TI Motor Control Solutions

2011 August

Why C2000 for Motor Control• References

– Quick to Spin

– TI Control + Drive + Analog

– High Performance Features

– Connectivity (USB & ENET)

• Software

– Libraries

• Motor & Safety

– IQMath

– Real-Time Debug

– FREE, MCU Common IDE

– GUI – easy out of box

– Best Abstraction & Simulation Support

• Portfolio of Silicon

– <$1 to Highest Performance, 32-bit engines, premium analog and PWM

3

TI Motor Solutions

common motor SW

commondriveBOARDs

commoncontrolCARDs

commonGUI

commonabstraction

DeveloperNetwork

Training

Motor DIN Support

Analog, Isolation &

Power

Agenda

• Hardware

• Software

• Key MCUs & Peripherals

Low Voltage (24-36V) PMSM + PFC

2012-4-25

No external emulator required!

TMDS2MTRPFCKIT(2 motors)TMDS1MTRPFCKIT(1 motor)

Piccolo F28035 controlCARD

Sensorless FOC

Single or Dual Axis Operation

Integrated Digital Power Factor Correction

Hardware Features

100W 2 phase interleaved power factor correction stage

2 x 60 W motor driver stages based on TI DRV8402 IMD

On board isolated XDS100 JTAG emulation

Software Lab Projects

Dual Axis in controlSUITE

Motor Control Workshop + Self Paced Lab in controlSUITE

Motor + PFC solutions in non-controlSUITE CCSv3.3 format

$399 Motor Control and PFC Kit

DRV8402 is NRND

will Rev in Q3 with

DRV83x2

• DRV8402 3-Phase IMD• 24-36V and 3A continuous• Includes Piccolo F28035 in controlCARD slot• controlSUITE SW and GUI• Sensorless FOC of 1 or 2 axis• 50KHz Digital PFC• BOM, Schematic, Gerbers• CCStudio MCU IDE

PMSM Low Voltage Gen 1

TMDS2MTRPFCKIT $399TMDS1MTRPFCKIT $369

• DRV8412/32 2x H-Bridge IPM • 50V and 6A continuous• Includes ISOLATED PiccoloF28035 in controlCARD slot• controlSUITE SW and GUI for 2x Brushed DC and Stepper• Current, Speed, 1/256 microsteps• BOM, Schematics, Gerbers• CCStudio MCU development environment

DRV8412-C2-KIT - $259DRV8412-C2-KIT $299

Brushed / Stepper

• DRV8301 or 02 3-Phase IPD • 8-60V and 60A continuous• Includes ISOLATED PiccoloF28035 in controlCARD slot• controlSUITE SW and GUI• InstaSPIN-BLDC• Sensorless FOC• Isolated CAN, SPI, UART• BOM, Schematics, Gerbers• CCStudio MCU IDE• SPIN YOUR MOTOR

DRV8412-C2-KIT - $259

• DRV8312 3-Phase IMD• 8-50V and 3.5A continuous• Includes ISOLATED PiccoloF28035 in controlCARD slot• controlSUITE SW and GUI• Sensored/Less BLDC• InstaSPIN-BLDC•Sensorless FOC• Isolated CAN, SPI, UART• BOM, Schematic, Gerbers• CCStudio MCU IDE• SPIN YOUR MOTOR

DRV8312-C2-KIT - $259

BLDCPMAC

MCU controlCARD

Modular DMCLib

GUI

DRV8301-HC-C2-KITDRV8302-HC-C2-KIT

$299 (9/1 RTM)

DRV8312-C2-KIT $299

BLDC/PMSM Low Voltage Gen 2 3-phase InverterBLDC & PMSM

3-phase InverterBLDC & PMSM

High Voltage (350V) BLDC, PMSM, ACI + PFC

• controlCARDs included: Piccolo & Delfino

• High voltage PFC and single axis motor control

board

• 1.5KW, 350V, 20A three phase motor driver stage

• 750W 110-220 Vac PFC stage

• Can control most common motor types

• ACI, PMAC, and BLDC

• Motors available directly from TI

• Isolated CAN and UART interfaces

• CCS V4, GUI

• Onboard isolated XDS100 USB JTAG emulation

Hardware

Fully controlSUITE compatible

Sensor/Less FOC for ACI, PMAC

Piccolo & Delfino

Sensored V/f for ACI

Sensor/Less Trapezoidal for BLDC

Sensorless FOC for ACI + PFC on CLA

Software

No external emulator required!

Price: $599Part number: TMDSHVMTRPFCKIT

Hardware

Software

• Why?– Fixed point is actually more precise in a given range

– Floating point is MUCH easier to deal with

• Library and Compiler Intrinsic– Move your decimal point to where you need it

– Write in floating point, compiler does all the work

• Start-up, tuning, and debug effort are reduced– Change numerical range on the fly, global or local

– Tune for best resolution and dynamic range

– Remove quantization, scaling and saturation burden

– Better integration with simulation and code gen tools

– Single source set to move between fixed and floating point processors (C2000 today, M3 M4F soon!)

– Easy re-use and re-tuning for new systems

IQMath

GLOBAL_Q Max Val Min Val Resolution

28 7.999 999 996 -8.000 000 000 0.000 000 004

24 127.999 999 94 -128.000 000 00 0.000 000 06

20 2047.999 999 -2048.000 000 0.000 001

#define GLOBAL_Q 24 // set in “IQmathLib.h” file

_iq Y, M, X, B;

Y = _IQmpy(M,X) + B; // all values are in I8Q24

The user selects a “Global Q” value for the entire application:

Based On The Required Dynamic Range Or Resolution

The user can also explicitly specify the IQ value to use:

_iq20 Y, M, X, B;

Y = _IQ20mpy(M,X) + B; // all values are in I12Q20

IQMath: Choose your decimalRange or Resolution?

S I I I I I I I I I I I I I I I I . Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q (Q15)

31 0

IDE CCStudio v4FREE with C2000/430 XDS100 Emulators or 32KB Version

Eclipse IDE

Resources:

Real-Time Mode on wiki

Chapter 7.4 in the C28x CPU Reference Guide

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

Real-time Debug

controlSUITE motor_lib

Motor Control

Peripheral Blocks

- SVPWM Gen

- BLDC PWM

- PWM Full Compare

- HALL CAP

- HALL GPIO

- QEP

- ADC Conversions

- PWM DAC

- Data Log

• C SOURCE Provided for all

• Modular structures or macros with variable inputs and variable outputs

• At initialization all variables are defined and outputs of one block are set as inputs to the next

• At run-time the structures or macro functions are called

• Complete documentation – including equations and theory – is provided for every module

Ex: Using “Park” from DMC Library

//initialization code, define macro per library#define PARK_MACRO(v)\v.Ds = _IQmpy(v.Alpha,v.Cosine) + _IQmpy(v.Beta,v.Sine);\v.Qs = _IQmpy(v.Beta,v.Cosine) - _IQmpy(v.Alpha,v.Sine);

//incremental build code, connect outputs and inputspark1.Alpha = clarke1.Alpha;park1.Beta = clarke1.Beta;

//run-time code, call the functionPARK_MACRO(park1)

Control Blocks

- PID

- Speed Estimators

- Speed Freq/Period

- Clarke / iClarke

- Park / iPark

- Commutation Trig

- Impulse

- Mod6 Counter

- Phase Voltage Calc

- Ramp Controllers

- Sin/Cos Table Calls

- Sliding Mode Observer

- ACI Flux/Speed

Estimators

- CLA Versions in works

You will see Stellaris support later this year

Metatools

Visual Solutions

VisSimwww.vissim.com/c2000

(C2000 & 430, Stellaris soon)

The Mathworks

Embedded Targetwww.mathworks.com/products/tic2000

(C2000, working on 570)

-DMC and Peripheral Blocks

-Simulation and Modeling

-Auto-Tuning

-Code Generation

-Interface to CCStudio IDE

-Works with controlKITs

Development NetworkAbstraction, Rapid Prototyping, Simulation, Graphical Development & Auto Code Gen

Multiple Local Consultants & Design Houses

Telephone: +47 73512852

crosshairsembedded.com

Interface Designer v1.5• Provides specialized interfaces for visualizing system parameters.

• Infinite design possibilities allow the closest match for your

system.

• High definition, scalable graphics for easy assimilation and

user interaction.

• Operates in real-time.

• Seamless remote, non-intrusive operation.

• Streamlined deployment and one-click re-use of interfaces.

• Branded interfaces for highly effective sales and marketing

customer relationships.

• Powerful, feature-rich and competitively adaptable.

• Supports C2000/MSP430/C6000. (Stellaris/570 in works)

Telephone: +47 73512852

crosshairsembedded.com

Embedded Real-Time Functional Debugger v2.0• Embedded real time functional debugger.

• Covers program development, maintenance,

testing and verification.

• Remote testing and monitoring from multiple

locations, simultaneously.

• Non-intrusive testing while embedded systems

are still running.

• Highly reliable even in electronically noisy

environments.

• Internal flash programming.

• Real-time on-chip data-logger with

configurable triggers.

• Variables are automatically extracted from

your embedded target applications.

• Advanced memory inspection functionality.

• Supports multiple concurrent connections

via any port or interface.

• Configurable alarms with SMS/e-mail delivery.

• Supports C2000/MSP430/C6000.

• Working on Stellaris/570

C2000 32-bit Real-time MCU

Perf

orm

an

ce &

Mem

ory

100+ Code Compatible Devices

Fixed Pt

Low Cost

DelfinoTM

(176-256 Pins)

$9 - $16

Fixed Pt w/

Co-Processor

Options

Floating Pt

Performance

C2834x F2833x

Upto 600 MFLOPS

196-516kB SRAM

External ADC

Low Active Power

Upto 300 MFLOPS

128-512kB Flash

52-68kB SRAM

F2803x

60MHz – CLA Optional,

64-128kB Flash,

20KB RAM

40

100

150

300

MIPS

60

80

All Pricing is to be considered budgetary and subject to change . Pricing is 1KU SRP -40 to 105C

Production

Sampling Future

Development

F2801x

F280x

F281x

F2823x

F2802x

F2833x

C2834x CAN

CAN

NEXT

Performance

Connectivity

Safety Enhancements

Next

F2802x Next

40-60MHz,

32-64kB Flash,

6-12KB RAM

Low Power

Small Packaging

More AnalogNext

Connectivity

TI Confidential NDA Restrictions

Floating Pt

Low Cost

Piccolo™(38-144 Pins)

$<2 - $8

Sampling!

F2806x USB Host

CAN

F2803x CAN

F2806x

80MHz FPU – CLA and VCU Optional

128 – 256 kB Flash,

100 kB RAM,

USB Host/Device, DMA, McBSP

C2000 Public Roadmap

Unique combination of performance and integration for real-time control

45+ configurations

bring a wide range of

performance, package,

and memory

Best mix of control peripherals Robust software libraries Code compatibility across C2000 platform ranging from 40MHz to

300MHz Increased on-chip analog integration

Serial Interfaces

Memory

16 - 256 KB

Flash

Debug

Real-Time JTAG

6-100 KB RAM

Boot ROM

Power & Clocking

• Dual Osc 10 MHz

• On-Chip Osc

• Dynamic PLL Ratio

Changes

• POR

• BOR

16 ch, 2SH, 12-bit, 5 MSPS ADC

ADC

2x SPI, 1x McBSP

1x I2C

2x SCI

1x CAN

3x Comparator

Missing Clock Detection Circuitry

128-Bit Security Key/Lock

C28x 32-bit CPU80MHz

32 x 32 bit MultiplierRMW Atomic ALU

Peripherals Timer Modules

3x 32-bit CPU Timers

Watchdog Timer

2 x 32-bit eQEP

3 x 32-bit eCAP

8x ePWM Modules:

(8x 150ps high-res)

16x PWM outputs

DMA-6CH

FPU

CLA

USB 2.0 FS

High-Performance

C28x™ CPU

• Up to 80-MHz

performance

• Single-cycle 32-bit MAC

• Fast interrupt response

and minimal latency

• Floating-Point on F2806x

VCU• Complex Math Unit: 3x

faster FFT Butterfly

• Viterbi Unit: Up to 7.5x

faster Viterbi operations

• CRC Unit: 2x faster than

software implementation

Enhanced Architecture

• High accuracy on-chip

oscillators (10 MHz)

• Single 3.3-V supply with

BOR/POR supervision

• 6-ch Direct Memory Access

Intelligent Peripherals• 150ps resolution on PWM

frequency and duty cycle

• 12-bit radio-metric ADC with

individual channel triggers

• Up to 3x analog comparators

with 10-bit reference

• New High Resolution Capture

• Enhanced CAN bus unit, USB

2.0 with Host

Control Law Accelerator

• 32-bit floating-point math

accelerator

• Operates independent of

C28x CPU

• Up to 5x performance

boost

4 x HRCAP

VCU

$1 - $8

38 pin – 100 pin

16 – 256 KB FlashPiccolo

12-bit Pipeline/SAR Hybrid ADC

Start of Conversion (SOC) Configuration and Logic Block

Dual Sample and Hold

12-bit Analog-Digital Converter

Result Registers

• 16 SOC triggers from Software, CPU timers, ePWMs, and GPIOs

• Allows easy creation of conversion sequences

• Multiple conversions processed in Round Robin or Priority Modes

• 9 flexible interrupts

• Dual sample/hold enable simultaneous sampling or sequencing sampling modes

• Adjustable acquisition window ensures proper sampling

• Fast conversion rate: Up to 5MSPS

• Just-in-time interrupts (early interrupts) eliminates context switch latency by calling interrupts before conversion finishes

• Sixteen result registers (individually addressable) to store conversion values

Analog Mux• Uses SOC input to select which channels will be processed

Up to 16 Analog Inputs• 16 channel, multiplexed analog inputs.

• Supports both 0-3.3V fixed range and ratio-metric input range

8 ADC Inputs

Sample/HoldA

12-bitADC Module

8 ADC Inputs

SOC

Co

nfigu

ration

s and

Logic

Sample/HoldB

Analog MUX Analog MUX

Start of Conversion

Piccolo’s hybrid ADC allows even more flexible creation of conversion sequences.

Result Register16 Words

Time-Base

TripZone

EventTrigger& Interrupt

EPWMxA

EPWMxB

System Input*

ADC Triggers

PIE

Action Qualifier

Counter Comparator

PWM Chopper

Dead-Band Generator

Dedicated 16-bit Time Base• Uses pre-scaled CPU system clock; Registers are shadowed

• Up, Up-Down, Down-Up; Events: Zero, Period

Counter Comparator (CC)

Programmable Dead-Band Generator

PWM Chopper

Programmable Trip Zone Generator

• Registers and comparators eliminate the need to interrupt the CPU in PWM generation

• Events: CMPA (rising & falling), CMPB (rising & falling)

• Programmable rising-edge and falling-edge delay

• Allows a high-frequency carrier signal to modulate PWM waveforms

• Programmable chopping frequency, duty cycle, first pulse width

• Quickly overrides PWM signals to Hi, Low, or Hi-Z

• One-shot or cycle-by-cycle (current limiting) operation

• Can generate events, filtered events, or trip conditions

Action Qualifier• At any Event: Set PWMxA/B (High, Low, Toggle, Do Nothing); Trigger a programmable Event or Interrupt

Each ePWM module has two outputs, EPWMxA and EPWMxB (same frequency, independent duty)Each module is independent frequency, but can be synched or phase delayed

Enhanced PWM

22

VSSA

Comparators

DAC

COMPx

Sync/Qual

EPWM module, GPIO Mux,

PIE

Analog Comparator

Sync/Qualification

EPWM and GPIO Mux Outputs

• True analog voltage comparator in VDDA domain

• 30ns response time to PWM Trip Zone

• Comparator output can be passed directly or synchronized with the system clock

• Qualification logic can delay output for multiple clock cycles

• Output can be routed to ePWM Trip Zone Module as well as GPIO output

10-bit DAC

• Analog DAC can provide input to comparator

Analog Comparators on Piccolo devices bring instant protection

Input Pin A

Input Pin B

VDDA

+

-

COMPACOMPB

External

Trip LogicSelect Trip EventPWMAPWMB

PWM Action

1. Trip A/B Output2. Generate CPU Interrupt3. Start of Conversion4. PWM Sync.

Comparator 1-3

• Trip Zones operate even if the clocks go missing!• Each trip pin/event can map to any combination of PWM outputs, Interrupt,

SOC, or PWM Synchronization • Trip event can be synchronous or asynchronous• User can block trip action for a given offset and window after start of PWM

period• Automatically records counter value in case of trip • One Shot (Fault) or Continuous (Cycle By Cycle Control)

PWM Trip Zones

GPIO/XCLKIN

CLKIN SYSCLK

WDCLK

Device ResetOr Interrupt

CPU

CPU Timer 2

CPU Timer 0

CPU Timer 1

Watchdog

InternalOscillator 2

10MHz

OSC2CLK

ExternalOscillator5-20MHz

X1

X2

EXTCLKCPUTMR2CLK

PLLx1x2x3..

x10

NMI Watchdog

CLKFAILClockFail

Detect

GPIO/XCLKOUT

/1/2/4

Oscillator Accuracy~3% (85C to 125C)

Can be compensated over temperature to improve and enable

CAN off of OSC only!

InternalOscillator 1

10MHz

OSC1CLK

/1/2/4/8

/16

/1/2/4

Piccolo’s clocking system provides two zero-pin on-chip oscillators to eliminate the need for external clock circuitry. The high accuracy, high speed internal clocks are also a part of an extensive clock protection system

Lower System Cost

• No external clock circuitry or crystal required

• Includes secondary internal oscillator for backup or alternate clock source

Increased System Reliability

• Back-up internal oscillator automatically triggered in case of error

• Configurable clock sources allows independent CPU, CPU Timer 2 and Watchdog clocks

• Watchdog support standards such as IEC-60730

• Automatic PWM trip in case of clock failure

• If clock failure is detected, CLKIN and WDCLK automatically switches to backup oscillator

• Two internal high-speed oscillators

• If both internal clocks fail, PLL clock automatically goes into “limp mode” to facilitate shut-down procedures. (5 MHz only)

3-tier Clock Protection

Clocking System

Lower System Cost / Increased System Reliability

Piccolo Analog Integration

• On-Chip Voltage Regulation– On-chip regulator eliminates

requirement for external 1.8V rail

– BOR/POR protection eliminates requirement for external supervisor

– Eliminates start-up glitches on PWM outputs

• Dual On-Chip Oscillators– No external clock circuitry required

– Independent time bases for main CPU and Watchdog for IEC-60730

– Auto PWM Trip on Fail

– Temperature Compensation

• Analog Comparators– Trip PWM Outputs, Generate Interrupts,

Sync PWM Outputs, Generate ADC SOC, Route to GPIO Pins

• Analog-to-Digital Converter– Continuous sampling up to 5

MSPS– Ratio metric across full 3.3V

input range– No support pins

• High Resolution PWM– High Resolution Duty Cycle

Modulation with 150ps Steps

– High Resolution Frequency Modulation with 150ps Steps

• GPIO Input Digital Filters– Removes Noise

– No external filters saves cost

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

IQMath

DSP

APPS

Development Kits

Hardware

Software

System Framework

Graphical User

Interfaces

Debug and Software Tools

IDE

RTOS

Real-time Debug

F2823x

3rd Party Tools

Kits

Docs

Quickstart Guide 8 pages- Quick HW

- Quick Sys

- GUI

- Next Steps

Hardware Guide 14 pages- Everything about the HW

How To Run 15 pages- Getting Started

- Out of Box

- HW connections

- CCStudio Set-Up

Systems 20-60 pages- Motor, control, theory background

- System Overview, Memory & CPU Usage

- Peripheral to HW Map

- Software Flowchart

- Hardware Set-Up

- Running the Software

-Step-by-step incremental build with screen

shots, verification, explanations, and tuning

procedures

“C2000 Motor Control Primer”

Google: sprugi6

GUIImage already in

Piccolo Flash

GUI Source Provided

Drag and drop from

Memory Map

Low Cost License

from Crosshairs

QSG 8 pages

- Quick HW

- Quick Sys

- GUI

- Next Steps

Hardware Developer’s Package

Hardware Developer’s Package includes:

• Bill of Materials

• PCB layout

• Schematics

• Gerbers

We provide you with all the necessary files to recreate the hardware. The PCB layout and

schematics are broken up into modules that can be interconnected or implanted into a new design.

controlCARDs and controlKITs

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

Incremental Build

3A) Tune current PIDs (Id, Iq)

3B) Verify QEP speed value in WW

Incremental Build

4) Tune SMO and Speed Estimator to Measured

Incremental Build

5A) Tune Speed PID loop

Incremental Build

5B) Alternative: Tune Speed PID loop w/o SMO

Incremental Build

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

controlSUITE DMC Benchmarks

* Modules run as Macros

** Not including the Optional Early Build Level Modules

*** FOC Benchmarks at 10 KHz control loop, BLDC at 20 KHz

Dual Axis FOC + PFC Benchmarks (10 KHz + 50 KHz)

MCU Mapping - Single Inverter

3 phase Inverter topology suitable for:• ACI• PMSM• BLDC

1B

1A

2B

2A

V-dcBus

3B

3A

DC

Link

IL-2IL-1

IPH-1 IPH-2

AC

Motor

(optional)

VA VB VC

PWM1

Piccolo-A

ADC

12 bit

3.75 MSPS

I2C

SPI

UART

Comms

CPU

32 bit

DSP core

40 MHz

Vref

1A

PWM4

1B

PWM22A

2B

4A

4B

3V3

PWM33A

3B

V-dcBus

IL-1

IL-2

VA

VB

VC

Dual Inverter + PFC Boost

1B

1A

2B

2A

V-dcBus

3B

3A

IL-2IL-1

IPH-1 IPH-2

Motor 1

(optional)

4A

4B

V-batt

I-boost

I-boost1 I-boost2

DC link

V-dcBus

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)

Benchmarks for Motors & PFCon 60 MIPS Piccolo

Piccolo

F2803x

Piccolo

F2802x or

F2803x

PFC or FOC can be done on 28x CPU or CLA

FOC Sensorless SMO 10KHz 16 MIPS 28x

FOC Sensorless FA3ST 10KHz 30 MIPS 28x

PFC 50KHz 12 MIPS 28x

PFC 100KHz 22 MIPS CLA

2x FOC SMO + PFC(50KHz) 44 MIPS 28x

PFC

Piccolo

F2803x

PFC