sprb167a-ti digital motor control solutions
TRANSCRIPT
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
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 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
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 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
TMS320F2812 DSP controller
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
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 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
P h a s e V o l t a g e C a l .
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
P h a s e V o l t a g e C a l .
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
P h a s e V o l t a g e C a l .
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
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 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
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 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
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 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
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 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*
PWM1 PWM2 PWM3 PWM4 PWM5 PWM6
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
PWM1 PWM2 PWM3 PWM4 PWM5 PWM6
fe
Ramp Control
Ramp Gen.
e
TMS320F28x controller1H2004 Slide 71
Build Level 2vqs*
Measurement Tests
vas* vbs* e idsPark
TaSpace Tb Vector Gen. PWM Driver
vds
Inv. * Park
Tc
PWM1 PWM2 PWM3 PWM4 PWM5 PWM6
VSI feRamp Control Ramp Gen.
ias ibsClarke
ias ibs Vdc
iqs
Ileg2_ Bus Driver
ADCIN1 ADCIN2 ADCIN3
vas vbs
Phase wr Voltage Cal.
Ta wr Speed Tb Cal. Tc
time stamp
Capture CAP Driver
ACI
TMS320F28x controller1H2004 Slide 72
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
TaSpace Tb Vector Gen. PWM Driver
vdsPI PIRamp Gen.
Inv. * Park
Tc
PWM1 PWM2 PWM3 PWM4 PWM5 PWM6
VSI ias ibsClarke
ias ibs Vdc
iqs
Ileg2_ Bus Driver
ADCIN1 ADCIN2 ADCIN3
vas vbs
Phase wr Voltage Cal.
Ta wr Speed Tb Cal. Tc
time stamp
Capture CAP Driver
ACI
TMS320F28x controller1H2004 Slide 74
Build Level 4iqs* iqs ids* ids feRamp Control
Flux Speed Estimators
vqs*PI
vas* vbs* e idsPark
TaSpace Tb Vector Gen. PWM Driver
vdsPI PIRamp Gen.
Inv. * Park
Tc
PWM1 PWM2 PWM3 PWM4 PWM5 PWM6
VSI ias ibsClarke
ias ibs Vdc
ias ibs wrSpeed Est.
iqs
Ileg2_ Bus Driver
ADCIN1 ADCIN2 ADCIN3
ias ibs vas vbs
lr lar lbr
Flux Est.
Phase wr Voltage Cal.
Ta Tb Tc
wr
Speed Capture Calc Driver
CAP
ACI
TMS320F28x controller1H2004 Slide 75
Build Level 5wr*PI
Speed Regulator Tests
iqs*PI
vqs*
vas* vbs* lr iasPark
TaSpace Tb Vector Gen. PWM Driver
wr
iqs i * ds PI PI ids
vds
Inv. * Park
Tc
PWM1 PWM2 PWM3 PWM4 PWM5 PWM6
lr
VSI ias ibs Vdc
ibs
Clarke
Ileg2_ Bus Driver
ADCIN1 ADCIN2 ADCIN3
ias lr lar lbr ibsFlux Est.
vas vbs
Phase wr Voltage Cal.
Ta Tb Tc
wr
Speed Capture Calc Driver
CAP
ACI
TMS320F28x controller1H2004 Slide 76
Build Level 6wr*PI
Sensorless FOC System
iqs*PI
vqs*
vas* vbs* lr iasPark
TaSpace Tb Vector Gen. PWM Driver
iqs i * ds PI PI ids
vds
Inv. * Park
Tc
PWM1 PWM2 PWM3 PWM4 PWM5 PWM6
lr
VSI ias ibs Vdc
ibs
Clarke
ias ibs wrSpeed Est.
Ileg2_ Bus Driver
ADCIN1 ADCIN2 ADCIN3
ias ibsFlux Est.
lr lar lbr
vas vbs
Phase wr Voltage Cal.
Ta Tb TcTMS320F28x controller
ACI
1H2004 Slide 77
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 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)
Key Differentiators: Key Differentiators:
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
Applications: Applications:
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
Key Differentiators: Key Differentiators:
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
Key Differentiators: Key Differentiators:
Applications: Applications:
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
Sample & Hold MUX MUX
PGA
ADC 12-bit 1MSPS
Simultaneous Sampling1.50
IW
Sample & Hold MUX MUX
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