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Implementing Digital Motor Control with C2000

Implementing Digital Motor Control with C2000

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Implementing Digital

Motor Control with C2000

Power Flow Block Diagram

• Power is transferred from the AC line to the motor through the rectifier, and inverter.

• The C2000 controls the flow of power from the AC line to the motor.

Rectifier AC

Line Filter

PWM

Inverter Motor

Mech

Power

C2000

Controller

Content

• Motor Control Methods Overview

• Inverter / Hardware considerations

• Software / Algorithm Considerations

• DMC Development Kits

• System Incremental Build

• Demo, Q&A

Content

• Motor Control Methods Overview

• Inverter / Hardware considerations

• Software / Algorithm Considerations

• DMC Development Kits

• System Incremental Build

• Demo, Q&A

The “Ideal” Motor Control

• Achieve maximum torque at every speed

• Good transient control (currents, speed)

• Efficient control

• Low EMI

• Low electrical network pollution (harmonics)

• No reactive power (power factor correction)

• Low acoustical noise level

• Board cost

• Development time

Basic Principles of DC Motors

Torque in DC Motor

• From the previous slides we know that if we excite the three stator coils with three-

phase voltages we will get a rotating magnetic field at the centre

• All we now have to do to invent our PMSM (or BLDC) is to pivot a permanent

magnet at the centre

• The rotor will always rotate at exactly the same speed as the stator, which is why

this type of machine is called “synchronous”

Synchronous Motors: PMSM & BLDC

Difference Between BLDC & PMSM

• PMSM control

– Fed with sinusoidal current

– Continuous stator flux angle change

– All phases ON at the same time

– Low torque ripple

– Higher max achievable speed

– Low noise

• BLDC Control

– Fed with direct current

– Stator Flux commutation each 60º

– Two phases ON at the same time

– High torque ripple

– Commuation at high speed difficult

– High noise

Ebemf of PMSM

Ebemf of BLDC

30 150 210 230

BLDC control strategy

3 phases BLDC

star connection

with central point N

300 900 1500 2100 2700 3300 300 900 600 00 1200 1800 2400 3000 3600 600

Phase A

Phase B

Phase C

ia

ib

ic

e

e

e

VAN

AB

1

AC

2

BC

3

BA

4

CA

5

CB

6

AB

1

VBN

VCN

Two of the three phases are always energized, while the third phase is

turned off.

Switching instant are linked to rotor position

need for precise position sensing/evaluation of 30º, 90º, 150º, 210º, …

positions

A

ic

ib B

C

N

ia

VAB

VCN

Hall Effect Control of BLDC Motors

VLink

speed

calculation

PI PI PWM

commutation

control

T3 T5

T4

T1

T6 T2

For better performance we use closed loop control

• The Hall sensors and associated electronics will generate the signals

necessary for correct commutation

• Information from the Hall sensors are also used to calculate and feed

back the velocity

• Only two phases conduct at any one time; for current feedback dc-link

current is measured and fed back

Hall Effect Control of BLDC Motors

• Only two out of the three phases are energised at any one time

• The phases are energised in a 6 step manner

• The Hall sensors and the associated electronics will generate the signals necessary

for correct commutation

• Current is then injected when the Ebemf of each phase as reached its flat portion.

This will ensure constant torque

1 2 4 5 6 3 U

V

W

H1

H2

H3

Hall Effect Control of BLDC Motors

In the Previous slide, we stated that we use the signal from the hall effect to inject a DC

current when the Bemf reaches it flat region

– Flat current & Flat Bemf Flat torque (i.e. constant torque)

– No need for complex PWM (i.e. Slow switching)

300 900 1500 2100 2700 3300 300 900

600 00 1200 1800 2400 3000 3600

ia 600

Phase A

Phase B

Phase C

ib

ic

e

e

e

Back EMF Ea

Hall A

Hall B

Hall C

Back EMF of BLDC Motor

• The back-emf Ebemf waveform is directly related to the position of the rotor. If we could detect the zero crossing of the back-emf waveform we could deduce the position of the rotor

• We will then need to wait for 30 for the Ebemf to reach its constant region and then turn on the current in that phase

• The waiting time needed is dependant on the motor speed and can be deduced by continuously measuring the previous Ebemf zero crossings.

• Usually operated open loop at low speeds and when Ebemf becomes large enough to estimate accurately the loop is closed

• In a BLDC system only two coils are “on” at any moment in time.

• It has been shown* that Ebemf at the unconnected phase is crossing its zero point when the terminal voltage at that phase is equal to Vdc_link /2

• In other words if we measure Va, when Va = Vdc_link/2 the Ebemf = 0

Sensorless Control of BLDC Machines

zero crossing

Ea Eb

Ec

Vd

c_

link Zb

Zc

Za

Va

I

* “Microcomputer Control of Sensorless Brushless Motor”, K. Iizuka et.al, IEEE Transactions on Industry Applications, Vol IA-21, No4, May/June 1985, pp. 595 - 601

Speed Closed-Loop Control with Current Control

Block Diagram of Sensorless BLDC Control

• Hall sensors are removed. Resistor dividers and on-chip ADC are used to sense phase voltages.

• Phase voltages are used to detect zero crossing of back EMF and trigger commutation

• See TI Application reports (SPRA498 and BPRA072) for more details

3

Trapezoidal BLDC

Motor

Dedicate

divider circuit

*I I

3

Back EMF Zero

Crossing Detector

Calculator

30°

Delay Commutation

Sequencer

PWM

Generation

Current

Regulator

(PI)

+

Idc_shunt

DC Bus

sp

*

Speed

Calculator

+

m

k

AC Induction Motors

Squirrel Cage Rotor

• Invented in 1888 by Nikola Tesla

• Reliable construction: no brushes

• Simple, low cost design

• Good efficiency at fixed speeds.

• Asynchronous

• Speed and control position are expensive

• Poor performance at low speed operation

• Requires complex control to be competitive

Typical applications: industrial drives, white goods, fans, high speed applications

1. The rotating magnetic

field in the stator,

induces a current in the

rotor

2. This current will have a

magnetic field

associated with it

3. This magnetic field makes

the rotor behave like a

magnet which will then

follow the stator’s rotating

magnetic field

Induction Motor Operation

Important: For these currents to be induced the rotor

must travel slower than the stator this is called slip:

e

r e s

- =

Scalar Control (V/f) - Limitations

+ Simple to implement: All you need is three sine waves feeding the motor

+ Position information not required (optional).

– Doesn’t deliver good dynamic performance.

– Torque delivery not optimized for all speeds

V s

(volt)

f (Hz) f c f rated

V rated

0

TIME

TORQUE

Torque oscillation generates uncontrolled

current overshoot:

V Φm

Rs Rr/s Ls Lr

Lm

Model:

f)2 / (V mm =

)L f2 / (V I mmm =

R(s)

Scalar Control (V/f) Limitations

TORQUE

MAXIMUM

TORQUE

NOMINAL

TORQUE

SPEED NOM SPEED

VOLTAGE

Vo

LOW SPEED

At or near nominal speed:

Stator voltage drop negligible: (Vm = V),

At low speed: Rs is no longer negligible: Vm < V A large portion of energy is now wasted.

V Φm

Rs Rr/s Ls Lr

Lm

Model:

f)2 / (V mm =

)L f2 / (V I mmm =

R(s)

V/F control definition

SV

PWM 3-phase

Inverter

ACIM

VDC

Reg nref

-

n

V/f

Scalar control

Speed loop

+ Simple to implement: All you need is three sine waves

feeding the ACI

+ No position information needed.

– Doesn‟t deliver good dynamic performance.

– Not so good at low speed.

Field Circuit Armature Circuit

)(

..

..

e

em

If

KE

IKT

=

=

=

Separated excitation DC motor model

Flux and torque are independently controlled

The current through the rotor windings determines how much torque is produced.

Vector Control

Field Oriented Control (FOC)

A`

B

C`

A

B`

C N

S

q=90°

F

F

Back EMF (v)

Stator Current (Is)

T = constant

t

t

t

Maintain

the „load

angle‟ at

90°

Vector Control Concepts

+ Reduced torque ripple

+ Better dynamic response

+ Good performance at lower speeds

- Need rotor position info

rotorstatorem BBT

=

Field Orientation

FOC control Overview

cm

SV

PWM

a,b,c

a,b iSq

iSd

iSa

iSb

ia

ib

vSqref PI

PI vSdref

vSaref

vSbref

iSqref

iSdref

-

- 3-phase

Inverter

ACIM

VDC

d,q

a,b

d,q

a,b

current

model

PI nref

-

n

Field

Weakening

Speed loop

Vector control Require MIPS

Require current

information (sensing)

Vector control:

This method is based on the dynamic model of the motor. The Flux (Id) and The Torque (Iq) are controlled separately. Flux and Torque are controlled in real time.

Some key mathematical components are required!

a

b

Is

2/3

2/3

2/3 c

Stationary Reference Frame

Two phase orthogonal reference frame

q

d

Is

/2

Three phase reference frame

t

ic ia ib

t

t

Id

Iq

Clarke Transform

Stationary to Rotating Reference Frame

Again the transformation equations can simply be derived

by resolving fs, along the desired axis:

dqs to dqe transform:

Inverse dqs to dqe transform:

f f Cos t f Sin tqs

e

qs

s

e ds

s

e= -( ) ( )

f f Sin t f Cos tds

e

qs

s

e ds

s

e= ( ) ( )

f f Cos t f Sin tqs

s

qs

e

e ds

e

e= ( ) ( )

f f Sin t f Cos tds

s

qs

e

e ds

e

e= - ( ) ( )

ds axis

qs axis

e

fqs

s

de axis

qe axis

fqs

e

e =e t

e

fds

s fds

e

d

is

/2

Clarke Transformation

Determination of Torque & Flux from Stator

Currents

Three phase stationary

reference frame

t

ic ia ib t

t

Two phase orthogonal

stationary reference frame

iq

t

t

iq

id

Torque Component

Flux Component

Rotating reference

frame

d

is q

stator

id

iq

Flux Torque

Park Transformation

a

b

is

2/3 2/3

2/3 c

3-phase Currents

MEASURE CURRENTS

id

q

Content

• Motor Control Methods Overview

• Inverter / Hardware considerations

• Software / Algorithm Considerations

• DMC Development Kits

• System Incremental Build

• Demo, Q&A

3-phase Inverter Control

1B

1A

2B

2A

V-dcBus

3B

3A

IL-2IL-1

IPH-1 IPH-2

Motor 1

VA VB VC

Decisions that need to be made:

How to drive complementary PWM?

In the Motor Control and PFC Developer‟s Kit we chose to use a Integrated Power Module (IPM) to generate the complementary PWM. We could have used the C2000‟s deadband submodule within each PWM module instead.

In sensorless, how will we sense current?

In the Motor Control and PFC Developer‟s Kit we chose to use low-side sensing.

Low-side current sensing is more difficult, but more scalable. In high-side current sensing, amplifiers that allow high common-mode voltages are expensive.

High side current Sensing

Low side current Sensing

Voltage waveforms for

debug

Why Pulse Width Modulation?

A linear power amplifier will:

• waste too much power

• cost money

• heat dissipation

• bad for environment

controller

Motor

Signal

Power

Why Pulse Width Modulation ?

T t

PWM representation

t

Original Signal

Digital signal easy to output

High efficiency switching

+Vdc

PWM Signal Generation

Traditional way: comparing three-phase sinusoidal waveforms with a triangular carrier

Van = V.sin(ωt) (Van phase-neutral voltage)

PWM consideration:

Time Step

Bit width

Update conditions

Dead time ….

Zero Vectors (000) & (111)

S1

S2

S3

S4

S5

S6

V0 (100)

V60 (011) V120 (010)

V180 (110)

V240 (100) V270 (101)

d

q

Van*

θ

Cmp Value 1

Cmp Value 2

A

B

C

A B C

A_ B_ C_

Va Vb Vc

Motor

• Third harmonic injection

• Line to line voltage still sinusoidal

• PWM technique

• DSP hardware implemented

• Increase the maximum inverter output voltage of 15%

• Reduce transistor commutations

)3sin(.6

1)sin(.* ttVVan =

Space Vector PWM principle

We build the required voltage vector as a combination of one of the six basic switches configuration

0 0 (000) 0 (111)

Cmp Value 3

V0 V60 0(000) 0(111) 0(111) V60 V0 0(000)

Current Sensing

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

Signal Conditioning ADCINx ADCINx

+ DC_BUS

Shunt

Iphase

Ishunt

3.3 v

0 v

Iphase

Ishunt

100 uS

10 % duty off

ADC

sample

ADC

sample

ADC sampling window

• Requires flexibility of triggering sample and conversion in middle of PWM pulse

• Fast ADC S/H is required

• CPU operation promptly

• 3 phase current are available under all load conditions

Flexible PWM module

Action

Qualifier

(AQ)

Time-Base (TB)

Dead

Band

(DB)

Counter Compare (CC)

S0 S1

TBCTL[SYNCOSEL]

EPWMA

EPWMB

Trip

Zone

(TZ)

Event

Trigger &

Interrupt

(ET)

PWM

Chopper

(PC)

16

CMPB Active (16)

16

Sync

In/Out

Select

Mux

Phase

Control

EPWMxTZINTn

TZ1n to TZ6n

CMPA Active (16)

CMPA Shadow (16)

CMPB Shadow (16)

TBPRD Active (16)

TBPRD Shadow (16)

16

CTR=ZERO

CTR=CMPB

Disabled

TBCTL[CNTLDE]

CTR=PRD

CTR=ZERO

CTR=CMPA

CTR=CMPB

CTR_Dir

TBCTL[SWFSYNC](software forced sync)

CTR_Dir

CTR=ZERO

CTR=PRD

CTR=CMPA

CTR=CMPB

CTR=ZERO

EPWMxINTn

EPWMxSOCA

EPWMxSOCB

TBPHS Active (16)

Counter

UP / DWN

(16 bit)

TBCNT

Active (16)

EPWMxSYNCO

EPWMxSYNCI

EPWMxAO

EPWMxBO

16

16

16

Single EPWM module (in detail)

Simple view of EPWM

En SyncI

SyncO

CTR=Zero

CTR=CMPB

X

Phase Reg

EPWMn

EPWMnA

EPWMnB

Phase control

Sync. control

Dual Inverter + Boost

1B

1A

2B

2A

V-dcBus

3B

3A

IL-2IL-1

IPH-1 IPH-2

Motor 1

(optional)

5B

5A

6B

6A

V-dcBus

7B

7A

IL-2IL-1

IPH-1 IPH-2

Motor 2

Piccolo-B

3V3

PWM1(HR)

ADC

12 bit

5 MSPS

I2C

SPI

UART

CAN

Comms

CPU

32 bit

DSP core

60 MHz

MCLA32 bit

FPU

60 MHz

PWM2(HR)

PWM3(HR)

PWM4(HR)

PWM5(HR)

1A/1B

2A/2B

3A/3B

4A/4B

5A/5B

Vref

6A/6B

7A/7B

PWM6

PWM7

V-dcBus

IL-1(1)

IL-2(1)

V-batt

I-boost1

I-boost2

I-boost

IL-1(2)

IL-2(2)

4A

4B

V-batt

I-boost

I-boost1 I-boost2

V-dcBus

VA

B

VCD

VEF

EPWM1A

EPWM1B

EPWM2A

EPWM2B

EPWM3A

EPWM3B

3 Phase

Motor

VA

B

VCD

VEF

EPWM4A

EPWM4B

EPWM5A

EPWM5B

EPWM6A

EPWM6B

3 Phase

Motor

En SyncIn

SyncOut

CNT=Zero

CNT=CMPB

X

=

Phase Reg

Master

En SyncIn

SyncOut

CNT=Zero

CNT=CMPB

X

Phase Reg

En SyncIn

SyncOut

CNT=Zero

CNT=CMPB

X

Phase Reg

1

Ext Sync In

(optional)

2

3

EPWM1A

EPWM1B

EPWM2A

EPWM2B

EPWM3A

EPWM3B

Slave

Slave

En SyncIn

SyncOut

CNT=Zero

CNT=CMPB

X

Phase Reg

4

EPWM4A

EPWM4B

Slave

=

=

=

En SyncIn

SyncOut

CNT=Zero

CNT=CMPB

X

Phase Reg

5

EPWM5A

EPWM5B

Slave

=

En SyncIn

SyncOut

CNT=Zero

CNT=CMPB

X

Phase Reg

6

EPWM6A

EPWM6B

Slave

=

Dual - 3 Phase Inv. for Motor Drives

Content

• Motor Control Methods Overview

• Inverter / Hardware considerations

• Software / Algorithm Considerations

• DMC Development Kits

• System Incremental Build

• Demo, Q&A

3-Phase

Inverter

Encoder

PMSM

Motor

I_PARK

Q15 / Q15

ipark_Q

ipark_D

theta_ip

ipark_q

ipark_d

CLARKE

Q15 / Q15

clark_a

clark_b

clark_c

clark_d

clark_q

PARK

Q15 / Q15

park_d

park_q

theta_p

park_D

park_Q

pid_reg_iq

Q15 / Q15

i_ref_q

i_fdb_q

u_out_q

pid_reg_id

Q15 / Q15

i_ref_d

i_fdb_d

u_out_d

pid_reg_spd

Q15 / Q15

spd_ref

spd_fdb

spd_out

Constant 0

QEP_ THETA_

DRV

HW / Q15

QEP_A theta_elec

theta_mech

dir_QEP

index_sync_flg

QEP_B

QEP_index

SPEED_FRQ

Q15 / Q15

shaft_angle

direction

speed_frq

speed_rpm

FC_PWM_ DRV

Q0 / HW

Mfunc_c1

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

Mfunc_c2

Mfunc_c3

Mfunc_p

ILEG2DRV

Q15 / HW

Ia_out

Ib_out

ADCINx

ADCINy

Ia_gain

Ib_gain

Ia_offset

Ib_offset

Q0

Q15

Q15

Q13

Q13

I_ch_sel

SVGEN_DQ

Q15 / Q15

Ubeta

Ualfa

Ta

Tb

Tc

speed_ref_

EV

HW

ADC

HW

QEP I/F

HW

Scope

Scope

Scope

Scope

Scope theta_elec

spd_ref

theta_mec

h spd_fdb DAC_

VIEW_ DRV

Q15 / HW

DAC_iptr0 DAC 0

DAC 1

DAC 2

DAC 3

DAC_iptr1

DAC_iptr2

DAC_iptr3

I/O +

DAC

HW

Constant

TI DMC Software Library

At the “C” level:

clarkInv(&dqBuffer, &fcPwm.InputBuffer)

fcPwmInputBuffer.ditherIn = randomGen1.calc(&randomGen1)

fcPwm.calc(&fcPwm);

CLARKI

Q15 / Q15

Iclark_a

Iclark_b

Iclark_c

Iclark_d

Iclark_q

RAND GEN

Q15 / Q15

rnd_gain

rnd_offset

random

FC_PWM DRV

Q0 / HW

mfunc_c1

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

mfunc_c2

mfunc_c3

mfunc_p

Interconnecting Modules

Digital Motor Control Library (DMC-Lib)

The DMC-Lib contains:

• PID regulators,

• Clarke transforms,

• Park (& Inverse) transforms,

• Ramp generators,

• Sine generators,

• Space Vector generators,

• Speed / Position meas. / estimators

• and more…

3-Phase

Inverter

Encoder

PMSM

Motor

I_PARK

Q15 / Q15

ipark_Q

ipark_D

theta_ip

ipark_q

ipark_d

CLARKE

Q15 / Q15

clark_a

clark_b

clark_c

clark_d

clark_q

PARK

Q15 / Q15

park_d

park_q

theta_p

park_D

park_Q

pid_reg_iq

Q15 / Q15

i_ref_q

i_fdb_q

u_out_q

pid_reg_id

Q15 / Q15

i_ref_d

i_fdb_d

u_out_d

Constant

Constant 0

QEP_ THETA_

DRV

HW / Q15

QEP_A theta_elec

theta_mech

dir_QEP

index_sync_flg

QEP_B

QEP_index

FC_PWM_ DRV

Q0 / HW

Mfunc_c1

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

Mfunc_c2

Mfunc_c3

Mfunc_p

ILEG2DRV

Q15 / HW

Ia_out

Ib_out

ADCINx

ADCINy

Ia_gain

Ib_gain

Ia_offset

Ib_offset

Q0

Q15

Q15

Q13

Q13

I_ch_sel

SVGEN_DQ

Q15 / Q15

Ubeta

Ualfa

Ta

Tb

Tc

EV

HW

ADC

HW

QEP I/F

HW

Scope

SMOPOS

Q15 / Q15

(sliding mode

rotor angle estimator)

vsalfa thetae

vsbeta

speedref

Ualfa

Ubeta

speed_ref

_

isalfa

isbeta

clark_d

clark_q zalfa

zbeta

Scope

Scope

Scope

Scope isbetaerr*

isalfaerr*

theta_elec

thetae DAC_ VIEW_ DRV

Q15 / HW

DAC_iptr0 DAC 0

DAC 1

DAC 2

DAC 3

DAC_iptr1

DAC_iptr2

DAC_iptr3

I/O +

DAC

HW

*: debug only variables

Switched by

manually setting

foc_flg to “1” in

CC watch

window

PMSM FOC Sensorless with SMO

Content

• Motor Control Methods Overview

• Inverter / Hardware considerations

• Software / Algorithm Considerations

• DMC Development Kits

• System Incremental Build

• Demo, Q&A

Platform for Motor Control

High Voltage + PFC $599

TMDSHVMTRPFCKIT

Low Voltage + PFC $369/$399

TMDS1MTRPFCKIT / 2MTRPFCKIT

Motor Types ACI, BLDC, PMSM BLDC

Control ACI & PMSM FOC

BLDC Commutation

FOC

(BLDC Commutation in Q3 HW Rev)

Sensor Interface Sensorless or Hall/QEP Sensorless or Hall/QEP

Communications Isolated USB/UART to JTAG

Isolated CAN

Isolated USB/UART to JTAG

(Isolated CAN in Q3 HW Rev)

Three Phase Inverter 350V, 1.5 Kw, IPM, Fault Protection 2 x TI DRV8402 IPM, 24-36V, 40W

Current Sense Low-side current sense OPA2350 Low-side current sense OPA2350

Optional Power

Factor Correction

Digital 750W 2PHIL, 200KHz, UCC27234

IN: 85-132V, 170-250V OUT:400V DC

Digital 100W 2PHIL, 100KHz

IN: 13-16V OUT:24V DC

controlCARD

Platform for Motor Control

High Voltage + PFC $599

TMDSHVMTRPFCKIT

Low Voltage + PFC $369/$399

TMDS1MTRPFCKIT / 2MTRPFCKIT

Software controlSUITE controlSUITE SPRC922

IDE CCSv4.x CCSv4.x CCSv3.3

DMCLibrary NEW & OPTIMIZED NEW OLD

GUI YES Q210 NO

PFC SW Q310 w/ new PowerLIb Q310 Yes

Projects ACI FOC, PMSM FOC, BLDC ; All Sensored/-less 2xPMSM FOC 1/2xPMSM, +PFC

Family

Support

Piccolo F2803x

Delfino F2833x Q2

Piccolo F2803x

(minor mods for F2802x)

Piccolo F2803x

(minor mods for F2802x)

controlCARD

DMC – Single Axis + PFC HV

PWM-2A

PWM-3A

PWM-4A

2H

3H

2L

3L

2H 3H

2L 3L

Driver

1

2

3

1H

1L

3ph - Inverter

PWM-2B

PWM-3B

PWM-4B

4

5

6

PFC-2PhIL

PWM-1A

PWM-1B

Filter

+

Vac

JTAG

UART

USB

12VVin

Aux

Supply

5V

100~400

VDC

PWM-1

Piccolo-A

I2C

SPI

UART

CPU

32 bit

A

B

PWM-2 A

B

PWM-3 A

B

PWM-4 A

B

ADC

12 bit

Vref

1

2

3

13

1

2

3

4

5

6

7

8

1 2

34

5 6

7 8

9

PFC – 2PhIL

DC-AC 3 Ph Inverter

USB

DMC – Single Axis + PFC HV

Dual Motor Control and PFC Developer’s Kit

PWM-1

F28035 Piccolo

I2C

UART

CAN

CPU

32 bit

A

B

PWM-2 A

B

PWM-3 A

B

PWM-4 A

B

CAP-1

PWM-1A

PWM-1B

PWM-2A

ADC

12 bit

Vref

1

2

3

4

5

16

2H

3H

2L

3L

2H 3H

2L 3L

1

2

3

1H

1L

DRV8402 -IPM

4H

4LPWM-2B

4

4H

4L

DC-Bus

spare

3 Phase

PM motor

PWM-3A

PWM-3B

PWM-4A

2H

3H

2L

3L

2H 3H

2L 3L

1

2

3

1H

1L

DRV8402 -IPM

4H

4LPWM-4B

4

4H

4L

DC-Bus

spare

3 Phase

PM motor

Voltage

sensing

Inc.

Encoder

QEP

3

Position

Sensor

CAP

1

12V

12V

QEP3

HOST

Vac

PWM-

5B

PWM-

5A

PWM-5 A

B

Current

Feedback

Current

Feedback

L2

L1

D3

D2

Q1

Q2

Controls two motors and performs PFC --Available--

Dual Axis Motor Control Board

2-phase

Interleaved

PFC

1st Motor 2nd Motor

Isolated On-Board Emulation Control Card

DRV8412-C2-KIT - Motor Driver for Brushed and Stepper

Motors with Piccolo F28035 controlCARD

DRV8412-F28035 Brushed and Stepper Motors

Control Board

DRV8312-C2-KIT - Three Phase BLDC Motor Kit

with DRV8312 and F28035

DRV8312-F28035 Three Phase BLDC Motor

Control Board

Control Card

DRV8312

Motor

Connector

DC-Bus

Connector

Encoder

Interface

Hall

Interface

Getting Started

www.ti.com/c2000tools

Utilities

controlSUITE: Content + Content Management

C2000 Device

Piccolo F2802x

Piccolo F2803x

Delfino C2834x

Delfino F2833x

Device Support

Bit Fields

API Drivers

Examples

Library Repository

Math Library

IQMath

DSP Library

Application Library

Development Kits

Hardware Package

Software Examples

System Framework

Graphical User

Interfaces

Debug and Software Tools

IDE

RTOS

Real-time Debug

F2823x

3rd Party Tools

Please see the Tools Presentation for

Details

Content

• Motor Control Methods Overview

• Inverter / Hardware considerations

• Software / Algorithm Considerations

• DMC Development Kits

• System Incremental Build

• Demo, Q&A

1A) verify 120° SV-PWM outputs

1B) verify PWM-DACs used for analysis

1C) Verify SV-PWM Gen PWM Outputs / Inverter Inputs

Incremental Build

Incremental Build

2A) Check ADC calc of Voltage using watch window (WW)

2B) Check Clarke (Phase Currents) in WW

2C) Calibrate phase current off-set to enable low load sensorless

Resources:

Real-Time Mode on wiki

Chapter 7.4 in the C28x CPU Reference Guide

Real-Time Debug

Traditional debugging (Stop Mode)

– stops all threads and prevents interrupts from being handled

– makes debugging real-time systems extremely difficult

C2000 Real-time Mode:

- real-time, non-intrusive, continuous

- Does not require use of target memory, special interrupts, or SW

intrusiveness

- Allows time critical interrupts to be marked for special treatment (high

priority)

- Allows time-critical interrupts to be serviced while background program

execution is suspended

- Included on all C2000 devices and integrated with Code Composer Studio

Incremental Build

6) Close all loops – Full Sensorless FOC CL Speed/Current

Demo, Q&A

Thanks!