TI Digital Motor Control Solutions

Texas Instruments Incorporated 2004

SPRB167
No reproduction permitted without prior authorization from Texas Instruments.
1H2004 Slide 1
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 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 Fundamentals
ia A`

Fc The three phase winding

C B
produces three magnetic
Fa
fields, which are spaced 120
C apart physically.
Fb
B` ` When excited with three sine
A waves that are a 120 apart in
1.50
Phase currents phase, there are three
1.00
ia ib ic pulsating magnetic fields.
0.50

0.00 t The resultant of the three

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

-1.00
magnetic fields is a rotating
-1.50 magnetic field.

1H2004 Slide 4
 Three Phase Machine Fundamentals
q (imaginary)
120 f
Speed (in r.p.m.) =
P
ia A` f = AC supply frequency,
and P = # of poles for the motor,
per phase
C Fc B
d (real)
Fa For instance, a 3 phase
Fs machine, with:
Fb
C` 60Hz Three Phase

B` Fs = Fs . e jt Supply ; and 4 poles per

phase
A Fs = Fd + jFq will have a synchronous
speed of 1800 r.p.m.

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

o o o

1H2004 Slide 5
 Permanent Magnet Motor Operation
Rotor field
A`
Back
C EMF
F
N t
(v)
B

Stator t
C` Current
S Stator field
(Is)
B`
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 Fundamentals
ia A`
1.50
Phase currents
ia ib ic
1.00
Im
C B 0.50 ~
F 0.00 I
c Current Phasors
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
~ t
-0.50 120o I
a
C -1.00
Re
-1.50

B` `
~
A 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
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min

1H2004 Slide 9
 Scalar V/F control of 3-ph Induction Motor

Vs MAXIMUM
(volt) TORQUE
Vrating VOLTAGE

NOMINAL
TORQUE
TORQUE
Vo
0 fc frating f (Hz) LOW SPEED NOM SPEED 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 Technique
ACCELERATION 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 Frames
a
Q
R R
R D
2/3 /2
2/3 /2

c 2/3 b
rotor
t IQ
t
t

t ID
t

Three phase reference frame Two phase orthogonal Rotating Orthogonal

reference frame Reference Frame

1H2004 Slide 12
Motor Flux Interaction

Q S Torque
T
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 Control
Maintain the
load angle
A` at 90
q=90
CF N
Back EMF (v)
B t

C` Stator Current (Is) t

S F
B`
A

+ No torque ripple t = constant t

+ Better dynamic response

Need good knowledge of the rotor position

1H2004 Slide 15
 Example Controller: TMS320F2812

128Kw Flash 18Kw 4Kw

+ 1Kw OTP RAM Boot Event Mgr A
ROM
XINTF Event Mgr B
Memory Bus
12-Bit ADC

Watchdog

Peripheral Bus
Interrupt Management
GPIO

TM
150 MIPs C28x 32-bit DSP
32x32 bit RMW McBSP
Multiplier Atomic
ALU CAN 2.0B
32-bit
Timers (3) SCI/UART-A
32-Bit
Register SCI/UART-B
Real-Time
File
JTAG
SPI

1H2004 Slide 16
 PMSM FOC with TMS320F2812 DSP

wr* iqs* vqs* vas* Ta PWM1

PI PWM2
PI Space Tb PWM
Inv. PWM3
iqs i * vds* Park Vector + PWM4
ds vbs* PWM5
Gen. Tc Driver
PI PWM6
ids Power
r Inverter
ias ias
ADCIN1
Park ibs Clarke ibs ADC
+ ADCIN2
Driver ADCIN3

Speed r Angle
wr Calculat QEP Phase
or. + driver Phase Enc
Index oder Motor

TMS320F2812 DSP controller

1H2004 Slide 17
 ACI FOC System with TMS320F2812 DSP
wr* iqs* vqs vas* Ta PWM1
PI * Inv. Space PWM PWM2
PI T PWM3
Park Vector b Driver PWM4
iqs i * vds* vbs* Gen.
ds PWM5
Tc
PI PWM6
ids Power
lr lr Inverter
ias ias
Park ADCIN1
Ileg2_
ibs Clarke ibs Bus ADCIN2
ias Vdc Driver
ias ADCIN3
ibs
Spee Flux ibs
wr d lr Est.
va Phase
Est. lar Ta
s Voltag ACI
lbr vb Tb
e Tc TMS320F2812 DSP
s
Cal. controller

1H2004 Slide 18
 FOC TMS320F2812 DSP + Resolver
wr* iqs* vqs* vas* Ta PWM1
PI PWM2
PI Space Tb PWM PWM3
Inv.
iqs i * vds* Park Vector + PWM4
ds vbs* PWM5
Gen. Tc Driver
PI PWM6
ids Power
r Inverter
ias ias
ADCIN1
Park ibs Clarke ibs
ADCIN2

ADC ADCIN3
+
Speed r Angle Driver Sin
wr Calculat Resolver
or. Position Cos Reso
lver
Detection Motor

TMS320F2812 DSP controller

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 Drive
Input
Input
power
power
stage
stage

r*
State PWM
Speed Torque
Selector Gen
Controller controller

Power
Inverter

Flux and Torque calculator ADC

Current and voltage vector

CAPTURE
calculator
Communication

Inputs
s modules Motor

SCI CAN TMS320F2812 DSP controller

1H2004 Slide 21
 BLDC and PMSM Motor Types
Both (typically) have permanent-magnet rotor and a
A wound stator
CF N` BLDC (Brushless DC) motor is a permanent-magnet
B brushless motor with trapezoidal back EMF
PMSM (Permanent-magnet synchronous motor) is a
permanent-magnet brushless motor with sinusoidal
S
C back EMF
F
B `
` A
Back EMF of BLDC Motor
Back EMF of PMSM
300 900 1500 2100 2700 3300 300 900
00 600 1200 1800 2400 3000 3600 600 Ea 1.50
Phase A ia
e
1.00
ea eb ec
Hall A
0.50

Phase B
ib e 0.00
t
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
-0.50
Hall B
-1.00
Phase C
ic e -1.50

Hall C

1H2004 Slide 22
 Sliding Mode Observer
is
v s*
Sliding Mode
Current
i~s Sliding z Low-
pass
e~s Phase ~eu ~e
Control Calculate
Observer Filter

See hidden slides (2) for equations * Phase

The core is current observer Comp
Speed calculator not adopted

~e
Sin/Cos Speed

~
Calculator 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 Equations
d ~ ~
is = A is + B ( v s e~ s + z )
dt
R 1 Current observer
A = I s B =
L L
3
L = Lm
2

~
z = ksign ( is i s ) Sliding control

d
e~ s = 0 e~ s + 0 z Low-pass filter
dt

1H2004 Slide 25
SMO Equations (continued)

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

Torque equation:
Correct measurement of
= 3 / 2 K E iq 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-existant, 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
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min

1H2004 Slide 29
Motor Control system Components From TI
AC DC link
Bridge Power
Input Motor Load
Rectifier converter

Current and
MOSFET Current
voltage
driver sense
sense

Power
supply Resolver
Simult.
Sampling
LDO Optical
PFC DSP Controller ADCs
encoder
SVS
PWM and
interface
Hall
effect

Network 4-20mA ADC DAC

Data line
interface interface interface interface
CAN
RS232
Ethernet 4-20mA RS485 +/- 10V +/- 10V
loop

1H2004 Slide 30
 Discrete PFC
Servo Block Diagram controller eliminated
($2.50)
Software Discrete
PWM
Replaced trapezoidal
PFC PFC
Machine resonance control controller Gen
controller
PFC
PFC or sine commutation
Switch
Switch
(notch filter, input shaping . . .)
Startup Circuit
Circuit
with FOC: Enhanced
algorithm Dithering performance

Motion profile
w

Trapezoidal
r*
PI
i
q
*
s
PI
v
q
*
s
v
*

as T
a

T
Machine resonance
control: Performance
* * b

generator
i i v

Speed &
ds
v bs
q

or
s PI
d
*
s
T

FOC
c
Inv. Space

PWM
i Park Vector

position
d q q Gen.
s l l
r r

enhancement.
i

sinusoidal
Park i

Core
a
Clarke

Gen
a
s
i s

controller
i
b

Inverter
b
s

Power Inverter
s
i
V
a i

commutation
d
s a

(e.g., Cost saving on

i s
c
S F

Motion
b
l i
p s b
w e q u
s
e l
x
r
d r
v
l E a
P
E s h T

command
a s
s r t a
t . v s T
a
l

damper)
. b
b e T
b
r s
V c
o

queue
l
t
a
g
e
C
a
l
.

Moved motion profile

Power
Speed & position
Command feedback ADC processing into same
interpreter
processor:
Hall
Eliminates second
SCI CAN Encoder
protocol protocol Sensor microprocessor
Interface
stack stack Interface
(QEP) ($2.00)
(CAPTURE) F2812
SCI CAN Controller Added Spread
spectrum PWM
Generation: Reduces
RS-232/485 CAN PHY size of EMI filter

1H2004 Slide 31
Industrial: AC Induction Motor Drive MIPS enable high
performance

Safe operating + FOC gives full

area manager Input
Input torque from
power
power
zero to full
*
w i v T

stage
as
r* v

stage
q
PI *
s a
PI q
*
s

r * * b

Speed profile
*
i i v
ds
v bs
q
T

PWM
d
s PI *
s

FOC speed
c
Inv. Space

Constant i Park Vector

generator Speed
d

s
q
l
r

Park
q
l
r

i
Gen.

i
Gen
Core
a
Clarke a
s

controller
i s

V/Hz drive
i
b
b
s
s
i
V
a i
d
s a
i s
c
S F
b i
l

+ Enables four
p s b
w e q u
s
e l
x
r
d r
v
l E a
P
E s h T
a s
s r t a
t . v s T
a
l
. b e

Command
b
r
T
b
s
V c

quadrant
o
l
t
a

interpreter
g
e

Power Inverter
C
a
l
.

operation
Command Flux and speed estimators
queue
Software
ADC integrates a
SCI CAN
variety of
Software filtering
protocol
stack
protocol auxiliary
stack
functions
SCI CAN
TCP/IP F2812 Flexible software
protocol
Controller enables one
controller for
MAC/PHY
many drives.
RS-232/485 CAN PHY Hardware

1H2004 Slide 32
 Appliance: Refrigeration Compressor Control
Discrete PFC
controller
LC2402A Software eliminated ($2.50)
PFC
PFC
Controller
Power

PFC
controller Switching
Switching
Circuit
Circuit Higher efficiency
driven by
w i
v
v
*

as T
PWM sensorless FOC +
Temp Sensor

r* q
PI *
s a
PI q

r
*
s

Gen
T

* i i
*
v
* b

possible use of
ds
v bs
q
s PI
d
*
s
T

FOC
c

Temperature
Inv. Space

Speed i
d
s
Park
q
l
r

Park
q
l
r

i
Vector
Gen.

PMSM motor.
i

controller controller Core

a
Clarke a
s
i s
i
b
b
s
s
i
V
a i
d
s a
i s
c
S F
b i
p s
l
b
w e q u
s
e l
x
r
d r
v
l E P

Eliminated
a
E s h T
a s
a

s t

Power
r

t . v s T
a
l
. b e
b
r
T
b
s
V c
o
l
t

Inverter
a

separate
g
e
C
a
l
.

(electronic/electro
Rotor Position and ADC mechanical)
Speed Calculator thermostat ($?)
User
interface
manag- Added Spread
ement
spectrum PWM
Kalman Sliding
RS-232

filter mode
Generation:
(or other Reduced size of
SCI filter) observer
EMI filtering

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 Control

+
sp* dc_shunt
Trapezoidal
Software
m PFC sensorless control
Speed
e
controller for constant
Calculator +
PFC
speed
K switch and applications
+ I* PWM DC Bus
Commutation Gen front end enables low cost
Sequencer implementations.

Bus
DC
Current
o Regulator
30 degree
Delay (PID) Keep compatibility
3 with existing
trapezoidal
Zero PWM motors
Crossing Generation
Detector

Back Phase
3
EMF Voltage Trapezoidal
Calculator Meas BLDC Motor

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

1H2004 Slide 34
Sensored Trapezoidal BLDC Motor Control
300 900 1500 2100 2700 3300 300 900
00 600 1200 1800 2400 3000 3600 600 Ea
Phase current must be turned on Phase A ia
e
and off in order and at the right
time in order to follow back EMF
commutation Phase B
Capture interrupts can be used to ib
e
trigger commutation when Hall
sensors are used
Phase C
Capture function can also be ic
e
used to help calculate motor
speed AB AC BC BA CA CB AB
1 2 3 4 5 6 1

Speed Speed
feedback Computation
Iref Position
Speed Sensor
setpoint - PI PID Commutation 3-Phase
+
+ Controller Controller PWM Control Inverter
- Three-phase BLDC
Idc_shunt motor

1H2004 Slide 35
 Sensorless Stepper Motor Control

CPU TMS320LF2401 DRIVER

DIRA
PWM1
PWM1/IOPA0
PWM A H

drive
40
PWM2
Mhz Bridge

Phase A
BLDC
IA

sense
ADCIN0

VSENSEA Phase B
ADCIN1
drive sense

SCITXD DIRB
RS232 PWM3 HH
SCIRXD PWM B bridge
PWM4 Bridge
IB
ADCIN2
DIN IOPB1
CLK XINT2
AIN ADCIN4 VSENSEB
ADCIN3
AOUT T2PWM

D3 Engineering (Rochester, NY)

1H2004 Slide 36
 Appliance: Power Tool Control Field oriented control
enables smooth torque
Charging monitor control.
Sensorless control drives
low cost control
Overload Battery
trip Manager Dithering
High quality MIPS make it
w
r*
PI
i
q
*
s
PI
v
q
*s
v
*

as T
a
possible to add features
without adding cost such
T
* * b
i i v
ds
v bs
q
s PI
d
*
s
T

FOC
c

Inv. Space
i Park Vector

Trigger Speed d q q Gen.

as electronic torque control

s l l
r r

Park i
i

Core
a
Clarke a

controller
s
i s

Control
i

PWM
b
b
s
s
i
V
a i
d
s a
i s
c
S F
b i
p s
l
b
w e q u
s
e l
x
r
d r
v
l E P
a
E s h T
a s
s r t a
t . v s T
a
l
. b e
b
r
T
b
s
V c
o
l
t

Power
a

Power
g
e
C
a
l
.

Inverter
Inverter
Speed and Position ADC
Estimator
Temp Sensor

LC2401A
Controller

1H2004 Slide 37
Servo Drive / Servo Amplifier Hardware Partitioning

PFC
PFC
PFC
PFC Controller
Controller Magnetics
Magnetics and
and
switch
switch
HV
HV Power
Power
Drivers
Drivers conditioning
conditioning
and
and EMI
EMI
Isolation
Isolation Filtering
Filtering
MCU Inverter
Inverter
MCU
(Motion IGBTs
IGBTs
(Motion profiles
profiles
&& host
host
communication)
communication)

Current
Current sensing
sensing
aliasing
Anti aliasing

Power
Power Supply
Supply
Filtering
Anti

Filtering MCU
MCU
(Commutation)
(Commutation)

1H2004 Slide 38
Servo Drive / Servo Amplifier Hardware Partitioning

PFC Benefits from TI

PFC
Magnetics C2000 Digital
Magnetics and
and
switch Signal Controller
switch
HV
HV Power
Power
Drivers
Drivers conditioning
conditioning Improved system
and
and EMI
EMI performance
Isolation
Isolation Filtering
Filtering Less torque ripple
Inverter
Inverter Higher control
IGBTs
IGBTs bandwidth
Lower EMI profile

Lower system cost

Lower component
Current
Current sensing
sensing
aliasing

count
Anti aliasing

Smaller system size

Power
Power Supply
Supply Improved system
Anti

reliability
Easier to manufacture

1H2004 Slide 39
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min

1H2004 Slide 40
Selecting a Controller
A controller to be used for
motor control must provide:

Performance: Computational ability

100+ sustained MMACS @ 32 bits
LC2401 $2
Ease of use: Tools and Collateral LF2401
F2801* $5
Peripheral Integration: Flash, ADC, LF240xA
PWM, Sensor interfacing, C281x
F2806/08*
communications all on one chip
$10
Third party development support F281x

Price: Broad range from sub $2.00 - $15

40-150MIPS and $2-$15
$15.00 * In design
** 10ku SRP; Above numbers are for illustrative purposes
only, contact TI for specific pricing information.

1H2004 Slide 41
 TM
C2000 Portfolio Expanding with Price/
Performance Optimized Derivatives
TI Offers broad portfolio: 40 to 150 MIPS, 16 and 32-bit architectures, sub $2 to $15 10ku SRP
Software Compatible
Future of Control: Improved Higher performance
Industrial Drive, Improved Greater integration
System Density for ONET, etc.
Control Performance

Production
Production 4Q04
High-Precision Uni-processor Today $7 - $10 10ku
Control for Applications from $13 - $15 10ku F2812
F2812 C2812
150
150 MIPS
MIPS C2812
Industrial Drives to Automotive 150
150 MIPS
MIPS
F2811
F2811
150
150 MIPS
MIPS C2810
C2810 C2811
C2811
F2810
F2810 150
150 MIPS
MIPS 150150 MIPS
MIPS
150
150 MIPS
MIPS

Multi-Function, Appliance F2808

F2808
& Consumer Control 100
100 MIPS
MIPS
F2801
F2801 F2806
F2806
24x
24xTMTM 100
100 MIPS
MIPS 100100 MIPS
MIPS
13
13 Devices
Devices Production
40
40 MIPS
MIPS Today Samples
sub-$2 - $10 10ku 4Q04
sub $5 - $10 10ku

1H2004 Slide 42
Internal Busing determines quality of MIPS
Program Address Bus (22)
Program
Program Data Bus (32) (4 M* 16)

Data Address Bus (32)

Data
Data Data Bus (32) (4 G * 16)

Registers Execution Debug

ARAU Memory
MPY32x32 Real-Time JTAG
SP R-M-W Emulation
ALU
DP @X Atomic &
XT ALU Test
XAR0 Standard
to P Engine
ACC Peripherals
XAR7

Register Bus External

Interfaces
Data Write Bus (32)

Program Write Bus (32)

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

1H2004 Slide 43
 SMART peripherals
On chip peripherals drive integration
Encoder
and capture
Encoder
and capture
interface Encoder and timer
interface
PWM Generator capture interfaces
(16 ch)
Peripheral Bus

PWM Generator
PWM Generation
(16 ch) Peripheral Bus 12-Bit, 16 ch ADC
Synch/Async serial
10-Bit, 16 ch ADC Watchdog
Watchdog ports
GPIO (56)
GPIO McBSP Watchdog timer

On-chip ADCs with

CAN 2.0B
CAN 2.0B
SCI/UART-A
SCI/UART-A dual sample and
SPI SCI/UART-B holds
SPI

TMS320LF240x TMS320F281x
1H2004 Slide 44
 Memory
64-Bit 128-Bit
Security Security
32K
8K 2.5K Boot 128Kw
Sectored
Sectored 18Kw 4Kw
Flash RAM ROM Sectored Flash RAM Boot
Flash + 1Kw OTP ROM

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

TMS320LF240xA TMS320F281x

Flash from 8 Kw 128 Kw ROM from 6 Kw 128 Kw RAM from .5 Kw 18 Kw

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
K word (Kw) at least 1.4 x 1023 years to try all possible combinations!
1 Kw = 2 K bytes

1H2004 Slide 45
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min

1H2004 Slide 46
Modular Software Development for Control Systems

All Modules Available in C/C++ Environment

Reduces time
Application Specific Systems (ACI, BLDC, PID cntl) to market

Code Composer Studio

S/W Test Benches (STB)

Provides

Hardware Tools
Modular Libraries (DMC, FFT, Math, Filtersetc)
reuseable

Third Parties
QEP Serial CAP PWM software
PWM ADC04 Speed
Position EEPROM DAC
drv drv drv drv drv drv
Gets you
Real-Time Monitor RealTime +DSP/BIOS there.
Quickly.
C24xTM C28xTM

S/W librariesget started today: http://www.ti.com/2000dmclib

1H2004 Slide 47
Code Composer Studio Components:
Fully Integrated, Easy to Use Development Tools
Menus or Help CPU
Icons Window

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

Productive Editor:
z Structure expansion Status Watch Graph Memory
Window Window Window Window

1H2004 Slide 48
Code Composer Studio Components:
Fully Integrated, Easy to Use Development ToolsFlash Memory Plug-In
Easy Set-Up and Programming
Erase
Sector
Data Converter Plug-In Control
Frequency
z Point & Click Generation
Config.
z Auto Create APIs for
z Initialization
z Power Down
z Read/Write
z Initialize device and
peripheral
z 117 devices on
5 DSP platforms
Integrated
z www.ti.com/sc/dcplug-in
File to Program
CSM Defaults to
Support Project Loaded
In CCS
Full C/C++ & Assembly
Debugging
z C & ASM source
z Mixed mode
z Disassembly (patch)
z Set break points
Plug-in Free Motor Control Library has pre-set
Workspaces
z Set probe points Operation
Free Motor Control
For More Info
Library has pre-set workspaces
Config. workspaces
Control On-line Help

1H2004 Slide 49
DSP/BIOS: Handling Multiple Event Sources

DSP/BIOS makes it easier

Interrupt 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 Debug
Control systems must be debugged while running!
Allows you to halt in non-critical code for debug while time-
Real-time

critical interrupts continue to be serviced

Debug

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
C281x C/C++ Header Files
& Peripheral Examples
Bit-fields simplify peripheral
programming C/C++:

CCS Auto-complete speeds

programming

Compiler optimizations
speed target code

Examples/Documentation
accelerate deployment

http://www.ti.com Keyword: SPRC097

1H2004 Slide 52
On-Chip Analysis Features Enables Flexible Debugging
Two hardware analysis units can be configured to provide
any one of the following advanced debug features:

Analysis Configuration Debug Activity

Halt on a specified instruction in
2 Hardware Breakpoints
Flash

A memory location is getting

2 Address Watchpoints
corrupted. Halt the processor when
any value is written to this location

Halt program execution after a

1 Address Watchpoint with Data
specific value is written to a variable

Halt on a specified instruction only

1 Pair Chained Breakpoints after a specific interrupt service
routine has executed

1H2004 Slide 53
 Hardware Development Tools

Evaluation Modules DSP Starter Kits Power Modules

C24x or C28x LF2407, LF2401A F2812 DMC550 or DMC1500 from
Development board evaluation board Spectrum Digital Interfaces to EVM,
DSK or standalone operation
C-Compiler/Asm/Lnk Compiler/Assem/Linker
Protection features provide
Code Composer Studio IDE Code Composer (DSK convenient s/w development platform
specific)
Emulator (XDS510PP+ or DMC1500: 350V 7.5 Amp (Supports
USB) Power Supply 3ph and 1ph; BLDC, ACI, SR)
Power Supply
Price $1749
Price: $295 - $449
DMC500: 24V 2.5 Amp (Supports
Price: $1,995-2,295 Brushless DC) Price $499

http://www.ti.com/c2000hwtools

1H2004 Slide 54
 CAN 2.0B
PORT 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
oe@port.de
Web : http://www.port.de

Ethernet
Windmill 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
rvdalen@windmill-systems.com
Web : http://www.windmill-innovations.com

1H2004 Slide 55
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min

1H2004 Slide 56
The Foundation:
Software Libraries
Motor Control Specific SW Modules
Peripheral & Communication Drivers
Trigonometric and Log Routines
Signal Processing Functions
Signal Generator Functions
Power Conversion Related Functions

See software brochure for complete listing:

http://www.ti.com/2000dmclib
1H2004 Slide 57
The Foundation: Software Libraries
Motor 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 58
Modular Systems in DMC Library
System Motor Type Description C24xx F28xx
Sensored Tacho i/p
ACI1-1 1 ph AC induction VHz / SinePWM / Closed loop (CL) speed PID

Sensored Tacho i/p

ACI3-1 3 ph AC induction VHz / SVPWM / Closed loop speed PID

Sensorless MRAS (speed estimator)

ACI3-2 3 ph AC induction VHz / SVPWM / Closed loop speed PID

Sensored Tacho i/p

ACI3-3 3 ph AC induction FOC / SVPWM / Closed loop current PID for D,Q / CL speed PID

Sensorless Direct Flux estimator + speed estimator

ACI3-4 3 ph AC induction FOC / SVPWM / Closed loop current PID for D,Q / CL speed PID

3 ph Permanent Sensored - QEP

PMSM3-1
Magnet Synch FOC / SVPWM / Closed loop current PID for D,Q / CL speed PID

3 ph Permanent Sensorless SMO (Sliding mode observer) position estimator

PMSM3-2
Magnet Synch FOC / SVPWM / Closed loop current PID for D,Q / CL speed PID

3 ph Trapezoidal Sensored 3 Hall effect i/p

BLDC3-1
Brushless DC Trapezoidal / Closed loop current PID / CL speed PID

3 ph Trapezoidal Sensorless BEMF / Zero crossing detection

BLDC3-2
Brushless DC Trapezoidal / Closed loop current PID / CL speed PID

1H2004 Slide 59
Modular Block oriented library
Blocks make systems easy to
represent and understand
Simplify debug
Enable incremental
deployment
1H2004 Slide 60
 Modular S/W Implementation of Sensored FOC
for PMSM
speed_ref_ PWM1
spd_ref
pid_reg_spd spd_outi_ref_q
pid_reg_iq u_out_q ipark_Q I_PARK ipark_qUbeta
SVGEN_DQ
Ta Mfunc_c1 PWM2
spd_fdb
Q15 / Q15 i_fdb_d
Q15 / Q15 theta_ipQ15 / Q15 Q15 / Q15 Tb Mfunc_c2 FC_PWM_ EV PWM3
Constant 0i_ref_d DRV
pid_reg_id u_out_d ipark_D ipark_d
Ualfa Tc Mfunc_c3 PWM4
Q0 / HW HW
i_fdb_d
Q15 / Q15 Mfunc_p PWM5
3-Phase
PWM6
Inverter

park_D park_d clark_d clark_a Ia_out ADCINx

PARK CLARKE ILEG2DRV ADC
Q15 / Q15 theta_p Q15 / Q15 clark_b Ib_out Q15 / HW HW ADCINy

park_Q park_q clark_q clark_c Q0 I_ch_sel

Q15 Ia_gain
Q15 Ib_gain
Q13 Ia_offset
Q13 Ib_offset

Encoder

speed_frq theta_elec QEP_A PMSM

SPEED_FRQ shaft_angle
theta_mech QEP_ QEP_B
THETA_ QEP
I/F
Motor
Q15 / Q15 DRV
speed_rpm direction dir_QEP QEP_index
HW / Q15 HW
index_sync_fl
g

1H2004 Slide 61
 Software Test Bench: STB
Ease of use: All modules offered as an STB packaged as a CCS project
Any
module
Set by watch
window
in Library

freq
offset out_1 Vq SVGEN Ta PWM_DAC_iptr E PWM7
SGEN_2 DQ 0 PWM
DAC V
gain Q15 / Tb PWM_DAC_iptr PWM8
Q15 VIEW
1
phase out_2 Vd Tc PWM_DAC_iptr Q15 / HW H PWM9
step_ma 2 W
x2
x
Module under eval
1.8K

Examples
Examples PWMDAC driver (ezDSP) 100n
DAC driver (EVM)
Sinegen
Data logger (Sim)
ADC driver Emulated Plant (Sim)
Capture driver
QEP driver

1H2004 Slide 62
Interconnecting Modules
PWM1
FC_PWM
Iclark_d Iclark_a mfunc_c1 DRV PWM2
CLARKI
Q15 / Q15 Iclark_b mfunc_c2 Q0 / HW PWM3
Iclark_q Iclark_c mfunc_c3 PWM4
rnd_gain mfunc_p PWM5
RAND GEN
Q15 / Q15 random PWM6
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 63

Embedded Target Integrates Simulink and MATLAB with
TM TM
eXpressDSP Tools and C2000 Controllers

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

http://www.ti.com/c2000embeddedtarget

1H2004 Slide 64

Embedded Target Integrates Simulink and MATLAB with
TM TM
eXpressDSP Tools and C2000 Controllers

http://www.ti.com/c2000embeddedtarget

1H2004 Slide 65
Example of GDE Motor Control

http://www.vissim.com/

1H2004 Slide 66
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min

1H2004 Slide 67
Incremental System Build
Incremental 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 68
ACI Sensorless Field Oriented Control
wr* iqs* vqs vas* Ta PWM1
PI * Inv. Space PWM PWM2
PI T PWM3
Park Vector b Driver PWM4
iqs i * vds* vbs* Gen.
ds PWM5
Tc
PI PWM6
ids VSI
qlr qlr
ias ias
Park Ileg2_ ADCIN1
ibs Clarke ibs Bus ADCIN2
ias Vdc Driver
ias ADCIN3
ibs
Spee Flux ibs
wr qlr
d Est.
va Phase
Est. lar wr Ta
s Voltag ACI
lbr vb Tb
e Tc
s
Cal. TMS320F28x controller

1H2004 Slide 69
 SVGEN/
Build Level 1 PWM
Tests

vqs* vas* Ta PWM1

PWM2
Space
Inv. Tb PWM PWM3
Vector PWM4
vds * Park vbs* Gen. Driver
Tc PWM5
PWM6

e
fe Ramp Ramp
Control Gen.

TMS320F28x controller

1H2004 Slide 70
 Measure-
Build Level 2 ment
Tests

vqs* vas* Ta PWM1

PWM2
Space
Inv. Tb PWM PWM3
Vector PWM4
vds * Park vbs* Gen. Driver
Tc PWM5
PWM6
VSI
e
fe Ramp Ramp ids ias ias
Control Gen. ADCIN1
Ileg2_
Park ibs Clarke ibs Bus ADCIN2
iqs Driver
Vdc ADCIN3

vas time
Phase
wr wr Speed stamp
Ta Capture CAP ACI
vbs Voltage Tb Cal. Driver
Cal. Tc
TMS320F28x controller

1H2004 Slide 71
 PI
Regulator
Tests

Incremental Builds Header File

build.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 72
 PI
Build Level 3 Regulator
Tests

vqs* vas* Ta PWM1

iqs* PWM2
PI Space
iqs Inv. Tb PWM PWM3
Vector PWM4
vds * Park vbs* Gen. Driver
ids* Tc PWM5
ids PI
PI PWM6
VSI
e
fe Ramp Ramp ids ias ias
Control Gen. ADCIN1
Ileg2_
Park ibs Clarke ibs Bus ADCIN2
iqs Driver
Vdc ADCIN3

vas time
Phase
wr wr Speed stamp
Ta Capture CAP ACI
vbs Voltage Tb Cal. Driver
Cal. Tc
TMS320F28x controller

1H2004 Slide 73
 Flux
Build Level 4 Speed
Estimators

vqs* vas* Ta PWM1

iqs* PWM2
PI Space
iqs Inv. Tb PWM PWM3
Vector PWM4
vds * Park vbs* Gen. Driver
ids* Tc PWM5
ids PI
PI PWM6
VSI
e
fe Ramp Ramp ids ias ias
Control Gen. ADCIN1
Ileg2_
Park ibs Clarke ibs Bus ADCIN2
ias iqs Driver
ias Vdc ADCIN3
ibs
ibs
wr lr
Speed Flux
Est. Est. vas wr
lar Phase
wr Speed Capture
Ta Calc Driver
CAP ACI
vbs Voltage Tb
lbr Cal. Tc
TMS320F28x controller

1H2004 Slide 74
 Speed
Build Level 5 Regulator
Tests

wr* iqs* vqs* vas* Ta PWM1

PI PWM2
PI Space
Inv. Tb PWM PWM3
Vector PWM4
wr iqs i * vds * Park vbs* Gen. Driver
ds
Tc PWM5
PI
PI PWM6
ids VSI
lr lr
ias ias ADCIN1
Ileg2_
Park ibs Clarke ibs Bus ADCIN2
Driver
ias Vdc ADCIN3

ibs
lr Flux
Est. vas wr
lar Phase
wr Speed Capture
Ta Calc Driver
CAP ACI
vbs Voltage Tb
lbr Cal. Tc
TMS320F28x controller

1H2004 Slide 75
 Sensorless
Build Level 6 FOC
System

wr* iqs* vqs* vas* Ta PWM1

PI PWM2
PI Space
Inv. Tb PWM PWM3
Vector PWM4
iqs i * vds * Park vbs* Gen. Driver
ds
Tc PWM5
PI
PI PWM6
ids VSI
lr lr
ias ias ADCIN1
Ileg2_
Park ibs Clarke ibs Bus ADCIN2
ias Driver
ias Vdc ADCIN3
ibs
ibs
wr lr
Speed Flux
Est. Est. vas
lar Phase
wr Ta ACI
vbs Voltage Tb
lbr Cal. Tc
TMS320F28x controller

1H2004 Slide 76
 Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min

1H2004 Slide 77
Motor Control System Components From TI
AC DC link
Bridge Power
Input Motor Load
Rectifier converter

Current and
MOSFET Current
voltage
driver sense
sense

Power Resolver
supply
Simult.
LDO Sampling
PFC Optical
DSP Controller ADCs encoder
SVS
PWM
Hall
effect

Network 4-20mA ADC DAC

Data line
interface interface interface interface

Ethernet 4-20mA CAN +/- 10V +/- 10V

loop RS232
RS485

1H2004 Slide 78
 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

Full-Service Support
Reference Designs
Evaluation Modules
Application Notes
Design Tools & Software
Annual Power Supply Design Seminars
Online sample and EVM ordering
power.ti.com

1H2004 Slide 79
 Complete System Power Solutions
Load-share DC/DC Converters
Controller TPS549xx (0.9 to 2.5V, 9A) LDOs
UC39002 TPS546xx (0.9 to 3.3V, 6A) TPS768xx (1A)
TPS543xx (0.9 to 3.3V, 3A) TPS778xx (750mA)
Isolated Modules
TPS6205x (2.7 to 10V, 0.8A) TPS776xx (500mA)
5 to 100 watts available
Controller TPS701xx (250/125mA, dual)
PT4210 (5W)
UCC3895 PT4480 (100W)
PFC AC/DC DC/DC
UCC3851x
UCC38050 Isolated Converters
UCC3817/18 Module +/-
HOT Power LDOs voltages
PWM 0.7 volts
SWAP + Dist
SVS and up
MOSFET TPS20xx DC/DC
UCC39xx Driver TPS22xx Controllers Supervisors
UC39xx TPS23xx TPS380X-XX
TPS23xx PWM Controllers
UCC35705/6 Non-isolated
UCC35701/2 Modules
UCC38C40 series
MOSFET DC/DC Controllers
Drivers Non-Isolated Modules
TPS40000 (Sync. buck)
TPS28XX 1A to 60 Amp available
TPS40050 (8 to 40V buck)
UCC3732x PT6440 (1V to 3.3V, 6A)
TPS40060 (10 to 55V buck)
UCC3722x PT6940 (Dual output, 6A)
TPS5120 (Sync. buck, dual)
PT6520 (1.5V to 3.3V, 8A)

1H2004 Slide 80
SWIFT Design Tool

1H2004 Slide 81
 CAN Transceivers

5-V 3.3-V With Vreg

SN65HVD251
SN65HVD230
SN65HVD1039 SN65HVD40
SN65HVD231
SN65HVD1040 PRODUCT
SN65HVD232 PREVIEW
SN65HVD1040v33 RTM 4Q04
PRODUCT SN65HVD233
SN65HVD1049
PREVIEWS
RTP 3Q04 SN65HVD234
SN65HVD6250v33

SN65HVD1050 SN65HVD235

SN65HVD1050v33

1H2004 Slide 82
 RS-485

RS-232 5-V 3.3-V

3.3 - 5-V NEW ! SN65HVD05/06/07 SN65HVD10

MAX3221 MAX207 SN65HVD08 SN65HVD11

MAX3223 MAX208 SN65HVD3082E SN65HVD12
MAX3232 MAX222
SN65HVD20/21/22 SN65HVD3490/1
MAX3238
SN65HVD23/24 PRODUCT
MAX3243

SN65HVD3085/88E PREVIEW
RTM 4Q04 & 2Q

1H2004 Slide 83
 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 Output

1H2004 Slide 84
 Intelligent Drivers in MC System

Low cost Stand alone controllers for low power applications

1H2004 Slide 85
 Motor Controllers

BLM Controllers: UC2625, UC3625, UCC2626, UCC3636

Stepper Controllers: UC3717, UC3770
DC Motor Controllers: UC2638, UC3637, UC3638
1H2004 Slide 86
 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 Resolution

1H2004 Slide 87
Amplifiers: Design Utilities

1H2004 Slide 88
FilterPro Design Tool

1H2004 Slide 89
 ADC and DAC in MC System
General purpose Analog-to-Digital and Digital-to-Analog Converters
ADCs DACs
Single Channel Single Channel
Multi Channel Multi Channel
10V Input 10V Output

For general monitor/control functions

Simultaneous Sampling Analog-to-Digital Converters

Serial Interface Parallel Interface

2x2 Channel ADS7861 12 bits @ 500KSPS 2x2 Channel ADS7862 12 bits @ 500KSPS
2x2 Channel ADS8361 16 bits @ 500KSPS 6 Channel ADS7864 12 bits @ 500KSPS
6 Channel ADS8364 16 bits @ 250KSPS
!
EW

ADS7869: 12-Channel Analog Motor Control Front End

N

with Three 1MSPS, 12-Bit ADCs

1H2004 Slide 90
 DC-Link Voltage and Phase Currents
Measurement for Servo Application ADS1202
or
ADS1203
ADS1204
ADS1205

ADS1206
or 4kHz Current Loop
ADS1207 16 bit Accuracy

1H2004 Slide 91
 ADS1202 Design Resources
ADS1202 Data Sheet:
http://www-s.ti.com/sc/ds/ads1202.pdf
Application Notes:
Choosing an Optocoupler for the ADS1202 Operating in Mode 1
http://www-s.ti.com/sc/psheets/sbaa088/sbaa088.pdf
Combining ADS1202 with FPGA Digital Filter for Current Measurement
in Motor Control Application
http://www-s.ti.com/sc/psheets/sbaa094/sbaa094.pdf
Interfacing the ADS1202 Modulator With a Pulse Transformer in
Galvanically Isolated Applications
http://www-s.ti.com/sc/psheets/sbaa096/sbaa096.pdf
Clock Divider Circuit for the ADS1202 in Mode 3 Operation
http://www-s.ti.com/sc/psheets/sbaa105/sbaa105.pdf
ADS1202 Reference design Users Guide
http://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 guide
http://www-s.ti.com/sc/psheets/slau111/slau111.pdf
Evaluation board interface for C5000 and C6000 DSP
http://focus.ti.com/docs/toolsw/folders/print/5-6kinterface.html
Related parts, ADS1204:
http://www-s.ti.com/sc/ds/ads1204.pdf

1H2004 Slide 92
 Cost Effective High Accuracy
Position Measurement by Resolver

12Bit
OPA4340
ADS7861

SIN=sin()
16Bit
COS=cos()
(t)=t Sim. OPA4350
1.50
Samp ADS8361
1.00

0.50
Phase Amplitude

0.00
0 90 180 270 360

-0.50

-1.00

-1.50

Degrees

1H2004 Slide 93
Measurements for Servo Application
AC/DC Inverter
Motor Current:
Two Phase Measurement
Three Phase Measurement
R
Motor current value for control
S
algorithm
T
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

Load Motor
1H2004 Slide 94
 Motor Current Measurement with ADS7869
IU Sample
& ADC 12-bit 1MSPS
Three: Hold PGA

Sample & Hold MUX MUX

12BIT ADC 1MSPS
PGA

iu(t)=IU sin(t) IV Sample

& ADC 12-bit 1MSPS
iv(t)=IV sin(t+120) Hold PGA

iw(t)=IW sin(t-120) MUX MUX

Simultaneous
Sampling
IW Sample
& ADC 12-bit 1MSPS
Hold PGA
1.50

MUX MUX
1.00

0.50
Phase Amplitude

0.00
0 90 180 270 360

-0.50

-1.00

-1.50

Degrees

1H2004 Slide 95
Motor Current Measurement with ADS7869
Gain

Offset
Three:
IU
Sample & Hold Sample
&
PGA ADC 12-bit 1MSPS
12BIT ADC 1MSPS Hold

PGA MUX MUX

Sign Comparators +
SIGN
Window Comp.
-

Three simultaneous sampling inputs OVER-CURRENT

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

U_ILIM

1H2004 Slide 96
Incremental Encoder Measurement with ADS7869
Gain
Two Synchronous inputs ASYNC
Two Asynchronous inputs Sample
Offset
&
Differential inputs Hold
Two 12 bits 1MSPS ADCs
20% Gain correction
PGA ADC 12-bit 1MSPS
20% Offset correction
Sample MUX
SIN &
Hold
SYNC
MUX
16-bit SYNC
+ UP/DOWN
SIGN A
Counter ASYNC
-
with
+ State Machine
SIGN B
&
- Digital Filter
Gain
Two Sign Comparators SYNC
16-bit UP/DOWN Counter Sample
COS & Offset
State Machine Hold
Digital Filter
MUX
4 Registers
PGA ADC 12-bit 1MSPS
26-bit total resolution
Sample MUX
&
Hold
ASYNC

1H2004 Slide 97
ADS7869 Complete Motor Control Analog Front-End
12 FULLY DIFFERENTIAL INPUTS AC/DC Inverter
5 SIMULTANEOUS SAMPLED
CHANNELS AND 2
ASYNCHRONOUS SAMPLED
CHANNELS R
IW

3 SYNCHRONIZED 12-BIT ADCs S

IV

1us THROUGHPUT RATE T

IU

DIGITALLY SELECTABLE INPUT

RANGES (PGA)
DIGITALLY ADJASTIBLE GAIN AND
OFFSET FOR EVERY INPUT
IDC UDC
7 SIGN AND 3 DIGITALLY
PROGRAMMABLE WINDOW
COMPARATOR
TWO 16 BIT UP/DOWN
SYNCHRONIZED COUNTERS WITH
DIGITAL FILTER SIN SIN

DAC FOR AJASTIBLE COS COS

OVERCURRENT PROTECTION Load Motor
Encoder Encoder

Load Motor

ADS7869

1H2004 Slide 98
Getting Started: analog.ti.com

Product Listing

HW & SW Tools

Application
Notes

1H2004 Slide 99
 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 100

 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
Supports 117 devices: is no special hardware setup
4 devices on the C2800 DSP platform necessary (e.g. controlling a
multiplexer)
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 platform

1H2004 Slide 101

Data Acquisition Products for Motor Control
Application Collateral from DAP
z Evaluation Boards complete with Users Guide, Schematic, & BOM on web
z Device specific application notes linked directly from product folder!
z Code Composer Studio Example Projects for C2000, C5000, C6000 DSPs
z Complete Signal Chain prototyping system for C2x processors coming soon!
z EVMs available for purchase at http://www.ti-estore.com

1H2004 Slide 102

 Systems Expertise

Silicon Software
Digital Motor Control
Software Library

Kalman Filter
Power
Electronics Precision PID
Current Filter Lib
Voltage
EV ADC
(CAP/Q
Field Oriented
Position/ EP) Control
Speed
Feedback

EE
SPI
Support Prom

EV Chip Support
(PWM)
Web casts Lib
CAN SCI-A/B IQmath
Workshops
DSP/BIOS
KnowledgeBase
Application notes TI Power
Management

Foundation Software

PC Test
CAN Equipment
Network

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

1H2004 Slide 103

DEMOS TODAY

1H2004 Slide 104

 PMSM FOC with TMS320F2812 DSP

wr* iqs* vqs* vas* Ta PWM1

PI PWM2
PI Space Tb PWM
Inv. PWM3
iqs i * vds* Park Vector + PWM4
ds vbs* PWM5
Gen. Tc Driver
PI PWM6
ids Power
qr Inverter
ias ias
ADCIN1
Park ibs Clarke ibs ADC
+ ADCIN2
Driver ADCIN3

Speed qr Angle
wr Calculat QEP Phase
or. + driver Phase Enc
Index oder Motor

TMS320F2812 DSP controller

1H2004 Slide 105

Industrial Control via CAN Bus
Schematics, BOM, and source code for specific applications

Related Device: SN74AHCT1G126 SN74LVT240A

LOG102 SN74AUC1G240 SN75477
REF200 SN74LVC138A SN75LV4737A
REG711-5 SN74LVC1G66 TLV2461
SN65HVD230 SN74LVC2G06 TMP101
SN65HVD251 SN74LVC2G07 TMS320F2810
SN74AHC123 and more .

The platform simulates industrial/automotive control:

A Motor Node controls speed or position of a stepper
motor continuously loading the bus.
A Sensor Node monitors temperature and controls a
fan. It also senses ambient light conditions.
A System Monitor Node sounds an audible beep
when packet latency is increasing.

To learn more about the Industrial Control via the CAN Bus
Demonstration Platform (Kit # 6445694), please contact your
local TI field sales office or Product Information Centers.

1H2004 Slide 106

Reference Materials

1H2004 Slide 107

C28x : Protected Pipeline
TM

A F1 F2 D1 D2 R1 R2 X W
8-stage pipeline
B F1 F2 D1 D2 R1 R2 X W

C F1 F2 D1 D2 R1 R2 X W Writes: are
? free
D F1 F2 D1 D2 R1 R2 X W
E & G access
E F1 F2 D1 D2 R1 R2 X W same address

F F1 F2 D1 D2 R1 R2 X W

G F1 F2 D1 D2 RR11 R2 X
R2 XW W
F1 F2 D1 DD22 R1 R21 X
R2 X W
W
F1 Instruction address
F2 Instruction content Protected Pipeline
D1 Decode instruction Order of results are as written in source code
D2 Resolve operand address
Programmer need not worry about the pipeline
R1 Operand address
R2 Get operand
Most MCUs
X CPU doing real work Shared bus for program and data address and content
W Store content to memory Typically results in only one instruction in 4 cycles

1H2004 Slide 108

TMS320F2812 / TMS320F2810 Most Powerful - Most Integrated
Code security High Performance CPU (C28xTM Core)
z 150MIPS performance
128Kw Flash 18Kw 4Kw
+ 2Kw OTP RAM Boot z Single cycle 32 x32-bit MAC (or dual 16 x16 MAC)
Event Mgr A
ROM z Very Fast Interrupt Response
z Single cycle read-modified-write
Event Mgr B
XINTF z F24x/LF240x Source Code Compatible
Memory Bus 12-Bit ADC Memory
Control Sub-System
Peripherals
Watchdog Fast program execution out of both RAM and
Flash memory
Interrupt Management Peripheral Bus
GPIO z 110-120 MIPS with Flash Acceleration Technology
z 150 MIPS out of RAM for time-critical code
150 MIPs C28xTM 32-bit DSP
Control Ports
32x32-bit McBSP Event Managers
RMW
Multiplier Atomic Ultra-Fast 12-bit ADC
CAN 2.0B
ALU z 16.7 MSPS throughput
32-bit
SCI-UART A z Dual s/h enable simultaneous sampling
Timers (3)
32-bit z Auto Sequencer, up to 16 conversions w/o CPU
SCI-UART B
Register
Real-Time Communications Ports
JTAG File
SPI Multiple standard communication ports provide
simple interfaces to other components
Find Datasheet at: http://www-s.ti.com/sc/ds/tms320f2812.pdf

1H2004 Slide 109

TMS320F2812/2810 On-Chip Flash
Code security Memory Sub-System
128Kw Flash 18Kw 4Kw Quarter of a Megabyte of on-chip Flash
+ 2Kw OTP RAM Boot Event Mgr A
ROM Memory (8 x 4K and 6 x 16k Sectors)
Event Mgr B
XINTF Fast program execution out of both
Memory Bus 12-Bit ADC RAM and Flash memory
z 110-120 MIPS with Flash Acceleration Technology
Watchdog
Peripheral Bus z 150 MIPS out of RAM for time-critical code
Interrupt Management GPIO
128-bit security protects software
C28xTM 32-bit DSP
investment
McBSP
32x32-bit RMW External memory interface (XINTF)
Multiplier Atomic CAN 2.0B supports systems with larger memory
ALU
32-bit SCI-UART A
models (up to 1Mw address reach)
Timers (3)
32-bit SCI-UART B
Real-Time Register
JTAG File SPI

1H2004 Slide 110

TMS320F2812/2810 On-Chip 12-bit ADC
Control Peripherals
ADC Prescaler SYSCLK Fast & Flexible 12-bit ADC,
16 Channel
z 16.7 MSPS throughput (Pipeline
S/H0 Conversion: 60 ns, 200 ns single
8 ADC Analog
Inputs MUX conversion)
Result
12-bit Registers z Dual sample/hold enable
ADC simultaneous sampling or sequencing
16 words
Module sampling modes
8 ADC Analog S/H1
Inputs MUX z Analog input: 0V to 3V
z 16 channel, multiplexed inputs
z Auto Sequencer supports up to 16
conversions without CPU intervention
z Sequencer can be operated as two
Start of Auto Sequencer independent 8-state sequencers or as
Conversion
one large 16-state sequencer
z Sixteen result registers (individually
addressable) to store conversion
values

1H2004 Slide 111

 TMS320F2812/2810 Event Managers
Event Manager (1 Module) Control Peripherals (EVA + EVB)
GP Timer 1 Clock
(Counter & Period) Select (16) PWMs
(6) Complimentary Pairs + (4)
GP Timer 2
(Counter & Period)
Independent + Trip Inputs +
Programmable Dead-Bands
GP Compare 1 Output T1PWM/T1CMP
Logic (10) 16-bit Compares
(4) General Purpose Timers
GP Compare 2 Output T2PWM/T2CMP
Logic
PWM 5 PWM
6.67nS max PWM Resolution
Trip Enable TRIPs/
Controller PDPINTs (2) Quadrature Encoder
Dead Interface
Full Compare Band Output 6 PWMs
Logic Logic with Index Input
TMRCLK QEP &
MUX TIMERCLK (6) Capture Inputs With
TIMERDIR
MUX Capture TMRDIR Programmable Resolution
Input
Logic 3 CAP/
QEP

1H2004 Slide 112

TMS320F2812/2810 McBSP
McBSP Communications Ports
FIFO Interface McBSP Module

Multi Channel
Full-duplex communication
Selection
32-bit Logic 16-level, 32-bit transmit/receive
Read
FIFO FIFOs
Receive DR
Channel 8, 12, 16, 20, 24, and 32-bit data
Peripheral Bus

Registers
Mode
Select 8-bit data, option of LSB or MSB
Transmit DX transmitted first
32-bit Channel
Write Registers
FIFO 128 channels for reception and
transmission
XMIT/Receive Interrupt &
FIFO Control Events
Regs Direct interface to SPI & IIS
devices
Interrupt Select
Logic

1H2004 Slide 113

TMS320F2812/2810
Controls
On-Chip CAN (eCAN)
Data
Address
Communications Ports
Enhanced eCAN Controller 32
Message eController 2.0B compliant
Memory
Management 32 Mailboxes
Unit
Mailbox RAM
(512 bytes) eCAN Control 32 Local receive masks
CPU Interface,
Receive Control Registers
32-Message Unit
Mailbox 32 32 32 Interrupt masks
Timer
Management
Unit Low-power mode
32 Programmable wake-up on bus
eCAN Protocol Kernel activity
Communication Automatic reply to a remote
Buffers* message request
Time-stamping of messages
* The communication
buffers are transparent 3.3-V CAN Transceiver
to the user and are not CAN Bus
accessible by user
code

1H2004 Slide 114

 TMS320F2812/2810 SCI (UART) and SPI
SCI/CPU System Low Speed SYSCLKOUT
Interface Control Block Prescaler CPU Communication Peripherals
SCIAENCLK LSPCLK

Peripheral Bus
SCI-UART (2 modules aboard)
Two wake up multiprocessor
Registers
SCITXD modes idle-line and address bit
GPIO SCI
MUX BCIRXD Half or full duplex operation
SCIRXINT
Interrupt
SCITXINT Handling 16-level transmit / receive FIFO
Module buffer
SPI/CPU System Low Speed SYSCLKOUT Auto-baud-detect Hardware
Interface Control Block Prescaler CPU

LSPCLK
Logic
SPIAENCLK
Peripheral Bus SPI
SPISIMO
Registers

SPICOMI Delayed transmit control

GPIO SPI 16 level transmit / receive FIFO
MUX SPICLK
SPISTE SPIRXINT
Interrupt
SPITXINT Handling
Module

1H2004 Slide 115

 C28x Block Diagram
Program Bus (32)
Event
Event
Manager
ManagerAA

Peripheral Bus
Boot
Boot Event
Event
Manager
ManagerBB
Sectored
Sectored ROM
RAM
RAM ROM
Flash
Flash 12-bit ADC
22 12-bit ADC
A(18-0)
32 Watchdog
Watchdog
32
D(15-0)
32
McBSP
McBSP
PIE
32-bit RR-M-W
-M-W Interrupt
32-bit 32x32 bit Manager CAN2.0B
CAN2.0B
Auxiliary 32x32 bit Atomic
Auxiliary Multiplier Atomic
Registers Multiplier ALU SCI-A
Registers ALU SCI-A
33
32 SCI-B
Realtime 32bit
bit SCI-B
Realtime Register Bus Timers
Timers SPI
JTAG
JTAG SPI
CPU

56
56GIO
GIO
Data Bus (32)
1H2004 Slide 116
 C28x Multiplier and ALU / Shifters
Program Bus
32
Data Bus
16/32
16 XT (32) or TH/TL Data Mem
or Reg
MULTIPLIER
32 32 x 32 or
Shift R/L (0-16) 8/16 Prog Mem
Dual 16 x 16 or Immed
P (32) or PH/PL
32 32 32
32 Shift R/L (0-16)
MUX
32
ALU (32)
32
ACC (32)
16/32
ACCH (16) ACCL (16)
AHMSB AHLSB ALMSB ALLSB

32
Shift R/L (0-16) Data Bus
32

1H2004 Slide 117