Motor Control Solutions
Motor Control Solutions2
Motor Control System Functions
Host – Motion profile, logic controller or user interface, often communicating over a standard or proprietary fieldbus (CAN, serial, Ethernet)
Interface – Transmit and receive drivers to interface communications between digital processors
Controller – Logic device that generates the proper switching patterns based on feedback and motion profile information from the host
Isolation – Protection and level shifting between different voltage levels
Power Stage (Gate Drivers) – Voltage and current level shifters;(MOSFET/IGBT) - Higher powered switching devices
Feedback – Motor rotor position sensors (hall, quadrature, resolver); power stage current or voltage
Integrated Pre-Driver – Gate driver(s) and feedback integrated into a single device or package that often includes control and commutation logic as well
Integrated Power Module (IPM) – Gate driver, feedback and power stage integrated into a single device or package
Integrated Motor Driver – Controller, gate driver, power stage and feedback integrated into a single device or package
www.ti.com/motorcontrol
Complete TI Solution: Brushed DC
DRV8801EVM - $99 •DRV8801-basedpowerstagecapableof2.8Aat36V includeson-boardMSP430™ MCU for signaling and control •Easy-to-useGUIforquicksetupwithmostmotors •Opensource:BOM,schematics,Gerbers •Allcontrolandstatussignalsbroughtouttotestheaders for easy debugging
DRV84xx-C2-KIT - $199 •DRV8412/32-basedpowerstagecapableofupto 2x12Aat52V •IncludesPiccolo™F28035controlCARDandcanaccept anyC2000™ MCU-based processor •ProfessionallydevelopedGUIandfirmware •Opensource:BOM,schematics,Gerbers, controlSUITE™ software and Code Composer Studio™IDE •Speedcontrol:outerspeed,innercurrentPID
Host, User,Network Controller
FeedbackIntegrated Pre-Driver
Integrated Power Module
Integrated Motor-Driver
Power
Gate Drivers
Stage
MOSFETIGBT
Interface andIsolation
–Optional
Isolation-
Optional
RDK-BDC24 - $219 •Controlsbrushed24-VDCmotorsupto 40-Acontinuous •Threeoptionsforopen-loopvoltagecontrolandtwo options for closed-loop, speed, position or current control •CANandRS232communication
Motor Control Solutions 3
www.ti.com/motorcontrol
Complete TI Solution: Brushed DC Complete TI Solutions: Stepper Motors
DRV8811EVM - $149 •DRV8811-basedpowerstagecapableof2.5Aat40V includeson-boardMSP430™ MCU for signaling and control •Easy-to-useGUIforquicksetupwithmostmotors •Opensource:BOM,schematics,Gerbers •Allcontrolandstatussignalsbroughtouttotest headers for easy debugging
DRV84xx-C2-KIT - $199 •DRV8412/32-basedpowerstagecapableof upto12Aperphase • IncludesPiccolo™F28035controlCARDandcanaccept anyC2000™ MCU-based processor •ProfessionallydevelopedGUIandfirmware •Opensource:BOM,schematics,Gerbers,controlSUITE™ software and Code Composer Studio™IDE •Speedandstepcontrol:innercurrent,outerspeed PIDandmicrostepping
RDK-STEPPER - $199 •Fullyintegratedcomm/indexer/drivefor NEMA23/34motorsupto80Vat3amps•Stepratesupto10,000steps/sec•Full-step,half-stepandwavedrivemodes•Missed-stepdetection•Professionallyengineeredsoftware•PCGUIfordynamictuningandmotorconfiguration•50-MHzStellaris®LM3S617MCU
Complete TI Solutions: Brushless DC
TMDSHVMTRPFCKIT - $599 •Piccolo™controlCARDbasedhardware •350-V,1.5-kWthree-phaseinverter •700-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGandCANonboard •Opensource:BOM,schematics,Gerbers, controlSUITE™ software (sensored and sensorless sinusoidal, trapezoidal,PFC)andCodeComposerStudio™IDE •Sensored(Hall)/Sensorless(Bemf-ZC)trapezoidalspeed control:outerspeedPID
TMDS1MTRPFCKIT - $369 •Piccolo™controlCARDbasedhardware •36-V,24-Wx2DRV8402drivers •100-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGonboard •Opensource:BOM,schematics,Gerbers, controlSUITE™software(sensorlesssinusoidal,PFC) andCodeComposerStudioIDE •Sensorless(SMO)sinusoidalspeedcontrol:innercurrent, outerspeedPID •Twomotorversionavailable
RDK-BLDC - $219 •Advancedmotorcontrolforthree-phasebrushless DCmotorsupto36V500W•UsesaStellaris®LM3S8971microcontroller•10/100EthernetandCANinterfaces•Halleffect,quadratureandsensorlessoperationmodes•JTAG/SWDportforsoftwaredebugging
www.ti.com/motorcontrol
Motor Control Solutions4
Complete TI Solutions: Permanent Magnet Complete TI Solutions: AC Induction
TMDSHVMTRPFCKIT - $599 •Piccolo™andDelfino™controlCARDbasedhardware •Delfino F28335controlCARDcompatible •350-V,1.5-kWthree-phase-inverter •700-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGandCANonboard •Opensource:BOM,schematics,Gerbers,controlSUITE software™(sensoredandsensorlessFOC,PFC)andCode Composer Studio™IDE •Sensored(encoder)/Sensorless(SMO)FOCspeedcontrol: innercurrent,outerspeedPID
TMDS1MTRPFCKIT - $369 •Piccolo™controlCARDbasedhardware •36-V,24-Wx2DRV8402drivers •100-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGonboard •Opensource:BOM,schematics,Gerbers,controlSUITE software(sensorlessFOC,PFC)andCodeComposerStudio™IDE •Sensorless(SMO)FOCspeedcontrol:innercurrent, outerspeedPID •Twomotorversionavailable
DRV84xx-C2-KIT - $199 •DRV8412/32-basedpowerstagecapableofupto13.5A at50V(~1HP)• IncludesPiccolo™F28035controlCARDandcanacceptany C2000™ MCU-based processor•ProfessionallydevelopedGUIandfirmware•Opensource:BOM,schematics,Gerbers,controlSUITE™ software(FOC)andCodeComposerStudio™IDE •Sensorless(SMO)FOCspeedcontrol:innercurrent, outerspeedPID
TMDSHVMTRPFCKIT - $599 •Piccolo™andDelfino™controlCARDbasedhardware •Delfino F28335controlCARDcompatible •350-V,1.5-kWthree-phase-inverter •700-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGandCANonboard •Opensource:BOM,schematics,Gerbers,controlSUITE™ software(sensoredandsensorlessFOC,PFC)andCode ComposerStudio™IDE •Sensored(Hall)/Sensorless(MotorModel)FOCspeedcontrol: innercurrent,outerspeedPID
RDK-ACIM - $379 •Fullyintegratedcomm/motioncontroller/drive •Upto1HPcommercial-gradeACinductionmotors •Precisespeedcontrol •GalvanicisolationofMCU-sideelectronics •115or230VACinputs • 50MHzStellarisLM3S818 •Professionallyengineeredsoftware
Easy Out of Box •Stand-aloneGUIrequiresnoIDE•Immediatelyverifymotorcontroloperation•Configurecapabilities•Slidersandinputfields•Real-timegraphingofkeyvariables•Freewithmostmotorcontrolkits
Graphical User Interface
www.ti.com/motorcontrol
Motor Control Solutions 5
Integrated Motor Drivers
Integrated BLDC Pre-Drivers
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Full BridgeLoad = 5 APVDD = 50 VTC = 75˚ C
f – Switching Frequency – kHz
Effic
ienc
y -
%
The TI AdvantagePerformance and Ease of Use Single-chipsolutionwithminimumexternalcomponentsneededfor a complete high-performance motor drive solution with up to 97percentefficiency.
ReliabilityAllofTI’smotordrivers includefast-actinganalogprotection in order to detect fault conditions and shut off the H-bridge to protectthemotoranddriverIC.
The Right Part for Each ApplicationTIhasa largeportfolioofmotordriverswithdifferent levelsofintegration and power ratings designed to drive different kinds ofmotors.Supportvoltagerangesfrom2.5to50Vand100mAto24AwitheitherintegratedcontrollogicordirectPWMinputs.
Supported Motor TypesDCbrushed,stepper,brushlessDC,solenoid.
EVM SupportAlldevicescomewithanEVMboardandrefrencekitwithaTIMCU.
The TI Advantage•Simplesystemsolutionwithminimumexternalcomponents
•Automatichandshakeofhigh-sideandlow-sideFET transition to prevent shoot-through, simplify gate control and improve system reliability
EVM Support•AlldevicescomewithanEVMboardandreferencekit withaTIMCU
Features•Integratedthree-phasegatedriverwithdualcurrent- shunt amplifiers and additional buck converter for MCU orsystemaccessories’powerneeds•Wideinputvoltagerange(8-60V)•Supportsupto1.6-Agatecurrent•Intelligentgatedriveandcross-conductionprevention•OCprotectionofexternalFETSwithprogrammable cycle-by-cycle current limit•SPIinterfaceforprogrammability
PWM3 or 6
SPIError
Reporting
ADC 1 Offset
Control andProtection Logic
BuckConverter
Vs
MotorController
MotorThree PhaseNMOS Gate
Driver
GH_A
PVDD
GL_A
GH_B
GL_B
GH_C
GL_C
Offset+-
+-
Vref
ADC 2
Motor Control Solutions6
www.ti.com/motorcontrol
0.75
125-40 -25 -10 5 20 35 50 65 80 95
0.50
0.25
0
-0.25
-0.50
-0.75
110
Temperature ( ˚C)
Gain Error vs Temperature
Gain
Err
or (%
)
Low Offset is the TI AdvantageOffset and offset drift performance are factors that determine the full-scale input voltage to the current-sense amplifier and, subsequently,thesizeoftheshuntresistor.Loweroffsetallowsforsmallershuntresistorsresultinginlessvoltagedropandpowerloss.
The TI AdvantageImproved Performance Over On-chip ADCIncreasedperformanceforhigh-endmotordriveswithuptosixsimultaneouschannelswith16-bitresolutionat800kSPS.
Stability Over Time and TemperatureTI’slineofdiscreteADCsarebuiltonthelatestgenerationanalogprocessdesignedtominimizeerrorsandtemperaturedrift.
Reduced Filtering with D/S ModulatorsMinimal or no filtering required with stand-alone modulators, allowingthemodulatortobeplaceddirectlynexttothecurrent-shuntorhallsensor.
Easy Isolation of the Host ProcessorLowpin-countSPIinterfacesorsimple2-bitserialbitstreamfrom modulators allow for easy digital isolation between the controllerandthehigh-voltagedriveandfeedback.
EVM and Software SupportMost devices come with EVMs, Code Composer Studio™IDEPlug-inorADCprosupport.
To avoid errors introduced by external gain resistors, all TI current sense amplifiers have gain set internally through TI’s high precisionmanufacturingprocesses.Totalcomponentcountandboardspaceisreducedaswell.Inadditiontothestandardcurrent-sense amplifierconfiguration,TIhasalineofdigitaloutputcurrent-sensedevices.Thesedevicesmakeisolationeasybylimitingtheinterfacetotwodigitallinesandfreeembeddeddataconvertersforothersystemactivities.
Current Measurement
Simultaneous Sampling ADCs and Modulators
www.ti.com/mc-host
www.ti.com/mc-adc
High Precision for Large CM Current Measurements
ADC 1
+80 V
2.7 to 18 V 2.7 to 18 V
RefRef
+INA282-
+INA282-
TI’s Newest Current Sense Amps
CMR Offset OffsetDriftINA28x -14–80V 70µV 0.5µV/˚CINA21x -0.3–26V 35µV 0.5µV/˚CINA199Ax -0.3–26V 150µV 0.5µV/˚CINA219 -0.3–26V 100µV 0.5µV/˚C
Motor Control Solutions 7
www.ti.com/motorcontrol
Isolation
Isolated Gate Drivers
100
200Vpeak (continuous)
Life
time
in Y
ears
TI ISO Life Expectancy vs. Voltage
600 100080040010
62
40
85
59
43 TJ = 85C
TJ = 150C31
23
28
20
1511
The TI EdgeReliabilityProvenreliabilityofsilicon-dioxide(SiO2) insulation; stable overtemperatureandmoisture;lifespan>25years.
Highest Noise ImmunityTIusesdifferentialsignalstocrosstheisolationbarrier,givingthehighestimmunityfromexternalmagneticandelectricfieldstopreventdatacorruption.
Signaling RateTIoffersdigitalisolatorswithhighsignalingratesofupto150Mbps,withlowskewandpulsewidthdistortion.
Lowest JitterToensuresignalintegrity,jitterreductionisapriority.ISO7xxxproductsofferthelowestjitterof1-nsjitterat150-MbpsPRBSNRZdatainput.
TI’sISO55xxfamilyofproductsareisolatedgatedriversforIGBTswithpowerratingsupto150Aand1200V.
InputTTLlogicandoutputpowerstageareseparatedbyTI’ssilicondioxide(SiO2)isolationbarrier.
Whenusedinconjunctionwithisolatedpowersupplies,thedevice blocks high voltage, isolates ground and prevents noise currents from entering the local ground and interfering withordamagingsensitivecircuitry.
Features•SoftIGBTturn-off• Isolatedfaultfeedback•VCEDESATprotection/adjustability•Undervoltagelock-outprotection(UVLO)withhysteresis•±50-kV/µstypicaltransientimmunity•5000-VrmsmaxisolationperUL•Operateswith3.3-Vor5-Vinputsupply•–40°Cto125°Coperatingrange
Resources Available•EVMs• IBISmodels•Application notes on high-voltage lifetime and magnetic field immunity
1 VIN +
VIN -
V CC1
C BLANK
100 ΩR F
GND 1
RESET
FAULT
nc
GND 1
VE
V F
D DESAT
R PULL DOWN
V CE
V CE
++
+
+
-
-
-
-
R G
VEE
DESAT
VCC2
VC
VOUT
VEE
VEE
2
3
4
5 1
1
1
1-These components are necessary only when implementing negative gate drive.
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µC
+
-
+
-
www.ti.com/mc-iso
www.ti.com/mc-iso
Motor Control Solutions8
www.ti.com/motorcontrol
Interface
RS-485/RS-422 • Broadportfolio• Improvedspeed,performanceandrobustness
Speed• Speedsofupto50Mbps
Functionality •Lowerunitload:upto256devicesonbus •3.3-Vsupply:noneedforextravoltageregulators •Truefailsafe:noneedforexternalbiasingresistors •SlowratecontrolreducesEMI •Receiverequalizationenableslongcabletransmission
Robustness •Best-in-classESDprotection:improvedreliability •400-Wtransientvoltageprotection:noneedforexternal components •Extendedcommon-mode:extendstransmissiondistance
CAN • Broadportfolioofstandardindustryupgradesand TIuniqueCANdevices
World’s Most Robust 5-V CAN Transceiver• HighestESDprotectionintheindustry:14kV
World’s First 3.3-V CAN Transceivers • Low power and cost-effective
Second Generation 3.3-V CAN Transceivers •Lowestpowerand±36-Vprotection • Low power standby with bus wake-up •5-µAstandbypower
Isolated Interface •Integratedinterfacewithisolation •UsesTI’snewdifferentialcapacitivetechnology • High performance, superior to optical and magnetic isolation •Integrateddesignsavesboardspaceandsimplifiesboarddesign
Controllers
Key Features:• 0.5KB–256-KBflash• RAMupto16KB• Upto25MIPSoperation• 14to113pinpackageoptions• Integratedintelligentperipheralsincluding high-performance analog and digital peripherals• 16-bitand8-bittimerswithPWMcapability• IntegratedLCDdrivers• Communicationperipherals–UART,SPI,I2C
General Features:• Can be used as low-cost solution to drive a stepper motorwithDRVxxxxdrivers• Flexibilitytoprogramforoptimalmotorcontrol• 12-and10-bitanalogtodigitalconverters• 12-bitdigitaltoanalogconverters• On-boardcomparatorsandopamps• Idealfortrapezoidalcontroloflow-powerBLDCmotors
Hardware Kits:• BrushedDCmotorEVMwithDRV8801• SteppermotorEVMwithDRV8811
The MSP430™ MCU is the world’s leading ultra-low-power microcontrollerwitha16-bitRISCCPUarchitecture-optimizedfor Candassemblerprogrammingwithultra-low-powerarchitectures. The ultra-low-power capabilities are available in active, standbyandsleepmodes.
TheMSP430 family ofmicrocontrollers offers awide portfolio of highly integrated MCUs that are ideal for stepper and motor control applications. Customers have the option to select from low- or high-pin count MCUs along with different communicationandanalogperipherals.
Application Notes:SLAA120-PWMDCMotorControlUsingTimer_AoftheMSP430
SLAA223-MSP430StepperMotorController
MSP430MCUsoffermanydifferentcommunicationperipheralssuchasUSB2.0,SPI,I2C,IrDAandUART/LIN.Combinedwithtim-ersthatoffercapture/compare/PWMoutputsandawidechoiceofanalogperipheralssuchascomparators,10-/12-bitADC(upto200Ksps),12-bitDACand16-bitsigma-deltamodules,theseMCUscanbeusedtocontrolstepperandDCmotorsinprinters,fans,antennas,toysandmanyotherapplications.
TIprovidesrobustdesignsupportfortheMSP430microcontrollerincludingtechnicaldocuments,training,toolsandsoftware.
Motor Control Solutions 9
www.ti.com/motorcontrol
Texas Instruments is the industry leader in bringing 32-bit capabilitiesandthefullbenefitsofARMCortex-M3-basedmicro-controllerstothebroadestreachofthemicrocontrollermarket.StellarisMCUswithCortex-M3offeradirectpathtothestron-gest ecosystem of development tools, software and knowledge in the industry. Designers who migrate to Stellaris MCUs willbenefit from great tools, small code footprint and outstanding performance.Evenmoreimportant,designerscanentertheARMecosystem with full confidence in a compatible roadmap from $1to1GHz.Youwillneverneedtochangearchitecturesagain.
Meticulous Motion ControlTheStellarisfamilyofARMCortex-M3microcontrollersfeatures deterministic performance and IP especially designed for
simultaneous advanced motion control and real-time connectiv-ity, including up to eight full channels of control with dead-band generators providing shoot-through protection for applications such as three-phase inverter bridges, fault-condition handling in hardware quickly providing low-latency shutdown, synchro-nization of timers enabling precise alignment of all edges, and hardware quadrature encoders enabling precise positioning sensing.Togetherwithlargeron-chipmemories,enhancedpowermanagement,andexpandedI/Oandcontrolcapabilities,StellarisMCUsareoptimized for industrialapplications requiring reliableconnectivity, including motor and motion control, remote moni-toring, factory automation, HVAC and building control, gaming equipment, medical instrumentation, consumer appliances, CCTV monitoring,andfiresecurity.
Stellaris® 32-bit ARM® Cortex-M3™ Controllers
General Features:• Industry-leadingARMCortex-M3Core• 8-512KBofFlash• 20-100MHzofclockspeed• Deterministicfastinterruptprocessing(12cycles)• Real-timemultitaskingcapabilities• Integratedanalogperipherals• 10-bitanalog-to-digitalconverter• Pulsewidthmodulators(PWMs)withprogrammable dead band timers• Three sleep modes with clock gating for low power
Unique Stellaris MCU capabilities• Advancedcommunicationcapabilities,including10/100 EthernetMAC/PHY,USB,USBOTG,CANcontrollers, I2C,I2Sandextendedperipheralinterfaces• 5-VtolerantGPIOswithprogrammabledrivecapability• Single-cycleflashupto50MHz• RoyaltyfreeStellarisWare® software• Open-tooledreferencedesignkitsandquick-start evaluation kits• UptotwoquadratureencoderInputs
StellarisWare® Software• Extensivesuiteofsoftwaredesignedtoreduce development cycle time• Stellaris peripheral libraries• StellarisUSBlibraries• Stellaris graphics libraries• Stellariscodeexamples• StellarisIEC60730library• Available as object library and source code
Hardware Kits:Schematics,BOMandGerberfilesareavailableforallhardware kits and include all accessories to start evaluation rightoutofthebox.
Reference Designs:StepperMotorReferenceDesignKit-RDK-StepperACInductionMotorReferenceDesignKit-RDK-ACIMBrushlessDCMotorReferenceDesignKit-RDK-BLDCBrushedDCMotorReferenceDesignKit-RDK-BDCSerial-to-EthernetReferenceDesignKit-RDK-S2EIntelligentDisplayModuleReferenceDesignKit-RDK-IDM
For more information on Stellaris for motor control applications, visit www.ti.com/stellarismotorcontrol.
Stellaris Motor and Motion Control Features
•MotionControlPWMswithdeadbandandfaultdetection supportsafeandefficientoperationofmotors.Highspeed ensurescleanestoperation.•QEI(quadratureencoderinputs)supportsincrementalen coders,tachometers,generators/resolvers,TDCdetectors. •High speed ADCs support current measurement using hallsorshuntstoadjustalgorithmsoptimally.•Independent integratedanalogcomparatorscanbecon figuredtodriveanoutputorgenerateaninterruptofADC event.
Available September 2010EvalBot Kit + uC/OS-III book
Check www.ti.com/evalbot in September for more details on how to order the Micrium book and evaluation
robot bundle Part EKB-UCOS3-BNDL.
Motor Control Solutions10
www.ti.com/motorcontrol
Controllers
C2000™ 32-bit Real-Time Controllers
Broadest MCU Architecture• 40-300MHzC28x™CPU• Built-inDSPfunctions• Single-cycle32x32-bitMAC• Control Law Accelerator• Fixedandfloatingpoint• Embeddedflash• 32-512KBofflash• Fromsub$2to$15
Fine-Tuned for Real-Time Control• Optimizedcore• Fast interrupts• Flexibleinterruptsystem• Real-timedebugging• Best-in-classADCperformance• Flexiblehigh-resolutionPWMs• Sensor interfaces• CAN, serials
High-Energy Efficiency via Advanced Control• Variable speed real-time control• Betterdynamicandtransientcontrol
Overall System Performance Optimization• High level of integration• Provides control and supervision
Piccolo™ MCU Family for Lowest System Cost• IntegratedOSC,watchdogs• Analog comparators• Fault detection• Limited life support• NoexternalGPIOfiltersneeded
www.ti.com/c2000dmc
IQMath LibraryA library and compiler intrinsic that allows you to select your range and resolution by choosing which bits of your binary representednumberaretheinteger(I)andwhicharethequo-tient(Q).ItalsoallowsyoutowriteCfunctioninfloatingpointinsteadofdealingwithfixed-pointscaling;thecompilertakescareofthat.
• Changenumericalrangeonthefly• Tuneforbestresolutionanddynamicrange• Removequantizationeffects• Reducescalingandsaturationburden• Betterintegrationwithsimulationandcodegentools• Singlesourcesetbetweenfixedandfloatingpoint
Ex: Using “Park” from DMC Library//initialization code, define macro per library#definePARK_MACRO(v)v.Ds=_IQmpy(v.Alpha,v.Cosine)+_IQmpy(v.Beta,v.Sine);v.Qs=_IQmpy(v.Beta,v.Cosine)-_IQmpy(v.Alpha,v.Sine);
//incremental build code, connect outputs and inputspark1.Alpha=clarke1.Alpha;park1.Beta=clarke1.Beta;
//run-time code, call the functionPARK_MACRO(park1)
Is1
Is2
Is3
Iα
Iβ
Id (flux component)
Iq (torque component)
Application LibrariesSpecialized,application-specificsoftwarefunctions•Modularmacroswithvariableinputsandoutputs•Atinitialization,allvariablesaredefinedandoutputsof oneblockaresetasinputstothenext•Completedocumentation–includingsourcecode,use andtechnicaltheory–isprovidedforeverymodule
Digital Motor Control LibraryTransforms and Estimators •Clarke,Park,SMObserver,phasevoltage,resolver,flux,
speed calculators and estimators
Control •Signalgeneration,PID,BEMFcommutation,space
vector generators
Peripheral Drivers•Differentmodesandtopologysupport
•ADC,PWM,encoders,sensorcaptures
Motor Control Solutions 11
www.ti.com/motorcontrol
Controllers
• Feedbackandsensing circuitry• IsolatedJTAG
• Screenshots• Hardwarehook-up
• Debugggingtips
Incremental Build
DMCexamplesystemsalluseanincrementalbuildapproach,
which allows an incremental section of code to be built so that
the developer can verify each section of the application one step
atatime.Thisiscriticalinreal-timecontrolapplicationswith
different variables that can affect the system and so many
uniquechallengesacrossmotorparameters.
Forexample,inthesensorlessPMSMFOCsystembelow,the
followingincrementalbuildsarebuiltintothesoftware:
Build Level 1: Using a dummy signal, verify that inverse park, spacevectorandPWMdriverareproducing correct waveformsBuild Level 2: VerifyADCconversion,phasevoltage calculation, Clarke and Park transformsBuild Level 3: Closed-loopPIDcurrent-controlverificationBuild Level 4: Sliding-Mode observer and speed estimator verificationBuild Level 5: Closed-loopPIDspeedcontrol
Documentation
All systems come with:• Incrementalbuildsoftware• Step-by-stepuser’sguide• DMCcontroltheory
All hardware example systems are open source, ready for you to insert into your design, and include: • Gerberfiles• Schematics• BOM
SpeedRef1
RAMP_CNTLset_value
trgt_value rmp_out
ipark_Q ipark_q Ubeta Ta
Tb
Tc
Mfunc_c1FC_PWM_
DRVEV
HWQO/HW
Mfunc_c2
Mfunc_c3
Mfunc_p
R
C
VA-FB
PWM1
PWM2
PWM3ipark_d Ualfa
theta_ip
ipark_D
set_eq_trgt
rmp_freq
rmp_offset
rmp_gain
RAMP_GEN
IqRef1 I_PARK SVGEN-DQ
Scope
IdRef1
PMSM
Motor
I_PARK
ipark_Q
ipark_D
theta_ip
ipark_q
ipark_d
clark_a
clark_b
clark_c
clark_d
clark_q
PARK
park_d
park_q
theta_p
park_D
park_Q
i_ref_q
i_fdb_q
u_out_q
i_ref_d
i_fdb_d
u_out_d
spd_ref
spd_fdb
spd_out
Constant 0
Ia_out
Ib_out
ADCINx
ADCINy
Ia_gain
Ib_gain
Ia_offset
Ib_offset
I_ch_sel
Ubeta
Ualfa
Ta
Tb
Tc
speed_ref_
FC_PWM_DRV
Q0 / HW
Mfunc_c1
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
Mfunc_c2
Mfunc_c3
Mfunc_p
EV
HW
ADC
HW
SMOPOS vsalfathetaevsbeta
Ualfa
Ubeta
isalfa
isbeta
clark_d
clark_qzalfa
zbeta
SMOSPD
(slidingmode
rotor speedestimator)
(slidingmode
rotor angleestimator)
zalfaspd
zbetaspd
thetaspd
speede
RAMP_GEN
rmp_freq
rmp_offset
rmp_gain
RAMP_CNTLtrgt_value
set_value
set_eq_trgt
rmp_out
SVGEN_DQpid_reg_iq
pid_reg_id
pid_reg_spd
CLARKE ILEG2DRV
Q0Q15Q15
Q13Q13
3-PhaseInverter
SpeedRef1RAMP_CNTL
set_value
trgt_value rmp_out
ipark_Q ipark_q Ubeta Ta
Tb
Tc
Ta
Tb
Tc
Mfunc_c1FC_PWM_
DRV
ADC
CONV
ADC
HW
EV
DRV8402
3-Phase
InverterHWQO/HW
Mfunc_c2
Mfunc_c3
Mfunc_p
clark_d clark_a
clark_b
AdcResult0
AdcResult1
AdcResult2clark_q
park_D
park_Q
park_d
Mfunc_v1
Mfunc_v1
Mfunc_v1
DcBusVolt AdcResult2
theta_p
park_q
VPhase_ABC
Valpha
Vbeta
PWM1
ADCINx (la)
ADCINy (lb)
ADCINx (Vdc)
PWM2
PWM3ipark_d Ualfa
theta_ip
ipark_D
set_eq_trgt
rmp_freq
rmp_offset
rmp_gain
RAMP_GEN
IqRef1 I_PARK SVGEN_DQ
PARK
Phase voltageCalc
CLARKE
IdRef1
PMSMMotor
Build Level 1
Build Level 2 Build Level 3 and 4 (not shown)
Motor Technique Type Feedback
ACIFOC Speed and Torque Tachometer
FOC Speed and Torque Sensorless
BLDC
Trapezoidal Speed Half Effect
Trapezoidal Speed Sensorless
Sinusoidal Speed Half Effect
Sinusoidal Speed Sensorless
PMSM
FOC Speed and Torque Encoder
FOC Position Encoder
FOC Speed and Torque Sensorless
Steppper Microstep Position Sensorless
Brushed DirectDrive Speed and Position Encoder
C2000™ Digital Motor Control Gives You MORE C2000basedmotorcontrolsystemsenableenergyandcost savings throughout products –Variablespeedcontrol MOREefficientmotors –Field-orientedcontrol MOREefficientcontrol –SpacevectorPWM MOREefficientpowerstage –Sensorlesscontrol MOREcosteffective –Multi-axiscontrol MOREmotorspercontroller –IntegrateddigitalPFC MOREsystemfunctions –MeetingIECstandards MOREreliableandrobust –BroadestMCUportfolio MOREproducts,oneplatform
Systems included or planned
Motor Types, Control and Feedback TechniquesThesesystemexampleshavebeencreatedacrossdifferentmotortypes,controltechniquesandfeedbackmethods.
SLYB165
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A042210
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