implementing digital motor control with c2000
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Power Flow Block Diagram
• Power is transferred from the AC line to the motor through the rectifier, and inverter.
• The C2000 controls the flow of power from the AC line to the motor.
Rectifier AC
Line Filter
PWM
Inverter Motor
Mech
Power
C2000
Controller
Content
• Motor Control Methods Overview
• Inverter / Hardware considerations
• Software / Algorithm Considerations
• DMC Development Kits
• System Incremental Build
• Demo, Q&A
Content
• Motor Control Methods Overview
• Inverter / Hardware considerations
• Software / Algorithm Considerations
• DMC Development Kits
• System Incremental Build
• Demo, Q&A
The “Ideal” Motor Control
• Achieve maximum torque at every speed
• Good transient control (currents, speed)
• Efficient control
• Low EMI
• Low electrical network pollution (harmonics)
• No reactive power (power factor correction)
• Low acoustical noise level
• Board cost
• Development time
• From the previous slides we know that if we excite the three stator coils with three-
phase voltages we will get a rotating magnetic field at the centre
• All we now have to do to invent our PMSM (or BLDC) is to pivot a permanent
magnet at the centre
• The rotor will always rotate at exactly the same speed as the stator, which is why
this type of machine is called “synchronous”
Synchronous Motors: PMSM & BLDC
Difference Between BLDC & PMSM
• PMSM control
– Fed with sinusoidal current
– Continuous stator flux angle change
– All phases ON at the same time
– Low torque ripple
– Higher max achievable speed
– Low noise
• BLDC Control
– Fed with direct current
– Stator Flux commutation each 60º
– Two phases ON at the same time
– High torque ripple
– Commuation at high speed difficult
– High noise
Ebemf of PMSM
Ebemf of BLDC
30 150 210 230
BLDC control strategy
3 phases BLDC
star connection
with central point N
300 900 1500 2100 2700 3300 300 900 600 00 1200 1800 2400 3000 3600 600
Phase A
Phase B
Phase C
ia
ib
ic
e
e
e
VAN
AB
1
AC
2
BC
3
BA
4
CA
5
CB
6
AB
1
VBN
VCN
Two of the three phases are always energized, while the third phase is
turned off.
Switching instant are linked to rotor position
need for precise position sensing/evaluation of 30º, 90º, 150º, 210º, …
positions
A
ic
ib B
C
N
ia
VAB
VCN
Hall Effect Control of BLDC Motors
VLink
speed
calculation
PI PI PWM
commutation
control
T3 T5
T4
T1
T6 T2
For better performance we use closed loop control
• The Hall sensors and associated electronics will generate the signals
necessary for correct commutation
• Information from the Hall sensors are also used to calculate and feed
back the velocity
• Only two phases conduct at any one time; for current feedback dc-link
current is measured and fed back
Hall Effect Control of BLDC Motors
• Only two out of the three phases are energised at any one time
• The phases are energised in a 6 step manner
• The Hall sensors and the associated electronics will generate the signals necessary
for correct commutation
• Current is then injected when the Ebemf of each phase as reached its flat portion.
This will ensure constant torque
1 2 4 5 6 3 U
V
W
H1
H2
H3
Hall Effect Control of BLDC Motors
In the Previous slide, we stated that we use the signal from the hall effect to inject a DC
current when the Bemf reaches it flat region
– Flat current & Flat Bemf Flat torque (i.e. constant torque)
– No need for complex PWM (i.e. Slow switching)
300 900 1500 2100 2700 3300 300 900
600 00 1200 1800 2400 3000 3600
ia 600
Phase A
Phase B
Phase C
ib
ic
e
e
e
Back EMF Ea
Hall A
Hall B
Hall C
Back EMF of BLDC Motor
• The back-emf Ebemf waveform is directly related to the position of the rotor. If we could detect the zero crossing of the back-emf waveform we could deduce the position of the rotor
• We will then need to wait for 30 for the Ebemf to reach its constant region and then turn on the current in that phase
• The waiting time needed is dependant on the motor speed and can be deduced by continuously measuring the previous Ebemf zero crossings.
• Usually operated open loop at low speeds and when Ebemf becomes large enough to estimate accurately the loop is closed
• In a BLDC system only two coils are “on” at any moment in time.
• It has been shown* that Ebemf at the unconnected phase is crossing its zero point when the terminal voltage at that phase is equal to Vdc_link /2
• In other words if we measure Va, when Va = Vdc_link/2 the Ebemf = 0
Sensorless Control of BLDC Machines
zero crossing
Ea Eb
Ec
Vd
c_
link Zb
Zc
Za
Va
I
* “Microcomputer Control of Sensorless Brushless Motor”, K. Iizuka et.al, IEEE Transactions on Industry Applications, Vol IA-21, No4, May/June 1985, pp. 595 - 601
Speed Closed-Loop Control with Current Control
Block Diagram of Sensorless BLDC Control
• Hall sensors are removed. Resistor dividers and on-chip ADC are used to sense phase voltages.
• Phase voltages are used to detect zero crossing of back EMF and trigger commutation
• See TI Application reports (SPRA498 and BPRA072) for more details
3
Trapezoidal BLDC
Motor
Dedicate
divider circuit
*I I
3
Back EMF Zero
Crossing Detector
Calculator
30°
Delay Commutation
Sequencer
PWM
Generation
Current
Regulator
(PI)
+
Idc_shunt
DC Bus
sp
*
Speed
Calculator
+
m
k
AC Induction Motors
Squirrel Cage Rotor
• Invented in 1888 by Nikola Tesla
• Reliable construction: no brushes
• Simple, low cost design
• Good efficiency at fixed speeds.
• Asynchronous
• Speed and control position are expensive
• Poor performance at low speed operation
• Requires complex control to be competitive
Typical applications: industrial drives, white goods, fans, high speed applications
1. The rotating magnetic
field in the stator,
induces a current in the
rotor
2. This current will have a
magnetic field
associated with it
3. This magnetic field makes
the rotor behave like a
magnet which will then
follow the stator’s rotating
magnetic field
Induction Motor Operation
Important: For these currents to be induced the rotor
must travel slower than the stator this is called slip:
e
r e s
- =
Scalar Control (V/f) - Limitations
+ Simple to implement: All you need is three sine waves feeding the motor
+ Position information not required (optional).
– Doesn’t deliver good dynamic performance.
– Torque delivery not optimized for all speeds
V s
(volt)
f (Hz) f c f rated
V rated
0
TIME
TORQUE
Torque oscillation generates uncontrolled
current overshoot:
V Φm
Rs Rr/s Ls Lr
Lm
Model:
f)2 / (V mm =
)L f2 / (V I mmm =
R(s)
Scalar Control (V/f) Limitations
TORQUE
MAXIMUM
TORQUE
NOMINAL
TORQUE
SPEED NOM SPEED
VOLTAGE
Vo
LOW SPEED
At or near nominal speed:
Stator voltage drop negligible: (Vm = V),
At low speed: Rs is no longer negligible: Vm < V A large portion of energy is now wasted.
V Φm
Rs Rr/s Ls Lr
Lm
Model:
f)2 / (V mm =
)L f2 / (V I mmm =
R(s)
V/F control definition
SV
PWM 3-phase
Inverter
ACIM
VDC
Reg nref
-
n
V/f
Scalar control
Speed loop
+ Simple to implement: All you need is three sine waves
feeding the ACI
+ No position information needed.
– Doesn‟t deliver good dynamic performance.
– Not so good at low speed.
Field Circuit Armature Circuit
)(
..
..
e
em
If
KE
IKT
=
=
=
Separated excitation DC motor model
Flux and torque are independently controlled
The current through the rotor windings determines how much torque is produced.
Vector Control
Field Oriented Control (FOC)
A`
B
C`
A
B`
C N
S
q=90°
F
F
Back EMF (v)
Stator Current (Is)
T = constant
t
t
t
Maintain
the „load
angle‟ at
90°
Vector Control Concepts
+ Reduced torque ripple
+ Better dynamic response
+ Good performance at lower speeds
- Need rotor position info
rotorstatorem BBT
=
Field Orientation
FOC control Overview
cm
SV
PWM
a,b,c
a,b iSq
iSd
iSa
iSb
ia
ib
vSqref PI
PI vSdref
vSaref
vSbref
iSqref
iSdref
-
- 3-phase
Inverter
ACIM
VDC
d,q
a,b
d,q
a,b
current
model
PI nref
-
n
Field
Weakening
Speed loop
Vector control Require MIPS
Require current
information (sensing)
Vector control:
This method is based on the dynamic model of the motor. The Flux (Id) and The Torque (Iq) are controlled separately. Flux and Torque are controlled in real time.
Some key mathematical components are required!
a
b
Is
2/3
2/3
2/3 c
Stationary Reference Frame
Two phase orthogonal reference frame
q
d
Is
/2
Three phase reference frame
t
ic ia ib
t
t
Id
Iq
Clarke Transform
Stationary to Rotating Reference Frame
Again the transformation equations can simply be derived
by resolving fs, along the desired axis:
dqs to dqe transform:
Inverse dqs to dqe transform:
f f Cos t f Sin tqs
e
qs
s
e ds
s
e= -( ) ( )
f f Sin t f Cos tds
e
qs
s
e ds
s
e= ( ) ( )
f f Cos t f Sin tqs
s
qs
e
e ds
e
e= ( ) ( )
f f Sin t f Cos tds
s
qs
e
e ds
e
e= - ( ) ( )
ds axis
qs axis
e
fqs
s
de axis
qe axis
fqs
e
e =e t
e
fds
s fds
e
d
is
/2
Clarke Transformation
Determination of Torque & Flux from Stator
Currents
Three phase stationary
reference frame
t
ic ia ib t
t
Two phase orthogonal
stationary reference frame
iq
t
t
iq
id
Torque Component
Flux Component
Rotating reference
frame
d
is q
stator
id
iq
Flux Torque
Park Transformation
a
b
is
2/3 2/3
2/3 c
3-phase Currents
MEASURE CURRENTS
id
q
Content
• Motor Control Methods Overview
• Inverter / Hardware considerations
• Software / Algorithm Considerations
• DMC Development Kits
• System Incremental Build
• Demo, Q&A
3-phase Inverter Control
1B
1A
2B
2A
V-dcBus
3B
3A
IL-2IL-1
IPH-1 IPH-2
Motor 1
VA VB VC
Decisions that need to be made:
How to drive complementary PWM?
In the Motor Control and PFC Developer‟s Kit we chose to use a Integrated Power Module (IPM) to generate the complementary PWM. We could have used the C2000‟s deadband submodule within each PWM module instead.
In sensorless, how will we sense current?
In the Motor Control and PFC Developer‟s Kit we chose to use low-side sensing.
Low-side current sensing is more difficult, but more scalable. In high-side current sensing, amplifiers that allow high common-mode voltages are expensive.
High side current Sensing
Low side current Sensing
Voltage waveforms for
debug
Why Pulse Width Modulation?
A linear power amplifier will:
• waste too much power
• cost money
• heat dissipation
• bad for environment
controller
Motor
Signal
Power
Why Pulse Width Modulation ?
T t
PWM representation
t
Original Signal
Digital signal easy to output
High efficiency switching
+Vdc
PWM Signal Generation
Traditional way: comparing three-phase sinusoidal waveforms with a triangular carrier
Van = V.sin(ωt) (Van phase-neutral voltage)
PWM consideration:
Time Step
Bit width
Update conditions
Dead time ….
Zero Vectors (000) & (111)
S1
S2
S3
S4
S5
S6
V0 (100)
V60 (011) V120 (010)
V180 (110)
V240 (100) V270 (101)
d
q
Van*
θ
Cmp Value 1
Cmp Value 2
A
B
C
A B C
A_ B_ C_
Va Vb Vc
Motor
• Third harmonic injection
• Line to line voltage still sinusoidal
• PWM technique
• DSP hardware implemented
• Increase the maximum inverter output voltage of 15%
• Reduce transistor commutations
)3sin(.6
1)sin(.* ttVVan =
Space Vector PWM principle
We build the required voltage vector as a combination of one of the six basic switches configuration
0 0 (000) 0 (111)
Cmp Value 3
V0 V60 0(000) 0(111) 0(111) V60 V0 0(000)
Current Sensing
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
Signal Conditioning ADCINx ADCINx
+ DC_BUS
Shunt
Iphase
Ishunt
3.3 v
0 v
Iphase
Ishunt
100 uS
10 % duty off
ADC
sample
ADC
sample
ADC sampling window
• Requires flexibility of triggering sample and conversion in middle of PWM pulse
• Fast ADC S/H is required
• CPU operation promptly
• 3 phase current are available under all load conditions
Flexible PWM module
Action
Qualifier
(AQ)
Time-Base (TB)
Dead
Band
(DB)
Counter Compare (CC)
S0 S1
TBCTL[SYNCOSEL]
EPWMA
EPWMB
Trip
Zone
(TZ)
Event
Trigger &
Interrupt
(ET)
PWM
Chopper
(PC)
16
CMPB Active (16)
16
Sync
In/Out
Select
Mux
Phase
Control
EPWMxTZINTn
TZ1n to TZ6n
CMPA Active (16)
CMPA Shadow (16)
CMPB Shadow (16)
TBPRD Active (16)
TBPRD Shadow (16)
16
CTR=ZERO
CTR=CMPB
Disabled
TBCTL[CNTLDE]
CTR=PRD
CTR=ZERO
CTR=CMPA
CTR=CMPB
CTR_Dir
TBCTL[SWFSYNC](software forced sync)
CTR_Dir
CTR=ZERO
CTR=PRD
CTR=CMPA
CTR=CMPB
CTR=ZERO
EPWMxINTn
EPWMxSOCA
EPWMxSOCB
TBPHS Active (16)
Counter
UP / DWN
(16 bit)
TBCNT
Active (16)
EPWMxSYNCO
EPWMxSYNCI
EPWMxAO
EPWMxBO
16
16
16
Single EPWM module (in detail)
Simple view of EPWM
En SyncI
SyncO
CTR=Zero
CTR=CMPB
X
Phase Reg
EPWMn
EPWMnA
EPWMnB
Phase control
Sync. control
Dual Inverter + Boost
1B
1A
2B
2A
V-dcBus
3B
3A
IL-2IL-1
IPH-1 IPH-2
Motor 1
(optional)
5B
5A
6B
6A
V-dcBus
7B
7A
IL-2IL-1
IPH-1 IPH-2
Motor 2
Piccolo-B
3V3
PWM1(HR)
ADC
12 bit
5 MSPS
I2C
SPI
UART
CAN
Comms
CPU
32 bit
DSP core
60 MHz
MCLA32 bit
FPU
60 MHz
PWM2(HR)
PWM3(HR)
PWM4(HR)
PWM5(HR)
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
Vref
6A/6B
7A/7B
PWM6
PWM7
V-dcBus
IL-1(1)
IL-2(1)
V-batt
I-boost1
I-boost2
I-boost
IL-1(2)
IL-2(2)
4A
4B
V-batt
I-boost
I-boost1 I-boost2
V-dcBus
VA
B
VCD
VEF
EPWM1A
EPWM1B
EPWM2A
EPWM2B
EPWM3A
EPWM3B
3 Phase
Motor
VA
B
VCD
VEF
EPWM4A
EPWM4B
EPWM5A
EPWM5B
EPWM6A
EPWM6B
3 Phase
Motor
En SyncIn
SyncOut
CNT=Zero
CNT=CMPB
X
=
Phase Reg
Master
En SyncIn
SyncOut
CNT=Zero
CNT=CMPB
X
Phase Reg
En SyncIn
SyncOut
CNT=Zero
CNT=CMPB
X
Phase Reg
1
Ext Sync In
(optional)
2
3
EPWM1A
EPWM1B
EPWM2A
EPWM2B
EPWM3A
EPWM3B
Slave
Slave
En SyncIn
SyncOut
CNT=Zero
CNT=CMPB
X
Phase Reg
4
EPWM4A
EPWM4B
Slave
=
=
=
En SyncIn
SyncOut
CNT=Zero
CNT=CMPB
X
Phase Reg
5
EPWM5A
EPWM5B
Slave
=
En SyncIn
SyncOut
CNT=Zero
CNT=CMPB
X
Phase Reg
6
EPWM6A
EPWM6B
Slave
=
Dual - 3 Phase Inv. for Motor Drives
Content
• Motor Control Methods Overview
• Inverter / Hardware considerations
• Software / Algorithm Considerations
• DMC Development Kits
• System Incremental Build
• Demo, Q&A
3-Phase
Inverter
Encoder
PMSM
Motor
I_PARK
Q15 / Q15
ipark_Q
ipark_D
theta_ip
ipark_q
ipark_d
CLARKE
Q15 / Q15
clark_a
clark_b
clark_c
clark_d
clark_q
PARK
Q15 / Q15
park_d
park_q
theta_p
park_D
park_Q
pid_reg_iq
Q15 / Q15
i_ref_q
i_fdb_q
u_out_q
pid_reg_id
Q15 / Q15
i_ref_d
i_fdb_d
u_out_d
pid_reg_spd
Q15 / Q15
spd_ref
spd_fdb
spd_out
Constant 0
QEP_ THETA_
DRV
HW / Q15
QEP_A theta_elec
theta_mech
dir_QEP
index_sync_flg
QEP_B
QEP_index
SPEED_FRQ
Q15 / Q15
shaft_angle
direction
speed_frq
speed_rpm
FC_PWM_ DRV
Q0 / HW
Mfunc_c1
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
Mfunc_c2
Mfunc_c3
Mfunc_p
ILEG2DRV
Q15 / HW
Ia_out
Ib_out
ADCINx
ADCINy
Ia_gain
Ib_gain
Ia_offset
Ib_offset
Q0
Q15
Q15
Q13
Q13
I_ch_sel
SVGEN_DQ
Q15 / Q15
Ubeta
Ualfa
Ta
Tb
Tc
speed_ref_
EV
HW
ADC
HW
QEP I/F
HW
Scope
Scope
Scope
Scope
Scope theta_elec
spd_ref
theta_mec
h spd_fdb DAC_
VIEW_ DRV
Q15 / HW
DAC_iptr0 DAC 0
DAC 1
DAC 2
DAC 3
DAC_iptr1
DAC_iptr2
DAC_iptr3
I/O +
DAC
HW
Constant
TI DMC Software Library
At the “C” level:
clarkInv(&dqBuffer, &fcPwm.InputBuffer)
fcPwmInputBuffer.ditherIn = randomGen1.calc(&randomGen1)
fcPwm.calc(&fcPwm);
CLARKI
Q15 / Q15
Iclark_a
Iclark_b
Iclark_c
Iclark_d
Iclark_q
RAND GEN
Q15 / Q15
rnd_gain
rnd_offset
random
FC_PWM DRV
Q0 / HW
mfunc_c1
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
mfunc_c2
mfunc_c3
mfunc_p
Interconnecting Modules
Digital Motor Control Library (DMC-Lib)
The DMC-Lib contains:
• PID regulators,
• Clarke transforms,
• Park (& Inverse) transforms,
• Ramp generators,
• Sine generators,
• Space Vector generators,
• Speed / Position meas. / estimators
• and more…
3-Phase
Inverter
Encoder
PMSM
Motor
I_PARK
Q15 / Q15
ipark_Q
ipark_D
theta_ip
ipark_q
ipark_d
CLARKE
Q15 / Q15
clark_a
clark_b
clark_c
clark_d
clark_q
PARK
Q15 / Q15
park_d
park_q
theta_p
park_D
park_Q
pid_reg_iq
Q15 / Q15
i_ref_q
i_fdb_q
u_out_q
pid_reg_id
Q15 / Q15
i_ref_d
i_fdb_d
u_out_d
Constant
Constant 0
QEP_ THETA_
DRV
HW / Q15
QEP_A theta_elec
theta_mech
dir_QEP
index_sync_flg
QEP_B
QEP_index
FC_PWM_ DRV
Q0 / HW
Mfunc_c1
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
Mfunc_c2
Mfunc_c3
Mfunc_p
ILEG2DRV
Q15 / HW
Ia_out
Ib_out
ADCINx
ADCINy
Ia_gain
Ib_gain
Ia_offset
Ib_offset
Q0
Q15
Q15
Q13
Q13
I_ch_sel
SVGEN_DQ
Q15 / Q15
Ubeta
Ualfa
Ta
Tb
Tc
EV
HW
ADC
HW
QEP I/F
HW
Scope
SMOPOS
Q15 / Q15
(sliding mode
rotor angle estimator)
vsalfa thetae
vsbeta
speedref
Ualfa
Ubeta
speed_ref
_
isalfa
isbeta
clark_d
clark_q zalfa
zbeta
Scope
Scope
Scope
Scope isbetaerr*
isalfaerr*
theta_elec
thetae DAC_ VIEW_ DRV
Q15 / HW
DAC_iptr0 DAC 0
DAC 1
DAC 2
DAC 3
DAC_iptr1
DAC_iptr2
DAC_iptr3
I/O +
DAC
HW
*: debug only variables
Switched by
manually setting
foc_flg to “1” in
CC watch
window
PMSM FOC Sensorless with SMO
Content
• Motor Control Methods Overview
• Inverter / Hardware considerations
• Software / Algorithm Considerations
• DMC Development Kits
• System Incremental Build
• Demo, Q&A
Platform for Motor Control
High Voltage + PFC $599
TMDSHVMTRPFCKIT
Low Voltage + PFC $369/$399
TMDS1MTRPFCKIT / 2MTRPFCKIT
Motor Types ACI, BLDC, PMSM BLDC
Control ACI & PMSM FOC
BLDC Commutation
FOC
(BLDC Commutation in Q3 HW Rev)
Sensor Interface Sensorless or Hall/QEP Sensorless or Hall/QEP
Communications Isolated USB/UART to JTAG
Isolated CAN
Isolated USB/UART to JTAG
(Isolated CAN in Q3 HW Rev)
Three Phase Inverter 350V, 1.5 Kw, IPM, Fault Protection 2 x TI DRV8402 IPM, 24-36V, 40W
Current Sense Low-side current sense OPA2350 Low-side current sense OPA2350
Optional Power
Factor Correction
Digital 750W 2PHIL, 200KHz, UCC27234
IN: 85-132V, 170-250V OUT:400V DC
Digital 100W 2PHIL, 100KHz
IN: 13-16V OUT:24V DC
controlCARD
Platform for Motor Control
High Voltage + PFC $599
TMDSHVMTRPFCKIT
Low Voltage + PFC $369/$399
TMDS1MTRPFCKIT / 2MTRPFCKIT
Software controlSUITE controlSUITE SPRC922
IDE CCSv4.x CCSv4.x CCSv3.3
DMCLibrary NEW & OPTIMIZED NEW OLD
GUI YES Q210 NO
PFC SW Q310 w/ new PowerLIb Q310 Yes
Projects ACI FOC, PMSM FOC, BLDC ; All Sensored/-less 2xPMSM FOC 1/2xPMSM, +PFC
Family
Support
Piccolo F2803x
Delfino F2833x Q2
Piccolo F2803x
(minor mods for F2802x)
Piccolo F2803x
(minor mods for F2802x)
controlCARD
DMC – Single Axis + PFC HV
PWM-2A
PWM-3A
PWM-4A
2H
3H
2L
3L
2H 3H
2L 3L
Driver
1
2
3
1H
1L
3ph - Inverter
PWM-2B
PWM-3B
PWM-4B
4
5
6
PFC-2PhIL
PWM-1A
PWM-1B
Filter
+
Vac
JTAG
UART
USB
12VVin
Aux
Supply
5V
100~400
VDC
PWM-1
Piccolo-A
I2C
SPI
UART
CPU
32 bit
A
B
PWM-2 A
B
PWM-3 A
B
PWM-4 A
B
ADC
12 bit
Vref
1
2
3
13
1
2
3
4
5
6
7
8
1 2
34
5 6
7 8
9
Dual Motor Control and PFC Developer’s Kit
PWM-1
F28035 Piccolo
I2C
UART
CAN
CPU
32 bit
A
B
PWM-2 A
B
PWM-3 A
B
PWM-4 A
B
CAP-1
PWM-1A
PWM-1B
PWM-2A
ADC
12 bit
Vref
1
2
3
4
5
16
2H
3H
2L
3L
2H 3H
2L 3L
1
2
3
1H
1L
DRV8402 -IPM
4H
4LPWM-2B
4
4H
4L
DC-Bus
spare
3 Phase
PM motor
PWM-3A
PWM-3B
PWM-4A
2H
3H
2L
3L
2H 3H
2L 3L
1
2
3
1H
1L
DRV8402 -IPM
4H
4LPWM-4B
4
4H
4L
DC-Bus
spare
3 Phase
PM motor
Voltage
sensing
Inc.
Encoder
QEP
3
Position
Sensor
CAP
1
12V
12V
QEP3
HOST
Vac
PWM-
5B
PWM-
5A
PWM-5 A
B
Current
Feedback
Current
Feedback
L2
L1
D3
D2
Q1
Q2
Controls two motors and performs PFC --Available--
Dual Axis Motor Control Board
2-phase
Interleaved
PFC
1st Motor 2nd Motor
Isolated On-Board Emulation Control Card
DRV8312-F28035 Three Phase BLDC Motor
Control Board
Control Card
DRV8312
Motor
Connector
DC-Bus
Connector
Encoder
Interface
Hall
Interface
Utilities
controlSUITE: Content + Content Management
C2000 Device
Piccolo F2802x
Piccolo F2803x
Delfino C2834x
Delfino F2833x
Device Support
Bit Fields
API Drivers
Examples
Library Repository
Math Library
IQMath
DSP Library
Application Library
Development Kits
Hardware Package
Software Examples
System Framework
Graphical User
Interfaces
Debug and Software Tools
IDE
RTOS
Real-time Debug
F2823x
3rd Party Tools
Please see the Tools Presentation for
Details
Content
• Motor Control Methods Overview
• Inverter / Hardware considerations
• Software / Algorithm Considerations
• DMC Development Kits
• System Incremental Build
• Demo, Q&A
1A) verify 120° SV-PWM outputs
1B) verify PWM-DACs used for analysis
1C) Verify SV-PWM Gen PWM Outputs / Inverter Inputs
Incremental Build
Incremental Build
2A) Check ADC calc of Voltage using watch window (WW)
2B) Check Clarke (Phase Currents) in WW
2C) Calibrate phase current off-set to enable low load sensorless
Resources:
Real-Time Mode on wiki
Chapter 7.4 in the C28x CPU Reference Guide
Real-Time Debug
Traditional debugging (Stop Mode)
– stops all threads and prevents interrupts from being handled
– makes debugging real-time systems extremely difficult
C2000 Real-time Mode:
- real-time, non-intrusive, continuous
- Does not require use of target memory, special interrupts, or SW
intrusiveness
- Allows time critical interrupts to be marked for special treatment (high
priority)
- Allows time-critical interrupts to be serviced while background program
execution is suspended
- Included on all C2000 devices and integrated with Code Composer Studio
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