Design of a Universal Space Vector PWM Controller
Based on FPGA
Zhaoyong Zhou and Tiecai Li
Department of Electrical Engineering
Harbin Institute of Technology
Harbin, China
E-mail: zhouzy@hit.edu.cn
Toshio Takahashi and Eddy Ho
Digital Control IC Design Center
International Rectifier
California, USA
E-mail: ttakaha1@irf.com
Abstract—This paper presents a new design scheme of space
vector PWM integrated circuit, including linear and
overmodulation ranges. The proposed scheme is implemented
and verified on a single Xilinx FPGA. Experimental results show
that this controller can present an excellent drive performance
and its switching frequency, which can be set to 40kHz, is
adjustable as well as its dead time. The SVPWM IC has been
used in closed vector control of AC servo drive system.
Keywords-SVPWM; FPGA; overmodulation
I. INTRODUCTION
Space vector pulse-width modulation (SVPWM), which
was first advanced by Van Der Broeck in the middle 1980s [1],
is one of the most popular technology in modern high
performance AC servo drive systems. Up to now, its theories
and algorithms have been well developed and applied more and
more widely with the progress of power electronics. Compared
with sinusoidal PWM, which is another useful modulation
strategy, the linear range of the SVPWM is 15% higher than
the SPWM; furthermore, the SVPWM can continuously
change from linear to overmodulation and six-step mode with a
superior utility factor of the DC bus voltage [2]-[4].
In most engineering practice, the SVPWM algorithm is
mainly implemented with software based on DSP or MCU [5].
This method is very flexible and can realize complex
algorithms, but it has some disadvantages, such as long
development period, poor reuse of codes and more CPU
resources. Once the control algorithms are very sophisticated or
changes must to be made, some unwanted problems can
appear. Thus, the purely software-based technique is not an
ideal solution. In practice, what we need is high performance,
low cost and inheritability. Fortunately, a new design
methodology that can satisfy our demands has arisen in recent
years; that is FPGA-based hardware implementation
technology [6]. Because of the programmable characteristic of
FPGA and IP cores, users can design their own ASIC in lab
according to their schemes, instead of participation of the
semiconductor manufacturer. In addition, since FPGA can
carry out parallel processing by means of hardware mode,
which occupies nothing of the CPU, the system can get a very
high speed level as well as an exciting precision. This novel
design methodology has now been used in high performance
motion control field, such as [7] and [8]. Literature [7]
proposed a universal SVPWM controller with overmodulation
and dead time compensation, but it is not a flexible design and
its switching frequency can not be set arbitrarily; besides, the
design needs an extra EPROM to storage sine and cosine
values as a lookup table, so its resolution is not high. In [8], the
constructed IC has a strong function but unfortunately it does
not include overmodulaton range and also needs additional
EPROM.
In this paper, a different design idea is provided to realize
the registered universal SVPWM algorithm, which is designed
in International Rectifier iMOTION products such as the
IRMCK201/IRMCK202 digital control ICs, and being applied
to the real industry application. The proposed algorithm
incorporates the overmodulation range and separates the sine
generator to implement by an independent CORDIC module
instead of a lookup table [9]. In detail, this paper is organized
as follows. In section II, SVPWM principle is briefly reviewed
and the relevant expressions are derived. Section III describes
the hardware design scheme. Section IV implements the
circuits on a low cost FPGA and shows the experimental
results. In section V some conclusions are drawn.
II. P
RINCIPLE OF THE SVPWM
Fig.1 illustrates the traditional circuitry structure of the
three-phase PWM inverter and AC motor windings, where u
UN
,
u
VN
and u
WN
are the three-phase instantaneous voltages with
respect to the neutral point N, and u
UO
, u
VO
and u
WO
are the
three-phase instantaneous voltages with respect to the ground,
and u
NO
is the neutral point voltage with respect to the ground.
U
dc
is the voltage of the DC bus. Thus,
(1)
The voltage space vector of the motor windings can be
defined as follows:
(2)
where .
+=
+=
+=
NOWNWO
NOVNVO
NOUNUO
uuu
uuu
uuu
()
WN
2
VNUN
3
2
uaauuU ++=
r
ππ
3
4
2
3
2
,
jj
eaea ==
0-7803-8269-2/04/$17.00 (C) 2004 IEEE 1698
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