Motor Control Solutions Brochure - Rochester Institute of Technology

Motor Control Solutions

Motor Control Solutions2

Motor Control System Functions

Host – Motion profile, logic controller or user interface, often communicating over a standard or proprietary fieldbus (CAN, serial, Ethernet)

Interface – Transmit and receive drivers to interface communications between digital processors

Controller – Logic device that generates the proper switching patterns based on feedback and motion profile information from the host

Isolation – Protection and level shifting between different voltage levels

Power Stage (Gate Drivers) – Voltage and current level shifters;(MOSFET/IGBT) - Higher powered switching devices

Feedback – Motor rotor position sensors (hall, quadrature, resolver); power stage current or voltage

Integrated Pre-Driver – Gate driver(s) and feedback integrated into a single device or package that often includes control and commutation logic as well

Integrated Power Module (IPM) – Gate driver, feedback and power stage integrated into a single device or package

Integrated Motor Driver – Controller, gate driver, power stage and feedback integrated into a single device or package

www.ti.com/motorcontrol

Complete TI Solution: Brushed DC

DRV8801EVM - $99 •DRV8801-basedpowerstagecapableof2.8Aat36V includeson-boardMSP430™ MCU for signaling and control •Easy-to-useGUIforquicksetupwithmostmotors •Opensource:BOM,schematics,Gerbers •Allcontrolandstatussignalsbroughtouttotestheaders for easy debugging

DRV84xx-C2-KIT - $199 •DRV8412/32-basedpowerstagecapableofupto 2x12Aat52V •IncludesPiccolo™F28035controlCARDandcanaccept anyC2000™ MCU-based processor •ProfessionallydevelopedGUIandfirmware •Opensource:BOM,schematics,Gerbers, controlSUITE™ software and Code Composer Studio™IDE •Speedcontrol:outerspeed,innercurrentPID

Host, User,Network Controller

FeedbackIntegrated Pre-Driver

Integrated Power Module

Integrated Motor-Driver

Power

Gate Drivers

Stage

MOSFETIGBT

Interface andIsolation

–Optional

Isolation-

Optional

RDK-BDC24 - $219 •Controlsbrushed24-VDCmotorsupto 40-Acontinuous •Threeoptionsforopen-loopvoltagecontrolandtwo options for closed-loop, speed, position or current control •CANandRS232communication

Motor Control Solutions 3


Complete TI Solution: Brushed DC Complete TI Solutions: Stepper Motors

DRV8811EVM - $149 •DRV8811-basedpowerstagecapableof2.5Aat40V includeson-boardMSP430™ MCU for signaling and control •Easy-to-useGUIforquicksetupwithmostmotors •Opensource:BOM,schematics,Gerbers •Allcontrolandstatussignalsbroughtouttotest headers for easy debugging

DRV84xx-C2-KIT - $199 •DRV8412/32-basedpowerstagecapableof upto12Aperphase • IncludesPiccolo™F28035controlCARDandcanaccept anyC2000™ MCU-based processor •ProfessionallydevelopedGUIandfirmware •Opensource:BOM,schematics,Gerbers,controlSUITE™ software and Code Composer Studio™IDE •Speedandstepcontrol:innercurrent,outerspeed PIDandmicrostepping

RDK-STEPPER - $199 •Fullyintegratedcomm/indexer/drivefor NEMA23/34motorsupto80Vat3amps•Stepratesupto10,000steps/sec•Full-step,half-stepandwavedrivemodes•Missed-stepdetection•Professionallyengineeredsoftware•PCGUIfordynamictuningandmotorconfiguration•50-MHzStellaris®LM3S617MCU

Complete TI Solutions: Brushless DC

TMDSHVMTRPFCKIT - $599 •Piccolo™controlCARDbasedhardware •350-V,1.5-kWthree-phaseinverter •700-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGandCANonboard •Opensource:BOM,schematics,Gerbers, controlSUITE™ software (sensored and sensorless sinusoidal, trapezoidal,PFC)andCodeComposerStudio™IDE •Sensored(Hall)/Sensorless(Bemf-ZC)trapezoidalspeed control:outerspeedPID

TMDS1MTRPFCKIT - $369 •Piccolo™controlCARDbasedhardware •36-V,24-Wx2DRV8402drivers •100-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGonboard •Opensource:BOM,schematics,Gerbers, controlSUITE™software(sensorlesssinusoidal,PFC) andCodeComposerStudioIDE •Sensorless(SMO)sinusoidalspeedcontrol:innercurrent, outerspeedPID •Twomotorversionavailable

RDK-BLDC - $219 •Advancedmotorcontrolforthree-phasebrushless DCmotorsupto36V500W•UsesaStellaris®LM3S8971microcontroller•10/100EthernetandCANinterfaces•Halleffect,quadratureandsensorlessoperationmodes•JTAG/SWDportforsoftwaredebugging



Complete TI Solutions: Permanent Magnet Complete TI Solutions: AC Induction

TMDSHVMTRPFCKIT - $599 •Piccolo™andDelfino™controlCARDbasedhardware •Delfino F28335controlCARDcompatible •350-V,1.5-kWthree-phase-inverter •700-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGandCANonboard •Opensource:BOM,schematics,Gerbers,controlSUITE software™(sensoredandsensorlessFOC,PFC)andCode Composer Studio™IDE •Sensored(encoder)/Sensorless(SMO)FOCspeedcontrol: innercurrent,outerspeedPID

TMDS1MTRPFCKIT - $369 •Piccolo™controlCARDbasedhardware •36-V,24-Wx2DRV8402drivers •100-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGonboard •Opensource:BOM,schematics,Gerbers,controlSUITE software(sensorlessFOC,PFC)andCodeComposerStudio™IDE •Sensorless(SMO)FOCspeedcontrol:innercurrent, outerspeedPID •Twomotorversionavailable

DRV84xx-C2-KIT - $199 •DRV8412/32-basedpowerstagecapableofupto13.5A at50V(~1HP)• IncludesPiccolo™F28035controlCARDandcanacceptany C2000™ MCU-based processor•ProfessionallydevelopedGUIandfirmware•Opensource:BOM,schematics,Gerbers,controlSUITE™ software(FOC)andCodeComposerStudio™IDE •Sensorless(SMO)FOCspeedcontrol:innercurrent, outerspeedPID

TMDSHVMTRPFCKIT - $599 •Piccolo™andDelfino™controlCARDbasedhardware •Delfino F28335controlCARDcompatible •350-V,1.5-kWthree-phase-inverter •700-Wbypass-ablePFC(DCbus)frontend • IsolatedJTAGandCANonboard •Opensource:BOM,schematics,Gerbers,controlSUITE™ software(sensoredandsensorlessFOC,PFC)andCode ComposerStudio™IDE •Sensored(Hall)/Sensorless(MotorModel)FOCspeedcontrol: innercurrent,outerspeedPID

RDK-ACIM - $379 •Fullyintegratedcomm/motioncontroller/drive •Upto1HPcommercial-gradeACinductionmotors •Precisespeedcontrol •GalvanicisolationofMCU-sideelectronics •115or230VACinputs • 50MHzStellarisLM3S818 •Professionallyengineeredsoftware

Easy Out of Box •Stand-aloneGUIrequiresnoIDE•Immediatelyverifymotorcontroloperation•Configurecapabilities•Slidersandinputfields•Real-timegraphingofkeyvariables•Freewithmostmotorcontrolkits

Graphical User Interface



Integrated Motor Drivers

Integrated BLDC Pre-Drivers

100

100

0

0

10

10

20

20

30

30

40

40

50

50

60

60

70

70

80

80

90

90

Full BridgeLoad = 5 APVDD = 50 VTC = 75˚ C

f – Switching Frequency – kHz

Effic

ienc

y -

%

The TI AdvantagePerformance and Ease of Use Single-chipsolutionwithminimumexternalcomponentsneededfor a complete high-performance motor drive solution with up to 97percentefficiency.

ReliabilityAllofTI’smotordrivers includefast-actinganalogprotection in order to detect fault conditions and shut off the H-bridge to protectthemotoranddriverIC.

The Right Part for Each ApplicationTIhasa largeportfolioofmotordriverswithdifferent levelsofintegration and power ratings designed to drive different kinds ofmotors.Supportvoltagerangesfrom2.5to50Vand100mAto24AwitheitherintegratedcontrollogicordirectPWMinputs.

Supported Motor TypesDCbrushed,stepper,brushlessDC,solenoid.

EVM SupportAlldevicescomewithanEVMboardandrefrencekitwithaTIMCU.

The TI Advantage•Simplesystemsolutionwithminimumexternalcomponents

•Automatichandshakeofhigh-sideandlow-sideFET transition to prevent shoot-through, simplify gate control and improve system reliability

EVM Support•AlldevicescomewithanEVMboardandreferencekit withaTIMCU

Features•Integratedthree-phasegatedriverwithdualcurrent- shunt amplifiers and additional buck converter for MCU orsystemaccessories’powerneeds•Wideinputvoltagerange(8-60V)•Supportsupto1.6-Agatecurrent•Intelligentgatedriveandcross-conductionprevention•OCprotectionofexternalFETSwithprogrammable cycle-by-cycle current limit•SPIinterfaceforprogrammability

PWM3 or 6

SPIError

Reporting

ADC 1 Offset

Control andProtection Logic

BuckConverter

Vs

MotorController

MotorThree PhaseNMOS Gate

Driver

GH_A

PVDD

GL_A

GH_B

GL_B

GH_C

GL_C

Offset+-

+-

Vref

ADC 2



0.75

125-40 -25 -10 5 20 35 50 65 80 95

0.50

0.25

0

-0.25

-0.50

-0.75

110

Temperature ( ˚C)

Gain Error vs Temperature

Gain

Err

or (%

)

Low Offset is the TI AdvantageOffset and offset drift performance are factors that determine the full-scale input voltage to the current-sense amplifier and, subsequently,thesizeoftheshuntresistor.Loweroffsetallowsforsmallershuntresistorsresultinginlessvoltagedropandpowerloss.

The TI AdvantageImproved Performance Over On-chip ADCIncreasedperformanceforhigh-endmotordriveswithuptosixsimultaneouschannelswith16-bitresolutionat800kSPS.

Stability Over Time and TemperatureTI’slineofdiscreteADCsarebuiltonthelatestgenerationanalogprocessdesignedtominimizeerrorsandtemperaturedrift.

Reduced Filtering with D/S ModulatorsMinimal or no filtering required with stand-alone modulators, allowingthemodulatortobeplaceddirectlynexttothecurrent-shuntorhallsensor.

Easy Isolation of the Host ProcessorLowpin-countSPIinterfacesorsimple2-bitserialbitstreamfrom modulators allow for easy digital isolation between the controllerandthehigh-voltagedriveandfeedback.

EVM and Software SupportMost devices come with EVMs, Code Composer Studio™IDEPlug-inorADCprosupport.

To avoid errors introduced by external gain resistors, all TI current sense amplifiers have gain set internally through TI’s high precisionmanufacturingprocesses.Totalcomponentcountandboardspaceisreducedaswell.Inadditiontothestandardcurrent-sense amplifierconfiguration,TIhasalineofdigitaloutputcurrent-sensedevices.Thesedevicesmakeisolationeasybylimitingtheinterfacetotwodigitallinesandfreeembeddeddataconvertersforothersystemactivities.

Current Measurement

Simultaneous Sampling ADCs and Modulators

www.ti.com/mc-host

www.ti.com/mc-adc

High Precision for Large CM Current Measurements

ADC 1

+80 V

2.7 to 18 V 2.7 to 18 V

RefRef

+INA282-

+INA282-

TI’s Newest Current Sense Amps

CMR Offset OffsetDriftINA28x -14–80V 70µV 0.5µV/˚CINA21x -0.3–26V 35µV 0.5µV/˚CINA199Ax -0.3–26V 150µV 0.5µV/˚CINA219 -0.3–26V 100µV 0.5µV/˚C



Isolation

Isolated Gate Drivers

100

200Vpeak (continuous)

Life

time

in Y

ears

TI ISO Life Expectancy vs. Voltage

600 100080040010

62

40

85

59

43 TJ = 85C

TJ = 150C31

23

28

20

1511

The TI EdgeReliabilityProvenreliabilityofsilicon-dioxide(SiO2) insulation; stable overtemperatureandmoisture;lifespan>25years.

Highest Noise ImmunityTIusesdifferentialsignalstocrosstheisolationbarrier,givingthehighestimmunityfromexternalmagneticandelectricfieldstopreventdatacorruption.

Signaling RateTIoffersdigitalisolatorswithhighsignalingratesofupto150Mbps,withlowskewandpulsewidthdistortion.

Lowest JitterToensuresignalintegrity,jitterreductionisapriority.ISO7xxxproductsofferthelowestjitterof1-nsjitterat150-MbpsPRBSNRZdatainput.

TI’sISO55xxfamilyofproductsareisolatedgatedriversforIGBTswithpowerratingsupto150Aand1200V.

InputTTLlogicandoutputpowerstageareseparatedbyTI’ssilicondioxide(SiO2)isolationbarrier.

Whenusedinconjunctionwithisolatedpowersupplies,thedevice blocks high voltage, isolates ground and prevents noise currents from entering the local ground and interfering withordamagingsensitivecircuitry.

Features•SoftIGBTturn-off• Isolatedfaultfeedback•VCEDESATprotection/adjustability•Undervoltagelock-outprotection(UVLO)withhysteresis•±50-kV/µstypicaltransientimmunity•5000-VrmsmaxisolationperUL•Operateswith3.3-Vor5-Vinputsupply•–40°Cto125°Coperatingrange

Resources Available•EVMs• IBISmodels•Application notes on high-voltage lifetime and magnetic field immunity

1 VIN +

VIN -

V CC1

C BLANK

100 ΩR F

GND 1

RESET

FAULT

nc

GND 1

VE

V F

D DESAT

R PULL DOWN

V CE

V CE

++

+

+

-

-

-

-

R G

VEE

DESAT

VCC2

VC

VOUT

VEE

VEE

2

3

4

5 1

1

1

1-These components are necessary only when implementing negative gate drive.

6

7

8

16

15

14

13

12

11

10

9

µC

+

-

+

-

www.ti.com/mc-iso

www.ti.com/mc-iso



Interface

RS-485/RS-422 • Broadportfolio• Improvedspeed,performanceandrobustness

Speed• Speedsofupto50Mbps

Functionality •Lowerunitload:upto256devicesonbus •3.3-Vsupply:noneedforextravoltageregulators •Truefailsafe:noneedforexternalbiasingresistors •SlowratecontrolreducesEMI •Receiverequalizationenableslongcabletransmission

Robustness •Best-in-classESDprotection:improvedreliability •400-Wtransientvoltageprotection:noneedforexternal components •Extendedcommon-mode:extendstransmissiondistance

CAN • Broadportfolioofstandardindustryupgradesand TIuniqueCANdevices

World’s Most Robust 5-V CAN Transceiver• HighestESDprotectionintheindustry:14kV

World’s First 3.3-V CAN Transceivers • Low power and cost-effective

Second Generation 3.3-V CAN Transceivers •Lowestpowerand±36-Vprotection • Low power standby with bus wake-up •5-µAstandbypower

Isolated Interface •Integratedinterfacewithisolation •UsesTI’snewdifferentialcapacitivetechnology • High performance, superior to optical and magnetic isolation •Integrateddesignsavesboardspaceandsimplifiesboarddesign

Controllers

Key Features:• 0.5KB–256-KBflash• RAMupto16KB• Upto25MIPSoperation• 14to113pinpackageoptions• Integratedintelligentperipheralsincluding high-performance analog and digital peripherals• 16-bitand8-bittimerswithPWMcapability• IntegratedLCDdrivers• Communicationperipherals–UART,SPI,I2C

General Features:• Can be used as low-cost solution to drive a stepper motorwithDRVxxxxdrivers• Flexibilitytoprogramforoptimalmotorcontrol• 12-and10-bitanalogtodigitalconverters• 12-bitdigitaltoanalogconverters• On-boardcomparatorsandopamps• Idealfortrapezoidalcontroloflow-powerBLDCmotors

Hardware Kits:• BrushedDCmotorEVMwithDRV8801• SteppermotorEVMwithDRV8811

The MSP430™ MCU is the world’s leading ultra-low-power microcontrollerwitha16-bitRISCCPUarchitecture-optimizedfor Candassemblerprogrammingwithultra-low-powerarchitectures. The ultra-low-power capabilities are available in active, standbyandsleepmodes.

TheMSP430 family ofmicrocontrollers offers awide portfolio of highly integrated MCUs that are ideal for stepper and motor control applications. Customers have the option to select from low- or high-pin count MCUs along with different communicationandanalogperipherals.

Application Notes:SLAA120-PWMDCMotorControlUsingTimer_AoftheMSP430

SLAA223-MSP430StepperMotorController

MSP430MCUsoffermanydifferentcommunicationperipheralssuchasUSB2.0,SPI,I2C,IrDAandUART/LIN.Combinedwithtim-ersthatoffercapture/compare/PWMoutputsandawidechoiceofanalogperipheralssuchascomparators,10-/12-bitADC(upto200Ksps),12-bitDACand16-bitsigma-deltamodules,theseMCUscanbeusedtocontrolstepperandDCmotorsinprinters,fans,antennas,toysandmanyotherapplications.

TIprovidesrobustdesignsupportfortheMSP430microcontrollerincludingtechnicaldocuments,training,toolsandsoftware.



Texas Instruments is the industry leader in bringing 32-bit capabilitiesandthefullbenefitsofARMCortex-M3-basedmicro-controllerstothebroadestreachofthemicrocontrollermarket.StellarisMCUswithCortex-M3offeradirectpathtothestron-gest ecosystem of development tools, software and knowledge in the industry. Designers who migrate to Stellaris MCUs willbenefit from great tools, small code footprint and outstanding performance.Evenmoreimportant,designerscanentertheARMecosystem with full confidence in a compatible roadmap from $1to1GHz.Youwillneverneedtochangearchitecturesagain.

Meticulous Motion ControlTheStellarisfamilyofARMCortex-M3microcontrollersfeatures deterministic performance and IP especially designed for

simultaneous advanced motion control and real-time connectiv-ity, including up to eight full channels of control with dead-band generators providing shoot-through protection for applications such as three-phase inverter bridges, fault-condition handling in hardware quickly providing low-latency shutdown, synchro-nization of timers enabling precise alignment of all edges, and hardware quadrature encoders enabling precise positioning sensing.Togetherwithlargeron-chipmemories,enhancedpowermanagement,andexpandedI/Oandcontrolcapabilities,StellarisMCUsareoptimized for industrialapplications requiring reliableconnectivity, including motor and motion control, remote moni-toring, factory automation, HVAC and building control, gaming equipment, medical instrumentation, consumer appliances, CCTV monitoring,andfiresecurity.

Stellaris® 32-bit ARM® Cortex-M3™ Controllers

General Features:• Industry-leadingARMCortex-M3Core• 8-512KBofFlash• 20-100MHzofclockspeed• Deterministicfastinterruptprocessing(12cycles)• Real-timemultitaskingcapabilities• Integratedanalogperipherals• 10-bitanalog-to-digitalconverter• Pulsewidthmodulators(PWMs)withprogrammable dead band timers• Three sleep modes with clock gating for low power

Unique Stellaris MCU capabilities• Advancedcommunicationcapabilities,including10/100 EthernetMAC/PHY,USB,USBOTG,CANcontrollers, I2C,I2Sandextendedperipheralinterfaces• 5-VtolerantGPIOswithprogrammabledrivecapability• Single-cycleflashupto50MHz• RoyaltyfreeStellarisWare® software• Open-tooledreferencedesignkitsandquick-start evaluation kits• UptotwoquadratureencoderInputs

StellarisWare® Software• Extensivesuiteofsoftwaredesignedtoreduce development cycle time• Stellaris peripheral libraries• StellarisUSBlibraries• Stellaris graphics libraries• Stellariscodeexamples• StellarisIEC60730library• Available as object library and source code

Hardware Kits:Schematics,BOMandGerberfilesareavailableforallhardware kits and include all accessories to start evaluation rightoutofthebox.

Reference Designs:StepperMotorReferenceDesignKit-RDK-StepperACInductionMotorReferenceDesignKit-RDK-ACIMBrushlessDCMotorReferenceDesignKit-RDK-BLDCBrushedDCMotorReferenceDesignKit-RDK-BDCSerial-to-EthernetReferenceDesignKit-RDK-S2EIntelligentDisplayModuleReferenceDesignKit-RDK-IDM

For more information on Stellaris for motor control applications, visit www.ti.com/stellarismotorcontrol.

Stellaris Motor and Motion Control Features

•MotionControlPWMswithdeadbandandfaultdetection supportsafeandefficientoperationofmotors.Highspeed ensurescleanestoperation.•QEI(quadratureencoderinputs)supportsincrementalen coders,tachometers,generators/resolvers,TDCdetectors. •High speed ADCs support current measurement using hallsorshuntstoadjustalgorithmsoptimally.•Independent integratedanalogcomparatorscanbecon figuredtodriveanoutputorgenerateaninterruptofADC event.

Available September 2010EvalBot Kit + uC/OS-III book

Check www.ti.com/evalbot in September for more details on how to order the Micrium book and evaluation

robot bundle Part EKB-UCOS3-BNDL.



Controllers

C2000™ 32-bit Real-Time Controllers

Broadest MCU Architecture• 40-300MHzC28x™CPU• Built-inDSPfunctions• Single-cycle32x32-bitMAC• Control Law Accelerator• Fixedandfloatingpoint• Embeddedflash• 32-512KBofflash• Fromsub$2to$15

Fine-Tuned for Real-Time Control• Optimizedcore• Fast interrupts• Flexibleinterruptsystem• Real-timedebugging• Best-in-classADCperformance• Flexiblehigh-resolutionPWMs• Sensor interfaces• CAN, serials

High-Energy Efficiency via Advanced Control• Variable speed real-time control• Betterdynamicandtransientcontrol

Overall System Performance Optimization• High level of integration• Provides control and supervision

Piccolo™ MCU Family for Lowest System Cost• IntegratedOSC,watchdogs• Analog comparators• Fault detection• Limited life support• NoexternalGPIOfiltersneeded

www.ti.com/c2000dmc

IQMath LibraryA library and compiler intrinsic that allows you to select your range and resolution by choosing which bits of your binary representednumberaretheinteger(I)andwhicharethequo-tient(Q).ItalsoallowsyoutowriteCfunctioninfloatingpointinsteadofdealingwithfixed-pointscaling;thecompilertakescareofthat.

• Changenumericalrangeonthefly• Tuneforbestresolutionanddynamicrange• Removequantizationeffects• Reducescalingandsaturationburden• Betterintegrationwithsimulationandcodegentools• Singlesourcesetbetweenfixedandfloatingpoint

Ex: Using “Park” from DMC Library//initialization code, define macro per library#definePARK_MACRO(v)v.Ds=_IQmpy(v.Alpha,v.Cosine)+_IQmpy(v.Beta,v.Sine);v.Qs=_IQmpy(v.Beta,v.Cosine)-_IQmpy(v.Alpha,v.Sine);

//incremental build code, connect outputs and inputspark1.Alpha=clarke1.Alpha;park1.Beta=clarke1.Beta;

//run-time code, call the functionPARK_MACRO(park1)

Is1

Is2

Is3

Iα

Iβ

Id (flux component)

Iq (torque component)

Application LibrariesSpecialized,application-specificsoftwarefunctions•Modularmacroswithvariableinputsandoutputs•Atinitialization,allvariablesaredefinedandoutputsof oneblockaresetasinputstothenext•Completedocumentation–includingsourcecode,use andtechnicaltheory–isprovidedforeverymodule

Digital Motor Control LibraryTransforms and Estimators •Clarke,Park,SMObserver,phasevoltage,resolver,flux,

speed calculators and estimators

Control •Signalgeneration,PID,BEMFcommutation,space

vector generators

Peripheral Drivers•Differentmodesandtopologysupport

•ADC,PWM,encoders,sensorcaptures



Controllers

• Feedbackandsensing circuitry• IsolatedJTAG

• Screenshots• Hardwarehook-up

• Debugggingtips

Incremental Build

DMCexamplesystemsalluseanincrementalbuildapproach,

which allows an incremental section of code to be built so that

the developer can verify each section of the application one step

atatime.Thisiscriticalinreal-timecontrolapplicationswith

different variables that can affect the system and so many

uniquechallengesacrossmotorparameters.

Forexample,inthesensorlessPMSMFOCsystembelow,the

followingincrementalbuildsarebuiltintothesoftware:

Build Level 1: Using a dummy signal, verify that inverse park, spacevectorandPWMdriverareproducing correct waveformsBuild Level 2: VerifyADCconversion,phasevoltage calculation, Clarke and Park transformsBuild Level 3: Closed-loopPIDcurrent-controlverificationBuild Level 4: Sliding-Mode observer and speed estimator verificationBuild Level 5: Closed-loopPIDspeedcontrol

Documentation

All systems come with:• Incrementalbuildsoftware• Step-by-stepuser’sguide• DMCcontroltheory

All hardware example systems are open source, ready for you to insert into your design, and include: • Gerberfiles• Schematics• BOM

SpeedRef1

RAMP_CNTLset_value

trgt_value rmp_out

ipark_Q ipark_q Ubeta Ta

Tb

Tc

Mfunc_c1FC_PWM_

DRVEV

HWQO/HW

Mfunc_c2

Mfunc_c3

Mfunc_p

R

C

VA-FB

PWM1

PWM2

PWM3ipark_d Ualfa

theta_ip

ipark_D

set_eq_trgt

rmp_freq

rmp_offset

rmp_gain

RAMP_GEN

IqRef1 I_PARK SVGEN-DQ

Scope

IdRef1

PMSM

Motor

I_PARK

ipark_Q

ipark_D

theta_ip

ipark_q

ipark_d

clark_a

clark_b

clark_c

clark_d

clark_q

PARK

park_d

park_q

theta_p

park_D

park_Q

i_ref_q

i_fdb_q

u_out_q

i_ref_d

i_fdb_d

u_out_d

spd_ref

spd_fdb

spd_out

Constant 0

Ia_out

Ib_out

ADCINx

ADCINy

Ia_gain

Ib_gain

Ia_offset

Ib_offset

I_ch_sel

Ubeta

Ualfa

Ta

Tb

Tc

speed_ref_

FC_PWM_DRV

Q0 / HW

Mfunc_c1

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

Mfunc_c2

Mfunc_c3

Mfunc_p

EV

HW

ADC

HW

SMOPOS vsalfathetaevsbeta

Ualfa

Ubeta

isalfa

isbeta

clark_d

clark_qzalfa

zbeta

SMOSPD

(slidingmode

rotor speedestimator)

(slidingmode

rotor angleestimator)

zalfaspd

zbetaspd

thetaspd

speede

RAMP_GEN

rmp_freq

rmp_offset

rmp_gain

RAMP_CNTLtrgt_value

set_value

set_eq_trgt

rmp_out

SVGEN_DQpid_reg_iq

pid_reg_id

pid_reg_spd

CLARKE ILEG2DRV

Q0Q15Q15

Q13Q13

3-PhaseInverter

SpeedRef1RAMP_CNTL

set_value

trgt_value rmp_out

ipark_Q ipark_q Ubeta Ta

Tb

Tc

Ta

Tb

Tc

Mfunc_c1FC_PWM_

DRV

ADC

CONV

ADC

HW

EV

DRV8402

3-Phase

InverterHWQO/HW

Mfunc_c2

Mfunc_c3

Mfunc_p

clark_d clark_a

clark_b

AdcResult0

AdcResult1

AdcResult2clark_q

park_D

park_Q

park_d

Mfunc_v1

Mfunc_v1

Mfunc_v1

DcBusVolt AdcResult2

theta_p

park_q

VPhase_ABC

Valpha

Vbeta

PWM1

ADCINx (la)

ADCINy (lb)

ADCINx (Vdc)

PWM2

PWM3ipark_d Ualfa

theta_ip

ipark_D

set_eq_trgt

rmp_freq

rmp_offset

rmp_gain

RAMP_GEN

IqRef1 I_PARK SVGEN_DQ

PARK

Phase voltageCalc

CLARKE

IdRef1

PMSMMotor

Build Level 1

Build Level 2 Build Level 3 and 4 (not shown)

Motor Technique Type Feedback

ACIFOC Speed and Torque Tachometer

FOC Speed and Torque Sensorless

BLDC

Trapezoidal Speed Half Effect

Trapezoidal Speed Sensorless

Sinusoidal Speed Half Effect

Sinusoidal Speed Sensorless

PMSM

FOC Speed and Torque Encoder

FOC Position Encoder

FOC Speed and Torque Sensorless

Steppper Microstep Position Sensorless

Brushed DirectDrive Speed and Position Encoder

C2000™ Digital Motor Control Gives You MORE C2000basedmotorcontrolsystemsenableenergyandcost savings throughout products –Variablespeedcontrol MOREefficientmotors –Field-orientedcontrol MOREefficientcontrol –SpacevectorPWM MOREefficientpowerstage –Sensorlesscontrol MOREcosteffective –Multi-axiscontrol MOREmotorspercontroller –IntegrateddigitalPFC MOREsystemfunctions –MeetingIECstandards MOREreliableandrobust –BroadestMCUportfolio MOREproducts,oneplatform

Systems included or planned

Motor Types, Control and Feedback TechniquesThesesystemexampleshavebeencreatedacrossdifferentmotortypes,controltechniquesandfeedbackmethods.

SLYB165

TI Worldwide Technical Support

InternetTI Semiconductor Product Information Center Home Pagesupport.ti.com

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A042210

Important Notice:TheproductsandservicesofTexasInstrumentsIncorporatedanditssubsidiariesdescribedhereinaresoldsubjecttoTI’sstandardtermsandconditionsofsale.CustomersareadvisedtoobtainthemostcurrentandcompleteinformationaboutTIproductsandservicesbeforeplacingorders.TIassumesnoliabilityforapplicationsassistance,customer’sapplicationsorproductdesigns,softwareperformance,orinfringementofpatents.Thepublicationofinformationregardinganyothercompany’sproductsorservicesdoesnotconstituteTI’sapproval,warrantyorendorsementthereof.

©2010TexasInstrumentsIncorporatedPrintedinU.S.A.by(Printer,City,State)

Theplatformbar,E2E,MSP430,Piccolo,C28x,C2000,controlSUITE,CodeComposerStudio,andDelfinoaretrademarksofTexasInstruments.Allothertrademarksarethepropertyoftheirrespectiveowners.

IMPORTANT NOTICE

Texas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, modifications, enhancements, improvements,and other changes to its products and services at any time and to discontinue any product or service without notice. Customers shouldobtain the latest relevant information before placing orders and should verify that such information is current and complete. All products aresold subject to TI’s terms and conditions of sale supplied at the time of order acknowledgment.

TI warrants performance of its hardware products to the specifications applicable at the time of sale in accordance with TI’s standardwarranty. Testing and other quality control techniques are used to the extent TI deems necessary to support this warranty. Except wheremandated by government requirements, testing of all parameters of each product is not necessarily performed.

TI assumes no liability for applications assistance or customer product design. Customers are responsible for their products andapplications using TI components. To minimize the risks associated with customer products and applications, customers should provideadequate design and operating safeguards.

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Following are URLs where you can obtain information on other Texas Instruments products and application solutions:

Products Applications

Amplifiers amplifier.ti.com Audio www.ti.com/audio

Data Converters dataconverter.ti.com Automotive www.ti.com/automotive

DLP® Products www.dlp.com Communications and www.ti.com/communicationsTelecom

DSP dsp.ti.com Computers and www.ti.com/computersPeripherals

Clocks and Timers www.ti.com/clocks Consumer Electronics www.ti.com/consumer-apps

Interface interface.ti.com Energy www.ti.com/energy

Logic logic.ti.com Industrial www.ti.com/industrial

Power Mgmt power.ti.com Medical www.ti.com/medical

Microcontrollers microcontroller.ti.com Security www.ti.com/security

RFID www.ti-rfid.com Space, Avionics & www.ti.com/space-avionics-defenseDefense

RF/IF and ZigBee® Solutions www.ti.com/lprf Video and Imaging www.ti.com/video

Wireless www.ti.com/wireless-apps

Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265Copyright © 2010, Texas Instruments Incorporated

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http://www.ti.com/audio

http://dataconverter.ti.com

http://www.ti.com/automotive

http://www.dlp.com

http://www.ti.com/communications

http://dsp.ti.com

http://www.ti.com/computers

http://www.ti.com/clocks

http://www.ti.com/consumer-apps

http://interface.ti.com

http://www.ti.com/energy

http://logic.ti.com

http://www.ti.com/industrial

http://power.ti.com

http://www.ti.com/medical

http://microcontroller.ti.com

http://www.ti.com/security

http://www.ti-rfid.com

http://www.ti.com/space-avionics-defense

http://www.ti.com/lprf

http://www.ti.com/video

http://www.ti.com/wireless-apps

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