hands-on workshop motor control | nxp community

PUBLIC USE

EDUARDO VIRAMONTES

MOTOR CONTROL SYSTEM ENGINEER

SESSION #FTF-SMI-N2008

18, MAY, 2016

MOTOR CONTROL

HANDS-ON WORKSHOP

PUBLIC USE1 #NXPFTF PUBLIC USE1 #NXPFTF

AGENDA

• Intro to KV series

• What is FOC?

• How is FOC implemented?

• Enablement and reference designs

• Using MCAT to tune and spin a motor

• Model-based design with Mathworks Simulink and the

Motor Control Toolbox

PUBLIC USE2 #NXPFTF

Kinetis V series MCUs Based on ARM® Cortex® Cores For Motor Control & Digital Power Conversion

• NXP’s extensive motor and power control expertise and the latest ARM Cortex-M0+, M4 and M7 cores bring secure, connected, high efficiency motor control and power conversion to the mass market

• Efficient, next generation BLDC, PMSM and ACIM designs are enabled by optimized MCU performance and high speed/resolution analog and timing peripherals. High resolution eFlexPWMs support digital power conversion

• Performance and feature scalable MCU families from entry-level 75MHz MCUs, to advanced 240MHz MCUs, maximize hardware & software reuse and end product flexibility

• Enablement including NXP Tower and Freedom development boards, Embedded Software Libraries and Kinetis motor suite reduce motor control learning curve and speed time to market

PUBLIC USE3 #NXPFTF

New Levels of Performance, Reliability and Power Efficiency

for Motor Control and Digital Power Conversion

NXP IDE, RTOS, Software Libraries and Motor Control Development Tools

2016

2014

KV1x MCU FamilyBLDC, entry-level PMSM

ARM® Cortex® -M0+

Feature Integration

+ Motor Control Software

+ Multi Channel Timers

+ Floating Point Unit

+ High Speed ADC

+ High Resolution PWM

+ Advanced Memory,

Connectivity and CommunicationsKV5x MCU Family

High-performance single/multi motor

systems with connectivity & security.

Advanced digital power conversion

ARM Cortex-M7

Pe

rfo

rma

nce

2014

KV3x MCU FamilyMid-range PMSM, UPS power control

ARM Cortex-M4

2015

KV4x MCU FamilyHigh-performance motors, UPS, solar

and mid-range AC/DC control

ARM Cortex-M4

PUBLIC USE4 #NXPFTF

Kinetis V Series: Performance and Feature Scalability

Core

168MHz

CM4

DSP + FPU

100/120MHz

CM4

DSP + FPU

75MHz

CM0+

H/W DIV & SQRT

Memory

64-256kB Flash

64-512kB Flash

16-128kB

Flash

Flextimer

2 x 8ch

1x 2ch

FlexTimer

2x 8ch

2x 2ch

FlexTimer

2x 6ch

2x 2ch

FlexTimer

eFlexPWM

12ch eFlexPWM

+ Nano-Edge

-

-

ADC

2x 12bit

4.1Msps

2x 16-bit

1.2Msps

2x 16-bit

1.2Msps

DAC

2x 12-bit

2x 12-bit

1x 12-bit

ACMP

4x ACMP

with

6-bit DAC

2x ACMP

with

6-bit DAC

2x ACMP

with

6-bit DAC

Packages

100 pin 64 pin 48 pin

100 pin 64 pin 48 pin 32 pin

64 pin 48 pin 32 pin

KV4x

KV3x

Scalable performance, timing and analog functionality

based on application need

Key Peripherals for Motor and Power Control Applications

KV1x

MCU

Family

240MHz

CM7

DSP + FPU

512kB-1MB Flash

2 x 8ch

1x 2ch

FlexTimer

2 x 12ch eFlexPWM

+ Nano-Edge

4 x 12bit

5Msps,

1 x 16bit

1x 12-bit

4x ACMP

with

6-bit DAC

144 pin 100 pinKV5x

Comms.

Ethernet,

3 x CAN

-

1 x CAN

2 x CAN

Motor Control Timers

PUBLIC USE5 #NXPFTF

Perf

orm

an

ce

Q1 Q2

75

MHz

100

MHz

120

MHz

160

MHz

240

MHz

Kinetis V Series Availability Roadmap

Beyond

Q3 Q1 Q2Q4

2014 2015

KV10

Cortex M0+

32KB

KV3x

Cortex M4

64/128kB

KV3x

Cortex M4

256/512kB

Q4

2016

KV11

Cortex-M0+

64/128kB, CAN

KV10

Cortex-M0+,

64/128kB

KV4x

Cortex M4

64/128/256kB, CAN

KV3x KMS

Cortex M4

256/512kB

KV3x KMS

Cortex M4

64/128kB

KV5x

Cortex M7

512kB/1MB, CAN, E’net

PUBLIC USE6 #NXPFTF

Kinetis V – Target Applications

KV1x KV3x KV5xKV4x

Industrial Real Time Control

BLDC Motors – FOC; Sensorless & Sensor’d

Low Dynamic PMSM FOC High Dynamic PMSM FOC

1 or 2 BLDC Motors Up to 4 x BLDC Motors

1 PMSM Motor

FOC ACIM

Power Control:

UPS, SMPS, Photo Voltaic

Up to 8 x BLDC Motors

Up to 2 x PMSM Motors Up to 4 x PMSM Motors

Up to 2 x FOC ACIM

PUBLIC USE7 #NXPFTF

Kinetis V Series KV1x: Block Diagram

Core/System

• 75MHz Cortex-M0+ with

• Hardware Divide & Square

Root

• 4ch DMA

Memory

• 16/32/64/128KB Flash

• 8/16KB SRAM

• Option with FAC

• Communications

• Multiple serial ports

+ 1 FlexCAN*

Analog

• 2 x 8ch 16-bit ADC

• 1.2Msps in 12-bit mode

(835ns)

• 1 x12-bit DAC

• 2 x ACMP with 6-bit DAC

Timers

• Up to 2x6ch FlexTimer (PWM)*

• Up to 4x2ch FlexTimer

(PWM/Quad Dec.)

• Low Power Timer

Other

• 32-bit CRC

• Up to 54 GPIO

• 1.71V-3.6V; -40 to 105C

Packages

• 32QFN, *32LQFP,

48LQFP, 64LQFP

• * Package Your Way

Debug

Interfaces

H/W Divide

& Square

Root

Interrupt

Controller

ARM Cortex-M0+

75 MHz

Internal and

External

Watchdogs

4ch-DMA Flash

Up to 128KB

SRAM

Up to 16KB

Frequency-

Locked

Loop

Low/High

Frequency

Oscillators

Internal

Reference

Clocks

Cyclic

Redundanc

y

Check

(CRC)

2 x16-bit

ADC

2 x ACMP

w/ 6b DAC

1 x12-bit

DAC

FlexTimers

Programmabl

e

Delay Block

Low-

Power

Timer

1xI2C

1xSPI

2xUARTs

GPIO

Core System Memories Clocks

Security

and Integrity

Analog Timers Communication Interfaces HMI

Flash

Access

Controller*

MTB

BMELow

Leakage

Wake-up

Unit

1x

FlexCAN

*Optional

V Ref

FlexTimer

s

Unique ID

From $0.90 to $1.56 @ 10k units

PUBLIC USE8 #NXPFTF


Core/System

• Cortex-M4 @ 100/120MHz with FPU

• 4 or 16ch DMA

Memory

• 64/128/256/512KB Flash,

• 16/24/48/96KB SRAM

• FlexBus (512KB version only)

Bootloader

• Communications


Analog

• 2 x16-bit ADC: 1.2Msps in 12-bit mode

• Up to 2 x12-bit DAC


Timers

• Up to 2x8ch FTM (PWM)

• 2x2ch FTM (PWM/Quad Dec.)

• Programmable Delay Block

• Low Power Timer

Other

• Up to 70 I/Os

• 6 high-drive I/Os (20mA) –SPI/I2C

• 1.71V-3.6V; -40 to 105C

Packages

• 32QFN, *48LQFP, 64/100LQFP

• *Alternative, non committed package

Debug

InterfacesDSP

Interrupt

Controller

ARM Cortex-M4

100/120MHz

Internal &

External

Watchdogs

4/16ch-

DMA

Low-Leakage

Wake-Up Unit

Program Flash

Up to 512K

SRAM

up to 96KB

Serial

Programming

Interface

(Export)

Phase-Locked

Loop

Frequency-

Locked Loop

Low/High

Frequency

Oscillators

Internal

Reference

Clocks

Cyclic

Redundancy

Check

2 x 16-bit

ADC

2 x ACMP

w/ 6b DAC

Up to 2 x

12-bit DAC

FlexTimers

Programmable

Delay Block

Periodic

Interrupt

Timer

Low Power

Timer

2 x I2C

2 x DSPI

4 x UARTs

GPIO


Security

and Integrity


FlexBus

External

Bus

Interface

FPUBOOT Flash

Flash Access

Controller V Ref

SRAM

Retention

Optional

Unique ID

From $1.19 to $2.76 @ 10k units

PUBLIC USE9 #NXPFTF


Core/System

• 168MHz Cortex-M4, FPU

Memory

• 64/128/256KB Flash @ 128bits

wide w/ 128Byte cache

• 16/24/32KB SRAM

• Bootloader

Communications


• Up to 2 x CAN

Analog


˗ Sampling at up to

4.1MS/s

˗ PGA x1, x2, x4

• 12-bit DAC


Timers

• Up to 12ch eFlexPWM

˗ Up to 312ps PWM and PFM

Resolution

• 2x8ch + 1x2ch FlexTimer

(PWM)

• Quadrature Encoder

•2 x Programmable Delay Blocks

Other

• 32-bit CRC

• Inter-Peripheral Crossbar with

AND/OR interface

• Up to 56 I/Os

• 1.71V-3.6V; -40 to 105oC

Packages

• *48LQFP, 64 LQFP &

100LQFP

• *Alternative, non committed

package

Debug

InterfacesDSP

Interrupt

Controller

ARM Cortex-M4

168MHz

Internal &

External

Watchdogs

16ch-DMA

Inter-

Peripheral

Crossbar

Program

Flash

Up to 256KB

SRAM

Up to 32KB

Phase &

Frequency-

Locked Loop

Low/High

Frequency

Oscillators

Internal

Reference

Clocks

Cyclic

Redundancy

Check

2 x 12-bit

ADC

w//PGA

4 x ACMP

1 x 12-bit

DAC

FlexTimers

Programmab

le

Delay Block

Periodic

Interrupt

Timers

1xI2C

1xSPI

2xUARTs

GPIO


Security

and Integrity


2x CAN12ch

eFlexPWM

Quad

Encoder/

Decoder

Flash Access

Controller

BOOT Flash

FPU

SRAM

Retention

Low-Leakage

Wake-Up Unit

Unique ID

Low-Power

Timer

V Ref

From $2.19 to $3.41 @ 10k units

PUBLIC USE10 #NXPFTF

Kinetis KV5x MCU Family

Key Features:

• Core/System

• 240MHz Cortex-M7 with FPU and 32ch DMA

• 16KB Instruction Cache / 8KB Data Cache

Memory

• 512KB/1MB Flash, 256bits wide, 128 Bytes cache

• 128/256KB SRAM

Boot Flash

• Communications


• 3 x FlexCAN

Analog


− 5Msps Sample Time

• 1 x 16-bit SAR ADC

• 1 x12-bit DAC

• 4 x ACMP w/ 6b DAC

Timers

• 1 x 12ch eFlexPWM

− 312ps PWM and PFM Resolution

• 1 x 12ch eFlexPWM

• 2x8ch FlexTimer (PWM)

• 2x2ch FlexTimer (PWM)

• Quadrature Encoder

• 2 x Programmable Delay Blocks

• Low-Power Timer

Others

• MMCAU & RNG

• 32-bit CRC

• Inter-module Crossbar Switch with AOI

• Memory Protection Unit

• 1.71V-3.6V; -40 to 105oC

Packages

• 100LQFP, 144LQFP, 144MAPBGA

• V Temp (105C) : 240MHz Optional

Debug /

InterruptsDSP

MPU

ARM Cortex-M7

240MHz

Internal and

External

Watchdogs

32ch-DMA

Inter-Module

Crossbar

Program Flash

1MB

SRAM

256KB

Phase &

Frequency-

Locked Loop

Low/High

Frequency

Oscillators

Internal

Reference

Clocks

Cyclic

Redundancy

Check (CRC)

4 x12-bit

SAR ADC

4 x ACMP

1 x12-bit

DAC

2x8ch

FlexTimer

2x PDB

PIT

2xI2C

3xSPI

6xUARTs

GPIO


Security

and Integrity


2x2ch

FlexTimer

3x CAN2x12ch

eFlexPWM

Quad

Encoder

BOOT Flash

FPU

External Bus

Interface

(FlexBus)

8KB D Cache

16KB I Cache System MPU

IEEE 1588

Ethernet MACMMCAU

RNG 1 x16-bit

SAR ADC

From $4.49 to $6.70 @ 10k units

Qualified now and in production now. Launching June.


Kinetis V Series Package Scalability

Fla

sh

Me

mo

ry

32LQFP 48LQFP32QFN 64 LQFP 100 LQFP

KV4x

KV3x

KV1xKV1x KV1x

KV3x KV3x

KV3x

KV3x KV3x KV3x

KV4x KV4x

KV3x KV3x

KV4x KV4x

KV3x KV3x

Package

128KB

64KB

16/32KB

256KB

512KB

KV4x

KV4x

144

QFP/MAPBGA

KV5xKV5x

KV1x

1MBKV5xKV5x

KV1x

KV1x KV1x KV1x

KV1x KV1x


ENABLEMENT


Kinetis V Series Enablement

• AIM: Simply to enable our customers to get their product to market quicker

• The right MCU for your application;

• The right DEVELOPMENT SYSTEM for your budget;

• The right SOFTWARE for your level of experience or background


Low Cost Reference Platforms: Hardware + SoftwareBLDC & PMSM

FRDM-KV31F: $20

FRDM-KV10Z: $20

FRDM-MC-LVPMSM: $50

− PMSM (Sinusoidal) control

− 24V, 5Amp, 120W

FRDM-MC-LVBLDC: $30

− BLDC (Trapezoidal) control

− 12V, 5Amp, 60W

FRDM-MC-LVMTR: $35

− 4000RPM, 90W

Or Your Motor

Complete

Reference

Design From $85 ?

Kinetis Motor

Suite

Kinetis

Reference

Design

Motor Control

Toolbox

Software Platform’s Supported


Tower Reference Platform: Hardware + SoftwareBLDC & PMSM

TWR

Reference

Design From $485

TWR-KV11Z75M

TWR-KV31F120M

TWR-KV46F150M

TWR-KV58F220M

TWR-MC-LV3PH

− PMSM (Sinusoidal) &

− BLDC (Trapezoidal) control

− Includes Motor

TWR-ELEV

Kinetis Motor

Suite

Kinetis

Reference

Design

Motor Control

Toolbox



High Voltage Reference Platform: Hardware + SoftwareACIM, BLDC & PMSM

HVP-MC3PH

includes HVP-KV46F150M card

85/230 volt,

1KW 3-ph motor control inverter

inc PFC circuitry

Your motor

High Voltage

Reference

Design

From $600?

Controller CardHVP-KV10Z32

HVP-KV11Z75M

HVP-KV31F120M

HVP-KV58F220M

Kinetis Motor

Suite

Kinetis

Reference

Design

Motor Control

Toolbox



Motor Control Software Enablement

Most Efficient Design

• For customers who have

− limited experience of motor control or

− a limited time to market.

− budget constraints

• Focuses on delivering

− ease of use

− IP that can quickly improve efficiency

• Simple Graphical Interface for ALL

configuration, tuning and initial application

development.

• System manages as much of the

development as possible

• Tight integration with toolchain simplifying

development

• www.nxp.com/kinetismotorsuite

• For customer who have:

− Expert level of knowledge

− Ability and time to tune motor efficiently


− best in class motor control efficiency

− highest rated motor performance

− Integration with NXP’s IEC60730 safety

software

• Graphical Interface for motor parameter

reading

• Leverages experience and IP developed

working with OEMs to provide high

efficiency

• System solution not just library functions of

motor functions.

• www.nxp.com/kinetisdesigns

Easy & Fast Design Model Based Design

• For customer who have:

− Demand to use model based design

− Limited time to market


− Model to MCU code development efficiency.

− Excellent rate motor perfromance

− Integration with NXP’s Embedded Software

Librariy and FreeMASTER tool.

• Model based development environment that

automatically generates MCU Targets

software.

• Leverage the industry standard in Model

Based design - MATLAB

• Integration with NXP’s Motor Control

toolchain;

• www.nxp.com/motorcontroltoolbox

http://www.nxp.com/kinetismotorsuite

http://www.nxp.com/kinetisdesigns

http://www.nxp.com/motorcontroltoolbox


Motor Control Software Enablement

Kinetis Reference

Software

• Intuitive development solution that enables

the design of sensored and sensorless

BLDC & PMSM motor control applications

quickly and efficiently via a simple graphical

user interface.

• Automated motor and system inertia

identification.

• Single Parameter to tune motor response.

• Disturbance rejection control algorithm

ensures high performance even in highly

dynamic operating conditions

• Cost: Starts at $1.60 inc. MCU & SW

• KV3x supported today, others in 2016

• www.nxp.com/kms

• Sensorless FOC BLDC, PMSM & ACIM

Supported today

• Complete Software Solutions built on NXP

Embedded Software Libraries.

• Libraries of software algorithms for Math,

Motor Control, Power Conversion, Filters

and Advanced functions. ~200 algorithms

available

• Cost: free of charge

• All Kinetis V MCU’s are supported today

• www.nxp.com/kinetisdesigns

Kinetis Motor Suite

• MCU Targets for MATLAB™/Simulink™

modelling environment

• Motor control plug-in tool for automatic code

generation.

• Supports multiple compilers. FreeMASTER

compatible.

• Incorporates NXP ESL

• Cost: $8K license

• All Kinetis V MCU’s are supported today

• www.nxp.com/motorcontroltoolbox

Motor Control Toolbox

Easy & Fast Design Most Efficient Design Model Based Design

http://www.nxp.com/kms

http://www.nxp.com/kinetisdesigns



S/w Enablement Guide

FreeMASTER

• GUI based FreeMASTER plug-in tool that provides real-time monitoring, tuning and updating of motor control system parameters

• Provided as a plug-in for the FreeMASTER tool. Designed to work with FSL Ref. Design s/w

• http://www.youtube.com/watch?v=ZsLQzSTnhgo


• Supported devices

− KV1x, KV3x, KV4x, KV5x

• Complimentary GUI based run-time debug monitor and data visualization tool

• Replaces debugger in situations when the core can not be simply stopped, ideal for motor control and power conversion application development

• http://www.youtube.com/watch?v=vKVlxu8ecdg



− KV1x, KV3x, KV4x, KV5x

MCAT

(Motor Control

Application Tuner)

• SDK – a complete software

framework for developing

applications across all Kinetis

MCUs. h/w abstraction, peripheral

drivers, stacks, RTOS’s, utilities,

and usage examples; delivered in C

source

• Processor Expert – GUI Eclipse

plug-in tool for creating and

configuring software and peripheral

drivers quickly & easily



− KV1x, KV3x & KV4, KV5x

Kinetis SDK &

Processor Expert

Code Generator

MQX RTOS /

FreeRTOS

• Commercial-grade MCU

software platform at no cost

with optional support packages

• RTOS Kernel, Real Time

TCP/IP Communication Suite,

File System, USB Host/Device

Stack and Board Support

Packages



− KV1x, KV3x , KV4x & KV5x

http://www.youtube.com/watch?v=ZsLQzSTnhgo

http://www.youtube.com/watch?v=vKVlxu8ecdg


WHAT ARE NXP’S MOTOR

CONTROL REFERENCE

DESIGNS?NXP.COM/KINETISDESIGNS

nxp.com/kinetisdesigns


Motor Control Reference SolutionsBuilding on FSL Embedded Software Libraries

Motor

Topology

Product

Supported

HW

Platform

Target Applications Availability

PMSM Sensorless

FOC

KV1x, KV3x, KV4x, TWR

HVP

FRDM

General drives, Pumps Now

BLDC Sensorless

Trapezoidal

KV1x TWR

FRDM

HVP

Fan, Pumps Now

ACIM Sensorless

FOC

KV3x, KV4x, KV5x HVP Pumps, Fan Now

Dual BLDC

Trapezoidal

Control

KV11 TWR Appliances Now

Dual PMSM

Sensorless FOC

KV5x TWR

HVP

Iot Motor Control Now


Development tools

Hardware KitsFreeMASTER

Watch & Update

variables

Scope & Recorder

Direct Flash Write

Real time debug

IAR

Keil

Coding Applic. Config/DebugEmbedded

Math, Filters, Motor Control Algo library

Custo

me

r co

de

Motor Start-up

Motor Ctrl. Ref. FrameworkPMSM, BLDC, ACIM, SRM

Motor Parameters

Identification

Motor Control Reference Solution

KDS

MCAT

Tuning Control

Parameters

Application Config

& Set-up

Easy-to-Use & Expert

modes

60730 Safety

Applic. Specific Code

(washer, fan…)

Connectivity

Kinetis SDK 2.0

Fault Protection Data

ClockTool

PinMux Tool


NXP Embedded Software Libraries• Libraries of s/w algorithms for Math, Motor Control, Power Conversion, Filters and Advanced functions

• Supports Kinetis MCUs, DSCs and key compilers (CW, KDS, IAR, Keil)

• Algorithms tested extensively through MATLAB Simulink reference models

• Version 4.0 includes optimized M0+ libraries for Motor Control, and the new Power Conversion Library

• Version 4.1 added H/W Sqr & Div capability for KV10 & KV11

• Version 4.2 added support for the CM7 core – available now

• Version 4.3 added support for the ACIM and SDK 2.0 integration – available Q3 2016

• Free of charge : Binary code released through FSL website

www.nxp.com/fslesl

http://www.nxp.com/fslesl


Math Library (MLIB)

•Simple math functions (addition, subtraction, multiplication, division, shifts...) with

and without saturation. Efficient, fast mathematics built on the MCU’s instructions.

General Function Library (GFLIB)

•Basic building blocks of a real-time control application. Functions for basic

mathematical calculations, trigonometric functions, simple look-up table and control

functions such as PI and PID controllers.

General Motor Control Library (GMCLIB)

•Fundamental functional blocks of a motor control application including vector

modulation, Park and Clarke transformations and specific functions to build digitally

controlled motor drives.

General Digital Filter Library (GDFLIB)

•Includes filter functions for signal conditioning.

Advanced Motor Control Library (AMCLIB)

•Functions that enable the construction of a variable speed, AC motor drive system

that implements FOC techniques without position or speed sensors to provide the

lowest cost solution.

Power Control Library (PCLIB)

•Control loop algorithms required in Power Control applications.

Library Structure

-2

-1

0

1

2

-1.5 -1 -0.5 0 0.5 1 1.5

y=sin(x), z=cos(x)


IEC/UL 60730 & 60335 Appliance Safety

Features Supported Tests Devices Supported

(certified at VDE and UL)

“After-Reset operation”

Registers, PC,

RAM, Flash,

Clock, Stack, I/O

KV1x, KV3x, 4x, 5x, KL, KE

DSC

“Run-Time” operation

Self-diagnostics

I/O peripheral tests

• Libraries of core self-test routines per IEC/UL 60730 & 60335 (Class B)

• Supports DSC and Kinetis KV1x/4x/7x cores and key compilers

• Core self tests certified at VDE and UL


Motor Control Reference Framework

• Open Source Reference Frameworks for key motor control topologies for Kinetis KV & KE

• Include easy-to-use tuning tools for parameters identification, configuration and tuning

• Allow seamless integration of customer code

• RTCESL (Embedded Control Libraries) based control algorithms

• SDK 2.0 example integration

• Supported sensorless motor control algorithms for PMSM, ACIM, BLDC

• Supported IDEs: IAR, KDS, Keil

• Supported HW boards: Freedom, Tower, High voltage board

• MCAT tool for motor parameter tuning and setting

• FreeMASTER online monitor and debugging tool

• Reference FreeRTOS based solution – see demo in FTF Tech lab

Hardware Kits

Math, Filters, Motor Control Algo library

Custo

me

r co

de

Motor Start-up

Motor Ctrl. Ref. FrameworkPMSM, BLDC, ACIM, SRM

Motor Parameters

Identification

60730 Safety

Applic. Specific Code

(washer, fan…)

Connectivity

Kinetis SDK 2.0

Fault Protection


Motor control solutions: sensorless trapezoidal control

• 6 step control is ideal for lower-cost brushless DC motors designed to have

trapezoidal back EMF

• Basic application includes speed control

and current limiting

• MCAT tool allows simple identification

of critical parameter and tuning


Motor control solutions: sensorless trapezoidal control

• The simplest 3-phase control technique.

• Ideal for speed control applications using simple brushless DC motors where

torque ripple or slightly increased acoustic noise is not an issue.

• Example applications:

− Consumer-level quadcopters

− Blowers

− Low-cost blenders

30º 60º 90º 120º 150º 180º 210º 240º 270º 300º 330º Electricalangle

Voltage

Phase A

Phase B

Phase C

+UDCB

-UDCB

+UDCB

-UDCB

+UDCB

-UDCB


BLDC Motor Control Reference Framework

• Six-step communication process

• Close-loop speed control

• Dynamic motor current limitation

• Commutation event calculation using integration method

• FreeMASTER control page

• MCAT for motor parameter setting and tuning


BLDC Motor Control Reference Enablement

• Desing reference manual DRM144

• Application note AN5263 – Sensorless BLDC Control on Kinetis KV

• Application software package MCRSP-BLDC

• Supported development boards:

o FRDM-KV10Z + FRDM-MC-LVBLDC

o FRDM-KV31F + FRDM-MC-LVBLDC

o TWR-KV10Z + TWR-MC-LV3PH


o TWR-KV31F + TWR-MC-LV3PH



o HVP-KV10Z + HVP-MC3PH

o HVP-KV31F + HVP-MC3PH



For more information go to:

nxp.com/motorcontrol_bldc

http://cache.nxp.com/files/32bit/doc/ref_manual/DRM144.pdf?fpsp=1&WT_TYPE=Reference Manuals&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=pdf&WT_ASSET=Documentation&fileExt=.pdf

http://cache.nxp.com/files/32bit/doc/app_note/AN5263.pdf?fpsp=1&WT_TYPE=Application Notes&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=pdf&WT_ASSET=Documentation&fileExt=.pdf

http://cache.nxp.com/files/32bit/software/MCRSP_BLDC_V1_2_0.exe

nxp.com/motorcontrol_bldc


Sensorless FOC for permanent magnet motors

• Field oriented control (FOC) provides an increased amount of torque and speed control

• Ideal for applications that require smooth torque operation, varying levels of torque control

and limiting


− Washing machines and other advanced appliances

− Medical instrumentation

− Variable speed cordless drills

− High-inertia fans

− Electric vehicles


Sensorless FOC for permanent magnet motors

• FOC is an extremely complicated control

technique.

• Current is the main control variable.

• Current sine waveforms are

mathematically transformed from a 3-

phase system to a 2 signal direct system.

• The 2 signals are called d and q and

represent magnetic flux and torque,

allowing for unprecedented control.

• Speed of the motor is an additional control

loop that controls the required d and q

values.

The “d” axis refersto the “direct” axisof the rotor flux

The “q” axis is the axismotor torque along

which the stator fieldmust be developed

Axis of phase c

+a

+b

-b

+c

-c

Axis of phase a

Axis of phase b

Stator windingsRotor made from

permanent magnets

-a

Rotation

N

S


Permanent Magnet Synchronous Motor (PMSM) Control

Reference Framework• Field oriented control (FOC)


• Extended Back-EMF Observer estimating motor speed

and position



• Two application types: Demo & Full featured reference

code

• Electrical motor parameters estimation

• Control modes enabling advanced motor tuning:

o Scalar

o Voltage FOC

o Current FOC

o Speed FOC


PMSM Control Reference Enablement


• Application note AN5237– Sensorless BLDC Control on Kinetis KV

• Application software package MCRSP-PMSM

• MC FreeRTOS demo application based on FRDM-KV31

• Visit Tech lab to see the demo


o FRDM-KV10Z + FRDM-MC-LVBLDC

o FRDM-KV31F + FRDM-MC-LVBLDC






o HVP-KV10Z + HVP-MC3PH





nxp.com/motorcontrol_pmsm

http://cache.nxp.com/files/microcontrollers/doc/ref_manual/DRM148.pdf?fpsp=1&WT_TYPE=Reference Manuals&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=pdf&WT_ASSET=Documentation&fileExt=.pdf


http://cache.nxp.com/files/32bit/software/MCRSP_PMSM_V1.1.1.exe

nxp.com/motorcontrol_pmsm


Sensorless FOC for AC induction motors

• Field oriented control (FOC) provides an increased amount of torque and speed control

• Induction motors have an added layer of complexity as their electric field is asynchronous to the rotor


− Driers

− Furnace blowers

− Industrial mixers

− Industrial AC


AC Induction Motor Slip

rotating Field (s)

Torquer

Induced current

Basic Principle: The stator is a classic three-phase

stator with the winding displaced by 120°

The rotor is a squirrel cage rotor in which bars are shorted together at both ends of the rotor by cast aluminum end rings

The rotor currents are induced by stator magnetic field.

The motor torque is generated by an interaction between the

stator magnetic field and induced rotor magnetic field

NO BRUSHES, NO PERMANENT MAGNETS, LOWER COST


AC Induction Motor (ACIM) Control Reference Framework

• Field oriented control (FOC)


• ACIM rotor flux observer

• Model reference adaptive system (MRAS)



• Two application types: Demo & Full featured reference

code

• Full motor parameters estimation (electrical &

mechanical)

• Control modes enabling advanced motor tuning:

o Scalar

o Voltage FOC

o Current FOC

o Speed FOC


ACIM Control Reference Enablement


• Application note AN5051– Sensorless ACIM Control on Kinetis KV

• Application software package MCRSP-ACIM

• Visit Tech lab to see the HVP-KV31F based demo






nxp.com/motorcontrol_acim


• Application software package MCRSP-ACIM

• Visit Tech lab to see the HVP-KV31F based demo






http://cache.nxp.com/files/32bit/doc/app_note/AN5051.pdf?fpsp=1&WT_TYPE=Application Notes&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=pdf&WT_ASSET=Documentation&fileExt=.pdf

http://cache.nxp.com/files/32bit/software/THREE-PHASE-INDUCTION-SOFTWARE.exe

nxp.com/motorcontrol_acim


http://cache.nxp.com/files/32bit/software/THREE-PHASE-INDUCTION-SOFTWARE.exe


MCAT Tool key features:

• user-friendly and intuitive graphical plug-in

tool for FreeMASTER (not standalone tool)

• intended for tuning and configuration of the

motor control applications (PMSM, ACIM,

BLDC) with potential to other application

fields (digital power, metering…)

• supports real-time tuning & updating of

control parameters

• MCU independent (Kinetis, MPC, DSC, S12

MagniV 16/32 bit, Fix/Float)

MCAT mission:

Enable customers to configure and tune complex real-time embedded applications

in easy-to-use & effective way

Modular Application Tuning (MCAT) Tool

Embedded software

FreeMASTER

MCAT


FreeMASTER

• What is FreeMASTER?

− Configuration & Tuning Tool for Embedded Software Libraries and Applications

− Graphical Control Panel for embedded applications

− Data Capture tool, interface to custom processing in Matlab, Excel etc.

• Supported Communication Interfaces

− RS232 (UART, SCI, LPUART)

− CAN (msCAN, FlexCAN) – PC side supports IXXAT, Vector, NI, GLinker, ZLG

− JTAG (DSC568xxx)

− BDM non intrusive (P&E Multilink and OpenSDA, Segger J-LINK, ARM CMSIS-DAP, Open Source OSBDM, winIDEA)

− All of the above remotely over Internet

• Tool-chains Support (executable file format parsing)

− CodeWarrior, GCC, KDS, IAR, Keil

− Integration to Kinetis SDK since version 1.1

• Primary Applications, success stories

− Motor Control design wins: Indesit, Electrolux, Diehl AKO

− Wireless Charging: diagnostic and setup tool

− Touch Sensing: diagnostic and setup tool

− future targets: Sensor enablement, SDK applications tuning and control

Project on hold


WHAT IS FOC

PUBLIC USE42 #NXPFTFPUBLIC USE42

FIELD-ORIENTED CONTROL• Motor control technique which uses measured current flowing

into the motor to obtain torque and magnetic flux information

• Outputs sinusoidal voltage modulated through PWM

• Creates a smooth torque profile, giving better mechanical

robustness, higher efficiency and reduced acoustic noise

• Allows to control speed, magnetic flux and torque of the motor

independently

PUBLIC USE43 #NXPFTF43

C

M

Motorola

Dave’sControlCenter

A

B

C

Controllerwith A/D

i a

i b

i c

Measure and . From Kirkoff’s current law, calculate .

i a i b i c

A, B, and C axes are “fixed” with respect to the motor housing. This reference frame is also called the “stationary frame” or “stator frame”.

net current vector

A

B

i b

i c

i a

(implied)

FOC implementation1. Measure currents flowing in the motor


Simplify the math by converting the 3-phase motor to a 2-phase motor before jumping up on the rotor

Perform a “3-phase to 2-phase transform” on the current measurements

aii23

cb iii2

3

2

3

i b

i c

i aA

B

C

sii

i

Clarke Transformation

FOC implementation2. Transform from Three Phases to Two Phases


ddq

ddd

iii

iii

cossin

sincos

4 trig calulations7 multiplications3 additions

Total

Jump up on the rotor by performing a “Stationary to Rotating Frame Transform”.

A

B

C

d

i q

i d

sii

i

Park Transformation

FOC implementation3. Transform from Stationary to Rotating Frame


Summary of FOC Transformations

Phase A

Phase B

Phase C

Phase A

Phase B

Phase C

d

q

d

q

3-Phaseto

2-Phase

Stationaryto

Rotating

Modulation

3-PhaseSystem

3-PhaseSystem

2-PhaseSystem

AC

Rotatingto

Stationary

ACDC

Co

ntr

ol p

roce

ss

Stationary Reference Frame

Stationary Reference Frame

Rotating Reference Frame


Once d and q currents are obtained, they represent magnetic flux (d) and torque (q), they can now be controlled

i d

I

P+

+

+-

error(t)

(commanded)

i d (measured)

vd

I

P+

+

+-

error(t)

i q

i q

(commanded)

(measured)

vq

controls rotor flux magnitude

controls amount of torque generated by motor

i d

i q

d and q current control


FOC implementation on KV devices

49 EXTERNAL USE

USING MCAT TO TUNE AND SPIN

A MOTOR

50 EXTERNAL USE

HW / SW Setup

1. In the desktop folder “Motor control hands on stuff” browse to:

1. \Motor control hands on stuff\PMSM Code\build_ref_solutions\frdm-kv31f\iar

2. Double click on pmsm_ref_sol.eww (this opens IAR)

3. Plug in all your boards:

1. Shield to FRDM board

2. 24 volt power source

3. Check that motor phases are wired

4. USB cable to computer

4. On IAR click on debug icon

1. Wait for flashing to happen and then click on run once the debug view is open

51 EXTERNAL USE

FreeMASTER Communication Setup - Step 1

• RS232 interface is used for the communication (OpenSDA virtual serial port via USB)

• Open FreeMASTER 2.0 from Windows menu

• Click on File – Open project and look for:

\Motor control hands on stuff\

PMSM Code\

build_ref_solutions\

frdm-kv31f\iar\

pmsm_ref_sol_iar.pmp

52 EXTERNAL USE

• It is necessary to assign correct number of COM port:

−Open menu item “Project / Option … “ (Ctrl+T)

−From the drop down list of COM port numbers select the one which is assigned to

“OpenSDA-CDC Serial Port”:

−Click OK button to confirm changes and close “Options” window.


53 EXTERNAL USE


• Start the communication (Ctrl+K or click button)

• If the communication with embedded side is working you will see numbers instead of “?” in the variables watch

grid area:

54 EXTERNAL USE

FreeMASTER Error Messages and Errors Fix - 1

• Source: Error in the OpenSDA communication interface:

− Wrong number of communication port entered

− Target side has no power

− Power was interrupted to the target side (power supply over current shut down) then

consequently USB connection was interrupted (terminated)

• How to fix:

1. Disconnect USB cable

2. Disconnect -> connect power to the Tower kit

3. Connect USB cable

4. If still not working , check the communication COM number

55 EXTERNAL USE

FreeMASTER Error Messages and Errors Fix - 2

• Source: Embedded MCU does not respond

− Wrong number of SCI channel on the MCU selected (not our case)

− MCU not powered

− MCU is stopped (breakpoint reached, after starting debugger session, the debugger stops at “void

main(void)” line:

• How to fix:

1. Check IAR debugger (click “Go” button)

2. Disconnect USB cable.

3. Disconnect -> connect power to the Tower kit.

4. Connect back the USB cable.

5. If still not working, check the COM port number.

, if application stops


APPLICATION

PARAMETRIZATION

USING THE MCAT

TOOL

57 EXTERNAL USE

MCAT for PMSM – Motor El. Parameters Measurement

• Used for Rs measurement. The supply voltage

should be 24V

• Used for ke measurement, if too low the motor

will not spin and result will be NGAmplitude of the AC current

used in Ls measurement

Frequency decrement of AC

voltage used for Ls measurement

Increment of voltage in Ls measurement. Ud is increased until

Id ampl is reached.

If voltage is incremented up to Udcb/2, the frequency is decrased

Default frequency of Ud voltage

used for Ls measurement

After two step alignment the motor

performs one electrical revolution then

stops for a second. User has to

calculate # of el. revolutions until one

mechanical revolution is made.

Stops the pp measurement

(stops the motor)

Enter manually

58 EXTERNAL USE

MCAT for PMSM – Parameters Summary Tab

Reloads previously

stored values

Values are updated

directly into running

application

Stores modified

value

Basic / Expert

Represent max

16 bit number in

MCU

59 EXTERNAL USE

MCAT for PMSM – Current Control Loop Tab

Loop parameters pre-

set in basic mode, do

not drastically modify

60 EXTERNAL USE

MCAT for PMSM – Speed Control Loop Tab

If moment of inertia is

not known

61 EXTERNAL USE

MCAT for PMSM - Sensorless Tab

To successfully tune observer, it is

necessary to perfectly identify

motor electrical parameters. Only

analytical approach leads to

success.

62 EXTERNAL USE

MCAT for PMSM – Output File Tab

• Click the button

• pmsm_appconfig.h file generated

• Open the IAR, compile the project,

flash the code

63 EXTERNAL USE

MCAT – Application Control Structure

• Problem >>> What to touch in the application, when after parameters

setting, the drive does not work at all, speed oscillates, or over current

fault is generated after turn-on.

− Is the speed regulator too aggressive?

− Is the Tracking Observer bandwidth too low?

• Solution >>> MCAT Application Control Structure

Allows to decompose the whole

PMSM sensorless FOC application

into fundamental control blocks so the

number of unknown independent

variables in each step is reduced

64 EXTERNAL USE

Control Structure – Scalar Control (Position Open Loop)

Advantage

•the functionality of HW

can be double-checked

• position evaluation

algorithms (TO) tuning

No need for feedback.

65 EXTERNAL USE

Control Structure - Scalar control in PMSM sensless

FOC

d,q

α,β

SVM PWM

Requiredspeed

PI controller

+

++

-

-

-

Phase Currents

Iq_req

UqIq

Id PWM

ADC

DC-Bus Voltage Udcb

PWM Output

slow control loop fast control loop

0

α,β

a,b,c

Iα

Iβ

Ia

Ib

Ic

Clarke Trans

Park Trans

Inv Park Trans

Back-EMF Observer d,q

PI controller

Elim DC Bus

Ripple

Inverter

Tracking Observer

Open loop start up

Ramp

PI controller

Merge 1IntegratorMerge 2

Id_req

d,q

α,β

Uβ

PMSM3

Udcb

sin cos

d,q

α,β

Uα

Iβ

Iα

Blocks supported by Libraries Peripherals

Park Trans

Lim

MERGED

MERGED

Position Estimation

MA filter

Park Trans

d,q

α,β

sin cos

ϑ

66 EXTERNAL USE

Control Structure – Voltage FOC

Advantage

• direction of rotation

tweaked ( positive uq turns

the motor positive

direction)

• current measurement

tuning (phase order,

polarity…)

Only position feedback required.

67 EXTERNAL USE

Control Structure – Voltage FOC in PMSM sensless

FOC

d,q

α,β

SVM PWM

Requiredspeed

PI controller

+

++

-

-

-

Phase Currents

Iq_req

UqIq

Id PWM

ADC

DC-Bus Voltage Udcb

PWM Output

slow control loopfast control loop

0

α,β

a,b,c

Iα

Iβ

Ia

Ib

Ic

Clarke Trans

Park Trans

Inv Park Trans


PI controller

Elim DC Bus

Ripple

Inverter

Tracking Observer

Open loop start up

Ramp

PI controller


Id_req

d,q

α,β

Uβ

PMSM3

Udcb

sin cos

d,q

α,β

Uα

Iβ

Iα


Park Trans

Lim

MERGED

MERGED

Position Estimation

MA filter

Park Trans

d,q

α,β

sin cos

Ud

68 EXTERNAL USE

Control Structure – Current FOC

Advantage

• direction of rotation

tweaked ( positive iq turns

the motor positive direction)

• speed TO tuning

Required feedbacks:

• position sensor

• phase currents

69 EXTERNAL USE

Control Structure – Current FOC in PMSM sensless

FOC

d,q

α,β

SVM PWM

Requiredspeed

PI controller

+

++

-

-

-

Phase Currents

Iq_req

Iq

Id PWM

ADC

DC-Bus Voltage Udcb

PWM Output

slow control loopfast control loop

α,β

a,b,c

Iα

Iβ

Ia

Ib

Ic

Clarke Trans

Park Trans

Inv Park Trans


PI controller

Elim DC Bus

Ripple

Inverter

Tracking Observer

Open loop start up

Ramp

PI controller


d,q

α,β

Uβ

PMSM3

Udcb

sin cos

d,q

α,β

Uα

Iβ

Iα


Park Trans

Lim

MERGED

MERGED

Position Estimation

MA filter

Park Trans

d,q

α,β

sin cos

Id_req

70 EXTERNAL USE

Control Structure – Speed FOC Control

Required feedbacks:

• position sensor

• phase currents

• rotor speed

71 EXTERNAL USE

1. Assuming the communication with embedded side is working (see “HW / SW

Setup” slides )

2. In the project tree click “PMSM FOC Sensorless” Block name:

3. Navigate to “Motor Identif” tab:

4. Click the “Measure” button:

5. You can try motor pole pairs counting assistant:

Lab 1 – MCAT MID

72 EXTERNAL USE

Lab 2 – Voltage FOC

1. In the project tree click “Speed” scope in the “1. Scalar & Voltage Control” group:

2. In the variable watch grid window do:

a) Set “Application Switch” to “On” (from the drop down menu)

b) Set “MCAT Control” variable to “VOLTAGE_FOC” , or write “1”

c) Set some positive value to “MCAT Uq Required” ( 1; 2; 3; 4 .. Up to 10)

3. The speed of the motor will change in steps, as the Uq Required value will be modified

7

2

73 EXTERNAL USE

Lab 2 – Voltage FOC

Alignment

(Ud applied)

The motor is running, but not in optimal mode. The voltage vector is generated “somewhere” not perpendicular to the actual rotor position.

74 EXTERNAL USE

Lab 3 – Current FOC

1. In the project tree click “Current Controller” scope in the

“2. Current Control” group:

2. In the variable watch grid window do following:a) Set “Application Switch” to “On” (from the drop down menu)

b) Set “MCAT Control” variable to “CURRENT_FOC” , or write “2”

c) Set 0.5 to “MCAT Iq Required” variable

d) The motor will rump up to maximal speed.

e) Decrease the Iq Required value-> 0.4; 0.3; 0.2 Current value

0.2 A is still enough for running the motor, but too low to start

the motor from zero (it needs to help with a hand when starting

form zero )

75 EXTERNAL USE

Lab 3 – Current FOC

Uq req is the output of

the Q-current

controller. For default

setting quite

satisfactory course (no

oscillations)

The speed of the motor is exponentially changed, when the value of Iq current is changed. The speed of the motor can be easily influenced with light touch of the plastic ring

76 EXTERNAL USE

Lab 3.1 – Current FOC – experience torque

1. Set iq current to 0.3

2. Carefully grab the motor shaft with your finger, observe the measured current to 0.3 and then

motor stop (because of torque limiting)

3. Set iq current to 0.75

4. Carefully grab motor shaft again and observe how it is much more difficult to stop the motor and

the current goes up to the new limit.

Iq goes up to Iq

required and

doesn’t go over

that

Voltage drops (and

thus speed) to reduce

or limit current

77 EXTERNAL USE

Lab 4 – Speed FOC

1. In the project tree click “Speed Controller” scope in the “3.

Current Control” group:

2. In the variable watch grid window do following:a) Set “Application Switch” to “On” (from the drop down menu)

b) Set “MCAT Control” variable to “SPEED_FOC” , or write “3”

c) Set “Speed Required” variable to 3000 after speed stabilizes then

to 1000, to 4000 and then to 0

d) Check the drive response on the change of the required speed,

what do you see?

78 EXTERNAL USE

Lab 4 - Speed FOC

The speed controller parameters are obviously set not correctly.

The controller is too weak. The response on the changes are slow with overshoot.

79 EXTERNAL USE

1. In the Control page navigate to “Speed Loop” tab:

2. Now change the Kp constant of the speed controller to 0.001

3. Click “Update Target” button:

4. Try again the same sequence of Speed Required” variable: 3000 … 1000 … 4000 … 0

5. Check the drive response on the change of the required speed

Lab 4 - Speed FOC – Controller Tuning

80 EXTERNAL USE


Already better, but still space for improvement

81 EXTERNAL USE


We will try to set the controller even harder:

1. Change the Kp constant of the speed controller to 0.004 and Ki constant to 0.009

2. Click “Update Target” button

3. Try again the same sequence of Speed Required” variable: 3000 … 1000 … 4000 … 0

4. Check the drive response on the change of the required speed

82 EXTERNAL USE


• If you are now satisfied with the drive response, you can store the controller constants.

• Click “Store Data” button:

• Navigate to “Output File” tab and click “ Generate Configuration File” button:

• Now you can open the IAR workspace, compile the project with new “pmsm_appconfig.h” file, compile the program and flash the code:

1. Go back to IAR

2. You can open “pmsm_appconfig.h” file to confirm changes

3. Compile the project – press “F5”

4. Download the application and start debugging – press “Ctrl+D” or click

5. Click “Go” button, to run the code:

83 EXTERNAL USE

Lab 4 - Speed FOC – Speed Controller

• Speed controller sets (regulates) the torque (Iq current) in such a way that the constant speed

will be kept, regardless of the load variation.

• You may try to brake the disk on the motor (with caution).

• Speed controller will increase the Iq current on order to maintain required speed:

Load

applied

Load

released

84 EXTERNAL USE

Speed Controller

• Try to visualize other application variables using “Recorder”:

− Phase currents and estimated position

− Duty cycles (SVM output – PWMs shape)

85 EXTERNAL USE

INTRODUCING MOTOR CONTROL

DEVELOPMENT TOOLBOX AND

MATLABNXP.COM/MOTORCONTROLTOOLBOX

nxp.com/motorcontroltoolbox

86 EXTERNAL USE

Model-Based Design with Production Code Generation

Design

with

Simulation

Executable

Specifications

Continuous

Test and

Verification

Production

Code Generation

Models

Design

with

Simulation

Executable

Specifications

Continuous

Test and

Verification

Production

Code Generation

ModelsTest with Design- detect errors earlier

Simulation-rapid iterations/prototypes

-convert float- to fixed point

Production code generation-minimize coding errors

Executable models-“one truth”

87 EXTERNAL USE

Production Code Generation – User Stories

Lear

Automotive ECUsHoneywell Aerospace USA

Flight Control Systems

Weinmann Medical Germany

Transport ventilator

Alstom France

Propulsion Control Systems

Elementary Schools

Project Based Learning

Alstom Grid UK

HDVC Power Systems

60%

50%

75%

50%

40%

0%

Development Time Savings

88 EXTERNAL USE

Matlab

• Environment for technical computing

• High-level textual numeric language

• Data analysis and visualization

• Toolboxes for signal and image

processing, statistics, optimization,

symbolic math, and other areas

• Foundation of MathWorks products

89 EXTERNAL USE

Simulink

• Environment for modeling and

simulating

• dynamic systems

• Block diagrams and state machines

(Stateflow)

• Linear, nonlinear, discrete-time,

continuous-time, and multicore systems

• Blocksets for controls, signal

processing,

communications, physical modeling,

and other system engineering areas

• Foundation for Model-Based Design

90 EXTERNAL USE

C/C++ Coders

• MATLAB Coder - Code from MATLAB

−Portable code for numerical algorithms

−Desktop applications (standalone, library)

• Simulink Coder - Code from Simulink

−Portable code for algorithms plus real-time framework

−Real-time machines for RP/HIL (e.g., Simulink Real-Time)

• Embedded Coder – Production code

−Extends ML Coder and SL Coder for embedded processors

−MCUs and DSPs (from 8-bit devices to multicore SoCs) Code optimization (portable code and processor-specific)

Code verification (software- and processor-in-the-loop, trace)

Code profiling (tasks and functions)

Code customization (data, functions, files)

Embedded targets (board initialization, I/O blocks, scheduler)

Certification (ISO-26262, IEC 61508, etc.)

All coders generate portable code (ANSI/ISO C) by default.

C/C++

Gen

era

te

MATLAB and SimulinkAlgorithm and System Design

Verify

91 EXTERNAL USE

Embedded Coder Metrics

SAE Technical Paper 2004-01-0269, March 2004

www.mathworks.com/mason/tag/proxy.html?dataid=4361&fileid=20307

Generated code is smaller

than hand code.

92 EXTERNAL USE

Demo – Code Generation

>>rtwdemo_fixpt1

93 EXTERNAL USE

Executable Specifications

Design

with

Simulation

Continuous

Test and

Verification

Automatic

Code Generation

Executable

Specifications

Models

94 EXTERNAL USE

Simulation - Simulink

Is my algorithm accurate?

95 EXTERNAL USE

Rapid Prototyping – Simulink Coder

HarnessReal-Time or

Embedded

Simulink Real-Time

Is my algorithm feasible?

Code

Generation

96 EXTERNAL USE

Harness

On-Target Rapid Prototyping – Embedded Coder

Embedded Processor or ECU

Is my algorithm practical?

Code

Generation

97 EXTERNAL USE

Design with Simulation

Design

with

Simulation

Continuous

Test and

Verification

Automatic

Code Generation

Executable

Specifications

Models

98 EXTERNAL USE

Float- to Fixed-Point Conversion

• Overflow/underflow

• Code optimizations

• Simulation ranges

• Derived ranges

−Design-range scaling

>>fxpdemo_fpa

99 EXTERNAL USE

Function Interface Specification

• Function Name

• Argument Name

• Pass by value

• Pass by reference

• Qualifier

100 EXTERNAL USE

Data Specification

• Name

• Storage class

• Alias (typedef)

• Comments

101 EXTERNAL USE

Production Code Generation

Design

with

Simulation

Continuous

Test and

Verification

Automatic

Code Generation

Executable

Specifications

Models

102 EXTERNAL USE

Algorithm Code (ANSI-C)

A B C

M

I N P U T

B L U E G R E E N R E D

P O W E R

RGBSplit-4BLACK BOX

V R C S

Input

Drivers

Output

Drivers

Special

Device

Drivers

Comm

Drivers

Scheduler/Operating System

and Support Utilities

Communication

Interfaces

Sensors

Actuators

Special

Interfaces

Tuning

Generated

Algorithm

Code

Algorithm

Model

103 EXTERNAL USE

A B C

M

I N P U T


P O W E R

RGBSplit-4BLACK BOX

V R C S

Generated

Algorithm

Code

Input

Drivers

Output

Drivers

Special

Device

Drivers

Comm

Drivers



Communication

Interfaces

Sensors

Actuators

Special

Interfaces

Tuning

Processor

Optimized

Code

Algorithm

Model

Algorithm Code (Processor-Optimized)

104 EXTERNAL USE

A B C

M

I N P U T


P O W E R

RGBSplit-4BLACK BOX

V R C S

Generated

Algorithm

Code

Input

Drivers

Output

Drivers

Special

Device

Drivers

Comm

Drivers



Communication

Interfaces

Sensors

Actuators

Special

Interfaces

Tuning

System Model

Processor

Optimized

Code

System Executable (Algorithm + I/O)

105 EXTERNAL USE

NXP: Motor Control Development Toolbox

106 EXTERNAL USE

Continuous Test and

Verification (PIL)

Design

with

Simulation

Continuous

Test and

Verification

Automatic

Code Generation

Executable

Specifications

Models

107 EXTERNAL USE

Non-Real-Time

Synchronization

with Host at Each Time Step

Execution History

• Results comparison (sim vs. tgt)

• Code coverage

• Execution timing

Communication

Gateway

Processor-in-the-Loop (PIL)Verify Algorithms

108 EXTERNAL USE

Certification Support (IEC Certification Kit)

>>certkitiec

109 EXTERNAL USE

MOTOR CONTROL

DEVELOPMENT

TOOLBOXWWW.NXP.COM/MOTORCONTROLTOOLBOX


110 EXTERNAL USE

Introduction: Motor Control Development Toolbox

• The Motor Control Development Toolbox is a MATLAB plugin to enable complete motor control application simulation within the MATLAB environment, enabling Software and Processor-in-the-Loop (SIL and PIL) simulation.

• Motor control tool box Includes:

−an embedded target supporting NXP MCUs,

−Simulink™ plug-in libraries which provide engineers with an integrated environment

−tool chain for configuring and generating the necessary software, including initialization routines, device drivers, and a real-time

scheduler to execute algorithms specifically for controlling motors.

• The toolbox also integrate the Embedded Software Libraries developed by NXP’s Motor Control Center of Excellence. The library provides dozens of blocks optimized for fast execution on NXP MCUs with bit-accurate results compared to Simulink™ simulation using single-precision math.

111 EXTERNAL USE

MCD Toolbox: Summary of Customer Application

Support

External HardwareSystem Infrastructure

On-Chip

Peripherals

PINS

External

Connections

Application SW

Drivers

DriversEfficient

Reflecting the chip features

FreeMasterSupport

Do

cu

me

nta

tio

n

SYSTEM APPLICATION

Targ

et

Pla

tfo

rm

API

MC library set

Algorithm

Libraries

GFLIBGeneral functions

GDFLIBDigital filtering

GM

CL

IBM

oto

r C

ontr

ol

API

Boot Loader Support

User Application

Software

112 EXTERNAL USE

MCD Toolbox: Toolbox Library Contents

Peripherals

• General

• ADC conversion

• Digital I/O

• PIT timer

• ISR

• Communication Interface

• CAN driver

• SPI driver

• LIN driver

• Motor Control Interface

• Cross triggering unit

• PWM

• eTimer block(s)

• ADC Command List

• GDU (Gate Drive Unit)

• PTU (Prog Trigger Unit)

• TIM Hall Sensor Port

Configuration/Modes

• Compiler Options

• CodeWarrior

• Wind River DIAB

• Green Hills

• Cosmic

• RAM/FLASH targets

• Simulation Modes

• Normal

• Accelerator

• Software in the Loop (SIL)

• Processor in the Loop (PIL)

• MCU Option

• Multiple packages

• Multiple Crystal

frequencies

Utility

• FreeMASTER Interface

• Data acquisition

• Calibration

• Customize GUI

• Profiler Function

• Exec. time measurement

• Available in PIL

• Available in standalone

• KV1x

• KV3x

• KV4x

• KV5x

MCUs Supported

113 EXTERNAL USE

Idealized simulation of the controller and

the motor to refine the control technique.

Done on host PC without regard for

embedded controller. Can optionally add

analog device models for fault detection

and signal control.

Controller Model

Electric Motor Model

Analog

Device ModelAnalog

Sensor Model

PI

Filter

PI

Filter

Reverse

Park

Transform

PWM

Modulation

PWM A

PWM B

PWM C

Zero

+

-

+

-

Torque

Control

IQ

loop

ID

loop

IQ

cmd

ID

cmd

ID

Va

cmd

Vb

cmd

Forward

Park

Transform

Forward

Clark

Transform

IA

IB

IC

Va

Vb

Motor Position

IQ

Gate

Driver

With

Isolation

ADC

A/D

Conversion

Simulation in PC environment

PC Environment

Model Based Design Steps: Step 1 (Simulation)

114 EXTERNAL USE

Model Based Design Steps: Step 2 (SIL)

Still done on host PC without regard for

embedded controller. Instead using

generated C code that is compiled using

a PC-based compiler. Run same test

vectors as in simulation for C Code

Coverage analysis and verify functionality.

(SIL) Generated code executes as atomic unit on PC(SIL) Generated code executes as atomic unit on PC

Controller Model


Analog

Device ModelAnalog

Sensor Model

PI

Filter

PI

Filter

Reverse

Park

Transform

PWM

Modulation

PWM A

PWM B

PWM C

Zero

+

-

+

-

Torque

Control

IQ

loop

ID

loop

IQ

cmd

ID

cmd

ID

Va

cmd

Vb

cmd

Forward

Park

Transform

Forward

Clark

Transform

IA

IB

IC

Va

Vb

Motor Position

IQ

Gate

Driver

ADC

A/D

Conversion

PC Environment

115 EXTERNAL USE

Model Based Design Steps: Step 3 (PIL)

Execute the model on the target MCU and

perform numeric equivalence testing. Co-

execution with MCU and Model Based Design

working together while collecting execution

metrics on the embedded controller of control

algorithm. Validate performance on MCU.

(PIL) Executes generated code on the target MCU

Controller Model


Analog

Device ModelAnalog

Sensor Model

PI

Filter

PI

Filter

Reverse

Park

Transform

PWM

Modulation

PWM A

PWM B

PWM C

Zero

+

-

+

-

Torque

Control

IQ

loop

ID

loop

IQ

cmd

ID

cmd

ID

Va

cmd

Vb

cmd

Forward

Park

Transform

Forward

Clark

Transform

IA

IB

IC

Va

Vb

Motor Position

IQ

Gate

Driver

ADC

A/D

Conversion

PC Environment + MCU


TRAPEZOIDAL

CONTROL WITH MC

TOOLBOX


Trapezoidal Control: Brushless DC Motor

A BLDC motor consists of a rotor with permanent magnets and a stator

with phase windings. A BLDC motor needs electronic commutation for

the control of current through its three phase windings.

Stator

Stator

N

N

S S

Permanent

Magnets

RotorPhase

Windings

Phase

Windings


Trapezoidal Control: Commutation Method

Trapezoidal control is one type of commutation method used to turn a

motor where only two phase windings will conduct current at any one

time. With direction also to consider, that leaves six possible

patterns.

Phase B

Phase CPhase A

Circuit Representation

of BLDC Stator Windings


Trapezoidal Control: Commutation Control

By adding switches, the current flow can be controlled by a MCU to

perform trapezoidal control.

Phase B

Phase CPhase A

Vb+

Vb-

At

Ab

Bt

Bb

Vb+

Vb-

Ct

Cb

Vb+

Vb-

OFF

OFF

N.C.

OFF

ON

Vb+

ON

OFF

Vb-

OFF

OFF

N.C.

OFF

ON

Vb+

ON

OFF

Vb-

OFF

OFF

N.C.

OFF

ON

Vb+

ON

OFF

Vb-

OFF

OFF

N.C.

OFF

ON

Vb+

ON

OFF

Vb-

OFF

OFF

N.C.

OFF

ON

Vb+

ON

OFF

Vb-

OFF

OFF

N.C.

OFF

ON

Vb+

ON

OFF

Vb-


AtBb

Ct

Ab

Bt

Cb

AtBb

Ct

Ab

Bt

Cb

CWPhase

A

Phase

B

Phase

C

0/180○

30○

60○

90○

120○

150○

Trapezoidal Control: Turning the Motor CW

With the switches, the stator can be used to turn the motor to the desired direction and location by creating a magnetic field that affects

the magnets on the rotor.

N

N

S S

o

NC Vb+Vb-

NC Vb-Vb+

NCVb-Vb+

Vb- NC Vb+

Vb- Vb+ NC

Vb+NC Vb-

Vb+ Vb- NC

Top

Switch On Off Off

Bottom

Switch Off On Off


AtBb

Ct

Ab

Bt

Cb

AtBb

Ct

Ab

Bt

Cb

CCWPhase

A

Phase

B

Phase

C

0/180○

30○

60○

90○

120○

150○

Trapezoidal Control: Turning the Motor

CCWWith the switches, the stator can be used to turn the motor to the

desired direction and location by creating a magnetic field that affects

the magnets on the rotor.

N

N

S S

o

NC Vb-Vb+

NC Vb+Vb-

NCVb+Vb-

Vb+ NC Vb-

Vb+ Vb- NC

Vb-NC Vb+

Vb+ Vb- NC

Top

Switch On Off Off

Bottom

Switch Off On Off


Trapezoidal Control: Motor Position

In order to commutate correctly for trapezoidal control, motor position

information is required for proper motor rotation. The motor position

information enables the MOSFETs or IGBTs in the inverter to properly be

switched ON and OFF to ensure proper direction of current flow through

the phase windings. Therefore, Hall sensors are used as position

sensors for trapezoidal control. Each Hall sensor is placed 120 degrees

apart and delivers a “high” state when facing a “north pole” and a “low”

state when facing a “south pole”.

N

N

S S

o

Hall A

Hall B

Hall C

A


Trapezoidal Control: Motor Position CW

With three Hall sensors, it is possible to have eight states with two

invalid states. That leaves six valid states that can be used to determine

which two phase coils to drive the current through and in which direction.

The six states are generated due to rotation of the motor.

N

N

S S

o

Hall A

Hall B

Hall C

Hall A Hall B Hall C State CW

0/180○

30○

60○

90○

120○

150○

0 0 0 Invalid n/a

1 1 1 Invalid n/a

51 10

31 10

1100

41 0 0

61 1 0

210 0

A


Trapezoidal Control: Motor Position CCW

With three Hall sensors, it is possible to have eight states with two

invalid states. That leaves six valid states that can be used to determine

which two phase coils to drive the current through and in which direction.

The six states are generated due to rotation of the motor.

N

N

S S

o

Hall A

Hall B

Hall C

Hall A Hall B Hall C State CCW

0/180○

30○

60○

90○

120○

150○

0 0 0 Invalid n/a

1 1 1 Invalid n/a

51 10

31 10

1100

41 0 0

61 1 0

210 0

A


Trapezoidal Control: Bringing It All Together

With the commutation table and the motor position table, a full

trapezoidal control algorithm can be developed.

Hall A Hall B Hall C State CW

1 0 0 4 0/180○

1 1 0 6 30○

0 1 0 2 60○

0 1 1 3 90○

0 0 1 1 120○

1 0 1 5 150○

0 0 0 Invalid n/a

1 1 1 Invalid n/a

CW Phase A Phase B Phase C

0/180○ Vb+ NC Vb-

30○ Vb+ Vb- NC

60○ NC Vb- Vb+

90○ Vb- NC Vb+

120○ Vb- Vb+ NC

150○ NC Vb+ Vb-

Motor Position Table Input Commutation Table Output

Vb+ Vb- NC

Top

Switch On Off Off

Bottom

Switch Off On Off





Hall A Hall B Hall C State CW Phase A Phase B Phase C

1 0 0 4 0/180○ Vb+ NC Vb-

1 1 0 6 30○ Vb+ Vb- NC

0 1 0 2 60○ NC Vb- Vb+

0 1 1 3 90○ Vb- NC Vb+

0 0 1 1 120○ Vb- Vb+ NC

1 0 1 5 150○ NC Vb+ Vb-

0 0 0 Invalid n/a

1 1 1 Invalid n/a

Trapezoidal Control Algorithm Clockwise Rotation

Vb+ Vb- NC

Top

Switch On Off Off

Bottom

Switch Off On Off





Hall A Hall B Hall C State CW Phase A Phase B Phase C

1 0 0 4 0/180○ Vb- NC Vb+

1 0 1 5 30○ Vb- Vb+ NC

0 0 1 1 60○ NC Vb+ Vb-

0 1 1 3 90○ Vb+ NC Vb-

0 1 0 2 120○ Vb+ Vb- NC

1 1 0 6 150○ NC Vb- Vb+

0 0 0 Invalid n/a

1 1 1 Invalid n/a

Trapezoidal Control Algorithm Counter Clockwise Rotation

Vb+ Vb- NC

Top

Switch On Off Off

Bottom

Switch Off On Off


MC TOOLBOX DEMO

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