Nxp Semiconductors N.v. · NASDAQ:NXPI
Nxp Semiconductors — Technical Presentation (September 2024)
150 slides from Nxp Semiconductors's technical presentation, September 2024
Slide 1: Model-Based Design Toolbox: Enabling Fast Prototyping and Design
MODEL-BASED DESIGN TOOLBOX ENABLING FAST PROTOTYPING AND DESIGN ON-TARGET RAPID PROTOTYPING FOR MODEL-BASED DESIGN AND MOTOR CONTROL APPLICATION DEVELOPMENT EXTERNAL USE
Slide 2: Agenda
Agenda • Overview: − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MCD Toolbox and use FreeMASTER • Model-Based Design: − Model-B
Slide 3: Introduction: Model-Based Design (MBD)
Introduction: Model-Based Design (MBD) • Model-Based Design is becoming more common during the normal course of software development to explain and implement the desired behavior of a complex system. The challenge is to take advantage of this approach and get an executable that can be simulated and
Slide 4: Introduction: Model-Based Design Toolbox
Introduction: Model-Based Design Toolbox • The Model-Based Design Toolbox includes an embedded target supporting NXP MCUs, Simulink™ plug-in libraries which provide engineers with an integrated environment and tool chain for configuring and generating the necessary software, including initialization
Slide 5: Reduce Development Time with Model-Based Design
Reduce Development Time with Model-Based Design Use software-based model Fewer defects found in System vs. paper-based method, this phase of testing, Functional Requirements and start testing at very where finding defects is Testing earliest stage. expensive. Convert model to SIL and now can test Mo
Slide 6: Objectives
Objectives • Exposure to NXP’s hardware/software enablement e.g.:MTRCKTSBNZVM128 Model-Based Design Toolbox with Simulink ™ Model-Based Design Driver configuration Assignment to pins Initialization setup BLDC Motor Control Dev Kit Signal Visualization and Data Acquisition Tool 5 EXTERNAL USE
Slide 7: Agenda
Agenda • Overview: 20 minutes − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: 50 minutes − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MBD Toolbox and use FreeMASTER • Model-B
Slide 8: MBD Toolbox: Library Contents
MBD Toolbox: Library Contents Simulink Libraries MBD Toolbox Peripheral block library MBD Toolbox Library for S12ZVM 7 EXTERNAL USE
Slide 9: Model-Based Design Toolbox: Toolbox Contents
Model-Based Design Toolbox: Toolbox Contents On-Chip Peripherals Configuration/Modes Utilities • General • FreeMASTER Interface • Compilers Supported − ADC conversion - Data acquisition − CodeWarrior − Digital I/O - Calibration − Wind River DIAB - Customize GUI − PIT timer − Green Hills • Profiler F
Slide 10: Automotive Math and Motor Control Library Set - Architecture
Automotive Math and Motor Control Library Set - Architecture General Motor Advanced Motor Control Library Control Library General Digital General Function Filters Library Library 9 EXTERNAL USE Mathematical Library
Slide 11: Automotive Math and Motor Control Library Set – Content
Automotive Math and Motor Control Library Set – Content MLIB GFLIB GDFLIB GMCLIB AMCLIB • Absolute Value, Negative Value • Trigonometric Functions • Finite Impulse Filter • Clark Transformation • BEMF Observer DQ • MLIB_Abs, MLIB_AbsSat • GFLIB_Sin, GFLIB_Cos, • GDFLIB_FilterFIR • GMCLIB_Clark • AMC
Slide 12: AMMCLib Application Example for MPC5643L PMSM Field Oriented Control
AMMCLib Application Example for MPC5643L PMSM Field Oriented Control 11 CONFIDENTIAL AND PROPRIETARY
Slide 13: Auto Math and Motor Control Library Set – Supported Devices
Auto Math and Motor Control Library Set – Supported Devices GreenHills CodeWarrior WindRiver Cosmic IAR GCC S32DS PPC Multi Diab Target Platform Version Version Version Version Version Version Version 2015.1.4 10.6.4 5.9.4.8 4.3.4 8.11 4.9.3 1.2 MPC560xP MPC560xB MPC564xL Available Available Availab
Slide 14: MBD Toolbox: RAppID Bootloader Utility
MBD Toolbox: RAppID Bootloader Utility The RAppID Bootloader works with the built-in Boot Assist Module (BAM) included in Freescale Qorivva MCUs or can be resident in FLASH. The Bootloader provides a streamlined method for programming code into FLASH or RAM on either target EVBs or custom boards. On
Slide 15: What is FreeMASTER?
What is FreeMASTER? • Runtime configuration & tuning tool for embedded software applications • Graphical Control Panel • Data Capture tool, interface to custom processing in Matlab, Excel etc. What do we do with FreeMASTER? MCU Memory Access • Connect: to target MCU over UART, CAN, BDM, JTAG Communi
Slide 16: FreeMASTER Topology and Platforms Support
FreeMASTER Topology and Platforms Support PC Side Embedded Side User code Supported platforms: USB, JTAG, LIN, CAN, BDM ... USB, JTAG, LIN, CAN, BDM ... • S08 • DSC FreeMASTER FreeMASTER • ARM Cortex-M (Kinetis/S32) • S12/S12X/S12Z(MagniV), • MPC56xx, MPC57xx • ColdFire V1/V2 UART/SCI UART/SCI 15 EX
Slide 17: MBD Toolbox: Summary of Customer Application Support
MBD Toolbox: Summary of Customer Application Support SYSTEM APPLICATION User Application Software Application SW API Target Platform GDFLIB Algorithm GMCLIB Motor Control Digital filtering Libraries Documentation GFLIB API General functions Drivers MC library set On-Chip Drivers Peripherals Efficien
Slide 18: Agenda
Agenda • Overview: − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MCD Toolbox and use FreeMASTER • Model-Based Design: − Model-B
Slide 19: Hands-On Demo: Motor Kit
Hands-On Demo: Motor Kit MTRCKTSBNZVM128 Features: • MC9S12ZVML/C12MKH • BDM interface • On-board OSBDM • Hall Sensor • Resolver interface • SINCOS interface • LIN/CAN BLDC Motor • USB-to-SCI serial port Control Dev Kit • Phase and DC-bus current sensing circuits • FAULT indicator • Over-voltage and
Slide 20: Hands-On Demo: Load Flash Bootloader
Hands-On Demo: Read A/D and Toggle LED Simple Model Load in Flash Bootloader using CodeWarrior Flash Programmer Use the Flash programmer in CW IDE to program the Flash Bootloader. 19 EXTERNAL USE
Slide 21: Hands-On Demo: Run Simple Model Simulation
Hands-On Demo: Read A/D and Toggle LED Simple Model Run Simple Model Simulation 1. Open Model “Simple_ADC.slx and save it as S12ZVM_Simple_ADC.slx” 2. You will see a model that changes the output state of a relational operator based on an input value as compared to a data value. 3. Run simulation an
Slide 22: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 1. Save Model as “S12ZVM_Simple_ADC.slx” 2. Select system target file “mcd_s12zvm.tlc” to configure model for the MCU 3. Open Simulink Library 4. Go to Motor Control Toolbox for MC9S12ZVMx -> MC9S12ZVMx -> MCD_MC9S12ZVM
Slide 23: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 13. Open “Configuration Parameters” and go to PIL/BAM Setup tab. 14. Enter the COM port number that you are using from PC 22 EXTERNAL USE
Slide 24: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 15. Open “Configuration Parameters” and go to FreeMASTER Config tab. 16. Enable Freemaster to run on SCI 1 at 115200 Baud 23 EXTERNAL USE
Slide 25: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 17. Open “ADC Config block” and set Conversion Mode to Trigger. 18. Also select Data Bus register access,12-bit resolution and right justification 24 EXTERNAL USE
Slide 26: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 19. Open “ADC Command List” and set input channel to 20. 25 EXTERNAL USE
Slide 27: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 20. Go back to library under Peripheral Interface Blocks, drag in two Digital Output blocks and connect one to output of the comparator and the other to Toggle subsystem. 21. Open Digital Output blocks and select pins 2
Slide 28: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 22. Go back to model and delete Function Call block 23. Go back to library under Utility Blocks, drag in a TIM Output block and connect to Trigger of Toggle subsystem. 24. Open TIM output block and set the timeout to 10
Slide 29: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run • This is what the model should look like after step 24 28 EXTERNAL USE
Slide 30: Hands-On Demo: Convert Simple Model and Run
Hands-On Demo: Read A/D and Toggle LED Simple Model Convert Simple Model and Run 25. Go to Code -> C/C++ Code pull down menu and then select Build Model. 26. Wait for model to generate code and then a prompt from the RAppID Bootloader Utility will appear. Reset the MCU and then select “OK”. 27. Once
Slide 31: Using FreeMASTER with Hands-On Demo
Hands-On Demo: Read A/D and Toggle LED Simple Model Using FreeMASTER with Hands-On Demo 29. Start FreeMASTER and open project TestLedA2D.pmp. Just press OK if a message comes up that the map file has been updated. 30. Go to Project Options Pull Down and select “Options”. Verify that COM settings are
Slide 32: Using FreeMASTER with Hands-On Demo
Hands-On Demo: Read A/D and Toggle LED Simple Model Using FreeMASTER with Hands-On Demo • This is what you should see after step 31 31 EXTERNAL USE
Slide 33: Using FreeMASTER with Hands-On Demo
Hands-On Demo: Read A/D and Toggle LED Simple Model Using FreeMASTER with Hands-On Demo 32. You will notice that there is dither in the A2D reading as you change the Potentiometer. This is because the system tick time in the model is too slow. To change this, go to the model and select the Simulatio
Slide 34: Using FreeMASTER with Hands-On Demo
Hands-On Demo: Read A/D and Toggle LED Simple Model Using FreeMASTER with Hands-On Demo 33. Disconnect FreeMASTER by pressing the STOP button. Then rebuild the model and have the bootloader download the software to the MCU. Re-Connect FreeMASTER and turn the Pot. You should see the following: 33 EXT
Slide 35: Agenda
Agenda • Overview: − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MCD Toolbox and use FreeMASTER • Model-Based Design: − Model-B
Slide 36: Model-Based Design Steps: Step 1 (Simulation)
Model-Based Design Steps: Step 1 (Simulation) Simulation in PC environment PWM A Torque IQ PI IQ Va Control + loop Filter cmd cmd ADC - Reverse Park Transform PWM Modulation PWM B ID PI ID Vb + loop Filter cmd cmd PWM C Zero - Gate IA Driver A/D Va ID Conversion Forward Forward IB Park Clark Transfo
Slide 37: Model-Based Design Steps: Step 2 – Software in the Loop (SIL)
Model-Based Design Steps: Step 2 – Software in the Loop (SIL) (SIL) Generated code executes as atomic unit on PC PWM A Torque IQ PI IQ Va Control + loop Filter cmd cmd ADC - Reverse Park PWM Modulation PWM B Transform ID PI ID Vb + loop Filter cmd cmd PWM C Zero - Gate IA Driver A/D Va ID Conversion
Slide 38: Model-Based Design Steps: Step 3 – Processor in the Loop (PIL)
Model-Based Design Steps: Step 3 – Processor in the Loop (PIL) (PIL) Executes generated code on the target MCU PWM A Torque IQ PI IQ Va Control + loop Filter cmd cmd ADC - Reverse Park Transform PWM Modulation PWM B ID PI ID Vb + loop Filter cmd cmd PWM C Zero - Gate IA Driver A/D Va ID Conversion F
Slide 39: Step 3 (PIL) Verification and Validation at Code Level
Model-Based Design Steps: Step 3 (PIL) Verification and Validation at Code Level • This step allows: − Translation validation through systematic testing − To demonstrate that the execution semantics of the model are being preserved during code generation, compilation, and linking with the target MCU
Slide 40: Example IEC 61508 and ISO 26262 Workflow for Model-Based Design
Example IEC 61508 and ISO 26262 Workflow for Model-Based Design with MathWorks Products* Model advisor, modeling PIL testing using MBD Toolbox PIL Mode Support** standards checking Simulation (model testing), Real-Time Workshop Embedded model coverage, RMI Coder traceability report or model vs. code
Slide 41: Model-Based Design Steps: Step 4 (Target MCU)
Model-Based Design Steps: Step 4 (Target MCU)* Torque Control + IQ loop PI Filter IQ cmd Va cmd PWM A * I/O peripheral driver blocks ADC - Reverse Park Transform PWM Modulation PWM B can be included in the model, ID PI ID Vb Zero + - loop Filter cmd cmd PWM C providing the analog driver Gate A/D Va
Slide 42: Model-Based Design Approach
Model-Based Design Approach Idea incubation ANSI C code Experiments Final Product PWM A PWM A Torque IQ PI IQ Va Torque + IQ PI IQ Va PWM A Control + loop Filter cmd cmd PWM A Control loop Filter cmd cmd Torque IQ PI IQ Va Torque IQ PI IQ Va - + - Reverse PWM B Control + loop Filter cmd cmd Reverse
Slide 43: Demo: SIL/PIL Step 2 & 3 of MBD
Demo: SIL/PIL Step 2 & 3 of MBD 1. Open Model “FOC_Sensorless_SIL_PIL.slx 2. You will see a motor simulation of an FOC control algorithm 3. Will Run model and view the results. 42 EXTERNAL USE
Slide 44: Demo: SIL/PIL Step 2 & 3 of MBD
Demo: SIL/PIL Step 2 & 3 of MBD 4. You can switch between SIL and PIL thru using the tools menu. 43 EXTERNAL USE
Slide 45: Demo: SIL/PIL Step 2 & 3 of MBD
Demo: SIL/PIL Step 2 & 3 of MBD 5. Open “Configuration Parameters” in the reference model. 6. Go to PIL/BAM Setup tab. 7. Enter the COM port number that you are using from PC. 44 EXTERNAL USE
Slide 46: Demo: SIL/PIL Step 2 & 3 of MBD
Demo: SIL/PIL Step 2 & 3 of MBD 8. - Will Run model and view the results. 45 EXTERNAL USE
Slide 47: Demo: SIL/PIL Step 2 & 3 of MBD
Demo: SIL/PIL Step 2 & 3 of MBD 9. Let us try improving the execution time by changing the compiler options 10. Change the optimization level from 0 to 2. 46 EXTERNAL USE
Slide 48: Demo: SIL/PIL Step 2 & 3 of MBD
Demo: SIL/PIL Step 2 & 3 of MBD 11. Run model and view the results. 47 EXTERNAL USE
Slide 49: Agenda
Agenda • Overview: − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MCD Toolbox and use FreeMASTER • Model-Based Design: − Model-B
Slide 50: Motor Kit: MTRCKTSBNZVM128 BLDC Motor Control Kit
Motor Kit: MTRCKTSBNZVM128 BLDC Motor Control Kit • The kit includes a 4 pole-pair count motor, which means that every single mechanical revolution equals four electrical revolutions. State changes in Hall sensors is every 60 degrees electrical. 49 EXTERNAL USE
Slide 51: Motor Kit: XS12ZVMx12EVB
Motor Kit: XS12ZVMx12EVB Power indicator LEDs OSBDM User Switches CAN option Hall interface LIN interface I/O Port access Motor (for example PWM connector / TIM / ECLK) USB-to-SCI interface GDU / 3-phase bridge access Reset BDM interface 12 V supply User LEDs Potentiometer Resolver ADC inputs Curren
Slide 52: Motor Kit: System Diagram
Motor Kit: System Diagram Vb+ A Phase A Phase B S12ZVM Analog Phase C Gate Drive Current BLDC Unit Feedback Motor Pot Switches Hall Sensors Vb- PWM TIM PMF GPIO ADC S12ZVM Hall Sensor Port SCI Digital DO RAppID BL Utility LEDs 51 EXTERNAL USE
Slide 53: Motor Kit: S12ZVM for BLDC Motor Control
Motor Kit: S12ZVM for BLDC Motor Control Discrete Solution VREG 3+ MCU (8pin) 20+ Gate or Driver 2+ DSC (48pin) LIN phy (48pin) (8pin) Op-amps 4 cm ~1 ½ in. S12ZVM Solution: • ~ 50 fewer solder joints • - 4 to 6 cm2 PCB space 64 pin 52 EXTERNAL USE
Slide 54: Motor Control
10 Billion Electric Motors Shipped Globally in 2013 2.5 Billion in Automobiles, 30 Per Car Average Convertible roof Circular pump for stationary Motor for Heating fan Sliding roof heating system • source: IMS Research, 2013 stationary heating system Idle position Cooling fan for air adjustment syste
Slide 55: Motor Kit: S12ZVM Family
Motor Kit: S12ZVM Family Digital 5 V Analog BLDC/PMSM/SR motor control Components Components MCU Core High-Voltage and Memories Components Key Features: • S12Z CPU @ 50 MHz bus speed Pierce Temp 2 x 12-Bit • 6 ch. Gate Drive Unit (GDU) with 50-150 nC total Gate Charge CAN/LIN-PHY Osc. Sense LADC dri
Slide 56: Motor Kit: S12ZVML (LIN Version) — Details
Digital 5V Analog Components Components Motor Kit: S12ZVML (LIN Version) — Details MCU Core and Memories High-Voltage Components 2x UARTs LIN Physical S12Z CPU On-chip RC 2 x 12-bit list based ADC One linked to LIN Phy, 2nd Layer 16-bit, 32-bit MAC, OSC Simultaneous measurement as independant Test I
Slide 57: Motor Kit: S12ZVM Family Feature Set Summary
Motor Kit: S12ZVM Family Feature Set Summary Connectivity CAN LIN CAN LIN CAN LIN PWM Product Name VMC256 VML128 VMC128 VML64 VMC64 VML32 VML31 VML31 VM32 VM16 80LQFP- 64LQFP- 64LQFP- 64LQFP- 64LQFP- 64LQFP- 64LQFP- 48LQFP- 64LQFP- 48LQFP- 64LQFP- 48LQFP- Package EP EP EP EP EP EP EP EP EP EP EP EP
Slide 58: Motor Kit: S12ZVM Ecosystem — The Complete Solution
Motor Kit: S12ZVM Ecosystem — The Complete Solution Customer Application Software CAN/LIN Stack FreeMASTER: NVM Drivers MC ToolBox: MCAT LIN Drivers MC Dev Kit -Graphical User Rapid prototyping with Tuning Reference Interface Matlab Simulink Tool Software -Instrumentation Math and Motor Control Libr
Slide 59: Motor Control: Motion Force Generation
Motor Control: Motion Force Generation • Current flowing in a magnetic field results in a force on the conductor • Direction of generated force is governed by “Right Hand Rule” (Lorentz Force Law) current I B Direction of force causing wire motion Right Hand Rule F I .B.l. sin 58 EXTERNAL USE
Slide 60: Electromagnetic Force Creates Torque
Electromagnetic Force Creates Torque Uniform Magnetic Field bo F1= I.Bo.l.sin r Current flowing α away from you F2 = I.Bo.l.sin Current flowing towards you Maximum torque occurs when = ± 90° Single Coil Rotor T = 2I.Bo.l.r sin (clockwise) l = length of wire 59 EXTERNAL USE
Slide 61: Motor Types
Motor Types • DC Motors − Two or more permanent magnets in stator − Rotor windings connected to mechanical commutator • BLDC Motors − PM in rotor, 3-phase conductors in stator − Trapezoidal back-EMF • Permanent Magnet Synchronous Motors − Similar to BLDC in construction − Sinusoidal back-EMF 60 EXTE
Slide 62: BLDC Motor = Trapezoidal Back-EMF
BLDC Motor = Trapezoidal Back-EMF ► BLDC Motor Commutation - one phase is un-powered at any given time A B C A B C A 0V C B 61 EXTERNAL USE
Slide 63: PM Machines – Trapezoidal vs. Sinusoidal
PM Machines – Trapezoidal vs. Sinusoidal • The characteristic “Trapezoidal” or “Sinusoidal” is linked with the shape of the Back-EMF of the Permanent Magnet motor. − “Sinusoidal” means Synchronous (PMSM) motors − “Trapezoidal” means Brushless DC (BLDC) motors • BLDC motor control (6-step control) −
Slide 64: Trapezoidal vs. Sinusoidal PM Machine
Trapezoidal vs. Sinusoidal PM Machine • Sinusoidal” or “Sinewave” machine means Synchronous (PMSM) • Trapezoidal means brushless DC (BLDC) motors • Differences in flux distribution • Six-Step control vs. Field-Oriented Control • Both requires position information • BLDC motor control − 2 of the 3 st
Slide 65: Trapezoidal Control: Brushless DC Motor
Trapezoidal Control: Brushless DC Motor A BLDC motor consists of a rotor with permanent magnets and a stator with phase windings. A BLDC motor needs electronic commutation for the control of current through its three phase windings. Stator Permanent Magnets N Rotor S S Phase Windings Phase N Stator
Slide 66: Trapezoidal Control: BLDC Commutation Method
Trapezoidal Control: BLDC Commutation Method • Stator Field is generated between 60° to 120° to GND +Vp (PWM) rotor field to get maximal torque and energy efficiency Lb Running • Six Flux Vectors defined to create rotation Direction Motor Torque Lc 60°-120° (PWM) LaStator Flux +Vp (PWM) GND +Vp GND(
Slide 67: Trapezoidal Control: Commutation Method
Trapezoidal Control: Commutation Method Trapezoidal control is one type of commutation method used to turn a motor where only two phase windings will conduct current at any one time. With direction also to consider, that leaves six possible patterns. Circuit Representation of BLDC Stator Windings Ph
Slide 68: Trapezoidal Control: Commutation Control
Trapezoidal Control: Commutation Control By adding switches, the current flow can be controlled by a MCU to perform trapezoidal control. Vb+ Vb+ OFF ON At Ct OFF ON Vb- N.C. Vb+ Vb- N.C. Vb+ ON Ab OFF Cb ON OFF Vb- Phase A Phase C Vb- Vb+ Phase B ON Bt OFF Vb- N.C. Vb+ ON Bb OFF Vb- 67 EXTERNAL USE
Slide 69: Trapezoidal Control: Turning the Motor CW
Trapezoidal Control: Turning the Motor CW With the switches, the stator can be used to turn the motor to the desired direction and location by creating a magnetic field that affects the magnets on the rotor. At Cb Bb Phase Phase Phase CW A B C Bt o Ct 0/180○ Vb- NC Vb+ N 30○ Vb- Vb+ NC Ab S S Ab 60○
Slide 70: Trapezoidal Control: Turning the Motor CCW
Trapezoidal Control: Turning the Motor CCW With the switches, the stator can be used to turn the motor to the desired direction and location by creating a magnetic field that affects the magnets on the rotor. At Cb Bb Phase Phase Phase CCW A B C Bt o Ct 0/180○ Vb+ NC Vb- N 30○ Vb+ Vb- NC Ab S S Ab 6
Slide 71: Trapezoidal Control: Motor Position
Trapezoidal Control: Motor Position In order to commutate correctly for trapezoidal control, motor position information is required for proper motor rotation. The motor position information enables the MOSFETs or IGBTs in the inverter to properly be switched ON and OFF to ensure proper direction of
Slide 72: Trapezoidal Control: Motor Position CW
Trapezoidal Control: Motor Position CW With three Hall sensors, it is possible to have eight states with two invalid states. That leaves six valid states that can be used to determine which two phase coils to drive the current through and in which direction. The six states are generated due to rotat
Slide 73: Trapezoidal Control: Motor Position CCW
Trapezoidal Control: Motor Position CCW With three Hall sensors, it is possible to have eight states with two invalid states. That leaves six valid states that can be used to determine which two phase coils to drive the current through and in which direction. The six states are generated due to rota
Slide 74: Trapezoidal Control: Bringing It All Together
Trapezoidal Control: Bringing It All Together With the commutation table and the motor position table, a full trapezoidal control algorithm can be developed. Motor Position Table Input Commutation Table Output Hall A Hall B Hall C State CW CW Phase A Phase B Phase C 1 0 0 4 0/180○ 0/180○ Vb+ NC Vb-
Slide 75: Trapezoidal Control: Bringing It All Together
Trapezoidal Control: Bringing It All Together With the commutation table and the motor position table, a full trapezoidal control algorithm can be developed. Trapezoidal Control Algorithm Clockwise Rotation Hall A Hall B Hall C State CW Phase A Phase B Phase C 1 0 0 4 0/180○ Vb+ NC Vb- 1 1 0 6 30○ V
Slide 76: Trapezoidal Control: Bringing It All Together
Trapezoidal Control: Bringing It All Together With the commutation table and the motor position table, a full trapezoidal control algorithm can be developed. Trapezoidal Control Algorithm Counter Clockwise Rotation Hall A Hall B Hall C State CW Phase A Phase B Phase C 1 0 0 4 0/180○ Vb- NC Vb+ 1 0 1
Slide 77: Sensor-based Commutation
Sensor-based Commutation Rotor Electrical Position (Degrees) 0 60 120 180 240 300 360 DC BUS voltage Hall a Commutation events Hall b Bt Ct At Hall c Ab Bb Cb 1 2 3 4 5 6 PWM At B PWM Bt A C PWM Ct One phase powered by complementary PWM PWM Ab signal, second phase grounded: PWM Bb • Low MOSFET switc
Slide 78: Trapezoidal Work-Shop Control Block Diagram
Trapezoidal Work-Shop Control Block diagram MC9S12ZVM Board 3-phase Inverter Power line 3-phase BLDC Motor Hall A Hall B TIM GPIO GDU Hall C TIM Hall Sensor Trigger States Measure Hall Time & Commutation PMF Position Recognition Control Comm. Sequence Duty Cycle On-Chip BDM 1/T Debugging ActualSpeed
Slide 79: Agenda
Agenda • Overview: − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MCD Toolbox and use FreeMASTER • Model-Based Design: − Model-B
Slide 80: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit Summary Trapezoidal Motor Control on MPC5643L steps: 1. Open TrapCtrl.mdl 2. Save model as MPC564xL_TrapCtrl.mdl 3. Configure MPC5643L configuration block 4. Configure Input port blocks to read motor hall position state 5. Configure out
Slide 81: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit 80 EXTERNAL USE
Slide 82: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit Configure Hall Sensor Input Block using Digital I/O steps: Remove termination blocks and pull 3 output blocks to replace them and then set them to the correct MCU pins. Set input blocks to correct pins. 81 EXTERNAL USE
Slide 83: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit Commutation Change event Commutation Change event 82 EXTERNAL USE
Slide 84: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit Measure the pulse width of a hall sensor so that motor speed can be calculated 83 EXTERNAL USE
Slide 85: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit MotorSpeed Block with ADC and Digital outputs steps: 84 EXTERNAL USE
Slide 86: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit 3PhaseDutyCycleOut Block with Flex PWM Blocks steps: Pull Simple PWM phase block from library, connect to phase A and configure. 85 EXTERNAL USE
Slide 87: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit PMF Block steps: 86 EXTERNAL USE
Slide 88: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit PMF Block steps: 87 EXTERNAL USE
Slide 89: Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit
Hands-on Demo: Implement Trapezoidal Motor Control on Motor Kit 3PhaseDutyCycleOut Block with Flex PWM Blocks steps: Copy phase C block, paste twice and connect to phase A & B. 88 EXTERNAL USE
Slide 90: Hands-on Demo: FreeMASTER to Monitor and Tune Parameters
Hands-on Demo: FreeMASTER to Monitor and Tune Parameters Using FreeMASTER with Hands-on Demo 1. Start FreeMASTER and open project S12ZVM_TrapCtrl.pmp. Press OK if a message comes up that the map file has been updated. 2. Go to Project Options pull-down and select “Options”. Verify that COM settings
Slide 91: Agenda
Agenda • Overview: − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MCD Toolbox and use FreeMASTER • Model-Based Design: − Model-B
Slide 92: Motor Control: Why FOC over Trapezoidal
Motor Control: Why FOC over Trapezoidal • FOC inherently better at aligning rotor and stator flux which results in a more efficient way of generating motor torque. • Since FOC continuously pulls the rotor to a new position torque ripple is reduced making it ideal for application like electric steeri
Slide 93: Motor Control: Creation of Rotating Magnetic Field
Motor Control: Creation of Rotating Magnetic Field • The space-vectors can be defined for all motor quantities j120 j 240 B is iAe iB e j0 iC e 3ph currents A B C 1 A 0 is -1 p 2p C 92 EXTERNAL USE
Slide 94: Motor Control: Transformation to 2-ph Stationary Frame
Motor Control: Transformation to 2-ph Stationary Frame Is_a_comp Forward Clark Is_beta 3ph currents / MMF Is_b_comp Transformation Is_c_comp Is_alpha a,b,c->alpha,beta A B C 1 b 3ph quantities 0 -1 p 2p b 1.5 is Stationary 2ph quantities 0 -1.5 p 2p 93 EXTERNAL USE
Slide 95: Motor Control: Transformation to 2-ph Synchronous Frame
Motor Control: Transformation to 2-ph Synchronous Frame • Position and amplitude of the stator flux/current vector is fully controlled by two DC values b 1 b Stationary 2ph quantities 0 -1 p 2p d q 1 is Rotating 2ph quantities 0 alpha Forward Park d -1 beta Transformation – q p 2p , b > d, q 94
Slide 96: Motor Control: FOC Transformation Summary
Motor Control: FOC Transformation Summary Phase A d d Phase A Control 3-Phase Stationary Rotating Action Phase B Phase B Phase C to 2-Phase b to Rotating q q to b SVM Stationary Phase C 3-Phase 2-Phase 3-Phase System System System From measurement ? AC DC AC Stationary Reference Frame Rotating R
Slide 97: Motor Control: FOC Transformation Summary
Motor Control: FOC Transformation Summary Control Action PWM A Torque IQ PI IQ Va IQ + Control loop Controller cmd cmd - Space Inverse PWM B Vector Park PWM Modulation Transform (SVM) ID PI ID Vb + loop Controller cmd cmd PWM C Zero - IA Va ID Park Clark IB A/D Transform Transform Vb IC IQ Motor Pos
Slide 98: Motor Control: Field Oriented Control in Steps
Motor Control: Field Oriented Control in Steps 1. Measure obtain state variables quantities (e.g. phase currents, voltages, rotor position, rotor speed …). 2. Transform quantities from 3-phase system to 2-phase system (Forward Clark Transform) to simplify the math - lower number of equations 3. Tran
Slide 99: Motor Control: Commutation Control Methods
Motor Control: Commutation Control Methods • All three inverter legs (6 transistors) are managed at any time – transistors are either switched on or off • PWM pairs are set to complementary mode Vb+ o Top transistor – ON On At o Bottom transistor – OFF 3 o Or vice versa Off Ab o Deadtime is inserted
Slide 100: Motor Control: Commutation Control Methods
Motor Control: Commutation Control Methods • All three inverter legs (6 transistors) are managed at any time – transistors are either switched on or off • PWM pairs are set to complementary mode Vb+ o Top transistor – ON Off At o Bottom transistor – OFF 2 o Or vice versa Off Ab o Deadtime is inserte
Slide 101: Motor Control: Commutation Control Methods
Motor Control: Commutation Control Methods • All three inverter legs (6 transistors) are managed at any time – transistors are either switched on or off • PWM pairs are set to complementary mode Vb+ o Top transistor – ON Off At o Bottom transistor – OFF 1 o Or vice versa On Ab o Deadtime is inserted
Slide 102: Motor Control: Current Sensing with Shunt Resistors
Motor Control: Current Sensing with Shunt Resistors DC Bus +U/2 • Shunt resistors voltage drop measured PWM At PWM Bt PWM Ct • SW calculation of all 3 phase currents Phase A Phase B Phase C needed PWM Ab PWM Bb PWM Cb • Adding all 3 phase currents equals zero uI_S_B Shunt allowing that only two phas
Slide 103: ADC to PWM Synchronization - Why Needed?
ADC to PWM Synchronization - Why Needed? • ADC sampling helps to filter the measured current - antialiasing PWM Period Asynchronous Sampling Average Current Inductor Current Sampled Current Synchronized Sampling PWM 0 ADC trigger Signal A/D calc. Data Processing and New PWM Parameters Calculation 10
Slide 104: Motor Control: Incremental Encoders
Motor Control: Incremental Encoders Scanning Principle • The current position is calculated by incrementing/decrementing the pulse edges. • The direction of counting is determined by phase shift of two quadrature pulses. • The reference pulse is used to denote start point. Source: Heidenhain Increme
Slide 105: Motor Control: Resolvers
Motor Control: Resolvers • Rotor is put directly on the drive’s shaft Sensor Components • Stator is fixed on drive’s shield Auxiliary transformer Rotor Stator • Simple assembly and maintenance • No bearings — “unlimited” durability • Resist well against distortion, vibration, deviation of operating
Slide 106: Motor Control: Autonomous Motor Control Loop Implementation
Motor Control: Autonomous Motor Control Loop Implementation NO CPU involvement & interrupt during motor control cycle TIM Timer Commutation Event PWM signals Fault Inputs GDU Gate Drive Unit trigger ADC0 DCBus Volt. PMF reload PTU Analog BackEMF Pulse Width Digital DCBus Curr. Modulation Converter P
Slide 107: Motor Control: Pulse Width Modulator Module (PMF)
Motor Control: Pulse Width Modulator Module (PMF) • 6 PWM channels, 3 independent counters Complementary Mode with / without dead time insertion − Up to 6 independent channels or 3 complementary pairs • Based on core clock (max. 100 MHz) • Complementary operation: − Dead time insertion − Top and Bot
Slide 108: Motor Control: 2 x 12 bit Analog Digital Converter
Motor Control: 2 x 12 bit Analog Digital Converter Command and Result List DMA integrated RAM / NVM RAM Double buffered Command Result Value List Flexible conversion sequence and Automatic Trigger Sys Clock Sequence List (RVL) oversampling (CSL) Can be triggered by PTU, for Command 1 Result 1 Fully
Slide 109: Motor Control: Programmable Trigger Unit (PTU)
Motor Control: Programmable Trigger Unit (PTU) Completely avoids CPU involvement to trigger ADC during the control cycle • One 16-bit counter as time base • Two independent trigger generators (TG) RAM • Up to 32 trigger events per trigger generator Trigger Value Lists • Trigger Value List stored in
Slide 110: Motor Control: Autonomous PMSM Application Timing
Motor Control: Autonomous PMSM Application Timing Two shunts current sensing PMFMOD VAL0 Hardware Events PWM counter 100 us SW Serviced 0 PMF PMF phA out A_top A_bot B_top PMF phB out B_bot PMF half cycle reload deadtime PMF half cycle reload every fourth opportunity every fourth opportunity PWM Rel
Slide 111: Motor Control: Rotor Position Sensor Elimination
Motor Control: Rotor Position Sensor Elimination • FOC requires accurate position and velocity signals • Conventional motion control systems uses resolvers or encoders • Sensor, wirings, connectors increase the cost of the system and decrease the reliability • Application Sensorless PM Motor Control
Slide 112: Motor Control: What is Back EMF and how to use it
Motor Control: What is Back EMF and how to use it • An electric motor acts like a generator and can generate a secondary force that opposes the original electromotive force (EMF) called back EMF. There is a direct correlation between the back EMF and position of a motor. • Since there is a direct co
Slide 113: Motor Control: Simplified Sensorless PM Control
Motor Control: Simplified Sensorless PM Control • Force Mode – Use the requested speed and position as the estimated speed and position for the back-EMF observer and FOC control. FOC always uses phase currents from the shunt resisters. Speed control uses requested speed and position to close the loo
Slide 114: Agenda
Agenda • Overview: − Introduction and Objectives − Model-Based Design Toolbox: Library blocks, FreeMASTER, and Bootloader • Hands-On Demo: − Motor Kit (Describe Freescale 3-Phase Motor Kit) − Convert simple model to run on Motor Kit with MCD Toolbox and use FreeMASTER • Model-Based Design: − Model-B
Slide 115: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control Summary FOC Sensor-less Motor Control on S12ZVM steps: 1. Open FOC_Sensorless.slx 2. Save model as S12ZVM_FOC_Sensorless.slx 3. Configure S12ZVM thru model configuration parameters 4. Configure the Gate Driver Unit with the GDU Configuration Block 5. Con
Slide 116: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control 115 EXTERNAL USE
Slide 117: Demo: FastLoopInput Block
Demo: Implement FOC Sensor-Less Motor Control FastLoopInput Block 116 EXTERNAL USE
Slide 118: Demo: FastLoopAlgorithm Block
Demo: Implement FOC Sensor-Less Motor Control FastLoopAlgorithm Block 117 EXTERNAL USE
Slide 119: Demo: FastLoopAlgorithm FOC Block
Demo: Implement FOC Sensor-Less Motor Control FastLoopAlgorithm FOC Block 118 EXTERNAL USE
Slide 120: Demo: FastLoopAlgorithm PosObserver Block
Demo: Implement FOC Sensor-Less Motor Control FastLoopAlgorithm PosObserver Block 119 EXTERNAL USE
Slide 121: Demo: COM Port Setup
Demo: Implement FOC Sensor-Less Motor Control COM Port Setup: 120 EXTERNAL USE
Slide 122: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control 121 EXTERNAL USE
Slide 123: Demo: Gate Drive Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control Gate Drive Unit configuration steps: 122 EXTERNAL USE
Slide 124: Demo: Gate Drive Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control Gate Drive Unit configuration steps (the settings = 720 nsec): 123 EXTERNAL USE
Slide 125: Demo: Gate Drive Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control Gate Drive Unit configuration steps: 124 EXTERNAL USE
Slide 126: Demo: Gate Drive Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control Gate Drive Unit configuration steps: 125 EXTERNAL USE
Slide 127: Demo: Gate Drive Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control Gate Drive Unit configuration steps: 126 EXTERNAL USE
Slide 128: Demo: Gate Drive Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control Gate Drive Unit configuration steps: 127 EXTERNAL USE
Slide 129: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control 128 EXTERNAL USE
Slide 130: Demo: PTU Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control PTU Unit configuration steps: 129 EXTERNAL USE
Slide 131: Demo: PTU Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control PTU Unit configuration steps: 130 EXTERNAL USE
Slide 132: Demo: PTU Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control PTU Unit configuration steps: 131 EXTERNAL USE
Slide 133: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control 132 EXTERNAL USE
Slide 134: Demo: ADC Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control ADC Unit configuration steps: 133 EXTERNAL USE
Slide 135: Demo: ADC Unit configuration steps
Demo: Implement FOC Sensor-Less Motor Control ADC Unit configuration steps: Copy ADC0_Config 134 EXTERNAL USE
Slide 136: Demo: ADC Command List Block steps
Demo: Implement FOC Sensor-Less Motor Control ADC Command List Block steps: 135 EXTERNAL USE
Slide 137: Demo: ADC Command List Block steps
Demo: Implement FOC Sensor-Less Motor Control ADC Command List Block steps: Copy ADC0_Command_List 136 EXTERNAL USE
Slide 138: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control 137 EXTERNAL USE
Slide 139: Demo: ADC ISR Block steps
Demo: Implement FOC Sensor-Less Motor Control ADC ISR Block steps: 138 EXTERNAL USE
Slide 140: Demo: FastLoopInput
Demo: Implement FOC Sensor-Less Motor Control FastLoopInput 139 EXTERNAL USE
Slide 141: Demo: ADC Command List Block steps
Demo: Implement FOC Sensor-Less Motor Control ADC Command List Block steps: 140 EXTERNAL USE
Slide 142: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control 141 EXTERNAL USE
Slide 143: Demo: 3PhaseDutyCycleOut Block with Flex PWM Blocks
Demo: Implement FOC Sensor-Less Motor Control 3PhaseDutyCycleOut Block with Flex PWM Blocks steps: Pull Simple PWM phase block from library, connect to phase A and configure. 142 EXTERNAL USE
Slide 144: Demo: PMF Block steps
Demo: Implement FOC Sensor-Less Motor Control PMF Block steps: 143 EXTERNAL USE
Slide 145: Demo: PMF Block steps
Demo: Implement FOC Sensor-Less Motor Control PMF Block steps: 144 EXTERNAL USE
Slide 146: Demo: FreeMASTER to Monitor and Tune Parameters
Demo: FreeMASTER to Monitor and Tune Parameters Using FreeMASTER with Hands-On Demo 1. Start FreeMASTER and open project S12ZVM_FOC_Sensorless.pmp. Press OK if a message comes up that the map file has been updated. 2. Go to Project Options pull-down and select “Options”. Verify that COM settings are
Slide 147: Demo: FreeMASTER to Monitor and Tune Parameters
Demo: FreeMASTER to Monitor and Tune Parameters 146 EXTERNAL USE
Slide 148: Demo: FreeMASTER to Monitor and Tune Parameters
Demo: FreeMASTER to Monitor and Tune Parameters 147 EXTERNAL USE
Slide 149: Demo: Implement FOC Sensor-Less Motor Control
Demo: Implement FOC Sensor-Less Motor Control 148 EXTERNAL USE
Slide 150: Secure Connections for a Smarter World
SECURE CONNECTIONS FOR A SMARTER WORLD
NXP Semiconductors — Technical Presentation (September 2024) on 6ix