Digital Motor Control Library

C2000 application
in motor control
and PMSM control demo
Nam, Sang-il
Digital Motor Control
SyncWorks Inc.

Agenda
• C2000 Overview
• Control Peripherals in C2000
• Brief overview of Motor / Machine Theory
• Inverter, C2000 Modules / HW Considerations
• TI DMC Lib. / SW, Algorithm Considerations
• PMSM Control Demonstration

C2000 Overview
Nam, Sang-il
Digital Motor Control
SyncWorks Inc.

C2000 Target Applications
Renewable Energy
Generation
Automotive
Radar &
Electric Power
Steering
Consumer & Automotive
Digital Power
Telecom Digital
Power
C2000
AC Drives, Industrial &
Consumer Motor Control
LED Lighting
Power Line
Communications

C2000 32-bit MCU Portfolio

TMS320F28xxx Selection Guide
TMS320F281X DSPs
150MHz / 150MMAC
Two Event Managers
Compatible to 240x Devices
12bit ADC, 16 Channels
SPI, SCI, CAN, McBSP
16bit External Interface
√ √
TMS320F280X DSPs
100MHz / 100MMAC
Enhanced PWM Peripherals
Hi-Res. PWM Outputs (150 ps)
Enhanced Capture/QEP Peripherals
12bit ADC, 16 Channels
SPI, SCI, CAN, I 2 C
TMS320F2833X DSPs
150MHz / 150MMAC / 300MFLOPS
C28X + FPU
Enhanced PWM Peripherals
Hi-Res. PWM Outputs (150 ps)
Enhanced Capture/QEP Peripherals
12bit ADC, 16 Channels
6 Channel DMA Controller
SPI, SCI, CAN, I 2 C, McBSP
32bit External Interface

Control Peripherals in C2000
Nam, Sang-il
Digital Motor Control
SyncWorks Inc.

PWM Peripherals in F281x
• TMS320F281X (Two Event Managers)
EV-A
EV-B
Timer 1
Timer 2
Timer 3
Timer 4
T1PWM
PWM1 ~ PWM6
T2PWM
T3PWM
PWM7 ~ PWM12
T4PWM
Single Phase 4 Channels
Three Phase 2 Pairs (12 Channels)

PWM Peripherals in F280x/F2823x/F2833x
• TMS320F280X/F2833X (Up to 6 Enhanced PWM Modules)
ePWM n
Time-Base
Counter-
Compare
Action-
Qualifier
Event-Trigger
(ePWM1 ~ ePWM6)
PWM-
Chopper
Dead-Band
Trip-Zone
X 6
ePWMnA
ePWMnB
Flexible PWM 12 Channels

Advantage of PWM
in Digital Motor Control
• Power Switching Device Limitation
– Difficult to control in proportional region
– Easy to control in saturated region
• PWM signals
– Digital signal
– Easy for DSP to output
• PWM “Power DAC”
PWM ENOB (# bit)
PWM System Clock (MHz)
(kHz) 20 30 40 150
10 11.0 11.6 12.0 13.9
20 10.0 10.6 11.0 12.9
30 9.4 10.0 10.4 12.3
50 8.6 9.2 9.6 11.6

Capture / QEP Peripherals
• TMS320F281X
– Use GP-Timers(16bit) in Event Managers
– 6 Capture inputs (Two Capture Module)
• TMS320F280X / F2823X / F2833X
– Use private timer(32bit) in Enhanced Capture Module
– Up to 6 Capture inputs
– APWM Mode
– Absolute Time-stamp Operation
or Delta Operation

ADC Peripherals
• TMS320F281X / F280X / F2823X / F2833X
– Two Sample & Hold / Two Sequencers
– 2 x 8 Channel Input Multiplexer (16 Channels)
– Single / Simultaneous Conversions
– 3.75 ~ 12.50 MSPS
– 0v ~ 3v Input

Brief overview of Motor / Machine Theory
Nam, Sang-il
Digital Motor Control
SyncWorks Inc.

Application to Three Phases Machine
Operation Fundamentals
1.50
1.00
0.50
0.00
-1.00
-1.50
Three stationary pulsating magnetic fields
C
B`
ia
A`
Fc
Fb
A
Fa
B
C`
Phase currents
ia ib ic
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
-0.50
The three phase winding
produces three magnetic fields,
which are spaced 120° apart
physically.
When excited with three sine
waves that are a 120° apart in
phase, there are three pulsating
magnetic fields.
ωt
• The resultant of the three
magnetic fields is a rotating
magnetic field.

Synchronous Motor Operation
C
B`
S
N
S
A`
A
N
B
C`
Rotor field
φ
Stator field
Rotor is carrying a constant magnetic
field created either by permanent
magnets or current fed coils
The interaction between the rotating
stator flux, and the rotor flux produces
a torque which will cause the motor to
rotate.
The rotation of the rotor in this case will be at the same exact frequency as the applied
excitation to the rotor.
This is synchronous operation.
ω
Rotor speed (rad/s) : Ω
= gives
p
f
: AC
p : motor
supply frequency
(Hz)
poles pair per phase
60.
p
f
(r.pm)
Example: a 2 poles pair
synchronous motor will run at
1500 r.pm for a 50Hz AC supply
frequency

Synchronous machine classification:
BLDC and PMSM
Phase A
Hall A
Phase B
Hall B
Phase C
Hall C
C
B`
N
300 900 1500 2100 2700 3300 300 900 600 00 1200 1800 2400 3000 3600 600 i a
Back EMF of BLDC Motor Back EMF of BLAC(PMSM)
i b
A`
A
i c
S
B
C`
• Both (typically) have permanent-magnet rotor
and a wound stator
• BLDC (Brushless DC) motor is a permanent-magnet
brushless motor with trapezoidal back EMF
• PMSM (Permanent-magnet synchronous motor) is
a permanent-magnet brushless motor with sinusoidal
back EMF
E a
θ e
θ e
θ e
1.50
1.00
0.50
0.00
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
-0.50
-1.00
-1.50
ea eb ec
ωt

Inverter, C2000 Modules
/ HW Considerations
Nam, Sang-il
Digital Motor Control
SyncWorks Inc.

Motor Control System Overview
TMS320F28X
PWM
ADC
CAP/QEP
6 PWMs
V-dcBus
1A
1B
I L-U I L-V
2A
2B
3A
3B
Current or voltage feedback signals
Sensor signals
V U V V V W
3Phase Motor
(BLDC or PMSM)
Sensor
(Hall Effect Sensor
or Optical Encoder)
• Event Manager or EPWM
• 3Phase Full-Bridge
• ADC, Capture/QEP

3Ph. BLDC Sensored Control
TMS320F28X DSC
PWM
Capture
ADC
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
Hall 1
Hall 2
Hall 3
DC Shunt
Signal
Conditioning
Vdc
PWM1
PWM2
A
DC Shunt
PWM3
PWM4
DC-Bus
B
PWM5
PWM6
C
+
-
3Ph. BLDC
Motor
Hall 1
Hall 2
Hall 3
0° / 120° / 240°
Commutation / Speed Info.
(Hall Effect Sensor)

3Ph. PMSM Sensored Control
TMS320F28X DSC
PWM
QEP
ADC
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
QEP A
QEP B
QEP I
(Optional)
Shunt-1
Shunt-2
Signal
Conditioning
Vdc
PWM1
PWM2
A
Shunt-1
PWM3
PWM4
DC-Bus
B
Shunt-2
PWM5
PWM6
C
+
-
3Ph. PMSM
QEP A
QEP B
QEP I
Position / Speed Info.
(Optical Encoder)

50W - 3phase inverter (SMC75 EVM)
• Motor Drive - the Smart Power Module (Fairchild)
• DSC
– 3-phase FRFET inverter including high voltage integrated circuit (HVIC)
– All kinds of TMS320F28X DSC Modules
(SyncWorks)
• Built-in useful circuits
– ADC Signal conditioning circuits
– Circuit for serial interface (CAN, SCI)
– General-Purpose LEDs, Potentiometer, Switches

The C2000 Module Development Platform
One EVM, Multiple C2000 Modules
• TMS320F2812/F2811
• TMS320F2808
• TMS320F28335
C2000 Modules are pin
compatible, allowing
customers to evaluate
multiple C2000
microcontrollers on the
same EVM(baseboard) !

TI DMC Lib. / SW, Algorithm
Considerations
Nam, Sang-il
Digital Motor Control
SyncWorks Inc.

TI’s Digital Motor Control Library
• Useful examples for you
– DC Motor, AC Induction Motor, BLDC Motor, PMSM control
examples
• Just connecting blocks together !

TI’s Digital Motor Control Library
*Sensored FOC PMSM example block diagram

TI’s Digital Motor Control Library
• Incremental Build approach
– Incremental system builds reduce development time
Step 1
: Check system vital signs
Step 2
: Check PWM generation
…
Step 6
: Closed loop control

Motor Control Systems Available
These systems and more can be downloaded
from TI’s website:
• Single Phase Constant V/Hz (ACI)
• 3-Phase Constant V/Hz (ACI)
• 3-Phase Field Oriented Control Sensored (ACI)
• 3-Phase Field Oriented Control Sensorless (ACI)
• 3-Phase Field Oriented Control Sensored (PMSM)
• 3-Phase Field Oriented Control Sensorless (PMSM)
• 3-Phase Trapezoidal Control Sensored (BLDC)
• 3-Phase Trapezoidal Control Sensorless (BLDC)

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…

PMSM Control Demonstration
Nam, Sang-il
Digital Motor Control
SyncWorks Inc.

PMSM / BLDC Control Demonstration
• PMSM3-4 & BLDC3-1 Examples
– PMSM3-4 : QEP / Field Oriented Control (Vector control) / Position PID
– BLDC3-1 : Hall-Sensor / Trapezoidal Control / Speed PID
• Hardware environments
– SMC75 & TMS320F28X EVMs
– TMS320F2808 / F2812 Modules
– TDS510USB-C2K JTAG Emulator
– Code Composer Studio v3.3
– DC Power Supply (for DC-Link)
– 15W BLDC Motor (DC24V)
– 26W PMSM (DC24V)

PMSM / BLDC Control Demonstration
Use TI’s examples in DMC Library

Thank you!
www.tms320.co.kr