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TRANSCRIPT
Confidential and Proprietary
TM
Freescale Automotive
Motor Control Solution
S E P T . 2 0 1 4
Jason Yang | Business Development
TM
Confidential and Proprietary 1
Agenda
• Different Motor Application in Vehicle
• Freescale Solution for Different Motor Types
− DC Motor
− BLDC
− PMSM
• Freescale Motor Control Enablement
− Motor Control Development Kits
− Motor Control Software/Tools
• Freescale Motor Control Reference Design
TM
Confidential and Proprietary 2
Different Motor Application in Vehicle
TM
Confidential and Proprietary 3
Up to 70 Motors per car
Source :
TM
Confidential and Proprietary 4
Electric Motor Type Classification
ELECTRIC MOTORS
AC DC
SYNCHRONOUS ASYNCHRONOUS
Brushless Induction Reluctance Stepper Sinusoidal
Permanent Magnet
Wound Field
Surface PM
Interior PM
• Stator same
• Difference in rotor construction
If properly controlled
• Provides constant torque
• Low torque ripple
SR
VARIABLE RELUCTANCE
TM
Confidential and Proprietary 5
Typical Electric Motor Auto Applications
Body/Security Chassis/Safety
Powertrain
HVAC Blower
HVAC Flappers ME/HE EPS
Steer by wire
Fuel Pump
Dual-Clutch Trans.
EV – Water Pump Seatbelt pre-tens.
EV - Propulsion
Window Lift
Wipers
Seat Control
Sliding Door
Sunroof
EV – A/C Compr.
Going BLDC Brushed DC
Convertible Roof
ABS fluid pump
Oil Pump
Mostly PMSM
Low End EPS
Dashboard
ME Cluster
Stepper Motor
TM
Confidential and Proprietary 9
Freescale Solution for Different Motor Types
TM
Confidential and Proprietary 10
Brush DC Motor Principle
• Brush DC motor commutation
Rotor flux is perpendicular to stator regardless of rotor position
Commutator performs mechanical “Vector” Control
S
N
TM
Confidential and Proprietary 11
Brushed DC Motor Control
• Target Applications:
− Wipers, Door locks,
Window lift, HVAC, etc.
Freescale Solutions Device Type Product Feature
MCU 32-bit KEA 32bit MCU with ARM Cortex M0+
16-bit S12Gxx 16-bit performance with low cost
S12 VR MCU, smart analog integration
8-bit S08xx Broad motor application
Analog Monolithic H-Bridge Driver MC33926 DC or any bi-direction solenoid driver, Slow Rate selection for improved
EMC
Monolithic H-Bridge Driver MC33931 Low cost DC or any bi-direction solenoid driver
Monolithic Dual H-Bridge Driver MC33932 Dual Low cost DC or any bi-direction solenoid driver
Top Half Bridge Driver MC33981 High Side Driver and Low side Pre-Driver, can drive with very high load.
SBC MC33903/4/5 Power Supply 3.3V/5V and CAN/LIN Physical Layer
LIN Physical Layer MC33662 LIN 2.1 / J2602-2 Physical Layer
CAN I/F
LIN I/F
Power Supply
and Physical I/F
TM
Confidential and Proprietary 12
S12 Microcontroller
LIN Transceiver
12V Power Section
Low Side Driver
MagniV Example: Integrated Window Lift
S12VRxx 48-64k
S12
core
Win Wdog 12V Vreg
5Vout
6ch. 10bit
ADC + 8 int. Ch.
SCI 0
Temp
Sense
4 HV
Input
s
LIN
Physical
Interface
Vbat
sense
2 HS
Drivers
48kB
/ 64kB
Flash
2 kB RAM 512Bytes
EEPROM
PLL Rcosc.
Pierce Osc.
Vsu
p
sen
se
4ch 16bit TIM
PWM 2ch 8bit
2 Low
Side
Drivers
SCI 1
BDM
SPI
Key Wakeups
Hall Supp
Tomar
TM
Confidential and Proprietary 13
BLDC Motor Control
0 V
A
C B
A B C Control Objectives:
•Speed •Trapezoidal or Sinusoidal
•Position •Position sensor
•Sensorless (Back-EMF)
Design Challenges:
•Commutation •One phase is un-
powered at any given
time
•Dead Time Distortion
Correction
•EMC
– Trapezoidal Back-EMF
TM
Confidential and Proprietary 14
Six Step Commutation
14
1.
2.
3.
4.
5.
6.
A B C 0
%
0
%
BLDC Ø A
Ø B Ø C
• Voltage applied on two phases only
• It creates 6 flux vectors
• Phases are power based on rotor position
• The process is called Commutation
Phases voltage
off
off
off
off
off
TM
Confidential and Proprietary 15
DC Bus Voltage & Current
Sensing
3 Phase Back EMF Sensing
3 Phase Inverter 3 Phase BLDC Power Stage
FlexTimer Module ADC Module
3 Phase
BLDC
Motor
GPIO
Module
SCI
Module
Speed
PI Controller
Zero Crossing Period &
Position Recognition
Commutation
Control
1/T
MC9S08MP16
BDM
Duty cycle
Actual Speed
Comm.
sequence
Required Speed + -
Current
PI Controller
Actual DC
Bus Current
DC Bus
Voltage
Back EMF
Voltages
- Required DC Bus
Current Limit
Limitations
MC33937 SP
I
SPI
Drive
r
Se
tup
& S
tatu
s
S08MP16/KEAZ128 -- Sensorless BLDC Control
Device Table
S08MP16/
KEAZ128
48MHz CPU
16k/128k Flash
13 channels / 16 channels ADC
with 12-bit resolution
High Speed Comparator
Programmable Delay Block with
ADC and HSCMP
Up to 8 channels / 10 channels
Flextimer with 48MHz operation
Up to 48 LQFP/80LQFP
MC33937 Three phase MOSFET pre-driver
1.0A gate driver capability with
protection
Programmable dead time
Simultaneous output capability
Block Diagram
TM
Confidential and Proprietary 16
Dedicated Peripherals Needed for 3ph Motor Control
• Command − PWM input, LIN or CAN
• PWM − PWM signals
− Dead time insertion
− ADC triggering
− Fault control
• Delay block − Set ADC measurement at
specific times within PWM cycle
• ADC − BEMF zero-crossing detection
− Measure current in motor
• Comparator − Over-current detection
6 ch PWM
12 bit ADC
Fault inputs
Prog delay
SCI/CAN
Comparator
TM
Confidential and Proprietary 17
MC33937: 3-phase Power FET Pre-driver
TM
Confidential and Proprietary 18
Magniv Example: 3-phase HVAC Blower
3ph Gate
Driver
PWM
PWM
SBC
w/
LIN
phy
Power MOSFETs : always external
for power dissipation reasons
S12ZVMxx 32-128k
TM
Confidential and Proprietary 19
VREG (8pin)
LIN phy (8pin)
MCU
or
DSC (48pin)
Gate
Driver (48pin)
Op-amps
Discrete Solution
20+
3+
2+
S12ZVM Solution:
• ~ 50 fewer solder joints
• - 4 to 6 cm2 PCB space
1- S12ZVM Concept : Replace up to 5 IC
4cm
~1 ½ in.
64pin
TM
Confidential and Proprietary 20
1- S12ZVML Application Use Case (simplified schematics)
VBAT
G
P
I
O
S12Z
core
SPI
Wdog
TIM 4ch/16b
Vregs (5V VDD, VLS, VDD sensor)
PMF
6-ch
PWM
SCI
Temp
Sense
GDU
3 phase
H-Bridge
Predriver
LIN
Physical
Interface
Charge Pump 128 kB
Flash
8 kB RAM
512Bytes
EEPROM
SCI
PTU
PLL IRC
Ext Osc BDM
KWU
RTI
VBS1
VBS0
HG0
HS0
HS1
HS2
EVDD
VHD
M M
AMR/
GMR/
Hall
Sensor
AMRsin
AMRcos
Hallout VBS2
HG1
HG2
VL
SO
UT
+11V
D
S
HD
CP
VCP XTAL
EXTAL
LIN
LIN
GN
D
IO/ MISO
IO/ MOSI
IO/ SCLK
IO/ SS
IO/IOC0
IO/IOC1
IO/ RXD0
IO/ TXD0
IO/ KWP0
IO/ KWP1
0V
+11V
BS
T
VS
UP
VS
SB
AN0_3
AN0_4
AN1_3
Hallout
AMRsin
AMRcos
VD
D
BK
GD
VS
S1
Reset
VS
S2
VS
SX
1
VD
DX
1
VD
DA
VD
DF
BC
TL
Dual 12bit ADC
5+4ch. Ext. (Mux‘d with Op-Amps)
+ 8ch. Int.
MSCAN
LG0
LG1
LS0
Shunt1
LG2
LS1
LS2
AM
PM
1
AM
PP
1
AM
P1
Current Sense
(2 x Op-Amp) A
MP
M0
AM
PP
0
Shunt0
AM
P0
Optional
VS
SA
IO/IOC2
IO/IOC3
VD
DX
2
VL
S0
VL
S1
VL
S2
Integrated inside
S12ZVM32/16
TM
Confidential and Proprietary 21
1- S12ZVM Family Feature Set Summary
Flash /RAM Size 128 / 8 KB 64 / 4 KB 32 / 4 KB 16 / 2 KB
Connectivity LIN CAN LIN CAN LIN PWM PWM PWM PWM
Product Name S12ZVML128 S12ZVMC128 S12ZVML64 S12ZVMC64 S12ZVML32 S12ZVM32 S12ZVM32 S12ZVM16 S12ZVM16
Package 64LQFP-EP 64LQFP-EP 64LQFP-EP 64LQFP-EP 64LQFP-EP 64LQFP-EP 48LQFP-EP 64LQFP-EP 48LQFP-EP
EEPROM (bytes) 512 512 512 512 512 128 128 128 128
PHY LIN 0 LIN 0 LIN HV HV HV HV
2nd VREG 0 1 0 1 0 0 0 0 0
GDU (HS / LS) 3 / 3 3 / 3 3 / 3 3 / 3 3 / 3 3 / 3 3 / 3 3 / 3 3 / 3
Bootstrap Diodes 0 0 0 0 0 3 3 3 3
Op Amp 2 2 2 2 2 2 1 2 1
ADC (ext. channels) 4 + 5 4 + 5 4 + 5 4 + 5 4 + 5 4 + 5 1 + 3 4 + 5 1 + 3
MSCAN 1 1 1 1 1 0 0 0 0
SCI 2 2 2 2 2 2 1 2 1
SPI 1 1 1 1 1 1 0 1 0
TIM IC/OC channels 4 4 4 4 4 4 3 4 3
External FET
Nominal Total Gate
Charge (nC)
100-150 100-150 100-150 100-150 100-150 50-80 50-80 50-80 50-80
Package Size 10mm x 10mm 10mm x 10mm 10mm x 10mm 10mm x 10mm 10mm x 10mm 10mm x 10mm 7mm x 7mm 10mm x 10mm 7mm x 7mm
Samples availability Now Now Now Now Now Emulated by
S12ZVMLxxx Q3 2015
Emulated by
S12ZVMLxxx Q3 2015
Production release Q1 2014 Q1 2014 Q1 2014 Q1 2014 Q1 2014 Q1 2016 Q3 2016 Q1 2016 Q3 2016
TM
Confidential and Proprietary 22
BLDC vs. PMSM
The prinsipal difference between PMSM and BLDC is, a PMSM motor
uses sinusoidally distributed stator windings, whereas a BLDC motor are
salient type field coils.
Magnetic flux is
evenly distributed
Magnetic flux is
sinusoidally distributed
TM
Confidential and Proprietary 23
EPS Demo in Shanghai Lab
TM
Confidential and Proprietary 24
32-bit Low-end: MPC5604P Key Features
Power Architecture® Core
• Up to 60 MHz e200 zen0h core
Memory
•512 KB Program Flash with ECC
•4 x 16 KB DataFlash® with ECC
•40 KB SRAM with ECC
I/O
•1 x FlexCAN with 32MB
•1 x Safety port (can be used as additional FlexCAN – 32 MB)
•1 x FlexRay Dual Channel with 32 MB
•2 x LinFlex
•4 x DSPI (4 independent chip selects each)
•1 x FlexPWM (4 channels with 4 fault inputs)
•1 x eTimer (6 channels incl. quad decode)
•1 x eTimer (6 channels for general purpose)
•2 x ADC
•2 x 12 ch.(4 shared channels), 10-bit, conversion time
760 nsec ( 2x 6 ch., 4shared on 100-pin package)
•1 x ADC triggering unit: 8 events
System
•2 x PLL (one FM-PLL, one for FlexRay™)
•16-ch. eDMA
•Fault collection unit
•16 MHz internal RC OSC
•Junction temperature sensor
•JTAG (2 pin or 5 pin) / Nexus Class 2+
•3.3V single supply (5V mask option) with external ballast
transistor
•100- and 144-pin thin quad flat pack (TQFP)
I/O
Bridge SRAM
e200
Core
VReg
Co
mm
un
icati
on
s
I/O
Syste
m
Crossbar Slaves
Crossbar Masters
2
AT
D
Nexus
JTAG
Debug
PROGRAM
Flash
1
eF
lexC
AN
eDMA VLE
Boot Assist
Module (BAM)
Osc/PLL
CROSSBAR SWITCH
System
Integration
FlexRay™
Controller
Fle
xP
WM
DATA
Flash
2
LIN
Fle
x
2
eT
imer
4 x
DS
PI
Safe
ty
CT
U
Interrupt
Controller
TM
Confidential and Proprietary 25
• 25
32-bit High-end: MPC5643L
Power Architecture® Core • up to 120MHz PowerPC ISA Dual e200 zen4 core, 240DMIPS • 4K 2-way / 4-way I-cache • FPU • Safety enhanced Cores + FPU + VLE + MMU • Dual Parallel or Lock Step configuration + HW/SW monitoring
Memory • Up to 1MByte RWW Flash with ECC • Up to 128 KByte SRAM with ECC • EE emulation • Dual crossbar with MPUs I/O • 2 x FlexCAN (32 message buffers each) • 1 x FlexRay (64 msg. buffers) • 2 x LINFlex • 3 x DSPI • 1 x External clock output • 2 x FlexPWM (2 x 12 channels) • 3 x eTimer modules (3 x 6 channels) • Dual ADC (16 channels each, 12bit, 650ns), 1 S/H per ADC • 1 x Cross-triggering unit for motor control
System • 16 Channels eDMA • Autonomous Fault Collection and Control Unit • CRC computing unit • Software watchdog timer (inc. window mode, flow monitoring) • 2 x Junction temperature sensor • Nexus debug interface (up to N3) • FM-PLL + FlexRay PLL • 3.3 V Single supply with external and internal ballast transistor • 3.3 V I/Os (ADC 5 V capable) • 144 LQFP / 257 MAPBGA • Tj = 150°C
Cross Bar Switch
I/O
Bridge
Memory Protection Unit
Cross Bar Switch
Memory Protection Unit
FlexRay
RC
RC RC
1M
FLASH
(ECC)
128K
SRAM
(ECC)
RC
I/O
Bridge
PMU
SWT
MCM
STM
INTC
eDMA CACHE
PowerPC™
e200
MMU
VLE
CACHE
FPU Nexus
JTAG
Debug PMU
SWT
MCM
STM
INTC
eDMA CACHE
PowerPC™
e200
MMU
VLE
CACHE
FPU
Co
mm
un
icati
on
s
I/O
Syste
m
2 x
LIN
Fle
x
3 x
DS
PI
2 x
A
DC
2
Fle
xC
AN
3 x
eT
imer
FC
CU
2 x
F
lexP
WM
CT
U
TS
EN
S
2x
TM
Confidential and Proprietary 26
57P4 2.5 MB Core • Dual up to 200 MHz PowerTM ISA e200 zen4 core ( Z420) • 32 bit Reg File, 64 bit BIU with E2E ECC, • 64kB RAM of D-LMEM with MPU for fast context switch + local data • 8KB 2-way I-cache / 4KB 2-way D-Cache • 1x Scalar FPU (compiler supported) per core • Safety enhanced Cores – VLE only • No Signal processing unit extension + NO MMU • Delayed Lock Step configuration only
Memory • 2.5 MBytes NVM with ECC (with add. Safety measure for address). • 64kB EEE (Data Flash) available incl. ECC • Up to 384 Kbyte global system SRAM with ECC (Addr + Data) I/O • 3 x FlexCAN (64+2x32 message buffers) • 1 x FlexRay (Dual Channel 64 msg. buffers) • 2 x LINFlex (Uart/Lin protocol driver) • 4 x DSPI (4 cs each) • 2x FlexPWM (2x 12ch for 2 independent Motors Controlled) • 3 x eTimer modules (18 channel total) • 4 x SAR ADC – 1MS/s target 5V input capable • 2 x Cross-triggering unit for motor control automatism • 2x SENT • Ethernet (257BGA only)
System • Interprocessor I/F SIPI (– approx 300Mbaud) • Safe DMA • Fault Collection unit, WDG, T-sens, & CRC computing unit • Nexus debug interface – Aurora • Dual-PLL (Peripheral + System Core) • 3.3 V Single supply: internal regulator with external power stage or
External supply • 3.3 V I/Os (ADC 5 V capable) • 144 LQFP / 257 MAPBGA 0.8 mm pitch • Tj = 150°C . Extended Temperature at 165”C Option (separate P/N)
Cross Bar Switch –E2E ECC (Addr+Data)
Memory Protection Unit – 32 regions
2.5 M
FLASH (I/D)
(A+D ECC)
PMU
SWT
MCM
STM
INTC
CACHE
PowerPC™
e200
VLE
S-FPU
DLMEM Nexus/
Aurora
JTAG
Debug
CACHE
PowerPC™
e200
Safety
Checker VLE
S-FPU
2 x
LIN
Fle
x
4 x
DS
PI
4 x
A
DC
3
Fle
xC
AN
3 x
eT
imer
FC
CU
2 x
F
lexP
WM
2x C
TU
2 x
TS
EN
S
I/D-cache
384 KB
SRAM
(A+D ECC)
FlexRay SIPI
2 x
SE
NT
Safe
eDMA Safety Lake
I/O
Bridge SRAM Ctrl
Multi Ported
Flash ctrl I/O
Bridge
I/O
Syste
m
Crossbar Slaves
Ethernet
TM
Confidential and Proprietary 27
Freescale Motor Control Enablement
TM
Confidential and Proprietary 28
Freescale Motor Control Enablement
• It is a complete evaluation and development package allowing the
rapid prototyping and customer evaluation of the motor control
application
Knowledge
Functional Hardware
Modular Software
Simple Tools
SATISFIED
CUSTOMER
Automotive Motor Control Enablement
TM
Confidential and Proprietary 29
FSL Automotive Motor Control Solutions Offering
Field Oriented Control
Automotive Motor Control
Development Kit Series
Automotive Math &
Motor Control Library Set
MCU
Controller Board
3-ph Low Voltage
Power Stage
PMSM or
BLDC
Motors
Final customer applications, based on Qorivva / MagniV MCUs
FreeMASTER & Motor Control
Application Tuning (MCAT) Tools
freescale.com/AutoMCDevKits freescale.com/FreeMASTER freescale.com/AutoMCLib
Freescale’s:
• technical expertise &
application knowledge
• technical support &
services
• pool of patents
FSL Motor Control know-how
TM
Confidential and Proprietary 30
Motor Control Development Kit Series - Members
Dual PMSM w/ MPC5643L
Dual BLDC w/ MPC5643L
BLDC w/ MPC5643L
PMSM w/ MPC5604P
BLDC w/ MPC5604P
BLDC w/ MPC5606B
BLDC w/ S12ZVM
BLDC w/ S12G
PMSM w/ MPC5643L
TM
Confidential and Proprietary 31
PMSM Development Kit
MCU
Controller Board
MC33937A
3-phase
Low Voltage
Power Stage
PMSM with
Resolver/Encoder or
BLDC with
Hall/No sensor FET DRIVER
MC33937A
FET 3-phase
Power Stage
3-phase Current
Shunts
Resolver/Sin-Cos
Interface
Incremental
Encoder Interface
Qorivva
MPC5643L MCU
Switches and Pushbuttons
ON/OFF, Up/Down, Reset
SBC
MC33905
TM
Confidential and Proprietary 32
Modular Software and Tools
FreeMASTER as well as
CodeWarrior are for free.
freescale.com/FreeMASTER
freescale.com/CodeWarrior
TM
Confidential and Proprietary 33
Automotive Math and Motor Control Library Set
General Motor
Control Library
General Function
Library
General Digital
Filters Library
Mathematical
Library
Advance
Motor Control
Library
Advance Control
Library
freescale.com/AutoMCLib
TM
Confidential and Proprietary 34
Motor Control Algorithm Functions
► Trigonometric Functions • GFLIB_Sin • GFLIB_Cos • GFLIB_Tan • GFLIB_Asin • GFLIB_Acos • GFLIB_Atan • GFLIB_AtanXY
► Limitation Functions • GFLIB_Limit • GFLIB_LowerLimit • GFLIB_UpperLimit • GFLIB_VectorLimit
► PI Controller Functions • GFLIB_ControllerPIr • GFLIB_ControllerPIrAW • GFLIB_ControllerPIp • GFLIB_ControllerPIpAW
► Linear Interpolation • GFLIB_Lut1D
► Hysteresis Function • GFLIB_Hyst
► Signal Integration Function • GFLIB_IntegratorTR
► Sign Function • GFLIB_Sign
► Signal Ramp Function • GFLIB_Ramp
GFLIB GDFLIB
► Finite Impulse Filter • GDFLIB_FilterFIR
► Moving Average Filter • GDFLIB_FilterMA
► 1st Order Infinite Impulse Filter
• GDFLIB_FilterIIR1init • GDFLIB_FilterIIR1
► 2nd Order Infinite Impulse Filter
• GDFLIB_FilterIIR2init • GDFLIB_FilterIIR2
GMCLIB
► Clark Transformation • GMCLIB_Clark • GMCLIB_ClarkInv
► Park Transformation • GMCLIB_Park • GMCLIB_ParkInv
► Duty Cycle Calculation • GMCLIB_SvmStd
► Elimination of DC Ripples • GMCLIB_ElimDcBusRip
► Decoupling of PMSM Motors • GMCLIB_DecouplingPMSM
TM
Confidential and Proprietary 35
Quick Prototype – Motor Control Tool Box
• Including MathWorks Simulink MCU low level driver and motor control lib
• Provide customers integrated environment and tooling chain to generate and configure the software, including: Initialization code
Driver
Motor control lib
• Provide target MCU bootloader and Freescale motor control tuning tool Freemaster。
• Target for IEC 61508 (SIL3) and ISO 26262(ASIL-D)
TM
Confidential and Proprietary 36
Motor Control Lib
This library helps quickly create Bit-Accurate
Single Precision floating point models for
simulation in Matlab for accurate verification and
prototyping of Motor Control algorithms.
• Developed in ANSI-C, MISRA compliant
• Single precision floating point implementation optimized for MCU
• Theory and performance results summarized in documentation
TM
Confidential and Proprietary 37
Step 1 – 模型在环(MIL):
MBD Simulation Only
Software requirements
Control system requirements
Overall application control strategy
Step 2 – 软件在环(SIL):
MBD Simulation with ANSI C Code using SIL
Control algorithm design
Code generation preparation
Control system design
Overall application control strategy design
Start testing implementation approach
Step 3 – 处理器在环(PIL):
MBD Simulation with ANSI C Code using PIL
Controller code generation
Determine execution time on MCU
Verify algorithm on MCU
See memory/stack usage on MCU
Start testing implementation approach
Target testing controls algorithm on MCU
Step 4 –硬件在环(HIL)
ANSI C Code Running on Target HW & MCU
Validation/verification phase
Controller code generation
Determine execution time on MCU
Start testing implementation on target ECM
Code generate control algorithm +
I/O drivers. Complete implementation on
ECM. Test system in target environment
Utilize calibration tools for data logging and
parameter tuning
Execute code on target MCU
Functional testing in target environment
Ensure execution on target is correct as well
as code generation on target is performing as
desired.
PC Environment PC Environment PC Environment
+ MCU
MCU with
Embedded Control
Module (ECM)
Modeling style guidelines applied
Algorithm functional partitioning
Interfaces are defined here Testing of functional components of algorithm
Test harness to validate all requirements
Test coverage of model here
Creates functional baseline of model
Refine model for code generation
Function/File partitioning
Data typing to target environment done here
Scaling for fixed point simulation and code gen
Testing of functional components of algorithm
Test harness to validate all requirements
Test coverage of model here
Creates functional baseline of model
Equivalence testing
Controller Model
Electric Motor Model
PI
Filter
PI
Filter
Reverse
Park
Transform
PWM
Modulation
PWM A
PWM B
PWM C
Zero
+
-
+
-
Torque
Control
IQ
loop
ID
loop
IQ
cmd
ID
cmd
ID
Va
cmd
Vb
cmd
Forward
Park
Transform
Forward
Clark
Transform
IA
IB
IC
Va
Vb
Motor Position
IQ
Controller Model
Electric Motor Model
PI
Filter
PI
Filter
Reverse
Park
Transform
PWM
Modulation
PWM A
PWM B
PWM C
Zero
+
-
+
-
Torque
Control
IQ
loop
ID
loop
IQ
cmd
ID
cmd
ID
Va
cmd
Vb
cmd
Forward
Park
Transform
Forward
Clark
Transform
IA
IB
IC
Va
Vb
Motor Position
IQ
Controller Model
Electric Motor Model
PI
Filter
PI
Filter
Reverse
Park
Transform
PWM
Modulation
PWM A
PWM B
PWM C
Zero
+
-
+
-
Torque
Control
IQ
loop
ID
loop
IQ
cmd
ID
cmd
ID
Va
cmd
Vb
cmd
Forward
Park
Transform
Forward
Clark
Transform
IA
IB
IC
Va
Vb
Motor Position
IQ
Gate
Driver
Controller Model
Electric Motor
PI
Filter
PI
Filter
Reverse
Park
Transform
PWM
Modulation
PWM A
PWM B
PWM C
Zero
+
-
+
-
Torque
Control
IQ
loop
ID
loop
IQ
cmd
ID
cmd
ID
Va
cmd
Vb
cmd
Forward
Park
Transform
Forward
Clark
Transform
IA
IB
IC
Va
Vb
Motor Position
IQ
Gate
Driver
Model Based Design (MBD) – Motor Control
TM
Confidential and Proprietary 38
PMSM Field Oriented Control
• MCLib Application Example for MPC5643L Development Kit
TM
Confidential and Proprietary 39
MCAT Introduction & Features
• Tool enabling tuning of control parameters according to the target motor / application
• Dynamic tuning & update of control parameters
• Generation of header file with static configuration of the tuned parameters
• MCU independent (Kinetis, MPC, DSC)
• Currently supports PMSM
− MCAT for BLDC motor is being in progress
− MCAT for ACIM motor will follow (2013)
TM
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Steps to Tune the Current Loop
1. Parameter Setting-Up 2. Control Loop Tuning
3. Output Control Constant Preview 4. Generated .h file
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MCAT Control Structure Selector
Open loop control
Voltage control – position required
no need any current, position or speed feedback
no need any current and speed feedback
Current control – current, position required no need any speed feedback
Speed control - current, position and speed
required
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Product Web Page
freescale.com/AutoMCDevKits
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Reference Design
• Reference Designs are available to expedite
the time to market
− EV Powertrain Motor (MPC5744P)
− EPS (MPC5604P/MPC5643L)
− Anti Pinch (S12VR64)
− BLDC FAN (S12ZVM)
− BLDC Pump (S12ZVM)
− AFS (S12ZVL/MPC560xB)
− Dashboard (S12ZVH)
− Etc.
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© 2014 Freescale Semiconductor, Inc. | Confidential and Proprietary
www.Freescale.com