TI Digital Motor Control Solutions - pudn.comread.pudn.com/downloads621/sourcecode/embedded... · Agenda Timeline • Motor Control Fundamentals 25 min – AC Induction and Permanent

TI Digital Motor Control SolutionsTI Digital Motor Control Solutions

© Texas Instruments Incorporated 2005No reproduction permitted without prior authorization from Texas Instruments. SPRB167A

1H2004 – Slide 1

AdministratorHighlight

Agenda Timeline• Motor Control Fundamentals 25 min

– AC Induction and Permanent Magnet Motors

– Scalar and Vector Control

• Applications: Smarter controllers, high performance, lower cost 15 min

• Controller Selection 10 min

• Motor Control Collateral Overview 25 min

– Development Tools Overview: Faster HW+SW Development

– Modular Software Libraries: Development Accelerators

– Incremental Build Technology: Easy Deployment

• Completing the signal chain: TI Analog and Communications 25 min

• Get Started Today with TI! 5 min

• Question and Answers 10 min

1H2004 – Slide 2

Three Phase Machine Fundamentals

Conceptual Practical

• Three phase machines have three windings, separated in phase by 120°- a third of a rotation.

1H2004 – Slide 3


-1.50

-1.00

-0.50

0.00

0.50

1.00

1.50

1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346ωt

ia ib icPhase currents

• The three phase winding produces three magnetic fields, which are spaced 120°apart physically.

• When excited with three sine waves that are a 120° apart in phase, there are three pulsating magnetic fields.

• The resultant of the three magnetic fields is a rotating magnetic field.

A`

A

Fa

B

C`

C

B`

ia

Fb

Fc

1H2004 – Slide 4

A`

A

Fa

B

C`

C

B`

ia

Fb

Fc

Fs

ω

q (imaginary)

d (real)

$ sin( ). sin( ). sin( ).F F t e F t e F t es ai

bo i

co io o o= + + + +ω ω ω0 120 240120 240

$ .F F es sj t= ω

$F F jFs d q= +


For instance, a 3 phase machine, with:60Hz Three Phase Supply; and 4 poles per phase will have a synchronous speed of 1800 r.p.m.

Pf 120 r.p.m.)(in Speed =

phaseper motor, for the poles of # P and

frequency,supply AC f=

=

1H2004 – Slide 5

Permanent Magnet Motor Operation

1H2004 – Slide 6

Back EMF

(v) t

tStator Current

(Is)

• The interaction between the rotating stator flux, and the rotor flux produces a torque which will cause the motor to rotate.

• The rotation of the rotor in this case will be at the same exactfrequency as the applied excitation to the rotor.

A`

B

C`

AB`

C N

S

φF

F

Stator field

Rotor field

• This is an example of Synchronous operation.

Internal View: Induction Motor Rotor

1H2004 – Slide 7

ACI Operation FundamentalsA`

A

B

C`

C

B`

ia

Fωt

-1.50

-1.00

-0.50

0.00

0.50

1.00

1.50

1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346

ia ib icPhase currents

Im

Re

ω

120o Ia~

Ib~

Ic~

Current Phasors

• The induction machine has a rotor that is a closed circuit – in the case of the squirrel-cage induction motor it is two rings joined by bars along the rotor axis.

• The rotor when placed in a moving magnetic field will have induced currents, which produce an induced magnetic field.The interaction of these two magnetic fields produces the rotational torque.

1H2004 – Slide 8













1H2004 – Slide 9

Scalar V/F control of 3-ph Induction Motor

Vs(volt)

f (Hz)fc frating

Vrating

0

TORQUE

MAXIMUMTORQUE

NOMINALTORQUE

SPEEDNOM SPEED

VOLTAGE

Vo

LOW SPEED

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

+ No position information needed.

– Doesn’t deliver good dynamic performance.1H2004 – Slide 10

Limitations of the Scalar TechniqueACCELERATION DECELERATION

TIME

TORQUE

Torque oscillationgenerates uncontrolled

current overshoot:

High peak current:In V/f the rotor flux and current are not controlled: Current reaches values based on circuit parameters.

Poor response time:A solution to minimize these current overshoots is to decrease the performances of the speed regulator.Slow speed regulator ⇒ poor mechanical behavior.

1H2004 – Slide 11

Stationary and Rotating Reference Frames

Two phase orthogonal reference frame

t

t

α

β

λRπ/2

a

b

λR2π/3

2π/3

2π/3c

Three phase reference frame

t

DλR

Q

ωrotor

t

t

IQ

ID

Rotating Orthogonal Reference Frame

π/2

1H2004 – Slide 12

Motor Flux Interaction

θ

TorqueT

λs and λr constantTorque Τ = λs·λr sin(θ)

DλR

Q

ωrotor

λS

θ=load angle

1H2004 – Slide 13

Vector Control of 3-Ph Induction Motor

• FOC is a control strategy for 3-ph AC motors, where torque and flux are independently controlled.

• The approach is imitating the DC motors’ operation.

• Direct FOC: rotor flux angle is directly computed from flux estimation or measurement.

• Indirect FOC: rotor flux angle is indirectly computed from available speed and slip computation.

1H2004 – Slide 14

Maintain the ‘load angle’at 90°

Field Oriented Control - Vector Control

A`

B

C`

AB`

C N

S

q=90°F

F

+ No torque ripple

+ Better dynamic response

– Need good knowledge of the rotor position

Back EMF (v)

Stator Current (Is)

t = constant

t

t

t

1H2004 – Slide 15

C28x Controllers

1H2004 – Slide 16

PMSM FOC with TMS320F2812 DSP

PowerInverter

Motor

vas*

vbs*Inv. Park

θr

iasibs

vqs*

vds*

PI

ids*

iqs*wr*

wr

Park

PI

PI

Clarke

SpaceVector Gen.

PWM+

Driver

Ta

Tb

Tc

PWM1PWM2

ibs ADC+

Driver

PWM3PWM4PWM5PWM6

ADCIN1

ADCIN2

ADCIN3

ias

ids

iqs

AngleSpeed Calculator

θr

TMS320F2812 DSP controller

QEP+ driver Phase

Index

Phase Encoder

1H2004 – Slide 17

ACI FOC System with TMS320F2812 DSP

PowerInverter

ACI

vas*

vbs*

Inv. Park

θlr θlr

iasibs

vqs*

vds*

PI

ids*

iqs*wr*

wr

Park

PI

PI

Clarke

SpaceVector

Gen.

PWMDriver

TaTb

Tc

PWM1PWM2

Vdc

ibsIleg2_Bus

Driver

PWM3PWM4PWM5PWM6

ADCIN1

ADCIN2

ADCIN3

ias

ids

iqs

Phase Voltage

Cal.TaTbTc

vasvbs

Flux Est.

Speed Est.

iasibs

iasibs

θlrlarlbr TMS320F2812 DSP

controller

1H2004 – Slide 18

FOC TMS320F2812 DSP + Resolver

PowerInverter

Motor

vas*

vbs*Inv. Park

θr

iasibs

vqs*

vds*

PI

ids*

iqs*wr*

wr

Park

PI

PI

Clarke

SpaceVector Gen.

PWM+

Driver

Ta

Tb

Tc

PWM1PWM2

ibs

ADC+

Driver

PWM3PWM4PWM5PWM6

ADCIN1

ADCIN2

ADCIN3

ias

ids

iqs

AngleSpeed Calculator

θr


ResolverPosition

DetectionCosSin Resolver

1H2004 – Slide 19

Cost Effective High AccuracyPosition Measurement by Resolver

12BitOPA4340ADS7861

16BitOPA4350ADS8361

1H2004 – Slide 20

Sensored AC Induction Motor – DTC Drive

PowerInverter

Motor

Torque controller

ωr*

ADC

State Selector


PWMGenSpeed Controller

Input power stage

Input power stage

Flux and Torque calculator

Communications modules

SCI CAN

Current and voltage vector calculator

CA

PTU

RE

In

puts

1H2004 – Slide 21

BLDC and PMSM Motor Types• Both (typically) have permanent-magnet rotor and a

wound stator• BLDC (Brushless DC) motor is a permanent-magnet

brushless motor with trapezoidal back EMF• PMSM (Permanent-magnet synchronous motor) is a

permanent-magnet brushless motor with sinusoidal back EMF

300 900 1500 2100 2700 3300 300 90060000 1200 1800 2400 3000 3600 600

Phase A

Phase B

Phase C

ia

ib

ic

θe

θe

θe

Ea

Hall A

Hall B

Hall C

Back EMF of BLDC Motor

-1.50

-1.00

-0.50

0.00

0.50

1.00

1.50

1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346ωt

ea eb ec

Back EMF of PMSM

A`

B

C`

AB`

C N

S

F

F

1H2004 – Slide 22

Sliding Mode Observer

See hidden slides (2) for equationsThe core is current observerSpeed calculator not adopted

Sliding ModeCurrent

ObserverSlidingControl

Low-passFilter

PhaseCalculate

PhaseComp

euθ~ eθ~se~si~si*

svz

*ω

SpeedCalculate

Sin/CosCalculator

eθ~ ω~

Based on well established robust control technique: Non-linear Sliding Mode Control Bang-bang control type -> “High Gain”A priori feel of bounds of uncertainties and disturbances -> To tune sliding control gainDifferent techniques can be adopted to remove ripple effect

1H2004 – Slide 23

Sliding Mode Observer

• Based on well established robust control technique: Non-linear Sliding Mode Control

• Bang-bang control type -> “High Gain”– Tolerate parameter variations– Reject disturbances– Converges quickly, no numerical divergence

• A priori feel of bounds of uncertainties and disturbances -> To tune sliding control gain

• Different techniques can be adopted to remove ripple effect

1H2004 – Slide 24

SMO Equations

m

s

ssss

LL

LBI

LRA

zevBiAidtd

23

1

)~(~~

=

=−=

+−+=

Current observer

)~( ss iiksignz −= Sliding control

zeedtd

ss 00~~ ωω +−= Low-pass filter

1H2004 – Slide 25

SMO Equations (continued)

⎟⎟⎠

⎞⎜⎜⎝

⎛ −=

−=

θθ

ω

θ βα

cossin

23

)~,~arctan(~

es

ss

ke

eeFrom estimated back EMF to rotor angle

Torque equation:• Correct measurement of current• Correct estimation of rotor angle

qE iK2/3=τ

1H2004 – Slide 26

Experimental Result

1H2004 – Slide 27

Limitations of Sensorless Control / SMO

• Back EMF at low speeds is small, so the operation at low speeds is less than satisfactory. Also the algorithm becomes more sensitive to noise effects.

• At startup the back EMF is non-existent, and the startup must be achieved by other means:

– Ramp up of frequency – Reverse rotation may occur, in some cases this can be an issue.

– Detection of rotor position by signal injection

– Hall effect sensors

1H2004 – Slide 28













1H2004 – Slide 29

Motor Control System Components From TI

Bridge Rectifier

Power converter Motor Load

AC Input

MOSFET driver

Current sense

Power supply

LDOPFCSVSPWM

Simult. Sampling

ADCs

and interface

Resolver

Optical encoder

Hall effect

Network interface

4-20mA interface Data line

ADC interface

DAC interface

DSP Controller

Current and voltage sense

DC link

CANRS232RS485 +/- 10V +/- 10VEthernet 4-20mA

loop

1H2004 – Slide 30

C28xController

Trapezoidalor

sinusoidal commutation

PFC SwitchCircuit

PFC SwitchCircuit

HallSensor

Interface(CAPTURE)

Startup algorithm

Discrete PFC

controller

Software PFC

controllerPWMGen

PWMGen

Servo Block Diagram

Dithering

Motion command

queue

Command interpreter

Motion profile generator

SCI protocol

stack

CAN protocol

stack

Machine resonance control(notch filter, input shaping . . .)

Speed & position

controller

Speed & position feedback

EncoderInterface

(QEP)

CAN PHYRS-232/485

CANSCI

Discrete PFC controller eliminated

Replaced trapezoidal or sine commutation with FOC: Enhanced performance

Machine resonance control: Performance enhancement. (e.g., Cost saving on damper)

Moved motion profile processing into same processor: Eliminates second microprocessor

Added Spread spectrum PWM Generation: Reduces size of EMI filter

Pow

er In

vert

erPo

wer

Inve

rter

ADC

vas

*

vbs

*

Inv. Parkqlr

qlr

ia

sib

s

vqs*

vds*

PI

ids

*

iqs*

wr*

wr

Park

PI

PI

Clarke

SpaceVector

Gen.

Ta

Tb

Tc

Vd

c

ib

s

ia

s

id

s

iq

s

Phase

VoltageCal.

TaTbTc

va

s

vb

s

Flux

Est.

Speed

Est.

ia

s

ib

s

ia

s

ib

sqlr

lar

lbr

FOC Core

1H2004 – Slide 31

C28xController

Industrial: AC Induction Motor Drive

Constant V/Hz drive

Speed controller

ωr*

Pow

er In

vert

er

Input power stage

Input power stage

Flux and speed estimators

ADC

PWMGen

CAN PHYRS-232/485

Speed profile generator

Safe operating area manager

TCP/IP protocol

MAC/PHY Hardware

SCI CAN

Command interpreter

Command queue

SCI protocol

stack

CAN protocol

stack

vas

*

vbs

*

Inv. Parkqlr

qlr

ia

sib

s

vqs*

vds*

PI

ids

*

iqs*

wr*

wr

Park

PI

PI

Clarke

SpaceVector Gen.

Ta

Tb

Tc

Vd

c

ib

s

ia

s

id

s

iq

s

Phase

VoltageCal.

TaTbTc

va

s

vb

s

Flux

Est.

Speed

Est.

ia

s

ib

s

ia

s

ib

sqlr

lar

lbr

FOC Core

MIPS enable high performance

+ FOC gives full torque from zero to full speed

+ Enables four quadrant operation

Software integrates a variety of “auxiliary”functions

Flexible software enables one controller for many drives.

Software filtering

1H2004 – Slide 32

LC2402AController

PowerInverter

PFC Switching

Circuit

PFC Switching

Circuit

User interfacemanag-ement

Software PFC

controller

Appliance: Refrigeration Compressor Control

vas

*

vbs

*

Inv. Parkqlr

qlr

ia

sib

s

vqs*

vds*

PI

ids

*

iqs*

wr*

wr

Park

PI

PI

Clarke

SpaceVector

Gen.

Ta

Tb

Tc

Vd

c

ib

s

ia

s

id

s

iq

s

Phase

VoltageCal.

TaTbTc

va

s

vb

s

Flux

Est.

Speed

Est.

ia

s

ib

s

ia

s

ib

sqlr

lar

lbr

FOC Core

Parasiliti F., Petrella R., Tursini M.: "Rotor speed and position detection for PM synchronous motors based on sliding mode observer and Kalman filter", Proc. of the European Conference on Power Electronics and Applications (EPE), Lausanne, 1999.

Speed controller

ωr*

Sliding mode

observer

PWMGen

Rotor Position and Speed Calculator

ADC

Kalman filter

(or other filter)

Pow

erTe

mp

Sens

or

Temperature controller

RS-

232

SCI

Discrete PFC controller eliminated

Higher efficiency driven by sensorless FOC + possible use of PMSM motor.

Eliminated separate (electronic/electromechanical) thermostat

Added Spread spectrum PWM Generation: Reduced size of EMI filtering

1H2004 – Slide 33

Trapezoidal BLDC Motor

Application: Refrigeration Compressor Control

3φ

CommutationSequencer

30 Degree Delay

Zero Crossing Detector

PhaseVoltage

Meas

CurrentRegulator

(PID)

Back EMF

Calculator

PWMGeneration

3φ

∑

∑

K

+

DC

B

us

dc_shunt

I*

Speed Calculator

ωsp*mω

ωe+

+

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

PWMGen

PFC switch and

DC Bus front end

Software PFC

controller

Trapezoidal sensorless control for constant speed applications enables low cost implementations.

Keep compatibility with existing trapezoidal motors

1H2004 – Slide 34

Sensored Trapezoidal BLDC Motor Control300 900 1500 2100 2700 3300 300 900

60000 1200 1800 2400 3000 3600 600

Phase A

Phase B

Phase C

ia

ib

ic

θe

θe

θe

Ea

AB1

AC2

BC3

BA4

CA5

CB6

AB1

PIDController

CommutationPWM Control

3-PhaseInverter

PI Controller

Speed setpoint

+

-

-+

SpeedComputation

PositionSensor

Speedfeedback

Iref

Idc_shuntThree-phase BLDC

motor

• Phase current must be turned on and off in order and at the right time in order to follow back EMF – commutation

• Capture interrupts can be used to trigger commutation when Hall sensors are used

• Capture function can also be used to help calculate motor speed

1H2004 – Slide 35

Sensorless Stepper Motor Control

IB

BLDC

PWM1/IOPA0

Hbridge

HBridge

Phas

e A

Phase B

IA

sens

edr

ive

drive sense

VSENSEB

VSENSEA

TMS320LF2401

40Mhz PWM2

PWM3PWM4

ADCIN2

ADCIN3

ADCIN0

ADCIN1

HBridge

PWMA

DIRA

PWMB

DIRBSCITXDSCIRXD

IOPB1

PWM1

ADCIN4

CPU DRIVER

T2PWM

RS232

DIN

AIN

AOUT

CLK XINT2

D3 Engineering (Rochester, NY)

1H2004 – Slide 36

LC2401AController

PowerInverterPower

Inverter

Appliance: Power Tool Control

vas

*

vbs

*

Inv. Parkqlr

qlr

ia

sib

s

vqs*

vds*

PI

ids

*

iqs*

wr*

wr

Park

PI

PI

Clarke

SpaceVector

Gen.

Ta

Tb

Tc

Vd

c

ib

s

ia

s

id

s

iq

s

Phase

VoltageCal.

TaTbTc

va

s

vb

s

Flux

Est.

Speed

Est.

ia

s

ib

s

ia

s

ib

sqlr

lar

lbr

FOC Core PWM

Speed and Position Estimator

ADC

BatteryManager

Speed controller

Dithering

TriggerControl

Tem

p Se

nsor

Charging monitor

Overload trip

Field oriented control enables smooth torque control.

Sensorless control drives low cost control

High quality MIPS make it possible to add features without adding cost – such as electronic torque control

1H2004 – Slide 37

Servo Drive / Servo Amplifier Hardware Partitioning

Power conditioning

and EMI Filtering

Power conditioning

and EMI Filtering

PFC ControllerPFC Controller

Power SupplyPower Supply

Inverter IGBTs

Inverter IGBTs

HV Drivers

Isolation

HV Drivers

Isolation

PFC Magnetics and

switch

PFC Magnetics and

switch

MCU(Motion profiles

& host communication)

MCU(Motion profiles

& host communication)

Current sensingCurrent sensing

Ant

i alia

sing

Ant

i alia

sing

FilteringFiltering MCU(Commutation)

MCU(Commutation)

MCU(Commutation)

MCU(Commutation)

1H2004 – Slide 38

Servo Drive / Servo Amplifier Hardware Partitioning

Power conditioning

and EMI Filtering

Power conditioning

and EMI Filtering

Power SupplyPower Supply

Inverter IGBTs

Inverter IGBTs

HV Drivers

Isolation

HV Drivers

Isolation

PFC Magnetics and

switch

PFC Magnetics and

switch

Current sensingCurrent sensing

Ant

i alia

sing

Ant

i alia

sing

Benefits from TI C2000™ Digital Signal Controller

Improved system performance

Less torque rippleHigher control bandwidthLower EMI profile

Lower system costLower component countSmaller system sizeImproved system reliabilityEasier to manufacture

1H2004 – Slide 39













1H2004 – Slide 40

Selecting a ControllerA controller to be used for motor control must provide:

Ease of use: Tools and Collateral

Performance: Computational ability100+ sustained MMACS @ 32 bits

Peripheral Integration: Flash, ADC, PWM, Sensor interfacing, communications all on one chip

Third party development support

Price: Broad range from sub $2.00 -$15.00

$2

$5

$10

$15

LC2401LF2401F2801LF240xA

F2806/08C/R281x

F281x

40-150MIPS and $2-$15

1H2004 – Slide 41

Con

trol

Per

form

ance

F2810150 MHzF2810

150 MHz

F2811150 MHzF2811

150 MHz

C24xxTM14 Devices

40 MHz – 16 bit

C24xxTM14 Devices

40 MHz – 16 bit

First Generation ControllerLow cost motor control for appliances and other consumer applications

F2801100 MHzF2801

100 MHz

F2806100 MHzF2806

100 MHz

C28xTM Second Generation ControllerSuperior 32-bit performance and integration for demanding control applications

Price

C2810150MHzC2810

150MHz

C/R2811150 MHzC/R2811150 MHz

On-Chip Flash ROM / RAM only

NEW!

F2812150 MHzF2812

150 MHz

C2000 Product Portfolio

Software Compatible

F2808100 MHzF2808

100 MHz

C/R2812150 MHzC/R2812150 MHz

Low CostApplication

Specific

Low CostApplication

Specific

HighPerformance

HighPerformance

In Development

1H2004 – Slide 42

Internal Busing determines quality of MIPS

Data Address Bus (32)

Data Data Bus (32)

Program Data Bus (32)

Program Address Bus (22)

Execution

R-M-WAtomic

ALU

Real-TimeEmulation

&Test

Engine

JTAG

XAR0to

XAR7

SPARAU MPY32x32

XTP

ACC

ALU

Registers Debug

Data Write Bus (32)

Program Write Bus (32)

Memory

Data (4 G * 16)

Program(4 M* 16)

StandardPeripherals

ExternalInterfaces

Register Bus

DP @X

Multibus architecture makes better use of the processor cycles: Instruction, fetch, decode and execute can happen on the same clock cycle with multiple buses

1H2004 – Slide 43

SMART peripheralsOn chip peripherals drive integration

TMS320LF240x

Encoder and timer capture interfaces PWM GenerationSynch/Async serial portsWatchdog timerOn-chip ADCs with dual sample and holds

TMS320F281x

PWM Generator (16 ch)

12-Bit, 16 ch ADC

Watchdog

GPIO (56)

McBSP

CAN 2.0B

SCI/UART-A

SCI/UART-B

SPI

Perip

hera

l Bus

Encoderand capture

interface

PWM Generator (16 ch)

10-Bit, 16 ch ADC

Watchdog

GPIO

CAN 2.0B

SCI/UART-A

SPI

Perip

hera

l Bus

Encoderand capture

interface

TMS320F280x

Independent ePWM (16 ch)

12-Bit, 16 ch ADC

Watchdog

GPIO (32)

I2C

2 * CAN 2.0B

Up to 4 UART

Up to 4 SPIPe

riphe

ral B

us

Enhanced encoder and

capture

1H2004 – Slide 44

Memory

1H2004 – Slide 45

TMS320LF240xA TMS320F28xx

Flash from 16 KB – 256 KB ROM from 12 KB – 256 KB RAM from 1 KB – 40 KB

Memory Bus

256 KB Sectored Flash

+ 2 KB OTP8 KB Boot ROM

36 KB RAM

5 KB RAM

BootROM

8K Sectored

Flash

64 KB Sectored

Flash

Program / Data / I/O Buses (16-bit)

128-bit user defined password is stored in Flash128-bits = 2128 = 3.4 x 1038 possible passwordsTo try 1 password every 2 cycles at 150MHz, it would take at least 1.4 x 1023 years to try all possible combinations!

128-BitSecurity

64-BitSecurity













1H2004 – Slide 46

Modular Software Development for Control Systems

All Modules Available in C/C++ Environment

C24xTM

RealTime +DSP/BIOS™

QEPPosition

drvPWMdrv

SerialEEPROM

drvADC04

drv

CAPSpeed

drv

PWMDACdrv

Modular Libraries (DMC, FFT, Math, Filters…etc)

Application Specific Systems (ACI, BLDC, PID cntl…)

Gets you there.

Quickly.C28xTM

Real-Time Monitor

Reduces time to market

Provides reuseablesoftware

S/W

Tes

t Ben

ches

(STB

)

Cod

e C

ompo

ser S

tudi

o™

Har

dwar

e To

ols

Third

Par

ties

1H2004 – Slide 47

Code Composer Studio Components: Fully Integrated, Easy to Use Development Tools

Memory Window

StatusWindow

WatchWindow

Productive Editor:Structure expansion Graph

Window

Project ManagerSource & object filesFile dependenciesCompiler, assembler & linker build options

Menus or Icons

Help CPUWindow

1H2004 – Slide 48

1H2004 – Slide 49

Code Composer Studio Components: Fully Integrated, Easy to Use Development Tools

Full C/C++ & Assembly Debugging

C & ASM sourceMixed modeDisassembly (patch)Set break pointsSet probe points

Data Converter Plug-InPoint & Click GenerationAuto Create APIs for

InitializationPower DownRead/Write

Initialize device andperipheral117 devices on5 DSP platformswww.ti.com/sc/dcplug-in

Free Motor Control Library has pre-set workspaces

Flash Memory Plug-InEasy Set-Up and Programming

WorkspacesFree Motor Control Library has pre-set workspaces

IntegratedCSM

Support

FrequencyConfig.

Plug-inConfig.

EraseSectorControl

File to ProgramDefaults to

Project Loaded In CCS

OperationControl For More InfoOn-line Help

DSP/BIOS provides CLK manager to simplify implementation of periodic tasks

DSP/BIOS makes it easier

DSP/BIOS™: Handling Multiple Event Sources

Interrupt Driven Events: DSP/BIOS provides HWI and SWI management to simplify interrupts and multitasking

1H2004 – Slide 50

Real-time DebugControl systems must be debugged while running!

Allows you to halt in non-critical code for debug while time-critical interrupts continue to be serviced Access memory and registers without stopping the processorImplemented in silicon, not by a debug monitor: Easy to use, no application resources required!R

eal-t

ime

Deb

ug

Interrupt void ISR_1(){

………}

Main(){……

}

function(){

……}

Halt and single step non-time critical code Time-critical interrupts are still serviced.

1H2004 – Slide 51

1H2004 – Slide 52

C28x C/C++ Header Files & Peripheral Examples

Bit-fields simplify peripheral programming C/C++:

CCS Auto-complete speeds programming

Compiler optimizations speed target code

Examples/Documentation accelerate deployment

http://www.ti.comKeywords: SPRC097, SPRC191

http://www.ti.com/

On-Chip Analysis Features Enables Flexible Debugging

Halt on a specified instruction in Flash2 Hardware Breakpoints

Two hardware analysis units can be configured to provide any one of the following advanced debug features:

Analysis Configuration Debug Activity

A memory location is getting corrupted. Halt the processor when any value is written to this location

2 Address Watchpoints

Halt program execution after a specific value is written to a variable 1 Address Watchpoint with Data

Halt on a specified instruction only after a specific interrupt service routine has executed

1 Pair Chained Breakpoints

1H2004 – Slide 53

Hardware Development Tools

C24x™ or C28x™Development board

C-Compiler/Asm/Lnk

Full Version Code Composer Studio IDE

Emulator (XDS510PP+ or USB)

Power Supply

Price: $1,995-2,295

LF2407, LF2401, F2812, F2808 evaluation board

Compiler/Assem/Linker

Code Composer Studio (tied to board)

Power Supply

Price: $345 - $595

Power ModulesEvaluation Modules DSP Starter KitsDMC550 or DMC1500 from Spectrum Digital Interfaces to EVM, DSK or standalone operation

Protection features provide convenient s/w development platform

DMC1500: 350V 7.5 Amp (Supports 3ph and 1ph; BLDC, ACI, SR)Price $1749DMC500: 24V 2.5 Amp (Supports Brushless DC) Price $499

http://www.ti.com/c2000hwtools

1H2004 – Slide 54

http://www.ti.com/c2000hwtools

Flash Programming Hardware

Softbaugh• Uses SCI bootloader• 10 pin header• USB to host• 2KW/sec program• 20 sec max erase • Single Unit Programmer

– $199• 8 Site Gang Programmer

– $899

www.softbaugh.com

1H2004 – Slide 55

CAN 2.0BPORT GmbH [Germany] has developed an extensive

CANopen protocol stack for the 240xA and 28x devices. Port closely works with Vector Informatik.

The contact for Port is :PORT GmbHHeinz-Jürgen Oertelphone +49 345 77755-0Halle/Saale – [email protected] : http://www.port.de

Ethernet

Windmill Innovations in Holland has developed an extensive TCP-IP protocol stack for the 28x devices. The contact for Windmill is :

Windmill InnovationsRutger van Dalenphone +31 33 2465314Nijkerk – Holland

1H2004 – Slide 56

[email protected] : http://www.windmill-innovations.com

mailto:[email protected]://www.port.de/mailto:[email protected]://www.windmill-innovations.com/













1H2004 – Slide 57

The Foundation: Software Libraries

Motor Control Specific SW Modules

Peripheral & Communication Drivers

Trigonometric and Log Routines

Signal Processing Functions

Signal Generator Functions

Power Conversion Related Functions

http://www.ti.com/c2000appsw

1H2004 – Slide 58

The Foundation: Software LibrariesMotor Control Specific SW Modules

Forward and Inverse Clarke/Park Transforms, BLDC Specific PWM Drivers, Leg Current Measurement Drivers, BLDC Commutation triggers, ACI Speed and Rotor Position Estimators, PID Controllers, Extended Precision PID Controllers.

Peripheral & Communication Drivers

SCI (UART) Packet Driver, Virtual SPI Drivers, Virtual I2C Drivers, Serial EEPROM Drivers, GPIO Driver.

Fixed Point Trigonometric and Log Routines

Fixed Point Sine, Cosine, Tangent routines, Square Root, Logarithm Functions. Reciprocal calculation.

IQ Math 32-Bit Virtual Floating Point Library

Multiply, Divide, Multiply with Rounding, Multiply with Rounding and Saturation, Square Root, Sine and Cosine, routines.

Signal Processing Functions

FIR (Generic order), FIR (10th order), FIR(20th order), FIR using circular buffers. 128, 256, and 512 point complex and real FFTs.

Signal Generator FunctionsSinewave generators, Ramp Generators, Trapezoidal Profile generators

Power Conversion Related FunctionsRMS computation, real power and apparent power computation, THD computation, PFC controllers.

1H2004 – Slide 59

Application Frameworks: Application Frameworks: StarterwareStarterwaremore coming soonmore coming soon

1H2004 – Slide 60

1H2004 – Slide 61

Modular Block oriented libraryBlocks make systems easy to represent and understand

Simplify debug

Enable incremental deployment

1H2004 – Slide 62

Modular S/W Implementation of Sensored FOC for PMSM

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_du_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_Atheta_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

Q0Q15Q15

Q13Q13

I_ch_sel

SVGEN_DQ

Q15 / Q15

Ubeta

Ualfa

Ta

Tb

Tc

speed_ref_

EV

HW

ADC

HW

QEPI/F

HW

Software Test Bench: STB

SVGENDQ

Q15 / Q15

Vq

Vd

Ta

Tb

Tc

SGEN_2

freq

gain

out_1offset

x2x2

out_2

PWM_DAC_iptr0 PWMDAC

VIEWQ15 / HW

PWM7

PWM8

PWM9

EV

HW

PWM_DAC_iptr1PWM_DAC_iptr2

phase

step_max

1.8K

Set by watchwindow

100n

1H2004 – Slide 63

Ease of use: All modules offered as an STB packaged as a CCS project

Examples• Sinegen• ADC driver• Capture driver• QEP driver

Examples•PWMDAC driver (ezDSP)•DAC driver (EVM)•Data logger (Sim)•Emulated “Plant” (Sim)

Any module

in Library

Module under eval

Interconnecting Modules

CLARKIQ15 / Q15

Iclark_a

Iclark_b

Iclark_c

Iclark_d

Iclark_q

RAND GENQ15 / Q15

rnd_gain

rnd_offsetrandom

FC_PWMDRV

Q0 / HW

mfunc_c1PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

mfunc_c2

mfunc_c3

mfunc_p

At the “C” level:clarkInv(&dqBuffer, &fcPwm.InputBuffer)fcPwmInputBuffer.ditherIn = randomGen1.calc(&randomGen1)fcPwm.calc(&fcPwm);

At the “GDE” level: Just “join the blocks”

1H2004 – Slide 64

Embedded Target Integrates Simulink® and MATLAB® with eXpressDSPTM Tools and C2000TM Controllers

• Design and Simulation• Automatic code generation

– Embedded Target for C2000– Documentation, re-usable C code– Support for on-chip peripherals

Key Features• Verification of embedded implementation

– MATLAB Link for Code Composer Studio

– Auto debug, testbench– Real-time visualization

http://www.ti.com/c2000embeddedtarget

1H2004 – Slide 65


Embedded Target Integrates Simulink® and MATLAB® with eXpressDSPTM Tools and C2000TM Controllers


1H2004 – Slide 66


Example of GDE Motor Control

http://www.vissim.com/

1H2004 – Slide 67

http://www.vissim.com/













1H2004 – Slide 68

Incremental System BuildIncremental system development/debug is built in

Incremental system development/debug relies on modular software blocks

Incremental system development/debug is flexible/systematic

Incremental system development/debug applies to multiple processors, drives and motors

1H2004 – Slide 69

ACI Sensorless Field Oriented Controlwr* vas*

vbs*

Inv. Park

SpaceVector

Gen.

PWMDriver

TaTb

Tc

PWM1PWM2PWM3PWM4PWM5PWM6

VSI

ACI

ias

Vdc

ibsIleg2_Bus

Driver

ADCIN1

ADCIN2

ADCIN3

wr

ibsPark Clarke

ias

Phase Voltage

Cal.TaTbTc

vasvbs

Flux Est.

iasibs

qlrlarlbr

vqs*

vds*

PI

ids*

iqs*

PI

PIids

iqs

qlr

vds*ids*PI

ids

iqs

qlr

ids*

wr

ids

iqs

Speed Est.

iasibs

TMS320F28x controller

1H2004 – Slide 70

SVGEN/PWMTestsBuild Level 1


vas*

vbs*Inv. Park

SpaceVector

Gen.PWMDriver

TaTb

Tc


vqs*

vds*

θeRampGen.

RampControl

fe

1H2004 – Slide 71

Measure-mentTestsBuild Level 2


vas*

vbs*Inv. Park

SpaceVector

Gen.PWMDriver

TaTb

Tc


VSI

ACI

ias

Vdc

ibsIleg2_BusDriver

ADCIN1

ADCIN2

ADCIN3

wr

ibsPark Clarkeias

Phase VoltageCal.

TaTbTc

vasvbs

vqs*

vds*

θe

CAP

ids

iqs

RampGen.

RampControl

fe

CaptureDriver

SpeedCal.

wrtimestamp

1H2004 – Slide 72

PI RegulatorTests

Incremental Builds Header File

/*------------------------------------------------------------------------------Following is the list of the Build Level choices.------------------------------------------------------------------------------*/#define LEVEL1 1 /* SVGEN_DQ and FC_PWM_DRV tests */#define LEVEL2 2 /* Currents/DC-bus voltage/speed measurement tests */#define LEVEL3 3 /* Two current PI regulator tests */#define LEVEL4 4 /* Flux and speed estimator tests */#define LEVEL5 5 /* Speed PI regulator test (Sensored closed-loop DFOC system) */#define LEVEL6 6 /* Sensorless closed-loop DFOC system */#define ALWAYS_RUN/*------------------------------------------------------------------------------This line sets the BUILDLEVEL to one of the available choices.------------------------------------------------------------------------------*/#define BUILDLEVEL LEVEL3

build.h

1H2004 – Slide 73

PI RegulatorTestsBuild Level 3


vas*

vbs*Inv. Park

SpaceVector

Gen.PWMDriver

TaTb

Tc


VSI

ACI

ias

Vdc

ibsIleg2_BusDriver

ADCIN1

ADCIN2

ADCIN3

wr

ibsPark Clarkeias

Phase VoltageCal.

TaTbTc

vasvbs

vqs*

vds*PI

PIPI

θe

CAP

ids*

iqs*

ids

iqs

ids

iqs

RampGen.

RampControl

fe

CaptureDriver

SpeedCal.

wrtimestamp

1H2004 – Slide 74

FluxSpeedEstimatorsBuild Level 4


vas*

vbs*Inv. Park

SpaceVector

Gen.PWMDriver

TaTb

Tc


VSI

ACI

ias

Vdc

ibsIleg2_BusDriver

ADCIN1

ADCIN2

ADCIN3

wr

ibsPark Clarkeias

Phase VoltageCal.

TaTbTc

vasvbs

Flux Est.

iasibs

θlrlarlbr

vqs*

vds*PI

PIPI

θe

CaptureDriver

CAPwr Speed

Calc

ids*

iqs*

ids

iqs

ids

iqs

RampGen.

RampControl

fe

wr Speed Est.

ibs

ias

1H2004 – Slide 75

SpeedRegulatorTestsBuild Level 5


wr* vas*

vbs*Inv. Park

SpaceVector

Gen.PWMDriver

TaTb

Tc


VSI

ACI

ias

Vdc

ibsIleg2_BusDriver

ADCIN1

ADCIN2

ADCIN3

wr

ibsPark Clarkeias

Phase VoltageCal.

TaTbTc

vasvbs

Flux Est.

iasibs

θlrlarlbr

vqs*

vds*

PI

ids*

iqs*

PI

PIids

iqs

θlr

ids*PI

idsθlr

ids*

ids

wr

CaptureDriver

CAPwr Speed

Calc

1H2004 – Slide 76

SensorlessFOC SystemBuild Level 6


wr* vas*

vbs*Inv. Park

SpaceVector

Gen.PWMDriver

TaTb

Tc


VSI

ACI

ias

Vdc

ibsIleg2_BusDriver

ADCIN1

ADCIN2

ADCIN3

wr

ibsPark Clarkeias

Phase VoltageCal.

TaTbTc

vasvbs

Flux Est.

iasibs

θlrlarlbr

vqs*

vds*

PI

ids*

iqs*

PI

PIids

iqs

θlr

ids*PI

idsθlr

ids*

wr

ids

Speed Est.

iasibs

1H2004 – Slide 77













1H2004 – Slide 78

Motor Control System Components From TI

1H2004 – Slide 79

Bridge Rectifier

Power converter Motor Load

AC Input

MOSFET driver

Current sense

Power supply

LDOPFCSVSPWM

Simult. Sampling

ADCs

Resolver

Optical encoder

Hall effect

Network interface

4-20mA interface Data line

ADC interface

DAC interface

DC link

DSP Controller

Current and voltage sense

Ethernet 4-20mAloop

+/- 10V +/- 10VCANRS232RS485

Texas Instruments

High Performance AnalogHigh Performance AnalogForFor

Industrial Motor ControlIndustrial Motor Control

1H2004 – Slide 80

TI Power: “Easy to Choose, Easy to Use”

• Complete power management module and IC solutions: “From input to output”

• Industry recognized applications and systems expertise

• www.ti.com/dsppower for Power Supply Reference Designs

• Full-Service Support• Reference Designs• Evaluation Modules• Application Notes• Design Tools & Software• Annual Power Supply Design Seminars• Online sample and EVM ordering• power.ti.com

1H2004 – Slide 81

http://www.ti.com/dsppower

AC/DC

Isolated Module

HOT SWAP

PWM+

MOSFETDriver

SVS

ControllerUCC3895PFCUCC3851xUCC38050UCC3817/18

PWM ControllersUCC35705/6UCC35701/2UCC38C40 seriesMOSFET DriversTPS28XXUCC3732xUCC3722x

Isolated Modules5 to 100 watts availablePT4210 (5W) PT4480 (100W)

Non-Isolated Modules1A to 60 Amp availablePT6440 (1V to 3.3V, 6A)PT6940 (Dual output, 6A)PT6520 (1.5V to 3.3V, 8A)

DC/DC ConvertersTPS549xx (0.9 to 2.5V, 9A)TPS546xx (0.9 to 3.3V, 6A)TPS543xx (0.9 to 3.3V, 3A)TPS6205x (2.7 to 10V, 0.8A)

LDOsTPS768xx (1A)TPS778xx (750mA) TPS776xx (500mA)TPS701xx (250/125mA, dual)

SupervisorsTPS380X-XX

DC/DC ControllersTPS40000 (Sync. buck)TPS40050 (8 to 40V buck)TPS40060 (10 to 55V buck)TPS5120 (Sync. buck, dual)

PowerDist

LDOs

DC/DC Converters

DC/DC Controllers

Non-isolated Modules

Load-share ControllerUC39002

+/-voltages 0.7 voltsand up

Complete System Power Solutions

TPS20xxTPS22xxTPS23xx

UCC39xxUC39xxTPS23xx

1H2004 – Slide 82

Ready to Use Power Supply Solutions

Complete, Tested Power Supply Designs

– Schematics– BOM– Implementation Notes

Visit www.ti.com/dsppower

1H2004 – Slide 83

For Easily Customized Power Designs:SWIFT/TPS40k/TPS60k Design Tools

Visit power.ti.com to Download Power Design Software1H2004 – Slide 84

TI Interface Products for MC System

MAX3221

3.3 - 5-V

MAX3223

MAX3232

MAX3238

MAX3243

MAX207

NEW !

MAX208

MAX222

RS-232

SN65HVD05/06/07

3.3-V

SN65HVD11

5-V

SN65HVD3082E

RS-485

SN65HVD20/21/22

SN65HVD23/24

SN65HVD3085/88E

SN65HVD12

SN65HVD10

SN65HVD08

1H2004 – Slide 85

FET Drivers in MC System

• Deliver 4A through Miller Plateau

• Available in MSOP PowerPAD™

• 20/15nS Rise/Fall Times

• 4-15V Supply Range

UCC27423: Dual 4A, High Speed, Inverting Low Side Driver

UCC27424: Dual 4A, High Speed, Non-Inverting Low Side Driver

UCC27425: Dual 4A, High Speed, Low Side Driver with one Inverting and one Non-Inverting Output

1H2004 – Slide 86

Intelligent Drivers in MC System

Low cost stand alone controllers for low power applications

1H2004 – Slide 87

Motor Controllers

BLM Controllers: UC2625, UC3625, UCC2626, UCC3636Stepper Controllers: UC3717, UC3770

DC Motor Controllers: UC2638, UC3637, UC3638

1H2004 – Slide 88

Amplifiers in MC System

• Difference Amplifiers– INA168, Automotive Current

Shunt• CMOS Amplifiers

– Rail to Rail (5-100mV)• Isolation Amplifiers

– To 3500VRMS• Instrumentation Amplifiers• Difference Amplifiers • High Speed Amplifiers• 4-20mA Transmitters• Voltage References• Temperature Sensors

– I2C, 12bit Resolution

1H2004 – Slide 89

Amplifiers: Design Utilities

1H2004 – Slide 90

FilterPro Design Tool

1H2004 – Slide 91

ADCs• Single Channel• Multi Channel• ±10V Input

Serial Interface2x2 Channel ADS7861 – 500KSPS2x2 Channel ADS8361 – 500KSPS

ADC and DAC in MC SystemGeneral purpose Analog-to-Digital and Digital-to-Analog Converters

DACs• Single Channel• Multi Channel• ±10V Output

For general monitor/control functions

Simultaneous Sampling Analog-to-Digital Converters

Parallel Interface2x2 Channel ADS7862 – 500KSPS 6 Channel ADS7864 – 500KSPS6 Channel ADS8364 – 250KSPS

ADS7869: 12-Channel Analog Motor Control Front End with Three 1MSPS, 12-Bit ADCsN

EW!

1H2004 – Slide 92

DC-Link Voltage and Phase Currents Measurement for Servo Application

| DC Link |

Shunt R:ADS1202ADS1203

Hall Effect:ADS1204ADS1205

ADS1206 – 1MHzADS1207 – 4MHz

4kHz Current Loop 16-bit Accuracy

| Motor Current |

BufferedAnalog Input

BufferedDigital Output

1H2004 – Slide 93

ADS1206 & ADS12071MHz & 4MHz Voltage-to-Frequency Converter

1H2004 – Slide 94

ReferenceVoltage

2.5V

DIV 2

Only ADS1207

x1 Modulator

CLKINCLKOUTBUF

FOUT

REFIN/OUT

1kΩ

BuffVIN

Features:Synchronous OperationFrequency Set By External ClockMaximum Input Frequency:

- 1MHz for ADS1206- 4MHz for ADS1207

Selectable High Impedance Input2% Internal, 2.5 V Reference VoltageHigh Current Output DriverAlternate Source For AD77408-lead VSSOP Package

Applications:• Galvanic Isolation Measurements• High Voltage Measurements• Low Cost A-to-D Conversion • Motor Control• Industrial Process Control

Applications:• Galvanic Isolation Measurements• High Voltage Measurements• Low Cost A-to-D Conversion • Motor Control• Industrial Process Control

Key Differentiators:• Higher performances than AD7740 • Input frequency 4MHz• Output buffer• Low price - ASD1206 1Ku $0.98

- ASD1207 1Ku $0.98

Key Differentiators:• Higher performances than AD7740 • Input frequency 4MHz• Output buffer• Low price - ASD1206 1Ku $0.98

- ASD1207 1Ku $0.98

ADS12031-bit 10MSPS, 2nd Order ∆Σ Modulator

1H2004 – Slide 95

VIN+VIN-

AGND

AVDD

MDATMCLK

Second-Order∆Σ-Modulator

M0M1

InterfaceCircuit

ReferenceVoltage

2.5V

RC Oscillator20MHzBuff

BGND

BVDD

CLKOUT

REFIO

Features:16-Bit Resolution±250mV Input Range 3LSB INL Max 1% Internal Voltage Reference83dB SNR Min-95dB THD TypFlexible Serial Interface8-lead TSSOP PackageQFN 3x3 – Coming Soon

(Pins Highlighted in RED are Available Only in QFN Package)

Applications:• Current Measurement• Motor Control• Closed-Loop Servo Control• Power Converters• 3-Phase Power Monitor

Applications:• Current Measurement• Motor Control• Closed-Loop Servo Control• Power Converters• 3-Phase Power Monitor

Key Differentiators:• Higher performances than AD7400 • Implemented Manchester Coding• On Board Oscillator• Output buffer• Low price 1Ku $2.70

Key Differentiators:• Higher performances than AD7400 • Implemented Manchester Coding• On Board Oscillator• Output buffer• Low price 1Ku $2.70

ADS12041-bit 10MSPS, 2nd Order ∆Σ Modulator

Features:16-Bit AccuracyInput Range ±2.5V @ 2.5V Gain Error: 0.5%Dynamic Range 100dB86dB SNR MinFour Independent ModulatorsFour Input Reference BuffersOn Board 20MHz OscillatorQFN-32 (5x5) Package

Key Differentiators:• First in Industry• Low price 1Ku $6.75

Key Differentiators:• First in Industry• Low price 1Ku $6.75

Applications:• Current Measurement• Motor Control• Power Converters

Applications:• Current Measurement• Motor Control• Power Converters

CH A+

BGND

AVDD

OUT A

CLKOUT

2nd-Order∆Σ Modulator OutputInterface

Circuit

ReferenceVoltage

2.5V

Oscillator20MHz

CH A-+-

CH B+ 2nd-Order∆Σ ModulatorCH B-

+-

CH C+ 2nd-Order∆Σ ModulatorCH C-

+-

CH D+ 2nd-Order∆Σ ModulatorCH D-

+-

Divider

AGND

BVDD

OUT BOUT COUT D

REFOUT

REFIN D

CLKSEL

REFIN A

REFIN B

REFIN C

ClockSelect

CLKIN

Out EN

1H2004 – Slide 96

ADS1202 Design ResourcesADS1202 Data Sheet:

http://www-s.ti.com/sc/ds/ads1202.pdfApplication Notes:

– Choosing an Optocoupler for the ADS1202 Operating in Mode 1http://www-s.ti.com/sc/psheets/sbaa088/sbaa088.pdf

– Combining ADS1202 with FPGA Digital Filter for Current Measurementin Motor Control Application http://www-s.ti.com/sc/psheets/sbaa094/sbaa094.pdf

– Interfacing the ADS1202 Modulator With a Pulse Transformer in Galvanically Isolated Applicationshttp://www-s.ti.com/sc/psheets/sbaa096/sbaa096.pdf

– Clock Divider Circuit for the ADS1202 in Mode 3 Operation http://www-s.ti.com/sc/psheets/sbaa105/sbaa105.pdf

ADS1202 Reference Design Users Guidehttp://www-s.ti.com/sc/psheets/slaa186/slaa186.pdf

ADS1202 Evaluation board:http://focus.ti.com/docs/prod/folders/print/ads1202.html#developmenttools– Evaluation board users guide

http://www-s.ti.com/sc/psheets/slau111/slau111.pdf– Evaluation board interface for C5000 and C6000 DSP

http://focus.ti.com/docs/toolsw/folders/print/5-6kinterface.htmlRelated parts, ADS1204:

http://www-s.ti.com/sc/ds/ads1204.pdf

1H2004 – Slide 97

Texas Instruments

Why Simultaneous Sampling?

Example:

High Performance AnalogHigh Performance AnalogForFor

Power Distribution SystemPower Distribution System

1H2004 – Slide 98

ADC application in Power Distribution System

1H2004 – Slide 99

Three Phase Power Measurement

220V50Hz

5A50Hz

CT

PT

±10VP-P

±10VP-P

220V50Hz

5A50Hz

CT

PT

±10VP-P

±10VP-P

220V50Hz

5A50Hz

CT

PT

±10VP-P

±10VP-P

IRVR

ISVS

ITVT220kV/110kV/10kV

1H2004 – Slide 100

Three Phase Currents and Voltages

-1.50

-1.00

-0.50

0.00

0.50

1.00

1.50

0 90 180 270 360

Degrees

Phas

e A

mpl

itude

VR(t)=VR*sin(ωt)VS(t)=VS*sin(ωt+120°)VT(t)=VT*sin(ωt-120°)IR(t)=IR*sin(ωt-φ1)IS(t)=IS*sin(ωt+120°-φ2)IT(t)=IT*sin(ωt-120°-φ3)

SimultaneousSampling

Simultaneous measurement of six signals needed for correct power measurement:

PR(t)=VR(t)*IR(t)PS(t)=VS(t)*IS(t)PT(t)=VT(t)*IT(t)

1H2004 – Slide 101

Internal structure of a Synchro Control transmitter

1H2004 – Slide 102

Resolver (2 Phase) and Synchro (3 Phase) Connection Convention

1H2004 – Slide 103

ADS836116bit 500kSPS, 4 ch. Simultaneous Sampling SAR ADCs

S/H+

-MUX +-

SARADC

Control&

SerialInterface

VREF2.5V

S/H+

-MUX

+-

SARADC

A0+A0 -

A1+A1 -

B0+B0 -

B1+B1 -

REFOUT

REFIN

CLKCONVBUSY

DATAandCONTROL

AVDD DVDDFeatures:4 Fully Differential Inputs 2 Independent 16-Bit ADCs 500kSPS Sample Rate per ADC 2 Sample and HoldsInternal VREF (+2.5V)Serial Data-BusPower - 200mW max24 pin SSOP and QFN 32 (5x5)

Key Differentiators:• 16-Bit Upgrade to the 12-Bit

ADS7861• Pin Compatible With the ADS7861• Low price 1Ku $8.75

Key Differentiators:• 16-Bit Upgrade to the 12-Bit

ADS7861• Pin Compatible With the ADS7861• Low price 1Ku $8.75

Applications:• Closed-Loop Servo Control• Machine and Motion Control • Multi-Axis Positioning• 3-Phase Power Control• Motor Control

Applications:• Closed-Loop Servo Control• Machine and Motion Control • Multi-Axis Positioning• 3-Phase Power Control• Motor Control

1H2004 – Slide 104

ADS836416-bit 250kSPS, 6 ch. Simultaneous Sampling SAR ADCs

+-

Control&

ParallelInterface

VREF2.5V

+-

+-

ADC 1

A0+A0 -

C0+C0 -A1+A1 -

C1+C1 -

REFOUTREFIN

CLKCONVBUSY

DATAandCONTROL

AVDD DVDD

B0+B0 -

B1+B1 -

S/H

+-

+- 6x

FIFO

S/H

S/H

S/H

S/H

S/H

+-

ADC 2

ADC 3

ADC 4

ADC 5

ADC 6Key Features

6 Fully Differential Inputs6 Independent 16-bit ADCs 250kSPS Sample Rate per ADC 6 Sample and Holds6 FIFO RegistersInternal VREF (+2.5V)Power - 470mW max64 pin TQFP

Key Differentiators

• First In Industry – 6 Channels• Low price

- ASD8364 1Ku $17.23 • Functional Compatible 16-Bit Upgrade for ADS7864.

• First In Industry – 6 Channels• Low price

- ASD8364 1Ku $17.23 • Functional Compatible 16-Bit Upgrade for ADS7864.

ApplicationsClosed-Loop Servo ControlMachine and Motion Control Multi-Axis Positioning3-Phase Power ControlMotor Control

1H2004 – Slide 105

Competitive Comparison

R1A

R1B

R2B R2A C2B C2A

C1+

- REFIN

ADS8364

REFOUT

CR

R

C

0.1uF

AD7865

+5V

-12V

47uF

0.1uF+12V

47uF

+

-

AD845• Requires additional operational amplifier

• Requires two additional analog power supplies

• Single ended input, poor CMVR

• Additional errors due to op amp characteristics

• Differential input, high CMVR• Only one power supply• Optimum performances

1H2004 – Slide 106

Differential Signal Measurement with ADS8364

Tr R1A

R1B

R2B R2A C2B C2A

C1

VL230V50Hz

+

- REFIN

ADS8364

REFOUT

CR±10VP-P

ADS8364 Example:• Clock 3.8MHz• 38kSPS• Sampling time 21.84µs• Conversion time 4.47µs

R1A = R1B = 4kΩR2A = R2B = 1kΩC1 = 1.8nFC2A = C2B = 0.18nF

1H2004 – Slide 107

ADS8364 Example Measurement ResultsFs = 50kHz, Fin = 1.7kHz

SNR = 86dBSINAD = 85.6dBSFDR = 100.4dBTHD = -96.2dB

1H2004 – Slide 108

Measurements for Servo ApplicationAC/DC Inverter

RST

MotorLoad

Motor Current Measurement(2-Phase or 3-Phase):• Motor current value for

control algorithm• Sign of the phase current for

“dead time” compensation• Over-Load and Over Current

protection

Motor Encoder or Resolver:• Rotor Speed• Rotor Position

Load Encoder: • Load Position

• DC-Link voltage• Temperature• Etc…

1H2004 – Slide 109

ADS786912-bit 1MSPS, 12 ch. Simultaneous Sampling SAR ADCs

Key Features12 Fully Differential Inputs3 Independent 12-bit ADCs 1MSPS sample rate per ADC 7 Sample and Holds5 Multiplexers7 Sign and 3 Win. Comparator2 Up/Down 16-Bit Counters100 pin TQFP

Key Differentiators

• First In Industry –Complete Motor Control Front End

• Low price- ADS7869 1Ku $14.56

• First In Industry –Complete Motor Control Front End

• Low price- ADS7869 1Ku $14.56

ApplicationsClosed-Loop Servo ControlMachine and Motion control Multi-Axis PositioningMotor Control

1H2004 – Slide 110

Motor Current Measurement with ADS7869

1H2004 – Slide 111

-1.50

-1.00

-0.50

0.00

0.50

1.00

1.50

0 90 180 270 360

Degrees

Phas

e A

mpl

itude

PGA ADC 12-bit 1MSPSSample

&Hold

MUXMUX


&Hold

MUXMUX


&Hold

MUXMUX

IU

IV

IW

Three: •Sample & Hold•12BIT ADC 1MSPS•PGA

iu(t)=IU sin(ωt)iv(t)=IV sin(ωt+120°)iw(t)=IW sin(ωt-120°)

SimultaneousSampling

Motor Current Measurementwith ADS7869

3X : •Sample & Hold•12BIT ADC 1MSPS•PGA•Sign Comparators•Window Comp.

+LIMIT

-LIMIT

U_ILIM

U_COMP

IUp-IUn

Three simultaneous sampling inputs• No time difference error in sampling of signalsThree differential inputs• High CMRR for noisy environmentThree PGA are simultaneously scaling inputs• Same HW for different power rangeThree 12 bits 1MSPS ADCs• Low delay in control algorithmThree sign comparators• SW Lockout time compensationOne 8 bit DAC for set up of current limit• Dynamic control of motor accelerationThree programmable window comparators• Separate control of motor phases over-current


&Hold

MUXMUX

IU

Offset

Gain

+

-SIGN

OVER-CURRENT

LimitComp

WindowLimit

1H2004 – Slide 112

Incremental Encoder Measurement with ADS7869

Two Synchronous inputsTwo Asynchronous inputsDifferential inputsTwo 12 bits 1MSPS ADCs20% Gain correction20% Offset correction

Two Sign Comparators16-bit UP/DOWN CounterState MachineDigital Filter4 Registers26-bit total resolution

PGA ADC 12-bit 1MSPS

Sample&

Hold

MUX

MUX

SIN

Offset

Gain

+

-SIGN A

Sample&

Hold

SYNC

ASYNC

PGA ADC 12-bit 1MSPS

Sample&

Hold

MUX

MUX

Offset

Gain

+

-

Sample&

Hold

SYNC

ASYNC

16-bit UP/DOWNCounter

withState Machine

&Digital Filter

SYNC

ASYNC

SIGN B

COS

- With -State Machine &Digital Filter ForError Detection

& Glitch Reduction

1H2004 – Slide 113

Getting Started: analog.ti.com

Application Notes

Product Listing

HW & SW Tools

1H2004 – Slide 114

Samples, Development Tools and more

Related Application Notes

Free Overnight Samples

HW & SW Tools

Inventory

1H2004 – Slide 115

Data Converter Software Plug-In

Data ConverterSoftware support

embedded into

Code Composer Studio(CCS)

1H2004 – Slide 116

Software for Data Converters?• Today’s data converters need software support due to:

– On-chip features like • Selectable input channels• On-chip filters • Integrated FIFOs• Adjustable gain

– Complex configuration• Some parts have more than 40 registers and 640 control-bits• Coding of registers is tedious and error prone

• Customer benefits:– Faster system time to market– Reduced development cost

• Software support helps:– The DSP software developer:

• No need to learn “that crazy analog part”– The analog designer:

• No need to learn DSP programming just to test “this neat data converter”

1H2004 – Slide 117

Software Support: The Converters

• Select:– Virtually any number of data

converters– Nearly every combination

(limitation is the DSP) • Supports:

– Analog to Digital converters– Digital to Analog converters– Codecs– For a complete list of supported

devices, visit http://www.ti.com/sc/dcplug-in

• Not hardware specific:– Can be used on the analog

EVMs or with the customer’s own hardware, as long as there is no special hardware setup necessary (e.g. controlling a multiplexer)

Supports 117 devices:4 devices on the C2800 DSP platform86 devices on the C5400 DSP platform26 devices on the C5500 DSP platform75 devices on the C6200/C6700 DSP platform21 devices on the C6400 DSP platform

1H2004 – Slide 118

High Performance Analog for Motor Control

Application CollateralEvaluation Boards complete with User’s Guide, Schematic, & BOM on webDevice specific application notes – linked directly from product folder!Code Composer Studio Example Projects for C2000, C5000, C6000 DSPsComplete “Signal Chain” prototyping system for C2x processors coming soon!EVMs available for purchase at www.ti-estore.com

Related Application NotesUsing a SAR A/D Converter for Current Measurement in Motor Control Applications (sbaa081.htm)Understanding the CAN Controller on the TMS320C24x DSP Controller (spra500.htm)RS-485 for Digital Motor Control Applications (slla143.htm)Interfacing the ADS8361 to the TMS320F2812 DSP (slaa167.htm)Interfacing the ADS8364 to the TMS320F2812 DSP (slaa163.htm)

1H2004 – Slide 119

Silicon: DSP offers the performance and flexibility to implement advanced motor control algorithmsSoftware: Modular software reduces time-to-marketTools: Advanced Development Tools make development easyAnalog: Offers a broad selection of signal conditioning and power management

Systems Expertise

Support

Web castsWorkshopsKnowledgeBaseApplication notes

Silicon

PowerElectronics

TI Power Management

SPI

SCI-A/B

EV (PWM)

ADC

CAN

EEProm

EV(CAP/Q

EP)

CurrentVoltage

Position/Speed

Feedback

PC TestEquipmentCAN

Network

Kalman FilterPrecision PID

Filter Lib

Chip SupportLib

“IQmath”DSP/BIOS

Field Oriented Control

Foundation Software

SoftwareDigital Motor ControlSoftware Library

1H2004 – Slide 120

Agenda TimelineThree Phase Machine FundamentalsThree Phase Machine FundamentalsThree Phase Machine FundamentalsPermanent Magnet Motor OperationInternal View: Induction Motor RotorACI Operation FundamentalsAgenda TimelineScalar V/F control of 3-ph Induction MotorLimitations of the Scalar TechniqueStationary and Rotating Reference FramesMotor Flux InteractionVector Control of 3-Ph Induction MotorField Oriented Control - Vector ControlPMSM FOC with TMS320F2812 DSPACI FOC System with TMS320F2812 DSPFOC TMS320F2812 DSP + ResolverCost Effective High AccuracyPosition Measurement by ResolverSensored AC Induction Motor – DTC DriveBLDC and PMSM Motor TypesSliding Mode ObserverSliding Mode ObserverSMO EquationsSMO Equations (continued)Experimental ResultLimitations of Sensorless Control / SMOAgenda TimelineMotor Control System Components From TIIndustrial: AC Induction Motor DriveSensored Trapezoidal BLDC Motor ControlSensorless Stepper Motor ControlServo Drive / Servo Amplifier Hardware PartitioningServo Drive / Servo Amplifier Hardware PartitioningAgenda TimelineSelecting a ControllerC2000 Product PortfolioInternal Busing determines quality of MIPSAgenda TimelineCode Composer Studio Components: Fully Integrated, Easy to Use Development ToolsCode Composer Studio Components: Fully Integrated, Easy to Use Development ToolsDSP/BIOS™: Handling Multiple Event SourcesReal-time DebugC28x C/C++ Header Files & Peripheral ExamplesOn-Chip Analysis Features Enables Flexible DebuggingHardware Development ToolsFlash Programming HardwareAgenda TimelineThe Foundation: Software LibrariesThe Foundation: Software LibrariesApplication Frameworks: Starterwaremore coming soonModular Block oriented libraryModular S/W Implementation of Sensored FOC for PMSMSoftware Test Bench: STBInterconnecting ModulesEmbedded Target Integrates Simulink® and MATLAB® with eXpressDSPTM Tools and C2000TM ControllersEmbedded Target Integrates Simulink® and MATLAB® with eXpressDSPTM Tools and C2000TM ControllersExample of GDE Motor ControlAgenda TimelineIncremental System BuildACI Sensorless Field Oriented ControlBuild Level 1Build Level 2Incremental Builds Header FileBuild Level 3Build Level 4Build Level 5Build Level 6Agenda TimelineMotor Control System Components From TITexas InstrumentsHigh Performance AnalogFor Industrial Motor ControlTI Power: “Easy to Choose, Easy to Use”Complete System Power SolutionsReady to Use Power Supply SolutionsFor Easily Customized Power Designs:SWIFT/TPS40k/TPS60k Design ToolsRS-485FET Drivers in MC SystemIntelligent Drivers in MC SystemMotor ControllersAmplifiers in MC SystemAmplifiers: Design UtilitiesFilterPro Design ToolADC and DAC in MC SystemDC-Link Voltage and Phase Currents Measurement for Servo ApplicationADS1206 & ADS12071MHz & 4MHz Voltage-to-Frequency ConverterADS12031-bit 10MSPS, 2nd Order ModulatorADS12041-bit 10MSPS, 2nd Order ModulatorADS1202 Design ResourcesTexas InstrumentsWhy Simultaneous Sampling?Example:High Performance AnalogFor Power Distribution SystemADC application in Power Distribution SystemThree Phase Power MeasurementThree Phase Currents and VoltagesInternal structure of a Synchro Control transmitterResolver (2 Phase) and Synchro (3 Phase) Connection ConventionADS836116bit 500kSPS, 4 ch. Simultaneous Sampling SAR ADCsADS836416-bit 250kSPS, 6 ch. Simultaneous Sampling SAR ADCsCompetitive ComparisonDifferential Signal Measurement with ADS8364ADS8364 Example Measurement ResultsFs = 50kHz, Fin = 1.7kHzMeasurements for Servo ApplicationADS786912-bit 1MSPS, 12 ch. Simultaneous Sampling SAR ADCsMotor Current Measurement with ADS7869Motor Current Measurementwith ADS7869Incremental Encoder Measurement with ADS7869Getting Started: analog.ti.comSamples, Development Tools and moreData Converter Software Plug-InSoftware for Data Converters?Software Support: The ConvertersHigh Performance Analog for Motor Control

Documents

TI Digital Motor Control Solutions - pudn.comread.pudn.com/downloads621/sourcecode/embedded... · Agenda Timeline • Motor Control Fundamentals 25 min – AC Induction and Permanent