Ti Digital Motor Control Solutions PDF

TI Digital Motor Control Solutions
Texas Instruments Incorporated 2005

No reproduction permitted without prior authorization from Texas Instruments. SPRB167A
1H2004 Slide 1
Agenda Timeline
Motor Control Fundamentals 25 min
AC Induction and Permanent Magnet Motors
Scalar and Vector Control
Applications:
Smarter controllers, high performance, lower cost 15 min
Controller Selection 10 min
Motor Control Collateral Overview 25 min

Development Tools Overview: Faster HW+SW Development
Modular Software Libraries: Development Accelerators
Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications 25 min
Get Started Today with TI! 5 min
Question and Answers 10 min
1H2004 Slide 2
Three Phase Machine Fundamentals
Conceptual Practical
Three phase machines have three windings, separated in

phase by 120- a third of a rotation.
1H2004 Slide 3
ia A`
Fc The three phase winding

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

1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
-0.50
-1.00
magnetic fields is a rotating
-1.50 magnetic field.
1H2004 Slide 4
q (imaginary)
120 f
Speed (in r.p.m.) =
P
ia A` f = AC supply frequency,
and P = # of poles for the motor,
per phase
C Fc B
d (real)
Fa For instance, a 3 phase
Fs machine, with:
Fb
C` 60Hz Three Phase
B` F$s = Fs . e jt Supply; and 4 poles per

phase will have a
A F$s = Fd + jFq synchronous speed of
1800 r.p.m.
F$s = Fa sin(t ). ei 0 + Fb sin(t + 120o ). ei 120 + Fc sin(t + 240o ). ei 240

o o o
1H2004 Slide 5
Permanent Magnet Motor Operation
Rotor field
A`
Back
C EMF
F
N t
(v)
B
Stator t
C` Current
S Stator field
(Is)
B`
F
The interaction between the rotating stator flux, and the rotor flux
produces a torque which will cause the motor to rotate.
The rotation of the rotor in this case will be at the same exact
frequency as the applied excitation to the rotor.
This is an example of Synchronous operation.
1H2004 Slide 6
Internal View: Induction Motor Rotor
1H2004 Slide 7
ACI Operation Fundamentals
ia A`
1.50
Phase currents
ia ib ic
1.00
Im
C B 0.50 ~
F 0.00 I
c Current Phasors
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
~ t
-0.50 120o I
a
C -1.00
Re
-1.50
B` `
~
A I
b
The induction machine has a rotor that is a closed circuit in the case of the
squirrel-cage induction motor it is two rings joined by bars along the rotor
axis.
The rotor when placed in a moving magnetic field will have induced currents,
which produce an induced magnetic field.
The interaction of these two magnetic fields produces the rotational torque.
1H2004 Slide 8
Agenda Timeline
Applications:

1H2004 Slide 9
Scalar V/F control of 3-ph Induction Motor
Vs MAXIMUM
(volt) TORQUE
Vrating VOLTAGE
NOMINAL
TORQUE
TORQUE
Vo
0 fc frating f (Hz) LOW SPEED NOM SPEED SPEED
+ Simple to implement: All you need is three sine waves

feeding the ACI
+ No position information needed.
Doesnt deliver good dynamic performance.

1H2004 Slide 10
Limitations of the Scalar Technique
ACCELERATION DECELERATION
Torque oscillation
generates uncontrolled
current overshoot:
TORQUE
TIME
High peak current:

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

A solution to minimize these current overshoots is to decrease the
performances of the speed regulator.
Slow speed regulator poor mechanical behavior.
1H2004 Slide 11
Stationary and Rotating Reference Frames
a
Q
R R
R D
2/3 /2
2/3 /2
c 2/3 b
rotor
t IQ
t
t
t ID
t
Three phase reference frame Two phase orthogonal Rotating Orthogonal

reference frame Reference Frame
1H2004 Slide 12
Motor Flux Interaction
Q S Torque
T
R
D
rotor
=load angle

Torque = sr sin()
s and r constant
1H2004 Slide 13
Vector Control of 3-Ph Induction Motor
FOC is a control strategy for 3-ph AC motors, where

torque and flux are independently controlled.
The approach is imitating the DC motors operation.
Direct FOC: rotor flux angle is directly computed from

flux estimation or measurement.
Indirect FOC: rotor flux angle is indirectly computed

from available speed and slip computation.
1H2004 Slide 14
Field Oriented Control - Vector Control
Maintain the
load angle
A` at 90
q=90
CF N
Back EMF (v)
B t
C` Stator Current (Is) t

S F
B`
A
+ No torque ripple t = constant t
+ Better dynamic response

Need good knowledge of the rotor position
1H2004 Slide 15
C28x Controllers
1H2004 Slide 16
PMSM FOC with TMS320F2812 DSP
wr* iqs* vqs* vas* Ta PWM1

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

wr
Calculator
Encoder
+ driver Phase
Index Motor
TMS320F2812 DSP controller
1H2004 Slide 17
ACI FOC System with TMS320F2812 DSP
wr* iqs* vqs vas* Ta PWM1
PI * Inv. Space PWM PWM2
PI T PWM3
Park Vector b Driver PWM4
iqs i * vds* vbs* Gen.
ds PWM5
Tc
PI PWM6
ids Power
lr lr Inverter
ias ias
Park ADCIN1
Ileg2_
ibs Clarke ibs Bus ADCIN2
ias Vdc Driver
ias ADCIN3
ibs
Speed Flux ibs
wr Est. lr Est.
va Phase
lar Ta
s Voltage ACI
lbr vb Cal. Tb
s
Tc TMS320F2812 DSP
controller
1H2004 Slide 18
FOC TMS320F2812 DSP + Resolver
PI PWM2
PI Space Tb PWM PWM3
Inv.
iqs i * vds* Park Vector + PWM4
ds vbs* PWM5
Gen. Tc Driver
PI PWM6
ids Power
r Inverter
ias ias ADCIN1
Park ibs Clarke ibs ADCIN2
ADCIN3
ADC
+
Speed r Angle Driver Sin
wr
Resolver
Resolver
Calculator Position Cos
Detection Motor
TMS320F2812 DSP controller
1H2004 Slide 19
Cost Effective High Accuracy
Position Measurement by Resolver
12Bit
OPA4340
ADS7861
16Bit
OPA4350
ADS8361
1H2004 Slide 20
Sensored AC Induction Motor DTC Drive
Input
Input
power
power
stage
stage
r*
State PWM
Speed Torque
Selector Gen
Controller controller
Power
Inverter
Flux and Torque calculator ADC
Current and voltage vector
CAPTURE
Communications calculator
Inputs
modules Motor
SCI CAN TMS320F2812 DSP controller
1H2004 Slide 21
BLDC and PMSM Motor Types
Both (typically) have permanent-magnet rotor and a
A wound stator
CF N` BLDC (Brushless DC) motor is a permanent-magnet
B brushless motor with trapezoidal back EMF
PMSM (Permanent-magnet synchronous motor) is a
permanent-magnet brushless motor with sinusoidal
S
C back EMF
F
B `
` A
Back EMF of BLDC Motor
Back EMF of PMSM
300 900 1500 2100 2700 3300 300 900
00 600 1200 1800 2400 3000 3600 600 Ea 1.50
Phase A ia
e
1.00
ea eb ec
Hall A
0.50
Phase B
ib e 0.00
t
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
-0.50
Hall B
-1.00
Phase C
ic e -1.50
Hall C
1H2004 Slide 22
Sliding Mode Observer
is
v s*
Sliding Mode
Current
i~s Sliding z Low-
pass
e~s Phase ~eu ~e
Control Calculate
Observer Filter
See hidden slides (2) for equations * Phase

The core is current observer Comp
Speed calculator not adopted
~e
Sin/Cos Speed

~
Calculator Calculate
Based on well established robust control technique: Non-linear Sliding Mode

Control
Bang-bang control type -> High Gain
A priori feel of bounds of uncertainties and disturbances -> To tune sliding
control gain
Different techniques can be adopted to remove ripple effect
1H2004 Slide 23
Sliding Mode Observer
Based on well established robust control technique:

Non-linear Sliding Mode Control
Bang-bang control type -> High Gain
Tolerate parameter variations
Reject disturbances
Converges quickly, no numerical divergence
A priori feel of bounds of uncertainties and
disturbances -> To tune sliding control gain
Different techniques can be adopted to remove ripple
effect
1H2004 Slide 24
SMO Equations
d ~ ~
is = A is + B ( v s e~ s + z )
dt
R 1 Current observer
A = I s B =
L L
3
L = Lm
2
~
z = ksign ( is i s ) Sliding control
d
e~ s = 0 e~ s + 0 z Low-pass filter
dt
1H2004 Slide 25
SMO Equations (continued)
~
= arctan( e~ s , e~ s )
From estimated back EMF to
rotor angle
3 sin
es = k e
2 cos
Torque equation:
Correct measurement of
= 3 / 2 K E iq current
Correct estimation of
rotor angle
1H2004 Slide 26
Experimental Result
1H2004 Slide 27
Limitations of Sensorless Control / SMO
Back EMF at low speeds is small, so the operation at low speeds is

less than satisfactory. Also the algorithm becomes more sensitive to
noise effects.
At startup the back EMF is non-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 Timeline
Applications:

1H2004 Slide 29
Motor Control System Components From TI
AC DC link
Bridge Power
Input Motor Load
Rectifier converter
Current and
MOSFET Current
voltage
driver sense
sense
Power
supply Resolver
Simult.
Sampling
LDO Optical
PFC DSP Controller ADCs
encoder
SVS
PWM and
interface
Hall
effect
Network 4-20mA ADC DAC

Data line
interface interface interface interface
CAN
RS232
Ethernet 4-20mA RS485 +/- 10V +/- 10V
loop
1H2004 Slide 30
Servo Block Diagram Discrete PFC
controller eliminated
Software Discrete
PWM
Replaced trapezoidal
PFC PFC
Machine resonance control controller Gen
controller
PFC
PFC or sine commutation
Switch
Switch
(notch filter, input shaping . . .)
Startup Circuit
Circuit
with FOC: Enhanced
algorithm Dithering performance
Motion profile
w
Trapezoidal
r*
PI
i
q
*
s
PI
v
q
*
s
v
*
as T
a
T
Machine resonance
control: Performance
* * b
generator
i i v
Speed &
ds
v bs
q
or
s PI
d
*
s
T
FOC
c
Inv. Space
PWM
i Park Vector
position
d q q Gen.
s l l
r r
enhancement.
i
sinusoidal
Park i
Core
a
Clarke
Gen
a
s
i s
controller
i
b
Inverter
b
s
Power Inverter
s
i
V
a i
commutation
d
s a
(e.g., Cost saving on

i s
c
S F
Motion
b
l i
p s b
w e q u
s
e l
x
r
d r
v
l E a
P
E s h T
command
a s
s r t a
t . v s T
a
l
damper)
. b
b e T
b
r s
V c
o
queue
l
t
a
g
e
C
a
l
.
Moved motion profile
Power
Speed & position
Command feedback ADC processing into same
interpreter
processor:
Hall
Eliminates second
SCI CAN Encoder
protocol protocol Sensor microprocessor
Interface
stack stack Interface
(QEP)
(CAPTURE) C28x Added Spread
SCI CAN Controller spectrum PWM
Generation: Reduces
size of EMI filter
RS-232/485 CAN PHY
1H2004 Slide 31
Industrial: AC Induction Motor Drive MIPS enable high
performance
Safe operating + FOC gives full

area manager Input
Input torque from
power
power
zero to full
*
w i v T
stage
as
r* v
stage
q
PI *
s a
PI q
*
s
r * * b
Speed profile
*
i i v
ds
v bs
q
T
PWM
d
s PI *
s
FOC speed
c
Inv. Space
Constant i Park Vector
generator Speed
d
s
q
l
r
Park
q
l
r
i
Gen.
i
Gen
Core
a
Clarke a
s
controller
i s
V/Hz drive
i
b
b
s
s
i
V
a i
d
s a
i s
c
S F
b i
l
+ Enables four
p s b
w e q u
s
e l
x
r
d r
v
l E a
P
E s h T
a s
s r t a
t . v s T
a
l
. b e
Command
b
r
T
b
s
V c
quadrant
o
l
t
a
interpreter
g
e
Power Inverter
C
a
l
.
operation
Command Flux and speed estimators
queue
Software
ADC integrates a
SCI CAN
variety of
Software filtering
protocol
stack
protocol auxiliary
stack
functions
SCI CAN
TCP/IP C28x Flexible software
protocol
Controller enables one
controller for
MAC/PHY
many drives.
RS-232/485 CAN PHY Hardware
1H2004 Slide 32
Appliance: Refrigeration Compressor Control
Discrete PFC
controller
LC2402A Software eliminated
PFC
PFC
Controller
Power
PFC
controller Switching
Switching
Circuit
Circuit Higher efficiency
driven by
w i
v
v
*
as T
PWM sensorless FOC +
Temp Sensor
r* q
PI *
s a
PI q
r
*
s
Gen
T
* i i
*
v
* b
possible use of
ds
v bs
q
s PI
d
*
s
T
FOC
c
Temperature
Inv. Space
Speed i
d
s
Park
q
l
r
Park
q
l
r
i
Vector
Gen.
PMSM motor.
i
controller controller Core

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

s t
Power
r
t . v s T
a
l
. b e
b
r
T
b
s
V c
o
l
t
Inverter
a
separate
g
e
C
a
l
.
(electronic/electro
Rotor Position and ADC mechanical)
Speed Calculator thermostat
User
interface
manag- Added Spread
ement
spectrum PWM
Kalman Sliding
RS-232
filter mode
Generation:
(or other Reduced size of
SCI filter) observer
EMI filtering
Parasiliti F., Petrella R., Tursini M.: "Rotor speed and position detection for PM synchronous motors based on sliding mode observer
and Kalman filter", Proc. of the European Conference on Power Electronics and Applications (EPE), Lausanne, 1999.
1H2004 Slide 33
Application: Refrigeration Compressor Control
+
sp* dc_shunt
Trapezoidal
Software
m PFC sensorless control
Speed
e
controller for constant
Calculator +
PFC
speed
K switch and applications
+ I* PWM DC Bus
Commutation Gen front end enables low cost
Sequencer implementations.
Bus
DC
Current
30 Degree Regulator
Delay (PID) Keep compatibility
3 with existing
trapezoidal
Zero PWM motors
Crossing Generation
Detector
Back Phase
3
EMF Voltage Trapezoidal
Calculator Meas BLDC Motor
See TI Application reports (SPRA498 and BPRA072) for more details
1H2004 Slide 34
Sensored Trapezoidal BLDC Motor Control
300 900 1500 2100 2700 3300 300 900
00 600 1200 1800 2400 3000 3600 600 Ea
Phase current must be turned on Phase A ia
e
and off in order and at the right
time in order to follow back EMF
commutation Phase B
Capture interrupts can be used to ib
e
trigger commutation when Hall
sensors are used
Phase C
Capture function can also be ic
e
used to help calculate motor
speed AB AC BC BA CA CB AB
1 2 3 4 5 6 1
Speed Speed
feedback Computation
Iref Position
Speed Sensor
setpoint - PI PID Commutation 3-Phase
+
+ Controller Controller PWM Control Inverter
- Three-phase BLDC
Idc_shunt motor
1H2004 Slide 35
Sensorless Stepper Motor Control
CPU TMS320LF2401 DRIVER

DIRA
PWM1
PWM1/IOPA0
PWM A H
drive
40
PWM2
Mhz Bridge
Phase A
BLDC
IA
sense
ADCIN0
VSENSEA Phase B
ADCIN1
drive sense
SCITXD DIRB
RS232 PWM3 HH
SCIRXD PWM B bridge
PWM4 Bridge
IB
ADCIN2
DIN IOPB1
CLK XINT2
AIN ADCIN4 VSENSEB
ADCIN3
AOUT T2PWM
D3 Engineering (Rochester, NY)
1H2004 Slide 36
Appliance: Power Tool Control Field oriented control
enables smooth torque
Charging monitor control.
Sensorless control drives
low cost control
Overload Battery
trip Manager Dithering
High quality MIPS make it
w
r*
PI
i
q
*
s
PI
v
q
*s
v
*
as T
a
possible to add features
without adding cost such
T
* * b
i i v
ds
v bs
q
s PI
d
*
s
T
FOC
c
Inv. Space
i Park Vector
Trigger Speed d q q Gen.
as electronic torque control

s l l
r r
Park i
i
Core
a
Clarke a
controller
s
i s
Control
i
PWM
b
b
s
s
i
V
a i
d
s a
i s
c
S F
b i
p s
l
b
w e q u
s
e l
x
r
d r
v
l E P
a
E s h T
a s
s r t a
t . v s T
a
l
. b e
b
r
T
b
s
V c
o
l
t
Power
a
Power
g
e
C
a
l
.
Inverter
Inverter
Speed and Position ADC
Estimator
Temp Sensor
LC2401A
Controller
1H2004 Slide 37
Servo Drive / Servo Amplifier Hardware Partitioning
PFC
PFC
PFC
PFC Controller
Controller Magnetics
Magnetics and
and
switch
switch
HV
HV Power
Power
Drivers
Drivers conditioning
conditioning
and
and EMI
EMI
Isolation
Isolation Filtering
Filtering
MCU Inverter
Inverter
MCU
(Motion IGBTs
IGBTs
(Motion profiles
profiles
&& host
host
communication)
communication)
Current
Current sensing
sensing
aliasing
Anti aliasing
Power
Power Supply
Supply
Filtering
Anti
Filtering MCU
MCU
(Commutation)
(Commutation)
1H2004 Slide 38
Servo Drive / Servo Amplifier Hardware Partitioning
PFC Benefits from TI

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

Lower component
Current
Current sensing
sensing
aliasing
count
Anti aliasing
Smaller system size
Power
Power Supply
Supply Improved system
Anti
reliability
Easier to manufacture
1H2004 Slide 39
Agenda Timeline
Applications:

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

100+ sustained MMACS @ 32 bits
LC2401 $2
Ease of use: Tools and Collateral LF2401
F2801 $5
Peripheral Integration: Flash, ADC, LF240xA
PWM, Sensor interfacing, C/R281x
F2806/08
communications all on one chip
$10
Third party development support F281x
Price: Broad range from sub $2.00 - $15

40-150MIPS and $2-$15
$15.00
1H2004 Slide 41
C2000 Product Portfolio
C28xTM Second Generation Controller High
High
Superior 32-bit performance and integration for Performance
Performance
demanding control applications F2812
F2812
150
150 MHz
MHz
F2811
F2811
C/R2812
C/R2812 150
150 MHz
MHz
C/R2811
C/R2811 150
150 MHz
MHz F2810
F2810
Control Performance
C2810
C2810 150
150 MHz
MHz 150
150 MHz
MHz
150MHz
150MHz
F2808
F2808
F2806
F2806 100
100 MHz
MHz
F2801 100
100 MHz
MHz
F2801
100
100 MHz
MHz Low
Low Cost
Cost
NEW! Application
Application
Specific
Specific
C24xx
C24xxTMTM First Generation Controller
14
14 Devices
Devices Low cost motor control for appliances
40
40 MHz
MHz 16
16 bit
bit and other consumer applications
Software Compatible
On-Chip Flash ROM / RAM only
Price In Development
1H2004 Slide 42
Internal Busing determines quality of MIPS
Program Address Bus (22)
Program
Program Data Bus (32) (4 M* 16)
Data Address Bus (32)

Data
Data Data Bus (32) (4 G * 16)
Registers Execution Debug

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

Interfaces
Data Write Bus (32)
Program Write Bus (32)

Multibus architecture makes better use of the processor cycles: Instruction, fetch,
decode and execute can happen on the same clock cycle with multiple buses
1H2004 Slide 43
SMART peripherals
On chip peripherals drive integration
Encoder Enhanced
Encoder
and capture encoder and Encoder and
interface capture
and capture timer capture
interface
PWM Generator Independent interfaces
(16 ch) ePWM (16 ch)
Peripheral Bus
PWM Generator PWM
Peripheral Bus
(16 ch) Peripheral Bus
12-Bit, 16 ch ADC 12-Bit, 16 ch ADC Generation
10-Bit, 16 ch ADC Watchdog Watchdog Synch/Async
Watchdog serial ports
GPIO (56) GPIO (32)
GPIO
Watchdog
McBSP I2C
timer
CAN 2.0B 2 * CAN 2.0B
CAN 2.0B
On-chip
SCI/UART-A Up to 4 UART
SCI/UART-A ADCs with
SPI SCI/UART-B Up to 4 SPI dual sample
SPI
and holds
TMS320LF240x TMS320F281x TMS320F280x

1H2004 Slide 44
Memory
64-Bit 128-Bit
Security Security
648KKB 5 KB Boot 256 KB
Sectored
Sectored 36 KB 8 KB
Flash RAM ROM Sectored Flash RAM Boot
Flash + 2 KB OTP ROM
Program / Data / I/O Buses (16-bit) Memory Bus
TMS320LF240xA TMS320F28xx
Flash from 16 KB 256 KB ROM from 12 KB 256 KB RAM from 1 KB 40 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 Timeline
Applications:

1H2004 Slide 46
Modular Software Development for Control Systems
All Modules Available in C/C++ Environment
Reduces time
Application Specific Systems (ACI, BLDC, PID cntl) to market
Code Composer Studio
S/W Test Benches (STB)

Provides
Hardware Tools
Modular Libraries (DMC, FFT, Math, Filtersetc)
reuseable
Third Parties
QEP Serial CAP PWM software
PWM ADC04 Speed
Position EEPROM DAC
drv drv drv drv drv drv
Gets you
Real-Time Monitor RealTime +DSP/BIOS there.
Quickly.
C24xTM C28xTM
1H2004 Slide 47
Code Composer Studio Components:
Fully Integrated, Easy to Use Development Tools
Menus or Help CPU
Icons Window
Project Manager
z Source & object
files
z File dependencies
z Compiler,
assembler & linker
build options
Productive Editor:
z Structure expansion Status Watch Graph Memory
Window Window Window Window
1H2004 Slide 48
Code Composer Studio Components:
Fully Integrated, Easy to Use Development Tools Flash Memory Plug-In
Easy Set-Up and Programming
Erase
Data Converter Plug-In Sector
Frequency
z Point & Click Generation Control
Config.
z Auto Create APIs for
z Initialization
z Power Down
z Read/Write
z Initialize device and
peripheral
z 117 devices on
5 DSP platforms
Integrated
z www.ti.com/sc/dcplug-in
File to Program
CSM Defaults to
Support Project Loaded
In CCS
Full C/C++ & Assembly
Debugging
z C & ASM source
z Mixed mode
z Disassembly (patch)
z Plug-in
Set break points Operation
Free Motor Control
Workspaces Library has pre-setFor More Info
Config.
z Set probe points
Control
Free Motor Control Library
workspaces On-line Help
has pre-set workspaces
1H2004 Slide 49
DSP/BIOS: Handling Multiple Event Sources
DSP/BIOS makes it easier
Interrupt Driven Events:

DSP/BIOS provides HWI
and SWI management to
simplify interrupts and
multitasking
DSP/BIOS provides CLK

manager to simplify
implementation of periodic
tasks
1H2004 Slide 50
Real-time Debug
Control systems must be debugged while running!
Allows you to halt in non-critical code for debug while time-
Real-time
critical interrupts continue to be serviced

Debug
Access memory and registers without stopping the processor

Implemented in silicon, not by a debug monitor: Easy to use,
no application resources required!
Halt and single step non-time critical code Time-critical interrupts

are still serviced.
Main() function() Interrupt void ISR_1()

{ { {

} } }
1H2004 Slide 51
C28x C/C++ Header Files
& Peripheral Examples
Bit-fields simplify peripheral
programming C/C++:
CCS Auto-complete speeds

programming
Compiler optimizations
speed target code
Examples/Documentation
accelerate deployment
http://www.ti.com
Keywords: SPRC097, SPRC191
1H2004 Slide 52
On-Chip Analysis Features Enables Flexible
Debugging
Two hardware analysis units can be configured to provide
any one of the following advanced debug features:
Analysis Configuration Debug Activity

Halt on a specified instruction in
2 Hardware Breakpoints
Flash
A memory location is getting

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

1 Address Watchpoint with Data
specific value is written to a variable
Halt on a specified instruction only

1 Pair Chained Breakpoints after a specific interrupt service
routine has executed
1H2004 Slide 53
Hardware Development Tools
Evaluation Modules DSP Starter Kits Power Modules

C24x or C28x LF2407, LF2401, F2812, DMC550 or DMC1500 from
Development board F2808 evaluation board Spectrum Digital Interfaces to EVM,
DSK or standalone operation
C-Compiler/Asm/Lnk Compiler/Assem/Linker
Protection features provide
Full Version Code Composer Code Composer Studio convenient s/w development platform
Studio IDE (tied to board)
DMC1500: 350V 7.5 Amp (Supports
Emulator (XDS510PP+ or Power Supply 3ph and 1ph; BLDC, ACI, SR)
USB) Price $1749
Price: $345 - $595
Power Supply DMC500: 24V 2.5 Amp (Supports
Brushless DC) Price $499
Price: $1,995-2,295
http://www.ti.com/c2000hwtools
1H2004 Slide 54
Flash Programming Hardware
Softbaugh
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 2.0B
PORT GmbH [Germany] has developed an extensive
CANopen protocol stack for the 240xA and 28x
devices. Port closely works with Vector Informatik.
The contact for Port is :
PORT GmbH
Heinz-Jrgen Oertel
phone +49 345 77755-0
Halle/Saale Germany
oe@port.de
Web : http://www.port.de
Ethernet
Windmill Innovations in Holland has developed an
extensive TCP-IP protocol stack for the 28x devices.
The contact for Windmill is :
Windmill Innovations
Rutger van Dalen
phone +31 33 2465314
Nijkerk Holland
rvdalen@windmill-systems.com
Web : http://www.windmill-innovations.com
1H2004 Slide 56
Agenda Timeline
Applications:

1H2004 Slide 57
The Foundation:
Software Libraries
Motor Control Specific SW Modules
Peripheral & Communication Drivers
Trigonometric and Log Routines
Signal Processing Functions
Signal Generator Functions
Power Conversion Related Functions
http://www.ti.com/c2000appsw
1H2004 Slide 58
The Foundation: Software Libraries
Motor Control Specific SW Modules
Forward and Inverse Clarke/Park Transforms, BLDC Specific PWM Drivers, Leg Current Measurement Drivers,
BLDC Commutation triggers, ACI Speed and Rotor Position Estimators, PID Controllers, Extended Precision PID
Controllers.
Peripheral & Communication Drivers
SCI (UART) Packet Driver, Virtual SPI Drivers, Virtual I2C Drivers, Serial EEPROM Drivers, GPIO Driver.
Fixed Point Trigonometric and Log Routines
Fixed Point Sine, Cosine, Tangent routines, Square Root, Logarithm Functions. Reciprocal calculation.
IQ Math 32-Bit Virtual Floating Point Library
Multiply, Divide, Multiply with Rounding, Multiply with Rounding and Saturation, Square Root, Sine and Cosine,
routines.
Signal Processing Functions
FIR (Generic order), FIR (10th order), FIR(20th order), FIR using circular buffers. 128, 256, and 512 point complex
and real FFTs.
Signal Generator Functions
Sinewave generators, Ramp Generators, Trapezoidal Profile generators
Power Conversion Related Functions
RMS computation, real power and apparent power computation, THD computation, PFC controllers.
1H2004 Slide 59
Application Frameworks: Starterware
more coming soon
1H2004 Slide 60
Modular Block oriented library
Blocks make systems easy to
represent and understand
Simplify debug
Enable incremental
deployment
1H2004 Slide 61
Modular S/W Implementation of Sensored FOC
for PMSM
speed_ref_ PWM1
spd_ref
pid_reg_spd spd_outi_ref_q
pid_reg_iq u_out_q ipark_Q I_PARK ipark_qUbeta
SVGEN_DQ
Ta Mfunc_c1 PWM2
spd_fdb
Q15 / Q15 i_fdb_d
Q15 / Q15 theta_ipQ15 / Q15 Q15 / Q15 Tb Mfunc_c2 FC_PWM_ EV PWM3
Constant 0i_ref_d DRV
pid_reg_id u_out_d ipark_D ipark_d
Ualfa Tc Mfunc_c3 PWM4
Q0 / HW HW
i_fdb_d
Q15 / Q15 Mfunc_p PWM5
3-Phase
PWM6
Inverter
park_D park_d clark_d clark_a Ia_out ADCINx

PARK CLARKE ILEG2DRV ADC
Q15 / Q15 theta_p Q15 / Q15 clark_b Ib_out Q15 / HW HW ADCINy
park_Q park_q clark_q clark_c Q0 I_ch_sel

Q15 Ia_gain
Q15 Ib_gain
Q13 Ia_offset
Q13 Ib_offset
Encoder
speed_frq theta_elec QEP_A PMSM

SPEED_FRQ shaft_angle
theta_mech QEP_ QEP_B
THETA_ QEP
I/F
Motor
Q15 / Q15 DRV
speed_rpm direction dir_QEP QEP_index
HW / Q15 HW
index_sync_fl
g
1H2004 Slide 62
Software Test Bench: STB
Ease of use: All modules offered as an STB packaged as a CCS project
Any
module
Set by watch
window
in Library
freq
offset out_1 Vq SVGEN Ta PWM_DAC_iptr E PWM7
SGEN_2 DQ 0 PWM
DAC V
gain Q15 / Tb PWM_DAC_iptr PWM8
Q15 VIEW
1
phase out_2 Vd Tc PWM_DAC_iptr Q15 / HW H PWM9
step_ma 2 W
x2
x
Module under eval
1.8K
Examples
Examples PWMDAC driver (ezDSP)
DAC driver (EVM) 100n
Sinegen
ADC driver Data logger (Sim)
Emulated Plant (Sim)
Capture driver
QEP driver
1H2004 Slide 63
Interconnecting Modules
PWM1
FC_PWM
Iclark_d Iclark_a mfunc_c1 DRV PWM2
CLARKI
Q15 / Q15 Iclark_b mfunc_c2 Q0 / HW PWM3
Iclark_q Iclark_c mfunc_c3 PWM4
rnd_gain mfunc_p PWM5
RAND GEN
Q15 / Q15 random PWM6
rnd_offset
At the C level:
clarkInv(&dqBuffer, &fcPwm.InputBuffer)
fcPwmInputBuffer.ditherIn = randomGen1.calc(&randomGen1)
fcPwm.calc(&fcPwm);
At the GDE level: Just join the blocks
1H2004 Slide 64

Embedded Target Integrates Simulink and MATLAB with
TM TM
eXpressDSP Tools and C2000 Controllers
Key Features
Design and Simulation Verification of embedded implementation
Automatic code generation MATLAB Link for Code Composer
Embedded Target for C2000 Studio
Documentation, re-usable C code Auto debug, testbench
Support for on-chip peripherals Real-time visualization
http://www.ti.com/c2000embeddedtarget
1H2004 Slide 65

Embedded Target Integrates Simulink and MATLAB with
TM TM
eXpressDSP Tools and C2000 Controllers
http://www.ti.com/c2000embeddedtarget
1H2004 Slide 66
Example of GDE Motor Control
http://www.vissim.com/
1H2004 Slide 67
Agenda Timeline
Applications:

1H2004 Slide 68
Incremental System Build
Incremental system development/debug is built in
Incremental system development/debug relies on
modular software blocks
Incremental system development/debug is
flexible/systematic
Incremental system development/debug applies
to multiple processors, drives and motors
1H2004 Slide 69
ACI Sensorless Field Oriented Control
wr* iqs* vqs vas* Ta PWM1
PI * Inv. Space PWM PWM2
PI T PWM3
Park Vector b Driver PWM4
iqs i * vds* vbs* Gen.
ds PWM5
Tc
PI PWM6
ids VSI
qlr qlr
ias ias
Park ADCIN1
Ileg2_
ibs Clarke ibs Bus ADCIN2
ias Vdc Driver ADCIN3
ias
ibs
wr Speed Flux ibs
Est. qlr Est.
va Phase
lar wr Ta
s
vb Voltage ACI
lbr Tb
Cal. Tc
s
TMS320F28x controller
1H2004 Slide 70
SVGEN/
Build Level 1 PWM
Tests
vqs* vas* Ta PWM1

PWM2
Space
Inv. Tb PWM PWM3
Vector PWM4
vds * Park vbs* Gen. Driver
Tc PWM5
PWM6
e
fe Ramp Ramp
Control Gen.
1H2004 Slide 71
Measure-
Build Level 2 ment
Tests
vqs* vas* Ta PWM1

PWM2
Space
Inv. Tb PWM PWM3
Vector PWM4
Tc PWM5
PWM6
VSI
e
fe Ramp Ramp ids ias ias
Control Gen. ADCIN1
Ileg2_
Park ibs Clarke ibs Bus ADCIN2
iqs Driver
Vdc ADCIN3
vas time
Phase
wr wr Speed stamp
Ta Capture CAP ACI
vbs Voltage Tb Cal. Driver
Cal. Tc
1H2004 Slide 72
PI
Regulator
Tests
Incremental Builds Header File

build.h
/*------------------------------------------------------------------------------
Following is the list of the Build Level choices.
------------------------------------------------------------------------------*/
#define LEVEL1 1 /* SVGEN_DQ and FC_PWM_DRV tests */
#define LEVEL2 2 /* Currents/DC-bus voltage/speed measurement tests */
#define LEVEL3 3 /* Two current PI regulator tests */
#define LEVEL4 4 /* Flux and speed estimator tests */
#define LEVEL5 5 /* Speed PI regulator test (Sensored closed-loop DFOC system) */
#define LEVEL6 6 /* Sensorless closed-loop DFOC system */
#define ALWAYS_RUN
/*------------------------------------------------------------------------------
This line sets the BUILDLEVEL to one of the available choices.
------------------------------------------------------------------------------*/
#define BUILDLEVEL LEVEL3
1H2004 Slide 73
PI
Build Level 3 Regulator
Tests
vqs* vas* Ta PWM1

iqs* PWM2
PI Space
iqs Inv. Tb PWM PWM3
Vector PWM4
ids* Tc PWM5
ids PI
PI PWM6
VSI
e
Control Gen. ADCIN1
Ileg2_
iqs Driver
Vdc ADCIN3
vas time
Phase
wr wr Speed stamp
Ta Capture CAP ACI
vbs Voltage Tb Cal. Driver
Cal. Tc
1H2004 Slide 74
Flux
Build Level 4 Speed
Estimators
vqs* vas* Ta PWM1

iqs* PWM2
PI Space
iqs Inv. Tb PWM PWM3
Vector PWM4
ids* Tc PWM5
ids PI
PI PWM6
VSI
e
Control Gen. ADCIN1
Ileg2_
ias iqs Driver
ias Vdc ADCIN3
ibs
ibs
wr lr
Speed Flux
Est. Est. vas wr
lar Phase
wr Speed Capture
Ta Calc Driver
CAP ACI
vbs Voltage Tb
lbr Cal. Tc
1H2004 Slide 75
Speed
Build Level 5 Regulator
Tests

PI PWM2
PI Space
Inv. Tb PWM PWM3
Vector PWM4
wr iqs i * vds * Park vbs* Gen. Driver
ds
Tc PWM5
PI
PI PWM6
ids VSI
lr lr
ias ias ADCIN1
Ileg2_
Driver
ias Vdc ADCIN3
ibs
lr Flux
Est. vas wr
lar Phase
wr Speed Capture
Ta Calc Driver
CAP ACI
vbs Voltage Tb
lbr Cal. Tc
1H2004 Slide 76
Sensorless
Build Level 6 FOC
System

PI PWM2
PI Space
Inv. Tb PWM PWM3
Vector PWM4
iqs i * vds * Park vbs* Gen. Driver
ds
Tc PWM5
PI
PI PWM6
ids VSI
lr lr
ias ias ADCIN1
Ileg2_
ias Driver
ias Vdc ADCIN3
ibs
ibs
wr lr
Speed Flux
Est. Est. vas
lar Phase
wr Ta ACI
vbs Voltage Tb
lbr Cal. Tc
1H2004 Slide 77
Agenda Timeline
Applications:

1H2004 Slide 78
Motor Control System Components From TI
AC DC link
Bridge Power
Input Motor Load
Rectifier converter
Current and
MOSFET Current
voltage
driver sense
sense
Power Resolver
supply
Simult.
LDO Sampling
PFC Optical
DSP Controller ADCs encoder
SVS
PWM
Hall
effect
Network 4-20mA ADC DAC

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

loop RS232
RS485
1H2004 Slide 79
Texas Instruments
High 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.com
1H2004 Slide 81
Complete System Power Solutions
Load-share DC/DC Converters
Controller TPS549xx (0.9 to 2.5V, 9A) LDOs
UC39002 TPS546xx (0.9 to 3.3V, 6A) TPS768xx (1A)
TPS543xx (0.9 to 3.3V, 3A) TPS778xx (750mA)
Isolated Modules
TPS6205x (2.7 to 10V, 0.8A) TPS776xx (500mA)
5 to 100 watts available
Controller TPS701xx (250/125mA, dual)
PT4210 (5W)
UCC3895 PT4480 (100W)
PFC AC/DC DC/DC
UCC3851x
UCC38050 Isolated Converters
UCC3817/18 Module +/-
HOT Power LDOs voltages
PWM 0.7 volts
SWAP + Dist
SVS and up
MOSFET TPS20xx DC/DC
UCC39xx Driver TPS22xx Controllers Supervisors
UC39xx TPS23xx TPS380X-XX
TPS23xx PWM Controllers
UCC35705/6 Non-isolated
UCC35701/2 Modules
UCC38C40 series
MOSFET DC/DC Controllers
Drivers Non-Isolated Modules
TPS40000 (Sync. buck)
TPS28XX 1A to 60 Amp available
TPS40050 (8 to 40V buck)
UCC3732x PT6440 (1V to 3.3V, 6A)
TPS40060 (10 to 55V buck)
UCC3722x PT6940 (Dual output, 6A)
TPS5120 (Sync. buck, dual)
PT6520 (1.5V to 3.3V, 8A)
1H2004 Slide 82
Ready to Use Power Supply Solutions
Complete, 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 Software

1H2004 Slide 84
TI Interface Products for MC System
RS-485
RS-232 5-V 3.3-V
3.3 - 5-V NEW ! SN65HVD05/06/07 SN65HVD10
MAX3221 MAX207 SN65HVD08 SN65HVD11

MAX3223 MAX208 SN65HVD3082E SN65HVD12
MAX3232 MAX222
SN65HVD20/21/22
MAX3238
SN65HVD23/24
MAX3243
SN65HVD3085/88E
1H2004 Slide 85
FET Drivers in MC System
Deliver 4A through Miller Plateau

Available in MSOP PowerPAD
20/15nS Rise/Fall Times
4-15V Supply Range
UCC27423: Dual 4A, High Speed, Inverting Low Side Driver
UCC27424: Dual 4A, High Speed, Non-Inverting Low Side Driver
UCC27425: Dual 4A, High Speed, Low Side Driver with one Inverting
and one Non-Inverting Output
1H2004 Slide 86
Intelligent Drivers in MC System
Low cost stand alone controllers for low power applications
1H2004 Slide 87
Motor Controllers
BLM Controllers: UC2625, UC3625, UCC2626, UCC3636

Stepper Controllers: UC3717, UC3770
DC Motor Controllers: UC2638, UC3637, UC3638
1H2004 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 Resolution
1H2004 Slide 89
Amplifiers: Design Utilities
1H2004 Slide 90
FilterPro Design Tool
1H2004 Slide 91
ADC and DAC in MC System
General purpose Analog-to-Digital and Digital-to-Analog Converters
ADCs DACs
Single Channel Single Channel
Multi Channel Multi Channel
10V Input 10V Output
For general monitor/control functions
Simultaneous Sampling Analog-to-Digital Converters
Serial Interface Parallel Interface

2x2 Channel ADS7861 500KSPS 2x2 Channel ADS7862 500KSPS
2x2 Channel ADS8361 500KSPS 6 Channel ADS7864 500KSPS
6 Channel ADS8364 250KSPS
!
EW
ADS7869: 12-Channel Analog Motor Control Front End

N
with Three 1MSPS, 12-Bit ADCs
1H2004 Slide 92
DC-Link Voltage and Phase Currents
Measurement for Servo Application
| DC Link |
| Motor Current |
Shunt R:
ADS1202
ADS1203
Hall Effect:
Buffered ADS1204
Analog Input
ADS1205
Buffered
Digital Output ADS1206 1MHz 4kHz Current
ADS1207 4MHz Loop 16-bit
Accuracy
1H2004 Slide 93
ADS1206 & ADS1207
1MHz & 4MHz Voltage-to-Frequency Converter
REFIN/OUT
Features:
z Synchronous Operation 1k Reference
z Frequency Set By External Clock Voltage
z Maximum Input Frequency:
2.5V
- 1MHz for ADS1206

- 4MHz for ADS1207 VIN x1 Modulator Buff FOUT
z Selectable High Impedance Input
z 2% Internal, 2.5 V Reference Voltage
z High Current Output Driver
z Alternate Source For AD7740 DIV 2
z 8-lead VSSOP Package

Only ADS1207
BUF CLKOUT CLKIN
Key
KeyDifferentiators:
Differentiators: Applications:
Applications:
Higher
Higherperformances
performancesthan
thanAD7740
AD7740 Galvanic
GalvanicIsolation
IsolationMeasurements
Measurements
Input frequency 4MHz
Input frequency 4MHz High Voltage Measurements
High Voltage Measurements
Output
Outputbuffer
buffer Low
LowCost
CostA-to-D
A-to-DConversion
Conversion
Low
Lowprice
price - -ASD1206
ASD12061Ku
1Ku$0.98
$0.98 Motor
MotorControl
Control
- -ASD1207
ASD12071Ku
1Ku$0.98
$0.98 Industrial
IndustrialProcess
ProcessControl
Control
1H2004 Slide 94
ADS1203
1-bit 10MSPS, 2nd Order Modulator
AVDD BVDD
Features:
z 16-Bit Resolution
z 250mV Input Range VIN+ Second-Order MDAT
VIN- -Modulator MCLK
z 3LSB INL Max
CLKOUT
z 1% Internal Voltage Reference
RC Oscillator Interface
z 83dB SNR Min Buff 20MHz Circuit M0
z -95dB THD Typ
M1
z Flexible Serial Interface Reference
z 8-lead TSSOP Package REFIO Voltage
2.5V
z QFN 3x3 Coming Soon
AGND BGND
(Pins Highlighted in RED are Available Only in QFN Package)
Key
KeyDifferentiators:
Differentiators: Applications:
Applications:
Higher
Higherperformances
performancesthan
thanAD7400
AD7400 Current
CurrentMeasurement
Measurement
Implemented Manchester Coding
Implemented Manchester Coding Motor Control
Motor Control
On
OnBoard
BoardOscillator
Oscillator Closed-Loop
Closed-LoopServo
ServoControl
Control
Output
Outputbuffer
buffer Power
PowerConverters
Converters
Low
Lowprice
price1Ku
1Ku$2.70
$2.70 3-Phase
3-PhasePower
PowerMonitor
Monitor
1H2004 Slide 95
ADS1204
1-bit 10MSPS, 2nd Order Modulator
AVDD BVDD
Features:
z 16-Bit Accuracy CH A+ + 2nd-Order OUT A
- Modulator Output OUT B
z Input Range 2.5V @ 2.5V CH A-
Interface OUT C
z Gain Error: 0.5%
Circuit OUT D
REFIN A
CLKOUT
z Dynamic Range 100dB
CH B+ + 2nd-Order
z 86dB SNR Min - Modulator
CH B-
z Four Independent Modulators
REFIN B Divider
z Four Input Reference Buffers
z On Board 20MHz Oscillator CH C+ + 2nd-Order

CH C- - Modulator Clock CLKIN
z QFN-32 (5x5) Package
Select CLKSEL
REFIN C
+ Out EN
CH D+ 2nd-Order
- Modulator Oscillator
CH D-
Key
KeyDifferentiators:
Differentiators: 20MHz
First
Firstin
inIndustry
Industry
REFIN D
Reference
Low
Lowprice
price1Ku
1Ku$6.75
$6.75 REFOUT Voltage
2.5V
AGND BGND
Applications:
Applications:
Current
CurrentMeasurement
Measurement
Motor
MotorControl
Control
Power Converters
Power Converters
1H2004 Slide 96
ADS1202 Design Resources
ADS1202 Data Sheet:
http://www-s.ti.com/sc/ds/ads1202.pdf
Application Notes:
Choosing an Optocoupler for the ADS1202 Operating in Mode 1
http://www-s.ti.com/sc/psheets/sbaa088/sbaa088.pdf
Combining ADS1202 with FPGA Digital Filter for Current
Measurement
in Motor Control Application
Interfacing the ADS1202 Modulator With a Pulse Transformer in
Galvanically Isolated Applications
Clock Divider Circuit for the ADS1202 in Mode 3 Operation
ADS1202 Reference Design Users Guide
http://www-s.ti.com/sc/psheets/slaa186/slaa186.pdf
ADS1202 Evaluation board:
http://focus.ti.com/docs/prod/folders/print/ads1202.html#developmenttools
Evaluation board users guide
http://www-s.ti.com/sc/psheets/slau111/slau111.pdf
Evaluation board interface for C5000 and C6000 DSP
http://focus.ti.com/docs/toolsw/folders/print/5-6kinterface.html
Related parts, ADS1204:
http://www-s.ti.com/sc/ds/ads1204.pdf
1H2004 Slide 97
Texas Instruments
Why Simultaneous Sampling?
Example:

For
Power Distribution System
1H2004 Slide 98
ADC application in
Power Distribution System
1H2004 Slide 99
Three Phase Power Measurement
CT
5A
50Hz 10VP-P IR
220V
50Hz
10VP-P
VR
PT
CT
5A
50Hz 10VP-P IS
220V
50Hz
10VP-P
VS
PT
CT
5A
50Hz 10VP-P IT
220kV/110kV/10kV
220V
50Hz
10VP-P
VT
PT
1H2004 Slide 100

Three Phase Currents and Voltages
1.50
VR(t)=VR*sin(t)
1.00
VS(t)=VS*sin(t+120)
0.50
VT(t)=VT*sin(t-120)
Phase Amplitude
IR(t)=IR*sin(t-1)
0.00
0 90 180 270 360
-0.50
-1.00
IS(t)=IS*sin(t+120-2)
-1.50
IT(t)=IT*sin(t-120-3)
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

ADS8361
16bit 500kSPS, 4 ch. Simultaneous Sampling SAR ADCs
AVDD DVDD
Features:
z 4 Fully Differential Inputs A0+
z 2 Independent 16-Bit ADCs A0 - + + SAR
MUX S/H CLK
z 500kSPS Sample Rate per ADC - ADC
A1+ - CONV
z 2 Sample and Holds
A1 - Control BUSY
z Internal VREF (+2.5V) &
REFIN
z Serial Data-Bus Serial DATA
z Power - 200mW max B0+ Interface and
24 pin SSOP and QFN 32 (5x5) B0 - + CONTROL
z
MUX S/H
+ SAR
B1+ - - ADC
B1 -
REFOUT VREF
2.5V
Applications:
Applications:
Key
KeyDifferentiators:
Differentiators: Closed-Loop
Closed-LoopServo
ServoControl
Control
16-Bit
16-BitUpgrade
Upgradeto
tothe
the12-Bit
12-Bit Machine
Machine and MotionControl
and Motion Control
ADS7861
ADS7861 Multi-Axis Positioning
Multi-Axis Positioning
Pin
PinCompatible
CompatibleWith
Withthe
theADS7861
ADS7861 3-Phase
3-PhasePower
PowerControl
Control
Low price 1Ku $8.75
Low price 1Ku $8.75 Motor
MotorControl
Control
1H2004 Slide 104

ADS8364
16-bit 250kSPS, 6 ch. Simultaneous Sampling SAR ADCs
AV DD DV DD
Key Features
z 6 Fully Differential Inputs A0+ + ADC 6
S/H
z 6 Independent 16-bit ADCs A0 - -
CLK
B0+ ADC 5 Control
z 250kSPS Sample Rate per ADC S/H +
CONV
B0 - - &
z 6 Sample and Holds C0+ + ADC 4 Parallel BUSY
S/H
z 6 FIFO Registers C0 - - Interface
A1+ + ADC 3
z Internal VREF (+2.5V) S/H DATA
A1 - -
Power - 470mW max B1+ + ADC 2 and
z S/H 6x CONTROL
B1 - -
z 64 pin TQFP FIFO
C1+ S/H + ADC 1
C1 - -
REFIN V REF
REFOUT 2.5V
Key Differentiators Applications

First z Closed-Loop Servo Control
FirstIn
InIndustry
Industry66Channels
Channels
Low z Machine and Motion Control
Lowprice
price
--ASD8364 z Multi-Axis Positioning
ASD83641Ku
1Ku$17.23
$17.23
Functional z 3-Phase Power Control
FunctionalCompatible
Compatible16-Bit
16-BitUpgrade
Upgrade
for z Motor Control
forADS7864.
ADS7864.
1H2004 Slide 105

Competitive Comparison
+12V
0.1uF +5V
47uF
Requires additional
AD845
R operational amplifier
+ AD7865 Requires two additional
C
-12V
-
analog power supplies
0.1uF 47uF
Single ended input, poor
CMVR
Additional errors due to op
R1A amp characteristics
+
C1 ADS8364
R1B
- REFIN REFOUT
R2B R2A C2B C2A
Differential input, high CMVR
CR
Only one power supply
Optimum performances
1H2004 Slide 106

Differential Signal Measurement with
ADS8364
R1A
Tr
+
C1 ADS8364
R1B
VL
- REFIN REFOUT
230V R2B R2A C2B C2A
50Hz 10VP-P CR
ADS8364 Example: R1A = R1B = 4k

Clock 3.8MHz R2A = R2B = 1k
38kSPS C1 = 1.8nF
Sampling time 21.84s C2A = C2B = 0.18nF
Conversion time 4.47s
1H2004 Slide 107

ADS8364 Example Measurement Results
Fs = 50kHz, Fin = 1.7kHz
SNR = 86dB
SINAD = 85.6dB
SFDR = 100.4dB
THD = -96.2dB
1H2004 Slide 108

Measurements for Servo Application
AC/DC Inverter
Motor Current Measurement

(2-Phase or 3-Phase):
Motor current value for R
control algorithm S
Sign of the phase current for T
dead time compensation
Over-Load and Over Current
protection
Motor Encoder or Resolver:

Rotor Speed
Rotor Position
Load Encoder:
Load Position
DC-Link voltage
Temperature
Etc
Load Motor
1H2004 Slide 109
ADS7869
12-bit 1MSPS, 12 ch. Simultaneous Sampling SAR ADCs
Key Features
z 12 Fully Differential Inputs
z 3 Independent 12-bit ADCs
z 1MSPS sample rate per ADC
z 7 Sample and Holds
z 5 Multiplexers
z 7 Sign and 3 Win. Comparator
z 2 Up/Down 16-Bit Counters
z 100 pin TQFP
Key Differentiators Applications

z Closed-Loop Servo Control
First
FirstIn
InIndustry
Industry z Machine and Motion control
Complete
CompleteMotor
MotorControl
ControlFront
FrontEnd
End z Multi-Axis Positioning
Low
Lowprice
price z Motor Control
--ADS7869
ADS78691Ku
1Ku$14.56
$14.56
1H2004 Slide 110

Motor Current Measurement with ADS7869
IU Sample
& ADC 12-bit 1MSPS
Three: Hold PGA
Sample & Hold MUX MUX

12BIT ADC 1MSPS
PGA
IV
iu(t)=IU sin(t) Sample
& ADC 12-bit 1MSPS
iv(t)=IV sin(t+120) Hold PGA
iw(t)=IW sin(t-120) MUX MUX
Simultaneous
Sampling
IW Sample
& ADC 12-bit 1MSPS
Hold PGA
1.50
MUX MUX
1.00
0.50
Phase Amplitude
0.00
0 90 180 270 360
-0.50
-1.00
-1.50
Degrees
1H2004 Slide 111

Motor Current Measurement
with ADS7869
Gain
Offset
3X :
IU
Sample & Hold Sample
&
PGA ADC 12-bit 1MSPS
12BIT ADC 1MSPS Hold
PGA MUX MUX
Sign Comparators +
SIGN
Window Comp.
-
Three simultaneous sampling inputs

OVER-CURRENT
No time difference error in sampling of signals
Three differential inputs
Comp
High CMRR for noisy environment Limit
Window
Limit
Three PGA are simultaneously scaling inputs
Same HW for different power range +LIMIT
Three 12 bits 1MSPS ADCs
Low delay in control algorithm IUp-IUn
Three sign comparators
SW Lockout time compensation -LIMIT
One 8 bit DAC for set up of current limit
Dynamic control of motor acceleration
Three programmable window comparators
Separate control of motor phases over-current U_COMP
U_ILIM
1H2004 Slide 112

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

Notes
HW & SW Tools
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
Supports 117 devices: is no special hardware setup
4 devices on the C2800 DSP platform necessary (e.g. controlling a
multiplexer)
86 devices on the C5400 DSP platform
75 devices on the C6200/C6700 DSP platform
1H2004 Slide 118

for Motor Control
Application Collateral
z Evaluation Boards complete with Users Guide, Schematic, & BOM on web
z Device specific application notes linked directly from product folder!
z Code Composer Studio Example Projects for C2000, C5000, C6000 DSPs
z Complete Signal Chain prototyping system for C2x processors coming soon!
z EVMs available for purchase at www.ti-estore.com
Related Application Notes
Using 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 Software
Digital Motor Control
Software Library
Kalman Filter
Power
Electronics Precision PID
Current Filter Lib
Voltage
EV ADC
(CAP/Q
Field Oriented
Position/ EP) Control
Speed
Feedback
EE
SPI
Support Prom
EV Chip Support
(PWM)
Web casts Lib
CAN SCI-A/B IQmath
Workshops
DSP/BIOS
KnowledgeBase
Application notes TI Power
Management
Foundation Software
PC Test
CAN Equipment
Network
Silicon: DSP offers the performance and flexibility to implement advanced motor control algorithms
Software: Modular software reduces time-to-market
Tools: Advanced Development Tools make development easy
Analog: Offers a broad selection of signal conditioning and power management
1H2004 Slide 120

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TI Digital Motor Control Solutions

Texas Instruments Incorporated 2005

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Three phase machines have three windings, separated in

Fc The three phase winding

0.00 t The resultant of the three

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

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

This is an example of Synchronous operation.

Controller Selection 10 min

Motor Control Collateral Overview 25 min

+ Simple to implement: All you need is three sine waves

Doesnt deliver good dynamic performance.

High peak current:

Poor response time:

Three phase reference frame Two phase orthogonal Rotating Orthogonal

FOC is a control strategy for 3-ph AC motors, where

The approach is imitating the DC motors operation.

Direct FOC: rotor flux angle is directly computed from

Indirect FOC: rotor flux angle is indirectly computed

C` Stator Current (Is) t

+ No torque ripple t = constant t

+ Better dynamic response

wr* iqs* vqs* vas* Ta PWM1

Speed r Angle QEP Phase

TMS320F2812 DSP controller

Flux and Torque calculator ADC

Current and voltage vector

SCI CAN TMS320F2812 DSP controller

See hidden slides (2) for equations * Phase

Based on well established robust control technique: Non-linear Sliding Mode

Based on well established robust control technique:

Back EMF at low speeds is small, so the operation at low speeds is

At startup the back EMF is non-existent, and the startup must be

Ramp up of frequency Reverse rotation may occur, in some

Detection of rotor position by signal injection

Hall effect sensors

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Network 4-20mA ADC DAC

(e.g., Cost saving on

Moved motion profile

Safe operating + FOC gives full

Constant i Park Vector

controller controller Core

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

CPU TMS320LF2401 DRIVER

D3 Engineering (Rochester, NY)

Trigger Speed d q q Gen.

as electronic torque control

PFC Benefits from TI

Lower system cost

Smaller system size

Controller Selection 10 min

Motor Control Collateral Overview 25 min

Performance: Computational ability

Price: Broad range from sub $2.00 - $15

Data Address Bus (32)

Registers Execution Debug

Register Bus External

Program Write Bus (32)

PWM Generator PWM