Energy Regeneration from motors by drive

8/10/2019 Energy Regeneration from motors by drive

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TMFreescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product orservice names are the property of their respective owners. © Freescale Semiconductor, Inc. 2008.

Energy.Don’t loose it…REUSE it!

Freescale 2008 Motor Control Seminar Series

9.98°

A

B

C

i

b

i

a

i

c

i

q

i

dθd

d a x i s

q a x i s



TMFreescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product orservice names are the property of their respective owners. © Freescale Semiconductor, Inc. 2008.

Three-Phase Line Regeneration

Single-Phase Line Regeneration

Motor Regeneration

Introduction to 4-Quadrant Systems

Freescale Solutions for Regeneration

For Today’s Webinar…



TMFreescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names arethe property of their respective owners. © Freescale Semiconductor, Inc. 2009.

Slide 3Dave Wilson

Second Quadrantnegative speed-positive torque

“reverse-braking”

Generating

Fourth QuadrantPositive speed - negative torque

“forward-braking”

GeneratingThird Quadrant

negative speed - negative torque“reverse-accelerating”

Motoring

First Quadrantpositive speed-positive torque

“forward-accelerating”

Motoring

T o r q u e

SpeedIII

III IV

Quadrants of Operation




Slide 4Dave Wilson

Example 4-Quadrant SystemV+

1

2

3

4

M




Slide 5Dave Wilson

1

2

3

4

+ -Motor

Back emf

Q1

Forward)

Motor

Voltage

Motor

Current

DC Bus

Current

1

2

3

4

+ -Motor

Back emf

Q4

Forward)

Motor

Voltage

Motor

Current

DC Bus

Current

Motoring GeneratingDC Motor Regeneration

a b a ab ba b a ab

a b a b

Positive averageimplies motoring

Appliedaverage PWM

voltage greater

than back EMFvoltage

Appliedaverage PWMvoltage less

than backEMF voltage

Negative averageimplies generating




Slide 6Dave Wilson

Applied Voltage

Back EMF

Bus regen. can only occur when applied voltage is smaller inmagnitude than the motor back-EMF, and of the same polarity.

Plugging

Plugging

Motoring

Motoring

Regeneration

Regeneration

Conditions for DC Motor Regeneration




Slide 7Dave Wilson

96ms 98ms 100ms 102ms 104ms 106ms 108ms 110ms 112ms 114ms-40V

-30V

-20V

-10V

0V

10V

20V

30V

40V

-10

-8

-6

-4

-2

0

2

4

6

8

100.0V

0.1V

0.2V

0.3V

0.4V

0.5V

0.6V

0.7V

0.8V

0.9V

1.0V

-10V

-8V

-6V

-4V

-2V

0V2V

4V

6V

8V

10V

V(zero) V(N017,N023) I(L1)

V(n022) V(n012) V(n013)

V(zero) V(bus_current)

IBUS

VMod

Vemf IL

Vemf

IL

AC Motor RegenerationMOTORING

(unity PF)

GENERATING(unity PF)

V+

+ _

A

B

A

BVemf

IL

Carrier Mod

IBUS

+ -

VModVemf

VL

IL

VMod

Vemf

VL

IL

96ms 98ms 100ms 102ms 104ms 106ms 108ms 110ms 112ms 114ms

-40V

-30V

-20V

-10V

0V

10V

20V

30V

40V

-10A

-8A

-6A

-4A

-2A

0A

2A

4A

6A

8A

10A

0.0V

0.1V

0.2V

0.3V

0.4V

0.5V

0.6V

0.7V

0.8V

0.9V

1.0V

-10V

-6V

-2V

2V

6V

10V

V(zero) V(N017,N023) I(L1)

V(n022) V(n012) V(n013)

V(zero) V(bus_current)

IBUS

Vemf IL

VMod

P=½Vemf ILcos(θ)θ

SPICE SIMULATION




Slide 8Dave Wilson

Regenerative

Boost Converter

Panasonic

Ni-MH battery stack

200 - 500 V

8100 uF

1 kW

Buck

Converter

System 12V

Freescale

Dave’sMostExcellent

Motor Controller T

M

50 kW

3-phase

Traction Motor

Freescale


Motor Controller

TM

1.2 kW

Variable Speed

AC Compressor

Freescale


Motor Controller T

M

30 kW

10k RPM

3-phase

Starter/Alternator

Freescale


Motor Controller

TM

Brush DC

EPS Motor

Regeneration in Toyota Prius

7.2V x 28 = 202V

6.5 amp-hours

12V

One Thirdof Kinetic Energy

Recaptured!




Slide 9Dave Wilson

S08or DSC

PWM1

PWM2

PWM3

PWM4PWM5

PWM6

VBus

Rectifiers block current flow back on to AC line from the dc bus, thus preventing line regeneration.All motor energy gets dumped in the bus capacitor.

Deceleration

Energy Flow

AC In

V o l t a g e

ADC

Fault1

Port Pinor PWM

Brake

Voltage

Processing

Options

- Limit deceleration rate

- Bigger capacitor

- Turn PWMs off and coast

- Brake resistor

- Dump energy onto AC line input

Freescale

Dave’sControlCenter

Where Does the Energy Go?




Slide 10Dave Wilson

Energy Flow

Regeneration to a Single Phase AC Line

AC In

Energy Flow




Slide 11Dave Wilson

Single Phase

AC Line Regeneration

VAC

Vbus

VoltageRegulator

(PI)

+

-

V

ref

V

bus

VAC

Current

Reference

Waveform

+

-

i

L

i

L

CurrentRegulator (P or PI)

V

bus

+

+

V

q

V

d

PWM

÷

PWM

PWM

PWM

PWM

PWM

Module

N

DCarrier

Energy Flow




Slide 12Dave Wilson

Simulation Results of Single-Phase Regenerative System




Slide 13Dave Wilson

PWM 1

PWM 2

PWM 3

PWM 4

PWM 5

PWM 6

VBus

v

a

v

b

v

c

PWM 7

PWM 8

PWM 9

PWM 10

PWM 11

PWM 12

Motorola

Dave’sControlCenter

PWM Module A PWM Module B

Freescale offers several controller solutions with the

required MIPS and peripherals for this application.

Freescale offers several controller solutions with the

required MIPS and peripherals for this application.

Motor Decelerating

Energy FlowEnergy Flow

2E72G56F8346

SSAC0116-A

Regeneration to a 3-Phase AC LineEnergy FlowEnergy Flow




Slide 14Dave Wilson

D and Q Axes Representation

α

β

Field Oriented Techniques applied to three-phase systemA B C

t=now

Put current vector on this axis for unity PF.

θ

D i r e c

t A x i s

Q u a d r a t u r e A x i s

Power Factor = Cos(φ)

RotatingAC Line Voltage

Space Vector

RotatingAC Line Current

Space Vector

Where φ is the angle between thevoltage and current spacevectors




Slide 15Dave Wilson

Measure the instantaneous AC linevoltages. These scalar values representthe instantaneous magnitudes of the

vectors along the A, B, C axes.

A

B

C

Three PhaseConverter

A B C

t=now

A

B

C

Phasor Diagram

aV

bV

cV

rotating voltage space vector

Power Flow

d θ

Assuming equal phase voltages,

-v

c

= v

a

+ v

b

FreescaleADC

Step 1: Voltage Measurement




Slide 16Dave Wilson

c b

a

V V V

V V

23

23

2

3

−=

=

β

α

A

B

C

Phasor Diagram

α

β

α V

β V

This is sometimesreferred to as the

FORWARD CLARK

transformation

Step 2: 3-phase to 2-phase transformation

rotating voltage space vector




Slide 17Dave Wilson

β V

Phasor Diagram

α

β

AngleDemodulator

α V

d θ

d θ

⎟⎟ ⎠

⎞⎜⎜⎝

⎛ = −

α

β θ

V

V

d

1tan

Difficult to evaluate,

especially on a fixed-

point machine

Step 3: Angle Demodulation




Slide 18Dave Wilson

Σ Σ Σ

Z

-1

Z

-1

αβ

++

+ ++

( )nd

∧

θ

( )nd

∧

Δθ

( ) )(ˆ)(sin nnnerror θ θ −=

Integrator Integrator

+

cos sin

X

X

Σ

+

-

[ ])(nCos θ

[ ])(nSinθ

( ) ( ) )(ˆsin)(cos)(ˆcos)(sin)(ˆ)(sin n n n n n n θ θ θ θ θ θ −=−

β V

α V

Tracking Filter Used for Angle Demodulation




Slide 19Dave Wilson

(commanded) +

-

error(t)Bus voltage

(measured)Bus voltage

VBus

PI

Regulator

3-Phase AC supply

Step 4: Bus Voltage Regulator




Slide 20Dave Wilson

id = sqrt(2/3) * (cos(θ)*ia + cos(θ - 2*π /3)*ib + cos(θ - 4*π /3)*ic)

iq = sqrt(2/3) * (-sin(θ)*ia - sin(θ - 2*π /3)*ib - sin(θ - 4*π /3)*ic)

Forward Clark-Park Transformation

θd

d a x i s

q a x i s

i q

i d

Step 5. Establish id and iq

1mHVbus

abc

θ q

d

i q

i d

6 transistor converter

θAngle

Demodulator

-i c = i a + i b

A

B

C

si

i

c

i b

i

a

3-PhaseAC supply




Slide 21Dave Wilson

i d

∫ I

P

++

+-

error(t)

∫ I

P++

+-

error(t)

(commanded)

i d (measured)

i q

i q (commanded)

(measured)

v

d

v

q(0 amps)

Output from bus voltage regulator

P or PI regulators work well.

Step 6. Synchronous Frame Current Regulation

St 7 S h t St ti F T f ti




Slide 22Dave Wilson

V1 = sqrt(2/3)*(cos(θ)*Vd - sin(θ)*Vq)

V2 = sqrt(2/3)*(cos(θ - 2*π /3)*Vd - sin(θ - 2*π /3)*Vq)

V3 = sqrt(2/3)*(cos(θ - 4*π /3)*Vd - sin(θ - 4*π /3)*Vq)

Reverse Clark-Park Transformation

v 1v 2

v 3

d a x i s

q a x i s

θdv

d

vq

a

b

cθ

q

d

v q

v d

θ

AngleDemodulator

A

B

C

v

1

v

3

v

2

Step 7: Synchronous to Stationary Frame Transformation

St 8 O t t V lt M d l ti




Slide 23Dave Wilson

Vbus


AC Line

v

1

v

2

v

3

Va

Vb

Vc

P W M 1

P W M 2

P W M 3

V 1 amplified

V 3 amplified

V 2 amplified

Step 8. Output Voltage Modulation

Th Ph S t O i




Slide 24Dave Wilson

abc

q

d

PWM A

PWM B

PWM C

Vbus


AC Line

Three-Phase System Overview

θ

P W M A

P W M B

P W M C

+-

P

+

-

Desired Bus Voltage PI

Vbus

v d

θ

a b c

Angle

Demodulator

+-

P

v q

i q abc

q

di d

θ

Si l ti R lt f 3 Ph R ti S t




Slide 25Dave Wilson

Simulation Results of 3-Phase Regenerative System

Bus Load Current

D-axis Current

Q-axis Current

Phase A VoltagePhase A Current

Bus Voltage

A li ti




Slide 26Dave Wilson

ApplicationsStandby Power Supplies

Connecting asynchronous power sources

Hybrid vehicles

Combined starter/alternator

Elevator Drives

Driving high inertial loads

PowerProcessing

Unit

VariableSpeed

Generator

Variable Frequency AC

AC Utility

High-Performance Power Architecture sockets

50 or 60 HzWind Energy

Inverter Load

StaticDisconnect

Switch

Energy Flow

AC Utility

Battery

S stem Benefits




Slide 27Dave Wilson

Bidirectional control of power

Unity Power Factor or ANY Power Factor for that matter)

Since Vbus is regulated, and currents are sinusoidal,

the semiconductor volt-amp ratings are reduced

Vbus is less sensitive to AC line fluctuations

For three-phase AC systems, FOC algorithms can be used for both

converter and inverter control

System Benefits

Sinusoidal Currents

Matrix Converters




Slide 28Dave Wilson

Matrix Converters

Inherent regeneration to input supply

Sinusoidal line currents possible

Unity or any) power factor is possible

Direct AC to AC waveform conversion

No energy storage elements required

M t i C t T l




Slide 29Dave Wilson

Inputs

Outputs

Matrix Converter Topology

Matrix Converter Output Waveform Example




Slide 30Dave Wilson

Unfiltered

Filtered

Matrix Converter Output Waveform Example

Dual Converter Inverter DSC Solutions




Slide 31Dave Wilson

Dual Converter-Inverter DSC Solutions

All devices are 60 MHz, (-40, +125)°C

56F8345 56F8346 56F8347 56F8355 56F8356 56F8357 56F8365 56F8366 56F8367

Voltage (Core / I/O) 2.5/3.3V 2.5/3.3V 2.5/3.3V 2.5/3.3V 2.5/3.3V 2.5/3.3V 2.5/3.3V 2.5/3.3V 2.5/3.3V

On-Chip Flash 144KB 144KB 144KB 280KB 280KB 280KB 560KB 560KB 560KB

Program Flash 128KB 128KB 128KB 256KB 256KB 256KB 512KB 512KB 512KB

Data Flash 8KB 8KB 8KB 8KB 8KB 8KB 32KB 32KB 32KB

Boot Flash8KB 8KB 8KB 16KB 16KB 16KB 32KB 32KB 32KB

On-Chip RAM 12KB 12KB 12KB 20KB 20KB 20KB 36KB 36KB 36KB

Program RAM 4KB 4KB 4KB 4KB 4KB 4KB 4KB 4KB 4KB

Data RAM 8KB 8KB 8KB 16KB 16KB 16KB 32KB 32KB 32KB

Flash security Yes Yes Yes Yes Yes Yes Yes Yes Yes

Ext. Memory Interface - Yes Yes - Yes Yes - Yes Yes

On-Chip Relax. Osc. No No No No No No No No No

16-bit Timers 16 16 16 16 16 16 16 16 16

Quadrature Decoder 2 x 4ch 2 x 4ch 2 x 4ch 2 x 4ch 2 x 4ch 2 x 4ch 2 x 4ch 2 x 4ch 2 x 4ch

PWM 2 x 6ch 2 x 6ch 2 x 6ch 2 x 6ch 2 x 6ch 2 x 6ch 2 x 6ch 2 x 6ch 2 x 6ch

PWM Fault Input 4 + 4 3 + 4 3 + 4 4 + 4 3 + 4 3 + 4 4 + 4 3 + 4 4 + 4

PWM Current Sense 3 + 3 3 + 3 3 + 3 3 + 3 3 + 3 3 + 3 3 + 3 3 + 3 3 + 3

12-bit ADC 4 x 4 ch 4 x 4 ch 4 x 4 ch 4 x 4ch 4 x 4ch 4 x 4ch 4 x 4 ch 4 x 4ch 4 x 4ch

Temperature Sensor Optional Optional Optional Optional Optional Optional Optional Optional Optional

CAN FlexCAN FlexCAN FlexCAN FlexCAN FlexCAN FlexCAN FlexCAN (2) FlexCAN (2) FlexCAN (2)

SCI (UART) 2 2 2 2 2 2 2 2 2

SPI (Synchronous) 2 2 2 2 2 2 2 2 2

GPIO (Ded./Shrd/Tot) 21/ 28 / 49 0 / 62 / 62 0 / 76 / 76 21 / 28 / 49 0 / 62 / 62 0 / 76 / 76 21 / 28 / 49 0 / 62 / 62 0 / 76 / 76

JTAG/EOnCE Yes Yes Yes Yes Yes Yes Yes Yes Yes

Package 128LQFP 144LQFP 160LQFP 128LQFP 144LQFP 160LQFP 128LQFP 144LQFP 160LQFP

2.5/3.3V

80KB

64KB

8KB

8KB

12KB

4KB

8KB

Yes

-

Yes

16

2 x 4ch

2 x 6ch

4 + 4

3 + 3

4 x 4ch

Optional

FlexCAN

2

2

21 / 28 / 49

Yes

128LQFP

56F8335

56F8300 Pin Compatibility




Slide 32Dave Wilson

P e r i p h e

r a l I n t e g r a t i o n

56F8300 Pin Compatibility

Pin compatible

56F8x46

56F8x45

144 LQFP

128 LQFP

56F8357

280KB(56F835x)

272KB(56F815x)144KB

(56F834x)136KB

(56F814x)

56F8x56

560KB(56F836x)

528KB(56F816x)

128LQFP

144LQFP

160 LQFP

144LQFP

160 LQFP

128LQFP

56F8x65

128 LQFP

80KB(56F833x)

72KB(56F813x)

160 LQFP

56F8x66

56F8x67

56F8x57

56F8x35

56F8x47

56F8x55

56F8x67

56F8x57

56F8x47

160 BGA

160 BGA

160 BGA

Cost Effective 56F8000 Solutions




Slide 33Dave Wilson

56F8011/56F8013/56F8014

32 MIPS Performance

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 4Programmable Fault Inputs

• Selectable PWM frequency for eachcomplementary 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

MSRP starting at $2.92 for 1K units•Packages:

32LQFP

System Clock ControlSystem Clock Control

(PLL, Osc)(PLL, Osc)

6 Output6 Output

PWMPWM

4 164 16--BitBit

TimersTimers66--8 Input8 Input

1212--bit ADCbit ADC

SCISCI

VoltageVoltage

RegulatorsRegulators

COPCOP

JTAG/JTAG/EOnCEEOnCE

InterruptInterrupt

Controller Controller

Power Power

Supervisor Supervisor SPISPI

IICIIC

56800E56800E

CoreCore32 MIPS32 MIPS

32 MHz32 MHz

FlashFlash RAMRAM

Key Control Peripherals

System IntegrationSystem Integration

Module (SIM)Module (SIM)

56F8000 Family Expansion




Slide 34Dave Wilson

• 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

• 2-12-bit ADCs for 6-8 Inputs w/ Int. or External Vref

• Up to 2 12-bit Digital to Analog Converters

• 2 - Analog Comparators

• Synchronization between PWM and ADC• 4 or 8 16-bit General Purpose Programmable Timers

• 1 or 3 Programmable Interval Timers

• Computer Operating Properly Timer

• 2-Queued Serial Communications Interface

• 2-Queued Serial Peripheral Interface

• Optional MSCAN• I2C Communications Interface

• Up to 53 GPIOs

• JTAG/EOnCE™ Debug Port

• 4 Lead Free Packages

• Up to -40 to 125C temperature range

• MSRP starting at $3.30 for 1K units

•32 LQFP 44QFP

•48LQFP 64LQFP

VoltageVoltage

RegulatorsRegulators

COPCOP

JTAG/EOnCEJTAG/EOnCE™

InterruptInterruptController Controller

Power Power

Supervisor Supervisor

64KB Flash64KB Flash 8KB RAM8KB RAM

MSCANMSCAN

System Clock ControlSystem Clock Control

(PLL, SIM,(PLL, SIM, OscOsc))

33--PITPIT

56800E56800ECoreCore

32 MIPS32 MIPS

32 MHz32 MHz

6 Output6 Output

PWMPWM

8 16bit Timers8 16bit Timers

22--QSCIQSCI

22--QSPIQSPI

II22

CC22--12bit DACs12bit DACs

22--AnalogAnalog

ComparatorsComparators

Two 12bit ADCsTwo 12bit ADCsUp to 2x8 InputUp to 2x8 Input

New or ImprovedNew or Improved

y p56F8023/56F8025/56F8036/56F8037 Features

Anguilla White : Ultra Low cost Product:




Slide 35Dave Wilson

g56F8002, 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, x16gains (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 ofADC/PGA sample times relative to PWM reload cycles Three High Speed Analog Comparators 2 multiple function Programmable Timers Computer Operating Properly Timer One Periodic Interval Timer (PIT) 1 High Speed Serial Communication Interface (Hi-SCI)

1 Serial Peripheral Interface (SPI) I2C Communications Interface Up to 40 GPIOs – Versatile pin usage JTAG/EOnCE™ Debug Port Lead Free “Green” Packages Industrial temp: -40C – 105C

Sampling Now!MSRP is $1.50 in 10K quantities!

56800ECore

32MHz

Power-On-Reset

Power Supervisor

COP

12-16KBProgram

Flash

6-ch PWM Output

System IntegrationModule (SIM) 1 SCI

1 SPI

1 IIC

JTAG/EOnCE

2KBProgram/Data RAM

Voltage Regulator

PLL

Interrupt Controller

Relaxation OSC

2 x ProgrammableGain Amplifiers

56F8002, 56F8006

Up to 40 GPIOs

ProgrammableDelay Block

Synch

2 x 16bit Timers

Crystal OSC3 x Analog

Comparators

1 Period Int Timer

12ch 12bit ADC

12ch 12bit ADC

•28SOIC, 32SDIP , 32LQFP, 48 LQFP

Pictus: MPC560xP




Slide 36Dave Wilson

Pictus: MPC560xPCore• up to 60 MHz PowerPC ISA e200 zen0h core

(64MHz at 105oC)

Memory• 192k to 512k byte Program Flash with ECC• 4x16k byte Data Flash with ECC• 12k to 40k byte SRAM with ECC

I/O

• 1 x FlexCAN with 32MB• 1 x Safety port (can be used as additional FlexCAN - 32MB)• 1 x FlexRay Dual Channel with 32MB• 2 x LinFlex• 4 x DSPI (4 independent chip selects each)• 1 x FlexPWM (4x3 channels with 4 Fault Inputs)• 1 x eTimer (6 channels incl. quad decode)• 1 x eTimer (6 channels for general purpose)

• 2 x ADC• 2x13 Ch.(4 shared channels), 10bit, conversion time 760

nsec (2x6ch, 4shared on 100 pin package)• 1 x ADC triggering unit: 8 events

System• 2 x PLL (one FM-PLL, one for Flexray)• 16Ch eDMA• Fault Collection Unit• 16MHz internal RC OSC• Junction Temperature Sensor • JTAG (2 pin or 5 pin) / Nexus Class 2+• 3.3V single supply (5V mask option) with external ballast

transistor 100 and 144 pins TQFP package

• 145oC ambient temperature option with Slugdown package

NexusIEEE-ISTO5001-2003

Interrupt

Controller

Crossbar Switch

I/O

Bridge SIU 512K

Program

FLASH

40K

SRAM

D S P I

L

i nF l e x

F

l e x C A N

PowerPC™

e200z0

VLE

F l

e xP WM

S a f e t yP or t

D S P I

ADC I/F

10 bit

S&H S&H

Mux Mux

4+1 Ch.

PIT

eTimer (6Ch)

eDMA

( c ) J T A G

FlexRayF a ul t C ol l e c t i on uni t

Boot

Assist

Module

D S P I

L

i nF l e x

eTimer (6Ch)

10 bit

4x16K

Data

FLASH

D S P I




Slide 37Dave Wilson

www.freescale.com /[email protected]

Documents

Energy Regeneration from motors by drive