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1. Micro controller based speed control of Converter/Chopper fed DC motor. AIM To study the

1. Micro controller based speed control of Converter/Chopper fed DC motor.

AIM

To study the operation Micro controller based speed control of DC motor

APPARATUS REQUIRED

1

DRV8412

-

1

2

Micro USB Cable

-

1

3

DC motor

-

1 set

4.

Personal Computer

-

1 Set

5.

Code Composer Studio

CONNECTION PROCEDURE

Make sure nothing is connected to the board, and no power is being supplied to the

board.

Insert the Control card into the J1 control CARD connector if not already

populated.

Make sure the following jumpers & connector settings are valid on the DRV8412

base board i.e.

JP1 is in the VR1 position

JP3 is in the ROCADJ position

M1 is in the H position, M2 is in the L position and M3 is in the L

position for dual axis Brushed DC or Stepper motor. In order to run

a single Brushed DC motor in parallel H-bridge mode the user must

change the mode jumpers from their default setting. For this mode M1 is in the

change the mode jumpers from their default setting. For this mode

M1 is in the L position, M2 is in the H position and M3 is in the L

position.

Switches S1 and S2 are in the middle position

Make sure that the following switches are set as described below on the F28035

controlCARD to enable boot from flash and connection to the SCI

SW3: OFF (UP) position b. SW2: Position 1 = ON (UP), Position 2

= ON (UP)

Connect a USB cable from J1 on the controlCARD to the host computer. LD4 on

the controlCARD will light up indicating that the USB is powered.

Windows will then search for a driver for the device. If the computer has CCSv4

or prior versions of it installed which supported XDS100 emulator, Windows

should be able to find the driver successfully. If not you will be prompted to install

the driver. Installing driver for USB to serial: Do not let Microsoft search for the

driver, instead browse to the following location on the USB stick drive shipped

with the kit <Drive Name:\XDS100 Drivers v1.0>, windows should now be able

to find the driver and will install it. If Windows still does not find the driver, you

may have to repeat the process and point to the location pointed out previously.

You may have to reboot the computer for the drivers to come into effect. Once

installed you can check if the installation was completed properly by browsing to

ControlPanel-> System->Hardware->Device Manager and looking for USB Serial Port under Ports(COM&LPT). Note

ControlPanel-> System->Hardware->Device Manager and looking for USB Serial

Port under Ports(COM&LPT). Note this port number down.

Connect the motor(s) you want to spin to the OUTA, OUTB, OUTC and OUTD

terminals on the board.

included with the kit.

The table below shows the connections for the motors

TERMINAL

DUAL BRUSHED DC

OUT A

Motor 1+

OUT B

Motor 1-

OUT C

Motor 2+

OUT D

Motor 2-

Connect the included DC power supply to the PVDD and GND banana jacks.

Once the power is connected the board will power up and you will see that the

LED1, LED2 and LED3 on the DRV8412EVM base board are green (indicating

power), LD1 on the controlCARD is green (also indicating power) and LD3 (Red)

on the controlCARD is blinking slowly indicating that code is running.

EXPERIMENT PROCEDURE:

EXPERIMENT PROCEDURE:  Make sure all the jumper and connector settings are as described in the

Make sure all the jumper and connector settings are as described in the Hardware setup section.

Browse to and double click on DRV8412GUIvX.exe The GUI window should pop up.

The GUI should auto-detect and connect to your DRV8412-EVM. If auto-connect fails you will need to set up the connection manually. The Connection Wizard is accessed through the Connection menu. Click on “Connect to engine” to view a list of available targets. Now setup the Connection Wizard Dialog to match figure 5. Select Piccolo 28035 from the Target list and Serial for connection method. You will need to determine the correct COM port number for your system. This can be found by going to Control Panel->System->Hardware tab->Device Manager->Ports(COM & LPT). And look for the one which is described as USB Serial Port or similar. Hit Connect once done

as USB Serial Port or similar. Hit Connect once done Trident Techlabs Pvt. Ltd., S7, Mamanji
 If an incorrect image is flashed on the controlCARD the connection will fail. In

If an incorrect image is flashed on the controlCARD the connection will fail. In this case it is recommended to reflash the controlCARD with the correct image.

After the connection is established to the controller the type of motor can be selected by choosing the corresponding tab in the GUI. If the selection needs to be changed the board should be power cycled in order to safely connect a different motor.

At the bottom of the screen are three sets of controls common to either motor type:

o

Enable Motor and Brake on Disable Check boxes: The Enable Motor check box is used to start or stop the motor(s) from running. The Brake on Disable check box selects the action when the motor is stopped. If unchecked all H-bridge switches are opened on disable and the motor is

free spinning. If checked the low-side switches are held closed effectively shorting the motor connections and causing an abrupt stop.

o

Fault Status: The on-screen LED will turn red whenever there is a fault signaled by the DRV8412. To reset this fault ensure Enable Motor check box is unchecked and push the Reset Fault button.

o

DC Bus Voltage: The measured DC bus voltage is displayed both digitally and graphically. The on- screen LED can take three states depending on whether the DC bus is in or out of range. The range can be adjusted individually for each motor type on the settings tabs.

Yellow: DC bus is below the minimum value

Green: DC bus is within limits

Red: DC bus is above the maximum value

Driver Over-Temperature Warning: The state of the DRV8412 OTWn pin is displayed using an on-screen LED. The LED can take two states:

Yellow:

Green: The DRV8412 device temperate is below 125°C

The DRV8412 device temperate exceeds 125°C

(a) Voltage Mode Control

o

Choose the corresponding Port in the pop-up window (Preferable: USB UART Device)

o

Uncheck the Closed Loop in Operation Block and choose Sine in Modulation Block.

o

Click Ok,

o

Now give the Speed Value in RPM then Click RUN.

o

Note down the speed, Frequency and Current readings

(b) Current mode control

(b) Current mode control o Connect the Feedback cable from the motor to Drive. o Click

o

Connect the Feedback cable from the motor to Drive.

o

Click the Closed Loop in Operation block

o

Now give the Speed Value then Click RUN.

o

Note down the speed, frequency and Current readings

TABLE

(a): Voltage Mode Control

S.No Voltage Current (b): Current Mode Control S.No Current Voltage
S.No
Voltage
Current
(b): Current Mode Control
S.No
Current
Voltage

RESULT:

Thus the operation Micro controller based speed control of VSI fed three-phase induction motor has been studied.

2. Micro controller based speed control of VSI fed three-phase induction motor. AIM To study

2. Micro controller based speed control of VSI fed three-phase induction motor.

AIM

To study the operation Micro controller based speed control of VSI fed three-phase induction motor

APPARATUS REQUIRED

1

RDK-ACIM motor Drive

-

1

2

Micro USB Cable

-

1

3

AC Induction motor

-

1

4.

Personal Computer

-

1 Set

5.

Code Composer Studio

6

StellarisWare

7

LM Flash Programmer

CONNECTION PROCEDURE

Connect Micro USB Cable and drive board

Connect the motor with RDK- ACIM

Connect Computer with Micro USB,

Connect the Power card with the RDK- ACIM

Switch On the power Supply

Note: This setup run in High Voltage, ensure the setup is properly connected and after shutdown also ensure the capacitor discharged.

EXPERIMENT PROCEDURE:

EXPERIMENT PROCEDURE: (c) Open Loop Drive   o Open the AC Induction Motor Drive Graphical User

(c)

Open Loop Drive

 

o

Open the AC Induction Motor Drive Graphical User Interface from start

 

Menu >> All Programs >> Texas Instruments >> Sellaris >> ACIM or C:\ProgramFiles\texas instruments\stellaris\ACIM

 

o

Choose the corresponding Port in the pop-up window (Preferable: USB UART Device)

o

Uncheck the Closed Loop in Operation Block and choose Sine in Modulation Block.

o

Click Ok,

o

Now give the Speed Value in RPM then Click RUN.

o

Note down the speed, Frequency and Current readings

(d)

Closed Loop

o

Connect the Feedback cable from the motor to Drive.

o

Click the Closed Loop in Operation block

o

Now give the Speed Value then Click RUN.

o

Note down the speed, frequency and Current readings

TABLE

(a): Open Loop Operation

S.No Set Speed Actual Speed Frequency Current (b): Closed Loop Operation S.No Set Speed Actual
S.No
Set Speed
Actual Speed
Frequency
Current
(b): Closed Loop Operation
S.No
Set Speed
Actual Speed
Frequency
Current

RESULT:

Thus the operation Micro controller based speed control of VSI fed three-phase induction motor has been studied.

3. Micro controller based speed control of Stepper motor. AIM To study the operation Microcontroller

3. Micro controller based speed control of Stepper motor.

AIM

To study the operation Microcontroller based speed control of stepper motor

APPARATUS REQUIRED

1

Stepper motor Drive (RDK-Stepper)

-

1

2

Micro USB Cable

-

1

3

Stepper motor

-

1

4.

Personal Computer

-

1 Set

5.

Code Composer Studio

6

StellarisWare

7

LM Flash Programmer

CONNECTION PROCEDURE

Connect micro usb Cable and drive board

Connect the motor with RDK- Stepper

Connect Computer with micro usb,

Connect the Power card with the RDK- Stepper

Switch On the power Supply

EXPERIMENT PROCEDURE:

(e) Chopper Drive o Open the Stepper Motor Drive Graphical User Interface from start Menu >>

All Programs >> Texas Instruments >> Sellaris >> Stepper or C:\ProgramFiles\texas instruments\stellaris\Stepper

o Choose the corresponding port in the pop-up window (Preferable : USB UART)

o Click on the Configure button in that window choose Chopper in control mode o

o

Click on the Configure button in that window choose Chopper in control mode

o

And chose Full in Step Mode, Fast in Decay Mode.

o

Click Ok,

o

Now give the Speed Value in Steps/sec and position then Click RUN

o

Note down the speed and Current readings

o

Change the step mode and Decay Mode then take the readings

(f)

Open Loop

 
 

o

Click on the Configure button in that window choose Open Loop PWM in control mode

o

And chose Full in Step Mode, Fast in Decay Mode.

o

Click Ok,

o

Now give the Speed Value in Steps/sec and position then Click RUN.

o

Note down the speed and Current readings

o

Change the step mode and Decay Mode then take the readings

(g)

Closed Loop

o

Click on the Configure button in that window choose Closed Loop PWM in control mode

o

And chose Full in Step Mode, Fast in Decay Mode.

o

Click Ok,

o

Now give the Speed Value in Steps/sec, position and Click RUN.

o

Note down the speed and Current readings

o

Change the step mode and Decay Mode then take the readings

TABLE

(a): Chopper Drive

Full Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Half Step Mode

Half Step Mode Set Speed Fast Decay Mode Slow Decay Mode S.No. Actual Speed Current Actual

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Micro Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Wave Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Open Loop PWM

Full Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Half Step Mode

Half Step Mode Set Speed Fast Decay Mode Slow Decay Mode S.No. Actual Speed Current Actual

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Micro Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Wave Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Closed Loop PWM

Full Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Half Step Mode

Half Step Mode Set Speed Fast Decay Mode Slow Decay Mode S.No. Actual Speed Current Actual

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Micro Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

Wave Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

RESULT:

Thus the operation of open loop, Closed Loop and Chopper Drive speed control of DC motor using RDK-Stepper.

4. DSP based speed control of BLDC motor.

AIM

4. DSP based speed control of BLDC motor. AIM To study the operation Digital Signal Processor

To study the operation Digital Signal Processor based speed control of BLDC Motor.

APPARATUS REQUIRED

1

Stellaris BLDC motor Drive

-

1

2

Micro USB Cable

-

1

3

BLDC motor

-

1

4.

Personal Computer

-

1 Set

5.

Code Composer Studio

6

StellarisWare

7

LM Flash Programmer

CONNECTION PROCEDURE

Connect Micro USB Cable and drive board

Connect the motor with RDK- BLDC

Connect Computer with Micro USB,

Connect the Power card with the RDK- BLDC

Switch On the power Supply

EXPERIMENT PROCEDURE:

(h) Open Loop Drive

o

Open the Stepper Motor Drive Graphical User Interface from start Menu >>

All Programs >> Texas Instruments >> Sellaris >> BLDC or C:\ProgramFiles\texas instruments\stellaris\BLDC

o

o

Choose the corresponding Device in the pop-up window

Click on the Configure button in that window choose Sine in Modulation Block.

o Click Ok, o Now give the Speed Value in RPM then Click RUN o

o

Click Ok,

o

Now give the Speed Value in RPM then Click RUN

o

Note down the speed and Current readings

o

Change to reverse and set the speed then take the readings

(i) Closed Loop

o

Click on the Configure button in that window choose Sensorless in Modulation Block.

o

And choose Speed in Closed Loop Control then Click Ok,

o

Now give the Speed Value then Click RUN

o

Note down the speed and Current readings

o

Change to reverse and set the speed then take the readings

TABLE

(a): Chopper Drive

Full Step Mode

Set

Speed

Fast Decay Mode

Slow Decay Mode

S.No.

Actual Speed

Current

Actual Speed

Current

(b): Closed Loop Drive

Set

Speed

Forward Mode

Reverse Mode

S.No.

Actual Speed

Current

Actual Speed

Current

RESULT:

Thus the operation of Digital Signal Processing based open loop and Closed Loop speed control of BLDC motor has been studied.

5. DSP based speed control of SRM motor.

AIM

5. DSP based speed control of SRM motor. AIM To study the operation Digital Signal Processor

To study the operation Digital Signal Processor based speed control of SRM Motor.

APPARATUS REQUIRED

1

DRV8301

-

1

2

Micro USB Cable

-

1

3

DC motor

-

1 set

4.

Personal Computer

-

1 Set

5.

Code Composer Studio

CONNECTION PROCEDURE

Make sure nothing is connected to the board, and no power is being supplied to the

board.

Insert the Control card into the J1 controlCARD connector if not already

populated.

Make sure the following jumpers & connector settings are valid on the DRV830x

base board i.e.

JP2 is installed

Make sure that the following switches are set as described below on the F28035

controlCARD to enable boot from flash and connection to the SCI

SW3: OFF (UP) position

SW2: Position 1 = ON (UP), Position 2 = ON (UP)

 Connect a USB cable from J1 on the controlCARD to the host computer. LD4

Connect a USB cable from J1 on the controlCARD to the host computer. LD4 on

the controlCARD will light up indicating that the USB is powered. Windows will

then search for a driver for the device. If the computer has CCSv4 or prior

versions of it installed which supported XDS100 emulator, Windows should be

able to find the driver successfully. If not you will be prompted to install the

driver.

Installing driver for USB to serial: Do not let Microsoft search for the driver,

instead browse to the following location on the USB stick shipped with the kit

<Drive Name:\Drivers>, windows should now be able to find the driver and will

install it. If Windows still does not find the driver, you may have to repeat the

process and point to the location pointed out previously. You may have to reboot

the computer for the drivers to come into effect. Once installed you can check if

the installation was completed properly by browsing to ControlPanel-> System-

>Hardware->Device

Manager

and

looking

for

USB

Serial

Port

under

Ports(COM&LPT). Make note of this port number.

Connect the motor you want to spin to the OUT A, OUT B and OUT C terminals

on the board.

Connect an 8-60V DC power supply at connectors J25 (PWR) and J26 (GND).

Once the power is connected the board will power up and you will see that LED1

and LED3 on the DRV830x EVM base board are green (indicating power), LD1

on the controlCARD is green (also indicating power) and LD3 (Red) on the controlCARD is

on the controlCARD is green (also indicating power) and LD3 (Red) on the

controlCARD is blinking slowly indicating that code is running.

EXPERIMENT PROCEDURE:

Make sure all the jumper and connector settings are as described in the Hardware

setup section.

The GUI should auto-detect and connect to your DRV830x-HC-EVM.

If auto-

connect fails you will need to set up the connection manually.

The Connection

Wizard is accessed through the Connection menu.

Click on “Connect to engine”

to view a list of available targets.

Now setup the Connection Wizard Dialog to

match Fig 4. Select Piccolo 28035 from the Target list and Serial for connection

method.

You will need to determine the correct COM port number for your

system. This can be found by going to Control Panel->System->Hardware tab-

>Device Manager->Ports(COM & LPT). And look for the one which is described

as USB Serial Port or similar. Hit Connect once done.

If an incorrect image is flashed on the controlCARD, the connection will fail. In

this case it is recommended to reflash the controlCARD with the correct image.

At the bottom of the screen are some common controls and board status indicators:

o

Enable Motor Check Box: The Enable Motor check box is used to start or

stop the motor from running.

o

Control Mode Drop Down Box: Allows the selection of four different

control modes

Duty

Cycle:

The

motor

is

commutated

 Duty Cycle : The motor is commutated using the sensorless algorithm but is driven in

using

the

sensorless

algorithm but is driven in an open-loop duty cycle mode.

Current: The motor is commutated using the sensorless algorithm

while the current (torque) is regulated using a PI controller.

(Note:

An unloaded motor will rapidly accelerate to a very high speed in

this mode.)

Velocity: The motor is commutated using the sensorless algorithm

while the motor speed is regulated using a PI controller. The output

of the speed controller is a PWM duty cycle.

Cascade: The motor is commutated using the sensorless algorithm

while the motor speed is regulated using a PI controller. The output

of the speed controller is a motor current command which is

regulated by a lower level current PI controller.

Fault Status: The on-screen LED will turn red whenever there is a fault signaled

by the DRV830x. To reset this fault ensure Enable Motor check box is unchecked

and push the Reset Fault button.

DC Bus Voltage: The measured DC bus voltage is displayed both digitally and

graphically.

The on- screen LED can take three states depending on whether the

DC bus is in or out of range.

Yellow: DC bus is below the minimum value

Green: DC bus is within limits

 Red: DC bus is above the maximum value  Driver Over-Temperature Warning: The state

Red: DC bus is above the maximum value

Driver Over-Temperature Warning:

The state of the DRV830x OCTWn pin is

displayed using an on-screen LED. The LED can take two states:

Yellow:

The DRV830x device temperature exceeds 130°C

Green: The DRV830x device temperature is below 130°C

The Main GUI tab contains controls to vary the motor setpoint or view various feedbacks.

The Setpoint Knob takes on a separate function for each control mode.

o

Duty Cycle: The knob adjusts the PWM duty cycle to the motor.

o

Current: The knob adjusts the per-unit (PU) commanded current through the motor. Note: The DRV830x-HC-EVMs have a measureable current range of +/-82.5A which is normalized to a +/- 1.0 per-unit (PU) scale.

o

Velocity: The knob adjusts the per-unit (PU) motor commanded speed.

o

Cascade: The knob adjusts the per-unit (PU) motor commanded speed.

The actual Motor Speed (RPM) is displayed through a digital display.

The actual Motor Current (PU) is displayed using a linear gauge. The current should increase with motor load.

The four graphs on the right display commutation and speed related data. The time scale of the top three graphs can be adjusted by incrementing/decrementing the Graph Time Scaler

o

Top Graph: Displays the per-unit (PU) integrated motor flux.

o

Second Graph: Displays the per-unit (PU) Phase A BEMF waveform.

o

Third Graph: Displays the per-unit (PU) Phase A current waveform.

o

Fourth Graph: Displays the motor speed in RPM. This graph runs in a continuous strip chart mode and is not affected by the Graph Time Scaler.

The Flux Threshold slider is used to adjust the motor’s commutation point.

The Settings tab contains parameters affecting motor startup and control loop tuning.

(a) Voltage Mode Control

o

After done the above setup, Choose Velocity in Control Block

o

Click the check box to Enable Motor

o

Now Change the Knob it change Speed Value in percentage

o

Note down the speed, Voltage and Current readings

o After taken the reading uncheck the Enable Motor

(b) Current mode control

reading uncheck the Enable Motor (b) Current mode control o Choose Velocity in Control Block o

o

Choose Velocity in Control Block

o

Click the check box to Enable Motor

o

Now Change the Knob it change Current in percentage

o

Note down the speed, Voltage and Current readings

o

After taken the reading uncheck the Enable Motor

TABLE

(a): Voltage Mode Control

S.No Speed Voltage Current (b): Current Mode Control S.No Speed Current Voltage
S.No
Speed
Voltage
Current
(b): Current Mode Control
S.No
Speed
Current
Voltage

RESULT:

Thus the operation Micro controller based speed control of VSI fed three-phase induction motor has been studied.