Motor Control Sensorless Vector Control

8/12/2019 Motor Control Sensorless Vector Control

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Renesas Electronics America Inc.

2010 Renesas Electronics America Inc. All rights reserved.

ID630L: Becoming Familiar with SensorlessVector Control of BLDC Motors

Huangsheng XuConsumer & Industry BU

14 October 2010 Version: 1.0


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2 2010 Renesas Electronics America Inc.All rights reserved.

Huangsheng Xu

Senior Staff Application Engineer, Primaryfocus on Motor Control Applications andCustomer Supports

Ph.D. degree in electrical engineering from

Texas A&M University, College Station,Texas, in 2001.

Twenty years working on motor drives,especially, sensorless vector control ofPMSM motors and induction motors.

Three U.S. patents

Over twenty papers in the IEEE journals and

conference proceedings. The third award at IEEE-Industrial

Application Society 2006 for sensorlessvector control of three-phase induction

motors .


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Lab Assistants Gordon Smith & John Pocs

Gordon Smith is a Sr. FAE at Renesas, responsible forsupporting Customer MCU designs throughout the GreaterChicago Area. He uses his nearly 30 years of Hardware,Software, and System Design experience, to assist

Renesas World-class Customers in creating the mostrugged, cost-effective, and innovative circuits on thePlanet!

John Pocs is a motor control expert for MCU motorcontrol applications and customer support. He has 12 yearwith NEC Electronics, and currently he is a staffapplication engineer at Renesas, and has over 20 yearsembedded system development, application and industrialexperience. He is very familiar with 8/16/32-bit MCUs.


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Renesas Technology and Solution Portfolio

Microcontrollers

& Microprocessors#1 Market share

worldwide *

Analog and

Power Devices#1 Market share

in low-voltage

MOSFET**

Solutionsfor

Innovation

Solutionsfor

InnovationASIC, ASSP

& MemoryAdvanced and

proven technologies

* MCU: 31% revenuebasis from Gartner

"Semiconductor

Applications Worldwide

Annual Market Share:

Database" 25

March 2010

** Power MOSFET: 17.1%

on unit basis from

Marketing Eye 2009(17.1% on unit basis).


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5

Renesas Technology and Solution Portfolio

Microcontrollers

& Microprocessors#1 Market share

worldwide *

Analog and

Power Devices#1 Market share

in low-voltage

MOSFET**

ASIC, ASSP

& MemoryAdvanced and

proven technologies

* MCU: 31% revenuebasis from Gartner

"Semiconductor

Applications Worldwide

Annual Market Share:

Database" 25

March 2010

** Power MOSFET: 17.1%

on unit basis from

Marketing Eye 2009(17.1% on unit basis).

Solutionsfor

Innovation

Solutions

for

Innovation


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6

Microcontroller and Microprocessor Line-up

Superscalar, MMU, Multimedia Up to 1200 DMIPS, 45, 65 & 90nm process

Video and audio processing on Linux

Server, Industrial & Automotive

Up to 500 DMIPS, 150 & 90nm process

600uA/MHz, 1.5 uA standby Medical, Automotive & Industrial

Legacy Cores

Next-generation migration to RX

High Performance CPU, FPU, DSC

Embedded Security

Up to 10 DMIPS, 130nm process

350 uA/MHz, 1uA standby

Capacitive touch


190 uA/MHz, 0.3uA standby

Application-specific integration

Up to 25 DMIPS, 180, 90nm process

1mA/MHz, 100uA standby

Crypto engine, Hardware security


500uA/MHz, 2.5 uA standby

Ethernet, CAN, USB, Motor Control, TFT Display

High Performance CPU, Low Power

Ultra Low PowerGeneral Purpose


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7

Microcontroller and Microprocessor Line-up

Superscalar, MMU, Multimedia Up to 1200 DMIPS, 45, 65 & 90nm process

Video and audio processing on Linux

Server, Industrial & Automotive

Up to 500 DMIPS, 150 & 90nm process

600uA/MHz, 1.5 uA standby Medical, Automotive & Industrial

Legacy Cores

Next-generation migration to RX

High Performance CPU, FPU, DSC

Embedded Security


350 uA/MHz, 1uA standby

Capacitive touch


190 uA/MHz, 0.3uA standby

Application-specific integration

Up to 25 DMIPS, 180, 90nm process

1mA/MHz, 100uA standby

Crypto engine, Hardware security


500uA/MHz, 2.5 uA standby

Ethernet, CAN, USB, Motor Control, TFT Display

High Performance CPU, Low Power

Ultra Low PowerGeneral Purpose

SuperH


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Sensorless Vector Control Innovation

Green Power

Home Appliances

Industrial Automation Automotive, Health Medicals

Sensorless Vector ControlSensorless Vector Control


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How much experience do you have withSensorless Vector Control Design?

1. Extensive

2. Moderate

3. Low

4. None


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How much experience do you have withRenesas Microcontrollers?

1. Extensive

2. Moderate

3. Low

4. None


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Lab Agenda

Lab Overview (5 minutes)

Introducing Sensorless Vector Control (15 minutes)

Phase 1: Set up Sensorless Vector Control Demo

(10 minutes) Phase 2: Sample Motor Currents and DC Bus Voltage

(15 minutes)

Phase 3: Drive the Motor with Open Loop(20 minutes)

Phase 4: Understand Sensorless Position and SpeedEstimation (20minutes)

Phase 5: Drive Motor with Closing Speed using EstimatedSpeed by GUI (25 minutes)

Play time or Q&A (10 minutes)


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Lab Overview Hardware Configuration

USB Cable

E10A Cable

Motor

GUI

E10A


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Hardware Platform

Motor

SH7216

E10A ConnectorUSB Connector

Motor Connector


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Renesas Sensorless Vector Control Strategy

*r

Speed Regulator

r

*

qi

0*=di

r

id PIRegulator

iq PI

Regulator d,qto,

)(1

T

Motor Model

Based Flux and

Position Observer

qi

di

*

qU

*

dU

*

U

*

U

Voltage

Source

3-phase

Inverter

SIN

PWM

PWM1~6

to

a, b, c

,

3-phase

PMSM

r

to

d,q

,

)(T

ui

vidi

qi

ii

u,v,w

to

,

Speed Estimation

DC Bus

Commanded speed

Observed

actual

speed

Clarke transform

Park transform

Inverse

Clarke transform

Inverse

park transform

Current loop

Speed loop


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Motor Startup Procedure

Back EMF cant detect at very low speed.

Start up with rotor alignment continuing with open loop

The startup subroutine provides a constant torque by

closing current loop iq = maximum startup torque and

id=0.

At the given startup time, the software switches over to

closed speed loop.

Sensorless control takes position and speed from flux

and speed observer.


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Software Configuration

Sensorless Vector Control Algorithm(Flux observer, speed estimation , PI controller, protection, space vector PWM modulation ...)

InitializationParameter

Definitions

Startup

Procedure

Current id

Regulator

Speed

Regulator

Current iq

Regulator

Speed Setting &

Ramp Control

CommunicationLayer

Vector Control

Transformation

WDT

IWDT

Space Vector PWMGeneration

Flux & Position

Observer

Speed

Estimation

ADC

SamplingPI controller

PWMDuty Calculation

Protections

(locked rotor, lost control, over-

current, POE, watchdog )

SH7216200MHz 32bit FPU

LVD POE 2xADC 12xMTU 512KFlash 96KRAM SCI/CAN/Ethenet


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Sensorless Vector Control Software Workspace

All code is written in C, and it iscompatible for all Renesas devices.

Compiler uses Renesas HEW,which automatically generates the

MCU-related definition code. All MCUs have basic ADC, PWM,

interrupt, etc, sample codes.

For sensorless vector control

solution, motor parameters,sensor inputs, ADCs, and controlparameters are easily tunedthrough Renesas Graph Interface(GUI).

Real time control parameterchanges and track through thewatch window.


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High-performance Embedded Workshop (HEW)

Real TimeWatch

Editor

Window

Project

Manager


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Graphic User Interface (GUI)

ParameterSetting

Speed

SettingVariable

Display

Control

Status


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1. Done

Start Lab

Please refer to the lab handout

Go ahead and start the lab

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40


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Q & AQ & A


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Sensorless Vector Control Innovation

Green PowerHome Appliances

Industrial Automation Automotive, Health Medicals

Sensorless Vector ControlSensorless Vector Control


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Renesas Electronics America Inc.

Motor Control Sensorless Vector Control

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