Introduction of ACIM and PMSM Motor · PDF filein AC induction and permanent magnet...

TM

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc.,

Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, CoreNet, the Energy Efficient Solutions logo, Flexis, MXC, Platform in a Package, Processor Expert, QorIQ, QUICC Engine, SMARTMOS, TurboLink

and VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc.

IND-F0487

Introduction of ACIM and PMSM Motor Control

August, 2010

Charlie Wu

Senior Member, Technical Staff

TMFreescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc.,


and VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc. 2

Intelligent motor control can reduce the energy consumption

in AC induction and permanent magnet synchronous motors

by 30 percent or more.

This session introduces inverter-based motor control principles

and demonstrates a three phase permanent magnet

synchronous motor control.

Participants gain knowledge of the application and overview

of Freescale motor control portfolio.

Participants discover the use of Freescale's CodeWarrior

development environment for code development assistance

and debugging.

Abstract




Agenda

Electric Motor Type Classification

Vector Control of AC Motors:

Principle of Operation

Position Sensor Elimination:

Sensorless Speed Vector Control

Freescale Motor Control Solution

Enablement and Development Tools





ELECTRIC MOTORS

AC DC

SYNCHRONOUSASYNCHRONOUS

BrushlessInduction Reluctance StepperSinusoidal

Permanent Magnet

Wound Field

Surface PM

Interior PM

• Stator same

• Difference in Rotor Construction

If properly controlled:

• Provides constant torque

• Low torque ripple

SR

VARIABLE RELUCTANCE




Global Motor Control Markets and Applications

Appliance Typical Motor Type• Washing machine/Dishwasher/Dryer ACIM, PMSM

• Refrigerator/Freezer BLDC

• Shaver DC

• Drills DC

• Vacuum Cleaner SR

Industrial• Factory automation Stepper

• Robotic systems Universal, BLDC

• Compressors ACIM, PMSM

• Fans BLDC

• Air conditioning ACIM, BLDC, PMSM

• Elevators ACIM

• Shutters BLDC

• Gates DC

• Surveillance platforms DC




Typical Motor Control MCU Peripherals Function

Timer:• PWM signals < 20Khz

• Dead time insertion

• Commutation (mask-out)

• ADC triggering

• Fault control

ADC• Measure current

Delay block• Set ADC measurement at

specific times

Position decoder• Quadrature decoder inputs if not

sensorless

6 ch PWM

timer

12 bit ADC

Fault inputs

Prog delay

Position

decoder




Choosing Your MCU Depends Upon …

The same application may have different performance if implemented on

different MCUs

The peripheral features can significantly impact performance of target

application, not CPU only

Application Features should be considered

• Type of motor

• Type of load

• Operational mode

• Minimal speed

• Maximal speed

7

• Current control

• Speed control and/or position control

• Number of PID controllers

• Fault control

• System Cost!




Agenda




Position Sensor Elimination: Sensorless

Speed Vector Control






Understanding the Motor Basics

•The stator of a Permanent Magnet DCMotor is composed of two or more permanent magnet pole pieces

•The rotor is composed of windings which are connected to a mechanical commutator. In this case, the rotor has three pole pairs

DC Motor Torque Establishment DC Motor Principle

Right Hand Rule

I = Current Flow

B = Magnetice Field

Brush DC motor control is simple:

Apply voltage Commutation occurs mechanically




Simple Model of a DC Motor

Resistor Inductor

+

-Back EMF

+

-

AppliedVoltage

E = Ke

e

ddd

K

dtdILRIV

Vd

Id

R L

Dynamic Motor speed:

►Speed is increased by increasing the voltage

►Torque is controlled by controlling the current

►Direction is determined by the direction of the current

DC Motor Equivalent Circuit




Asynchronous v. Synchronous

►3-phase winding on the stator distributed or concentrated

►Assumed sinusoidal flux distribution in air gap

►Different rotor construction and consequences ACIM

– Squirrel cage (rugged, reliable, economical)

– No brushes, no PM

– Low maintenance cost

Synchronous – Rotor with permanent magnet

– High efficiency (no rotor loses)

►Synchronous motor rotates at the same frequency

as the revolving magnetic field

►Asynchronous means that the mechanical speed

of the rotor is generally different from the speed

of the revolving magnetic field




Trapezoidal v. Sinusoidal PM Machine

►Sinusoidal or Sinewave machine means Synchronous (PMSM)

►Trapezoidal means Brushless DC (BLDC) motors

►Differences in flux distribution

►Six-Step control v. Field-Oriented Control

►Both requires position information

►BLDC Motor Control

• 2 of the 3 stator phases are excited at any time

• 1 unexcited phase used as sensor (BLDC Sensorless)

►Synchronous Motor

• All 3 phases persistently excited at any time

• Sensorless algorithm becomes complicated




Notice the rotor slip!

AC Induction Motor

►The STATOR windings are distributed around

the stator to produce a roughly sinusoidal

distribution

►When three phase ac voltages are applied

to the stator windings, a rotating magnetic

field is produced

►The ROTOR also consists of windings or,

more often, a copper squirrel cage

►An electric current is induced in the rotor

bars which also produce a magnetic fieldThe Rotor does not quite keep

up with the Rotating

Magnetic Field

of the stator.




►This motor exhibits a smoothly rotating magnetic field where the magnetic

gradient of the stator flux is illustrated by the color shading. There is no

commutation to cause motor jerking. But how do you create such a

smoothly rotating magnetic field????

Permanent Magnet AC Motor




3-Phase AC Voltage Generation on a per Phase Basis

►Each phase is considered a Half H-Bridge

►Complementary PWMs are used

►Dead-time is needed to prevent shoot through

►50% duty cycle Zero voltage on phase winding




Sinusoidal PWM Generation – ACIM / PMSM

100%

50%

0%

25%

75%

Du

ty C

yc

le

Phase A Phase B Phase C

Decrease Voltage to the motorIncrease Voltage to the motorIncrease Frequency to the motorDecrease Frequency to the motor




A

BC

A B C A

Rotating Space Vector

► To reverse rotation direction, swap the connection of any two phases

… or sequence the field in the opposite direction.

Space Vector Rotation Sequence

A

B C

This is how the rotating magnetic field is made




Principle of Field Oriented Control (Vector Control)

► All is about magnetic fields interaction

• Rotor Magnetic field

• Stator Magnetic field

► The torque/force is produced when both

fields form an non-zero angle

► Having the stator magnetic field leading

the rotor magnetic field forms an

electric motor

► Then FOC is to control the torque

• By the field angle

• By strength of the rotor magnetic field

• By strength of the stator magnetic field




Phase A

Phase B

Phase C

Phase A

Phase B

Phase C

d

q

d

q

3-Phaseto

2-Phase

Stationaryto

Rotating

Modulation

3-PhAC

3-PhAC

2-PhDC

2-PhAC

Rotatingto

Stationary

DC

Co

ntr

ol

Pro

ce

ss

How Do We Control a 3-Phase AC Process?

2-PhAC

Convert it to a 2-Phase DC Process!!

3-Phase AC

Control Process

Measure

d

Variable

(i.e

Curr

ent)

Contr

ol

Variable

(i.e

Voltage)




and are handled independently. Since the comparison

is performed in the rotating frame, motor AC frequency is not seen.

Thus, they are treated as DC quantities!

i d iq

can be used to weaken the field in both ACIM and PMSM machines

controls amount of instantaneous torque generated by the motor

i d

i q

Commanded id is set to zero since all the d-axis flux need is supplied by the

permanent magnets in the rotor.

This is how much torque we want!

Controlling the Fields

PMSM or ACIM

PMSM (id = 0)ACIM (id ≠ 0)

Commanded id is set to induce a field in

the rotor.

It is typically held constant unless field weakening is desired.

i d +

-

error(t)

+

-

error(t)

(commanded)

i d(measured)

i q

i q (commanded)

(measured)

PI

PI

vd

vq




Proportional Integral Derivative (PID) Controller

► The PID controller corrects the error between a measured variable and a

desired set-point

► The PID controller calculation involves 3 separate parameters

► Proportional – Determines the reaction to the current error

► Integral – Determines the reaction based on the sum of recent errors (i.e.

steady state error)

► Derivative – Determines the reaction to the rate at which the error has

been changing

► The weighted sum of these three actions is used to adjust the process via a

control element such as the position of a control valve or the power supply of a

heating element or the voltage to a motorA fast response may

require rapid calculation of

the PID output and this can

force the use of a higher

performing CPU core

(i.e. DSC, ColdFire, or PPC)




2-phase Stationaryto 3-phase Stationary

(Reverse Clark Transform)

sc

sb

sa

s

s

i

i

i

i

i

2

3

2

3

23

0

00

s

s

rfrf

rfrf

sq

sd

i

i

i

i

cossin

sincos

s

s

sc

sb

sa

i

i

i

i

i

3

131

3

131

32 0

sq

sd

rfrf

rfrf

s

s

i

i

i

i

cossin

sincos

3-phase Stationaryto 2-phase Stationary

(Forward Clark Transform)

2-phase Stationaryto 2-phase Synchronous

(Forward Park Transform)

2-phase Synchronousto 2-phase Stationary

(Reverse Park Transform)

rf

si

si

sdi

sqi

si

Transformation Calculations

sbi

sai

sci




Phase A

Phase B

Phase C

Phase A

Phase B

Phase C

d

q

d

q

3-Phaseto

2-Phase

Stationaryto

Rotating

Modulation

3-PhAC

3-PhAC

2-PhDC

2-PhAC

Rotatingto

Stationary

DCC

on

tro

lP

roc

es

s

FOC Transformation Summary

2-PhAC

Stationary Reference Frame Stationary Reference FrameRotating Reference Frame

ALL of these operations can be done on the Freescale DSC Family in about 20 uS!




d

i d

i q

PWMModule

va

M

Motorola

Dave’sControlCenter

6 TransistorPower Stage

Stationary to Synchronous

Frame

i a i b i c

i d i q

CurrentMeasurement

PIRegulators

v d vq

Synchronous to Stationary

Frame

vcvb

Field Orientation!

= 0

d

d

Put It All Together




FOC Principle – Block Diagram




Agenda











Rotor Position Sensor Elimination – Introduction

►FOC requires accurate position and velocity signals

►Conventional motion control systems uses resolvers or encoders

►Sensor, wirings, connectors increase the cost of the system and decrease

the reliability

►Application Sensorless PM Motor Control In

• Lower overall drive cost by eliminating mechanical position sensor

Cost sensitive application

Increase system performance for the same price

• Increase position resolution in collaboration of estimator and low cost

position sensor

Increase system performance

Back-up sensor

• Independent position sensing together with mechanical

Safety critical application

Increase system redundancy




Sensorless Methods for PM Motors

►Classifications of Sensorless Algorithms

• Utilization of Magnetic Saliency rotor position detected by tracking magnetic saliency

carrier signal superimposed to main voltage excitation

• Calculating an Appropriate Motor Model Proper motor parameters, voltage and current required

Issue at zero and low speed estimation– Measured current low, distortion by inverter non-idealities

– Parameter deviation becomes significant with lowering speed

• Combination of two sensorless algorithms covering the entire speed range




Sinusoidal PM Motor Model in Stationary Frame

►Salient v. Non-Salient Machine Model in stationary frame Stator Voltage Equations

Stator Flux Linkages of Non-Salient Machine

Stator Flux Linkages of Salient Machine

Saliency Inductance Matrix and Rotor Angle Calculation

0 cos

0 sin

s ss re

PM

s ss re

iL

iL

cos 2 sin 2 cos

sin 2 cos 2 sin

s sre re re

PM

s sre re re

iL L L

iL L L

cos 2 sin 2

sin 2 cos 2

re re

re re

L L L

L L L

L

0 0

0 0

s s ss

s s ss

u iR s

u iR s

12 21

11 22

2 tanre

L Larc

L L

ds

dt

position dependency




Sinusoidal PM Motor Model in DQ Rotating Frame

►Salient v. Non-Salient Machine Model in DQ rotating frame Stator Voltage Equations

Stator Flux Linkages of Non-Salient Machine

Stator Flux Linkages of Salient Machine

L the average inductance & L the zero-to-peak differential inductance

ds

dt

0

0

sd sdss re

sq sqss re

u iR s

u iR s

0 1

0 0

sd sds

PM

sq sqs

iL

iL

0 1

0 0

sd d sd

PM

sq q sq

L i

L i

2

qd LLL

2

d qL LL

d qL L

Direct & Quadrature Inductance

Not Equal




Extended Back EMF Definition

sin

cos

S R

d d q e e

d q e d q e e

ed q e d

u u YX

pL L Lu i iR L L i i k

u i iL L pL

►Computation of position dependent

information is contained in two

unknown voltage vectors conventional

ue and urel

►Symmetrical inductance matrix is

formed in dq frame then 2*e is

eliminated in frame

►Y term is extension of conventional

back EMF

0

sin sin 2 cos 22

cos cos 2 sin 2

S R L E REL

e e e

e re re

e e e

u u u u u

u i i iR pL k p L

u i i i




Sensorless Method in High Speed Region

► Since back EMF is not included in the

observer model, the current observer

acts as a state filter for Back EMF.

► State filter bandwith limits the

performance of the method.

Inverse tangent function

► With two inputs of the extended EMF

estimates

► Yields unfiltered rotor angle without any

speed information

Angle tracking observer

► Noise on the position estimate can be

filtered out without adding lag to the

estimate within its bandwidth

32




Sensorless Speed Control in Entire Speed Range

Speed Control Loop

Speed Estimation

PWM

Generation

Position Estimation

Hardware PortionSoftware Portion

Current Control Loop




Agenda


Vector Control of AC Motors: Principle

of Operation







and VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc. 3535 35




and VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc. 3636 36

Freescale Motor Control Processors

Low-end Compact6 – 30 MMIPS

< 0.5W

Mid-range

Motor Control30 – 80 MMIPS

< 0.5 – 1W

High-end

Motor Control60 – 100 MMIPS

< 0.5 – 1W

MC9S08MP16

MPC5604P

MC56F83xx

DSC56F802x/3x

DSC56F801x

PoE MC34670

H-bridges

MC33880, 87, MC33926, 32

Power Supply

MC34727, 26

Linear Regulator

MC33742, MC33910, 11,12

Signal Conditioning

MC33972, 75

Analog DSC 16-bit

S08 8-bit

Power® e200

DSC56F800x

MC56F82xx

Analog

Pre-driver MC33937

MC9S08AC128MC9S12XH

MCF51AC256 MCF51xx

MCF5234

MC9S08AW

MPC553x

MC9S08xx

In Development

DSC56F824x/5x




Freescale Single Chip Soultion Strategy

PWMs

COP12bit

ADC3.3V

On-Chip

Regulator

ACMPs

System

Clock

System

Serial

Peripherals

DACs

Control

Peripherals

How are you doing

this today?

Vbus

High Speed

DSP Core

• Single Power Supply

• Advanced DSP Core

• Scaleable product portfolio with full enablement

• Internal inter-module Connections

Multi

Function

Timers

Tick

Timers

(PIT)

Cro

ss B

ar

Inte

rcon

nectio

n

SCIsSPIsI2CsCANs

PLLHS_CLK

Sys_CLK

Sys_Bus

CPU:56800EFlash Memory

EEPROMRAM

SIM POR

OSCInternal

ROSC

LVI

Freescale Technology

Power Source

Data/Control Signal

System Clock

High System Clock




Traditional

Microcontroller

• Designed for Controller Code

• Compact Code Size

• Easy to Program

• Inefficient Signal ProcessingTraditional DSP

Engine

• Designed for DSP Processing

• Designed for Matrix Operations

• Complex Programming

• Less Suitable for Control

56800/E Family Combining Signal Processing and Controller Functionality

• Instructions Optimized for Controller Code, DSP, Matrix Operations

• Compact Assembly and “C” Compiled Code Size

• Easy to Program

• Additional MIPS Headroom and extended addressing space




56800E Core Architecture

Instruction Fetch:

PAB - 21 bits (4MB)

PDB - 16 bits

1st Data Access:

XAB1 - 24 bits (32MB)

CDBR - 32 bitCDBW - 32 bit

2nd Data Access:

XAB2 - 24 bits (32MB)

XDB2 - 16 bits

Operations

Performed:

1st - PAB / PDB

2nd - XAB1 /

CDBR-

CDBW

3rd - XAB2 /

XDB2

DATA

ALU

ABCD

Y0Y1X0

MAC and ALU

Multi-bitShifter

R0

R1

R2

R3

R4

R5

N

SP

AGU ALU1 ALU2

M 01

BIT

MANIPULATION

UNIT

EOnCE/JTAG

TAP

Program

Memory

Data

Memory

IP-Bus

Interface

External

Bus

Interface

N 3

PROGRAM

CONTROLLER

INSTRUCTION

DECODER

LOOPING

UNIT

INTERRUPT

UNIT

PCLA

LA2

HWSFIRAFISR

LCLC2

SROMR

Shadowed registers; supports execution of fast interrupts

Registers available only on

the 56800E core

XAB1

PAB

XAB2

PDB

CDBW

XDB2

CDBR

up to 4 MByte size

up to 32 MByte size

http://bdti.com/bdtimark/chip_fixed_mem_scores.pdf

http://bdti.com/bdtimark/chip_fixed_mem_scores.pdf




56800E Digital Signal Controller Core Summary

Dual-Harvard architecture

Three simultaneous accesses to program and data memory

Eight-stage execution pipeline

155 basic instructions with up to 20 address modes

Large address spaces

Efficient peripheral interfacing through IP-BUS Interface

Fast interrupt support

Powerful register sets

Shadow registers

Single-cycle 16×16-bit parallel multiplier-accumulator (MAC)

Load of two data from memory in the same clock cycle

Modulo addressing for circular buffer in no additional time

Loops with no overhead

Relocatable interrupt Vectors Base Address (VBA)

40




Cost Effective 56F8000 Solutions 56F8011/56F8013/56F8014

32 MIPS Performance

12K -16 K Bytes Program FLASH

4 K Bytes Program/Data RAM

Tunable Internal Relaxation Oscillator

Software Programmable Phase Locked Loop

Up to 96 MHz Peripherals – Timers and PWMs

Up to 6-Output PWM Module with up to 4 Programmable Fault Inputs

Selectable PWM frequency for each

complementary PWM signal pair

Two 12-bit ADCs with up to 8 Inputs, 1.125us conversion rate

Synchronization between PWM and ADC

Four 16-bit General Purpose Programmable Timers

Computer Operating Properly Timer

Serial Ports: SCI, SPI, I2C

Up to 26 GPIOs – Versatile pin usage

Low Power Consumption – 59mA Max and .026mA Min

JTAG/EOnCE™ Debug Port

Industrial and Automotive temp

Cost Effective

►Package: 32LQFP

►In Production

56800E Core32MHz

Power-On-Reset

Power Supervisor

COP

12K - 16KB

Program Flash

6-ch PWM Output

System Integration

Module (SIM) 1 x SCI

1 x SPI

1x IIC

JTAG/EOnCE

4kB

Program/

Data RAM

Voltage Regulator

PLL

Interrupt Controller

Relaxation OSC3-4ch 12bit ADC

3-4ch 12bit ADC

56F8011/56F8013/56F8014Up to 26 GPIOs

4Ch 16bit Timer

Synch




56F8000 Family Expansion56F8023/56F8025/56F8036/56F8037 Features

32 MHz/32 MIPS 56800E Core

3.0-3.6V Operation

32K-64K Bytes Program FLASH

4K-8K Bytes Program/Data RAM

Flash security

Tunable Internal Relaxation Oscillator

Software Programmable Phase Locked Loop

Up to 96 MHz Peripherals – Timers and PWMs

6 Output PWM Module with 4 Programmable Fault

Inputs

Selectable PWM frequency for each complementary

PWM signal pair

Two 12-bit ADCs with up to 16 Inputs, 1.125us

conversion rate

Up to Two 12-bit Digital to Analog Converters

Two Analog Comparators

Synchronization between PWM and ADC

4 or 8 16-bit General Purpose Programmable Timers

1 or 3 Programmable Interval Timers (PIT)


2-Queued Serial Communications Interface

2-Queued Serial Peripheral Interface

Optional MSCAN

I2C Communications Interface



Lead Free Green Packages

Industrial and Automotive temp

►Package 32 LQFP, 44LQFP, 48LQFP, 64LQFP

►In Production

56800E Core32MHz

Power-On-Reset

Power Supervisor

COP

32KB - 64KB

Program Flash

6-ch PWM Output

System Integration

Module (SIM) 2 x QSCI

2 x QSPI

1xIIC

JTAG/EOnCE

4kB-8KB

Program/

Data RAM

Voltage Regulator

PLL


Relaxation OSC

8ch 12bit ADC

8ch 12bit ADC

56F8023/56F8025/56F8036/56F8037Up to 53 GPIOs

8Ch 16bit Timer

Synch

1x MSCAN

Crystal OSC

2 x Comparators2 x 12 bit DAC

3xPIT




Ultra Low cost 56F8000 member: 56F8002, 56F8006

32 MHz/32 MIPS 56800E Core

1.8-3.6V Operation

12K - 16K Bytes Program FLASH with Flash security

2K Bytes Program/Data RAM

Tunable Internal Relaxation Oscillator and 32KHz clock

Phase Locked Loop (PLL)

Up to 96 MHz Peripherals – Timers, PWM & Hi-SCI

6 Output PWM Module with 4 Programmable Fault Inputs

Programmable Dead timer insertion

Programmable PWM generation for Power supply apps

Multiple PWM Frequency outputs

Two Programmable Gain Amplifiers with x2, x4, x8, x16 gains (Clocked in order to cancel input offset)

Two 12-bit ADCs with up to 24 Inputs , 2.5us Per conversion

Programmable Delay Block provides precise control of ADC/PGA sample times relative to PWM reload cycles

Three High Speed Analog Comparators

2 multiple function Programmable Timers


One Periodic Interval Timer (PIT)

1 High Speed Serial Communication Interface (Hi-SCI)

1 Serial Peripheral Interface (SPI)

I2C Communications Interface



Lead Free “Green” Packages

Industrial temp: -40C – 105C

56800E Core

32MHz

Power-On-Reset

Power Supervisor

COP

12-16KB

Program

Flash

6-ch PWM Output

System Integration

Module (SIM) 1 SCI

1 SPI

1 IIC

JTAG/EOnCE

2KB

Program/

Data RAM

Voltage Regulator

PLL


Relaxation OSC

2 x Programmable

Gain Amplifiers

56F8002, 56F8006Up to 40 GPIOs

Programmable

Delay Block

Synch

2 x 16bit Timers

Crystal OSC

3 x Analog

Comparators

1 Period Int Timer

12ch 12bit ADC

12ch 12bit ADC

►28SOIC, 32SDIP , 32LQFP, 48 LQFP




Temperature Range (V)

56F8000 Series Feature Summary

56F8011 56F8013 56F8014 56F8023 56F8025 56F8036 56F8027/37

Performance 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs

-40C~105C -40C~125C -40C~125C -40C~125C -40C~125C -40C~125C -40C~125C

Voltage Range 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V

Program/Data Flash 12KB 16KB 16KB 32KB 32KB 64KB 32KB / 64KB

Program/Data RAM 2KB 4KB 4KB 4KB 4KB 8KB 4KB /8KB

OnChip Relaxation Osc Yes Yes Yes Yes Yes Yes Yes

PLL Yes Yes Yes Yes Yes Yes Yes

COP (Watchdog) Yes Yes Yes Yes Yes Yes Yes

PWM (96Mhz Clock) 1 x 6ch 1 x 6ch 1 x 5ch 1 x 6ch 1 x 6ch 1 x 6ch 1 x 6ch

PWM Fault Inputs 4 4 3 4 4 4 4

12-bit ADCs 2 x 3ch 2 x 3ch 2 x 4ch 2 x 3ch 2 x 4ch 2 x 5ch 2 x 8ch

12-bit DACs 2 2 2 2 (Pinned out)

Analog Comparator 2 2 2 2

16-bit Timers 4 4 4 4 4 4 8

Prog. Interval Timers 1 3 3 3

GPIO (max) (+/-8mA) 26* 26* 26* 26* 35* 39* 53*

IIC 1 1 1 1 - QIIC 1 - QIIC 1 - QIIC 1 - QIIC

SCI (UART)/LIN Slave 1 - SCI 1 - SCI 1 - SCI 1 - QSCI 1 - QSCI 1 - QSCI 2 - QSCI

SPI (Synchronous) 1 - SPI 1 - SPI 1 - SPI 1 - QSPI 1 - QSPI 1 - QSPI 2 - QSPI

CAN MSCAN MSCAN

JTAG/EOnCE Yes Yes Yes Yes Yes Yes Yes

Package32LQFP 32LQFP 44LQFP 48LQFP 64LQFP

Voltage Regulator On-Chip On-Chip On-Chip On-Chip On-Chip

Program Security Yes Yes Yes Yes Yes Yes Yes

On-Chip On-Chip

No

No

No

No

No

No

No No No

Power Consumption IDD = 42mA; IDDA = 13.5mA IDD = 48mA; IDDA = 18.8mA IDD = 48mA; IDDA = 18.8mA

No No No No No

56F8002 56F8006

32MHz/MIPs 32MHz/MIPs

-40C~105C -40C~105C

1.8V - 3.6V 1.8V - 3.6V

12KB 16KB

2KB 2KB

Yes Yes

Yes Yes

Yes Yes

1 x 6ch 1 x 6ch

4 4

2 x 8ch 2 x 12ch

0 0

3 3

3 3

1 (RTC) 1 (RTC)

23 40

1 1

1 - SCI 1 - SCI

1 - SPI 1 - SPI

Yes Yes

32LQFP (.8p)28SOIC

32LQFP

32SDIP

48LQFP

On-Chip On-Chip

Yes Yes

No No

32LQFP32LQFP

Prog Gain Amp 2 2 No No No No No No No

IDD = 45.6mA;IDDA = 4.5mA

* 5V tolerance I/O




New Release High Performance MC56F82xx Family

► Breakthrough Features:

► High Speed PWM module – 520ps duty cycle resolution

► High speed ADC with Programmable Gain Amplifiers

► Inter-module Cross Bar

512byte EE (8 b)

ICE + BDM

COP

SPI

IIC

56800E Core

60MHz

POR

LVI

COP

8ch 12bit ADCA

1ch 12bit DAC

32 / 48 / 64KB

Program Flash

8-ch High Res PWM

2 x QSCI

1 x QSPI

2x IIC/SMbus

JTAG/EOnCE

6 / 8kB

Data RAM

1 x MSCAN

Voltage Regulator

PLL

Crystal Oscillator

System Integration

Module (SIM)


3 Analog Comparators

Prog Gain Amp Ax1,2,4

8Ch 16bit Timer

Relaxation OSC

8ch 12bit ADCB Prog Gain Amp Bx1,2,4

CRC

3 5bit DAC

Inter-module Cross Bar

60 MHz/60MIPS From 56800E Core 2.7-3.6V Operation 64K/48k/32k Bytes Program FLASH 8K/6K Bytes Program/Data RAM Flash security 8Mhz/100Khz Tunable Internal Relaxation Oscillator Software Programmable Phase Locked Loop Up to 60 MHz Peripherals – Timers and PWMs 8 Output

PWM Module 520ps PWM duty cycle resolution

2-12-bit ADCs with total of 16 Inputs: 600ns conversion rate Built-in Programmable Gain Amplifiers with 1x, 2x, 4x, gains

1 12-bit Digital to Analog Converter 3 5bit Digital to Analog Converters 3 - Analog Comparators 8 16-bit Enhanced General Purpose Multifunction

Programmable QTimers Cyclic Redundancy Check Generator (CRC) Computer Operating Properly Timer 2- Queued High Speed Serial Communications Interface

(QSCI) 1-Queued Serial Peripheral Interface (QSPI) 1 MS-CAN Bus 2 - I2C/SMbus Communications Interface

Up to 54 GPIOs Inter Module cross-bar JTAG/EOnCE™ Debug Port Lead Free “Green” Packages Industrial temperature:-40C to 105C @ 60MHz

44LQFP, 48LQFP, & 64LQFP




Temperature Range (V)

56F824x/5x Series Feature Summary

56F8245 56F8246 56F8247 56F8255 56F8256 56F8257

Performance 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs

-40C~105C -40C~105C -40C~105C -40C~105C -40C~105C -40C~105C

Voltage Range 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V

Program/Data Flash 48KB 48KB 48KB 64KB 64KB 64KB

Program/Data RAM 6KB 6KB 8KB 8KB 8KB 8KB

OnChip Relaxation Osc Yes Yes Yes Yes Yes Yes

PLL Yes Yes Yes Yes Yes Yes

COP (Watchdog) Yes Yes Yes Yes Yes Yes

eFlexPWM Channels 1 x 6ch 1 x 6ch 1 x 9ch 1 x 6ch 1 x 6ch 1 x 9ch

PWM Fault Inputs 4 4 4 4 4 4

12-bit ADCs /w PGA 2 x 3ch 2 x 3ch 2 x 4ch 2 x 3ch 2 x 4ch 2 x 5ch

12-bit DACs 1 1 1

Analog Comparator /w 5bir DAC Ref 3 3 3

16-bit Timers 8 8 8 8 8 8

Prog. Interval Timers No No No

GPIO (max) (+/-8mA) 35* 39* 54* 35* 39* 54*

IIC /SMBus 2 2 2 2 2 2

SCI (UART)/LIN Slave 2- QSCI 2 - QSCI 2 - QSCI 2 - QSCI 2 - QSCI 2 - QSCI

SPI (Synchronous) 1 - QSPI 1 - QSPI 1 - QSPI 1 - QSPI 1 - QSPI 1 - QSPI

CAN MSCAN

JTAG/EOnCE Yes Yes Yes Yes Yes Yes

Package48LQFP 44LQFP 48LQFP 64LQFP

Voltage Regulator On-Chip On-Chip On-Chip On-Chip On-Chip

Program Security Yes Yes Yes Yes Yes Yes

On-Chip

1

3

1

3

1

3

No No No

No No No MSCAN MSCAN

64LQFP44LQFP

Crossbar Module Yes Yes Yes yes Yes Yes

* 5V tolerance I/O

HiRes PWM Channels

FlexPWM Channels

6ch 6ch 6ch 6ch 6ch 6ch

3ch 3ch




Agenda







Enablement and Development

Tools




CodeWarrior Development Studio

►Low Cost – High Value

• Single Development Environment & License for: • S08 Core

• 56800/E Core

• ColdFire Core

• Multi-tiered pricing structure Flexible low cost pricing based on memory usage

• License prices include 1 year maintenance Provides free 24/7 CodeWarrior support

• Processor Expert with Free drivers and libraries 11 premium libraries are Free with object code

• CodeWarrior USB Tap or 1-wire BDM Low cost high performance Universal Serial Bus interface for debugging

56F8006 Software Development Tools … EVEN MORE VALUE

56800QEDL

QEDesign Lite Filter (FIR, IIR, etc ) emits code for the IDE

• Extensive SW libraries built into IDE

• Motor Control

• Mathematics

• Signal Processing

• Voice Processing

• Modem

• Encryption

CodeWarrior Development Studio

IDE with optimizing C compiler

Sophisticated Project Manager

Graphical source level debugger

Editor and file/folder compare functions

Instruction-set simulation

A free Special Edition permanent license up to 64 KB

code size!

Intelligent software development kit – Processor Expert

https://www.freescale.com/go/mcf56f800xcia




Graphical Setup Tool(ProcessExpert and QuickStart)

49

GCT Plug-in Module

• Application constant

calculation and scaling

• Output constants generated

into header file

• Custom page coded in

HTML/Java/Excel

• Application parameters

modified only from one place

• Simplify customer application

design start

• Required GCT version 2.4 and

higher




3-ph BLDC/PMSM Low Voltage Motor Control Drive

► Usage: Motor Control Techniques Development Brushless DC Motor Drives Permanent Magnet Synchronous Drives High-End Control Algorithms Development and

Demonstration

► Board Features: Power supply voltage input 12–24 V DC extended up

to 50 V Output current 4A(tested) 3-phase bridge inverter (6 MOSFET’s) 3-phase MOSFET gate driver(MC33927 or

MC33937) with over-current and under-voltage protection

3-phase and DC-bus-current-sensing shunts DC-bus voltage and 3-phase back-EMF voltage-

sensing circuitry Encoder/hall sensor sensing circuitry 2 connectors for daughter board connection USB interface with MC9S08JM60 User LED, power-on LED, 6 PWM LED diodes and

SCI activity LED diodes Up, down, toggle switches and Reset push-button

► Daughter Boards MC9S08AC16

MC9S08MP16

MC56F8013/23

MC56F8006

MCF51AC256

Anguilla Black (in prototype)

MCF51AG128 (in prototype)

Pictus (in development)

Daughter

Board

Connectors

Kit being prepared for manufacturing at DevTech




3-ph BLDC/PMSM High Voltage Motor Control Drive

► Usage: Motor Control Techniques Development

Brushless DC Motor Drives

Permanent Magnet Synchronous Drives

AC Induction Motor Drives

SMPS applications

High-End Control Algorithms Development and Demonstration

► Board Features: Input Voltage 115-230Vac, 50/60Hz

Optional Voltage doubler for input voltage 115Vac

Output Power 1kW

3-phase IGBT inverter bridge with over-current protection (Fairchild IGBT power module)

3-phase motor current sensing

DC-Bus current and voltage sensing

Galvanic isolated SCI / USB interface

User LED

Power-on LED

Encoder/Hall Sensor and tacho generator interface

DC-Brake resistor switch with terminal

BEMF sensing

PFC control signal terminal

PCI type of interface connector (separated analog and digital signals)

► Daughter Boards: MC9S08MP16

MC56F8006/8013

MC56F8257

PCI Daughter

Board

Connectors

NEW




Freescale Embedded Software Libraries

52

► Target Devices/Platforms:• S08

• MCF56F80xx

• MCF51xx

► Range of Applications:• Digital Control Systems

• Motor Control (BLDC, PMSM, AC)

► Highlights/Descriptions:• Software modules implemented in assembly

• Optimized for speed

• C-callable interface

• Easy to use

• Fully documented

► Public Deliverables:• General Function Library (GFLIB) contains math,

trigonometric, look-up table and control

functions. These software modules are basic building blocks.

• Motor Control Library (MCLIB) contains vector modulation, transformation and

specific motor related functions to build digitally controlled motor drives.

• General Digital Filter Library (GDFLIB) contains filter functions for signal

conditioning.

• Advanced Control Library (ACLIB) will contain functions to enable building the

variable speed AC motor drive systems with field oriented control techniques

without position or speed transducer (available soon).

System Infrastructure

On-Chip

Peripherals

External HW

PINS

External

Connection

s

*Optional

User

Application SW

Application SW

On-Chip Driver

On-Chip Drivers

Libraries

FSLESL

FMaster* Support

External App.*Support

Do

cu

men

tati

on

GFLIB

GDFLIB

MC

LIB

AC

LIB

APPLICATION

Pro

ce

ss

or




Motor Control Library

► Motor Control Functions: Clark – Clarke Transformation algorithm

ClarInv – Inverse Clarke Transformation algorithm

Park – Park Transformation algorithm

ParkInv – Inverse Park Transformation algorithm

DecouplingPMSM – Cross-coupling voltages to eliminate dq axis coupling (only of PM synchronous motor)

ElimDcBusRip – Elimination of the DC-Bus voltage ripple

SvmStd – Appropriate duty-cycle ratios needed for generating the given stator reference voltage using a Standard Space Vector Modulation (SVM) technique

SvmU0n – As SvmStd, but using termed SVM with O000 Nulls

SvmU7n – As SvmStd, but using termed SVM with O111 Ones

SvmAlt – Special standard SVM

SvmSci – General sinusoidal modulation with injection of the third harmonic

PWMIct – General sinusoidal modulation




► Description

• This application presents a motor control technique of permanent magnet motor (PM

motor) without a need to use a rotor position transducer. This technique particularly

targets horizontal axis (H-axis) washing machine with belt drive in fractional

horsepower range

• The PM motor control solution is based on field oriented control (FOC) with

implemented speed control loop. This includes inner current control loop achieving

good torque control performance. To maximize converter efficiency and minimize its

rating, current loop. Even such sensorless control technique can be realized on low-

cost 32-MIPS digital signal controller. Application is a single chip solution based on

MC56F80XX digital signal controller series

• The demo consists of the 3-phace PM motor, control board based on MC56F8025

and high voltage power stage.

Featured Products• MC56F80xx

Key Markets• Industrial Drives

• Appliance

Key Features

• Sensorless Control of Permanent Magnet Synchronous Motor based on Back-EMF Observer

• Application based on MC56F80XX digital signal controller

• 3-phase AC/BLDC High Voltage Power Stage with 1-ph. line input 110/230VAC @ 50/60Hz

• Industrial Permanent Magnet Synchronous Motor with braking mechanism

• Initial rotor position detection using high frequency injection

• Full torque at motor start-up

• Field weakening at high speeds

• Application based on C-callable library functions (GFLIB, GDFLIB, MCLIB, ACLIB)

• Current control loop execution time: 38us

• Speed control loop with Field weakening execution time : 11us

• Flash: ~ 6KB, RAM ~ 1.5KB

• FreeMASTER based control pages

• Fault Protection

PMSM Sensorless Vector Control – 56F8025




Application Tuning for Customer Motor

► The FreeMaster Communication/Control Tool running on a PC comp

► FreeMaster control page for application control and tuning

55

Parameters

View and Set Window

Graphical

Control

Window

Selection

The Required

Block Tuning




FreeMaster Measurements(1)

► Constant Speed 3000rpm Operation:

56

• speedMotorSens – Sensed speed

• speedMotorEstim – Estimated speed

• speedMotorError – Estimated -sensed speed

• sinCosEst.cos – Estimated Angle cosine

• sinCosSens.cos – Measured Angle cosine

• sinCosElScalarErr – Angle error [degree]

• smoBemfStruct.cur.beta.F16.H – Estimated current




FreeMaster Measurements(2)

► Motor Start-up from 0 to 1000rpm:

57

• speedMotorSens – Sensed speed

• speedMotorEstim – Estimated speed

• speedMotorError – Estimated-sensed speed

• sinCosEst.sine – Estimated Angle sine

• sinCosSens.sine – Measured Angle sine

• sinCosGen32HL.sin.F16.H – Open loop generated Angle sine

• sinCosElScalarErr – Angle error [degree]

• smoBemfStruct.cur.alpha.F16.H – Estimated current

• iSAlphaBetaCompens.alpha – Measured current




Freescale Solution Cost Saving

CPU Architecture optimized for C language• Reduce software development cost• Software can be modular and reused

High Speed PWM and Timer Clock• Improve PWM resolution at high frequency output• Reduce ripple of power stage output and filter size

On-Chip Power-on reset and Low voltage detection• Eliminate external Reset and power supply monitor chip

Single 3.3V supply and 5V I/O port• Reduce power supply cost • Directly interface with 5V system without level shift device

On-Chip regulator improves device EMI acceptability• On-Chip linear regulator powers the CPU and peripheral logic circuits

On-Chip Relaxation oscillator• Eliminate external crystal and reduce PCB size• Greatly improve EMI acceptability

Smaller Flash memory page size• Enable User to designate a page flash as EEPROM (eliminate external EEPROM device)

Multi-Level interrupt priority• Hardware supported nested interrupt – Reduce interrupt overhead• Improve software efficiency

Enhanced On-Chip Emulator• Enable to debug target system by using low cost, isolated debug tool.

58

TM

TM




Backup

60




Electric Variables in Vector Representation

The “d” axis refersto the direct axisof the rotor flux

The “q” axis is the axismotor torque along

which the stator fieldmust be developed

Axis of phase c

+a

+b

-b

+c

-c

Axis of phase a

Axis of phase b

Stator windingsRotor made from

permanent magnets

-a

Rotation

N

S




FOC Principle – Vector Representation

► Field-Oriented Control (Vector Control)

Full motor torque capability at low speed

Better dynamic behavior

Higher efficiency for each operation point in a wide speed range

Decoupled control of torque and flux

Short-term overload capability

Four quadrant operation

Accurate position and velocity signals required

sin

90

0

e r s r s

e

s d

T c c

max T

i

ψ i ψ i

i

Stator current and magnet flux space

vectors in the DQ rotating

reference frame and

electromagnetic torque production




A

C

B

Creating Space Vector – (3ph – 2ph Transformation)

►The space-vectors can be defined for

all motor quantities

Yb

Yc

Ya

A

B

C

sY

ThreePhaseStator

• Because the space vector is defined in the plain (2D), it is sufficient to describe space vector

in 2-axis (,) coordinate system – some times also 2-phase system




Reference Frames – The Magic to Convert AC to DC

► Reference frames

• Stationary - ,

• Rotating rotor speed - d, q

y

x

y

x

► All rotating quantities are rectified when viewed

from reference frame that rotates synchronously

with rotor




Phase Current Measurement

►Shunt resistors voltage drop measured

►S/W calculation of all 3 phase currents needed; e.g. Phase A current

sensing is true when bottom switch (transistor) is conducting

►Simultaneously 2 channels sampled at the same time

• 12-bit resolution

• Single conversion time: 1.7 µsec @5MHz (8.5 ADC clock cycles)

Q5SKB04N60

Gate_CB

Q4SKB04N60

Phase_A Phase_B

Gate_BB

Source_AB

I_sense_B2

Q1SKB04N60

Gate_AB

I_sense_C2

I_sense_C1

I_sense_A2

sense

sense

R2

0.1 1%

Phase_C

Q3SKB04N60

I_sense_B1

Gate_CT

sense

sense

R3

0.1 1%

I_sense_A1

Gate_AT Gate_BT

Source_CB

sense

sense

R1

0.1 1%

Q2SKB04N60

Q6SKB04N60

Source_BB

UI_S_A

ISAISB ISC

UI_S_CUI_S_B

Q5SKB04N60

Gate_CB

Q4SKB04N60

Phase_A Phase_B

Gate_BB

Source_AB

I_sense_B2

Q1SKB04N60

Gate_AB

I_sense_C2

I_sense_C1

I_sense_A2

sense

sense

R2

0.1 1%

Phase_C

Q3SKB04N60

I_sense_B1

Gate_CT

sense

sense

R3

0.1 1%

I_sense_A1

Gate_AT Gate_BT

Source_CB

sense

sense

R1

0.1 1%

Q2SKB04N60

Q6SKB04N60

Source_BB

UI_S_A

ISAISB ISC

UI_S_CUI_S_B




DC Bus Voltage Measurement

►Feedback signals proportional to bus voltage

►Bus voltage is scaled down by a voltage divider

►Values are chosen such that a 400-volt maximum bus voltage corresponds

to 3.24 volts at output V_sense_DCB.




Sensorless PMSM Control

►Rotor position estimation is needed

►Sensorless techniques for rotor position estimation

• Low speed range position estimation:

Speed 0rpm up to 20% nominal speed

Techniques based on motor inductance saliency

• Medium and high speed position estimation:

Speed range from 5-10% up to 100% of nominal speed:

– Speed range of the fridge, air-conditioning applications

– Where the variable reluctance deviation (saliency) is smaller then BEMF effect

BEMF/Flux reconstruction using state observers

TM




MC9S08MP16/12Smoother, Safer and Lower Cost BLDC Motor Control




►Core

•Ind. version: 50MHz (25MHz bus), -40to105C, 28SOIC,

32LQFP, 48LQFP

•Auto version: 40MHz (20MHz bus), -40to125C, 48LQFP

•2.7V to 5.5V operating range

►Memory•16KB Flash / 1KB SRAM

►Features

•2x FlexTimers (6ch + 2ch) – automatic fault protection,

supports up to 50MHz CLK, selectable input capture, output

compare, edge- or center-aligned PWM; dead time insertion

•3 Analog Comparators – h/w sample trigger from PWM

module allowing comparison at any point in cycle

•2x Programmable Delay Blocks (PDB)

•12-ch 12-bit ADC – 3.5 uS conversion, h/w trigger from PWM

module allowing conversion at any point in cycle

•Programmable Gain Amplifier (PGA)

•8-bit Modulo Timer Module (MTIM)

•LIN SCI, SPI, IIC

•3x 5-bit DAC used as a 32 tap voltage reference

•RTC with periodical timer interval interrupt

•Software Programmable Internal Clock Source

•2 low power modes

•Power Management Controller (PMC)

•3x 8-bit KBI

•POR/LVI – supports 4 interrupt priority levels

•Background Debug Mode Interface/ICE

►System Protection•Cyclic Redundancy Check Generator (CRC)

•Watchdog Timer with Independent Clock Source

MC9S08MP16/12

Device Package RAM ADC PGA IIC I/O 10K# SRP

MC9S08MP16 48LQFP 1KB 13ch 1 1 40 $1.30

MC9S08MP16 32LQFP 1KB 12ch 1 1 25 $1.20

MC9S08MP16 28SOIC 1KB 8ch 1 1 22 $1.10

MC9S08MP12 28SOIC 512B 8ch - - 22 $1.06

SPI

SCI

IIC

8-bit

MTIM

3x 5-bit

DAC

RTC

13ch, 12-bit

ADC &

Temp Sensor

6ch+2ch

FlexTimer with

PWM functions

Programmable

Gain Amplifier

3x High Speed

Analog

Comparators

Programmable

Delay Blocks

(x2)

S08

50MHz CPU

16KB Flash

1KB RAM

CRC Generator

ICS

BDM/ICE

COP




MC9S08MP16 Key Messages

Dedicated for Motor Control Safety and System Cost Reduction Broad Motor Control Ecosystem

Increased precision and reduced s/ware

complexity

FlexTimer module (first on S08): dedicated motor

control peripheral providing dead-time insertion

and fault protection in h/ware, ADC triggering,

and paired channel PWM signal generation

No ext. comparators and safer motor

operation

3x Analog Comparators: in conjunction with the

16-bit PWM FlexTimer fault inputs, provide fast,

accurate over-current shutdown protection by

driving PWMs to a safe state

Off-the-shelf design resources

Extensive catalogue of free Motor Control

Reference Designs, Application Notes, Software

Algorithms, & Libraries covering all motor

topologies and performance levels.

Smoother sensorless BLDC motor operation

3x Analog Comparators & 12-bit, 2.5 us ADC:

can take measurements of high resolution zero-

crossing back-EMF. PWM cycle can be reset at

each commutation boundary to reduce speed

dithering in high-speed applications. High ADC

resolution enables fast, precise monitoring of

system voltages and currents.

No ext. op-amps and wide load/speed range

Programmable Gain Amplifier: eliminates need

for external op-amps by amplifying low level

signals such as motor current readings from a

low resistance shunt. Dynamically adjusts gain

to maintain high resolution A/D readings over a

wide range of motor loads and speeds.

Cycle time reducing development tools

Complimentary C/Warrior Special Edition IDE

(32KB) with intuitive Processor Expert Rapid

Application Development Tool. Freemaster

Remote Real-Time Control and Monitoring Tool.

Reduced CPU loading

Programmable Delay Block (PDB): efficient and

accurate timing of ADC measurements enabling

low cost current reconstruction in PWM

applications. Also functions as an independent

timer to enable Digital Power Factor Correction

for HID Light Ballast and Motor Control

Applications

Enhanced system integrity for safety-critical

applications implementing IEC60730

Independently clocked COP and Cyclic

Redundancy Check Engine: CLK failure

protection and memory content validation

Complete motor control system solutions

Complimentary Analog products:

MC33937 3-ph FET Pre-Driver, MC33880/87 &

MC33926/32 H-bridges.

Compelling entry-level solution

Small footprint 28-48pin SOIC and LQFP

packages with automotive qualified high

temperature option. Resale pricing from <$ 1 @

volume

No external crystal / resonator

Internal Clock Source (ICS): 1.5% accuracy

when receiving messages over a LIN bus using

the SCI module.

Global Motor Control Centres of Excellence

Dedicated regional customer design support from

concept to delivery (reference design, algorithm,

library and driver development)

An 8-bit MCU that delivers smooth, safe, Sensorless BLDC motor control for < $1 (@ volume) across a wide speed range of

Industrial, Consumer and Automotive applications.

Smoother, Safer and Lower Cost BLDC Motor Control




PMSM Sensor/Sensorless Vector Ctrl – MCF51AC256

► Description

• This application demonstrates an advanced design of a 3-phase Permanent Magnet (PM)

synchronous motor drive that is controlled sensorless or using an encoder. It is based on

Freescale Semiconductor’s MCF51AC256 controller. The concept of the application is a

speed closed loop PM synchronous drive using a Vector Control technique. It serves as

an example of a PMSM control. The application uses the Freescale libraries (GFLIB,

MCLIB, GDFLIB, ACLIB) that contained algorithms already compiled and optimized in

assembler. This application utilizes a 3-phase power stage equipped with Freescale gate

driver and a Freescale chip that creates a virtual COM port via USB for the Freemaster

communication. The application contains very attractive graphical gauges web page

control for the Freemaster software plus many real time charts to explain the behavior of

the system.

71

Featured Products• S08MRxxx

Key Markets• Appliance

• Dishwasher pump drives

• Washing machine

• High-end pumps and Fans

• Industrial Drives

Key Features

• Vector control of PMSM using the Quadrature Encoder as a position sensor

• Vector control with speed closed-loop

• Two algorithms implemented:

•Encoder based position and speed measurement

•Sensorless position and speed estimation using Back-EMF Observer

• Start from any motor position (with rotor alignment)

• 4-quadrant operation

• 3-shunt current sensing

• Wide speed range

• FreeMASTER Control Interface

• Fault protection – over-current, over-voltage, under-voltage

NEW




Application HW Setup

► HW is modular – it consists of Freescale universal motor control boards

72

56F8025CB Controller Board

High Voltage

3-phase Power Stage

Motor

TG SBL3

JTAG for Debugger

RS232 FreeMaster Connection




Application – Memory Usage

►Application with MC56F8025

► # Memory map:► v_addr p_addr size name► 004000 004000 00000080 .p_flash_ROM► 004080 004080 00001069 .p_flash_ROM (1069-4CA)=00B9F► 0050E9 0050E9 00000009 .p_flash_ROM► 008000 008000 00000800 .p_all_internal_RAM► 000000 000000 00000800 .x_all_internal_RAM► 0087E0 0087E0 00000000 .p_internal_RAM► 0087E0 0087E0 00000000 .p_internal_RAM► 000001 000001 000007C3 .x_internal_RAM► 0050F2 000001 00000093 .p_internal_RAM_ximage► 00F000 00F000 00001000 .x_onchip_peripherals► FFFF00 FFFF00 00000100 .x_EOnC\

► # Memory map: Freemaster = 004CA(.p_flash_ROM)► = 00554(.x_internal_RAM)► 0047C9 000007 .text FFMSTR_Init► …► 004C79 00001A .text FFMSTR_AddressToBuffer► 00016E 0004E2 .bss Fpcm_pOwnRecBuffer► …► 0006C1 000001 .bss Fpcm_bUseExAddr

►Sensorless PMSM FOC Control- Open loop start-up- Model based estimator- Field Oriented Control- Field Weakening

► .p_flash_ROM 2975d [Words] B9Fh

► .x_internal_RAM 623d [Words] 26Fh




Application – Timing

►Application based on MC56F8025

► Pulse width modulation running at

• 20[kHz] with dead-time 1msec

► FOC current loop running at

• 10[kHz] (100[msec])

► Speed Control Loop running at

• 1[msec]

► Field Weakening with proper de-

saturation

► Anguilla dedicated s/w library used

• GFLIB (General Functions)

• GDFLIB (Digital Filtering)

• MCLIB (Motor Control)

• ACLIB (Advanced Control – sensorless)

►Computational performance

► FOC current loop takes

• 55 [msec] @100[msec]

► Speed control loop

• 17 [msec] @1msec




Position and Speed Extraction

►Rotor electrical position extraction by

• Inverse tangent function with two inputs of the extended EMF estimates

Yields unfiltered rotor angle without any speed information

• Angle tracking observer

Noise on the position estimate can be filtered out without adding lag to the

estimate within its bandwidth

+ +K

1

1s

1s

K2

- +

sin ( )Q

cos( )Q

(s) Q+ +K

1

1s1s

1s

K2

1s1s

K2

- +

sin ( )Q

cos( )Q

(s) Q

es

es

TM Freescale Semiconductor Confidential and Proprietary Information. Freescale™ and the Freescale logo are trademarks of Freescale

Semiconductor, Inc. All other product or service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2005.

Slide 4

Pos & Speed

ˆˆ ˆ sin eE E

ˆˆ ˆ cos eE E

Eatan

E

E

E

ˆeeReal ()

Imag ()

ˆˆ eje

E

ˆe

E

E

ˆ ˆsine e e e




Differentiators Recognized by Market

► 8bit/16bit/32bit MCU/DSC Portfolio focus on motor control

solution

• Core, PWM, ADC, Protection have been designed thinking to Motor

Control Algorithms. That’s a vertical market.

►Freescale Enabling tools:

• FreeMaster, Motor Control Library availability, CW

► Field Support and Turn-Key Solution

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Date post:	09-Mar-2018
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Introduction of ACIM and PMSM Motor · PDF filein AC induction and permanent magnet...

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