Introduction to ACIM and PMSM Motor Control · 2016-11-23 · • Washing machine/Dishwasher/Dryer ACIM, PMSM ... The rotor of an induction motor also consists of windings or more

TMFreescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, CoreNet, the Energy Efficient Solutions logo, Flexis, MXC, Platform in a Package, Processor Expert, QorIQ, QUICC Engine, SMARTMOS, TurboLinkand VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc.

FTF-IND-F0487Introduction of ACIM and PMSM Motor Control

June, 2010

Charlie WuSenior Member, Technical Staff

TMFreescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, CoreNet, the Energy Efficient Solutions logo, Flexis, MXC, Platform in a Package, Processor Expert, QorIQ, QUICC Engine, SMARTMOS, TurboLinkand VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc. 2

Intelligent motor control can reduce the energy consumption in AC induction and permanent magnet synchronous motors by 30 percent or more.

This session introduces inverter-based motor control principles and demonstrates a three phase permanent magnet synchronous motor control.

Participants gain knowledge of the application and overview of Freescale motor control portfolio.

Participants discover the use of Freescale's CodeWarrior development environment for code development assistance and debugging.

Abstract


Agenda

►Electric Motor Type Classification

►Vector Control of AC Motors: Principle of Operation

►Position Sensor Elimination: Sensorless Speed Vector Control

►Freescale Motor Control Solution

►Enablement and Development Tools


Electric Motor Type Classification

ELECTRIC MOTORS

AC DC

SYNCHRONOUSASYNCHRONOUS

BrushlessInduction Reluctance StepperSinusoidal

Permanent Magnet

Wound Field

Surface PM

Interior PM

• Stator same• Difference in Rotor Construction

If properly controlled:• Provides constant torque• Low torque ripple

SR

VARIABLE RELUCTANCE


Global Motor Control Markets and Applications

Appliance Typical Motor Type• Washing machine/Dishwasher/Dryer ACIM, PMSM• Refrigerator/Freezer BLDC• Shaver DC• Drills DC• Vacuum Cleaner SR

Industrial• Factory automation Stepper• Robotic systems Universal, BLDC• Compressors ACIM, PMSM• Fans BLDC• Air conditioning ACIM, BLDC, PMSM• Elevators ACIM• Shutters BLDC• Gates DC• Surveillance platforms DC


Typical Motor Control MCU Peripherals Function

Timer:• PWM signals < 20Khz• Dead time insertion• Commutation (mask-out)• ADC triggering• Fault control

ADC• Measure current

Delay block• Set ADC measurement at

specific timesPosition decoder

• Quadrature decoder inputs if not sensorless

6 ch PWMtimer

12 bit ADC

Fault inputs

Prog delay

Positiondecoder


Choosing Your MCU Depends Upon …

►The same application may have different performance if implemented on different MCUs

►The peripheral features can significantly impact performance of target application, not CPU only

►Application Features should be considered• Type of motor• Type of load• Operational mode• Minimal speed• Maximal speed

7

• Current control• Speed control and/or position control• Number of PID controllers• Fault control• System Cost!


Agenda







Understanding the Motor Basics

•The stator of a Permanent Magnet DCMotor is composed of two or more permanent magnet pole pieces

•The rotor is composed of windings which are connected to a mechanical commutator. In this case, the rotor has three pole pairs

DC Motor Torque Establishment DC Motor Principle

Right Hand RuleI = Current FlowB = Magnetice Field

Brush DC motor control is simple:Apply voltage Commutation occurs mechanically


Simple Model of a DC Motor

Resistor Inductor

+- Back EMF

+

-

AppliedVoltage E = KeΦ ω

Φ×

−×−=

e

ddd

KdtdILRIV

ω

Vd

Id

R L

Dynamic Motor speed:

►Speed is increased by increasing the voltage

►Torque is controlled by controlling the current

►Direction is determined by the direction of the current

DC Motor Equivalent Circuit


Asynchronous v. Synchronous

►3-phase winding on the stator distributed or concentrated

►Assumed sinusoidal flux distribution in air gap►Different rotor construction and consequences

ACIM– Squirrel cage (rugged, reliable, economical)– No brushes, no PM– Low maintenance cost

Synchronous – Rotor with permanent magnet– High efficiency (no rotor loses)

►Synchronous motor rotates at the same frequency as the revolving magnetic field

►Asynchronous means that the mechanical speed of the rotor is generally different from the speed of the revolving magnetic field

ω


Trapezoidal v. Sinusoidal PM Machine

►Sinusoidal or Sinewave machine means Synchronous (PMSM)►Trapezoidal means Brushless DC (BLDC) motors►Differences in flux distribution►Six-Step control v. Field-Oriented Control►Both requires position information►BLDC Motor Control

• 2 of the 3 stator phases are excited at any time• 1 unexcited phase used as sensor (BLDC Sensorless)

►Synchronous Motor• All 3 phases persistently excited at any time• Sensorless algorithm becomes complicated


Notice the rotor slip!

AC Induction Motor

►The STATOR windings are distributed around the stator to produce a roughly sinusoidal distribution

►When three phase ac voltages are applied to the stator windings, a rotating magnetic field is produced

►The ROTOR also consists of windings or, more often, a copper squirrel cage

►An electric current is induced in the rotor bars which also produce a magnetic field

The Rotor does not quite keep

up with the Rotating

Magnetic Fieldof the stator.

Presenter

Presentation Notes

The stator windings of an ac induction motor are distributed around the stator to produce a roughly sinusoidal distribution. When three phase ac voltages are applied to the stator windings, a rotating magnetic field is produced. The rotor of an induction motor also consists of windings or more often a copper squirrel cage imbeded within iron laminates. Only the iron laminates are shown. An electric current is induced in the rotor bars which also produce a magnetic field. The rotating magnetic field of the stator drags the rotor around. The rotor does not quite keep up with the the rotating magnetic field of the stator. It falls behind or slips as the field rotates. In this animation, for every time the magnetic field rotates, the rotor only makes three forths of a turn. If you follow one of the bright green or red rotor teeth with the mouse, you will notice it change color as it falls behind the rotating field. The slip has been greatly exaggerated to enable visualization of this concept. A real induction motor only slips a few percent.


►This motor exhibits a smoothly rotating magnetic field where the magnetic gradient of the stator flux is illustrated by the color shading. There is no commutation to cause motor jerking. But how do you create such a smoothly rotating magnetic field????

Permanent Magnet AC Motor


3-Phase AC Voltage Generation on a per Phase Basis

►Each phase is considered a Half H-Bridge►Complementary PWMs are used►Dead-time is needed to prevent shoot through►50% duty cycle Zero voltage on phase winding


Sinusoidal PWM Generation – ACIM / PMSM

100%

50%

0%

25%

75%

Dut

y C

ycle

Phase A Phase B Phase C


Decrease Frequency to the motor

17


100%

50%

0%

25%

75%

Dut

y C

ycle




100%

50%

0%

25%

75%

Dut

y C

ycle


Decrease Voltage to the motorIncrease Voltage to the motor


Decrease Frequency to the motor

19


100%

50%

0%

25%

75%

Dut

y C

ycle



Increase Frequency to the motor

20


100%

50%

0%

25%

75%

Dut

y C

ycle



A

BC

A B C A

Rotating Space Vector

► To reverse rotation direction, swap the connection of any two phases… or sequence the field in the opposite direction.

Space Vector Rotation Sequence

A

B C

This is how the rotating magnetic field is made


Principle of Field Oriented Control (Vector Control)

► All is about magnetic fields interaction• Rotor Magnetic field• Stator Magnetic field

► The torque/force is produced when both fields form an non-zero angle

► Having the stator magnetic field leading the rotor magnetic field forms an electric motor

► Then FOC is to control the torque• By the field angle• By strength of the rotor magnetic field • By strength of the stator magnetic field
































Electric Variables in Vector Representation

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


FOC Principle – Vector Representation

► Field-Oriented Control (Vector Control)Full motor torque capability at low speedBetter dynamic behaviorHigher efficiency for each operation point in a wide speed rangeDecoupled control of torque and fluxShort-term overload capabilityFour quadrant operationAccurate position and velocity signals required

( )( )

sin

900

e r s r s

e

s d

T c c

max Ti

γ

γ

= ⋅ × = ⋅ ⋅ ⋅

→ =

⇒ =

ψ i ψ i

i

o

Stator current and magnet flux space vectors in the DQ rotatingreference frame and electromagnetic torque production


Phase APhase BPhase C

α

β


d

q

d

q

α

β3-Phase

to2-Phase

Stationaryto

RotatingModulation

3-PhAC

3-PhAC

2-PhDC

2-PhAC

Rotatingto

Stationary

DC

Con

trol

Proc

ess

How Do We Control a 3-Phase AC Process?

2-PhAC

Convert it to a 2-Phase DC Process!!

3-Phase AC Control ProcessM

easu

red

Varia

ble

(i.e

Cur

rent

)

Con

trol

Varia

ble

(i.e

Volta

ge)



α

β


d

q

d

q

α

β3-Phase

to2-Phase

Stationaryto

RotatingModulation

3-PhAC

3-PhAC

2-PhDC

2-PhAC

Rotatingto

Stationary

DC

Con

trol

Proc

ess

How Do We Control a 3-Phase AC Process?

2-PhAC

Convert it to a 2-Phase DC Process!!


α

β

A

C

B

Creating Space Vector – (3ph – 2ph Transformation)

►The space-vectors can be defined for all motor quantities

Ψb

Ψc

Ψa

A

B

C

sΨ

ThreePhaseStator

• Because the space vector is defined in the plain (2D), it is sufficient to describe space vector in 2-axis (α,β) coordinate system – some times also 2-phase system


α

β

A

C

B

Creating Space Vector – (3ph – 2ph Transformation)

►The space-vectors can be defined for all motor quantities

Ψb

Ψc

Ψa

A

B

C

sΨ

ThreePhaseStator

• Because the space vector is defined in the plain (2D), it is sufficient to describe space vector in 2-axis (α,β) coordinate system – some times also 2-phase system


Reference Frames – The Magic to Convert AC to DC

► Reference frames• Stationary - α, β• Rotating rotor speed - d, q

α

β

y

x

y

x

► All rotating quantities are rectified when viewed from reference frame that rotates synchronously with rotor


and are handled independently. Since the comparison is performed in the rotating frame, motor AC frequency is not seen.

Thus, they are treated as DC quantities!

i d i q

can be used to weaken the field in both ACIM and PMSM machinescontrols amount of instantaneous torque generated by the motor

i di q

Commanded id is set to zero since all the d-axis flux need is supplied by the

permanent magnets in the rotor.

This is how much torque we want!

Controlling the Fields

PMSM or ACIM

PMSM (id = 0)ACIM (id ≠ 0)Commanded id is set to induce a field in

the rotor.

It is typically held constant unless field weakening is desired.

i d +

-

error(t)

+

-

error(t)

(commanded)

id(measured)

i q

i q (commanded)

(measured)

PI

PI

vd

vq


Proportional Integral Derivative (PID) Controller► The PID controller corrects the error between a measured variable and a

desired set-point► The PID controller calculation involves 3 separate parameters

► Proportional – Determines the reaction to the current error► Integral – Determines the reaction based on the sum of recent errors (i.e.

steady state error)► Derivative – Determines the reaction to the rate at which the error has

been changing► The weighted sum of these three actions is used to adjust the process via a

control element such as the position of a control valve or the power supply of a heating element or the voltage to a motor

A fast response may require rapid calculation of the PID output and this can force the use of a higher performing CPU core(i.e. DSC, ColdFire, or PPC)


2-phase Stationaryto 3-phase Stationary

(Reverse Clark Transform)

⎥⎥⎥

⎦

⎤

⎢⎢⎢

⎣

⎡

⎥⎦

⎤⎢⎣

⎡−

=⎥⎦

⎤⎢⎣

⎡

sc

sb

sa

s

s

iii

ii

23

23

23

000

β

α

⎥⎦

⎤⎢⎣

⎡⎥⎦

⎤⎢⎣

⎡−

=⎥⎦

⎤⎢⎣

⎡

β

α

θθθθ

s

s

rfrf

rfrf

sq

sd

ii

ii

cossinsincos

⎥⎦

⎤⎢⎣

⎡

⎥⎥⎥

⎦

⎤

⎢⎢⎢

⎣

⎡

−−−=

⎥⎥⎥

⎦

⎤

⎢⎢⎢

⎣

⎡

β

α

s

s

sc

sb

sa

ii

iii

31

31

31

31

32 0

⎥⎦

⎤⎢⎣

⎡⎥⎦

⎤⎢⎣

⎡ −=⎥

⎦

⎤⎢⎣

⎡

sq

sd

rfrf

rfrf

s

s

ii

ii

θθθθ

β

α

cossinsincos

3-phase Stationaryto 2-phase Stationary

(Forward Clark Transform)

2-phase Stationaryto 2-phase Synchronous

(Forward Park Transform)

2-phase Synchronousto 2-phase Stationary

(Reverse Park Transform)

rfθ

αsi

βsi

sdi

sqisi

Transformation Calculations

sbi

sai

sci



α

β


d

q

d

q

α

β3-Phase

to2-Phase

Stationaryto

RotatingModulation

3-PhAC

3-PhAC

2-PhDC

2-PhAC

Rotatingto

Stationary

DCC

ontr

olPr

oces

s

FOC Transformation Summary

2-PhAC

Stationary Reference Frame Stationary Reference FrameRotating Reference Frame

ALL of these operations can be done on the Freescale DSC Family in about 20 uS!


θd

i d

i q

PWMModule

va

M

Motorola

Dave’sControlCenter

6 TransistorPower Stage

Stationary to Synchronous

Frame

i a i b i c

i d i q

CurrentMeasurement

PIRegulators

v d vq

Synchronous to Stationary

Frame

vcvb

Field Orientation!

= 0

θd

θd

Put It All Together


FOC Principle – Block Diagram


Phase Current Measurement

►Shunt resistors voltage drop measured►S/W calculation of all 3 phase currents needed; e.g. Phase A current

sensing is true when bottom switch (transistor) is conducting►Simultaneously 2 channels sampled at the same time

• 12-bit resolution• Single conversion time: 1.7 µsec @5MHz (8.5 ADC clock cycles)


DC Bus Voltage Measurement

►Feedback signals proportional to bus voltage►Bus voltage is scaled down by a voltage divider►Values are chosen such that a 400-volt maximum bus voltage corresponds

to 3.24 volts at output V_sense_DCB.


Agenda







Rotor Position Sensor Elimination – Introduction

►FOC requires accurate position and velocity signals

►Conventional motion control systems uses resolvers or encoders

►Sensor, wirings, connectors increase the cost of the system and decrease the reliability

►Application Sensorless PM Motor Control In• Lower overall drive cost by eliminating mechanical position sensor

Cost sensitive applicationIncrease system performance for the same price

• Increase position resolution in collaboration of estimator and low cost position sensor

Increase system performanceBack-up sensor

• Independent position sensing together with mechanical Safety critical applicationIncrease system redundancy


Sensorless PMSM Control

►Rotor position estimation is needed

►Sensorless techniques for rotor position estimation• Low speed range position estimation:

Speed 0rpm up to 20% nominal speedTechniques based on motor inductance saliency

• Medium and high speed position estimation:Speed range from 5-10% up to 100% of nominal speed:

– Speed range of the fridge, air-conditioning applications– Where the variable reluctance deviation (saliency) is smaller then BEMF effect

BEMF/Flux reconstruction using state observers


Sensorless Methods for PM Motors

►Classifications of Sensorless Algorithms• Utilization of Magnetic Saliency

rotor position detected by tracking magnetic saliencycarrier signal superimposed to main voltage excitation

• Calculating an Appropriate Motor ModelProper motor parameters, voltage and current requiredIssue at zero and low speed estimation

– Measured current low, distortion by inverter non-idealities– Parameter deviation becomes significant with lowering speed

• Combination of two sensorless algorithmscovering the entire speed range


Sinusoidal PM Motor Model in αβ Stationary Frame

►Salient v. Non-Salient Machine Model in αβ stationary frameStator Voltage Equations

Stator Flux Linkages of Non-Salient Machine

Stator Flux Linkages of Salient Machine

Saliency Inductance Matrix and Rotor Angle Calculation

( )( )

0 cos0 sin

s ss rePM

s ss re

iLiL

α α

β β

ψ θψ

ψ θ⎡ ⎤⎡ ⎤ ⎡ ⎤⎡ ⎤

= ⋅ + ⋅ ⎢ ⎥⎢ ⎥ ⎢ ⎥⎢ ⎥⎣ ⎦⎣ ⎦ ⎣ ⎦ ⎣ ⎦

( ) ( )( ) ( )

( )( )

cos 2 sin 2 cossin 2 cos 2 sin

s sre re rePM

s sre re re

iL L LiL L L

α α

β β

ψ θ θ θψ

ψ θ θ θ⎡ ⎤ ⎡ ⎤+ Δ ⋅ Δ ⋅⎡ ⎤ ⎡ ⎤

= ⋅ + ⋅⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥Δ ⋅ − Δ ⋅⎣ ⎦ ⎣ ⎦⎣ ⎦ ⎣ ⎦

( ) ( )( ) ( )

cos 2 sin 2sin 2 cos 2

re re

re re

L L LL L L

θ θθ θ

⎡ ⎤+ Δ ⋅ Δ ⋅= ⎢ ⎥Δ ⋅ − Δ ⋅⎣ ⎦

L

0 00 0

s s ss

s s ss

u iR su iR s

α α α

β β β

ψψ

⎡ ⎤ ⎡ ⎤ ⎡ ⎤⎡ ⎤ ⎡ ⎤= ⋅ + ⋅⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥

⎣ ⎦⎣ ⎦⎣ ⎦ ⎣ ⎦ ⎣ ⎦

12 21

11 22

2 tanreL LarcL L

θ⎛ ⎞+

= ⎜ ⎟−⎝ ⎠

dsdt

position dependency


Sinusoidal PM Motor Model in DQ Rotating Frame

►Salient v. Non-Salient Machine Model in DQ rotating frameStator Voltage Equations

Stator Flux Linkages of Non-Salient Machine

Stator Flux Linkages of Salient Machine

L the average inductance & ΔL the zero-to-peak differential inductance

dsdt

00

sd sdss re

sq sqss re

u iR su iR s

α

β

ψωψω

⎡ ⎤ ⎡ ⎤⎡ ⎤⎡ ⎤ ⎡ ⎤= ⋅ + ⋅⎢ ⎥ ⎢ ⎥⎢ ⎥⎢ ⎥ ⎢ ⎥−⎣ ⎦ ⎣ ⎦⎣ ⎦⎣ ⎦ ⎣ ⎦

0 10 0

sd sdsPM

sq sqs

iLiL

ψψ

ψ⎡ ⎤ ⎡ ⎤⎡ ⎤ ⎡ ⎤

= ⋅ + ⋅⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥⎣ ⎦⎣ ⎦⎣ ⎦ ⎣ ⎦

0 10 0

sd d sdPM

sq q sq

L iL i

ψψ

ψ⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤

= ⋅ + ⋅⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎣ ⎦⎣ ⎦ ⎣ ⎦ ⎣ ⎦

2qd LL

L+

=2

d qL LL

−Δ =

d qL L≠

Direct & Quadrature InductanceNot Equal


Extended Back EMF Definition

{

( )( )

( )( ){ } ( )( )

sincos

S R

d d q e ed q e d q e e

ed q e d

u u YX

pL L Lu i iR L L i i k

u i iL L pLα α α

β β β

ω θω ω

θω

⎡ ⎤− ⋅ ⎡ ⎤−⎡ ⎤ ⎡ ⎤ ⎡ ⎤⎢ ⎥ ′= ⋅ + ⋅ + − − + ⋅ ⋅ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎢ ⎥− − ⋅⎣ ⎦ ⎣ ⎦ ⎣ ⎦ ⎣ ⎦⎣ ⎦uur uur uruur

123 144444444244444444314444444244444443

►Computation of position dependent information is contained in two unknown voltage vectors conventional ue and urel

►Symmetrical inductance matrix is formed in dq frame then 2*θe is eliminated in αβ frame

►Y term is extension of conventional back EMF

{

( )( )

( ) ( )( ) ( )0

sin sin 2 cos 22

cos cos 2 sin 2S R L E REL

e e ee re re

e e e

u u u u u

u i i iR pL k p L

u i i iα α α α

β β β β

θ θ θω ω

θ θ θ⎡ ⎤ ⎡ ⎤− −⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤

= ⋅ + ⋅ + ⋅ ⋅ + ⋅ ⋅ ⋅ ⋅⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎣ ⎦ ⎣ ⎦ ⎣ ⎦ ⎣ ⎦⎣ ⎦ ⎣ ⎦uur uur uur uur uuuuur

123 14243 144424443 1444444442444444443


Sensorless Method in High Speed Region

► Since back EMF is not included in the observer model, the current observer acts as a state filter for Back EMF.

► State filter bandwith limits the performance of the method.

Inverse tangent function► With two inputs of the extended EMF

estimates► Yields unfiltered rotor angle without any

speed informationAngle tracking observer► Noise on the position estimate can be

filtered out without adding lag to the estimate within its bandwidth

50


Position and Speed Extraction

►Rotor electrical position extraction by• Inverse tangent function with two inputs of the extended EMF estimates

Yields unfiltered rotor angle without any speed information• Angle tracking observer

Noise on the position estimate can be filtered out without adding lag to the estimate within its bandwidth

+ +K1

1s

1s

K2

- +

sin ( )Θ

cos( )Θ

(s) Θ+ +K1

1s1s

1s

K2

1s1s

K2

- +

sin ( )Θ

cos( )Θ

(s) Θ

esα

esβ( )ˆˆ ˆ sin eEα θ= − ⋅E

( )ˆˆ ˆ cos eEβ θ= ⋅EEatan E

α

β

⎛ ⎞−⎜ ⎟⎜ ⎟

⎝ ⎠

Eα

Eβ

eθeθ

( )ˆ ˆsine e e eθ θ θ θ− = −


Sensorless Speed Control in Entire Speed Range

Speed Control Loop

Speed Estimation

PWMGeneration

Position Estimation

Hardware PortionSoftware Portion

Current Control Loop


Agenda






TMFreescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, CoreNet, the Energy Efficient Solutions logo, Flexis, MXC, Platform in a Package, Processor Expert, QorIQ, QUICC Engine, SMARTMOS, TurboLinkand VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc. 5454 54

Freescale Motor Control Solution

Presenter

Presentation Notes

Newest Products Targeting Industrial Motor Control: MC56F8013, MC56F8037 - 2008 Digital Signal Controller for mid-range motor control at 32 MMIPS. MC56F8006/02 – Q2/09 Digital Signal Controller ideally suited for low cost mid-range motor control MCS08MP16 8-bit controller for low-end compact motor control MPC5604P 32-bit Power Architecture® processor for mid- to high-end motor control.

TMFreescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, CoreNet, the Energy Efficient Solutions logo, Flexis, MXC, Platform in a Package, Processor Expert, QorIQ, QUICC Engine, SMARTMOS, TurboLinkand VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2010 Freescale Semiconductor, Inc. 5555 55

Freescale Motor Control Processors

Low-end Compact6 – 30 MMIPS< 0.5W

Mid-range Motor Control30 – 80 MMIPS< 0.5 – 1W

High-end Motor Control60 – 100 MMIPS< 0.5 – 1W

MC9S08MP16

MPC5604P

MC56F83xx

DSC56F802x/3x

DSC56F801x

PoE MC34670H-bridges

MC33880, 87, MC33926, 32Power SupplyMC34727, 26

Linear RegulatorMC33742, MC33910, 11,12

Signal ConditioningMC33972, 75

Analog DSC 16-bit S08 8-bit

Power® e200

DSC56F800x

MC56F82xx

Analog

Pre-driver MC33937

MC9S08AC128MC9S12XHMCF51AC256 MCF51xx

MCF5234

MC9S08AW

MPC553x

MC9S08xx

In Development

DSC56F824x/5x

Presenter

Presentation Notes

Newest Products Targeting Industrial Motor Control: MC56F8013, MC56F8037 - 2008 Digital Signal Controller for mid-range motor control at 32 MMIPS. MC56F8006/02 – Q2/09 Digital Signal Controller ideally suited for low cost mid-range motor control MCS08MP16 8-bit controller for low-end compact motor control MPC5604P 32-bit Power Architecture® processor for mid- to high-end motor control.


Freescale Single Chip Soultion Strategy

PWMs

COP 12bit ADC

3.3VOn-Chip Regulator

ACMPs

System

ClockSystem

Serial Peripherals

DACs

ControlPeripherals

How are you doing this today?

Vbus

High Speed DSP Core

• Single Power Supply• Advanced DSP Core• Scaleable product portfolio with full enablement• Internal inter-module Connections

MultiFunctionTimers

TickTimers(PIT)

Cross B

ar Interconnection

SCIsSPIsI2CsCANs

PLLHS_CLK

Sys_CLKSys_Bus

CPU:56800EFlash Memory

EEPROMRAM

SIM POR

OSC InternalROSC

LVI

Freescale Technology

Power SourceData/Control Signal

System ClockHigh System Clock


MC9S08MP16/12Smoother, Safer and Lower Cost BLDC Motor Control


►Core•Ind. version: 50MHz (25MHz bus), -40to105C, 28SOIC, 32LQFP, 48LQFP•Auto version: 40MHz (20MHz bus), -40to125C, 48LQFP•2.7V to 5.5V operating range

►Memory•16KB Flash / 1KB SRAM

►Features•2x FlexTimers (6ch + 2ch) – automatic fault protection, supports up to 50MHz CLK, selectable input capture, output compare, edge- or center-aligned PWM; dead time insertion•3 Analog Comparators – h/w sample trigger from PWM module allowing comparison at any point in cycle•2x Programmable Delay Blocks (PDB)•12-ch 12-bit ADC – 3.5 uS conversion, h/w trigger from PWM module allowing conversion at any point in cycle•Programmable Gain Amplifier (PGA) •8-bit Modulo Timer Module (MTIM)•LIN SCI, SPI, IIC•3x 5-bit DAC used as a 32 tap voltage reference•RTC with periodical timer interval interrupt•Software Programmable Internal Clock Source•2 low power modes•Power Management Controller (PMC)•3x 8-bit KBI•POR/LVI – supports 4 interrupt priority levels•Background Debug Mode Interface/ICE

►System Protection•Cyclic Redundancy Check Generator (CRC)•Watchdog Timer with Independent Clock Source

MC9S08MP16/12

Device Package RAM ADC PGA IIC I/O 10K# SRP

MC9S08MP16 48LQFP 1KB 13ch 1 1 40 $1.30

MC9S08MP16 32LQFP 1KB 12ch 1 1 25 $1.20

MC9S08MP16 28SOIC 1KB 8ch 1 1 22 $1.10

MC9S08MP12 28SOIC 512B 8ch - - 22 $1.06

SPI

SCI

IIC

8-bit MTIM

3x 5-bit DAC

RTC

13ch, 12-bit ADC &

Temp Sensor

6ch+2chFlexTimer with PWM functions

ProgrammableGain Amplifier

3x High Speed Analog

Comparators

Programmable Delay Blocks

(x2)

S08 50MHz CPU

16KB Flash

1KB RAM

CRC Generator

ICS

BDM/ICE

COP


MC9S08MP16 Key Messages

Dedicated for Motor Control Safety and System Cost Reduction Broad Motor Control Ecosystem

Increased precision and reduced s/ware complexity

FlexTimer module (first on S08): dedicated motor control peripheral providing dead-time insertion and fault protection in h/ware, ADC triggering,

and paired channel PWM signal generation

No ext. comparators and safer motor operation

3x Analog Comparators: in conjunction with the 16-bit PWM FlexTimer fault inputs, provide fast, accurate over-current shutdown protection by

driving PWMs to a safe state

Off-the-shelf design resourcesExtensive catalogue of free Motor Control

Reference Designs, Application Notes, Software Algorithms, & Libraries covering all motor

topologies and performance levels.

Smoother sensorless BLDC motor operation3x Analog Comparators & 12-bit, 2.5 us ADC:

can take measurements of high resolution zero-crossing back-EMF. PWM cycle can be reset at each commutation boundary to reduce speed

dithering in high-speed applications. High ADC resolution enables fast, precise monitoring of

system voltages and currents.

No ext. op-amps and wide load/speed rangeProgrammable Gain Amplifier: eliminates need

for external op-amps by amplifying low level signals such as motor current readings from a low resistance shunt. Dynamically adjusts gain to maintain high resolution A/D readings over a

wide range of motor loads and speeds.

Cycle time reducing development toolsComplimentary C/Warrior Special Edition IDE (32KB) with intuitive Processor Expert Rapid Application Development Tool. Freemaster

Remote Real-Time Control and Monitoring Tool.

Reduced CPU loading Programmable Delay Block (PDB): efficient and accurate timing of ADC measurements enabling

low cost current reconstruction in PWM applications. Also functions as an independent timer to enable Digital Power Factor Correction

for HID Light Ballast and Motor Control Applications

Enhanced system integrity for safety-critical applications implementing IEC60730Independently clocked COP and Cyclic Redundancy Check Engine: CLK failure

protection and memory content validation

Complete motor control system solutionsComplimentary Analog products:

MC33937 3-ph FET Pre-Driver, MC33880/87 & MC33926/32 H-bridges.

Compelling entry-level solutionSmall footprint 28-48pin SOIC and LQFP packages with automotive qualified high

temperature option. Resale pricing from <$ 1 @ volume

No external crystal / resonatorInternal Clock Source (ICS): 1.5% accuracy

when receiving messages over a LIN bus using the SCI module.

Global Motor Control Centres of Excellence Dedicated regional customer design support from concept to delivery (reference design, algorithm,

library and driver development)

An 8-bit MCU that delivers smooth, safe, Sensorless BLDC motor control for < $1 (@ volume) across a wide speed range of Industrial, Consumer and Automotive applications.

Smoother, Safer and Lower Cost BLDC Motor Control


TraditionalMicrocontroller

• Designed for Controller Code• Compact Code Size• Easy to Program• Inefficient Signal Processing Traditional DSP

Engine

• Designed for DSP Processing • Designed for Matrix Operations• Complex Programming• Less Suitable for Control

56800/E Family Combining Signal Processing and Controller Functionality

• Instructions Optimized for Controller Code, DSP, Matrix Operations • Compact Assembly and “C” Compiled Code Size• Easy to Program• Additional MIPS Headroom and extended addressing space


56800E Core Architecture

Instruction Fetch:PAB - 21 bits (4MB)PDB - 16 bits

1st Data Access:XAB1 - 24 bits (32MB)CDBR - 32 bitCDBW - 32 bit

2nd Data Access:XAB2 - 24 bits (32MB)XDB2 - 16 bits

Operations Performed:1st - PAB / PDB2nd - XAB1 /

CDBR-CDBW

3rd - XAB2 / XDB2

DATAALU

ABCD

Y0Y1X0

MAC and ALU

Multi-bitShifter

R0R1R2R3R4R5N

SP

AGU

M 01

BITMANIPULATION

UNIT

EOnCE/JTAG TAP

ProgramMemory

DataMemory

IP-BusInterface

ExternalBus

Interface

N 3

PROGRAMCONTROLLER

INSTRUCTIONDECODER

LOOPINGUNIT

INTERRUPTUNIT

PCLA

LA2HWSFIRAFISR

LCLC2

SROMR

Shadowed registers; supports execution of fast interrupts

Registers available only on the 56800E core

XAB1

PABXAB2

PDBCDBW

XDB2CDBR

up to 4 MByte size

up to 32 MByte size

http://bdti.com/bdtimark/chip_fixed_mem_scores.pdf

Presenter

Presentation Notes

Berkeley Design Technology, Inc. (BDTI) provides analysis and advice that help companies develop, market, and use signal processing technology. Founded in 1991, BDTI is a trusted industry resource for: Independent benchmarking and competitive analysis Advice on creating credible, compelling marketing Guidance for confident technology and business decisions Expert product development advice Seminars and publications on technologies and trends

http://bdti.com/bdtimark/chip_fixed_mem_scores.pdf


56800E Digital Signal Controller Core Summary

►Dual-Harvard architecture• Three simultaneous accesses to program and data memory

►Eight-stage execution pipeline►155 basic instructions with up to 20 address modes►Large address spaces►Efficient peripheral interfacing through IP-BUS Interface►Fast interrupt support►Powerful register sets►Shadow registers►Single-cycle 16×16-bit parallel multiplier-accumulator (MAC)

• Load of two data from memory in the same clock cycle►Modulo addressing for circular buffer in no additional time►Loops with no overhead►Relocatable interrupt Vectors Base Address (VBA)

62


Cost Effective 56F8000 Solutions 56F8011/56F8013/56F8014

►32 MIPS Performance ►12K -16 K Bytes Program FLASH ►4 K Bytes Program/Data RAM ►Tunable Internal Relaxation Oscillator►Software Programmable Phase Locked Loop►Up to 96 MHz Peripherals – Timers and PWMs►Up to 6-Output PWM Module with up to 4 Programmable Fault Inputs►Selectable PWM frequency for each complementary PWM signal pair►Two 12-bit ADCs with up to 8 Inputs, 1.125us conversion rate►Synchronization between PWM and ADC►Four 16-bit General Purpose Programmable Timers►Computer Operating Properly Timer►Serial Ports: SCI, SPI, I2C►Up to 26 GPIOs – Versatile pin usage►Low Power Consumption – 59mA Max and .026mA Min►JTAG/EOnCE™ Debug Port►Industrial and Automotive temp►Cost Effective

►Package: 32LQFP►In Production

56800E Core32MHz

Power-On-Reset

Power Supervisor

COP

12K - 16KB Program Flash

6-ch PWM Output

System Integration Module (SIM) 1 x SCI

1 x SPI1x IIC

JTAG/EOnCE

4kB Program/Data RAM

Voltage Regulator

PLL

Interrupt Controller

Relaxation OSC3-4ch 12bit ADC3-4ch 12bit ADC

56F8011/56F8013/56F8014Up to 26 GPIOs

4Ch 16bit TimerSynch


56F8000 Family Expansion56F8023/56F8025/56F8036/56F8037 Features

► 32 MHz/32 MIPS 56800E Core► 3.0-3.6V Operation► 32K-64K Bytes Program FLASH► 4K-8K Bytes Program/Data RAM ► Flash security► Tunable Internal Relaxation Oscillator► Software Programmable Phase Locked Loop► Up to 96 MHz Peripherals – Timers and PWMs► 6 Output PWM Module with 4 Programmable Fault

Inputs► Selectable PWM frequency for each

complementary PWM signal pair► Two 12-bit ADCs with up to 16 Inputs, 1.125us

conversion rate► Up to Two 12-bit Digital to Analog Converters► Two Analog Comparators► Synchronization between PWM and ADC► 4 or 8 16-bit General Purpose Programmable Timers► 1 or 3 Programmable Interval Timers (PIT)► Computer Operating Properly Timer► 2-Queued Serial Communications Interface ► 2-Queued Serial Peripheral Interface► Optional MSCAN► I2C Communications Interface► Up to 53 GPIOs – Versatile pin usage► JTAG/EOnCE™ Debug Port► Lead Free Green Packages► Industrial and Automotive temp

►Package 32 LQFP, 44LQFP, 48LQFP, 64LQFP►In Production

56800E Core32MHz

Power-On-Reset

Power Supervisor

COP

32KB - 64KB Program Flash

6-ch PWM Output

System Integration Module (SIM) 2 x QSCI

2 x QSPI1xIIC

JTAG/EOnCE

4kB-8KB Program/Data RAM

Voltage Regulator

PLL


Relaxation OSC

8ch 12bit ADC8ch 12bit ADC

56F8023/56F8025/56F8036/56F8037Up to 53 GPIOs

8Ch 16bit TimerSynch

1x MSCAN

Crystal OSC

2 x Comparators2 x 12 bit DAC

3xPIT


Ultra Low cost 56F8000 member: 56F8002, 56F8006 ► 32 MHz/32 MIPS 56800E Core► 1.8-3.6V Operation► 12K - 16K Bytes Program FLASH with Flash security► 2K Bytes Program/Data RAM ► Tunable Internal Relaxation Oscillator and 32KHz clock► Phase Locked Loop (PLL)► Up to 96 MHz Peripherals – Timers, PWM & Hi-SCI► 6 Output PWM Module with 4 Programmable Fault

Inputs• Programmable Dead timer insertion• Programmable PWM generation for Power supply

apps• Multiple PWM Frequency outputs

► Two Programmable Gain Amplifiers with x2, x4, x8, x16 gains (Clocked in order to cancel input offset)

► Two 12-bit ADCs with up to 24 Inputs , 2.5us Per conversion

► Programmable Delay Block provides precise control of ADC/PGA sample times relative to PWM reload cycles

► Three High Speed Analog Comparators► 2 multiple function Programmable Timers► Computer Operating Properly Timer► One Periodic Interval Timer (PIT)► 1 High Speed Serial Communication Interface (Hi-SCI)► 1 Serial Peripheral Interface (SPI)► I2C Communications Interface► Up to 40 GPIOs – Versatile pin usage► JTAG/EOnCE™ Debug Port► Lead Free “Green” Packages► Industrial temp: -40C – 105C

In ProductionLess than $2.00 in Volume

56800E Core

32MHzPower-On-Reset

Power Supervisor

COP

12-16KB Program

Flash

6-ch PWM Output

System Integration Module (SIM) 1 SCI

1 SPI1 IIC

JTAG/EOnCE

2KB Program/Data RAM

Voltage Regulator

PLL


Relaxation OSC

2 x ProgrammableGain Amplifiers

56F8002, 56F8006Up to 40 GPIOs

ProgrammableDelay Block

Synch

2 x 16bit Timers

Crystal OSC3 x Analog

Comparators

1 Period Int Timer

12ch 12bit ADC12ch 12bit ADC

►28SOIC, 32SDIP , 32LQFP, 48 LQFP


Temperature Range (V)

56F8000 Series Feature Summary56F8011 56F8013 56F8014 56F8023 56F8025 56F8036 56F8027/37

Performance 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs 32MHz/MIPs-40C~105C -40C~125C -40C~125C -40C~125C -40C~125C -40C~125C -40C~125C

Voltage Range 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V

Program/Data Flash 12KB 16KB 16KB 32KB 32KB 64KB 32KB / 64KBProgram/Data RAM 2KB 4KB 4KB 4KB 4KB 8KB 4KB /8KB

OnChip Relaxation Osc Yes Yes Yes Yes Yes Yes YesPLL Yes Yes Yes Yes Yes Yes YesCOP (Watchdog) Yes Yes Yes Yes Yes Yes YesPWM (96Mhz Clock) 1 x 6ch 1 x 6ch 1 x 5ch 1 x 6ch 1 x 6ch 1 x 6ch 1 x 6chPWM Fault Inputs 4 4 3 4 4 4 412-bit ADCs 2 x 3ch 2 x 3ch 2 x 4ch 2 x 3ch 2 x 4ch 2 x 5ch 2 x 8ch12-bit DACs 2 2 2 2 (Pinned out)Analog Comparator 2 2 2 2

16-bit Timers 4 4 4 4 4 4 8Prog. Interval Timers 1 3 3 3GPIO (max) (+/-8mA) 26* 26* 26* 26* 35* 39* 53*IIC 1 1 1 1 - QIIC 1 - QIIC 1 - QIIC 1 - QIICSCI (UART)/LIN Slave 1 - SCI 1 - SCI 1 - SCI 1 - QSCI 1 - QSCI 1 - QSCI 2 - QSCISPI (Synchronous) 1 - SPI 1 - SPI 1 - SPI 1 - QSPI 1 - QSPI 1 - QSPI 2 - QSPICAN MSCAN MSCANJTAG/EOnCE Yes Yes Yes Yes Yes Yes Yes

Package32LQFP 32LQFP 44LQFP 48LQFP 64LQFP

Voltage Regulator On-Chip On-Chip On-Chip On-Chip On-Chip

Program Security Yes Yes Yes Yes Yes Yes Yes

On-Chip On-Chip

NoNo

NoNo

NoNo

No No No

Power Consumption IDD = 42mA; IDDA = 13.5mA IDD = 48mA; IDDA = 18.8mA IDD = 48mA; IDDA = 18.8mA

No No No No No

56F8002 56F8006

32MHz/MIPs 32MHz/MIPs-40C~105C -40C~105C1.8V - 3.6V 1.8V - 3.6V

12KB 16KB2KB 2KB

Yes YesYes YesYes Yes

1 x 6ch 1 x 6ch4 4

2 x 8ch 2 x 12ch0 03 3

3 31 (RTC) 1 (RTC)

23 401 1

1 - SCI 1 - SCI1 - SPI 1 - SPI

Yes Yes

32LQFP (.8p)28SOIC32LQFP32SDIP48LQFP

On-Chip On-Chip

Yes Yes

No No

32LQFP32LQFP

Prog Gain Amp 2 2 No No No No No No No

IDD = 45.6mA;IDDA = 4.5mA

* 5V tolerance I/O


MC56F82xx (Anguilla Black)

► Breakthrough Features:► High Speed PWM module – 520ps duty cycle resolution► High speed ADC with Programmable Gain Amplifiers► Inter-module Cross Bar

512byte EE (8 b)

ICE + BDM

COP

SPI

IIC

56800E Core60MHz

POR

LVI

COP

8ch 12bit ADCA

1ch 12bit DAC

32 / 48 / 64KB Program Flash

8-ch High Res PWM

2 x QSCI

1 x QSPI

2x IIC/SMbus

JTAG/EOnCE

6 / 8kB Data RAM

1 x MSCAN

Voltage Regulator

PLL

Crystal Oscillator

System Integration Module (SIM)


3 Analog Comparators

Prog Gain Amp Ax1,2,4

8Ch 16bit Timer

Relaxation OSC

8ch 12bit ADCB Prog Gain Amp Bx1,2,4

CRC

3 5bit DAC

Inter-module Cross Bar

► 60 MHz/60MIPS From 56800E Core► 2.7-3.6V Operation► 64K/48k/32k Bytes Program FLASH► 8K/6K Bytes Program/Data RAM► Flash security► 8Mhz/100Khz Tunable Internal Relaxation Oscillator► Software Programmable Phase Locked Loop► Up to 60 MHz Peripherals – Timers and PWMs 8 Output

PWM Module • ( 520ps PWM duty cycle resolution)

► 2-12-bit ADCs with total of 16 Inputs: • 500ns conversion rate• Built-in Programmable Gain Amplifiers with 1x, 2x, 4x,

gains► 1 12-bit Digital to Analog Converter► 3 5bit Digital to Analog Converters► 3 - Analog Comparators ► 8 16-bit Enhanced General Purpose Multifunction

Programmable QTimers► Cyclic Redundancy Check Generator (CRC)► Computer Operating Properly Timer► 2- Queued High Speed Serial Communications Interface

(QSCI) ► 1-Queued Serial Peripheral Interface (QSPI)► 1 MS-CAN Bus► 2 - I2C/SMbus Communications Interface

► Up to 54 GPIOs ► Inter Module cross-bar► JTAG/EOnCE™ Debug Port► Lead Free “Green” Packages► Industrial temperature:-40C to 105C @ 60MHz

44LQFP, 48LQFP, & 64LQFP


Temperature Range (V)

56F824x/5x Series Feature Summary56F8245 56F8246 56F8247 56F8255 56F8256 56F8257

Performance 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs 60MHz/MIPs

-40C~105C -40C~105C -40C~105C -40C~105C -40C~105C -40C~105CVoltage Range 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V 3.0V - 3.6V

Program/Data Flash 48KB 48KB 48KB 64KB 64KB 64KBProgram/Data RAM 6KB 6KB 8KB 8KB 8KB 8KB

OnChip Relaxation Osc Yes Yes Yes Yes Yes YesPLL Yes Yes Yes Yes Yes YesCOP (Watchdog) Yes Yes Yes Yes Yes YeseFlexPWM Channels 1 x 6ch 1 x 6ch 1 x 9ch 1 x 6ch 1 x 6ch 1 x 9ch

PWM Fault Inputs 4 4 4 4 4 412-bit ADCs /w PGA 2 x 3ch 2 x 3ch 2 x 4ch 2 x 3ch 2 x 4ch 2 x 5ch12-bit DACs 1 1 1Analog Comparator /w 5bir DAC Ref 3 3 3

16-bit Timers 8 8 8 8 8 8Prog. Interval Timers No No NoGPIO (max) (+/-8mA) 35* 39* 54* 35* 39* 54*IIC /SMBus 2 2 2 2 2 2SCI (UART)/LIN Slave 2- QSCI 2 - QSCI 2 - QSCI 2 - QSCI 2 - QSCI 2 - QSCISPI (Synchronous) 1 - QSPI 1 - QSPI 1 - QSPI 1 - QSPI 1 - QSPI 1 - QSPICAN MSCANJTAG/EOnCE Yes Yes Yes Yes Yes Yes

Package 48LQFP 44LQFP 48LQFP 64LQFP

Voltage Regulator On-Chip On-Chip On-Chip On-Chip On-Chip

Program Security Yes Yes Yes Yes Yes Yes

On-Chip

13

13

13

No No No

No No No MSCAN MSCAN

64LQFP44LQFP

Crossbar Module Yes Yes Yes yes Yes Yes

* 5V tolerance I/O

HiRes PWM ChannelsFlexPWM Channels

6ch 6ch 6ch 6ch 6ch 6ch

3ch 3ch


Agenda







CodeWarrior Development Studio►Low Cost – High Value

• Single Development Environment & License for: • S08 Core• 56800/E Core• ColdFire Core

• Multi-tiered pricing structureFlexible low cost pricing based on memory usage

• License prices include 1 year maintenanceProvides free 24/7 CodeWarrior support

• Processor Expert with Free drivers and libraries11 premium libraries are Free with object code

• CodeWarrior USB Tap or 1-wire BDMLow cost high performance Universal Serial Bus interface for debugging

56F8006 Software Development Tools … EVEN MORE VALUE

56800QEDLQEDesign Lite Filter (FIR, IIR, etc ) emits code for the IDE

• Extensive SW libraries built into IDE• Motor Control• Mathematics• Signal Processing• Voice Processing• Modem• Encryption

CodeWarrior Development StudioIDE with optimizing C compilerSophisticated Project ManagerGraphical source level debuggerEditor and file/folder compare functionsInstruction-set simulationA free Special Edition permanent license up to 64 KB code size!Intelligent software development kit – Processor Expert

Presenter

Presentation Notes

Needs updating.

https://www.freescale.com/go/mcf56f800xcia


Graphical Setup Tool(ProcessExpert and QuickStart)

71

GCT Plug-in Module

• Application constant calculation and scaling

• Output constants generated into header file

• Custom page coded in HTML/Java/Excel

• Application parameters modified only from one place

• Simplify customer application design start

• Required GCT version 2.4 and higher

Presenter

Presentation Notes

Needs updating.


3-ph BLDC/PMSM Low Voltage Motor Control Drive

► Usage: Motor Control Techniques Development Brushless DC Motor DrivesPermanent Magnet Synchronous Drives High-End Control Algorithms Development and Demonstration

► Board Features: Power supply voltage input 12–24 V DC extended up to 50 VOutput current 4A(tested) 3-phase bridge inverter (6 MOSFET’s)3-phase MOSFET gate driver(MC33927 or MC33937) with over-current and under-voltage protection3-phase and DC-bus-current-sensing shunts DC-bus voltage and 3-phase back-EMF voltage-sensing circuitry Encoder/hall sensor sensing circuitry 2 connectors for daughter board connection USB interface with MC9S08JM60User LED, power-on LED, 6 PWM LED diodes and SCI activity LED diodes Up, down, toggle switches and Reset push-button

► Daughter BoardsMC9S08AC16MC9S08MP16MC56F8013/23MC56F8006MCF51AC256Anguilla Black (in prototype)MCF51AG128 (in prototype)Pictus (in development)

Daughter Board

Connectors

Kit being prepared for manufacturing at DevTech


3-ph BLDC/PMSM High Voltage Motor Control Drive

► Usage: Motor Control Techniques Development Brushless DC Motor DrivesPermanent Magnet Synchronous Drives AC Induction Motor Drives SMPS applicationsHigh-End Control Algorithms Development and Demonstration

► Board Features: Input Voltage 115-230Vac, 50/60HzOptional Voltage doubler for input voltage 115VacOutput Power 1kW3-phase IGBT inverter bridge with over-current protection (Fairchild IGBT power module)3-phase motor current sensingDC-Bus current and voltage sensingGalvanic isolated SCI / USB interfaceUser LEDPower-on LEDEncoder/Hall Sensor and tacho generator interfaceDC-Brake resistor switch with terminalBEMF sensingPFC control signal terminalPCI type of interface connector (separated analog and digital signals)

► Daughter Boards:MC9S08MP16MC56F8006/8013MC56F8257

PCI Daughter Board

Connectors

NEW


Freescale Embedded Software Libraries

74

► Target Devices/Platforms:•S08•MCF56F80xx•MCF51xx

► Range of Applications:•Digital Control Systems•Motor Control (BLDC, PMSM, AC)

► Highlights/Descriptions:•Software modules implemented in assembly•Optimized for speed•C-callable interface•Easy to use•Fully documented

► Public Deliverables:•General Function Library (GFLIB) contains math, trigonometric, look-up table and controlfunctions. These software modules are basic building blocks.•Motor Control Library (MCLIB) contains vector modulation, transformation and specific motor related functions to build digitally controlled motor drives.•General Digital Filter Library (GDFLIB) contains filter functions for signal conditioning.•Advanced Control Library (ACLIB) will contain functions to enable building the variable speed AC motor drive systems with field oriented control techniques without position or speed transducer (available soon).

System Infrastructure

On-Chip Peripherals

External HWPINS

External Connections

*Optional

UserApplication SW

Application SW

On-Chip Driver

On-Chip Drivers

Libraries

FSLESL

FMaster* Support

External App.*Support

Doc

umen

tatio

n

GFLIB

GDFLIB

MC

LIB

AC

LIB

APPLICATION

Proc

esso

r


Motor Control Library

► Motor Control Functions:Clark – Clarke Transformation algorithmClarInv – Inverse Clarke Transformation algorithmPark – Park Transformation algorithmParkInv – Inverse Park Transformation algorithmDecouplingPMSM – Cross-coupling voltages to eliminate dq axis coupling (only of PM synchronous motor)ElimDcBusRip – Elimination of the DC-Bus voltage rippleSvmStd – Appropriate duty-cycle ratios needed for generating the given stator reference voltage using a Standard Space Vector Modulation (SVM) techniqueSvmU0n – As SvmStd, but using termed SVM with O000 NullsSvmU7n – As SvmStd, but using termed SVM with O111 OnesSvmAlt – Special standard SVMSvmSci – General sinusoidal modulation with injection of the third harmonicPWMIct – General sinusoidal modulation


► Description

• This application presents a motor control technique of permanent magnet motor (PM motor) without a need to use a rotor position transducer. This technique particularly targets horizontal axis (H-axis) washing machine with belt drive in fractional horsepower range

• The PM motor control solution is based on field oriented control (FOC) with implemented speed control loop. This includes inner current control loop achieving good torque control performance. To maximize converter efficiency and minimize its rating, current loop. Even such sensorless control technique can be realized on low-cost 32-MIPS digital signal controller. Application is a single chip solution based on MC56F80XX digital signal controller series

• The demo consists of the 3-phace PM motor, control board based on MC56F8025 and high voltage power stage.

Featured Products• MC56F80xx

Key Markets• Industrial Drives• Appliance

Key Features• Sensorless Control of Permanent Magnet Synchronous Motor based on Back-EMF Observer• Application based on MC56F80XX digital signal controller• 3-phase AC/BLDC High Voltage Power Stage with 1-ph. line input 110/230VAC @ 50/60Hz• Industrial Permanent Magnet Synchronous Motor with braking mechanism• Initial rotor position detection using high frequency injection• Full torque at motor start-up• Field weakening at high speeds• Application based on C-callable library functions (GFLIB, GDFLIB, MCLIB, ACLIB)• Current control loop execution time: 38us• Speed control loop with Field weakening execution time : 11us• Flash: ~ 6KB, RAM ~ 1.5KB• FreeMASTER based control pages• Fault Protection

PMSM Sensorless Vector Control – 56F8025


PMSM Sensor/Sensorless Vector Ctrl – MCF51AC256

► Description

• This application demonstrates an advanced design of a 3-phase Permanent Magnet (PM) synchronous motor drive that is controlled sensorless or using an encoder. It is based on Freescale Semiconductor’s MCF51AC256 controller. The concept of the application is a speed closed loop PM synchronous drive using a Vector Control technique. It serves as an example of a PMSM control. The application uses the Freescale libraries (GFLIB, MCLIB, GDFLIB, ACLIB) that contained algorithms already compiled and optimized in assembler. This application utilizes a 3-phase power stage equipped with Freescale gate driver and a Freescale chip that creates a virtual COM port via USB for the Freemastercommunication. The application contains very attractive graphical gauges web page control for the Freemaster software plus many real time charts to explain the behavior of the system.

77

Featured Products• S08MRxxx

Key Markets• Appliance

• Dishwasher pump drives• Washing machine• High-end pumps and Fans

• Industrial Drives

Key Features• Vector control of PMSM using the Quadrature Encoder as a position sensor• Vector control with speed closed-loop• Two algorithms implemented:

•Encoder based position and speed measurement•Sensorless position and speed estimation using Back-EMF Observer

• Start from any motor position (with rotor alignment)• 4-quadrant operation• 3-shunt current sensing• Wide speed range• FreeMASTER Control Interface• Fault protection – over-current, over-voltage, under-voltage

NEW


Application HW Setup

► HW is modular – it consists of Freescale universal motor control boards

78

56F8025CB Controller Board

High Voltage 3-phase Power Stage

Motor TG SBL3

JTAG for Debugger

RS232 FreeMaster Connection


Application – Memory Usage

►Application with MC56F8025

► # Memory map:► v_addr p_addr size name► 004000 004000 00000080 .p_flash_ROM► 004080 004080 00001069 .p_flash_ROM (1069-4CA)=00B9F► 0050E9 0050E9 00000009 .p_flash_ROM► 008000 008000 00000800 .p_all_internal_RAM► 000000 000000 00000800 .x_all_internal_RAM► 0087E0 0087E0 00000000 .p_internal_RAM► 0087E0 0087E0 00000000 .p_internal_RAM► 000001 000001 000007C3 .x_internal_RAM► 0050F2 000001 00000093 .p_internal_RAM_ximage► 00F000 00F000 00001000 .x_onchip_peripherals► FFFF00 FFFF00 00000100 .x_EOnC\

► # Memory map: Freemaster = 004CA(.p_flash_ROM)► = 00554(.x_internal_RAM)► 0047C9 000007 .text FFMSTR_Init► …► 004C79 00001A .text FFMSTR_AddressToBuffer► 00016E 0004E2 .bss Fpcm_pOwnRecBuffer► …► 0006C1 000001 .bss Fpcm_bUseExAddr

►Sensorless PMSM FOC Control- Open loop start-up- Model based estimator- Field Oriented Control- Field Weakening

► .p_flash_ROM 2975d [Words] B9Fh

► .x_internal_RAM 623d [Words] 26Fh


Application – Timing

►Application based on MC56F8025

► Pulse width modulation running at• 20[kHz] with dead-time 1μsec

► FOC current loop running at • 10[kHz] (100[μsec])

► Speed Control Loop running at • 1[msec]

► Field Weakening with proper de-saturation

► Anguilla dedicated s/w library used• GFLIB (General Functions)• GDFLIB (Digital Filtering)• MCLIB (Motor Control)• ACLIB (Advanced Control – sensorless)

►Computational performance

► FOC current loop takes • 55 [μsec] @100[μsec]

► Speed control loop• 17 [μsec] @1msec


Application Tuning for Customer Motor

► The FreeMaster Communication/Control Tool running on a PC comp► FreeMaster control page for application control and tuning

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Parameters View and Set Window

Graphical ControlWindow

SelectionThe RequiredBlock Tuning


FreeMaster Measurements(1)

► Constant Speed 3000rpm Operation:

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• speedMotorSens – Sensed speed• speedMotorEstim – Estimated speed• speedMotorError – Estimated -sensed speed• sinCosEst.cos – Estimated Angle cosine• sinCosSens.cos – Measured Angle cosine• sinCosElScalarErr – Angle error [degree]• smoBemfStruct.cur.beta.F16.H – Estimated current


FreeMaster Measurements(2)

► Motor Start-up from 0 to 1000rpm:

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• speedMotorSens – Sensed speed• speedMotorEstim – Estimated speed• speedMotorError – Estimated-sensed speed• sinCosEst.sine – Estimated Angle sine• sinCosSens.sine – Measured Angle sine• sinCosGen32HL.sin.F16.H – Open loop generated Angle sine• sinCosElScalarErr – Angle error [degree]• smoBemfStruct.cur.alpha.F16.H – Estimated current• iSAlphaBetaCompens.alpha – Measured current


Differentiators Recognized by Market

► 8bit/16bit/32bit MCU/DSC Portfolio focus on motor control solution

• Core, PWM, ADC, Protection have been designed thinking to Motor Control Algorithms. That’s a vertical market.

►Freescale Enabling tools:• FreeMaster, Motor Control Library availability, CW

► Field Support and Turn-Key Solution• Roznov Expertise made difference

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Freescale Solution Cost Saving

► CPU Architecture optimized for C language• Reduce software development cost• Software can be modular and reused

► High Speed PWM and Timer Clock• Improve PWM resolution at high frequency output• Reduce ripple of power stage output and filter size

► On-Chip Power-on reset and Low voltage detection• Eliminate external Reset and power supply monitor chip

► Single 3.3V supply and 5V I/O port• Reduce power supply cost • Directly interface with 5V system without level shift device

► On-Chip regulator improves device EMI acceptability• On-Chip linear regulator powers the CPU and peripheral logic circuits

► On-Chip Relaxation oscillator• Eliminate external crystal and reduce PCB size• Greatly improve EMI acceptability

► Smaller Flash memory page size• Enable User to designate a page flash as EEPROM (eliminate external EEPROM device)

► Multi-Level interrupt priority• Hardware supported nested interrupt – Reduce interrupt overhead• Improve software efficiency

► Enhanced On-Chip Emulator• Enable to debug target system by using low cost, isolated debug tool.

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TM


Backup

Documents

Introduction to ACIM and PMSM Motor Control · 2016-11-23 · • Washing machine/Dishwasher/Dryer ACIM, PMSM ... The rotor of an induction motor also consists of windings or more