Dieu Khien DongCo KDB 3pha SinPWM Dung PIC30F6010

I HC QUC GIA TP H CH MINH
TRNG I HC BCH KHOA

KHOA IN-IN T
LUN VN TT NGHIP I HC
IU KHIN NG C KHNG NG B
BA PHA THEO PHNG PHP SINPWM,
S DNG VI IU KHIN dsPIC30F6010
SVTH :
CBHD :
MSSV :
B MN
L TRUNG NAM
TS. L MINH PHNG
40201632
: IN - IN T
TP H Ch Minh, 01/2007
NHN XT CA GIO VIN HNG DN

-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------Tp H Ch Minh, thng 1 nm 2007
Gio vin hng dn
ii
NHN XT CA GIO VIN PHN BIN

-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------Tp H Ch Minh, thng 1 nm 2007
Gio vin phn bin
iii
LI CM N
Ti xin gi li cm n chn thnh nht n qu Thy C trng i Hc Bch
Khoa Tp. H Ch Minh, nhng ngi du dt ti tn tnh, truyn t cho ti
nhng kin thc v kinh nghim qu bu trong sut thi gian ti hc tp ti trng.
Ti xin trn trng gi li cm n n tt c cc Thy, C Khoa in-in T
c bit l thy L Minh Phng, thy Phan Quc Dng ,thy Trn Thanh V tn
tnh hng dn, gip , to mi iu kin thun li ti hon thnh tt lun vn tt
nghip ny.
Ti xin cm n gia nh ti, nhng ngi thn cho ti nhng iu kin tt
nht hc tp trong sut thi gian di.
Ngoi ra ti xin gi li cm n n bn gi ti(H.T.T), n tt c nhng ngi
bn ca ti, nhng ngi cng gn b, cng hc tp v gip ti trong nhng
nm qua cng nh trong sut qu trnh thc hin lun vn tt nghip.
Tp. H Ch Minh, thng 1 nm 2007
iv
MC LC
CHNG 1: GII THIU V NG C KHNG NG B ................ 1
1.1.Tng quan v my in khng ng b ........................................................................ 2
1.1.1 Nguyn l lm vic:............................................................................................... 2
1.1.2 Cu to .................................................................................................................. 3
1.2 ng dng ca ng c khng ng b.......................................................................... 4
1.3 Kh nng dng ng c xoay chiu thay th my in mt chiu: ................................ 5
1.4 Kt lun: ...................................................................................................................... 6
CHNG 2: L THUYT V PHNG PHP IU KHIN ................ 7

2.1 Gii thiu v bin tn ngun p iu khin theo phng php V/f ................................ 8
2.2.1 Phng php E/f.................................................................................................... 8
2.2.2 Phng php V/f ................................................................................................... 8
2.3 Cac phng phap thng dung trong iu khin ng c khng ng b:..................... 10
2.3.1 Phng php iu rng xung SINPWM ............................................................... 10
2.3.1.1 Cc cng thc tnh ton................................................................................. 12
2.3.1.2 Cch thc iu khin..................................................................................... 13
2.3.1.3 Quy trnh tnh ton:....................................................................................... 14
2.3.1.4 Hiu qu ca phng php iu khin :......................................................... 15
2.3.2 Phng phap iu ch vector khng gian ( Space Vector):.................................. 17
2.3.2.1 Thnh lp vector khng gian: ........................................................................ 17
2.3.2.2 Tnh ton thi gian ng ngt: ...................................................................... 20
2.3.2.3 Phn b cc trng thi ng ngt:.................................................................. 22
2.3.2.4 K thut thc hin iu ch vector khng gian: ............................................. 22
2.3.2.5 Gin ng ngt cc kha to ra Vector Vs trong tng sector: .............. 22
CHNG 3 : CU TO V CC THNG S PHN CNG ................. 25

3.1 S khi ca mch iu khin ng c:................................................................... 27
3.2 Gii thiu chi tit cac khi iu khin:........................................................................ 27
3.2.1 Mch li .............................................................................................................. 27
3.2.2 Mch cch ly ....................................................................................................... 31
3.2.3 Mch MOSFETs.................................................................................................. 31
3.2.4 Mch chnh lu.................................................................................................... 33
3.2.4.1 B chnh lu: ................................................................................................ 33
3.2.4.2 Phng php chnh lu : ............................................................................... 33
CHNG 4 : S CU TO MCH IU KHIN ............................ 34

4.1 S mch cch ly .................................................................................................... 35
4.2 S mch li............................................................................................................ 37
4.3 S mch ng lc .................................................................................................. 38
4.4 S mch iu khin ............................................................................................... 39
4.4.1 Khi iu khin ................................................................................................... 39
4.4.2 Khi giao tip my tnh ....................................................................................... 40
4.4.3 Khi hin th........................................................................................................ 40
4.4.4 Khi nt bm....................................................................................................... 41
CHNG 5: GII THIU V DSPIC 6010................................................ 42

5.1 Tng quan v vi iu khin dsPIC30F6010 ................................................................ 43
5.2 Cc c im c bit h MCU dsPic-6010: ............................................................ 44
5.3 Gii thiu khi qut v cu trc phn cng: ................................................................ 45
5.4 Khi qut v cc thanh ghi lm vic ........................................................................... 50

5.4.1 Cc thanh ghi iu khin : ................................................................................... 50
5.4.2 Thanh ghi TRIS: .................................................................................................. 50
5.4.3Thanh ghi PORT: ................................................................................................. 51
5.4.4Thanh ghi LAT:.................................................................................................... 51
5.5 Gii thiu v cc module c bn................................................................................. 52
5.5.1 Module Timer :.................................................................................................... 52
5.5.1.1 Module Timer 1 ............................................................................................ 52
5.5.1.2 Timer2/3 module: ......................................................................................... 54
5.5.1.3 Timer4/5 module : ........................................................................................ 57
5.5.2 Module AD: ........................................................................................................ 59
5.5.2.1Gii thch hot ng....................................................................................... 60
5.5.2.2 Qu trnh hot ng ca module ADC c tm tt nh cc bc sau: ......... 60
5.5.2.3 Cc s kin kch chuyn i:......................................................................... 61
5.5.2.4 Tc ng reset............................................................................................... 61
5.5.2.5 nh dng kiu d liu trong module A/D..................................................... 61
5.5.3 Module PWM:..................................................................................................... 62
5.5.3.1 Cc c im ca module PWM ................................................................... 62
5.5.3.2 Gii thch hot ng ca module PWM......................................................... 63
5.5.3.3 Cc b m t l trong module PWM: ........................................................... 67
5.5.3.4 Cc thanh ghi lm vic trong module PWM .................................................. 68
5.6 GII THIU V TP LNH CA MCU DSPIC-6010 ............................................. 70
CHNG 6: S KHI V GII THUT IU KHIN................... 75

6.1 S khi chng trnh : ........................................................................................... 76
6.2 S gii thut chng trnh :.................................................................................... 77
CHNG 7 : KT QU T C ......................................................... 80
7.1 Phn cng: ................................................................................................................. 81
7.1.1 Mch ng lc:.................................................................................................... 81
7.1.2 Mch iu khin .................................................................................................. 82
7.2 Phn mm: ................................................................................................................. 83
7.3 Dng sng in p ng ra: .......................................................................................... 83
PH LC........................................................................................................ 85
TI LIU THAM KHO............................................................................ 111
TI LIU THAM KHO TRONG NC.................................................................... 111
TI LIU THAM KHO NC NGOI..................................................................... 111
WEBSITE THAM KHO ............................................................................................. 111
vi
DANH SCH HNH V

Hnh1.1: Nguyn l hot ng ca ng c............................................................................ 2
Hnh1.2: L thp k thut in ............................................................................................... 3
Hnh 2.1: Quan h gia moment v in p theo tn s ........................................................ 10
Hnh 2.2: Nguyn l ca phng php iu rng sin ............................................................ 11
Hnh 2.3 : S dng in p trn cc pha........................................................................... 12
Hnh 2.4: Qu trnh hot ng ca b iu khin.................................................................. 13
Hnh 2.5: S kt ni cc kha trong b nghch lu .......................................................... 16
Hnh 2.6 : S b bin tn nghch lu p 6 kha (MOSFETs hoc IGBTs)........................ 17
Hnh 2.7: Biu din vector khng gian trong h ta x-y................................................... 17
Hnh 2.8: Cc vector khng gian t 1 n 6......................................................................... 19
Hnh 2.9: Trng thi ng-ngt ca cc kha........................................................................ 19
Hnh 2.10: Vector khng gian Vs trong vng 1 ................................................................... 20
Hnh 2.11: Vector khng gian Vs trong vng bt k............................................................. 21
Hnh 2.12: Gin ng ct linh kin .................................................................................. 22
Hnh 2.13: Vector Vs trong cc vng t 0-6 ......................................................................... 24
Hnh 3.1: S khi mch iu khin.................................................................................. 27
Hnh 3.2: V d s iu khin mosfet .............................................................................. 28
Hnh 3.3: S khi ca IC li mosfet................................................................................. 29
Hnh 3.4: IC IR2136 ............................................................................................................ 29
Hnh 3.5: S kt ni IR2136............................................................................................ 30
Hnh 3.6: S khi ca opto .............................................................................................. 31
Hnh 3.7: S khi ca MOSFET v IGBT ....................................................................... 32
Hnh 3.8: IRFP460P............................................................................................................. 33
Hnh 4.1 : S mch cch ly.............................................................................................. 36
Hnh 4.2 : S mch li mosfet ......................................................................................... 37
Hnh 4.3 : S mch ng lc ........................................................................................... 38
Hnh 4.4 : S khi iu khin chnh ................................................................................ 39
Hnh 4.5 : S khi giao tip my tnh .............................................................................. 40
Hnh 4.6 : S khi hin th .............................................................................................. 40
Hnh 4.7 : S khi nt bm.............................................................................................. 41
Hnh 5.1 : Cc h vi iu khin PIC v dsPIC ...................................................................... 43
Hnh 5.2: S ng dng cc h vi iu khin .................................................................... 43
Hnh 5.3: S chn dsPIC30F6010.................................................................................... 45
Hnh 5.4: S t chc bn trong MCU dsPIC6010 ............................................................ 46
Hnh 5.5: S t chc b nh bn trong MCU dsPIC6010 ................................................ 49
Hnh 5.6:S cu to bn trong mt I/O ............................................................................ 50
Hnh 5.7: S cu to tng quan ca cc I/O Port trong MCU ........................................... 51
Hnh 5.8: S cu to ca b16-bit Timer1 ....................................................................... 53
Hnh 5.9: S cu to ca b 32-bit Timer2/3 ................................................................... 56
Hnh 5.10: S cu to ca b 16-bit Timer2 (Timer loi B) ............................................. 56
Hnh 5.11: S cu to ca b 16-bit Timer3 ( Timer loi C) ............................................ 57
Hnh 5.12: S cu to ca b 32-bit Timer4/5 ................................................................. 58
Hnh 5.13: S cu to ca b 16-bit Timer4 (Timer loi B) ............................................. 58
Hnh 5.14: S cu to ca b 16-bit Timer5 (Timer loi C) ............................................. 59
Hnh 5.15: S cu to bn trong module A/D .................................................................. 60
Hnh 5.16: S cu to bn trong module PWM................................................................ 63
vii
Hnh 5.17 : Cp nht gi tr PWM trong ch t do........................................................... 64

Hnh 5.18 : Cp nht gi tr PWM trong ch m ln xung ............................................ 65
Hnh 5.19 : Cp nht gi tr PWM trong ch cp nht kp ............................................... 65
Hnh 5.20: Tn hiu PWM trong ch hot ng h tr ..................................................... 66
Hnh 5.21: Xung PWM dng Edge Aligned.......................................................................... 66
Hnh 5.22: Xung PWM dng Center Aligned ....................................................................... 67
Hnh 5.23: B m t l trong module PWM ........................................................................ 67
Hnh 7.1 : Mch ng lc..................................................................................................... 81
Hnh 7.2: Mch iu khin ................................................................................................... 82
Hnh 7.3: Giao din giao tip my tnh................................................................................. 83
Hnh 7.4: Dng in p pha ng ra ....................................................................................... 83
Hnh 7.5 : Dng in p dy ng ra ...................................................................................... 84
viii
DANH SCH BNG BIU

Bng 2.1: Gi tr in p cc trng thi ng ngt v vector khng gian tng ng .............. 20
Bng 3.1: Thng s ng c................................................................................................. 26
Bng 3.2 : nh ngha cc chn trong IR2136 ...................................................................... 31
Bng 5.1 : Thit lp tn s hot ng ................................................................................... 44
Bng 5.2: M t chc nng, tnh cht cc I/O trong MCU .................................................... 49
Bng 5.3: Trnh by s cc thanh ghi iu khin TIMER1............................................... 53
Bng 5.4: Trnh by cc thanh ghi iu khin Timer2/3 ....................................................... 55
Bng 5.5: Trnh by cc thanh ghi iu khin Timer4/5 ....................................................... 57
Bng 5.6: nh dng kiu lu tr kt qu ............................................................................. 62
Bng 5.7: Bng thanh ghi iu khin module AD................................................................. 62
Bng 5.8 : Bng thanh ghi iu khin module PWM ............................................................ 69
Bng 5.9: Bng tp lnh MCU 6010..................................................................................... 74
DANH MC T VIT TT, TN NC NGOI

ACIM
AD
ADC
CKB
Fcy
Fosc
I/O
MCU
MODULE
PWM
SINPWM
TIMER
AC Induction Motor
Analog To Digital
Analog To Digital Conversion
ng c dng ngun xoay chiu

Tun t sang s
B chuyn i tun t sang s
ng c khng ng b
Tn s hot ng trong vi iu khin
Tn s thch anh
Ng vo, ng ra
Vi iu khin
Khi
iu rng xung
iu rng xung sin
B nh th
Input/Output
Micro Controller Unit
Pulse Width Modulation
Sin Pulse Width Modulation
ix
TM TT LUN VN
MC CH LUN VN:
Tm hiu v thit k b bin tn truyn thng ( 6 kha) ba pha iu khin CKB

theo phng php V/f v iu ch SINPWM .
Kho st nguyn tc ng ct cc kha bn dn trong b nghch lu .
Kim tra, nh gi dng sng in p ng ra.
Nguyn cu gii thut v vit chng trnh iu khin.
PHNG PHP NGHIN CU
Tham kho v tng hp ti liu trong v ngoi nc.
Tin hnh thc nghim trn m hnh thc t.
Theo di, nh gi, nhn xt cc thng s thc nghim.
X l s liu, tnh ton, v vit bo co.
THI GIAN THC HIN

Thi gian thc hin lun vn: 3/9/2006 30/12/2006.
A IM THC HIN
Nghin cu ny c thc hin bng cc m hnh qui m phng th nghim in t
cng sut t tai trng i hc Bch Khoa TP H Ch Minh.
NGHA KHOA HC V THC TIN CA NGHIN CU
xut m hnh bin tn iu khin ng c khng ng b ba pha dng trong cc h

thng truyn ng vi gi thnh thp, p ng c cc yu cu c bn ca thc t.
Do hn ch v mt thi gian, iu kin kinh t nn trong phm vi lun vn tt nghip

ny ch dng li iu khin vng h ng c khng ng b ba pha v hi vng
ti s c tip tc pht trin trong tng lai .
CHNG 1: GII THIU V NG C KHNG NG B
CHNG 1
GII THIU V NG C
KHNG NG B

1.1.Tng quan v my in khng ng b
1.1.1 Nguyn l lm vic:
Hnh1.1: Nguyn l hot ng ca ng c

Khi nam chm in quay ( tc n1 vng/ pht ) lm ng sc t quay ct qua cc
cnh ca khung dy cm ng gy nn sc in ng E trn khung dy. Sc in ng E sinh
ra dng in I chy trong khung dy. V dng in I nm trong t trng nn khi t trng
quay lm tc ng ln khung dy mt lc in t F. Lc in t ny lm khung dy chuyn
ng vi tc n vng/ pht.
V n < n1 nn gi l khng ng b.
CKB ba pha c dy qun ba pha pha stator, Roto ca CKB l mt b dy qun ba pha
c cng s cc trn li thp ca Roto.
Khi Stator c cung cp bi ngun ba pha cn bng vi tn s f, t trng quay vi tc
db s c to ra. Quan h gia t trng quay v tn s f ca ngun ba pha l :
db =
2 f 1
= (rad / s)
p
p
Trong :
p - s i cc
1 - tn s gc ca ngun ba pha cung cp cho ng c: 1 = 2 f

Nu tc quay ca roto l , sai lch gia tc t trng quay stator v roto l:
sl = db = s.db
Trong sl gi l tc trt
Thng s s gi l trt, ta c:
s=
db
db
V c tc tng i gia roto v t trng quay stator , in p cm ng ba pha s c

sinh ra trong roto .Tn s ca in p ny s t l vi trt theo cng thc :
r = s * 1 (rad / s)
Moment ng c sinh ra:
M =
Trong :
p 2m Fm sin r
m : t thng tr6en mt cc (Wb).

Fm : gi tr nh ca sc t ng roto.
r : gc lch pha gia sc t ng roto v sc t ng khe h khng kh.

1.1.2 Cu to
a)Phn tnh (Stato)
Stato c cu to gm v my,li st v dy qun

* V my
V my c tc dng c nh li st v dy qun, khng dng lm mch dn t.

Thng v my c lm bng gang. i vi my c cng sut tng i ln ( 1000kW )
thng dng thp tm hn li lm thnh v my. Tu theo cch lm ngui my m dng v
cng khc nhau.
*Li st
Li st l phn dn t. V t trng i qua li st l t trng quay nn gim tn hao li
st c lm bng nhng l thp k thut in p li. Khi ng knh ngoi li st nh hn 90
mm th dng c tm trn p li. Khi ng knh ngoi ln hn th dng nhng tm hnh r
qut (hnh 2) ghp li.
Hnh1.2: L thp k thut in

*Dy qun
Dy qun stator c t vo cc rnh ca li st v c cch in tt vi li st.

b)Phn quay (roto)
Rotor c 2 loi chnh : rotor kiu dy qun v rotor kiu lng sc.
Rotor dy qun :
Rto c dy qun ging nh dy qun ca stator. Dy qun 3 pha ca rto thng u hnh
sao cn ba u kia c ni vo vnh trt thng lm bng ng t c nh mt u trc
v thng qua chi than c th u vi mch in bn ngoi. c im l c th thng qua chi
than a in tr ph hay sut in ng ph vo mch in rto ci thin tnh nng m
my, iu chnh tc hoc ci thin h s cng sut ca my. Khi my lm vic bnh thng
dy qun rotor c ni ngn mch. Nhc im so vi ng c rotor lng sc l gi thnh
cao, kh s dng mi trng khc nghit, d chy n
Rotor lng sc :
Kt cu loi dy qun ny rt khc vi dy qun stator. Trong mi rnh ca li st rotor t

vo thanh dn bng ng hay nhm di ra khi li st v c ni tt li hai u bng hai
vnh ngn mch bng ng hay nhm lm thnh mt ci lng m ngi ta quen gi l lng
sc.
c)Khe h khng kh
V rotor l mt khi trn nn khe h u. Khe h trong my in khng ng b rt nh

hn ch dng in t ha ly t li v nh vy mi c th lm cho h s cng sut ca my
cao hn.
1.1.3 ng dng :
My in khng ng b l loi my in xoay chiu ch yu dng lm ng c in. Do
kt cu n gin, lm vic chc chn, hiu sut cao, gi thnh h nn ng c khng ng b
l loi my c dng rng ri Trong i sng hng ngy, ng c khng ng b ngy cng
chim mt v tr quan trng vi nhiu ng dng trong cng nghip, nng nghip va trong i
sng hang ngay.
1.2 ng dng ca ng c khng ng b

Ngy nay, cc h thng truyn ng in c s dng rt rng ri trong cc thit b hoc
dy chuyn sn xut cng nghip, trong giao thng vn ti, trong cc thit b in dn dng, . .
. c tnh c khong 50% in nng sn xut ra c tiu th bi cc h thng truyn ng
in.
H truyn ng in c th hot ng vi tc khng i hoc vi tc thay i
c. Hin nay khong 75 80% cc h truyn ng l loi hot ng vi tc khng i.
Vi cc h thng ny, tc ca ng c hu nh khng cn iu khin tr cc qu trnh khi
ng v hm. Phn cn li, l cc h thng c th iu chnh c tc phi hp c tnh
ng c v c tnh ti theo yu cu. Vi s pht trin mnh m ca k thut bn dn cng
sut ln v k thut vi x l, cc h iu tc s dng k thut in t ngy cng c s dng
rng ri v l cng c khng th thiu trong qu trnh t ng ha.
ng c khng ng b c nhiu u im nh: kt cu n gin, lm vic chc chn,
hiu sut cao, gi thnh h, c kh nng lm vic trong mi trng c hi hoc ni c kh
nng chy n cao. V nhng u im ny nn ng c khng ng b c ng dng rt rng
4
ri trong cc ngnh kinh t quc dn vi cng sut t vi chc n hng nghn kW. Trong
cng nghip, ng c khng ng b thng c dng lm ngun ng lc cho cc my cn
thp loi va v nh, cho cc my cng c cc nh my cng nghip nh . . . Trong nng
nghip, c dng lm my bm hay my gia cng nng sn phm. Trong i sng hng
ngy, ng c khng ng b ngy cng chim mt v tr quan trng vi nhiu ng dng nh:
qut gi, ng c trong t lnh, my quay da,. . . Tm li, cng vi s pht trin ca nn sn
xut in kh ha v t ng ha, phm vi ng dng ca ng c khng ng b ngy cng
rng ri.
So vi my in DC, vic iu khin my in xoay chiu gp rt nhiu kh khn bi
v cc thng s ca my in xoay chiu l cc thng s bin i theo thi gian, cng nh bn
cht phc tp v mt cu trc my ca ng c in xoay chiu so vi my in mt chiu.
Cho nn vic tch ring iu khin gia moment v t thng c th iu khin c lp i
hi mt h thng c th tnh ton cc nhanh v chnh xc trong vic qui i cc gi tr xoay
chiu v cc bin n gin . V vy, cho n gn y, phn ln ng c xoay chiu lm vic
vi cc ng dng c tc khng i do cc phng php iu khin trc y dng cho
my in thng t v c hiu sut km. ng c khng ng b cng khng trnh khi
nhc im ny.
1.3 Kh nng dng ng c xoay chiu thay th my in mt chiu:

Nhng kh khn trong vic ng dng ng c xoay chiu chnh l lm th no c
th d dng iu khin c tc ca n nh vic iu khin ca ng c DC. V vy, mt
tng v vic bin i mt my in xoay chiu thnh mt my in mt chiu trn phng
din iu khin ra i. y chnh l iu khin vector. iu khin vector s cho php iu
khin t thng v moment hon ton c lp vi nhau thng qua iu khin gi tr tc thi
ca dng (ng c tip dng) hoc gi tr tc thi ca p (ng c tip p).
iu khin vector cho php to ra nhng phn ng nhanh v chnh xc ca c t
thng v moment trong c qu trnh qu cng nh qu trnh xc lp ca my in xoay
chiu ging nh my in mt chiu. Cng vi s pht trin ca k thut bn dn v nhng
b vi x l c tc nhanh v gi thnh h, vic ng dng ca iu khin vector ngy cng
c s dng rng ri trong nhiu h truyn ng v tr thnh mt tiu chun cng nghip.
Vi s pht trin nhanh chng, ngnh cng nghip t ng lun i hi s ci tin
thng xuyn ca cc loi h truyn ng khc nhau. Nhng yu cu ci tin ct yu l tng
tin cy, gim kh nng tiu th in nng, gim thiu chi ph bo dng, tng chnh xc
v tng kh nng iu khin phc tp. V vy, nhng h truyn ng vi ng c in mt
chiu ang dn thay th bi nhng h truyn ng ng c xoay chiu s dng iu khin
vector. Bi v, l do chnh s dng rng ri ng c in mt chiu trc kia l kh nng
iu khin c lp t thng v moment lc nu cng nh cu trc h truyn ng kh n
gin. Tuy nhin, chi ph mua v bo tr ng c cao, c bit khi s lng my in phi dng
ln. Trong khi , cc ng dng thc t ca l thuyt iu khin vector c thc hin t
nhng nm 70 vi cc mch iu khin lin tc. Nhng cc mch lin tc khng th p ng
c s i hi phi chuyn i tc thi ca h quy chiu quay do iu ny i hi mt khi

lng tnh ton trong mt thi gian ngn.
S pht trin ca nhng mch vi x l lm thay i vic ng dng ca l thuyt
iu khin vector. Kh nng ti u trong iu khin qu ca iu khin vector l nn mng
cho s pht trin rng ri ca cc h truyn ng xoay chiu (v gi thnh ca ng c xoay
chiu rt r hn so vi ng c mt chiu).
Ngoi nhng pht trin trong iu khin vector, mt s pht trin ng ch khc chnh l
vic ng dng mng neural (neural networks) v logic m (fuzzy logic) vo iu khin vector
ang l nhng ti nghin cu mi trong nghin cu h truyn ng. Hai k thut iu
khin mi ny s to nn nhng ci tin vt bc cho h truyn ng ca my in xoay
chiu trong mt tng lai gn. Trin vng ng dng rng ri ca hai k thut ny ph thuc
vo s pht trin ca b vi x l bn dn (semiconductor microprocessor).
Vi s pht trin mnh ca cc b bin i in t cng sut, mt l thuyt iu khin
my in xoay chiu khc hn vi iu khin vector ra i. L thuyt iu khin trc tip
moment lc (Direct Torque Control hay vit tt l DTC) do gio s Noguchi Takahashi a ra
vo cui nm 80. Tuy nhin, k thut iu khin moment trc tip vn cha phi hon ho v
cn phi nghin cu thm.
1.4 Kt lun:
Vi s pht trin mnh m ca k thut bn dn cng sut cao v k thut vi x l, hin
nay cc b iu khin CKB c ch to vi p ng tt hn, gi thnh r hn cc b
iu khin ng c DC. Do , CKB c th thay th c ng c Dctrong rt nhiu ng
dng .D kin trong tng lai gn , CKB s c s dng rng ri trn hu ht cc b
truyn ng iu khin tc .
CHNG 2: L THUYT V PHNG PHP IU KHIN
CHNG 2
L THUYT V PHNG
PHP IU KHIN

2.1 Gii thiu v bin tn ngun p iu khin theo phng php V/f
c s dng hu ht trong cc bin tn hin nay. Tc ca CKB t l trc tip
vi tn s ngun cung cp. Do , nu thay i tn s ca ngun cung cp cho ng c th
cng s thay i c tc ng b, v tng ng l tc ca ng c.
Tuy nhin, nu ch thay i tn s m vn gi nguyn bin ngun p cp cho ng
c s lm cho mch t ca ng c b bo ha. iu ny dn n dng t ha tng, mo dng
in p v dng in cung cp cho ng c gy ra tn hao li t, tn hao ng trong dy qun
Stator. Ngc li, nu t thng gim di nh mc s lm gim s lm gim kh nng mang
ti ca ng c.
V vy, khi gim tn s ngun cung cp cho ng c nh hn tn s nh mc thng
i hi phi gim in p V cung cp cho ng c sao cho t thng trong khe h khng kh
c gi khng i.Khi ng c lm vic vi tn s cung cp ln hn tn s nh mc,
thng gi in p cung cp khng i v bng nh mc, do gii hn v cch in stator
hoc in p ngun .
2.2 Phng php iu khin V/f
2.2.1 Phng php E/f
Ta c cng thc sau:
a=
Vi f - tn s lm vic ca ng c, fm
f
fm
tn s nh mc ca ng c.
Gi s ng c hot ng di tn s nh mc (a<1). T thng ng c c gi gi

tr khng i. Do t thng ca ng c ph thuc vo dng t ha ca ng c, nn t thng
c gi khng i khi dng t ha c gi khng i ti mi im lm vic ca ng c.
Ta c phng trnh tnh dng t ha ti im lm vic nh mc nh sau:
Im =
E m
1
.
f m 2L m
Im =
E
1
.
a.fm 2L m
Vi Lm l in cm mch t ha.
Ti tn s lm vic f:
T 2 phng trnh trn suy ra iu kin dng in t ha khng i:

E
E E
= Em = m = const
a
f
fm
Nh vy t thng ng c c gi khng i khi t l E/f c gi khng i (E/f =

const).
2.2.2 Phng php V/f
Tuy nhin trong thc t, vic gi t thng khng i i hi mch iu khin rt phc
tp. Nu b qua st p trn in tr v in khng tn mch stator, ta c th xem nh U E.
Khi nguyn tc iu khin E/f=const c thay bng phng php V/f=const.
Trong phng php V/f=const (gi ngn l V/f), nh trnh by trn th t s V/f
c gi khng i v bng gi tr t s ny nh mc.Cn lu l khi moment ti tng ,
dng ng c tng lm gia tng st p trn in tr Stator dn n E gim, c ngha l t
thng ng c gim.Do ng c khng hon ton lm vic ch t thng khng i.
Ta c cng thc moment nh mc ng vi s n gin ca ng c:
R'
2
Vm
. 2
3
s
M=
.
2
b
'
R 1 + R 2 + X 1 + X '2

s
V moment cc i ch nh mc:
Mmax =
2
Vm
3
.
2. b
R 1 R 12 + X1 + X '2
Khi thay cc gi tr nh mc bng gi tr nhn vi t s a (am, aVm, aX), Ta c

c cng thc moment ca ng c tn s f khc nh mc:
'
2 R2
Vm
.
3
a.s
M=
.
2
'
b R R
1 + 2 + X1 + X '
2
a
as
,a <1
V moment cc i tn s f khc nh mc:
Mmax =
3
2.b
Vm
.
2
R
R
1 1 + X1 + X '2
a
a
, a < 1
Da theo cng thc trn ta thy, cc gi tr X1 v X2 ph thuc vo tn s, trong khi R1

li l hng s. Nh vy, khi hot ng tn s cao, gi tr (X1+X2)>> R1/a, st p trn R1 rt
nh nn gi tr E suy gim rt t dn n t thng c gi gn nh khng i. Moment cc
i ca ng c gn nh khng i.
Tuy nhin, khi hot ng tn s thp th gi tr in tr R1/a s tng i ln so vi
gi tr ca (X1+X2), dn n st p nhiu in tr stator khi moment ti ln. iu ny lm
cho E b gim v dn n suy gim t thng v moment cc i.
b li s suy gim t thng tn s thp. Ta s cung cp them cho ng c mt in
p Uo cung cp cho ng c t thng nh mc khi f=0. T ta c quan h nh sau:
U=Uo+K.f
Vi K l mt hng s c chn sao cho gi tr U cp cho ng c bng Um ti f=fm.
Khi a>1 (f>fm), in p c gi khng i v bng nh mc. Khi ng c hot
ng ch suy gim t thng.
Khi moment v moment cc i ca ng c ti tn s f cung cp s l:
'
2 R2
Vm .
3
a.s
M=
.
2
'
b
R 1 + R 2 + a 2 X1 + X '
2

s
,a >1.
V moment cc i tn s f:
Vm2
M max =
.
,a >1
2
2.b R R 2 + a 2 X + X '
( 1 2 )
1
1
Sau y l th biu din mi quan h gia moment v in p theo tn s trong
phng php iu khin V/f=const.
3
U
Mdm
Uo
fdm
Hnh 2.1: Quan h gia moment v in p theo tn s
2.3 Cac phng phap thng dung trong iu khin ng c khng ng b:

C nhiu phng php iu khin b nghch lu p to ra in p c bin v
tn s mong mun cung cp cho ng c.Trong ni dung nay chung ta khai quat hai phng
phap o la :
Phng phap iu rng xung (SinPWM).
Phng phap iu ch vector khng gian ( Space Vector).
2.3.1 Phng php iu rng xung SINPWM
to ra mt in p xoay chiu bng phng php SINPWM, ta s dng mt tn hiu

xung tam gic tn s cao em so snh vi mt in p sin chun c tn s f. Nu em xung
iu khin ny cp cho mt b bin tn mt pha th ng ra s thu c mt dng in p
dng iu rng xung c tn s bng vi tn s ngun sin mu v bin hi bc nht ph
thuc vo ngun in mt chiu cung cp v t s gia bin sng sin mu v sng mang.
Tn s sng mang phi ln hn tn s ca sng sin mu. Sau y l hnh v miu t nguyn l
ca phng php iu rng sin mt pha:
10
Hnh 2.2: Nguyn l ca phng php iu rng sin

V
Khi:
Vcontrol > Vtri th VAO = dc
2
V
Vcontrol < Vtri th VAO = dc
2
Nh vy, to ra ngun in 3 pha dng iu rng xung, ta cn c ngun sin 3 pha mu v
gin kch ng ca 3 pha s c biu din nh hnh v di y:
11
Hnh 2.3 : S dng in p trn cc pha

2.3.1.1 Cc cng thc tnh ton
Ta cn tnh c bin hi bc nht ca in p ng ra t t s bin gia sng

mang v sng tam gic.
Ta c cng thc sau tnh bin ca hi bc nht:
U t = ma.
U DC
2
(1)
Trong ma l t s gia bin sng sin mu v bin sng mang cn gi l t s

iu bin.
ma =
U dk
U carry
12
(2)
2.3.1.2 Cch thc iu khin
Sau khi ni v phng php iu khin V/f=const v phng php iu khin b

nghch lu p theo phng php iu rng xung SINPWM, ta c th a ra mt thut ton
iu khin ng c theo mt tn s t cho trc nh sau.
Do ng c c iu khin vng h nn khng th o c c tc thc ca ng
c, nn ta hiu tn s t y l tn s ngun sin iu rng xung cp cho ng c.
Trong trng hp ta mun cho ng c ang trng thi ng yn chuyn sang chy
tn s t th phi thng qua mt qu trnh khi ng mm trnh cho ng c khi ng lp
tc n tc t, gy ra dng in khi ng ln lm hng ng c. Tn s ngun cung cp
s tng t gi tr 0 (ng yn) n gi tr t (tng ng vi bin tng t V0 n
Vf=V0+K.freq).Thi gian khi ng ny c thay i theo cng sut ca tng ng c. i vi
ng c cng sut ln th thi gian khi ng lu hn so vi ng c cng sut nh.Thi gian
khi ng ca ng c thng thng c chn t 5 n 10 giy.
Sau khi tn s ngun t n gi tr yu cu lc u th s gi nguyn gi tr .
Trong qu trnh ng c ang chy n nh m c mt nhu cu thay i tn s th cng c
mt qu trnh chuyn tn s tng bc thay v nhy ngay lp tc n gi tr tn s yu cu
mi.
Khi mun thay i chiu ca ng c cn phi a ng c v tn s nh ri sau
mi thc hin vic i chiu quay (thay i th t pha ngun cp cho ng c) trnh hin
tng moment xon c th lm gy trc ng c v tng dng t ngt.
Khi mun dng ng c th phi h tn s t gi tr hin ti v gi tr 0. Thi gian hm
ny ph thuc vo qun tnh quay ca ng c. Khi mun hm nhanh c th dng cc phng
php hm nh phng php hm ng nng (Dynamic Breaking) c dng in tr thng.
Nh vy c th hnh dung qu trnh hot ng ca b iu khin nh sau:
2
f
1
3a
3b
t
Tramp
Direction Changed
Tramp
Hnh 2.4: Qu trnh hot ng ca b iu khin
on 1 ng vi khi ng ng c tn s tng t 0 n gi tr t sau khong thi

gian khi ng (Tramp).
13
on 2 ng vi vic thay i tn s khi ng c ang chy n nh.

on 3 ng vi vic i chiu ng c c chia lm hai giai on. on 3a ng vi
gim tn s v 0. Cui on 3a s tin hnh o th t pha ngun cung cp cho ng c.
on 3b ng vi tng tn s ln n gi tr mi (C thay i tn s t trong lc i chiu nn
gi tr tn s sau khi i chiu khn gbng gi tr c).
on 4 ng vi ngng ng c. Tn s cp cho ng c c gim dn t gi tr t v
0 sau khong thi gian dng (Tramp).
2.3.1.3 Quy trnh tnh ton:
Tn s sng mang trong MCU 6010 c to ra theo cng thc sau:
f cy
PTPER =
1
2 f pwm
Trong PTPER l gi tr cn np vo thanh ghi PTPER c c tn s sng mang mong
mun
f
f cy = osc
4
vi f osc l tn s ca thch anh a vo vi iu khin
Trong phn ny vi tn s thch anh a vo vi iu khin l 10MHz, cng vi s dng
ch nhn tn s PLL=8 , ta c tn s thc a vo vi iu khin l 20MHz, thi gian tnh
ton ca mt chu k lnh l 0.05 micro giy
ng vi cc gi tr ca tn s tnh ton trn, to ra mt sng mang c tn s l 5Khz, gi tr
cn np vo thanh ghi PTPER l 1999 .
Sng iu khin ( U dk ) c to ra bng cch lp mt bng sin cc gi tr t 0 n 2

tng trng cho mt chu k ca sng iu khin dng Sin . Theo bit , sng iu khin
mang thng tin v ln tr hiu dng v tn s sng hi c bn ca in p ng ra, v vy
khi bin v tn s ca sng iu khin thay i th ta c bin v tn s ca in p ng
ra cng thay i theo.
Tn s ca sng iu khin thay i tu thuc vo tn s di chuyn ca con tr trong
bng sin. Nu tn s ca sng iu khin cng ln th s bc nhy ca con tr di chuyn
trong bng sin trong mt chu k sng iu khin cng t v ngc li.Quan h gia s bc
nhy ca con tr trong bng sin v tn s ca sng iu khin c xc nh theo cng thc
sau:
K=
min
Trong min l phn gii ca bng sin ( vi bng sin gm 720 gi tr th phn gii ca
bng sin l 0.5 /gi tr)
Tpwm *360
TUdk
l gc nhy ca con tr trong bng sin sau mt chu k PWM
T cng thc (1),(2) ta c :
14
Ut =
U dk U dc
*
U carry 2
(3)
Trong U dc = 440V ng vi trng hp t s iu ch ma=1 v ng c hot ng ch

nh mc.
Khi ng c hot ng ch nh mc ta c:
U dm
= 3.667 ( U dm = 220V , f dm = 60 Hz )
f dm
(4)
T (3),(4) ta c:
f req = 0.03*U dk
Gi tr ca tn s t vo ng c t bin tr c thng qua b chuyn i ADC 10 bits

theo cng thc :
f req =ADC_Result*60/1024
Da vo tn s yu cu u vo ta c th tnh c bin ca sng iu khin gi cho t

s V/f bng hng s.
Thi gian tng tc v gim tc ca ng c c tnh ton da vo chu k PWM, k t
khi c s thay i tn s t, sau mi chu k PWM, gi tr tn s hin ti s cng thm vo
hoc tr ra mt gi tr cho n khi no bng vi gi tr ca tn s t mi.
Gi tr cng vo hoc tr ra c tnh ton theo cng thc sau:
= (60* TPWM ) / t
Trong t(s) l thi gian tng tc hoc gim tc ca ng c
m bo s chuyn mch din ra ng, ti mi thi im trn mt nhnh ch c mt kho

bn dn trong trng thi dn, mt khong thi gian ngh (dead time) cn c thm vo
khong gia hai kho, vi tn s thch anh a vo vi iu khin l 10Mhz, tn s sng mang
l 5Khz, khong thi gian ngh c php t 1 n 25 micro giy, y khong thi gian
ngh c chn l 2 micro giy.
2.3.1.4 Hiu qu ca phng php iu khin :
i vi phng php iu ch SINPWM, ti mi thi im m mt trong hai kho trn
cng mt nhnh trng thi ON th biu thc in p gia mi pha v im trung tn o (O)
c dng nh sau:
15
Hnh 2.5: S kt ni cc kha trong b nghch lu

V
VAO = DC *(m *sin( ))
2
V
2
VBO = DC *(m *sin( +
))
2
3
V
4
VCO = DC *(m *sin( + ))
2
3
in p gia hai pha c tnh ton nh sau:
3
*VDC * m *sin( + )
VAB = VAO VBO =
2
6
VBC =
3
5
*VDC * m *sin( + )
2
6
VAC =
3
3
*VDC * m *sin( + )
2
2
T cng thc trn ta thy gi tr in p ln nht gia hai pha t c trong vng tuyn tnh
khi m=1
3
*VDC
2
Vy i vi phng php ny, in p do b chnh lu cung cp ch c s dng ti a l
86.67% trong vng iu khin tuyn tnh.
Gi tr in p ln nht l
16
Vline _ to _ line _ max =
2.3.2 Phng phap iu ch vector khng gian ( Space Vector):

Phng php iu rng xung vector khng gian (SVM - Space Vector Modulation) khc
vi cc phng php iu rng xung khc (PWM - Pulse Width Modulation). Vi cc phng
php PWM khc, b nghch lu c xem nh l ba b bin i ko-y ring bit vi ba
in p pha c lp vi nhau.
Hnh 2.6 : S b bin tn nghch lu p 6 kha (MOSFETs hoc IGBTs)

i vi phng php iu rng xung vector khng gian, b nghch lu c xem nh l mt
khi duy nht vi 8 trng thi ng ngt ring bit t 0 n 7.
2.3.2.1 Thnh lp vector khng gian:
i vi ngun p ba pha cn bng, ta lun c phng trnh sau
ua (t ) + ub (t ) + uc (t ) = 0
(2.1)
V bt k ba hm s no tha mn phng trnh trn u c th chuyn sang h ta 2 chiu

vung gc. Ta c th biu din phng trnh trn di dng 3 vector gm: [ua 0 0]T trng vi
trc x, vector [0 ub 0]T lch mt gc 120o v vector [0 0 uc]T lch mt gc 240o so vi trc x
nh hnh sau y.
Hnh 2.7: Biu din vector khng gian trong h ta x-y

T ta xy dng c phng trnh ca vector khng gian trong h ta phc nh sau:
2
u (t ) = ( ua + ub .e j (2 / 3) + uc .e j (2 / 3) )
3
(2.2)
2
Trong /3 l h s bin hnh. Phn tch u(t) trong phng trnh trn thnh phn thc v phn
o.
17
u (t ) = ux + ju y
(2.3)
Ta xy dng c cng thc chuyn i h ta t ba pha abc sang h ta phc x-y bng
cch cn bng phn thc v phn o trong phng trnh (2.2) ta c :
2
u (t ) = ua + ub ( cos ( 2 / 3) + j sin ( 2 / 3) ) + uc ( cos ( 2 / 3) + j sin ( 2 / 3 ) )
3
2
u
=
ua + ub cos ( 2 / 3) + uc cos ( 2 / 3)
x
u = 2 u sin ( 2 / 3) u sin ( 2 / 3)
c
y 3 b
1
ux 2
2
=
3
uy 3 0
1
ua
2
ub
3
uc
2
(2.4)
Tip theo hnh thnh ta quay - bng cch cho h ta x-y quay vi vn tc gc t. Ta
c cng thc chuyn i h ta nh sau
cos(t ) cos + t
u
2
u x cos(t ) sin(t ) u x
=
=
(2.5)
u sin(t ) sin + t u y sin(t ) cos(t ) u y
Ngun p ba pha to ra l cn bng v sin nn ta c th vit li phng trnh in p pha nh

sau:
ua = Vm sin(t )
ub = Vm sin(t 2 / 3)
(2.6)
uc = Vm sin(t + 2 / 3)
T phng trnh (2.5) ta xy dng c phng trnh sau:

u (t ) = Vr e j = Vr e jt
(2.7)
Th hin vector khng gian c bin Vr quay vi vn tc gc t quanh gc ta 0.

Phng trnh in p dy nh sau theo phng trnh (2.4) nh sau:
1
V
L 2 3
2
Vs
=
3
VL 3 2 0
1
q1
2
q3
3
q5
2
(2.8)
Trong 2 chuyn t gi tr bin thnh gi tr hiu dng, 3 chuyn gi tr in

p pha thnh in p dy. Vector in p dy s sm pha hn vector in p pha mt gc
/ 6 . Nu lng ghp cc trng thi c th c ca q1, q3 v q5 vo phng trnh (2.8), ta thu
c phng trnh in p dy (tr bin ) theo cc trng thi ca cc kha.
18
ur
2 2 j (2 n 1) / 6
2 (2n 1)
Vn =
e
=
cos
6
3
3
(2n 1)
+ j sin
6
(2.9)
Vi n = 0, 1, 2..6, ta thnh lp c 6 vector khng gian V1 V6 v 2 vector 0 l V0 v V7

nh hnh sau
Hnh 2.8: Cc vector khng gian t 1 n 6
Hnh 2.9: Trng thi ng-ngt ca cc kha
19
Bng 2.1: Gi tr in p cc trng thi ng ngt v vector khng gian tng ng

Vector
in p
V0
V1
V2
V3
V4
V5
V6
V7
Trng thi ca cc kha

Q1
Q3
Q5
0
0
0
1
0
0
1
1
0
0
1
0
0
1
1
0
0
1
1
0
1
1
1
1
Van
0
2/3
1/3
-1/3
-2/3
-1/3
1/3
0
in p pha
Vbn
0
1/3
1/3
2/3
1/3
-1/3
-2/3
0
Vcn
0
1/3
-2/3
-1/3
1/3
2/3
1/3
0
in p dy
Vab
Vbc
Vca
0
0
0
1
0
-1
0
1
-1
-1
1
0
-1
0
1
0
-1
1
1
-1
0
0
0
0
Ghi ch: ln in p phi nhn vi Vdc
2.3.2.2 Tnh ton thi gian ng ngt:

Xt trng hp vector Vr nm trong vng 1 nh hnh sau
Hnh 2.10: Vector khng gian Vs trong vng 1

Gi s tn s iu rng xung fPWM cao trong sut chu k iu rng xung Ts, vector VS
khng thay i v tr. Nh , ta c th phn tch VS theo cc vector V1, V2, v V0 hoc V7
nh phng trnh sau
Vr Ts = V1 T1 + V2 T2 + V0 7 T0 7
(2.10)
Ts = T1 + T2 + T0 7
Ts l chu k iu rng xung

Tn l thi gian duy tr trng thi Vn
Chuyn sang h ta vung gc, ta c phng trnh sau - suy ra t phng trnh (2.7) v
(2.9)
Vi

cos +
cos
cos
2
2
6
6
2
Ts m
= T1
+ T1
+ T0 7 .0

3
3
sin +
sin
sin
6
6
2
20
Cn bng phn thc v phn o, ta c
Ts m cos 6 + = T1
T m sin + = T
6
1
s
2

cos + T1
3
6
2

sin + T1
3
6
2

cos
3
2
2

sin
3
2
Gii phng trnh trn tm T1 v T2
cos +
cos +
3
3
6
6
=T m
T1 = Ts m
s
2
2

3
cos
6

2
T1 = Ts m cos + = Ts m cos
6
2
T2 = Ts m
= Ts m sin
3

sin + Ts m cos + sin
2
6
6
6

T2 = Ts m sin + cos cos + sin
6
6
6
6
T2 = Ts m sin + = Ts m sin ( )
6
6
Suy ra
T1 = Ts m sin ( / 3 )
T2 = Ts m sin ( )
T = T T T
1
2
s
0 7
(2.11)
Trong : m l t s iu bin
Ts l chu k iu rng xung
l gc lch gia Vr v Vn.
Ta nhn thy vic gii phng trnh 2-10 tm T1, T2 v Ts khng ph thuc vo hai vector
gii hn ca vng
Hnh 2.11: Vector khng gian Vs trong vng bt k
21
Da trn kt qu phng trnh 2-11, ta xy dng cng thc tng qut nh trong phng trnh
(2.12) sau y:
TA = Ts m sin ( / 3 )
TB = Ts m sin ( )
T = T T T
s
A
B
0 7
(2.12)
2.3.2.3 Phn b cc trng thi ng ngt:

Vn xt trng hp vector VS nm trong vng 1, vi kt qu t phng trnh 2-11:
T1 = Ts m sin ( / 3 )
T2 = Ts m sin ( )
T = T T T
1
2
s
0 7
2.3.2.4 K thut thc hin iu ch vector khng gian:

Thng thng, mt trong nhng tiu chun la chn gin ng kch linh kin l sao cho gim
thiu ti a s ln chuyn mch ca linh kin =>gim tn hao trong qu trnh ng ngt chng. S ln
chuyn mch s t nu ta thc hin trnh t iu khin sau:
Hnh 2.12: Gin ng ct linh kin

2.3.2.5 Gin ng ngt cc kha to ra Vector Vs trong tng sector:
Cc kha cng sut trong tng nhnh ng ngt i nghch nhau. n gin ha s ,
ta ch v trng thi ca 3 kha cng sut pha trn. Ba kha cn li c trng thi i nghch
vi 3 kha trn theo tng cp nh sau :
+ S0 S1
+ S2 S3
+ S4 S5
22
T PW M
Ts
Ts
To/2
TA
TB
To/2
To/2
TB
TA
To/2
V0
V1
V2
V7
V7
V2
V1
V0
S1
S3
S5
V ector Vs in S ector 1
Ts
Ts
T o/2
TB
TA
T o/2
T o/2
TA
TB
To/2
V0
V3
V2
V7
V7
V2
V3
V0
S1
S3
S5
Ts
Ts
T o/2
TA
TB
T o/2
T o/2
TB
TA
To/2
V0
V3
V4
V7
V7
V4
V3
V0
S1
S3
S5
23
Ts
Ts
T o /2
TB
TA
T o/2
T o/2
TA
TB
To /2
V0
V5
V4
V7
V7
V4
V5
V0
S1
S3
S5
V ecto r V s in S ecto r 4
Ts
Ts
T o/2
TA
TB
T o/2
T o/2
TB
TA
To/2
V0
V5
V6
V7
V7
V6
V5
V0
S1
S3
S5
Ts
Ts
T o/2
TB
TA
T o/2
T o/2
TA
TB
To/2
V0
V1
V6
V7
V7
V6
V1
V0
S1
S3
S5
Vector Vs in S ector 6
Hnh 2.13: Vector Vs trong cc vng t 0-6
24
CHNG 3: CU TO V CC THNG S PHN CNG
CHNG 3
CU TO V CC THNG
S PHN CNG
25
CHNG 3 : CU TO V CC THNG S PHN CNG

YU CU T RA :
Thit k b bin tn truyn thng ( 6 kha) ba pha iu khin ng c KB theo phng

php V/f v iu ch SINPWM)
Thng s ng c nh sau :
Pm
Vm
Im
cos
s
M
RPM
Cc thng s
Cng sut nh mc
in p nh mc
Dng in nh mc
Hiu sut
H s cng sut
trt
Moment
Vn tc
n v
(KW)
(VAC)
(A)
%
ng c u sao
1.5 (2HP)
380
10
ng c u tam gic
1.5(2HP)
220
10
0.8
0.8
%
( vng /pht)
Bng 3.1: Thng s ng c
26
3.1 S khi ca mch iu khin ng c:

B chnh lu
AC
source
B nghch lu
3 phase
AC motor
+ VDC
Mch li
Cch ly
Tn hiu
xung kch
Bin tr
Nt n
LEDs
ng
2x16TCA
LCD
RS 232
Hi n
dsPIC30F6010
Micro
Controller
Hnh 3.1: S khi mch iu khin
3.2 Gii thiu chi tit cac khi iu khin:

3.2.1 Mch li
C hai s la chn cho cc kha ng ngt cng sut iu khin ng c l

MOSFET v IGBT v kh nng chu dng v p cao.
27
Ni chung , nhng loi ng c m s dng cc kha ng ngt (MOSFET , IGBT )

iu khin th u cn dng n mch li (gate drive scheme). C 2 phn c bn trong vic
iu khin cc ng ngt cc linh kin cng sut l: iu khin pha cao (high side Q1) v
pha thp (low side Q2).
Hnh 3.2: V d s iu khin mosfet
Trong v d trn Q1 v Q2 lun trng thi lm vic i nghch nhau. Khi Q1 trng
thi ON th Q2 trng thi OFF v ngc li.
Khi Q1 ang trng thi OFF chuyn sang trng thi ON => chn S (MOSFET) hay
chn E (IGBT) ca Q1 chuyn t ground sang in p cao ( high voltage rail). Do mun
kch Q1 tip tc ON th phi to in p kch VGS1 c gi tr VGS1= VSQ1 + V.Trong khi
tn hiu ra ca vi x l iu khin ng ngt cc kha ch c gi tr in p +5V (so vi
ground). Nn cn phi c mch li to tri p v cch ly trong vic ng ngt pha cao Q1.
Tuy nhin i vi Q2 th chn S c ni ground , do in p kch VGS2 ch cn c
gi tr V. Do vic ng ngt kha low side (Q2) c iu khin d dng hn .
Ghi ch:
V: gi tr in p cn thit kch Q1 hay Q2 dn. i vi MOSFET v IGBT V c

gi tr t 10 n 15 (V).
S mch li iu khin ng ngt MOSFET hay IGBT (Q1)
C 3 dng s c bn nh sau:
1-Single ended or double ended gate drive transfomer.
2-Floating bias voltages and opto isolater drive.
3-High voltage bootstrap diver Ics.
Trong cc phng n (1),(2) s dng bin p xung trong thit k mch li mosfet , trng hp
xung iu khin c cnh tc ng ko di hoc tn s thp, bin p xung sm t trng thi
bo ha v ng ra ca n khng ph hp yu cu iu khin.
Do trong phn ny cp n phng n s dng loi High Voltage Bootstrap Diver ICs.
28
Hnh 3.3: S khi ca IC li mosfet
Hnh 11 a ra mt gii php iu khin kch ng ngt pha cao Q1, v hn th na

n khng i hi ngi dng cn phi c kin thc v my bin p .Nhng ICs loi ny s
dng mch dch mc (level shifting circuitry) bng t C bootstrap li pha cao.
Trong sut thi gian ON ca Q2 chn S ca Q1 c in th l ground. iu ny cho
php t Cboot c np (thng qua diode D1) n gi tr VBIAS. Khi Q2 c kch OFF v Q1
c kch ON th in p chn S ca Q1 bt u tng ln. T Cboot lc ny ng vai tr ca
ngun phn cc, cung cp dng li pha cao Q1.
Nhc im mch li loi ny l c thi gian delay gia tn hiu input v tn hiu ng
ngt cc kha bn dn. Thi gian tr hon t 500ns ! 1us. N c th l vn khi tin hnh
cc ng dng hot ng tn s cao (nhng tn s hot ng ca ng c < 60Hz).
Gii thiu v IC IR2136 (High voltage bootstrap diver ICs)
Hnh 3.4: IC IR2136
IR2136 l loi IC chuyn dng li MOSFET v IGBT ca hng IR - International Rectifier.

IC ny c 3 knh output c lp (mi knh gm high side and low side) dng cho cc ng
dng 3 pha.
Cc thng s:
- Cc knh tri p thit k cho ch bootstrap c th ln n +600V.
- Chng dV/dt (dV/dt immune)
- in p kch cng t 10V 20V.
- Undervoltage lockout for all channels.
29
- Chng qu dng: su tn hiu driver outputs s b tt khi khi qu dng xy ra
(Thng qua chn ITRIP ca IR).

- Logic inputs tng thch vi CMOS hay LSTTL outputs, c th xung n 3.3 V
- Gim di/dt cho cc tn hiu li cng, do chng nhiu tt hn.
- C th iu chnh thi gian delay cho ch t ng xa li (automatically fault
clear), thng qua chn FAULT ca IR.

S kt ni do hng sn xut IR cung cp
S chn ca IR2136
Hnh 3.5: S kt ni IR2136
nh ngha cc chn ca IR2136

VCC
VSS
HIN1,2,3
LIN1,2,3
FAULT
Ngun cung cp 15VDC

Ground
Logic input cho pha gate diver outputs (HO1,2,3,), tch cc mc thp
Logic input cho pha gate diver outputs (LO1,2,3,), tch cc mc thp
Pht hin qu dng (ITRIP) hay low side undervoltage lockout xy ra
30
EN
ITRIP
RCIN
COM
VB1,2,3
HO1,2,3
VS1,2,3
LO1,2,3
Logic input cho php chc nng I/O .

Anolog input . Khi hot ng, ITRIP kha cc ng ra v kch hot chn FAULT
v RCIN. Khi ITRIP tr v trng thi bnh thng (inactive), FAULT vn tch
cc set thi gian TFLTCLR, sau t ng inactive (open drain high
impedance).
t thi gian FAULT CLEAR delay
Low side gate return
High side floating supply
High side gate driver output
High voltage floating supply returns
Low side gate diver output
Bng 3.2 : nh ngha cc chn trong IR2136

3.2.2 Mch cch ly
Cc mch pht ra tnh hiu iu khin mch cng sut dng bn dn phi c cch ly v
in. iu ny c th thc hin bng opto hoc bng bin p xung.
+ Bin p xung :
Gm mt cun dy s cp v c th nhiu cun th cp. Vi nhiu cun dy pha th

cp, ta c th kch ng nhiu transistor mc ni tip hoc song song.
Bin p xung cn c cm khng tn nh v p ng nhanh. Trong trng hp xung iu
khin c cnh tc ng ko di hoc tn s thp, bin p xung sm t trng thi bo ha v
ng ra ca n khng ph hp yu cu iu khin.
+ Opto :
Gm ngun pht tia hng ngoi dng diode (IR - LED) v mch thu dng
phototransistor. Do tha mn yu cu cch ly v in, ng thi p ng ca opto tt hn
my bin p xung.
Hnh 3.6: S khi ca opto

=> ta la chn phng n dng opto. Yu cu t ra i vi opto l phi chu c tn s
ng ngt kh cao ( 10KHz). Trong , HCPL-2631 l optocouplers ca hng Fairchild c
p ng tn s ln n 10MHz
3.2.3 Mch MOSFETs
Cc loi linh kin thng c s dng trong b nghch lu
C hai la chn chnh cho vic s dng kho ng ct cng sut trong iu khin ng
c l MOSFET v IGBT. C hai loi MOSFET v IGBT u l linh kin c iu khin
bng in p, ngha l vic dn v ngng dn ca linh kin c iu khin bng mt ngun
in p ni vi cc gate ca linh kin thay v l dng in trong cc b nghch lu s dng
31
transitor nh trc y. V vy cch s dng loi linh kin ny lm cho vic iu khin tr
nn d dng hn.
Hnh 3.7: S khi ca MOSFET v IGBT
Vic ng ct linh kin cng s gy nn tn hao cng sut, cng thc xc nh tn hao
cng sut c trnh by nh sau:
c im, ng dng:
Thng thng MOSFET c s dng vi cc ng dng i hi tc cao, tuy nhin

MOSFET khng c kh nng chu dng in cao. Trong khi IGBT thch hp vi cc ng
dng tc thp, tuy nhin IGBT c kh nng chu c dng in cao. V vy tu vo c
im ca ng dng m c s la chn linh kin ph hp
IGBT l linh kin c tn s ng ct gii hn thp hn so vi MOSFET, v vy dn n
tn tht cng sut do ng ct linh kin s cao hn i vi MOSFET c tn s ng ct cao
hn. Cc k thut s dng IGBT trong iu khin c sm p dng cch y hn 10 nm,
C rt nhiu thay i ci thin linh kin vi cc ng dng khc nhau, nhiu cng ty sn
xut ra nhiu dng IGBT, mt s c ch to thch hp vi cc ng dng tc thp v
in p VCE-SAT nh, dn ti tn hao s nh. Mt s khc c sn xut ph hp vi cc
ng dng i hi tc cao (60kHz n 150 kHz) v c tn tht cng sut thp hn nhng c
VCE-SAT cao hn. Khong 5 nm tr li y nhiu ci tin trong vic sn xut MOSFET c
th chp nhn tn s ng ct cao hn vi RDS-ON nh (khong vi miliohm) lm cho tn
tht cng sut c gim i rt nhiu. V vy ngy nay, a s cc b nghch lu thng s
dng MOSFET hn l IGBT nh trc kia.
Da vo cc c im nu trn , khi la chn linh kin ta cn xem xt n kh nng gii
hn ca linh kin. Trong phm vi thc hin ca n mn hc hai, ta ch quan tm n cc
thng s hot ng ca ng c ng c la chn cho ph hp.
Cc yu cu chnh t ra cho linh kin s dng lm b nghch lu :
in p VDS ( Mosfet) hay VCE ( IGBT) >> VDC /2
ng
Dng in qua linh kin ln hn dng nh mc ca ng c 10A nhit hot
32
Chu c tn s ng ngt cao
=> IRFP460P c la chn : tha mn cc yu t trn, c th mua d dng v gi

thnh r !
Hnh 3.8: IRFP460P

3.2.4 Mch chnh lu
3.2.4.1 B chnh lu:
Yu cu:
"
in p trung bnh (VDC) u ra ca b chnh lu:

VDC
2
+ ng c vn hnh ch nh mc ( VAO = 220V )
+Trong phng php SINPWM th : VOA =
"
"
=> VDC = 2 *VAO = 2* 220 = 440V

Tr tc thi ca VDC c nn tng i phng
Gn nh , gi thnh r
3.2.4.2 Phng php chnh lu :

Ta s dng phng php chnh lu cu vi 6 diode
Tr trung bnh in p u ra khi chnh lu cu 3 pha (khng iu khin):
3 6 *Vpha
VDC =
515 (V)
+Vi gi tr ny ca VDC th ng c c th vn hnh nh mc

+Vpha : tr hiu dng p pha ngun (220 VAC)
$ Ghi ch:
Trong iu kin thc t, nu ch c ngun 1 pha thc hin chnh lu th in p VDC sau
chnh lu :
VDC =
2 2 *Vpha
200(V ) => ng c s khng th vn hnh ht nh mc
33
CHNG 4: S CU TO MCH IU KHIN
CHNG 4
S CU TO MCH
IU KHIN
34
CHNG 4 : S CU TO MCH IU KHIN

4.1 S mch cch ly
5V_1
5V_2
J8
R33
1
2
3
4
5
6
7
U10
220
1
2
3
4
R34
220
R35
R42
110
110
+ C7
0.1uF
Vin1+ VCC
Vin1- Vout1
Vin2- Vout2
Vin2+ GND
HCPL2631
0
5V_1
5V_2
R37
220
U11
1
2
3
4
R38
220
Vin1+ VCC
Vin1- Vout1
Vin2- Vout2
Vin2+ GND
R43
R44
110
110
+ C8
0.1uF
7
6
5
HCPL2631
5V_1
5V_2
+ C9
R40
U12
220
1
2
3
4
R41
220
Vin1+ VCC
Vin1- Vout1
Vin2- Vout2
Vin2+ GND
8
7
6
5
HCPL2631
35
R36
R45
110
110
0.1uF
H1
H2
H3
L1
L2
L3
5V_1
J5
IN
D15
OUT
3
D17
LED
+ 1
LM7805C
GND
U3
C11
6V_AC
C12
470uF
100uF
C13
10uF
C16
R1
330
104
4 -
1
2
BRIDGE_3A
15V
J6
12V_AC
D16
OUT
3
D18
LED
C10
C14
470uF
100uF
C15
10uF
C17
104
R2
1k
4 -
1
2
IN
+ 1
GND
U4 LM7815C
BRIDGE_3A
5V_2
J7
6V_AC
OUT
3
D20
LED
C18
C19
470uF
100uF
C20
10uF
C21
104
4 -
1
2
D19
IN
+ 1
LM7805C
GND
U5
BRIDGE_3A
Hnh 4.1 : S mch cch ly
36
R3
330
4.2 S mch li
15V
D3 DIODE XUNG
HO1
VS1
HO2
VS2
HO3
VS3
LO1
LO2
LO3
COM
D2 DIODE XUNG
D1 DIODE XUNG
H1
H2
H3
R26
R27
R28
100
100
100
1
2
3
4
L1
L2
L3
R29
R30
R31
100
100
100
5
6
7
FAULT
ENABLE
8
10
VCC
HIN1
HIN2
HIN3
VB1
U1
HO1
VS1
LIN1
LIN2
LIN3
VB2
FAULT
EN
HO2
VS2
VB3
15V
HO3
15V
+ C6
10uF
R32
100
VS3
25
17
21
11
ITRIP
+
C4
.1uF
9
12
25
17
21
LO1
LO2
RCIN
LO3
ITRIP
VSS
COM
ITRIP
28
27
24
23
1R 5W
COM
15V
ENABLE
FAULT
ITRIP
20
19
C3
1uF
18
R20
100
R21
100
R22
100
HO1
VS1
HO2
VS2
HO3
VS3
16
R23
100 LO1
15
R24
100 LO2
14
R25
100 LO3
COM
13
12V
RVAR2
ENABLE
Hnh 4.2 : S mch li mosfet
37
C2
1uF
22
PR
J3
CONTROL
1
2
3
4
5
C1
1uF
26
IR2136
RVAR1
J1
OUTPUTS
1
2
3
4
5
6
7
8
9
10
C5
10uF
4.3 S mch ng lc
R1
10K
1
R2
10K
S1
2
Q3
H2
Q5
H3
Q1
H1
R3
10K
S2
FUSE
F1
VDC
J1
S3
P1
P2
P3
J2
1
2
P1
CON10
R4
10K
Q6
L2
1
R5
10K
L3
Q4
L1
P3
1
2
3
4
5
6
7
8
9
10
H1
S1
H2
S2
H3
S3
L1
L2
L3
COM
MOTOR
P2
J3CON2
COM
VDC
D1
D3
J4
2
1
AC_VOLTAGE
C1
C
D2
D4
COM
Hnh 4.3 : S mch ng lc
38
Q2
1
R6
10K
VDC
COM
1
2
3
4.4 S mch iu khin
RD7
RD6
RD5
RD4
R D 13
R D 12
RD3
RD2
RD1
69
68
67
66
65
64
63
62
61
dsPic 6010
R D 14
R D 15
RF4
RF5
RG2
RG3
RF6
RF7
RF8
RF2
RF3
37
38
39
40
VSS
VSS
VSS
VSS
OSC1
R D 14
R D 15
RF4
RF5
11
31
70
51
U1
R B6
R B7
R B8
R B9
R B10
R B11
R B12
R B13
R B14
R B15
VSS
60
59
58
57
56
55
54
53
52
RC14
RC13
RD0
RD11
RD10
RD9
RD8
RA15
RA14
50
RC15
C2 30pF
10MHZ
RG9
RE8
RE9
RB5
RB4
RB3
RB2
RB1
RB0
VD SS
10
13
14
15
16
17
18
19
20
RC14
RC13
RD0
RD11
RD10
RD9
RD8
RA15
RA14
OSC2
21
22
27
28
29
30
33
34
35
36
RG9
RE8
RE9
RB5
RB4
RB3
RB2
RB1
RB0
RC1
RC3
RG6
RG7
RG8
26
4
5
6
7
8
R B6
R B7
R B8
R B9
R B10
R B11
R B12
R B13
R B14
R B15
RC1
RC3
RG6
RG7
RG8
RE5
RE6
RE7
AVD D
1
2
3
25
RE5
RE6
RE7
MCLR
R A9
R A10
23
24
RESET
MCLR
R A9
R A10
SW2
R E4
R E3
R E2
R E1
R E0
RG0
RG1
RF1
RF0
4K7
RD7
RD6
RD5
RD4
R D 13
R D 12
RD3
RD2
RD1
RE4
RE3
RE2
RE1
RE0
RG0
RG1
RF1
RF0
VCC
80
79
78
77
76
75
74
73
72
4.4.1 Khi iu khin
VDD
VDD
VDD
VDD
47
46
45
44
43
42
41
RG2
RG3
RF6
RF7
RF8
RF2
RF3
48
32
12
71
VDD
Hnh 4.4 : S khi iu khin chnh
39
Y1
49
C1 30pF
VCC
C3
104
104
C4
C5
104
C6
104
4.4.2 Khi giao tip my tnh

VCC1
U4
C15
MAX232
1
+
C7
1UF
WOMEN
SUB-D 9
5
9
4
8
3
7
2
6
1
C8
1UF
5
11
8
7
15
C+
V+
C1-
VCC
C17
1UF
1UF
2
16
C2+
R1OUT
C2-
T1OUT
T1IN
R1IN
R2IN
T2IN
T2OUT
R2OUT
GND
V-
12
14
J10
13
10
TX
RX
PIN
6
C16
1UF
Hnh 4.5 : S khi giao tip my tnh

4.4.3 Khi hin th
VCC1
LCD204A
TT2
RS
R/W
E
D0
D1
D2
D3
D4
D5
D6
D7
LED+
LED-
2
3
1
VCC1
J21
R29
10K
4
5
6
1
2
3
7
8
9
10
11
12
13
14
1
2
3
4
5
6
7
8
15
16
3
2
1
J20
CON3
VCC
J22
J19
DATA
VDD
V0
VSS
3
2
1
VCC1
GND
R33
10K
Hnh 4.6 : S khi hin th
40
1
2
4.4.4 Khi nt bm
KP1
KP2
KP3
KP4
KP5
KP6
KP7
KP8
KP9
KP10
KP11
KP12
VCC
VCC
220
J4
NEXT
KP1
BACK
KP2
UP
KP3
DOWN
KP4
ENTER
KP5
RUN
KP6
STOP
KP7
REV
KP8
CHANGE
KP9
MODE
KP10
RESET
KP11
R38
1
2
3
4
5
6
7
8
9
10
11
12
4
3
2
1
D1
LED
VCC
J3
4
3
2
1
KEY _PAD
GND
KP12
Hnh 4.7 : S khi nt bm
41
VCC
J2
R26
220
CHNG 5: GII THIU V dsPIC6010
CHNG 5
GII THIU V dsPIC6010
42
CHNG 5: GII THIU V DSPIC 6010

5.1 Tng quan v vi iu khin dsPIC30F6010
H vi iu khin PIC v dsPIC do hng
ch to v sn xut vi cng
ngh hin i, ph hp cho cc ng dng n gin cho n phc tp. c bit ngoi ngn ng
lp trnh assembler nh cc MCU khc, ngi dng c th lp trnh trn ngn ng quen
thuc nh C (C18, C30,CCSC, MIKO_C,HI-TECH PICC), Pascal ( MIKO_PASCAL) thng
qua cc phn mm h tr
Gm cc h nh sau:
Hnh 5.1 : Cc h vi iu khin PIC v dsPIC

Ty theo cc ng dng c th m ngi dng c th chn ra Chip ph hp ( theo hng
dn ca nh sn xut ti trang ch ca microchip ). Trong cc loi IC chuyn dng iu
khin ng c 3 pha theo ngh ca ca Microchip c trnh by theo s sau
Hnh 5.2: S ng dng cc h vi iu khin
43
Trong ni dung lun vn ny, chng ta s dng MCU dsPIC30F6010 cho vic iu khin
ng c khng ng b ba pha vi cc c im c trnh by nh sau:
-MCU dsPic 6010 c thit k da trn kin trc RISC, hot ng tm in p rng t 2.55.5V , cng sut thp ,c tc x l cao do s dng cng ngh CMOS, p ng c yu
cu lm vic i vi khi lng tnh ton tnh ton ln, p ng nhanh v yu cu chnh
xc cao
-Tp lnh ca MCU 6010 gm 84 lnh
-C b nh RAM l 8K, b nh EPPROM l 4K, c bit c b nh Plash_Program ln n
144K, ph hp vi cc chng chnh i hi c b nh chng trnh ln
-Hot ng ch ngun dao ng ngoi (External Clock) ti a l 40Mhz
-Hot ng ch dao ng thch anh tn s t 4Hhz-10Mhz vi cc cp nhn
PLL(Phase Locked Loop) 4x, 8x,16x, ty theo cc thit lp chng trnh m dao ng thc s
a vo trong MCU c th ln n 120Mhz
PLL c th c thit lp thng qua cc bits FPR<3:0>, tn s dao ng thach anh a vo v
tn s dao ng thc s ca MCU c tm tt trong bng 1.1
Bng 5.1 : Thit lp tn s hot ng
-MCU 6010 c 44 ngun Interrup, mi ngun ngt c 8 cp ngt u tin

-C 16x16 bits mang thanh ghi lm vic
-Gm c 7 port I/O (A,B,C,D,E,F,G)
-5 b Timer/Counter 16bits, trong c th ghp li vi nhau thnh cc b Timer/Counter 32
bits
-c tch hp cc moudle Compare/ Capture, c 8 knh PWM c s dng trong k thut
iu khin ng c
-Moudle I2C h tr ch Multi- Master/Slave v 7 bits/10 bits xc nh a ch
-Ngoi ra cn tch hp cc chun giao tip CAN, UART v 3-wire SPI
-16 knh 10 bits - Analog to Digital Converter (10bits - AD) tc cao ( 500Ksps), c kh
nng chuyn i trong lc MCU trng thi Sleep, Idle
5.2 Cc c im c bit h MCU dsPic-6010:

-Cho php lp trnh li nhiu ln , s ln np xo i vi b nh chng trnh l t
10.000(min) 100.000(max) ln i vi cc dng chp s dng trong cng nghip
-Ch Fail-safe clock monitor cho php MCU kim sot pht hin ra khi no dao ng bn
ngoi t ngun dao ng gp s c, MCU s t ng chuyn sang ch dao ng ni trong
MCU
-Ch bo v code bn trong MCU
-H tr In-circuit serial programming (ICSP) to thun li cho ngi lp trnh kh nng lp
trnh trc tip trn phn cng, khng phi tho lp IC nh cc loi MCU trc y
-Ch qun l, tit kim nng lng : Sleep, idle,alternate clock mode
44
5.3 Gii thiu khi qut v cu trc phn cng:

S chn MCU dsPIC6010 dc trnh by trong hnh 2.1
Hnh 5.3: S chn dsPIC30F6010
45
S t chc bn trong MCU dsPIC6010 c trnh by nh hnh 31
Hnh 5.4: S t chc bn trong MCU dsPIC6010
46
M t chc nng, tnh cht cc I/O trong MCU
47
48
Bng 5.2: M t chc nng, tnh cht cc I/O trong MCU

S t chc b nh bn trong MCU dsPIC6010:
Hnh 5.5: S t chc b nh bn trong MCU dsPIC6010
49
5.4 Khi qut v cc thanh ghi lm vic

Tt c cc chn I/O trn MCU ( ngoi tr cc chn VDD, VSS, AVDD,AVSS, MCLR,
OSC1/CLK1) c th va ng vai tr l chc nng tng qut ( General Purpose) va c ng
vai tr s dng t bit. Cc chc nng tng qut cho php dsPIC30F gim st v iu khin
cc thit b khc. Hu ht cc I/O u c kt hp nhiu chc nng ring bit khc nhau. S
kt hp cc chc nng ny ty thuc vo c im trn loi MCU xc nh. V khi mt I/O
c s dng vi chc nng chuyn bit th I/O c th s khng th c s dng vi
chc nng tng qut.
S cu to bn trong th hin kh nng kt hp nhiu chc nng trong cng mt I/O c
th hin nh trong hnh
Hnh 5.6:S cu to bn trong mt I/O

5.4.1 Cc thanh ghi iu khin :
Tt c cc I/O Port trong MCU thuc h 12F, 16F,18F,30F ... u c ba thanh ghi trc
tip lin quan n phng thc hot ng ca cc Port , cc thanh ghi l TRISx, PORTx,
LATx, trong x l tn tng ng ca cc Port trong MCU. Mi I/O pin u c mt bit tham
chiu tng ng trong ba thanh ghi trn
5.4.2 Thanh ghi TRIS:
Cc bits iu khin trong thanh ghi TRIS xc nh trng thi hot ng ca cc I/O l
input hay output. Nu bit TRIS ca mt I/O l 1 th I/O s ng vay tr nh l mt ng
input, ngc li nu bit TRIS ca mt I/O l 0 th I/O s ng vay tr nh l mt ng
output. iu cn lu l tt c cc I/O s ng vay tr l input ngay sau khi MCU b Reset.
50
5.4.3Thanh ghi PORT:

D liu trn mt I/O c truy xut thng qua thanh ghi PORT, s kin c thanh ghi
PORTx s c gi tr ca ca I/O tng ng v s kin ghi vo thanh ghi PORTx s ghi gi tr
vo Port cht d liu
Mt s lnh nh BSET v BCLR l cc lnh cho php Read-Modify-Write d liu trn cc
Port. Vic ghi vo mt Port ngha l cc I/O ca Port s c c vo, gi tr s c
hiu chnh li, sau c ghi vo Port cht d liu.Mt iu cn ch l khi cc lnh ReadModify-Write s dng trn mt thanh ghi PORTx th cc I/O c lin quan ca Port phi
c cu hnh nh l ng input. Nu mt I/O c cu hnh nh l ng input b chuyn sang
cu hnh l output trong khi thc hin cc lnh Read-Modify-Write th s dn n nhng kt
qu khng mong mun trn I/O .
5.4.4Thanh ghi LAT:
Thanh ghi LATx lin quan n mt I/O pin hn ch cc s c c th xy ra i vi cc
lnh Read-Modify-Write. Vic c thanh ghi LAT s tr v gi tr c ct gi trong Port
cht ng ra ( Port output latches), thay v gi tr trn chn I/O port. Lnh Read-Modify-Write
trn thanh ghi LAT, lin quan n mt I/O, trnh kh nng ghi gi tr ca chn input vo Port
cht. V trnh t ghi vo thanh ghi LATx cng tng t nh trn.
S khc nhau gia thanh ghi PORT v LAT c th c tm tt nh sau:
Vic ghi vo thanh ghi PORTx s ghi gi tr d liu vo Port cht ( Port latch)
Vic ghi vo thanh ghi LATx s ghi gi tr d liu vo Port cht
Vic c t thanh ghi PORTx s c gi tr d liu trc tip trn chn I/O
Vic c t thanh ghi LATx s c gi tr d liu c ct gi trong Port cht.
S cu to tng quan ca cc I/O Port trong MCU:
Hnh 5.7: S cu to tng quan ca cc I/O Port trong MCU
51
5.5 Gii thiu v cc module c bn

5.5.1 Module Timer :
MCU dsPIC 6010 cung cp 5 module timer 16 bits, mi module Timer/Counter 16 bit u c
cc thanh ghi ch c( Reable/Writeable Register):
-TMRx: l thanh ghi 16 bit, dng lu gi tr hin ti ca Timer tng ng.
-PRx: l thanh ghi 16 bit, dng np gi tr m cho Timer.
-TxCON: l thanh ghi iu khin 16 bit, dng thit lp cc thng s iu khin, ch hot
ng ca Timer.
Mi Module Timer u c cc Bit lin quan dng cho phc v ngt:
Interrupt Enable Control bit(TxIE): dng kch hot hot ngng kch hot Timer.
Interrupt Flag Status bit(TxIF): Dng bo khi trn b m.
Interrup Priority Control bit( TxIP<2:0>): dng t cc mc u tin cho ngt Timer.
Cc timer c phn loi thnh cc loi sau:
5.5.1.1 Module Timer 1
Timer 1 module l mt timer 16 bits , c th c s dng lm b m thi gian cho thi gian
thc (Real Time Clock),hoc c th c vn hnh nh l b nh th ni b (interval timer),
b m (counter), b 16-bits Timer1 c cc ch nh sau:
-Ch nh th 16 bits (16-bits Timer): ch ny b nh th s tng gi tr sau mi chu

k my cho n khi bng vi mt gi tr c np trc vo thanh ghi PR1, sau s reset tr
v gi tr 0 v tip tc m. Khi CPU i vo trng thi ngh, Timer1 s ngng vic tng gi tr
tr khi bit TSIDL(T1CON<13>)=0
-Ch b m ng b 16 bits ( 16-bits Synchronous Counter): ch ny Timer1 s tng
gi tr mi cnh ln ca tn hiu xung clock t bn ngoi a vo MCU v c ng b
ho vi xung clock bn trong MCU. Timer1 s m ln n mt gi tr c np trc vo
thanh ghi PR1, sau s reset tr v gi tr 0 v tip tc m. Khi CPU i vo trng thi ngh,
Timer1 s ngng vic tng gi tr tr khi bit TSIDL(T1CON<13>)=0
-Ch b m bt ng b 16 bits ( 16-bits Asynchronous Counter): ch ny Timer1 s
tng gi tr mi cnh ln ca tn hiu xung clock t bn ngoi a vo MCU .Timer1 s m
ln n mt gi tr c np trc vo thanh ghi PR1, sau s reset tr v gi tr 0 v tip
tc m. Khi CPU i vo trng thi ngh, Timer1 s ngng vic tng gi tr tr khi bit
TSIDL(T1CON<13>)=0
Cc c im ca module Timer1:
Hot ng ca Timer trng thi ng:
Timer1 vn hot trong lc CPU trong trng thi ngh nu:
- Timer c kch hot ( TON=1)
- Ngun xung clock cho Timer c chn l ngun ngoi ( TCS=1)
- Bit TSYNC ( T1CON<2>) c t mc logic 0 m c nh ngha l ngun xung
clock ngoi bt ng b
Nu c 3 iu kin trn c tha mn th Timer1 s m ln n gi tr trong thanh ghi PR1
v sao c reset v gi tr 0x0000.
52
S kin ngt Timer:

16-bit TIMER c kh nng to ra ngt . Khi gi tr ca Timer bng vi gi tr trong thanh khi
PR1 th bit T1IF s c tc ng v to ra ngt. V nu c kch hot , bit T1IF phi c
xo bng phn mm. C ngt Timer T1IF c t trong thanh ghi iu khin IFS0 .
Timer Gate Operation:
16-bits Timer1 c th c t ch Gated Timer Accumulation. ch ny cho php
xung clok ni lm tng gi tr ca Timer1 khi cng tn hiu vo(T1CK) c t ln mc tch
cc ( high). Bit iu khin TGATE(T1CON<6>) phi c set ln (TON=1).TIMER1 phi
c kch hot (TON=1), v ngun xung clock ca Timer phi l ch ngun ni (TCS=0).
B m t l trong Timer:
Xung a vo ( l Fosc/4 hoc l xung clock ngoi) vo 16 bit TIMER , c th c t l
1:1,1:8,1:64,1:256 bi vic thit lp cc bit iu khin TCKPS<1:0>(T1CON<5:4>). B m
t l ( Prescaler Counter) s c xo khi xy ra cc trng hp sau:
- Tc ng ghi vo thanh ghi TMR1
- Tc ng xo bit TON( T1CON<15>
- Cc tc ng Reset MCU nh l POR ( Power on reset), BOR( Brown out Reset)
Tuy nhin , nu Timer cha c kch hot th b t l Timer khng th c reset khi xung
clock Prescaler c gi
TMR1 s khng b xo khi T1CON c ghi vo. N s b xo bng vic ghi vo thanh ghi
TMR1
Bng 5.3: Trnh by s cc thanh ghi iu khin TIMER1
S cu to ca b16-bit Timer1 nh hnh v sau:
Hnh 5.8: S cu to ca b16-bit Timer1
53
5.5.1.2 Timer2/3 module:

Module Timer 2/3 l mt 32-bit Timer v c th c thit lp thnh hai Timer 16 bits
ring bit l Timer2 v Timer3, trong Timer2 thuc loi Timer B( typeB) v Timer 3 thuc
loi Timer C (type C), Timer2/3 c cc ch nh sau:
-Ch hai Timer 16 bit c lp (Two Independent 16 bit Timer( Timer2 v Timer3)) :vi tt
c cc ch hot ng nh cc Timer 16 bit khc ( tr ch m bt ng b
(Asynchronous Counter))
-Ch mt Timer 32 bit ( Single 32-bit Timer):
Khi hot ng trong ch ny, bit iu khin T32 phi c set trong trong thanh ghi
T3CON. Khi hai timer ( Timer 2 v Timer 3) c cu hnh hot ng nh mt Timer 32 bit ,
thanh ghi T3CON c b qua, ch c thanh ghi T2CON ng vai tr l thanh ghi iu khin.
S kin ngt Timer xy ra vi c ngt T3IF. Timer 2 ng vai tr l 16 bit thp, v Timer 3
ng vai tr l 16 bit cao trong Timer 32 bit. Timer 32 bit s tng gi tr cho n khi bng vi
gi tr np vo 2 thanh ghi PR3:PR2 , sau c reset v 0 v tip tc m ln trong ln
xung clock tip theo . Gi tr ti a np vo cp thanh ghi PR3:PR2 l 0xFFFFFFFF. Nu
c kch hot, mt s kin ngt s to ra khi b m c gi tr bng vi gi tr trong cp
thanh ghi PR3:PR2 .
Cc bc thit lp module Timer 32 bit:

TON(T2CON<15>)=1
T32(T2CON<3>)=1
TCKPS<1:0>(T2CON<5:4>) c s dng cu hnh cho b m t l (Prescaler)ca Timer
2
Cp thanh ghi TMR3:TMR2 cha gi tr ca Timer 32 bit
Cp thanh ghi PR3:PR2 cha gi tr dng so snh vi cp thanh ghi TMR3:TMR2
T3IE(IEC0<7>) dng kch hot kh nng to s kin ngt Timer
T3IF(IFS0<7>) c s dng nh c bo ngt
T3IP<2:0>(IPC<14:12>) dng thit t cp ngt u tin cho Timer 32 bit
-Ch b m ng b 32 bit ( Single 32-bit Counter)
Cc c im ca module Timer2/3
S kin kch chuyn i AD:
Khi gi tr gia hai thanh ghi 32 bit TMR3/TMR2 v thanh ghi kt hp PR3/PR2 bng
nhau th mt tn hiu kch ADC s c to ra bi Timer3
Timer Gate Operation:

32-bit Timer c th c t ch Gated Time Accumulation, ch ny cho
php xung clok ni lm tng gi tr ca Timer khi cng tn hiu vo (T2CK) c t ln mc
cao.Bit iu khin TGATE(T2CON<6>) phi c set kch hot trong ch ny. V khi
ang hot ng trong ch ny th Timer2 s l ngun xung clock . Vic set bit TGATE s
c b qua cho Timer3. Timer phi c kch hot (TON=1)v ngun xung clock phi l
ngun ni (TCS=0)
Cnh xung ca tn hiu t bn ngoi s kt thc vic m, ngi lp trnh phi reset timer
bt u m t gi tr 0.
54
Cu hnh cho b m t l:
Xung a vo ( l Fosc/4 hoc l xung clock ngoi) vo TIMER , c th c t l
1:1,1:8,1:64,1:256 bi vic thit lp cc bit iu khin TCKPS<1:0>(T2CON<5:4>) v
(T3CON<5:4>).i vi Timer 32 bit , Timer2 s ng vai tr l ngun xung clock, v vic
la chn cc t l s khng c p dng trn Timer3. B m t l s b xa khi xy ra cc
trng hp sau:
-Tc ng ghi vo thanh ghi TMR2/TMR3.
-Tc ng xo mt trong hai bit TON(T2CON<15>) hoc T3CON<15> v 0.
-Cc tc ng reset MCU nh POR, BOR.
Tuy nhin , nu Timer cha c kch hot th b t l Timer2 khng th c reset khi xung
clock Prescaler c gi
TMR2/TMR3 s khng b xo khi T2CON/T3CON c ghi vo.
Hot ng ca Timer trong trng thi idle v trng thi ng:
Khi CPU ang trong trng thi ng ( sleep mode) th timer s khng hot ng v ngun
xung clock ni b v hiu ho
S kin ngt Timer:
32-bit TIMER c kh nng to ra ngt khi gi tr ca Timer bng vi mt gi tr nh
trc c np vo thanh ghi 32 bit PR2/PR3 hoc khi pht hin c c cnh xung t cng
tn hiu bn ngoi.Bit T3IF (IFS0<7>) s c tc ng v to ra ngt.Trong ch ny,
T3IF c s dng nh l ngun to ngt v bit T3IF phi c xo bng phn mm. Vic
kch hot hot ng ca ngt c thc hin thng qua bit T3IE<ICE0<7>)( Timer Interrup
Enable)
Bng 5.4: Trnh by cc thanh ghi iu khin Timer2/3
55
S cu to ca b 32-bit Timer2/3, 16-bit Timer2, 16-bit Timer3 nh cc hnh v sau:
Hnh 5.9: S cu to ca b 32-bit Timer2/3
Hnh 5.10: S cu to ca b 16-bit Timer2 (Timer loi B)
56
Hnh 5.11: S cu to ca b 16-bit Timer3 ( Timer loi C)

5.5.1.3 Timer4/5 module :
Module Timer 4/5 l mt Timer 32 bit tng qut v c th phn thnh hai module Timer
16 bit l Timer4, Timer5
Timer 4/5 hot ng tng t nh Timer 2/3, Tuy nhin c mt s khc bit sau:
-Timer4/5 khng h tr t im ADC Even Trigger nh Timer2/3
- Timer4/5 khng c s dng bi cc module ngoi vi khc nh Input Capture, Outpy
Compare
Hot ng ca Timer4/5 c xc nh bi vic thit lp cc bit trong cc thanh ghi t bit
nh T4CON, T5CON
Trong ch Timer4/5, Timer4 ng vai tr l 16 bit thp (LS Word), Timer5 ng vai tr l
16 bit cao (MS Word)
iu cn ch l khi hot ng ch Timer 32 bit, thanh ghi T5CON c b qua, ch c
thanh ghi T4CON l c s dng cho vic cu hnh hot ng ca Timer. Xung clock ca
Timer4 v cng vo c s dng cho module 32 bit Timer, nhng s kin ngt Timer4/5 l
do c ngt T5IF quyt nh, v chc nng ngt s c kch hot thng qua bit T5IE
Bng 5.5: Trnh by cc thanh ghi iu khin Timer4/5
57
S cu to ca b 32-bit Timer4/5, 16-bit Timer4, 16-bit Timer5
Hnh 5.12: S cu to ca b 32-bit Timer4/5
Hnh 5.13: S cu to ca b 16-bit Timer4 (Timer loi B)
58
Hnh 5.14: S cu to ca b 16-bit Timer5 (Timer loi C)

5.5.2 Module AD:
B chuyn i 10 bit AD tc cao cho php chuyn i tn hiu vo tun t sang 10
bit tn hiu s ( 10-bit high-speed analog to digital converter). Module AD ny da trn kin
trc Succesive Approximation Register ( SAR) v cung cp kh nng ly mu ti a 500ksps.
Module AD c 16 ng vo analog . in p tham chiu cho module A/D c la chn bng
phn mm ,c th l chnh ngun cung cp cho MCU ( AVDD/AVSS) hoc mc in p trn
cc chn ( VREF+/VREF-) . B chuyn i AD c kh nng hot ng khi CPU ang trong
trng thi ng ( Sleep Mode)
Module AD c iu khin bi vic thit lp cho 6 thanh ghi sau :

-A/D Control Register1(ADCON1)
-A/D Input Select Register ( ADCHS)
-A/D Port Configuration Register(ADPCFG)
-A/D Input Scan Selection Register(ADCSSL)
Trong thanh ghi ADCON1, ADCON2,ADCON3 iu khin hot ng ca module

A/D. Thanh ghi ADCHS dng cho vic chn la cc knh ng vo chuyn i. Thanh ghi
ADPCFG thit lp cc chn ch analog hay l digital.ADCSSL dng cho vic qut cc
ng vo.
iu cn lu l cc bit SSRC<2:0>, ASAM, SIMSAM, SMPI<3:0> cng nh cc
thanh ghi ADCON3, ADCSSL khng th c ghi vo trong khi bit ADON=1, iu ny s
nh hng n kt qu chuyn i.
59
Hnh 5.15: S cu to bn trong module A/D

5.5.2.1Gii thch hot ng
Module bao gm b nh m kp 16-word (16-word dual port read-only buffer), y l
b nh ch c dng cha gi tr ca vic chuyn i AD. Ni dung ca 16 thanh ghi trong
b nh m ( t ADCBUF0 n ADCBUFF) khng th dc ghi vo bi ngi s dng
Sau khi Module ADC c thit lp xong, vic thu thp mu c bt u bng vic set bit
SAMP. Mt s tc ng nh l cc bit lp trnh(Programable bit), s kin ngoi( external
events), trn timer(timer time-out), s kt thc vic thu thp mu v bt u qu trnh chuyn
i. Khi s chuyn i hon tt, kt qu s c a vo cc thanh ghi trong b nh m t
ADCBUF0ADCBUFF. C bo ADIF v bit DONE s c set sau mt s ln ly mu
c xc nh bi bit SMPI
5.5.2.2 Qu trnh hot ng ca module ADC c tm tt nh cc bc sau:
1.Thit lp cho module ADC
-Thit lp cc chn analog, din p tham chiu, v cc digital I/O
-La chn knh vo
-La chn xung clock dng cho vic chuyn i
60
-La chn tc ng kch cho vic chuyn i

-Kch hot qu trnh chuyn i
2.Thit lp cc ngt AD ( nu cn thit):
-Xo bit ADIF
-Chn cc u tin ngt
3.Bt u vic ly mu
4.Ch cho qu trnh ly mu thnh cng
5.Vic thu thp mu kt thc, bt u qu trnh chuyn i
6.Ch cho vic chuyn i hon tt bng cch:
-Ch cho n khi ngt AD xy ra
7. c gi tr t b nh m , xo c ADIF nu cn thit
5.5.2.3 Cc s kin kch chuyn i:
Cc kch chuyn i s kt thc qu trnh thu thp mu v bt u qu trnh chuyn i.
Vic la chn cc ngun kch chuyn i c qui nh bi bit SSRC<2:0>, Bit SSRC<2:0>
cung cp cho ngi dng 5 la chn cho vic kch chuyn i
Khi SSRC<2:0>=000, vic kch chuyn i c iu khin bng phn mm. Vic xa bit
SAMP s to nn mt kch chuyn i
Khi bit SSRC<2:0> =111, ( Ch t ng) , vic kch chuyn i c iu khin bng
xung clock ca module A/D. Bit SAMC s la chn s lng xung clock gia cc ln thu
thp mu v chuyn i. iu ny to kh nng chuyn i nhanh nht ch a knh (
Multiple Channels) . S lng xung clock gia qu trnh chuyn i v thu thp mu phi
lun lun t nht l 1 chu k xung clock.
Cc ngun kch chuyn i khc s l t cc module Timer, module PWM, v cc ngun ngt
ngoi ( external interrupt).
iu cn ch l module A/D c th hot ng c tc ti a , ch chuyn i t
ng nn c la chn SSRC<2:0>=111, v s xung clock gia qu trnh chuyn i v thu
thp mu nn c ci t l 1 TAD (SAMC=00001). Vic cu hnh nh th s c thi
gian tng cng bao gm vic thu thp mu v chuyn i l 13 TAD
5.5.2.4 Tc ng reset
Cc tc ng reset CPU s lm tt c cc thanh ghi tr v trang thi reset ban u. iu
ny lm cho module A/D s b tt, v tt c cc qu trnh chuyn i v thu thp mu b kt
thc. Gi tr trong cc thanh ghi ADCBUF s khng c cp nht. Cc thanh ghi kt qu s
bao gm cc dng d liu khng xc nh khi CPU hot ng tr li
5.5.2.5 nh dng kiu d liu trong module A/D
Kt qu chuyn i t module A/D c chiu dy 10 bit. b nh m RAM cng c
chiu di 10 bit. 10 bit d liu ny c th c c 1 trong 4 kiu nh dng c trnh by
nh hnh 33. Bit FORM<1:0> s qui nh kiu nh dng ca kt qu chuyn i thu c .
V cc kt qu ny c chuyn sang kiu kt qu dng 16 bit trn bus d liu
Vic ghi d liu vo lun lun s l kiu nh dng canh phi ( Right Justify)
61
Bng 5.6: nh dng kiu lu tr kt qu
Bng 5.7: Bng thanh ghi iu khin module AD

5.5.3 Module PWM:
Module PWM c s dng to ra cc tn hiu xung ng b c kh nng u chnh
c rng ( Synchronized Pulse Width Modulated) . c ng dng trong cc mc ch
iu khin chuyn ng v iu khin cng sut
Module PWM c cc ng dng ph bin sau:
S dng ph bin trong iu khin ng c xoay chiu 3 pha ( Three Phase AC Induction
Motor)
S dng trong cc thit b dng lu tr in nng dng cung cp nng lng khi mt
in (Uninterruptable Power Supply )
S dng trong iu khin ng c mt chiu khng chi than ( Brushless DC Motor)
5.5.3.1 Cc c im ca module PWM
C 8 ng tn hiu ra PWM vi 4 b to chu k PWM
C phn gii ln n 16 bit
C kh nng thay i tn s tn hiu PWM khi module ang hot ng
C cc ch canh gia ,canh cnh ( Edgle and Center Aligned output)
C th vn hnh ch c lp, ngha l tn hiu mi knh PWM s hon ton c lp vi
nhau
S cu to
62
Hnh 5.16: S cu to bn trong module PWM

5.5.3.2 Gii thch hot ng ca module PWM
Module PWM c th c cu hnh hot ng 4 ch vn hnh khc nhau gm:
Free Running Mode
Single Shot Mode
Continous Up/Down Counting Mode
Double Update Mode
Bn ch hot ng ny c la chn bi bit PTMOD<1:0> trong thanh ghi PTCON
Cc s kin ngt c to ra bi b m thi gian PWM ph thuc vo bit (PTMOD<1:0>)
v bit Postscaler (PTOPS<3:0>) trong thanh ghi PTCON
63
Cc ch hot ng ca module PWM:

Ch t do(Free Running Mode)
Trong ch Free Running b m thi gian trong module PWM( PWM time base) s
m ln cho m khi no bng vi gi tr trong thanh ghi PTPER. Thanh ghi PTMR s reset
vo ln xung clock k tip v b m thi gian s tip tc m ln nu bit PTEN vn cn
c set
Trong khi b m thi gian ca module PWM trong ch Free Running
(PTMOD<1:0>=00), mt s kin ngt s c to ra mi ln gi tr ca b m trng vi gi
tr trong thanh ghi PTPER v thanh ghi PTMR s c reset v 0. Bit la chn Postscaler nn
c chn trong ch ny gim bt s ln s kin ngt xy ra
Hnh 5.17 : Cp nht gi tr PWM trong ch t do

Ch n (Single Shot Mode)
Trong ch Single Shot , b m thi gian ca module PWM s m ln khi bit PTEN
c set. Khi gi tr trong thanh ghi PTMR bng vi gi tr trong thanh ghi PTPER, thanh ghi
PTMR s c reset reset tron ln xung clock k tip,v thanh ghi PTEN s b xa bi phn
cng tm dng li b m thi gian.
Trong khi b m thi gian ca module PWM trong ch Single Shot (PTMOD<1:0>=01),
mt s kin ngt s c to ra mi ln gi tr ca b m trng vi gi tr trong thanh ghi
PTPER v thanh ghi PTMR s c reset v 0 , bit PTEN cng s c reset. Bit la chn
Postscaler khng c tc dng trong ch ny
Ch m ln xung (Continous Up/Down Counting Mode )

Trong ch Continous Up/Down Counting b m thi gian trong module PWM(
PWM time base) s m ln cho m khi no bng vi gi tr trong thanh ghi PTPER. Sau
Timer s bt u m xung trong ln xung clock tip theo. Bit PTDIR trong thanh ghi
PTCON cho bit Timer ang m ln hay m xung. Bit PTDIR s c set khi timer bt
u m xung.
Trong ch ny (PTMOD<1:0>=10) mt s kin ngt s xy ra mi khi gi tr ca thanh ghi
PTMR bng 0 v b m thi gian PWM bt u m ln. Bit la chn Postscaler nn c
chn trong ch ny gim bt s ln s kin ngt xy ra
64
Hnh 5.18 : Cp nht gi tr PWM trong ch m ln xung
Ch cp nht kp(Double Update Mode )

Trong ch Double Update ( PTMOD<1:0>=11) mt s kin ngt s xy ra mi khi
gi tr trong thanh ghi PTMR bng 0, v mi khi bng vi gi tr trong thanh ghi
PTPER.Trong ch ny chu k PWM s c cp nht 2 ln trong mt chu k. Bit la chn
Postscaler khng c tc dng trong ch ny
Hnh 5.19 : Cp nht gi tr PWM trong ch cp nht kp
Ch hot ng h tr(Complementary PWM Operation)

Trong ch hot ng h tr (Complementary mode) , mi cp tn hiu PWM thu
c t mt tn hiu PWM h tr ( Comolementary PWM signal) . Khong thi gian ngh
(Dead Time) c th c la chn a vo trong qu trnh ng ngt cc kho , khi c hai
tn hiu c cng trng thi tch cc trong mt thi gian ngn
65
Hnh 5.20: Tn hiu PWM trong ch hot ng h tr
Trong ch hot ng h tr ny, cc thanh ghi so snh c phn chia nh sau:

Thanh ghi PDC1 iu khin tn hiu PWM1H/PWM1L
Xung PWM dng Edge Aligned
Tn hiu Center Aligned PWM c to ra bi module PWM khi b m thi gian
PWM c cu hnh hot ng ch Free Running hoc Single Shot
i vi tn hiu Edgle PWM, c thi gian ( Period) c xc nh bi gi tr trong thanh ghi
PTPER v c chu k ( Duty cycle) c xc nh bi thanh ghi PDCx tng ng . Tn hiu
PWM c chuyn sang tch cc vo thi im bt u ca chu k ( PTMR=0) v chuyn
sang khng tch cc khi gi tr trong thanh ghi PDCx bng vi gi tr trong thanh ghi PTMR.
Nu gi tr trong thanh ghi PDCx tng ng bng 0 , th tn hiu ra trn chn PWM tng ng
s khng tch cc trong sut ton b chu k PWM. Tn hiu ra trn chn PWM tng ng s
tch cc trong sut ton b chu k PWM nu gi tr trong thanh ghi PDCx ln hn gi tr c
lu trong thanh ghi PTPER
Qu trnh hot ng c th hin trong hnh
Hnh 5.21: Xung PWM dng Edge Aligned
Xung PWM dng Center Aligned

Tn hiu Center Aligned PWM c to ra bi module PWM khi b m thi gian
PWM c cu hnh hot ng ch Up/Down Counting
Tn hiu PWM (PWM compare output) c chuyn sang trng thi tch cc khi gi tr trong
thanh ghi PTMR bng vi gi tr trong thanh ghi PTPER v b m thi gian PWM ang
m xung . Tn hiu PWM c chuyn sang trng thi khng tch cc khi b m ang
m ln v gi tr trong thanh ghi PTMR bng vi gi tr trong thanh ghi PTPER
66
Qu trnh hot ng c th hin trong hnh
Hnh 5.22: Xung PWM dng Center Aligned

5.5.3.3 Cc b m t l trong module PWM:
PWM Timer Base Prescaler
Xung clock a vo thanh ghi PTMR (FOSC/4) c t l 1:1 , 1:4 , 1:16 hoc 1:64 ,
c la chn bi cc bit iu khin PTCKPS<1:0> trong thanh ghi PTCON. Vic t l s b
xo khi xy ra cc trng hp sau:
Ghi vo thanh ghi PTMR
Ghi vo thanh ghi PTCON
Cc reset CPU
Hnh 5.23: B m t l trong module PWM

PWM Timer Base Postscaler
67
S trng lp gia thanh ghi PTPER v thanh ghi PTMR c th c la chn theo cc
t l t 1:1 n 1:16 thng qua 4-bit postscaler to ra tn hiu ngt. Vic t l ny c s
dng trong trng hp khng cn thay i duty cycile ca xung PWM mi chu k PWM
B m postscaler s b xa bi cc tc ng sau:
Ghi vo thanh ghi PTMR
Ghi vo thanh ghi PTCON
Cc reset CPU
Thanh ghi PTMR s khng b xo khi thanh ghi PTCON c ghi vo
5.5.3.4 Cc thanh ghi lm vic trong module PWM
Thanh ghi PTPER (PWM Period)
PTPER l mt thanh ghi 15 bit v c s dng ci t vic m thi gian cho
module PWM . PTPER l mt thanh ghi m kp . Ni dung trong thanh ghi m PTPER
c np vo thanh ghi PTPER nh sau:
ch Free Running v Single Shot : Khi thanh ghi PTMR c reset v 0 sau khi bng gi
tr trong thanh ghi PTPER
Chu k PWM trong ch Free Running c tnh bi cng thc sau:
Fcy
1
PTPER =
FPWM *( PTMR Pr escaler )
V d:
FCY = 20 MHz
FPWM = 20,000 Hz
PTMR Prescaler = 1:1
PTPER =20000000/(1**20000)-1=999
ch Up/Down Counting : Khi thanh ghi PTMR bng 0
Gi tr c lu gi trong b m PTPER s t ng c np vo thanh ghi PTPER khi b

m thi gian PWM b v hiu ho (PTEN=0)
Chu k PWM trong ch Up/Down Counting c tnh bi cng thc sau:
Fcy
1
PTPER =
FPWM *( PTMR Pr escaler )* 2
V d:
FCY = 20 MHz
FPWM = 20,000 Hz
PTMR Prescaler = 1:1
PTPER =20000000/(1*2*20000)-1=499
Cc thanh ghi so snh: (PWM Duty Cycle Comparison Units)
Module PWM c 4 thanh ghi 16 bit ( PDC1, PDC2, PDC3, PDC4(Duty cycle register))
c dng xc nh chu k ca module ny
Gi tr trong mi thanh ghi nh ngha khong thi gian m tn hiu PWM (PWM output)
trng thi tch cc. Bit v tr thp nht (LSB) cho bit bt u xut hin cnh ca PWM.
Cc thanh ghi m (Duty Cyle Register Buffer):

4 thanh ghi PDCx l cc b m kp cho php cp nht tn hiu PWM. Trong mi chu
k, c mt thanh ghi m c truy cp bi ngi dng v thanh ghi cn li lu tr gi tr so
snh thc t s dng trong chu k PWM hin ti
68
i vi tn hiu Edge Aligned PWM , gi tr chu k mi s c cp nht mi khi gi tr

trong thanh ghi PTMR bng vi gi tr trong thanh ghi PTPER v thanh ghi PTMR c
reset. Ni dung trong thanh ghi m s t ng np vo thanh ghi dng so snh khi b m
thi gian PWM b v hiu ha ( PTEN=0) v bit UDIS trong thanh ghi PWMCON2 s b xa
Trong ch Up/Down Counting , gi tr chu k mi s c cp nht khi gi tr trong thanh
ghi PTMR bng 0, v b m thi gian bt u m ln. Ni dung trong thanh ghi m s t
ng c np vo thanh ghi dng so snh khi b m thi gian PWM b v hiu ha (
PTEN=0)
Trong ch Up/Down Counting vi c im cp nht hai ln ( Double Update), PWM , gi
tr chu k mi s c cp nht mi khi gi tr trong thanh ghi PTMR bng vi gi tr trong
thanh ghi PTPER v khi gi tr trong thanh ghi PTMR bng 0, Ni dung trong thanh ghi m
s t ng c np vo thanh ghi dng so snh khi b m thi gian PWM b v hiu ha
( PTEN=0)
Bng 5.8 : Bng thanh ghi iu khin module PWM
69
5.6 GII THIU V TP LNH CA MCU DSPIC-6010
70
71
72
73
Bng 5.9: Bng tp lnh MCU 6010
74
CHNG 6: S KHI V GII THUT IU KHIN
CHNG 6
S KHI V GII
THUT IU KHIN
75

6.1 S khi chng trnh :
Ua
Udk
F_req
ADC
V/F
STEP
U1
Ua
OFFSET
120
DEGREE
OFFSET
SIN TABLE
Ua
MOTOR
INVERTER
PWM
Ub
Uc
76
Ub
Uc
6.2 S gii thut chng trnh :
MAIN
ADC_CONFIG
PWM_CONFIG
MODE_CONFIG
NO
RUN = 1 ?
F_req = 0
YES
MODE = 1
NO
YES
F_req = READ_ADC
MODE = 2
NO
YES
MODE = 3
NO
MODE = 4
YES
YES
F_req = VALUE_1
CHANGE = 0 ?
NO
F_req = VALUE_4
YES
CHANGE_FLAG =
! CHANGE_FLAG
CHANGE_FLAG= 1
WRITE_UART ( )
NO
YES
F_req = VALUE_2
77
F_req = VALUE_3
PWM_ISR
IF=0
F < F_req
NO
YES
GI? M T? N S?
TANG T? N S?
NO
NO
F > F_req
F < F_req
YES
YES
F = F_req
F = F_req
NO
F=0?
YES
NO
REV=1
YES
RUN=1
REV=0
DIRECTION=! DIRECTION
TNH TON K
? C GI TR? T? B? NG SIN
TNH TON GI TR? UPDATE
DIRECTION = 1
NO
YES
UPDATE THU? N
UPDATE NGH?CH
RETFIE
78
INT3_ISR ( RUN
BUTTON)
INT0_ISR ( CHANGE
DIRECTION BUTTON)
RUN = 1
RUN = 0
DIRECTION = 1
REV=1
RETFI
E
RETFI
E
INT4_ISR ( STOP
BUTTON)
UART1_ISR
RUN = 0
VALUE_4 = READ_UART1 ( )
RETFI
E
VALUE_4 = 70
YES
REV=1
VALUE_4 = 0
RETFI
E
79
NO
CHNG 7 : KT QU T C
CHNG 7
KT QU T C
80
CHNG 7 : KT QU T C
CHNG 7 : KT QU T C
7.1 Phn cng:
7.1.1 Mch ng lc:
Hnh 7.1 : Mch ng lc
Mch ng lc gm ( chnh lu 1 pha khng iu khin, b nghch lu 6 kho , mch li

mosfet, ngun cung cp 5V,12V,) hot ng n nh
Mch vn hnh ng c 2 HP ( u tam gic, vn hnh ch khng ti ) tt c cc ch
iu khin thng thng( RUN, STOP, o chiu, thay i tc t ..).
+ Khuyt im:
-Ngun AC(ngun 1 pha) cung cp khng yu vu dn n ng c khng th vn hnh
nh mc
-Nhit cc kha cng sut kh cao ( 50-60 C)
-Cha c khu hi tip dng ,hi tip tc ,hi tip in p DC
.
+ Gii php khc phc:
S dng b chnh lu cu 3 pha
-Nhit cc kha cng sut kh cao cn thay th cc kha cng sut bng loi cht lng
cao , p ng tt hn .
-Xy dng gii thut iu khin vng kn ( Hi tip tc , khu hiu chnh PID)
81
CHNG 7 : KT QU T C
7.1.2 Mch iu khin
Hnh 7.2: Mch iu khin
Mch iu khin c kh nng p ng cc yu cu iu khin ng c trong thc t:

+ Cc nt bm iu khin ng c:
NEXT(ti),BACK(lui),UP(ln),DOWN(xung),ENTER(xc nhn),RUN(chy),
STOP(dng), REV(o chiu),CHANGE(thay i tc ), MENU(quay v menu
chnh),RESET(reset phn mm iu khin),bin tr hiu chnh tc
+ Cc nt bm iu khin LCD: ci t cc thng s (thi gian tng tc, gim tc, ci
t mode, ci t tc , di chuyn gia cc menu, .)
+ LCD : hin th trng thi hot ng ca ng c ( tn s, chiu quay, trng thi hot
ng, menu)
+ Giao tip vi my tnh: nhn gi tr tc t t my tnh, hin th trng thi hot
ng ca ng c ln my tnh, v gin trng thi thay i tn s ca ng c
82
CHNG 7 : KT QU T C
7.2 Phn mm:
Hnh 7.3: Giao din giao tip my tnh

Tng t nh ch iu khin ti mch iu khin. Chng ta c th iu khin cc ch
hot ng ca motor trc tip trn my tnh. ng thi c th quan st c thng s ng ra
theo thi gian thc ( Tn s , in p tnh ton)
7.3 Dng sng in p ng ra:
Hnh 7.4: Dng in p pha ng ra
83
CHNG 7 : KT QU T C
Hnh 7.5 : Dng in p dy ng ra
84
PH LC
PH LC
PH LC
PH LC
CODE TRONG CHNG TRNH IU KHIN
/*************************************************************************
* Project:
Dieu Khien Dong Co Khong Dong Bo
*
* Dependencies: Header (p30f6010.h) files
*
* Processor:
dsPIC30F6010
*
* Compiler:
MPLAB C30 v2.02.00 or higher
*
* IDE:
MPLAB IDE v7.50.00 or later
*
*************************************************************************/
#include <p30f6010.h>
#include<ports.h>
#include<adc10.h>
#include<timer.h>
#include<pwm.h>
#include<math.h>
#include<uart.h>
#include "xlcd4bit.h"
/*===========================================================================*/
_FOSC(CSW_FSCM_OFF & XT_PLL8);
_FWDT(WDT_OFF);
_FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_EN);
_FGS(CODE_PROT_OFF);
/*======================== VARIABLE DEFINITION ===============================*/
float
Float_k, temp1;
float
Voltage_Value,ADC_Value;
int
Voltage_Value_A,Voltage_Value_B,Voltage_Value_C;
int
j,k,a,b,c,ADC_Result,Int_k,AD;
float
F_req;
int
First_Run,Run,Rev_Status,Stop;
int
Direction,Menu_Flag,Reset;
float
Temp_1, Temp_2, Temp_Mode_1,Temp_Value,Temp_Mode3_1,Temp_Mode3_2;
int
Step_up,Step_down,t,ADC;
float
up,down;
int
PC_Value,PC_Value_Temp;
int
int_F_req;
float
delta;
int
Mode;
int
Change_Speed;
//=============================== Button Define=========== ====================//
#define NEXT
PORTDbits.RD8
#define ENTER
PORTDbits.RD9
#define UP
PORTDbits.RD10
#define BACK
PORTDbits.RD11
#define DOWN
PORTFbits.RF8
#define CHANGE
PORTFbits.RF7
float const SinValue[720]={0.0 , 0.00873 ,0.01745 ,0.02618 ,0.03490 ,0.04362 ,0.05234 ,0.06105 ,0.06976
,0.07846 ,0.08716 ,
0.09585 ,0.10453 ,0.11320 ,0.12187 ,0.13053 ,0.13917 ,0.14781 ,0.15643 ,0.16505 ,0.17365 ,0.18224 ,0.19081
,0.19937 ,
0.20791 ,0.21644 ,0.22495 ,0.23345 ,0.24192 ,0.25038 ,0.25882 ,0.26724 ,0.27564 ,0.28402 ,0.29237 ,0.30071
,0.30902 ,
0.31730 ,0.32557 ,0.33381 ,0.34202 ,0.35021 ,0.35837 ,0.36650 ,0.37461 ,0.38268 ,0.39073 ,0.39875 ,0.40674
,0.41469 ,
PH LC
0.42262 ,0.43051 ,0.43837 ,0.44620 ,0.45399 ,0.46175 ,0.46947 ,0.47716 ,0.48481 ,0.49242 ,0.50000 ,0.50754
,0.51504 ,
0.52250 ,0.52992 ,0.53730 ,0.54464 ,0.55194 ,0.55919 ,0.56641 ,0.57358 ,0.58070 ,0.58779 ,0.59482 ,0.60182
,0.60876 ,
0.61566 ,0.62251 ,0.62932 ,0.63608 ,0.64279 ,0.64945 ,0.65606 ,0.66262 ,0.66913 ,0.67559 ,0.68200 ,0.68835
,0.69466 ,
0.70091 ,0.70711 ,0.71325 ,0.71934 ,0.72537 ,0.73135 ,0.73728 ,0.74314 ,0.74896 ,0.75471 ,0.76041 ,0.76604
,0.77162 ,
0.77715 ,0.78261 ,0.78801 ,0.79335 ,0.79864 ,0.80386 ,0.80902 ,0.81412 ,0.81915 ,0.82413 ,0.82904 ,0.83389
,0.83867 ,
0.84339 ,0.84805 ,0.85264 ,0.85717 ,0.86163 ,0.86603 ,0.87036 ,0.87462 ,0.87882 ,0.88295 ,0.88701 ,0.89101
,0.89493 ,
0.89879 ,0.90259 ,0.90631 ,0.90996 ,0.91355 ,0.91706 ,0.92050 ,0.92388 ,0.92718 ,0.93042 ,0.93358 ,0.93667
,0.93969 ,
0.94264 ,0.94552 ,0.94832 ,0.95106 ,0.95372 ,0.95630 ,0.95882 ,0.96126 ,0.96363 ,0.96593 ,0.96815 ,0.97030
,0.97237 ,
0.97437 ,0.97630 ,0.97815 ,0.97992 ,0.98163 ,0.98325 ,0.98481 ,0.98629 ,0.98769 ,0.98902 ,0.99027 ,0.99144
,0.99255 ,
0.99357 ,0.99452 ,0.99540 ,0.99619 ,0.99692 ,0.99756 ,0.99813 ,0.99863 ,0.99905 ,0.99939 ,0.99966 ,0.99985
,0.99996 ,
1.00000 ,0.99996 ,0.99985 ,0.99966 ,0.99939 ,0.99905 ,0.99863 ,0.99813 ,0.99756 ,0.99692 ,0.99619 ,0.99540
,0.99452 ,
0.99357 ,0.99255 ,0.99144 ,0.99027 ,0.98902 ,0.98769 ,0.98629 ,0.98481 ,0.98325 ,0.98163 ,0.97992 ,0.97815
,0.97630 ,
0.97437 ,0.97237 ,0.97030 ,0.96815 ,0.96593 ,0.96363 ,0.96126 ,0.95882 ,0.95630 ,0.95372 ,0.95106 ,0.94832
,0.94552 ,
0.94264 ,0.93969 ,0.93667 ,0.93358 ,0.93042 ,0.92718 ,0.92388 ,0.92050 ,0.91706 ,0.91355 ,0.90996 ,0.90631
,0.90259 ,
0.89879 ,0.89493 ,0.89101 ,0.88701 ,0.88295 ,0.87882 ,0.87462 ,0.87036 ,0.86603 ,0.86163 ,0.85717 ,0.85264
,0.84805 ,
0.84339 ,0.83867 ,0.83389 ,0.82904 ,0.82413 ,0.81915 ,0.81412 ,0.80902 ,0.80386 ,0.79864 ,0.79335 ,0.78801
,0.78261 ,
0.77715 ,0.77162 ,0.76604 ,0.76041 ,0.75471 ,0.74896 ,0.74314 ,0.73728 ,0.73135 ,0.72537 ,0.71934 ,0.71325
,0.70711 ,
0.70091 ,0.69466 ,0.68835 ,0.68200 ,0.67559 ,0.66913 ,0.66262 ,0.65606 ,0.64945 ,0.64279 ,0.63608 ,0.62932
,0.62251 ,
0.61566 ,0.60876 ,0.60182 ,0.59482 ,0.58779 ,0.58070 ,0.57358 ,0.56641 ,0.55919 ,0.55194 ,0.54464 ,0.53730
,0.52992 ,
0.52250 ,0.51504 ,0.50754 ,0.50000 ,0.49242 ,0.48481 ,0.47716 ,0.46947 ,0.46175 ,0.45399 ,0.44620 ,0.43837
,0.43051 ,
0.42262 ,0.41469 ,0.40674 ,0.39875 ,0.39073 ,0.38268 ,0.37461 ,0.36650 ,0.35837 ,0.35021 ,0.34202 ,0.33381
,0.32557 ,
0.31730 ,0.30902 ,0.30071 ,0.29237 ,0.28402 ,0.27564 ,0.26724 ,0.25882 ,0.25038 ,0.24192 ,0.23345 ,0.22495
,0.21644 ,
0.20791 ,0.19937 ,0.19081 ,0.18224 ,0.17365 ,0.16505 ,0.15643 ,0.14781 ,0.13917 ,0.13053 ,0.12187 ,0.11320
,0.10453 ,
0.09585 ,0.08716 ,0.07846 ,0.06976 ,0.06105 ,0.05234 ,0.04362 ,0.03490 ,0.02618 ,0.01745 ,0.00873 ,0.00000 ,0.00873 ,
-0.01745 ,-0.02618 ,-0.03490 ,-0.04362 ,-0.05234 ,-0.06105 ,-0.06976 ,-0.07846 ,-0.08716 ,-0.09585 ,-0.10453 ,0.11320 ,
-0.12187 ,-0.13053 ,-0.13917 ,-0.14781 ,-0.15643 ,-0.16505 ,-0.17365 ,-0.18224 ,-0.19081 ,-0.19937 ,-0.20791 ,0.21644 ,
-0.22495 ,-0.23345 ,-0.24192 ,-0.25038 ,-0.25882 ,-0.26724 ,-0.27564 ,-0.28402 ,-0.29237 ,-0.30071 ,-0.30902 ,0.31730 ,
-0.32557 ,-0.33381 ,-0.34202 ,-0.35021 ,-0.35837 ,-0.36650 ,-0.37461 ,-0.38268 ,-0.39073 ,-0.39875 ,-0.40674 ,0.41469 ,
-0.42262 ,-0.43051 ,-0.43837 ,-0.44620 ,-0.45399 ,-0.46175 ,-0.46947 ,-0.47716 ,-0.48481 ,-0.49242 ,-0.50000 ,0.50754 ,
PH LC
-0.51504 ,-0.52250 ,-0.52992 ,-0.53730 ,-0.54464 ,-0.55194 ,-0.55919 ,-0.56641 ,-0.57358 ,-0.58070 ,-0.58779 ,0.59482 ,
-0.60182 ,-0.60876 ,-0.61566 ,-0.62251 ,-0.62932 ,-0.63608 ,-0.64279 ,-0.64945 ,-0.65606 ,-0.66262 ,-0.66913 ,0.67559 ,
-0.68200 ,-0.68835 ,-0.69466 ,-0.70091 ,-0.70711 ,-0.71325 ,-0.71934 ,-0.72537 ,-0.73135 ,-0.73728 ,-0.74314 ,0.74896 ,
-0.75471 ,-0.76041 ,-0.76604 ,-0.77162 ,-0.77715 ,-0.78261 ,-0.78801 ,-0.79335 ,-0.79864 ,-0.80386 ,-0.80902 ,0.81412 ,
-0.81915 ,-0.82413 ,-0.82904 ,-0.83389 ,-0.83867 ,-0.84339 ,-0.84805 ,-0.85264 ,-0.85717 ,-0.86163 ,-0.86603 ,0.87036 ,
-0.87462 ,-0.87882 ,-0.88295 ,-0.88701 ,-0.89101 ,-0.89493 ,-0.89879 ,-0.90259 ,-0.90631 ,-0.90996 ,-0.91355 ,0.91706 ,
-0.92050 ,-0.92388 ,-0.92718 ,-0.93042 ,-0.93358 ,-0.93667 ,-0.93969 ,-0.94264 ,-0.94552 ,-0.94832 ,-0.95106 ,0.95372 ,
-0.95630 ,-0.95882 ,-0.96126 ,-0.96363 ,-0.96593 ,-0.96815 ,-0.97030 ,-0.97237 ,-0.97437 ,-0.97630 ,-0.97815 ,0.97992 ,
-0.98163 ,-0.98325 ,-0.98481 ,-0.98629 ,-0.98769 ,-0.98902 ,-0.99027 ,-0.99144 ,-0.99255 ,-0.99357 ,-0.99452 ,0.99540 ,
-0.99619 ,-0.99692 ,-0.99756 ,-0.99813 ,-0.99863 ,-0.99905 ,-0.99939 ,-0.99966 ,-0.99985 ,-0.99996 ,-1.00000 ,0.99996 ,
-0.99985 ,-0.99966 ,-0.99939 ,-0.99905 ,-0.99863 ,-0.99813 ,-0.99756 ,-0.99692 ,-0.99619 ,-0.99540 ,-0.99452 ,0.99357 ,
-0.99255 ,-0.99144 ,-0.99027 ,-0.98902 ,-0.98769 ,-0.98629 ,-0.98481 ,-0.98325 ,-0.98163 ,-0.97992 ,-0.97815 ,0.97630 ,
-0.97437 ,-0.97237 ,-0.97030 ,-0.96815 ,-0.96593 ,-0.96363 ,-0.96126 ,-0.95882 ,-0.95630 ,-0.95372 ,-0.95106 ,0.94832 ,
-0.94552 ,-0.94264 ,-0.93969 ,-0.93667 ,-0.93358 ,-0.93042 ,-0.92718 ,-0.92388 ,-0.92050 ,-0.91706 ,-0.91355 ,0.90996 ,
-0.90631 ,-0.90259 ,-0.89879 ,-0.89493 ,-0.89101 ,-0.88701 ,-0.88295 ,-0.87882 ,-0.87462 ,-0.87036 ,-0.86603 ,0.86163 ,
-0.85717 ,-0.85264 ,-0.84805 ,-0.84339 ,-0.83867 ,-0.83389 ,-0.82904 ,-0.82413 ,-0.81915 ,-0.81412 ,-0.80902 ,0.80386 ,
-0.79864 ,-0.79335 ,-0.78801 ,-0.78261 ,-0.77715 ,-0.77162 ,-0.76604 ,-0.76041 ,-0.75471 ,-0.74896 ,-0.74314 ,0.73728 ,
-0.73135 ,-0.72537 ,-0.71934 ,-0.71325 ,-0.70711 ,-0.70091 ,-0.69466 ,-0.68835 ,-0.68200 ,-0.67559 ,-0.66913 ,0.66262 ,
-0.65606 ,-0.64945 ,-0.64279 ,-0.63608 ,-0.62932 ,-0.62251 ,-0.61566 ,-0.60876 ,-0.60182 ,-0.59482 ,-0.58779 ,0.58070 ,
-0.57358 ,-0.56641 ,-0.55919 ,-0.55194 ,-0.54464 ,-0.53730 ,-0.52992 ,-0.52250 ,-0.51504 ,-0.50754 ,-0.50000 ,0.49242 ,
-0.48481 ,-0.47716 ,-0.46947 ,-0.46175 ,-0.45399 ,-0.44620 ,-0.43837 ,-0.43051 ,-0.42262 ,-0.41469 ,-0.40674 ,0.39875 ,
-0.39073 ,-0.38268 ,-0.37461 ,-0.36650 ,-0.35837 ,-0.35021 ,-0.34202 ,-0.33381 ,-0.32557 ,-0.31730 ,-0.30902 ,0.30071 ,
-0.29237 ,-0.28402 ,-0.27564 ,-0.26724 ,-0.25882 ,-0.25038 ,-0.24192 ,-0.23345 ,-0.22495 ,-0.21644 ,-0.20791 ,0.19937 ,
-0.19081 ,-0.18224 ,-0.17365 ,-0.16505 ,-0.15643 ,-0.14781 ,-0.13917 ,-0.13053 ,-0.12187 ,-0.11320 ,-0.10453 ,0.09585 ,
-0.08716 ,-0.07846 ,-0.06976 ,-0.06105 ,-0.05234 ,-0.04362 ,-0.03490 ,-0.02618 ,-0.01745 ,-0.00873 };
//*============================ ADC Module Setup===============================*//
void ADCSetup(void)
{
unsigned int config1, config2, config3, configport, configscan;
unsigned int channel;
ConfigIntADC10(ADC_INT_DISABLE );
channel =
ADC_CH0_POS_SAMPLEA_AN6&
ADC_CH0_NEG_SAMPLEA_NVREF;
SetChanADC10(channel);
PH LC
configport = ENABLE_AN6_ANA;
//Auto conversion trigger, auto sampling
config3 =
ADC_SAMPLE_TIME_6&
ADC_CONV_CLK_SYSTEM&
ADC_CONV_CLK_6Tcy;
config2 =
ADC_VREF_AVDD_AVSS&
ADC_SCAN_OFF&
ADC_CONVERT_CH0&
ADC_SAMPLES_PER_INT_2&
ADC_ALT_BUF_OFF&
ADC_ALT_INPUT_OFF;
config1 =
ADC_MODULE_ON&
ADC_IDLE_CONTINUE&
ADC_FORMAT_INTG&
ADC_CLK_AUTO&
ADC_AUTO_SAMPLING_ON&
ADC_SAMPLE_SIMULTANEOUS;
configscan = SCAN_NONE;
OpenADC10(config1, config2, config3, configport, configscan);
}
/*==================================PWM Module Setup =======================*/
void PWMSetup(void)
{
unsigned int config1, config2, config3;
unsigned int period, sptime;
unsigned int DeadTime_Config;
//Setup deadtime for 2us
DTCON1bits.DTBPS =0;
DTCON1bits.DTAPS =0;
DTCON1bits.DTB = 40;
//DT=DeadTime/(Perscaler*Tcy)
DTCON1bits.DTA = 40;
DeadTime_Config =
PWM_DTS3A_UA&PWM_DTS3I_UB&
PWM_DTS2A_UA&PWM_DTS2I_UB&
PWM_DTS1A_UA&PWM_DTS1I_UB;
SetMCPWMDeadTimeAssignment(DeadTime_Config);
ConfigIntMCPWM(PWM_INT_EN & PWM_INT_PR7);
period = 1999;
//1999 Fpwm=5KHz
sptime = 0;
config1 = PWM_EN&
//enable
PWM_IDLE_CON&
PWM_OP_SCALE1&
//output post scaler
PWM_IPCLK_SCALE1&
//input prescaler
PWM_MOD_UPDN;
//mode of operation
config2 =
PWM_MOD1_COMP&
PWM_MOD2_COMP&
PWM_MOD3_COMP&
PWM_PEN1H&
PWM_PEN2H&
PWM_PEN3H&
PWM_PEN1L&
PWM_PEN2L&
PWM_PEN3L;
config3 =
PWM_SEVOPS1&
//Special event post scaler
PWM_OSYNC_PWM&
//output Override synchronization
PWM_UEN;
//PWM update enable/disable
OpenMCPWM(period, sptime, config1, config2, config3);
DisableIntFLTA;
PH LC
DisableIntFLTB;
PDC1=0;
PDC2=0;
PDC3=0;
}
void Uart_Setup(void)
{
unsigned int baudvalue,U1MODEvalue,U1STAvalue;
CloseUART1();
ConfigIntUART1(UART_RX_INT_EN & UART_RX_INT_PR6 &
UART_TX_INT_DIS & UART_TX_INT_PR1);
baudvalue = 129;
U1MODEvalue =UART_EN & UART_IDLE_CON &
UART_DIS_WAKE & UART_DIS_LOOPBACK &
UART_DIS_ABAUD & UART_NO_PAR_8BIT &
UART_1STOPBIT;
U1STAvalue = UART_INT_TX &
UART_TX_PIN_NORMAL &
UART_TX_ENABLE &
UART_INT_RX_CHAR &
UART_ADR_DETECT_DIS &
UART_RX_OVERRUN_CLEAR;
OpenUART1(U1MODEvalue, U1STAvalue, baudvalue);
}
//================================Delay Routine===============================//
void Delay_Cycle(unsigned long i_cycle)
{
unsigned long i;
for(i=0;i<i_cycle;i++)
asm("clrwdt");
}
//================================LCD Routine================================//
void ClearLCD(void)
// Clear LCD
{
XlcdCursor(1,1);
printf("
");
XlcdCursor(2,1);
printf("
");
}
void ClearLCD_1(void)
// Clear LCD at first line
{
XlcdCursor(1,1);
printf("
");
}
void ClearLCD_2(void)
// Clear LCD at second line
{
XlcdCursor(2,1);
printf("
");
}
//==============================External Interrupt ==============================//
void Ext_Interrupt (void)
{
ConfigINT3(FALLING_EDGE_INT & EXT_INT_ENABLE & EXT_INT_PRI_6);
}
//=============================== Update PDC Routine ===========================//
PH LC
void Update_PDC_FW (void)

{
a=a+k;
if(a>719)
{
a=(a-720);
Voltage_Value_A = Voltage_Value * SinValue[a];
}
else
{
Voltage_Value_A = Voltage_Value * SinValue[a];
}
j=a;
b=j+240;
if(b>719)
{
b=(b-720);
Voltage_Value_B = Voltage_Value * SinValue[b];
}
else
{
Voltage_Value_B = Voltage_Value * SinValue[b];
}
c=j+480;
if(c>719)
{
c=(c-720);
Voltage_Value_C = Voltage_Value * SinValue[c];
}
else
{
}
PDC1 = 1999 + Voltage_Value_A;
PDC2 = 1999 + Voltage_Value_B;
PDC3 = 1999 + Voltage_Value_C;
}
void Update_PDC_REV (void)
{
a=a+k;
if(a>719)
{
a=(a-720);
Voltage_Value_B= Voltage_Value * SinValue[a];
}
else
{
Voltage_Value_B = Voltage_Value * SinValue[a];
}
j=a;
b=j+240;
if(b>719)
{
b=(b-720);
Voltage_Value_A = Voltage_Value * SinValue[b];
PH LC
}
else
{
Voltage_Value_A = Voltage_Value * SinValue[b];
}
c=j+480;
if(c>719)
{
c=(c-720);
}
else
{
}
PDC1 = 1999 + Voltage_Value_A;
PDC2 = 1999 + Voltage_Value_B;
PDC3 = 1999 + Voltage_Value_C;
}
//================================== Calculate Sub_routine ====================//
void Step_Calculate(void)
{
Float_k=0.144*F_req;
Int_k=Float_k;
temp1=Float_k-Int_k;
if(temp1>=0.5)
{
k=Float_k+0.5;
}
else
{
k=Int_k;
}
}
void Voltage_Calculate(void)
{
Voltage_Value= F_req/0.03;
if(
{
Voltage_Value >= 1900.05)
//Limit modulation amplitude at 95% to avoid
Voltage_Value=1900.05;
// dead_time induced distortion in PWM modulation
}
}
//============================ Interrupt Sub_routine ============================//
void __attribute__((__interrupt__)) _PWMInterrupt(void)
{
IFS2bits.PWMIF=0;
ADC_Value=ADC_Result*0.05859375;
if((F_req+0.000005)>ADC_Value)
{
F_req=F_req-down;
if(F_req<=ADC_Value)
//ADC_Value=((ADC_Result*60)/1024);
//SPEED DOWN
PH LC
{
F_req=ADC_Value;
if(Rev_Status==1&&F_req==0)
{
Run=1; //Prepair For Speed Up, Load Value From ADC
Direction=!Direction;
//Change Direction
Rev_Status=0;
PC_Value=PC_Value_Temp;
}
}
}
else
{
F_req=F_req+up;
if(F_req>=ADC_Value)
{
F_req=ADC_Value;
}
}
switch(Direction)
{
case 0:
//SPEED UP
//UPDATE FOR REV

Step_Calculate();
Voltage_Calculate();
Update_PDC_REV();
break;
case 1:
//UPDATE FOR FW
Step_Calculate();
Voltage_Calculate();
Update_PDC_FW();
break;
}
}
//========================== UART1 Interrupt Sub-Routine =====================//
void __attribute__((__interrupt__)) _U1RXInterrupt(void)
{
IFS0bits.U1RXIF = 0;
PC_Value = ReadUART1();
if(PC_Value==70)
{
PC_Value=0;
Rev_Status=1;
}
else
{
PC_Value_Temp=PC_Value;
}
}
//=========================External Interrupt Sub-Routine=========================//
void __attribute__((__interrupt__)) _INT3Interrupt(void)
{
CloseINT3();
Run=1;
//RUN
First_Run=1;
Direction=1;
EnableINT3;
}
PH LC
{
CloseINT4();
Run=0;
Stop=1;
First_Run=0;
EnableINT4;
//STOP
}
{
CloseINT0();
// Change Direction
Run=0;
First_Run=0;
Rev_Status=1;
EnableINT0;
}
{
CloseINT1();
// Menu
Run=0;
First_Run=0;
Menu_Flag=1;
EnableINT1;
}
{
CloseINT2();
// Reset
Run=0;
First_Run=0;
Reset=1;
EnableINT2;
}
//============================= MAIN CODE =================================//
int main(void)
{
Main:
TRISA=0xF000;
F_req=0;
a=0;
c=0;
b=0;
Menu_Flag=0;
Direction=1;
//FW
Reset=0;
Run=0;
Mode=1;
Change_Speed=0;
Step_up=10;
Step_down=10;
up=0.0;
down=0.0;
PC_Value=0;
PC_Value_Temp=0;
Temp_Value=0;
Temp_Mode3_1=0;
Temp_Mode3_2=0;
ADCSetup();
XlcdInit();
//SETUP 4BIT LCD
XlcdWriteCmd(DON&CURSOR_OFF&BLINK_OFF);
PH LC
Ext_Interrupt();
TRISFbits.TRISF8 = 1;
TRISFbits.TRISF7 = 1;
TRISDbits.TRISD8 = 1;
//=================================WELCOME================================//
ClearLCD();
//Welcome Interface
XlcdCursor(1,8);
printf("LC");
Delay_Cycle(300000);
XlcdCursor(1,7);
printf("LLCO");
XlcdCursor(1,6);
printf("ELLCOM");
XlcdCursor(1,5);
printf("WELLCOME");
XlcdCursor(1,4);
printf("*WELLCOME*");
XlcdCursor(1,3);
printf("**WELLCOME**");
XlcdCursor(1,2);
printf("***WELLCOME***");
XlcdCursor(1,1);
printf("****WELLCOME****");
XlcdCursor(2,1);
printf("READY TO RUN");
while(ENTER)
{
XlcdCursor(2,1);
printf("READY TO RUN");
ClearLCD_2();
}
LCD_Loop:
ClearLCD();
XlcdCursor(1,1);
printf("Speed_Up:
s");
XlcdCursor(2,1);
printf("Speed_Down: s");
while(ENTER)
{
if(BACK==0)
{
PH LC
goto LCD_Loop;
}
if(NEXT==0)
{
goto MODE_STATUS;
}
if(UP==0)
{
if(UP==0)
{
Step_up=Step_up+1;
if(Step_up>20)
{
Step_up=3;
}
}
}
if(DOWN==0)
{
if(DOWN==0)
{
Step_up=Step_up-1;
if(Step_up<3)
{
Step_up=20;
}
}
}
XlcdCursor(1,12);
printf("%2.0d",Step_up);
}
//Waitting for ENTER go back to 1
while(ENTER)
{
if(BACK==0)
{
goto LCD_Loop;
}
if(NEXT==0)
{
goto MODE_STATUS;
}
if(UP==0)
{
if(UP==0)
{
Step_down=Step_down+1;
if(Step_down>20)
{
Step_down=3;
}
PH LC
}
}
if(DOWN==0)
{
if(DOWN==0)
{
Step_down=Step_down-1;
if(Step_down<3)
{
Step_down=20;
}
}
}
XlcdCursor(2,12);
printf("%2.0d",Step_down);
}
ClearLCD();
XlcdCursor(1,1);
printf(" IN_PUT DATA. ");
XlcdCursor(2,1);
printf("Loading");
XlcdCursor(2,8);
printf("..");
XlcdCursor(2,10);
printf("..");
XlcdCursor(2,12);
printf("..");
XlcdCursor(2,14);
printf("...");
XlcdCursor(2,1);
//Calculate Speed_up and Speed_Down time for the motor
up=0.012/Step_up;
down=0.012/Step_down;
// Time_up=(60*Tpwm)/Tup
// Time_down=(60*Tpwm)/Tdown
//============================== MODE CHECKING =========================//

MODE_STATUS:
ClearLCD();
switch (Mode)
{
case 1:
//Manual Mode is chosen
ClearLCD();
XlcdCursor(1,1);
printf("< M1_MANUAL >");
XlcdCursor(2,14);
printf("OK");
PH LC
while(1)
{
if(BACK==0)
{
goto LCD_Loop;
}
if(ENTER==0)
{
Delay_Cycle(50000);
if(ENTER==0)
{
XlcdCursor(2,14);
printf("RUN");
goto LOAD_PARAMETER;
}
}
if(UP==0)
{
Delay_Cycle(50000);
if(UP==0)
{
Mode=2;
goto MODE_STATUS;
}
}
if(DOWN==0)
{
Delay_Cycle(50000);
if(DOWN==0)
{
Mode=4;
goto MODE_STATUS;
}
}
}
break;
case 2:
// AUTO_1 is chosen
ClearLCD();
XlcdCursor(1,1);
printf("< M2_AUTO_1 >");
XlcdCursor(2,14);
printf("OK");
while(1)
{
if(BACK==0)
{
goto LCD_Loop;
}
if(ENTER==0)
{
Delay_Cycle(50000);
if(ENTER==0)
{
PH LC
}
}
if(UP==0)
{
Delay_Cycle(50000);
if(UP==0)
{
Mode=3;
goto MODE_STATUS;
}
}
if(DOWN==0)
{
Delay_Cycle(50000);
if(DOWN==0)
{
Mode=1;
goto MODE_STATUS;
}
}
}
break;
case 3:
// AUTO_2 is chosen
ClearLCD();
XlcdCursor(1,1);
printf("< M3_AUTO_2 >");
XlcdCursor(2,14);
printf("OK");
while( 1)
{
if(BACK==0)
{
goto LCD_Loop;
}
if(ENTER==0)
{
Delay_Cycle(50000);
if(ENTER==0)
{
}
}
if(UP==0)
{
Delay_Cycle(50000);
if(UP==0)
{
Mode=4;
goto MODE_STATUS;
}
}
if(DOWN==0)
{
PH LC
Delay_Cycle(50000);
if(DOWN==0)
{
Mode=2;
goto MODE_STATUS;
}
}
}
break;
case 4:
// PC_Control is chosen
ClearLCD();
XlcdCursor(1,1);
printf("< M4_PC_CON >");
XlcdCursor(2,14);
printf("OK");
while( 1)
{
if(BACK==0)
{
goto LCD_Loop;
}
if(ENTER==0)
{
Delay_Cycle(50000);
if(ENTER==0)
{
}
}
if(UP==0)
{
Delay_Cycle(50000);
if(UP==0)
{
Mode=1;
goto MODE_STATUS;
}
}
if(DOWN==0)
{
Delay_Cycle(50000);
if(DOWN==0)
{
Mode=3;
goto MODE_STATUS;
}
}
}
break;
} //End Of Switch
//================================ LOAD PARAMETER =========================//
LOAD_PARAMETER:
ClearLCD();
if(Mode==3)
PH LC
{
Temp_1=Temp_Mode3_1;
Temp_2=Temp_Mode3_2;
XlcdCursor(1,1);
printf(" AUTO_2 ");
XlcdCursor(2,1);
printf("F1: F2: ");
//Restore Temp_1 Value

//Restore Temp_2 Value
Mode3_Loop_1:
while(ENTER)
{
if(BACK==0)
{
goto MODE_STATUS;
}
if(UP==0)
{
if(UP==0)
{
Temp_1=Temp_1+1;
if(Temp_1>60)
// Limit frequency under 60Hz
{
Temp_1=0;
}
}
}
if(DOWN==0)
{
if(DOWN==0)
{
Temp_1=Temp_1-1;
if(Temp_1<0)
{
Temp_1=60;
}
}
}
XlcdCursor(2,4);
printf("%2.0lf",Temp_1);
} //End of while
Temp_Mode3_1=Temp_1;
// Save Temp_1 Value
// Waitting for Enter back to 1
Mode3_Loop_2:
while(ENTER)
{
if(BACK==0)
{
XlcdCursor(2,13);
printf(" ");
goto Mode3_Loop_1;
}
if(UP==0)
{
PH LC
if(UP==0)
{
Temp_2=Temp_2+1;
if(Temp_2>60)
{
Temp_2=0;
}
}
}
if(DOWN==0)
{
if(DOWN==0)
{
Temp_2=Temp_2-1;
if(Temp_2<0)
{
Temp_2=60;
}
}
}
XlcdCursor(2,13);
}//End of While
Temp_Mode3_2=Temp_2;
//Save Temp_2 Value
ClearLCD_2();
XlcdCursor(2,1);
printf("Loading");
XlcdCursor(2,8);
printf("..");
XlcdCursor(2,10);
printf("..");
XlcdCursor(2,12);
printf("..");
XlcdCursor(2,14);
printf("...");
XlcdCursor(2,1);
printf("
RUN");
while(!Run)
{
if(BACK==0)
{
ClearLCD_2();
XlcdCursor(2,1);
printf("F1: F2: ");
XlcdCursor(2,4);
goto Mode3_Loop_1;
}
}
ClearLCD();
PH LC
XlcdCursor(1,1);
printf("AUTO_2");
XlcdCursor(1,10);
printf("F1:%2.0lf",Temp_1);
XlcdCursor(2,1);
printf("F:");
XlcdCursor(2,10);
printf("F2:%2.0lf",Temp_2);
Temp_1=Temp_1/0.05859375;
Temp_2=Temp_2/0.05859375;
goto loop1;
}//end of if mode 3
if(Mode==1)
{
ClearLCD();
XlcdCursor(1,1);
printf(" MANUAL ");
XlcdCursor(2,14);
printf("RUN");
XlcdCursor(2,1);
printf("AD:");
while(!Run)
{
AD=ReadADC10(0);
ADC=AD*0.05859375;
XlcdCursor(2,4);
printf("%2.0d",ADC);
//Print Value from Variable Resistor
if(BACK==0)
{
goto MODE_STATUS;
}
}
ClearLCD();
XlcdCursor(1,1);
printf("M1 RUNNING...");
XlcdCursor(2,1);
printf("F:");
goto loop1;
}//end if mode 1
if(Mode==2)
{
ClearLCD();
//Temp_Mode_1=0;
XlcdCursor(1,1);
printf(" AUTO_1 ");
XlcdCursor(2,1);
printf("F_Ref:");
Mode2_Loop:
Temp_Mode_1=Temp_Value;
//Restore Temp_Mode_1 Value
while(ENTER)
{
if(BACK==0)
{
goto MODE_STATUS;
}
if(UP==0)
PH LC
{
if(UP==0)
{
Temp_Mode_1=Temp_Mode_1+1;
if(Temp_Mode_1>60)
{
Temp_Mode_1=0;
}
}
}
if(DOWN==0)
{
if(DOWN==0)
{
Temp_Mode_1=Temp_Mode_1-0.5;
if(Temp_Mode_1<0)
{
Temp_Mode_1=60;
}
}
}
//Temp_Value=Temp_Mode_1;
XlcdCursor(2,7);
printf("%2.0lf ", Temp_Mode_1);
}//end while
Temp_Value=Temp_Mode_1; //Save Temp_Mode_1 Value
ClearLCD_2();
XlcdCursor(2,1);
printf("Loading");
XlcdCursor(2,8);
printf("..");
XlcdCursor(2,10);
printf("..");
XlcdCursor(2,12);
printf("..");
XlcdCursor(2,14);
printf("...");
ClearLCD_2();
XlcdCursor(2,1);
printf("F:%2.0lf",Temp_Mode_1);
XlcdCursor(2,14);
printf("RUN");
Temp_Mode_1=Temp_Mode_1/0.05859375;
while(!Run)
{
XlcdCursor(2,14);
printf("RUN");
//Blink "RUN" character till it is pressed
PH LC
XlcdCursor(2,14);
printf(" ");
if(BACK==0)
{
ClearLCD_2();
XlcdCursor(2,1);
printf("F_Ref:");
XlcdCursor(2,7);
printf("%2.0lf",Temp_Mode_1);
goto Mode2_Loop;
}
}
XlcdCursor(2,14);
printf(" ");
XlcdCursor(1,1);
printf("M2 RUNNING...");
XlcdCursor(2,9);
printf("F_Req:%2.0lf",Temp_Value);
goto loop1;
}//end if mode 2
if(Mode==4)
{
ClearLCD();
XlcdCursor(1,1);
printf(" PC_CONTROL ");
XlcdCursor(2,14);
printf("RUN");
while(!Run)
{
if(BACK==0)
{
goto MODE_STATUS;
}
}
ClearLCD_2();
XlcdCursor(2,1);
printf("M2
RUNNING");
PC_Value=0;
Uart_Setup();
goto loop1;
}//end if mode 4
loop1:
PWMSetup();
while(1)
{
switch(Run)
{
case 1:
//Waitting for Run Button Is Pressed

//Run Button is not pressed
switch(Mode)
{
case 1:
ADC_Result=ReadADC10(0);
XlcdCursor(2,3);
PH LC
ADC_Result=ReadADC10(0);
printf("%2.0lf", F_req);
break;
case 2:
ADC_Result=Temp_Mode_1;
XlcdCursor(2,3);
break;
case 3:
if(CHANGE==0)
{
Delay_Cycle(70000);
if(CHANGE==0);
{
Change_Speed=!Change_Speed;
Delay_Cycle(70000);
}
}
if(Change_Speed==1)
{
ADC_Result=Temp_2;
}
else
{
ADC_Result=Temp_1;
}
XlcdCursor(2,3);
break;
case 4:
ADC_Result=PC_Value/0.05859375;
int_F_req=F_req;
delta=F_req-int_F_req;
if(delta>0.5)
{
int_F_req=int_F_req+1;
}
XlcdCursor(2,1);
printf("F:%2.0lf", F_req);
WriteUART1(int_F_req);
break;
}
break;
case 0:
//Run Button is not pressed

ADC_Result=0;
XlcdCursor(2,3);
if(F_req==0 && Stop==1)
{
CloseMCPWM(); // Disable PWM module
Stop=0;
Change_Speed=0;
}
if(F_req==0 && Menu_Flag==1)
{
Menu_Flag=0; // Clear Menu_Flag
PH LC
Change_Speed=0;
PC_Value=0;
PC_Value_Temp=0;
Direction=1;
goto LCD_Loop; //Return to main menu
}
if(F_req==0 && Reset==1)
{
Reset=0;
// Clear Menu_Flag
Change_Speed=0;
ClearLCD();
XlcdCursor(1,1);
printf("RESET .");
XlcdCursor(1,8);
printf("..");
printf("..");
XlcdCursor(1,12);
printf("..");
XlcdCursor(1,14);
printf("...");
goto Main;
//Return to main menu
}
break;
}
}
}
CODE TRONG CHNG TRNH GIAO TIP MY TNH

Dim Y As Double
'varible in chart drawing
Public Running As Integer
Public dir As Integer
Public StsRun As Byte
Dim chuoichay As String
Dim Voltage_Temp As Integer
Dim strtemp As String 'varible ONCOMM event
Dim strdata As String
Dim datavu
As String
Dim intdigvu As Integer
Dim digdata As Integer
================================================================================
Private Sub Change_Button_Click()
MSComm1.Output = Chr(70)
txt_f_request.SetFocus
If dir = 0 Then
dir = 1
Else
dir = 0
End If
End Sub
==============================================================================
Private Sub Exit_Button_Click()
PH LC
'send stop signal for PIC to stop motor
MSComm1.PortOpen = False
'Dong cong
End
End Sub
===============================================================================
Private Sub Form_Load()
chuoichay = "LUAN VAN TOT NGHIEP 2006 - 2007
"
'Close Serial Port if it have been already opened
If frmMain.MSComm1.PortOpen = True Then
frmMain.MSComm1.PortOpen = False
End If
frmMain.MSComm1.PortOpen = True
frmMain.MSComm1.PortOpen = False
'Cau hinh lai Serial Port
frmMain.MSComm1.RThreshold = 1
'Khi nhan 1 ki tu don se phat sinh su kien CommEvent
frmMain.MSComm1.CommPort = 1
'Dung PORT1
frmMain.MSComm1.InputLen = 0
'Doc toan bo buffer
frmMain.MSComm1.Settings = "9600,n,8,1"
frmMain.MSComm1.PortOpen = True
'Mo cong
'Form hien giua man hinh
frmMain.Move (Screen.Width - frmMain.Width) / 2, (Screen.Height - frmMain.Height) / 2
Timer2.Enabled = True
Timer2.Interval = 1000
Label8.Caption = Date
==============================================================================
' Chart SETTING
Strip1.CursorColor = RGB(255, 0, 0)
'Left = (Main.Width - Width) / 2
'Top = (Main.Height - Height) / 2
Xx = Now
For i = 0 To Strip1.Variables - 1
Strip1.VariableID = i
'.1 seconds
Strip1.VariableDeltaX = 1 / 24 / 60 / 60 / 10
'.1 seconds interval
Strip1.VariableLastX = Xx 'Set LastX to current time
Next
Strip1.XTicMode = 1 'Set X Mode to Date/Time Display
'60 seconds
Strip1.XSpan = 1 / 24 / 60 / 60 * 60
'60 seconds of display on plot
End Sub
===============================================================================
Private Sub MSComm1_OnComm()
With frmMain.MSComm1
Select Case .CommEvent
Case comEvReceive
'Nhan du lieu tu vi dieu khien
strtemp = .Input
strdata = Left(strtemp, 1)
datavu = Right(strtemp, 1)
digdata = Asc(strdata)
intdigvu = Asc(datavu)
txt_f_out = digdata
PH LC
Voltage_Temp = digdata * 3.667

Voltage = Voltage_Temp
End Select
End With
End Sub
=========================================================================
Private Sub ProgressBar1_MouseDown(Button As Integer, Shift As Integer, X As Single, Y As Single)
End Sub
=========================================================================
Private Sub Timer1_Timer()
Strip1.AddXY 0, Now, Y
Y = digdata
End Sub
=============================================================================
Private Sub cmdStart_Click()
j = txt_f_request.Text
If (j > 60) Then
MsgBox ("Frequency must be in range from 0 to 60 Hz")
txt_f_request = ""
Else
'Status = "Motor Is Running ........"
StsRun = 1
MSComm1.Output = Chr(j)
End If
End Sub
==============================================================================
Private Sub Cmd_STOP_Click()
Status = "Stopping"
StsRun = 0
End Sub
===============================================================================
Private Sub Form_Unload(Cancel As Integer)
'send stop signal for PIC to stop motor
MSComm1.PortOpen = False
'Dong cong
End Sub
===============================================================================
Label7.Caption = Time
End Sub
===============================================================================
If StsRun = 1 Then
Running = Running + 5
If (Running > 100) Then
Running = RunProgressBar.Min
End If
RunProgressBar.Value = Running + RunProgressBar.Min
Else
If txt_f_out = 0 Then
RunProgressBar.Value = 0
Else
Running = Running + 5
If (Running > 100) Then
Running = RunProgressBar.Min
PH LC
End If
RunProgressBar.Value = Running + RunProgressBar.Min
End If
End If
End Sub
===============================================================================
If (StsRun = 1) Then
Status = "Running"
End If
If (txt_f_out = 0) Then
Status = "Stopped!!"
End If
If dir = 0 Then
Direction = "Forward"
Else
Direction = "Reverse"
End If
End Sub
===============================================================================
Dim chuoi1, chuoi2 As String
chuoi1 = Left(chuoichay, 1)
chuoi2 = Right(chuoichay, Len(chuoichay) - 1)
frmMain.Caption = chuoi2 + chuoi1
chuoichay = chuoi2 + chuoi1
End Sub
PH LC
TI LIU THAM KHO

TI LIU THAM KHO TRONG NC
[1] TS. Phan Quc Dng T Hu Phc (2003). Truyn ng in. Nh xut bn
i hc Quc gia TP.H Ch Minh
[2] TS. Nguyn Vn Nh (2003). C S Truyn ng in. Nh xut bn i hc
Quc gia TP.H Ch Minh
[3] TS. Nguyn Vn Nh (2003). in T Cng Sut 1. Nh xut bn i hc Quc
gia TP.H Ch Minh
TI LIU THAM KHO NC NGOI

[4] 16bit_Language_Tools_Libraries. Microchip Techology Inc
[5] Prof. Ali Keyhani, Pulse-Width Modulation (PWM) Techniques lecture 25,
Department of Electrical and Computer EngineeringThe Ohio State University
[6] dsPic Language Tools Getting Started. Microchip Techology Inc
[7] MPLAB C30 _ C Compiler Users Guide . Microchip Techology Inc
[8] dsPIC30F6010 Data Sheet High-Performance Digital Signal Controllers .
Microchip Techology Inc
[9] dsPIC30F Family Reference Manual. Microchip Techology Inc
[10] An Introduction To AC Induction Motor Control Using The dsPIC30F MCU.
Microchip Techology Inc
WEBSITE THAM KHO

http://www.microchip.com

Dieu Khien DongCo KDB 3pha SinPWM Dung PIC30F6010

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I HC QUC GIA TP H CH MINH

TRNG I HC BCH KHOA

NHN XT CA GIO VIN HNG DN

NHN XT CA GIO VIN PHN BIN

Tp. H Ch Minh, thng 1 nm 2007

CHNG 2: L THUYT V PHNG PHP IU KHIN ................ 7

CHNG 3 : CU TO V CC THNG S PHN CNG ................. 25

CHNG 4 : S CU TO MCH IU KHIN ............................ 34

CHNG 5: GII THIU V DSPIC 6010................................................ 42

5.4 Khi qut v cc thanh ghi lm vic ........................................................................... 50

CHNG 6: S KHI V GII THUT IU KHIN................... 75

DANH SCH HNH V

Hnh 5.17 : Cp nht gi tr PWM trong ch t do........................................................... 64

DANH SCH BNG BIU

DANH MC T VIT TT, TN NC NGOI

ng c dng ngun xoay chiu

Tm hiu v thit k b bin tn truyn thng ( 6 kha) ba pha iu khin CKB

Kho st nguyn tc ng ct cc kha bn dn trong b nghch lu .

Kim tra, nh gi dng sng in p ng ra.

Nguyn cu gii thut v vit chng trnh iu khin.

PHNG PHP NGHIN CU

Tham kho v tng hp ti liu trong v ngoi nc.

Tin hnh thc nghim trn m hnh thc t.

Theo di, nh gi, nhn xt cc thng s thc nghim.

X l s liu, tnh ton, v vit bo co.

THI GIAN THC HIN

NGHA KHOA HC V THC TIN CA NGHIN CU

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Do hn ch v mt thi gian, iu kin kinh t nn trong phm vi lun vn tt nghip

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m : t thng tr6en mt cc (Wb).

r : gc lch pha gia sc t ng roto v sc t ng khe h khng kh.

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Stato c cu to gm v my,li st v dy qun

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Dy qun stator c t vo cc rnh ca li st v c cch in tt vi li st.

CHNG 1: GII THIU V NG C KHNG NG B

Kt cu loi dy qun ny rt khc vi dy qun stator. Trong mi rnh ca li st rotor t

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1.2 ng dng ca ng c khng ng b

CHNG 1: GII THIU V NG C KHNG NG B

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CHNG 1: GII THIU V NG C KHNG NG B

c s i hi phi chuyn i tc thi ca h quy chiu quay do iu ny i hi mt khi

CHNG 2: L THUYT V PHNG PHP IU KHIN

CHNG 2: L THUYT V PHNG PHP IU KHIN

CHNG 2: L THUYT V PHNG PHP IU KHIN

Gi s ng c hot ng di tn s nh mc (a<1). T thng ng c c gi gi

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CHNG 2: L THUYT V PHNG PHP IU KHIN

Khi thay cc gi tr nh mc bng gi tr nhn vi t s a (am, aVm, aX), Ta c

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CHNG 2: L THUYT V PHNG PHP IU KHIN