Sprb167a-Ti Digital Motor Control Solutions

TI Digital Motor Control Solutions

Texas Instruments Incorporated 2005 No reproduction permitted without prior authorization from Texas Instruments.1H2004 Slide 1

SPRB167A

Agenda Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control

Timeline25 min

Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment

15 min 10 min 25 min

Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers

25 min 5 min 10 min

1H2004 Slide 2

Three Phase Machine Fundamentals

Conceptual

Practical

Three phase machines have three windings, separated in phase by 120- a third of a rotation.1H2004 Slide 3

Three Phase Machine FundamentalsiaC

A`Fc

BFa

Fb

B`

C `

A1.50 1.00 0.50 0.00 1 -0.50 -1.00 -1.50 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346

Phase currents

ia

ib

ict

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. The resultant of the three magnetic fields is a rotating magnetic field.1H2004 Slide 4

Three Phase Machine Fundamentalsq (imaginary) A`

Speed (in r.p.m.) =

ia

120 f P f = AC supply frequency,

and P = # of poles for the motor,CFc

BFa

per phased (real) For instance, a 3 phase machine, with: 60Hz Three Phase Supply; and 4 poles per phase will have a synchronous speed of 1800 r.p.m.

FsC`

Fb

B` Ao o

$ Fs = Fs . e jt$ Fs = Fd + jFqo

$ Fs = Fa sin(t ). ei 0 + Fb sin(t + 120o ). ei 120 + Fc sin(t + 240o ). ei 240

1H2004 Slide 5

Permanent Magnet Motor OperationA` CNF

Rotor field Back EMF (v)

t

B

S

C` A

B`

Stator Current Stator field (Is)

t

F

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 an example of Synchronous operation.1H2004 Slide 6

Internal View: Induction Motor Rotor

1H2004 Slide 7

ACI Operation FundamentalsiaCF

A`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

Phase currents

ia

ib

ic

B

Im~ I c

B` A

C `

-1.00 -1.50

Current Phasors ~ t 120o I a

Re

~ I b

The induction machine has a rotor that is a closed circuit in the case of the squirrel-cage induction motor it is two rings joined by bars along the rotor axis. The rotor when placed in a moving magnetic field will have induced currents, which produce an induced magnetic field. The interaction of these two magnetic fields produces the rotational torque.1H2004 Slide 8


Timeline25 min




25 min 5 min 10 min

1H2004 Slide 9

Scalar V/F control of 3-ph Induction MotorVs (volt) Vrating

MAXIMUM TORQUE VOLTAGE NOMINAL TORQUE Vo TORQUE SPEED

0

fc

frating

f (Hz)

LOW SPEED NOM SPEED

+ Simple to implement: All you need is three sine waves feeding the ACI + No position information needed. Doesnt deliver good dynamic performance.1H2004 Slide 10

Limitations of the Scalar TechniqueACCELERATION DECELERATION Torque oscillation generates uncontrolled current overshoot:TORQUE

TIME

High peak current:In V/f the rotor flux and current are not controlled: Current reaches values based on circuit parameters.

Poor response time:A solution to minimize these current overshoots is to decrease the performances of the speed regulator. Slow speed regulator poor mechanical behavior.1H2004 Slide 11

Stationary and Rotating Reference Framesa R2/3 2/3 2/3 /2

Q R/2

R D

c

b

rotort IQ t

t t ID

t

Three phase reference frame

Two phase orthogonal reference frame

Rotating Orthogonal Reference Frame

1H2004 Slide 12

Motor Flux InteractionSTorque T

Q

R D

rotor=load angle

Torque = sr sin() s and r constant

1H2004 Slide 13

Vector Control of 3-Ph Induction Motor FOC is a control strategy for 3-ph AC motors, where torque and flux are independently controlled. The approach is imitating the DC motors operation. Direct FOC: rotor flux angle is directly computed from flux estimation or measurement. Indirect FOC: rotor flux angle is indirectly computed from available speed and slip computation.

1H2004 Slide 14

Field Oriented Control - Vector ControlA` CFN q=90

Maintain the load angle at 90Back EMF (v) t

B

S

C`F

Stator Current (Is) t

B` A

+ No torque ripple + Better dynamic response

t = constant

t

Need good knowledge of the rotor position1H2004 Slide 15

C28x Controllers

1H2004 Slide 16

PMSM FOC with TMS320F2812 DSPwr* PI iqs i * ds PI ids r ias Park ibs Clarke ias ibs ADC + Driver ADCIN1 ADCIN2 ADCIN3 iqs* PI vds* Inv. Park vbs* vqs* vas* Space Vector Gen. Ta Tb Tc PWM + DriverPWM1 PWM2 PWM3 PWM4 PWM5 PWM6

Power Inverter

wr

Speed Calculator

r

Angle

QEP Phase + driver Phase Index

Encoder

Motor

TMS320F2812 DSP controller

1H2004 Slide 17

ACI FOC System with TMS320F2812 DSPwr* PI iqs i * ds PI ids lr lr Park ias wrSpeed Est.

iqs* PI

vqs*

vas* Inv. Park vbs*

Ta Space T Vector b Gen. Tc PWM Driver

vds*

PWM1 PWM2 PWM3 PWM4 PWM5 PWM6

Power Inverter ias ibs Clarke ias ibs Vdc Ileg2_ Bus DriverADCIN1 ADCIN2 ADCIN3

ibs lr lar lbr

iasFlux Est.

ibs vas s

vb

Phase Voltage Cal.

Ta Tb Tc TMS320F2812 DSPcontroller

ACI

1H2004 Slide 18

FOC TMS320F2812 DSP + Resolverwr* PI iqs i * ds PI ids r ias Park ibs Clarke ias ibs ADC + Driver ADCIN1 ADCIN2 ADCIN3 Sin Cos iqs* PI vds* Inv. Park vbs* vqs* vas* Space Vector Gen. Ta Tb Tc PWM + DriverPWM1 PWM2 PWM3 PWM4 PWM5 PWM6

Power Inverter

wr

Speed Calculator

r

Angle

Resolver

Resolver Position Detection

Motor


1H2004 Slide 19

Cost Effective High Accuracy Position Measurement by Resolver

12Bit OPA4340 ADS7861 16Bit OPA4350 ADS8361

1H2004 Slide 20

Sensored AC Induction Motor DTC DriveInput Input power power stage stage r* Torque controller

Speed Controller

State Selector

PWM Gen

Power Inverter Flux and Torque calculator ADC

Communications modulesSCI CAN

CAPTURE Inputs

Current and voltage vector calculator

Motor


1H2004 Slide 21

BLDC and PMSM Motor TypesCF A N` BS F

B `00 300 600

A

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

Back EMF of BLDC Motor900 1500 2100 2700 3300 300 900 1200 1800 2400 3000 3600 600

Back EMF of PMSMEa1.50 1.00 0.50

Phase AHall A

ia

e

ea

eb

ect

Phase B ibHall B

e

0.00 1 -0.50 -1.00 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346

Phase C icHall C

e

-1.50

1H2004 Slide 22

Sliding Mode Observer* vsSliding Mode Current Observer

is~ isSliding Control

z

Lowpass Filter

~ es

Phase Calculate

~ eu

~ e

See hidden slides (2) for equations The core is current observer Speed calculator not adopted

*

Phase Comp

~ e

Sin/CosCalculator

Speed Calculate

~

Based on well established robust control technique: Non-linear Sliding Mode Control Bang-bang control type -> High Gain A priori feel of bounds of uncertainties and disturbances -> To tune sliding control gain Different techniques can be adopted to remove ripple effect

1H2004 Slide 23

Sliding Mode Observer Based on well established robust control technique: Non-linear Sliding Mode Control Bang-bang control type -> High Gain Tolerate parameter variations Reject disturbances Converges quickly, no numerical divergence

A priori feel of bounds of uncertainties and disturbances -> To tune sliding control gain Different techniques can be adopted to remove ripple effect

1H2004 Slide 24

SMO Equationsd dt ~ ~ is = A is + B ( vs s

~ es + z) 1 L

R A = I L 3 L = Lm 2

B =

Current observer

z = ksignd dt ~ es =

~ ( is i s )~ es + z

Sliding control

0

0

Low-pass filter

1H2004 Slide 25

SMO Equations (continued) = arctan(3 k e = 2 ~ ~ ~ e s , e s ) sin cos From estimated back EMF to rotor angle

es

= 3 / 2 K

E

iq

Torque equation: Correct measurement of current Correct estimation of rotor angle

1H2004 Slide 26

Experimental Result

1H2004 Slide 27

Limitations of Sensorless Control / SMO Back EMF at low speeds is small, so the operation at low speeds is less than satisfactory. Also the algorithm becomes more sensitive to noise effects. At startup the back EMF is non-existent, and the startup must be achieved by other means: Ramp up of frequency Reverse rotation may occur, in some cases this can be an issue. Detection of rotor position by signal injection Hall effect sensors

1H2004 Slide 28


Timeline25 min




25 min 5 min 10 min

1H2004 Slide 29

Motor Control System Components From TIAC Input Bridge RectifierDC link

Power converter

Motor

Load

Current and voltage sense

MOSFET driver

Current sense

Power supply LDO PFC SVS PWM

Resolver Simult. Sampling DSP Controller ADCs and interface Optical encoder Hall effect

Network interface

4-20mA interface

Data lineCAN RS232 RS485

ADC interface

DAC interface

Ethernet

4-20mA loop

+/- 10V

+/- 10V

1H2004 Slide 30

Servo Block DiagramSoftware PFC controller Startup algorithm

Discrete PFC controller eliminated Replaced trapezoidal or sine commutation with FOC: Enhanced performance Machine resonance control: Performance enhancement. (e.g., Cost saving on damper) Moved motion profile processing into same processor: Eliminates second microprocessor Added Spread spectrum PWM Generation: Reduces size of EMI filter

Machine resonance control (notch filter, input shaping . . .)

Discrete PWM PFC Gen controllerDitheringTa

PFC PFC Switch Switch Circuit Circuit

Motion profile generator Motion command queue

s

b s

i i

a s

i i

Vd c

a s

wr

S p e e d E s t .

b s

ql r

F l u x

b s

la r

lb r

E s t .

va s

vb s

P h a s e V o l t a g e C a l .

Ta T b T c

Command interpreter

Speed & position feedback

ADC

SCI protocol stack SCI

CAN protocol stack CAN

Hall Sensor Interface (CAPTURE)

Encoder Interface (QEP)

C28x Controller

RS-232/485 CAN PHY

1H2004 Slide 31

Power Inverter Power Inverter

Speed & position controller

Trapezoidal or FOC sinusoidal Core commutationw* r

i

v

*

PI

q * s

vq * s

as

PI

Tb

i

i

*

ds

vd * s

v

*

bs

q s

PI

Tc

i

d s

Inv. Park ql r

ql r

Space Vector Gen.

Park

i i

a s

Clarke

ia s

b

i

PWM Gen

Industrial: AC Induction Motor DriveSafe operating area managerw* r

MIPS enable high performance + FOC gives full torque from zero to full speed + Enables four quadrant operation Software integrates a variety of auxiliary functions Flexible software enables one controller for many drives.

i PIq * s

v v PI i* q * s

* as

Ta

Speed profile generator

r

T

*

iq s

ds

v PId * s

v

* bs

b

Tc

Speed controller

FOC Constant Core V/Hz driveid s

Inv. Park ql r

ql r

Space Vector Gen.

Park

i i

a s

Clarke

ia s

b s

ib s

PWM Gen

Input Input power power stage stage

i i

a s

i i

Vd c

a s

wr

S p e e d E s t .

b s

ql r

F l u x E s t .a s

b s

v

la r

lb r

vb s

Command queue

Flux and speed estimators ADC

SCI protocol stack SCI

CAN protocol stack CAN

Software filtering

TCP/IP protocol

C28x Controller

RS-232/485 CAN PHY

MAC/PHY Hardware1H2004 Slide 32

Power Inverter

Command interpreter


Ta T b T c

Appliance: Refrigeration Compressor ControlLC2402A ControllerSoftware PFC controller

Power

PFC PFC Switching Switching Circuit CircuitTa

Discrete PFC controller eliminated Higher efficiency driven by sensorless FOC + possible use of PMSM motor. Eliminated separate (electronic/electro mechanical) thermostat Added Spread spectrum PWM Generation: Reduced size of EMI filtering

Temp Sensor

w* r

i PIq * s

v v PI* q * s

* as

Temperature controller

r

*

T iq s

i

ds

v PId * s

v

* bs

b

Tc

PWM Genia s

Speed controllerwr

id s

FOC CoreInv. Park ql r l r

q ia s

Space Vector Gen.

Park

Clarke

ib s

ib s

i i

a s

i i

Vd c

a

S p e e d E s t .

b s

ql r

F l u x E s t .a s

s

b s

v

la r

lb r

vb s


Ta T b T c

Power InverterADC

Rotor Position and Speed Calculator User interface management

RS-232

SCI

Kalman filter (or other filter)

Sliding mode observer

Parasiliti F., Petrella R., Tursini M.: "Rotor speed and position detection for PM synchronous motors based on sliding mode observer and Kalman filter", Proc. of the European Conference on Power Electronics and Applications (EPE), Lausanne, 1999.

1H2004 Slide 33

Application: Refrigeration Compressor Controlm+ +

sp* K

dc_shunt

Speed Calculator

eI*

Software PFC controller PFC switch and DC Bus front end

Commutation Sequencer

+

Current Regulator (PID)

PWM Gen

Trapezoidal sensorless control for constant speed applications enables low cost implementations.

DC Bus

30 Degree Delay

3Zero Crossing Detector PWM Generation

Keep compatibility with existing trapezoidal motors

Back EMF Calculator

Phase Voltage Meas

3Trapezoidal BLDC Motor

See TI Application reports (SPRA498 and BPRA072) for more details

1H2004 Slide 34

Sensored Trapezoidal BLDC Motor Control300 00 600 900 1500 2100 2700 3300 300 900 0 0 0 0 0 0 120 180 240 300 360 60

Phase current must be turned on and off in order and at the right time in order to follow back EMF commutation Capture interrupts can be used to trigger commutation when Hall sensors are used Capture function can also be used to help calculate motor speedSpeed ComputationIref

Ea

Phase A

ia

e

Phase B ib

e

Phase C ic AB 1 AC 2 BC 3 BA 4 CA 5 CB 6 AB 1

e

Speed feedbackSpeed setpoint

+

PI Controller

Position Sensor PID Controller Commutation PWM Control 3-Phase Inverter Three-phase BLDC motor

+ -

Idc_shunt

1H2004 Slide 35

Sensorless Stepper Motor ControlCPU40 Mhz

TMS320LF2401PWM1 PWM1/IOPA0 PWM2 DIRA PWM A

DRIVERPhase A

H Bridge

drive

BLDC

ADCIN0 ADCIN1

VSENSEA

sense

IA

Phase B drive sense

RS232

SCITXD SCIRXD

PWM3 PWM4 ADCIN2

DIRB PWM B IB

H H bridge Bridge

DIN CLK AIN AOUT

IOPB1 XINT2 ADCIN4 T2PWM

ADCIN3

VSENSEB

D3 Engineering (Rochester, NY)1H2004 Slide 36

Appliance: Power Tool ControlCharging monitor

Field oriented control enables smooth torque control. Sensorless control drives low cost control

Overload trip

Battery Manager

Dithering

w* r

i PIq * s

v v PI* q * s

* as

Ta

T iq s

i

ds

v PId * s

v

* bs

b

Tc

Trigger Control

Speed controllerwr

id s

FOC CoreInv. Park ql r l r

q ia s

Space Vector Gen.

Park

Clarke

ia s

ib s

ib s

i i

a s

i i

Vd c

a

PWM

High quality MIPS make it possible to add features without adding cost such as electronic torque controlPower Power Inverter Inverter

S p e e d E s t .

b s

ql r

F l u x E s t .a s

s

b s

v

la r

lb r

vb s


T Ta b T c

Temp Sensor

Speed and Position Estimator

ADC

LC2401A Controller

1H2004 Slide 37

Servo Drive / Servo Amplifier Hardware PartitioningPFC PFC Magnetics and Magnetics and switch switch HV HV Drivers Drivers Isolation Isolation MCU MCU (Motion profiles (Motion profiles & host & host communication) communication) Anti aliasing Anti aliasing Inverter Inverter IGBTs IGBTs Power Power conditioning conditioning and EMI and EMI Filtering Filtering

PFC Controller PFC Controller

Current sensing Current sensing Power Supply Power Supply

Filtering Filtering

MCU MCU (Commutation) (Commutation)

1H2004 Slide 38

Servo Drive / Servo Amplifier Hardware PartitioningPFC PFC Magnetics and Magnetics and switch switch HV HV Drivers Drivers Isolation Isolation Inverter Inverter IGBTs IGBTs Power Power conditioning conditioning and EMI and EMI Filtering Filtering

Benefits from TI C2000 Digital Signal ControllerImproved system performance Less torque ripple Higher control bandwidth Lower EMI profile Lower system cost Lower component count Smaller system size Improved system reliability Easier to manufacture

Anti aliasing Anti aliasing

Current sensing Current sensing Power Supply Power Supply

1H2004 Slide 39


Timeline25 min




25 min 5 min 10 min

1H2004 Slide 40

Selecting a ControllerA controller to be used for motor control must provide:Performance: Computational ability 100+ sustained MMACS @ 32 bits Ease of use: Tools and Collateral Peripheral Integration: Flash, ADC, PWM, Sensor interfacing, communications all on one chip Third party development support Price: Broad range from sub $2.00 $15.00LC2401 LF2401 F2801 LF240xA C/R281x F2806/08

$2 $5

$10F281x

$15 40-150MIPS and $2-$15

1H2004 Slide 41

C2000 Product PortfolioC28xTM Second Generation ControllerSuperior 32-bit performance and integration for demanding control applications

Control Performance

C2810 C2810 150MHz 150MHz F2801 F2801 100 MHz 100 MHz

C/R2811 C/R2811 150 MHz 150 MHz

C/R2812 C/R2812 150 MHz 150 MHz F2808 F2808 100 MHz 100 MHz

F2810 F2810 150 MHz 150 MHz

F2811 F2811 150 MHz 150 MHz

F2812 F2812 150 MHz 150 MHz

High High Performance Performance

F2806 F2806 100 MHz 100 MHz

NEW!

Low Cost Low Cost Application Application Specific Specific

C24xxTM C24xxTM 14 Devices 14 Devices 40 MHz 16 bit 40 MHz 16 bit

First Generation ControllerLow cost motor control for appliances and other consumer applications

Software CompatibleOn-Chip Flash ROM / RAM only

Price1H2004 Slide 42

In Development

Internal Busing determines quality of MIPSProgram Address Bus (22) Program Data Bus (32) Data Address Bus (32) Data Data Bus (32) Registers ARAU SP DP XAR0 to XAR7 @X Execution MPY32x32 ALU XT P ACC R-M-W Atomic ALU Debug Real-Time Emulation & Test Engine JTAG Data (4 G * 16) Memory Program (4 M* 16)

Standard Peripherals

Register Bus Data Write Bus (32) Program Write Bus (32)

External Interfaces

Multibus architecture makes better use of the processor cycles: Instruction, fetch, decode and execute can happen on the same clock cycle with multiple buses1H2004 Slide 43

SMART peripherals

On chip peripherals drive integrationEncoder and capture interface Encoder and capture interface PWM Generator (16 ch) 12-Bit, 16 ch ADC Watchdog GPIO (56) McBSP CAN 2.0B SCI/UART-A SCI/UART-B SPI Enhanced encoder and capture Independent ePWM (16 ch) 12-Bit, 16 ch ADC Watchdog GPIO (32) I2C 2 * CAN 2.0B Up to 4 UART Up to 4 SPI

10-Bit, 16 ch ADC Watchdog GPIO CAN 2.0B SCI/UART-A SPI

Peripheral Bus

TMS320LF240x TMS320F281x

TMS320F280x

1H2004 Slide 44

Peripheral Bus

PWM Generator (16 ch)

Encoder and timer capture interfaces PWM Generation Synch/Async serial ports Watchdog timer On-chip ADCs with dual sample and holds

Peripheral Bus

Memory64-Bit Security64 KB 8K Sectored Sectored Flash Flash

128-Bit Security5 KB RAM Boot ROM256 KB Sectored Flash + 2 KB OTP 36 KB RAM 8 KB Boot ROM

Program / Data / I/O Buses (16-bit)

Memory Bus

TMS320LF240xAFlash from 16 KB 256 KB

TMS320F28xxRAM from 1 KB 40 KB

ROM from 12 KB 256 KB

128-bit user defined password is stored in Flash 128-bits = 2128 = 3.4 x 1038 possible passwords To try 1 password every 2 cycles at 150MHz, it would take at least 1.4 x 1023 years to try all possible combinations!

1H2004 Slide 45


Timeline25 min




25 min 5 min 10 min

1H2004 Slide 46

Modular Software Development for Control SystemsAll Modules Available in C/C++ EnvironmentCode Composer StudioApplication Specific Systems (ACI, BLDC, PID cntl) Modular Libraries (DMC, FFT, Math, Filtersetc)QEP Position drv PWM drv Serial EEPROM drv ADC04 drv CAP Speed drv PWM DAC drv

Reduces time to marketS/W Test Benches (STB)

Hardware Tools

Third Parties

Provides reuseable software Gets you there. Quickly.

Real-Time Monitor

RealTime +DSP/BIOS

C24xTM

C28xTM

1H2004 Slide 47

Code Composer Studio Components:Fully Integrated, Easy to Use Development ToolsMenus or Icons Help CPU Window

Project Manager Source & object files File dependencies Compiler, assembler & linker build options

Productive Editor:Structure expansion

Status Window

Watch Window1H2004 Slide 48

Graph Window

Memory Window

Code Composer Studio Components:Fully Integrated, Easy to Use Development ToolsFlash Memory Plug-In Easy Set-Up and Programming

Frequency Click Generation Point & Config. Create APIs for AutoInitialization Power Down Read/Write Initialize device and peripheral 117 devices on 5 DSP platforms www.ti.com/sc/dcplug-in Integrated

Data Converter Plug-In

Erase Sector Control

CSM Support

Full C/C++ & Assembly Debugging C & ASM source Mixed mode Disassembly (patch) Plug-in Set break points Config. Set probe points

File to Program Defaults to Project Loaded In CCS

Operation Free Motor Control Library has pre-setFor More Info Workspaces Control Free Motor Control Library has pre-set workspaces workspaces On-line Help1H2004 Slide 49

DSP/BIOS: Handling Multiple Event Sources

DSP/BIOS makes it easierInterrupt Driven Events: DSP/BIOS provides HWI and SWI management to simplify interrupts and multitasking DSP/BIOS provides CLK manager to simplify implementation of periodic tasks

1H2004 Slide 50

Real-time DebugControl systems must be debugged while running! Real-time DebugAllows you to halt in non-critical code for debug while timecritical interrupts continue to be serviced Access memory and registers without stopping the processor Implemented in silicon, not by a debug monitor: Easy to use, no application resources required!

Halt and single step non-time critical code

Time-critical interrupts are still serviced.

Main() { }

function() {

Interrupt void ISR_1() {

} }

1H2004 Slide 51

C28x C/C++ Header Files & Peripheral ExamplesBit-fields simplify peripheral programming C/C++: CCS Auto-complete speeds programming Compiler optimizations speed target code Examples/Documentation accelerate deployment

http://www.ti.com Keywords: SPRC097, SPRC1911H2004 Slide 52

On-Chip Analysis Features Enables Flexible DebuggingTwo hardware analysis units can be configured to provide any one of the following advanced debug features:

Analysis Configuration2 Hardware Breakpoints

Debug ActivityHalt on a specified instruction in Flash A memory location is getting corrupted. Halt the processor when any value is written to this location Halt program execution after a specific value is written to a variable Halt on a specified instruction only after a specific interrupt service routine has executed1H2004 Slide 53

2 Address Watchpoints

1 Address Watchpoint with Data

1 Pair Chained Breakpoints

Hardware Development Tools

Evaluation ModulesC24x or C28x Development board C-Compiler/Asm/Lnk Full Version Code Composer Studio IDE Emulator (XDS510PP+ or USB) Power Supply

DSP Starter KitsLF2407, LF2401, F2812, F2808 evaluation board Compiler/Assem/Linker Code Composer Studio (tied to board) Power Supply

Power ModulesDMC550 or DMC1500 from Spectrum Digital Interfaces to EVM, DSK or standalone operation Protection features provide convenient s/w development platform DMC1500: 350V 7.5 Amp (Supports3ph and 1ph; BLDC, ACI, SR)

Price: $345 - $595

Price $1749DMC500: 24V 2.5 Amp (SupportsBrushless DC) Price

Price: $1,995-2,295

$499

http://www.ti.com/c2000hwtools1H2004 Slide 54

Flash Programming HardwareSoftbaugh Uses SCI bootloader 10 pin header USB to host 2KW/sec program 20 sec max erase Single Unit Programmer $199 8 Site Gang Programmer $899

www.softbaugh.com

1H2004 Slide 55

CAN 2.0BPORT GmbH [Germany] has developed an extensive CANopen protocol stack for the 240xA and 28x devices. Port closely works with Vector Informatik. The contact for Port is : PORT GmbH Heinz-Jrgen Oertel phone +49 345 77755-0 Halle/Saale Germany [email protected] Web : http://www.port.de

EthernetWindmill Innovations in Holland has developed an extensive TCP-IP protocol stack for the 28x devices. The contact for Windmill is : Windmill Innovations Rutger van Dalen phone +31 33 2465314 Nijkerk Holland [email protected] Web : http://www.windmill-innovations.com

1H2004 Slide 56


Timeline25 min




25 min 5 min 10 min

1H2004 Slide 57

The Foundation: Software LibrariesMotor Control Specific SW Modules Peripheral & Communication Drivers Trigonometric and Log Routines Signal Processing Functions Signal Generator Functions Power Conversion Related Functions

http://www.ti.com/c2000appsw1H2004 Slide 58

The Foundation: Software LibrariesMotor Control Specific SW Modules Forward and Inverse Clarke/Park Transforms, BLDC Specific PWM Drivers, Leg Current Measurement Drivers, BLDC Commutation triggers, ACI Speed and Rotor Position Estimators, PID Controllers, Extended Precision PID Controllers. Peripheral & Communication Drivers SCI (UART) Packet Driver, Virtual SPI Drivers, Virtual I2C Drivers, Serial EEPROM Drivers, GPIO Driver. Fixed Point Trigonometric and Log Routines Fixed Point Sine, Cosine, Tangent routines, Square Root, Logarithm Functions. Reciprocal calculation. IQ Math 32-Bit Virtual Floating Point Library Multiply, Divide, Multiply with Rounding, Multiply with Rounding and Saturation, Square Root, Sine and Cosine, routines. Signal Processing Functions FIR (Generic order), FIR (10th order), FIR(20th order), FIR using circular buffers. 128, 256, and 512 point complex and real FFTs. Signal Generator Functions Sinewave generators, Ramp Generators, Trapezoidal Profile generators Power Conversion Related Functions RMS computation, real power and apparent power computation, THD computation, PFC controllers.1H2004 Slide 59

Application Frameworks: Starterwaremore coming soon

1H2004 Slide 60

Modular Block oriented libraryBlocks make systems easy to represent and understand Simplify debug Enable incremental deployment1H2004 Slide 61

Modular S/W Implementation of Sensored FOC for PMSMspeed_ref_ spd_ref PWM1 Mfunc_c1 Mfunc_c2 FC_PWM_ DRV Mfunc_c3 Q0 / HW Mfunc_p PWM2 EV PWM3 PWM4 HW PWM5 3-Phase PWM6 Inverter pid_reg_spd spd_out i_ref_q Ubeta ipark_q Ta pid_reg_iq u_out_q ipark_Q I_PARK SVGEN_DQ spd_fdb i_fdb_d Q15 / Q15 Q15 / Q15 theta_ipQ15 / Q15 Q15 / Q15 Tb Constant 0i_ref_d ipark_d Ualfa Tc pid_reg_id u_out_d ipark_D i_fdb_d Q15 / Q15

park_D

PARK

park_d

clark_d

CLARKE

clark_a Ia_out

ILEG2DRV ADC

ADCINx ADCINy

Q15 / Q15 theta_p park_Q park_q

Q15 / Q15 clark_b Ib_out Q15 / HW HW clark_q clark_c

Q0 I_ch_sel Q15 Ia_gain Q15 Ib_gain Q13 Q13 Ia_offset Ib_offset

Encoder speed_frq SPEED_FRQ Q15 / Q15 speed_rpm theta_elec shaft_angle direction QEP_A PMSM Motor

theta_mech QEP_ QEP_B THETA_ QEP I/F DRV QEP_index dir_QEP HW / Q15 HW index_sync_fl g

1H2004 Slide 62

Software Test Bench: STBEase of use: All modules offered as an STB packaged as a CCS projectAny module in Library

Set by watch window

freq offset gain phase step_ma xx2

out_1 SGEN_2 out_2

Vq

SVGEN DQ Q15 / Q15

Ta Tb Tc

Vd

PWM_DAC_iptr 0 PWM_DAC_iptr 1 PWM_DAC_iptr 2

PWM DAC VIEW

E V

PWM7 PWM8

Q15 / HW H PWM9 W

Module under eval Examples Sinegen

ExamplesPWMDAC driver (ezDSP) DAC driver (EVM) Data logger (Sim) Emulated Plant (Sim)

1.8K 100n

ADC driver Capture driver QEP driver

1H2004 Slide 63

Interconnecting ModulesPWM1 Iclark_dCLARKI Q15 / Q15

Iclark_a Iclark_b Iclark_c

mfunc_c1 mfunc_c2 mfunc_c3 mfunc_p

FC_PWM DRV Q0 / HW

PWM2 PWM3 PWM4 PWM5 PWM6

Iclark_q rnd_gain

RAND GEN Q15 / Q15 random

rnd_offset

At the C level:clarkInv(&dqBuffer, &fcPwm.InputBuffer) fcPwmInputBuffer.ditherIn = randomGen1.calc(&randomGen1) fcPwm.calc(&fcPwm);

At the GDE level: Just join the blocks

1H2004 Slide 64

Embedded Target Integrates Simulink and MATLAB with eXpressDSP Tools and C2000 ControllersTM TM

Key Features Verification of embedded implementation Design and Simulation MATLAB Link for Code Composer Automatic code generation Studio Embedded Target for C2000 Auto debug, testbench Documentation, re-usable C code Real-time visualization Support for on-chip peripherals

http://www.ti.com/c2000embeddedtarget1H2004 Slide 65

Embedded Target Integrates Simulink and MATLAB with eXpressDSP Tools and C2000 ControllersTM TM

http://www.ti.com/c2000embeddedtarget1H2004 Slide 66

Example of GDE Motor Control

http://www.vissim.com/1H2004 Slide 67


Timeline25 min




25 min 5 min 10 min

1H2004 Slide 68

Incremental System BuildIncremental system development/debug is built in Incremental system development/debug relies on modular software blocks Incremental system development/debug is flexible/systematic Incremental system development/debug applies to multiple processors, drives and motors

1H2004 Slide 69

ACI Sensorless Field Oriented Controlwr* PI iqs i * ds PI ids qlr qlr Park ias wr Speed Est. ibs qlr lar lbr Flux Est. ias ibs vas s

iqs* PI

vqs*

vas* Inv. Park vbs*

Ta Space T Vector b Gen. Tc PWM Driver

vds*


VSI ias ibs Clarke ias ibs Vdc

Ileg2_ Bus Driver

ADCIN1 ADCIN2 ADCIN3

vb

Phase wr Voltage Cal.

Ta Tb TcTMS320F28x controller

ACI

1H2004 Slide 70

Build Level 1

SVGEN/ PWM Tests

vqs*

vas* vbs*

TaSpace Tb Vector Gen. PWM Driver

vds

Inv. * Park

Tc


fe

Ramp Control

Ramp Gen.

e

TMS320F28x controller1H2004 Slide 71

Build Level 2vqs*

Measurement Tests

vas* vbs* e idsPark


vds

Inv. * Park

Tc


VSI feRamp Control Ramp Gen.

ias ibsClarke

ias ibs Vdc

iqs

Ileg2_ Bus Driver


vas vbs


Ta wr Speed Tb Cal. Tc

time stamp

Capture CAP Driver

ACI


PI Regulator Tests

Incremental Builds Header Filebuild.h/*-----------------------------------------------------------------------------Following is the list of the Build Level choices. ------------------------------------------------------------------------------*/ #define LEVEL1 1 /* SVGEN_DQ and FC_PWM_DRV tests */ #define LEVEL2 2 /* Currents/DC-bus voltage/speed measurement tests */ #define LEVEL3 3 /* Two current PI regulator tests */ #define LEVEL4 4 /* Flux and speed estimator tests */ #define LEVEL5 5 /* Speed PI regulator test (Sensored closed-loop DFOC system) */ #define LEVEL6 6 /* Sensorless closed-loop DFOC system */ #define ALWAYS_RUN /*-----------------------------------------------------------------------------This line sets the BUILDLEVEL to one of the available choices. ------------------------------------------------------------------------------*/ #define BUILDLEVEL LEVEL3

1H2004 Slide 73

Build Level 3iqs* iqs ids* ids feRamp Control

PI Regulator Tests

vqs*PI

vas* vbs* e idsPark


vdsPI PIRamp Gen.

Inv. * Park

Tc


VSI ias ibsClarke

ias ibs Vdc

iqs

Ileg2_ Bus Driver


vas vbs


Ta wr Speed Tb Cal. Tc

time stamp

Capture CAP Driver

ACI


Build Level 4iqs* iqs ids* ids feRamp Control

Flux Speed Estimators

vqs*PI

vas* vbs* e idsPark


vdsPI PIRamp Gen.

Inv. * Park

Tc


VSI ias ibsClarke

ias ibs Vdc

ias ibs wrSpeed Est.

iqs

Ileg2_ Bus Driver


ias ibs vas vbs

lr lar lbr

Flux Est.


Ta Tb Tc

wr

Speed Capture Calc Driver

CAP

ACI


Build Level 5wr*PI

Speed Regulator Tests

iqs*PI

vqs*

vas* vbs* lr iasPark


wr

iqs i * ds PI PI ids

vds

Inv. * Park

Tc


lr

VSI ias ibs Vdc

ibs

Clarke

Ileg2_ Bus Driver


ias lr lar lbr ibsFlux Est.

vas vbs


Ta Tb Tc

wr

Speed Capture Calc Driver

CAP

ACI


Build Level 6wr*PI

Sensorless FOC System

iqs*PI

vqs*

vas* vbs* lr iasPark


iqs i * ds PI PI ids

vds

Inv. * Park

Tc


lr

VSI ias ibs Vdc

ibs

Clarke

ias ibs wrSpeed Est.

Ileg2_ Bus Driver


ias ibsFlux Est.

lr lar lbr

vas vbs


Ta Tb TcTMS320F28x controller

ACI

1H2004 Slide 77


Timeline25 min




25 min 5 min 10 min

1H2004 Slide 78

Motor Control System Components From TIAC Input Bridge RectifierDC link

Power converter

Motor

Load

Current and voltage sense

MOSFET driver

Current sense

Power supply LDO PFC SVS PWM

Resolver Simult. Sampling DSP Controller ADCs Optical encoder Hall effect

Network interface

4-20mA interface

Data line

ADC interface

DAC interface

Ethernet

4-20mA loop

CAN RS232 RS485 1H2004 Slide 79

+/- 10V

+/- 10V

Texas InstrumentsHigh Performance Analog For Industrial Motor Control

1H2004 Slide 80

TI Power: Easy to Choose, Easy to Use Complete power management module and IC solutions: From input to output Industry recognized applications and systems expertise www.ti.com/dsppower for Power Supply Reference Designs Full-Service Support Reference Designs Evaluation Modules Application Notes Design Tools & Software Annual Power Supply Design Seminars Online sample and EVM ordering power.ti.com1H2004 Slide 81

Complete System Power SolutionsLoad-share Controller UC39002 Isolated Modules 5 to 100 watts available PT4210 (5W) PT4480 (100W) DC/DC Converters TPS549xx (0.9 to 2.5V, 9A) TPS546xx (0.9 to 3.3V, 6A) TPS543xx (0.9 to 3.3V, 3A) TPS6205x (2.7 to 10V, 0.8A) LDOs TPS768xx (1A) TPS778xx (750mA) TPS776xx (500mA) TPS701xx (250/125mA, dual)

ControllerUCC3895

PFCUCC3851x UCC38050 UCC3817/18

AC/DC

Isolated Module HOT SWAPUCC39xx UC39xx TPS23xx

DC/DC Converters

PWM + MOSFET DriverPWM Controllers UCC35705/6 UCC35701/2 UCC38C40 series MOSFET Drivers TPS28XX UCC3732x UCC3722x

Power Dist TPS20xx TPS22xx TPS23xx

LDOs DC/DC Controllers Non-isolated Modules

SVSSupervisors TPS380X-XX

+/voltages 0.7 volts and up

DC/DC Controllers TPS40000 (Sync. buck) TPS40050 (8 to 40V buck) TPS40060 (10 to 55V buck) TPS5120 (Sync. buck, dual)

Non-Isolated Modules 1A to 60 Amp available PT6440 (1V to 3.3V, 6A) PT6940 (Dual output, 6A) PT6520 (1.5V to 3.3V, 8A)

1H2004 Slide 82

Ready to Use Power Supply SolutionsComplete, Tested Power Supply Designs Schematics BOM Implementation Notes Visit www.ti.com/dsppower

1H2004 Slide 83

For Easily Customized Power Designs: SWIFT/TPS40k/TPS60k Design Tools

Visit power.ti.com to Download Power Design Software1H2004 Slide 84

TI Interface Products for MC SystemRS-485 RS-2323.3 - 5-V MAX3221 MAX3223 MAX3232 MAX3238 MAX3243 SN65HVD23/24 SN65HVD3085/88E1H2004 Slide 85

5-V SN65HVD05/06/07 SN65HVD08 SN65HVD3082E SN65HVD20/21/22

3.3-V

NEW ! MAX207 MAX208 MAX222

SN65HVD10 SN65HVD11 SN65HVD12

FET Drivers in MC System Deliver 4A through Miller Plateau Available in MSOP PowerPAD 20/15nS Rise/Fall Times 4-15V Supply Range

UCC27423: Dual 4A, High Speed, Inverting Low Side Driver UCC27424: Dual 4A, High Speed, Non-Inverting Low Side Driver UCC27425: Dual 4A, High Speed, Low Side Driver with one Inverting and one Non-Inverting Output1H2004 Slide 86

Intelligent Drivers in MC System

Low cost stand alone controllers for low power applications1H2004 Slide 87

Motor Controllers

BLM Controllers: UC2625, UC3625, UCC2626, UCC3636 Stepper Controllers: UC3717, UC3770 DC Motor Controllers: UC2638, UC3637, UC36381H2004 Slide 88

Amplifiers in MC System Difference Amplifiers INA168, Automotive Current Shunt

CMOS Amplifiers Rail to Rail (5-100mV)

Isolation Amplifiers To 3500VRMS

Instrumentation Amplifiers Difference Amplifiers High Speed Amplifiers 4-20mA Transmitters Voltage References Temperature Sensors I2C, 12bit Resolution1H2004 Slide 89

Amplifiers: Design Utilities

1H2004 Slide 90

FilterPro Design Tool

1H2004 Slide 91

ADC and DAC in MC SystemGeneral purpose Analog-to-Digital and Digital-to-Analog ConvertersADCs DACs

Single Channel Multi Channel 10V Input

Single Channel Multi Channel 10V Output

For general monitor/control functions

Simultaneous Sampling Analog-to-Digital ConvertersSerial Interface 2x2 Channel ADS7861 500KSPS 2x2 Channel ADS8361 500KSPS Parallel Interface 2x2 Channel ADS7862 500KSPS 6 Channel ADS7864 500KSPS 6 Channel ADS8364 250KSPS

N

EW !

ADS7869: 12-Channel Analog Motor Control Front End with Three 1MSPS, 12-Bit ADCs1H2004 Slide 92

DC-Link Voltage and Phase Currents Measurement for Servo Application| DC Link |

|

Motor Current

|

Buffered Analog Input Buffered Digital Output

Shunt R: ADS1202 ADS1203 Hall Effect: ADS1204 ADS1205 ADS1206 1MHz ADS1207 4MHz4kHz Current Loop 16-bit Accuracy

1H2004 Slide 93

ADS1206 & ADS12071MHz & 4MHz Voltage-to-Frequency ConverterFeatures:Synchronous Operation Frequency Set By External Clock Maximum Input Frequency:REFIN/OUT 1k Reference Voltage 2.5V

- 1MHz for ADS1206 - 4MHz for ADS1207Selectable High Impedance Input 2% Internal, 2.5 V Reference Voltage High Current Output Driver Alternate Source For AD7740 8-lead VSSOP Package

VIN

x1

Modulator

Buff

FOUT

DIV 2 Only ADS1207

BUF

CLKOUT

CLKIN

Key Differentiators: Key Differentiators:

Higher performances than AD7740 Higher performances than AD7740 Input frequency 4MHz Input frequency 4MHz Output buffer Output buffer Low price - -ASD1206 1Ku $0.98 Low price ASD1206 1Ku $0.98- -ASD1207 1Ku $0.98 ASD1207 1Ku $0.98

Applications: Applications:

Galvanic Isolation Measurements Galvanic Isolation Measurements High Voltage Measurements High Voltage Measurements Low Cost A-to-D Conversion Low Cost A-to-D Conversion Motor Control Motor Control Industrial Process Control Industrial Process Control

1H2004 Slide 94

ADS12031-bit 10MSPS, 2nd Order ModulatorFeatures:16-Bit Resolution 250mV Input Range 3LSB INL Max 1% Internal Voltage Reference 83dB SNR Min -95dB THD Typ Flexible Serial Interface 8-lead TSSOP Package QFN 3x3 Coming SoonVIN+ VINAVDD Second-Order -Modulator RC Oscillator 20MHz Reference Voltage 2.5V AGND BGND Interface Circuit BVDD MDAT MCLK CLKOUT M0 M1

Buff

REFIO

(Pins Highlighted in RED are Available Only in QFN Package)


Higher performances than AD7400 Higher performances than AD7400 Implemented Manchester Coding Implemented Manchester Coding On Board Oscillator On Board Oscillator Output buffer Output buffer Low price 1Ku $2.70 Low price 1Ku $2.701H2004 Slide 95


Current Measurement Current Measurement Motor Control Motor Control Closed-Loop Servo Control Closed-Loop Servo Control Power Converters Power Converters 3-Phase Power Monitor 3-Phase Power Monitor

ADS12041-bit 10MSPS, 2nd Order ModulatorFeatures:16-Bit Accuracy Input Range 2.5V @ 2.5V Gain Error: 0.5% Dynamic Range 100dB 86dB SNR Min Four Independent Modulators Four Input Reference Buffers On Board 20MHz Oscillator QFN-32 (5x5) PackageCH A+ CH AREFIN A CH B+ CH BREFIN B CH C+ CH CREFIN C CH D+ + 2nd-Order Modulator Out EN Oscillator 20MHz + 2nd-Order Modulator + 2nd-Order Modulator Divider Clock Select + AVDD 2nd-Order Modulator BVDD OUT A OUT B OUT C OUT D CLKOUT

Output Interface Circuit

CLKIN CLKSEL


CH DREFIN D REFOUT

First in Industry First in Industry Low price 1Ku $6.75 Low price 1Ku $6.75Applications: Applications:

Reference Voltage 2.5V AGND BGND

Current Measurement Current Measurement Motor Control Motor Control Power Converters Power Converters1H2004 Slide 96

ADS1202 Design ResourcesADS1202 Data Sheet:http://www-s.ti.com/sc/ds/ads1202.pdf

Application Notes: Choosing an Optocoupler for the ADS1202 Operating in Mode 1http://www-s.ti.com/sc/psheets/sbaa088/sbaa088.pdf

Combining ADS1202 with FPGA Digital Filter for Current Measurement in Motor Control Applicationhttp://www-s.ti.com/sc/psheets/sbaa094/sbaa094.pdf

Interfacing the ADS1202 Modulator With a Pulse Transformer in Galvanically Isolated Applicationshttp://www-s.ti.com/sc/psheets/sbaa096/sbaa096.pdf

Clock Divider Circuit for the ADS1202 in Mode 3 Operationhttp://www-s.ti.com/sc/psheets/sbaa105/sbaa105.pdf

ADS1202 Reference Design Users Guidehttp://www-s.ti.com/sc/psheets/slaa186/slaa186.pdf

ADS1202 Evaluation board:http://focus.ti.com/docs/prod/folders/print/ads1202.html#developmenttools

Evaluation board users guidehttp://www-s.ti.com/sc/psheets/slau111/slau111.pdf

Evaluation board interface for C5000 and C6000 DSPhttp://focus.ti.com/docs/toolsw/folders/print/5-6kinterface.html

Related parts, ADS1204:http://www-s.ti.com/sc/ds/ads1204.pdf

1H2004 Slide 97

Texas Instruments Why Simultaneous Sampling?Example:

High Performance Analog For Power Distribution System

1H2004 Slide 98

ADC application in Power Distribution System

1H2004 Slide 99

Three Phase Power MeasurementCT 5A 50Hz

10VP-P

IR VR IS VS IT VT

220V 50Hz PT CT 5A 50Hz

10VP-P

10VP-P

220V 50Hz PT CT 5A 50Hz

10VP-P

10VP-P

220kV/110kV/10kV1H2004 Slide 100

220V 50Hz PT

10VP-P

Three Phase Currents and Voltages1.50 1.00

0.50

0.00 0 90 180 270 360

-0.50

-1.00

-1.50

VR(t)=VR*sin(t) VS(t)=VS*sin(t+120) VT(t)=VT*sin(t-120) IR(t)=IR*sin(t-1) IS(t)=IS*sin(t+120-2) IT(t)=IT*sin(t-120-3)

Phase Amplitude

Degrees

Simultaneous measurement of six signals needed for correct power measurement:Simultaneous Sampling

PR(t)=VR(t)*IR(t) PS(t)=VS(t)*IS(t) PT(t)=VT(t)*IT(t)1H2004 Slide 101

Internal structure of a Synchro Control transmitter

1H2004 Slide 102

Resolver (2 Phase) and Synchro (3 Phase) Connection Convention

1H2004 Slide 103

ADS836116bit 500kSPS, 4 ch. Simultaneous Sampling SAR ADCsFeatures:4 Fully Differential Inputs 2 Independent 16-Bit ADCs 500kSPS Sample Rate per ADC 2 Sample and Holds Internal VREF (+2.5V) Serial Data-Bus Power - 200mW max 24 pin SSOP and QFN 32 (5x5)A0+ A0 A1+ A1 REFIN B0+ B0 B1+ B1 REFOUT VREF 2.5V MUX+ -

AVDD

DVDD

MUX

+ -

S/H

+ -

SAR ADCControl & Serial Interface

CLK CONV BUSY DATA and CONTROL

S/H

+ -

SAR ADC



16-Bit Upgrade to the 12-Bit 16-Bit Upgrade to the 12-Bit

ADS7861 ADS7861 Pin Compatible With the ADS7861 Pin Compatible With the ADS7861 Low price 1Ku $8.75 Low price 1Ku $8.751H2004 Slide 104

Closed-Loop Servo Control Closed-Loop Servo Control Machine and Motion Control Machine and Motion Control Multi-Axis Positioning Multi-Axis Positioning 3-Phase Power Control 3-Phase Power Control Motor Control Motor Control

ADS836416-bit 250kSPS, 6 ch. Simultaneous Sampling SAR ADCsAV DD DV DD

Key Features6 Fully Differential Inputs 6 Independent 16-bit ADCs 250kSPS Sample Rate per ADC 6 Sample and Holds 6 FIFO Registers Internal VREF (+2.5V) Power - 470mW max 64 pin TQFPA0+ A0 B0+ B0 C0+ C0 A1+ A1 B1+ B1 C1+ C1 REFIN REFOUT S/H S/H S/H S/H S/H S/H+ + + + + + -

ADC 6 ADC 5 ADC 4Control & Parallel InterfaceCLK CONV BUSY DATA and CONTROL

ADC 3 ADC 2

ADC 1V REF 2.5V

6x FIFO

Key Differentiators

ApplicationsClosed-Loop Servo Control Machine and Motion Control Multi-Axis Positioning 3-Phase Power Control Motor Control

First In Industry 66Channels First In Industry Channels Low price Low price

--ASD8364 1Ku $17.23 ASD8364 1Ku $17.23 Functional Compatible 16-Bit Upgrade Functional Compatible 16-Bit Upgrade for ADS7864. for ADS7864.1H2004 Slide 105

Competitive Comparison+12V 0.1uF R C 0.1uF AD845 + -12V 47uF 47uF +5V

AD7865

R1A

Requires additional operational amplifier Requires two additional analog power supplies Single ended input, poor CMVR Additional errors due to op amp characteristics

+C1 R1B R2B R2A C2B C2A

ADS8364REFIN REFOUT CR

-

Differential input, high CMVR Only one power supply Optimum performances

1H2004 Slide 106

Differential Signal Measurement with ADS8364Tr R1A

+C1 R1B VL 230V 50Hz R2B R2A C2B C2A

ADS8364REFIN REFOUT CR

-

10VP-P

ADS8364 Example: Clock 3.8MHz 38kSPS Sampling time 21.84s Conversion time 4.47s1H2004 Slide 107

R1A = R1B = 4k R2A = R2B = 1k C1 = 1.8nF C2A = C2B = 0.18nF

ADS8364 Example Measurement Results Fs = 50kHz, Fin = 1.7kHzSNR = 86dB SINAD = 85.6dB SFDR = 100.4dB THD = -96.2dB

1H2004 Slide 108

Measurements for Servo ApplicationAC/DC Inverter

Motor Current Measurement (2-Phase or 3-Phase): Motor current value for control algorithm Sign of the phase current for dead time compensation Over-Load and Over Current protection Motor Encoder or Resolver: Rotor Speed Rotor Position Load Encoder: Load Position DC-Link voltage Temperature Etc

R S T

Load1H2004 Slide 109

Motor

ADS786912-bit 1MSPS, 12 ch. Simultaneous Sampling SAR ADCsKey Features12 Fully Differential Inputs 3 Independent 12-bit ADCs 1MSPS sample rate per ADC 7 Sample and Holds 5 Multiplexers 7 Sign and 3 Win. Comparator 2 Up/Down 16-Bit Counters 100 pin TQFP

Key Differentiators

ApplicationsClosed-Loop Servo Control Machine and Motion control Multi-Axis Positioning Motor Control

First In Industry First In Industry

Complete Motor Control Front End Complete Motor Control Front End Low price Low price --ADS7869 1Ku $14.56 ADS7869 1Ku $14.561H2004 Slide 110

Motor Current Measurement with ADS7869IU

Three: Sample & Hold 12BIT ADC 1MSPS PGA iu(t)=IU sin(t) iv(t)=IV sin(t+120) iw(t)=IW sin(t-120)IV

Sample & Hold MUX MUX

PGA

ADC 12-bit 1MSPS


PGA

ADC 12-bit 1MSPS

Simultaneous Sampling1.50

IW


PGA

ADC 12-bit 1MSPS

1.00

0.50

Phase Amplitude

0.00 0 90 180 270 360

-0.50

-1.00

-1.50

Degrees

1H2004 Slide 111

Motor Current Measurement with ADS7869Gain Offset

3X : Sample & Hold 12BIT ADC 1MSPS PGA Sign Comparators Window Comp.

IU

Sample & Hold MUX + MUX SIGN

PGA

ADC 12-bit 1MSPS

OVER-CURRENT

Three simultaneous sampling inputs No time difference error in sampling of signals Three differential inputs High CMRR for noisy environment Three PGA are simultaneously scaling inputs Same HW for different power range Three 12 bits 1MSPS ADCs Low delay in control algorithm Three sign comparators SW Lockout time compensation One 8 bit DAC for set up of current limit Dynamic control of motor acceleration Three programmable window comparators Separate control of motor phases over-current

Comp Limit Window Limit

+LIMIT

IUp-IUn

-LIMIT

U_COMP

U_ILIM

1H2004 Slide 112

Incremental Encoder Measurement with ADS7869Gain

Two Synchronous inputs Two Asynchronous inputs Differential inputs Two 12 bits 1MSPS ADCs 20% Gain correction 20% Offset correctionSINMUX

ASYNC Sample & Hold

Offset

PGA Sample & Hold MUX SYNC

ADC 12-bit 1MSPS

+

SIGN A

+ SIGN B

16-bit UP/DOWN Counter- With State with Machine & State Filter For DigitalMachine & Error Detection Digital Filter & Glitch Reduction

SYNC ASYNC

-

Gain Offset

Two Sign Comparators 16-bit UP/DOWN Counter State Machine Digital Filter 4 Registers 26-bit total resolution

SYNC

COSMUX

Sample & Hold

PGA Sample & Hold MUX ASYNC

ADC 12-bit 1MSPS

1H2004 Slide 113

Getting Started: analog.ti.com

Product Listing

HW & SW Tools

Application Notes

1H2004 Slide 114

Samples, Development Tools and more

Free Overnight Samples

Inventory HW & SW Tools

Related Application Notes

1H2004 Slide 115

Data Converter Software Plug-In

Data Converter Software support embedded into Code Composer Studio (CCS)

1H2004 Slide 116

Software for Data Converters? Todays data converters need software support due to: On-chip features like Selectable input channels On-chip filters Integrated FIFOs Adjustable gain Complex configuration Some parts have more than 40 registers and 640 control-bits Coding of registers is tedious and error prone Customer benefits: Faster system time to market Reduced development cost Software support helps: The DSP software developer: No need to learn that crazy analog part The analog designer: No need to learn DSP programming just to test this neat data converter

1H2004 Slide 117

Software Support: The Converters Select: Virtually any number of data converters Nearly every combination (limitation is the DSP) Supports: Analog to Digital converters Digital to Analog converters Codecs For a complete list of supported devices, visit http://www.ti.com/sc/dcplug-in Not hardware specific: Can be used on the analog EVMs or with the customers own hardware, as long as there is no special hardware setup necessary (e.g. controlling a multiplexer)

Supports 117 devices: 4 devices on the C2800 DSP platform 86 devices on the C5400 DSP platform 26 devices on the C5500 DSP platform 75 devices on the C6200/C6700 DSP platform 21 devices on the C6400 DSP platform1H2004 Slide 118

High Performance Analog for Motor ControlApplication CollateralEvaluation Boards complete with Users Guide, Schematic, & BOM on web Device specific application notes linked directly from product folder! Code Composer Studio Example Projects for C2000, C5000, C6000 DSPs Complete Signal Chain prototyping system for C2x processors coming soon! EVMs available for purchase at www.ti-estore.com

Related Application NotesUsing a SAR A/D Converter for Current Measurement in Motor Control Applications (sbaa081.htm) Understanding the CAN Controller on the TMS320C24x DSP Controller (spra500.htm) RS-485 for Digital Motor Control Applications (slla143.htm) Interfacing the ADS8361 to the TMS320F2812 DSP (slaa167.htm) Interfacing the ADS8364 to the TMS320F2812 DSP (slaa163.htm)

1H2004 Slide 119

Systems Expertise Silicon SoftwareDigital Motor Control Software Library

Power ElectronicsCurrent Voltage Position/ Speed Feedback EE PromEV (CAP/Q EP) ADC

Kalman Filter Precision PID Filter Lib Field Oriented Control

SupportWeb casts Workshops KnowledgeBase Application notes

SPI EV (PWM) CAN SCI-A/B

Chip Support Lib IQmath DSP/BIOS

TI Power ManagementFoundation Software CAN Network PC Test Equipment

Silicon: Software: Tools: Analog:

DSP offers the performance and flexibility to implement advanced motor control algorithms Modular software reduces time-to-market Advanced Development Tools make development easy Offers a broad selection of signal conditioning and power management1H2004 Slide 120

Sprb167a-Ti Digital Motor Control Solutions

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