The Design of a Speed Regulator of DC motor Based

on TMS320LF2407A and AT89C51

Zhen Wang Lingshun Liu
Department of Control Engineering, Naval Aeronautical and Department of Control Engineering, Naval Aeronautical and
Astronautical University Astronautical University
Yan Tai, China Yan Tai, China
[email protected]

Abstract—According to the requirements of a DC motor speed on circuit, under-voltage protection circuit, over-current protec-
control system, a Dual-Closed-Loop Speed Regulator has been tion circuits, LCD circuits, and keyboard input circuit.
designed, with the AT89C51 and TMS320LF2407A is the MCU
of this regulator. The function of TMS320LF2407A is sampling
and regulating the speed of the DC motor, and the function of
AT89C51 is inputting and displaying the speed of the DC motor.
The hardware block diagram, program charts, and part of the
program have been introduced in this paper. Experimental
results have shown that this speed regulator had the advantages
of fast dynamic response, high control precision, real-time
display, data storage and strong anti-interference.

Keywords- TMS320LF2407A; AT89C51; Real-time display;

Data storage

I. INTRODUCTION
DC motor has always been used to the position control and Figure 1. System hardware block diagram
speed control because of the good linear characteristics in spee-
d control, the simple control performance and the high efficien- A. AT89C51 control unit [1]
cy features smooth operation. Although the AC motor perform- The following functions was realized by AT89C51 control
ance has been deeply evolved because of VVVF-power re-cent unit: First, the input of a reference speed through the keyboard;
years, but its speed regulator performance still can’t com-pare Second the display of the reference speed, the motor starting s-
with the DC motor. peed and reach steady state speed by liquid crystal; Third readi-
Along with the appliance of micro-computer and power ng data from dual-port RAM or writing data to dual-port RAM;
components, the pulse width modulation (PWM) control can be Fourth writing the data read from dual-port RAM to host com-
widely used to the domain of motor speed regulation. puter by USB interface circuit or to the simulator by D/A outp-
Compared to other controllers, DSP has advantages of high ut circuit.
operational speed, fewer peripheral hardware etc, so it can be The LCD display module isOCMJ4X8B-2; the keyboard
widely used in digital control of motors. In this paper, a digital is used to input the reference speed or choice Chinese characte-
DC motor speed regulator has been designed based on rs which has been stored in AT89C51; dual-port module is use-
TMS320LF2407A and AT89C51; experimental results have d to store the data of waveform which is sampled by TMS320-
shown that this regulator has advantages of real-time display, LF2407A [2] [3].
data storage, and fast dynamic response, high control precision
and strong anti-interference. B. TMS320LF2407A control unit
The control circuit diagram based onTMS320LF2407A is
II. HARDWARE DESIGN shown in Figure 2. The control unit circuit includes four opto-
The hardware block diagram of the closed-loop speed regul- isolation circuits, speed sampling circuit, current sensing circuit
[4]
ator based on TMS320LF2407A is shown in Figure 1. System and the voltage sampling circuit. And the functions such as
main circuit is an AC / DC / AC voltage converters, and power over-voltage protection, under-voltage protection, over-current
device is the smart power module IPM. This IPM contains the protection and speed control etc have been completed by this
four IGBT and four freewheeling diode which is anti-parallel control circuit.
connection with the IGBT. The control circuit is composed by Opto-isolation circuit consists of four TLP127 and the co-
AT89C51 control unit, TMS320LF2407A control unit, current rresponding current-limiting resistor, mainly to complete the f-
detection circuit, speed detection circuit, over-voltage protecti- unctions of the PWM signal amplification and the electrical

978-1-4244-7161-4/10/$26.00 ©2010 IEEE

isolation between TMS320LF2407A and Intelligent Power method was used to adjust the voltage of DC motor to regulate
Module. the speed.
The 1024 rotating line Omron encoder E6B2-CWZ6C is
used in the speed sampling circuit, after the output-pulse of
encoder was multiplied four by TMS320LF2407A , then the
pulse can be achieved 4096 pulses per revolution, thus the acc-
uracy of speed control was ensured. According to the differen-
ce between the sampling-speed and the reference-speed, the
width of output-pulse was adjusted by DSP, and then the volta-
ge of DC motor was adjusted, so the speed of motor was
regulated. Figure 3. Block diagram of closed-loop speed control system
Current sampling circuit are two current sensor CN61M/- dI a
TBC25C04; one is used to sample the instantaneous DC bus U a − (I a R + L )
current, which current compared with the reference current and n= dt 㧔1㧕
decided whether the DSP shut down output-pulse; another is K eΦ
used to sample the motor current, so that this current is a
constant when the motor’s speed was regulating, thereby the Of which: n is the motor speed; U a is the armature
output torque is a constant. The ports ADCIN00 and ADCIN01 voltage; I a is the armature current; R is the total resistance of
of DSP is used to complete the function of current sampling
circuit in this paper. the armature circuit; L is the total inductance of armature
The port ADCIN02 of DSP is used to DC bus voltage circuit; K e is the induced electromotive force constant ; Φ is
sampling, when DC bus voltage is lower or upper the reference the pole flux.
voltage, the output-pulse is shut down, then the function of
over-voltage protection or under-voltage protection is dω
completed. TM = K T I a = TL + J (2)
dt
Of which: TM is the motor electromagnetic torque; K T is
the motor torque constant; TL is the load torque; ω is the mo-
tor angular velocity; J is the motor shaft inertia.

B. Program flow chart

The function of the input of reference speed and the
display of the real-time speed was completed by AT89C51
control circuit, which program flow chart was shown in Figure
4 (a). After power, the reference speed was read from the port
P1 of the AT89C51, then this speed was written to the dual-
port RAM., simultaneously, this reference speed was displayed
by LCD display module, and the display range is 0 ~ 9999r/mi-
n. When TMS320LF2407A start work, AT89C51 first determi-
Figure 2. TMS320LF2407A control unit circuit diagram ne whether the reference speed changed; if changed, then this
speed is written to dual-port RAM speed and displayed, other-
III. SOFTWARE DESIGN wise, read the actual motor speed from the dual-port RAM and
display.
A. The principles of closed loop speed control The diagram of TMS320LF2407A main program was
The block diagram of the closed-loop speed regulator is shown in Figure 4 (b). First the initial state settings (including
shown in Figure 3. The input of the reference speed is comp- the relevant variables sampling, data storage, etc.) was comple-
leted by the AT89C51 control circuit, and the speed PI regul- ted after initialization, and then read out a reference speed, and
ator, current PI regulator and the speed feedback calcu-lation determine whether the actual speed reached the reference
are completed by the TMS320LF2407A. The real-time sam- speed; if reached, then the output-pulse unchanged; if not
pling speed of motor is displayed by the liquid crystal display reached, then the interrupt handling subroutine was run, the
unit [5]. motor speed was regulated until the speed equal to the
By the formula (1), we know when the DC armature reference speed.
voltage was regulated, the speed can be adjusted; By the The interrupt subroutine flowchart was shown in Figure 4
formula (2),only the armature current was not regulated, the (c) [6]. When the subroutine program was run, the sampling-
speed can be a constant. In this paper, the PWM control current of DC motor was red from the dual-port RAM, this
current compared with a reference current, and regulated by the
method of PI. Then the speed of DC motor was sampled and
stored in the dual-port RAM. If this speed wasn’t equal to the
reference, the speed was regulator by the method of PI, else,
the duty of PWM pulse was changed, and then the subroutine
program was ended.
Initialization

Read Reference Speed

Write Reference
Speed to Dual-RAM

Display Speed (c)interrupt subroutine flowchart

Figure 4 Program flow chart

Read IV. THE RESULTS OF EXPERIMENT

Y
Input? Reference
Speed When there isn’t load, the feedback speed of DC motor and
N the current of the stator of DC motor were sampled. The sampl-
ing-data was input the host computer through USB port, and
Read Real-Speed the waveform (shown as Figure 5 (a) and (b)) were plotted by
from Dual-RAM
computer. In Figure 5, the horizontal axis is the timeline; the
data sampling period was 0.01s. It has been shown in the expe-
(a)AT89C51 process flow diagram
rimental waveform; in a short time (about 20s) the speed of
motor reached 1000r/min, which was the reference speed. In
the startup process, the stator current had some fluctuations be-
Initialization cause of PWM control, but when the speed reached the referen-
ce speed, the stator current has quickly been stabilized.

Read Reference Speed

from Dual-RAM

Arrive Y
Reference
Speed?

Interrupt Program ˄a˅the feedback speed waveform and the stator current waveform when
motor startup with no load

(b)TMS320LF2407A main program flow chart

(b) the feedback speed waveform and the reference speed waveform when the
motor was accelerated suddenly
Figure 5 Experimental waveforms
When the motor is running, changing the speed (for
example to accelerate the speed from 100r/min to 1000r/min),
then sampling the reference speed and the feedback speed, the
sampling-data was transferred to the PC , the waveform was
plotted as shown in Figure 5(b). It could be concluded from the
waveforms of experiment that the actual speed reached the REFERENCES
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ACKNOWLEDGMENT speed low-voltage brushless DC motor control system, Electronic
The authors are grateful to an anonymous reviewer, and to Measurement and Instrument Technology [J], 2004 Supplement, pp: 915
~ 916 (In Chinese).
Lingshun Liu, and Di Liu for comments that helped improve
the paper.