PIERS Proceedings, Marrakesh, MOROCCO, March 2023, 2011

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Measurement and Signal Processing for Electric Drive Control

System
P. Brandstetter, P. Bilek, J. Szotkowski, and P. Vaculik
Department of Electronics, VSB-Technical University of Ostrava, Czech Republic

Abstract Paper is focused on presentation of possibilities which come with application of

digital signal processing into area of electric drives control. In the paper, description of control
system, structures for measurement and signal processing of analogue and digital signals are
presented. Hardware and software realization of these devices are shown, and also description of
control structure which is used for digital signal processing. In conclusion, experimental results
of used control system are presented.
1. INTRODUCTION

Expansion and miniaturization of microprocessor control systems allows significant reduction of

cost, dimensions and also simplify usage of microprocessor control systems into wide area of application. Digital signal processing allows to great improvement of control parameters and increases
quality of technological processes. It allows simple remote control of the process and communication with superior control system. The application of control system with digital signal processing
will be demonstrated on control system of electric drive.
2. DESCRIPTION OF CONTROL SYSTEM

Structure of control system may be divided to three levels. This division is realized according to
type of signals which are present at particular level of control system. The basic structure of control
system is shown at Figure 1. The highest level is the digital signal processing (DSP) unit itself. A
software signal processing and A/D conversion is realized at this level.
To connect DSP unit to the drive, second level called interface is necessary. At this level, input
signal level conversion is realized to enable connection of sensors to the DSP unit. Next function
of interface level is power boosting of output signals which allows connection of DSP unit to the
driver of electric drive.
The bottom level of control system is drive level. Acquisition of necessary signals from electric
drive is provided by measuring elements.
3. MEASUREMENT

It is necessary to require measured signals in enough quality to provide good functionality of the
whole control structure. To provide this, several demands must be adhered [3]: enough accuracy, high noise resistance, dynamic range, galvanic insulation between measured signal and sensor
output.

A/D
conversion

DSP

DSP
UNIT

Signal conversion

Output
processing

INTERFACE

Measurement

Electric drive

DRIVE
LEVEL

Figure 1: Structure of control system.

Progress In Electromagnetics Research Symposium Proceedings, Marrakesh, Morocco, Mar. 2023, 2011 1417
3.1. Measurement of Voltages and Currents

To measure voltages and currents, sensors based on Hall Effect were used. These sensors provide
galvanic insulation and enough dynamic range of measurement. The output quantity of sensor is
current which is converted to voltage signal on measurement resistor Rm . The measurement resistor
is situated as close as possible to input of A/D converter. Schematic representation of sensor is
shown at Figure 2.
3.2. Speed Measurement

Usually, the incremental encoder is used to measure speed of electric drive. There are two rectangular signals at the output of incremental sensor, shifted by 90 angle. Number of pulses per one
round depends on mechanical construction of the incremental encoder. Rotor position change is
evaluated by counter, direction of position change is evaluated from mutual shift of signals UA a
UB . Output signals of incremental encoder are presented at Figure 3. For very low speed range,
incremental encoder with sinusoidal output signals may be used. These signals cannot be directly
connected with input of DSP, transformation to rectangular signal is necessary. Realization of this
transformation is presented at next chapter.
4. SIGNAL LEVEL CONVERSION

Usually, signals from sensors cannot be directly attached to DSP, because level of voltage output
differs with possibilities of input gate of DSP. Signal level conversion is necessary in many cases to
allow connection between sensor and DSP. Next important function of interface level is over-voltage
protection of DSP input gate.
4.1. Processing of Signals from Voltage and Current Sensors

Principle of signal conversion is shown at Figure 4. The signal level conversion may be realized
by two ways. The first way is application of operational amplifier. This solution requires high
quality low noise devices and many circuits are necessary to process larger quantity of signals. All
these conditions increases cost of the interface level. Better solution of signal level conversion is
application of reference voltage source. Reference voltage merged to measurement resistor provides
the same voltage shift as provides operational amplifier, with less circuitry and cost. Schematics of
both variants of signal level conversion block are shown at Figure 5. Input and output signals of
signal level conversion block are presented at Figure 6.
4.2. Processing of Signals from Incremental Encoder

Application of incremental encoder with TTL signal output requires no signal conversion; interface
level provides only protection of DSP.
The connection of incremental encoder with sinusoidal output to DSP requires signal conversion
of output signals to voltage levels, which can be interpreted by counter of DSP (see Figure 7).
Signal processing of signal from incremental encoder with sinusoidal output is shown at Figure 8.

UA, UB [V]

6
4
2
0
-100

Figure 2: Schematic representation of sensor.

1.65 V
Rm
-1.65 V

Figure 4: Principle of signal conversion.

50

100

Figure 3: Signals of incremental encoder.

Offset 1.65 V
To A/D
++

Sensor

0
t [s]

R2

R1

D1

R Us

>

Iabc

-50

Um

R3
Ushift

D2

D1

Us

>

R4

Uz =3V Uadc

0V

D2
Ushift

Uz=3V

Uadc

Figure 5: Schematics of signal level conversion blocks.

PIERS Proceedings, Marrakesh, MOROCCO, March 2023, 2011

0.4

3.3

0.2

2.475
Uadc [V]

U [V]

1418

0
-0.2
-0.4
-250

1.65
0.825

-200

-150

-100

-50

0
t [ms]

50

100

150

200

0
-250

250

-200

-150

-100

-50

0
t [ms]

50

100

150

200

250

Figure 6: Input signal (left) and output signal (right) at signal level conversion block.

UAsin [V*4], UA [V]

6
4
2
0
-2
-4
-60

Figure 7: Incremental encoder signal processing

block.

-40

-20

0
t [ s]

20

40

60

Figure 8: Signals from input and output of incremental encoder signal processing block.

Figure 9: ADC block scheme.

5. DSP SIGNAL PROCESSING

5.1. Analogue Signal Conversion to Digital Form

The analog digital converter (ADC) consists of two converters working independently. Each of them
include eight analog inputs and the own sample-hold unit (SHU). The basic parameters of ADC
are: input analogue voltage from 0 to 3.3 V, the differential inputs are supported, 12 bit resolution
(4096 levels), maximum speed is 1.7 M samples per second.
The signal processing of controlled AC machines its necessary to convert at least two channels
at same time. Two phase currents measuring of delta connected machines is the reason. The
worst but possible variant is using two SHU and sequential samples conversion by single ADC. The
conversion speed and number of distinguishable levels are the parameters influence the regulation
quality. The benefit of the ADC is the minimum and maximum values monitoring, which is allowed
to be use like software protection against over current and short-circuit. It is possible to say that
used ADC is suitable for this application. The Figure 9 shows how the signal passes through ADC
and its processing.
For channels connected with common signal ground there is easy relation between analogue and
digital values. Arithmetic-logic unit 56F8037 allows to process two basic data types: integer 8, 16,
32 bits (signed or unsigned) and fraction 16 or 32 bits (only signed).
The both type can be converged for each other. The benefit of fraction type against integer is
correct result at multiplying of high numbers. The overflow cannot occur because the product can
be less than coefficient only. But on the other side the information loss is expected when the low
number are multiplying. The main data type of our digital processing was chosen fraction type,
especially owing to the software libraries, because the librarys functions were created for fraction
type mostly.

Progress In Electromagnetics Research Symposium Proceedings, Marrakesh, Morocco, Mar. 2023, 2011 1419
5.2. Digital Signal Processing

The software processing gives very interesting possibilities, how quickly, effectively and casual
resolve the problems. We know that there is special software for resolving almost all kind of
problems. In our case the facility is digital signal controller (DSC) 56F8037 and the software is
development environment called Code Warrior.
5.3. Control Structure and the Main Principle

The signal processing was designed for the vector control of AC machines. The following Figure 10
shows control structure for permanent magnet synchronous motor (SMPM). After signal conversion
to digital form expressed as integer type we have to convert it to fraction type. It is necessary
to measure actual rotor position for creating the system of coordinates, which always has same
direction like rotor. The position sensor is a source of two signals with 90 degrees phase shift. The
signals are connected with timer through the differentiating amplifier. There is an actual rotor
angle saved in timer register after its correct setting. The Clarke transformation (marked 3/2 on
the figure) transfers measured phase currents into orthogonal coordination system. Using Park
transformation (marked /dq on the figure) we obtain rotating orthogonal coordinate system
oriented like rotor. The controllers were chosen PI type or I type with limitation their outputs.
The last part is a modulation [1, 2].
5.4. Output Signals

The last block of signal processing is PWM modulator. It converts three digital values on also three
two-level signal with changing their ratio. The obtained signals have voltage from 0 to 3.3 V and
they will not damage by TTL logic if the open collector property is set. The driver need higher
voltage (MOS levels) so there is a levels converter for readjusting differ voltages.
6. EXPERIMENTAL RESULTS

The control system with the DSC 56F8037 provides digital signal processing. The next Figures 11
and 12 show four stages of digital processing. The SMPM ran up, reversed and stopped on the end.

Figure 10: Control structure of AC drive with permanent magnet synchronous motor.

Figure 11: Analogue signals of phase currents ia ,

ib on the ADC inputs (1 V = 16.67 A).

Figure 12: Measured stator currents in three different system of coordinates.

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PIERS Proceedings, Marrakesh, MOROCCO, March 2023, 2011

From the top there are measured phases currents at stator system of coordinates, two components
and rotor coordinate system. At last one there are supply voltages in other words they are the
output from regulators multiplied DC bus voltage.
7. CONCLUSION

The paper deals with digital signal processing for applications in electric drives control. It was
shown the techniques with analog and digital signals which are verified on practice application of
AC drive control.
ACKNOWLEDGMENT

In the paper there are the results of the project 102/08/0755 which was supported by The Czech
Science Foundation (GA CR) and project SP/201098 which was supported by Student Grant Competition of VSB-TUO.
REFERENCES

1. Brandstetter, P., A.C. Control Drives Modern Control Methods, VSB-Technical University
of Ostrava, 1999, ISBN 80-7078-668-X.
2. Chlebis, P., P. Moravcik, and P. Simonik, New method of direct torque control for threelevel voltage inverter, Proceedings of 13th European Conference on Power Electronics and
Applications, Barcelona, Spain, 2009, ISBN 978-1-4244-4432-8.
3. Osmancik, L., M. Polak, P. Simonik, L. Hrdina, P. Skotnica, and P. Palacky, Digital signal
processor TMS320F2812 and its application in electric drives, Proceedings of International
Conference on Applied Electronics, 129132, Pilsen, Czech Republic, 2006, ISBN 978-80-7043442-0.