 69 127 ; sinus[6] = 127
data 0 70 123 ; sinus[7] = 123
data 0 71 110 ; sinus[8] = 110
data 0 72 90 ; sinus[9] = 90
data 0 73 63 ; sinus[10] = 63
data 0 74 33 ; sinus[11] = 33
data 0 75 128 ; sinus[12] = 128
data 0 76 161 ; sinus[13] = 161
data 0 77 191 ; sinus[14] = 191
data 0 78 218 ; sinus[15] = 218
data 0 79 238 ; sinus[16] = 238
data 0 80 251 ; sinus[17] = 251
data 0 81 255 ; sinus[18] = 255
data 0 82 251 ; sinus[19] = 251
data 0 83 238 ; sinus[20] = 238
data 0 84 218 ; sinus[21] = 218
data 0 85 191 ; sinus[22] = 191
data 0 86 161 ; sinus[23] = 161
; Tables Allocation Report:
; byte used : 24
; from : 63(Page:0 Offset:63)
; to : 86(Page:0 Offset:86)
setmem 0 87
AN1291 - APPLICATION NOTE
22/33
; Store Device Configuration Parameters into Eprom
; Default Interrupt Priority
data 0 87 228
; Port Configuration
data 0 90 0
data 0 98 248
data 0 99 243
data 0 100 3
data 0 101 241
data 0 102 0
; A/D Converter Configuration
data 0 89 58
; WatchDog Configuration
data 0 88 12
; Pwm-Timer 0 Configuration
data 0 91 208
data 0 92 35
data 0 93 0
; Pwm-Timer 1 Configuration
data 0 94 208
data 0 95 35
; Pwm-Timer 2 Configuration
data 0 96 208
data 0 97 35
setmem 0 103
; End ************************************
; Set Device Configuration Parameters
pgset 0
ldce 1 87
ldce 2 88
ldce 3 89
ldce 4 90
ldce 5 91
ldce 6 92
ldce 7 93
ldce 8 94
ldce 9 95
ldce 10 96
ldce 11 97
ldce 12 98
ldce 13 99
ldce 14 100
ldce 15 101
ldce 16 102
ldrc 0 0
ldpr 4 0
ldpr 6 0
ldpr 8 0
; ** User Defined Variables **
; NAME -> REG
23/33
AN1291 - APPLICATION NOTE
; ------------------------------------------
; AD_int_counter -> 10
; Fr_measure -> 11
; Frotor -> 12
; Fstator -> 13
; dFstator -> 14
; duty -> 15
; duty0 -> 16
; duty1 -> 17
; duty2 -> 18
; error -> 19
; flag -> 20
; flag_fuzzy -> 21
; level_number -> 22
; reference -> 23
; sina_phase -> 24
; sinb_phase -> 25
; sinc_phase -> 26
; slip -> 27
; table_value -> 28
; temp -> 29
; voltage_level -> 30
; word1 -> 31 32
; word_value -> 33 34
; **********************************
main:
; ********** Start procedures ”main”
Start:
initialize:
init_var:
ldrc 20 0
ldrc 21 0
ldrc 24 0
ldrc 25 8
ldrc 26 16
ldrc 22 128
ldrc 30 64
ldrc 23 200
ldrc 13 200
ldrc 27 248
ldrc 10 0
enable_int:
; IrqEnableMask
mdgi
ldrc 0 3
ldcr 0 0
megi
ADC_start:
; ADC Setting
mdgi
ldrc 0 63
ldcr 3 0
megi
three_PWM_start:
; ALL_PWM Setting
AN1291 - APPLICATION NOTE
24/33
mdgi
ldrc 0 224
ldcr 7 0
ldrc 0 213
ldcr 5 0
ldrc 0 213
ldcr 8 0
ldrc 0 213
ldcr 10 0
ldrc 0 0
ldcr 7 0
megi
Exit0:
jp initialize_Exit
initialize_Exit:
flag_fuzzy:
mdgi
ldrc 0 1
sub 0 21
megi
jpnz End_If_6
jp read_table
End_If_6:
no_operation:
jp flag_fuzzy
read_table:
read_table0:
mdgi
ldrr 0 24
ldrc 28 63
add 28 0
pgset 0
Read:
ldrc 0 28
ldre (0) (28)
megi
Call3:
call voltage
duty0:
ldrr 16 15
read_table1:
mdgi
ldrr 0 25
ldrc 28 63
add 28 0
pgset 0
Read_1:
ldrc 0 28
ldre (0) (28)
megi
25/33
AN1291 - APPLICATION NOTE
Call4:
call voltage
duty1:
ldrr 17 15
read_table2:
mdgi
ldrr 0 26
ldrc 28 63
add 28 0
pgset 0
Read_2:
ldrc 0 28
ldre (0) (28)
megi
Call5:
call voltage
duty2:
ldrr 18 15
PWM_COUNT_set:
ldpr 3 16
ldpr 5 17
ldpr 7 18
reset_cursor:
mdgi
ldrc 0 24
sub 0 24
megi
jpnz No_If_9
ldrc 24 0
jp End_If_9
No_If_9:
mdgi
ldrc 0 24
sub 0 25
megi
jpnz No_If_8
ldrc 25 0
jp End_If_8
No_If_8:
mdgi
ldrc 0 24
sub 0 26
megi
jpnz End_If_7
ldrc 26 0
End_If_7:
End_If_8:
End_If_9:
Exit6:
jp read_table_Exit
AN1291 - APPLICATION NOTE
26/33
read_table_Exit:
error_calculator:
ldri 23 1
mdgi
ldrc 0 240
sub 0 23
megi
jpns No_If_11
ldrc 23 240
jp End_If_11
No_If_11:
mdgi
ldrc 0 40
ldrr 1 23
sub 1 0
megi
jpns End_If_10
ldrc 23 40
End_If_10:
End_If_11:
mdgi
ldrr 19 23
subo 19 12
megi
jpnc No_If_13
ldrc 19 255
jp End_If_13
No_If_13:
jpns End_If_12
ldrc 19 0
End_If_12:
End_If_13:
frequency_control:
; Fuzzy System : frequency_control
mdgi
; Init error
ldfr 0 19
; Output Variable : dFstaror
fuzzy
ldp 0 7
ldp 0 7
fzand
con 118
ldp 0 5
ldp 0 5
fzand
con 124
ldp 0 10
ldp 0 10
fzand
con 128
ldp 0 14
27/33
AN1291 - APPLICATION NOTE
ldp 0 14
fzand
con 132
ldp 0 9
ldp 0 9
fzand
con 138
out 14
megi
;
; End Fuzzy System : frequency_control
frequency_calculator:
mdgi
addo 13 14
megi
mdgi
ldrc 0 240
sub 0 13
megi
jpns No_If_15
ldrc 13 240
jp End_If_15
No_If_15:
mdgi
ldrc 0 40
ldrr 1 13
sub 1 0
megi
jpns End_If_14
ldrc 13 40
End_If_14:
End_If_15:
slip_calculator:
mdgi
ldrr 27 13
subo 27 12
megi
jpnc No_If_17
ldrc 27 255
jp End_If_17
No_If_17:
jpns End_If_16
ldrc 27 0
End_If_16:
End_If_17:
ldrc 21 0
slip_control:
; Fuzzy System : slip_control
mdgi
; Init slip
ldfr 0 27
; Init Fstator
AN1291 - APPLICATION NOTE
28/33
ldfr 1 13
; Output Variable : voltage_level
fuzzy
ldp 1 11
ldp 0 3
fzand
con 124
ldp 1 11
ldp 0 6
fzand
con 116
ldp 1 11
ldp 0 1
fzand
con 108
ldp 1 11
ldp 0 12
fzand
con 100
ldp 1 11
ldp 0 8
fzand
con 92
ldp 1 4
ldp 0 3
fzand
con 108
ldp 1 4
ldp 0 6
fzand
con 100
ldp 1 4
ldp 0 1
fzand
con 92
ldp 1 4
ldp 0 12
fzand
con 84
ldp 1 4
ldp 0 8
fzand
con 76
ldp 1 13
ldp 0 3
fzand
con 92
ldp 1 13
ldp 0 6
fzand
con 84
ldp 1 13
ldp 0 1
fzand
con 76
ldp 1 13
ldp 0 12
fzand
con 68
ldp 1 13
ldp 0 8
fzand
29/33
AN1291 - APPLICATION NOTE
con 60
ldp 1 0
ldp 0 3
fzand
con 76
ldp 1 0
ldp 0 6
fzand
con 68
ldp 1 0
ldp 0 1
fzand
con 60
ldp 1 0
ldp 0 12
fzand
con 52
ldp 1 0
ldp 0 8
fzand
con 44
ldp 1 2
ldp 0 3
fzand
con 60
ldp 1 2
ldp 0 6
fzand
con 52
ldp 1 2
ldp 0 1
fzand
con 44
ldp 1 2
ldp 0 12
fzand
con 36
ldp 1 2
ldp 0 8
fzand
con 28
out 30
megi
;
; End Fuzzy System : slip_control
jp no_operation
;
; End procedures ”main” *****
AD_Converter:
; ** Start procedures ”AD_Converter”
set_sinus_frequency:
mdgi
ldrr 0 10
sub 0 13
megi
jpnz End_If
mdgi
inc 24
megi
mdgi
AN1291 - APPLICATION NOTE
30/33
inc 25
megi
mdgi
inc 26
megi
ldrc 10 255
End_If:
mdgi
inc 10
megi
RetI2:
reti
;
; End procedures ”AD_Converter” *****
PwmTimer0:
; ****** Start procedures ”PwmTimer0”
inc_Fr_measure:
mdgi
inc 11
megi
RetI1:
reti
;
; End procedures ”PwmTimer0” ******
PwmTimer1:
;****** Start procedures ”PwmTimer1”
reti
;
; End procedures ”PwmTimer1”*******
PwmTimer2:
;****** Start procedures ”PwmTimer2”
reti
;
; End procedures ”PwmTimer2”********
External:
; ******* Start procedures ”External”
WatchDog_0:
; WDT Setting
wdtrfr
Jump0:
mdgi
ldrc 0 0
sub 0 20
megi
jpnz End_If_1
jp enable_Tim0_int
End_If_1:
31/33
AN1291 - APPLICATION NOTE
disable_Tim0_int:
; IrqEnableMask
mdgi
ldrc 0 3
ldcr 0 0
megi
Fr_calculator:
ldrc 20 0
ldrc 21 1
mdgi
ldrc 0 120
sub 0 11
megi
jpns End_If_2
ldrc 11 120
End_If_2:
ldrc 29 8
mdgi
ldrc 31 17
mult 31 11
megi
mdgi
ldrr 0 31
ldrr 1 32
div 0 29
ldrr 12 1
megi
RetI0:
reti
enable_Tim0_int:
; IrqEnableMask
mdgi
ldrc 0 7
ldcr 0 0
megi
reset_Fr_measure:
ldrc 11 0
ldrc 20 1
jp RetI0
;
; End procedures ”External” *********
voltage:
; ******* Start procedures ”voltage”
duty_cycle_calculator:
mdgi
ldrc 0 128
ldrr 1 28
sub 1 0
megi
jps No_If_5
mdgi
ldrc 0 127
and 28 0
megi
mdgi
ldrr 33 28
AN1291 - APPLICATION NOTE
32/33
mult 33 30
megi
mdgi
ldrr 0 33
ldrr 1 34
div 0 22
ldrr 15 1
megi
mdgi
ldrc 0 127
ldrr 1 15
sub 1 0
megi
jpns No_If_3
mdgi
ldrc 0 127
sub 0 15
ldrr 15 0
megi
jp End_If_3
No_If_3:
ldrc 15 0
End_If_3:
jp End_If_5
No_If_5:
mdgi
ldrr 33 28
mult 33 30
megi
mdgi
ldrr 0 33
ldrr 1 34
div 0 22
ldrr 15 1
megi
mdgi
ldrc 0 128
ldrr 1 15
sub 1 0
megi
jpns No_If_4
mdgi
ldrc 0 128
add 15 0
megi
jp End_If_4
No_If_4:
ldrc 15 255
End_If_4:
End_If_5:
Return0:
ret
;
; End procedures ”voltage” ************
33/33
AN1291 - APPLICATION NOTE
Information furnished is believed to be accurate and reliable. However, STMicroelectronics assumes no responsibility for
the consequences of use of such information nor for any infringement of patents or other rights of third parties which may
result from its use. No license is granted by implication or otherwise under any patent or patent rights of
STMicroelectronics. Specification mentioned in this publication are subject to change without notice. This publication
supersedes and replaces all information previously supplied. STMicroelectronics products are not authorized for use as
critical components in life support devices or systemswithout express written approval of STMicroelectronics.
The ST logo is a trademark of STMicroelectronics
2000 STMicroelectronics - All Rights Reserved
FUZZYSTUDIOTM is a registered trademark of STMicroelectronics
STMicroelectronics GROUP OF COMPANIES
http://www.st.com
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