Renesas RX66T APPLICATION NOTE
APPLICATION NOTE
Vector Control of Three-Phase Induction Motor Used in Driving
a Fan
RX66T Implementation
Introduction
This application note describes how to use the sample program to drive a three phase induction motor (fan
motor) with vector control using the RX66T microcontroller and the motor control development support tool
‘Renesas Motor Workbench 2.0’.
The sample program is only provided for reference purposes and Renesas does not guarantee its operation.
This sample program should only be used after thorough evaluation in an appropriate operating
environment.
In particular, high-voltage environments are extremely dangerous. The information provided here should only
be used after reading all the user's manuals for the development environment and observing all safety
precautions. Renesas Electronics assumes no responsibility for an accident or loss occurring from the use of
the development environments described in this document.
Target Device
Operation of the sample program provided with this application note has been verified for the following
device.
• RX66T (R5F66TEADFP)
Target Sample Program
The sample program discussed in this application note is the following.
[1] RX66T100_T1102_3IM_LESS_FOC_CSP_FAN_V110
RX66T100 (R5F566TEADFP) T1102 sample program: Vector Control of Three-Phase Induction Motor
Used in Driving a Fan
Reference Documents
• RX66T Group User's Manual: Hardware (R01UH0749EJ0110)
• Motor Control Application: Vector Control of Three-Phase Induction Motor (Algorithms)
• Motor Control Development Support Tool ‘Renesas Motor Workbench 2.0’
Download from https://www.renesas.com/us/en/software/D3017970.html
• Trial series "T1102" 3kW 4kVA Inverter Unit User's Manual
• RX66T CPU Card User's Manual (R12UZ0029EJ0110)
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Contents
1. Overview .................................................................................................................................... 4
1.1 Development Environment ...................................................................................................................... 4
2. System Overview ....................................................................................................................... 5
2.1 Hardware Configuration .......................................................................................................................... 5
2.2 Hardware Specifications .......................................................................................................................... 6
2.2.1 User Interface ........................................................................................................................................ 6
2.2.2 Peripheral Modules ............................................................................................................................... 7
2.3 Software Configuration ............................................................................................................................ 8
2.3.1 File Configuration .................................................................................................................................. 8
2.3.2 Configuration of the Sample Program ................................................................................................... 9
2.4 Software Specifications ......................................................................................................................... 10
3. Control Program ...................................................................................................................... 11
3.1 Control ................................................................................................................................................... 11
3.1.1 Starting and Stopping the Motor ......................................................................................................... 11
3.1.2 Motor Rotation Speed Command ........................................................................................................ 11
3.1.3 Inverter Bus Voltage ............................................................................................................................ 11
3.1.4 Phase Current ..................................................................................................................................... 11
3.1.5 Modulation ........................................................................................................................................... 12
3.1.6 State Transitions ................................................................................................................................. 14
3.1.7 System Protection Functions ............................................................................................................... 15
3.2 Functions for Use in Vector Control Software Program ........................................................................ 16
3.3 Software Variables Used in the Sensorless Vector Control Program ................................................... 22
3.4 Structures Used in the Sensorless Vector Control Software ................................................................ 25
3.5 Sensorless Vector Control Software Macros ........................................................................................ 26
3.6 Control Flow (Flowcharts) ..................................................................................................................... 36
3.6.1 Main Processing .................................................................................................................................. 36
3.6.2 125-μs Period Interrupt Handling ........................................................................................................ 37
3.6.3 1-ms Interrupt Handling ....................................................................................................................... 38
3.6.4 Handling of Group Interrupt that Includes Overcurrent Detection as a Source .................................. 39
4. Development Support Tool “In Circuit Scope” ......................................................................... 40
4.1 Overview ................................................................................................................................................ 40
4.2 The Usage of RMW ............................................................................................................................... 41
4.2.1 START Button ..................................................................................................................................... 41
4.2.2 STOP Button ....................................................................................................................................... 41
4.2.3 ERROR RESET Button ....................................................................................................................... 41
4.2.4 Change Parameter Setting .................................................................................................................. 42
4.3 RMW Variables...................................................................................................................................... 43
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Website and Support ...................................................................................................................... 44
Revision History .............................................................................................................................. 45
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Sample
Program
Microcontroller
Inverter Board
Motor
Version of CS+
[1]
R5F566TEADFP
T1102 *2
MRS-25T *3
V8.05.00
1. Overview
This application note describes how to implement a sample program for driving three-phase induction motor
by vector control from the RX66T microcontroller, and how to use the library of ‘Renesas Motor Workbench
2.0’ (RMW)*
here uses the algorithm described in the Motor Control Application: Vector Control of Three-Phase Induction
Motor (Algorithms).
1
, that is support tool for motor control development. Note that the sample program described
1.1 Development Environment
Table 1.1 lists the elements of the development environment for the sample program covered in this
application note.
Table 1.1 Sample Program Development Environment
Contact your sales representative or authorized Renesas Electronics distributors for details on purchasing
the T1102 inverter board and technical support.
Note 1. Motor Control Development Support Tool ‘Renesas Motor Workbench 2.0’ is products of Renesas
Electronics Corporation.
Note 2. The T1102 inverter board and the In Circuit Scope development support tool are products of Desk
Top Laboratories Inc.
Website: http://desktoplab.co.jp/ (provided in Japanese only)
Note 3. MRS-25T is a product of Oriental Motor Co., Ltd.
Website: https://www.orientalmotor.co.jp/global_site/global_support/
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
RX66T
A/D
converter
input
P62 / AN208
P40 / AN000
P41 / AN001
P42
/ AN002
LED output
PE3
PB7
P71/MTIOC3B(Up)
P72/MTIOC4A(Vp)
P73/MTIOC4B(Wp)
P74/MTIOC3D(Un)
P75/MTIOC4C(Vn)
P76/MTIOC4D(Wn)
MTU3c output
P70 / POE0#
Power supply circuit
Up
Vp
Wp
Un
Vn
Wn
OC
Inverter circuit
Iu Iv Iw Vw VuVv
LED1 LED2
AC input
Bus voltage
Iu_AIN
Iv_AIN
Iw_AIN
Phase currants
Phase
Current
detection
W port
V port
U port
3phase ACIM
Overcurrent detectio input
Overcurrent detection
2. System Overview
This section gives an overview of the system described in this application note.
2.1 Hardware Configuration
The hardware configuration is shown below.
Figure 2.1 Hardware Configuration
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Item
Interface Component
Function
LED1
Yellow-green LED
• Motor is running: On
Motor is stopped: Off
LED2
Yellow-green LED
• An error is detected: On
• Normal operation: Off
RESET
Pushbutton switch RESET1
System reset
R5F566TEADFP Pin Name
Function
P62/AN208
Inverter bus voltage measurement
PE3
LED1 on/off control
PB7
LED2 on/off control
P40/AN000
Measurement of the U-phase current
P41/AN001
Measurement of the V-phase current
P42/AN002
Measurement of the W-phase current
P63/AN209*1
Measurement of the intelligent power module (IPM) temperature
P71/MTIOC3B
Complementary PWM output (Up)
P72/MTIOC4A
Complementary PWM output (Vp)
P73/MTIOC4B
Complementary PWM output (Wp)
P74/MTIOC3D
Complementary PWM output (Un)
P75/MTIOC4C
Complementary PWM output (Vn)
P76/MTIOC4D
Complementary PWM output (Wn)
P70/POE0#
Input for the emergency signal for stopping
the PWM output on detection of an overcurrent
2.2 Hardware Specifications
2.2.1 User Interface
Table 2.1 lists the user interfaces for use in this system.
Table 2.1 User Interfaces
•
Table 2.2 lists the pin interfaces for use in this system.
Table 2.2 Pin Interfaces
Note 1. Not connected on the CPU board (function is disabled)
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
MCU
12-bit ADC
CMT
MTU3d
POE3b
• Inverter bus voltage
2.2.2 Peripheral Modules
The peripheral modules for use with this system are listed below.
Table 2.3 Peripheral Modules for Use with the Sample Program
RX66T
•
Individual currents of
U/V/W phases
1-ms interval
timer
Complementary
PWM output
Initialization of the complementary PWM output port
(The pins being used for PWM output are placed in the high-
impedance state and PWM output is stopped)
(1) 12-bit A/D converter
Using 12-bit A/D converters to measure the U-, V-, and W-phase currents (I
voltage (V
).
dc
, Iv, and Iw), inverter bus
u
The operating mode differs for each converter unit. Unit 0 is set to group scan mode, with use of the
sample-and-hold function (use synchronous trigger to start conversion) and unit 2 is set to continuous
scan mode.
(2) Compare match timer (CMT)
Channel 0 of the compare match timer is used as a 1-ms interval timer.
(3) Multi-function timer pulse unit 3 (MTU3d)
The operating mode varies with channels, with channels 3 and 4 being used in complementary PWM
mode to output an active-high signal that includes dead time.
(4) Port output enable 3 (POE3)
When an overcurrent is detected (indicated by a falling edge on the POE0# pin) or when an output shortcircuit is detected, the pins being used for PWM output are placed in the high-impedance state, PWM
output is stopped, and the complementary PWM output port pins are initialized.
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Sample Program
Name
File Name
Description
2.3 Software Configuration
2.3.1 File Configuration
Table 2.4 lists the folders and files for this sample program.
Table 2.4 Folders and Files for the Sample Program [1]
Folder
RX66T100_T1102_
3IM_LESS_FOC_
CSP_FAN_V100
Inc main.h Main function and user interface control header file
Ics ICS2_RX66T.lib ICS library
Src main.c Main function and user interface control header file
mtr_common.h Common definitions header file
mtr_ctrl_t1102.h Board-dependent processing header file
mtr_ctrl_rx66t100.h RX66T-dependent processing header file
mtr_3im_less_foc.h Sensorless vector control header file
control_parameter.h Control parameter header file
motor_parameter.h Motor parameter header file
mtr_ctrl_rx66t100_t1102.h Board- and RX66T-dependent processing header file
r_init_clock.h Hader file for initial setting of the clock signals for the RX66T
r_init_port_initialize.h Header file for initialization of the RX66T port pins
r_init_rom_cache.h Header file for initialization of the ROM cache of the RX66T
r_init_stop_module.h Header file for stop processing of peripheral modules of the
RX66T
ICS2_RX66T.h ICS library header file
mtr_ctrl_t1102.c Board-dependent processing
mtr_ctrl_rx66t100.c RX66T-dependent processing
mtr_interrupt.c Interrupt handlers
mtr_3im_less_foc.c Sensorless vector control
mtr_ctrl_rx66t100_t1102.c Board- and RX66T-dependent processing
r_init_clock.c Initial setting of the clock signals for the RX66T
r_init_port_initialize.c Initialization processing of the RX66T port pins
r_init_rom_cache.c Initialization processing of the ROM cache of the RX66T
r_init_stop_module.c Stop processing of the peripheral modules of the RX66T
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Layer
File
Application layer
main.c
Motor control layer
mtr_3im_less_foc.c
Hardware control layer
mtr_ctrl_rx66t100_t1102.c
r_init_stop_module.c
Application layer
Hardware control layer
Hardware
T1102 inverter board and the RX66T microcontroller
Motor control layer
2.3.2 Configuration of the Sample Program
The software modules used in this sample program are shown in Figure 2.2 and Table 2.5.
User interface control
Sensorless vector control
MCU-dependent processing and inverter board-dependent processing
Figure 2.2 Configuration of the Software Modules Used in the Sample Program
Table 2.5 Configuration of the Software Modules Used in the sample Program [1]
mtr_ctrl_rx66t100.c
mtr_ctrl_t1102.c
r_init_clock.c
r_init_port_initialize.c
r_init_rom_cache.c
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Item
Description
Control method
Vector control
Starting and stopping of
Handled by RMW (See the ‘com_s2_mode_system’ variable in Table 4.1.)
Detection of rotor's
magnetic pole position
Sensorless
Input voltage
AC 220 V
Carrier frequency (PWM)
16 kHz
Control period
125 µs (twice the carrier period)
Rotational speed range
500 rpm to 2000 rpm *1
System protection
• The motor control signal outputs (6 lines) are set to the inactive level in
(detection of a falling edge on the POE0# pin).
2.4 Software Specifications
Table 2.6 lists the basic specifications of this system software. See the Motor Control Application: Vector
Control of Three-Phase Induction Motor (Algorithms) for details on the vector control.
Table 2.6 Basic Specifications of the Vector Control Program (for Sample Program [1])
motor rotation
response to any of the following four conditions.
1. The current in any phase exceeds 3 A (monitored once every 125 µs).
2. The inverter bus voltage exceeds 420 V (monitored once every 125
µs).
3. The inverter bus voltage falls below 0 V (monitored once every 125
µs).
4. The speed exceeds 2600 rpm (monitored once every 125 µs).
• The pins being used for PWM output are placed in the high-impedance
state in response to external input of an overcurrent detection signal
Note 1. There may be a difference between the actual speed and the reference speed depending on the
working environment.
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Item
Sample
Program
Conversion Ratio
(Inverter bus voltage: A/D converted value)
Channel
Inverter bus voltage
[1]
0 V to 686.5 V: 0000H to 0FFFH
AN208
Item
Sample
Program
Conversion Ratio
(U-, V-, W-phase currents: A/D converted value)
Channel
U-, V-, W-phase
[1]
-50 A to 50 A: 0000H to 0FFFH
Iu: AN000
3. Control Program
This section describes the sample program covered in this application note.
3.1 Control
3.1.1 Starting and Stopping the Motor
Starting and stopping of the motor are controlled by using RMW to set a value to the motor operation
variable “com_s2_mode_system”.
The variable for motor operation is read in the main loop, and if the value is found to have been changed, it
is determined that the user has set by using PMW, and the state changes according to the value. As shown
in Table 4.1, write ‘1’ to the motor operation variable will change the motor to the running state, and write ‘0’
to the motor operation variable will change the motor to the stopped state. Also write ‘3’ to the motor
operation variable will reset the error state.
3.1.2 Motor Rotation Speed Command
Using RMW to set rotation speed command value in ‘com_s2_ref_speed_rpm’. The unit of the speed
command value is rpm.
3.1.3 Inverter Bus Voltage
As shown in the table below, the measured values of the inverter bus voltage are used in producing the
modulation factor and for overvoltage detection. Detection of abnormal voltages leads to stopping of the
PWM output.
Table 3.1 Conversion Ratio for Inverter Bus Voltage
3.1.4 Phase Current
As shown in the table below, the measured values of U-, V-, and W-phase currents are used for vector
control and overcurrent detection.
Table 3.2 Conversion Ratio for U-, V-, W-Phase Currents
currents
Iv: AN001
Iw: AN002
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
U V
W
ωt
ωt
ωt
ωt
U-phase switching waveform
V-phase switching waveform
Voltage between the U and V lines
(U-phase waveform) – (V-phase waveform)
Modulated wave: Command voltage value
Carrier wave (triangle wave): Produced through counting by the MTU3d timer
3.1.5 Modulation
In this sample program, the voltage to be input to the motor is generated by pulse width modulation (PWM).
Comparison of the PWM waveform with a triangular waveform determines the pulse width for use in
providing the input voltage.
(1) Triangle Wave Comparison Method
This is the method for the physical output of the desired voltage. The pulse width for the voltage to be output
is determined on the basis of the results of comparing the command voltage waveform with the carrier
waveform (triangle wave). The desired voltage is output as a pseudo-sinusoidal waveform by switching the
output on when the voltage is greater than that produced by the carrier wave and off when the voltage is
lower than that produced by the carrier wave.
Figure 3.1 Concepts of Triangle Wave Comparison Method
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Average voltage
t
V
T
ON
T
OFF
T
ON
+ T
OFF
T
ON
Duty = × 100 [%]
E
V
m =
m: Modulation factor V: Command value voltage E: Inverter bus voltage
Here, as shown in Figure 3.2, the ratio of the output voltage pulse to the carrier wave is called duty.
The modulation factor m is defined as follows.
Figure 3.2 Definition of Duty
A desired control is accomplished by setting this modulation factor to the register for use in determining the
PWM duty.
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
RUN MODE
START MODE
[ when offset current detection finish ]
BOOT MODE
CONTROL MODE
[ERROR EVENT]
ERROR MODE
STOP MODE
[RESET EVENT]
[STOP EVENT]
[RUN EVENT]
RESET
3.1.6 State Transitions
Figure 3.3 shows the state transitions within the sensorless vector control program.
Figure 3.3 State Transitions within the Sensorless Vector Control Program
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RX66T Implementation
Vector Control of Three-Phase Induction
Motor Used in Driving a Fan
Error
Item
Value
Overcurrent error
Overcurrent limit value [A]
3
Monitoring cycle [µs]
125
Overvoltage error
Overvoltage limit value [V]
420
Monitoring cycle [µs]
125
Undervoltage error
Undervoltage limit value [V]
0
Monitoring cycle [µs]
125
Rotational speed error
Speed limit value [rad/s] (electrical angle)
272
Monitoring cycle [µs]
125
3.1.7 System Protection Functions
This control program detects the following five errors and initiates an emergency stop in response to each of
them. See Table 3.3 for the values used for the system protection functions.
• Overcurrent error
The PWM output pins are placed in the high-impedance state in response to an emergency stop signal
(over current detection) from the hardware.
In addition, U-, V-, and W-phase currents are monitored in overcurrent monitoring cycles. When an
overcurrent (the current exceeding the overcurrent limit value) is detected, the CPU initiates an
emergency stop of the PWM output (in response to detection by the software).
• Overvoltage error
The inverter bus voltage is monitored in overvoltage monitoring cycles. When an overvoltage (the voltage
exceeding the overvoltage limit value) is detected, the CPU initiates an emergency stop of the PWM
output.
• Undervoltage error
The inverter bus voltage is monitored in low-voltage monitoring cycles. The CPU initiates an emergency
stop of the PWM output when low voltage (the voltage falls below the limit value) is detected.
• Rotational speed error
Rotational speed is monitored in speed monitoring cycles and if the speed limit is exceeded, the CPU
initiates an emergency stop of the PWM output.
Table 3.3 Values for the System Protection Functions in Sample Program [1]
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