SPRUJ26A September   2021  – April 2024

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
  5. 2Motor Control Theory
    1. 2.1 Mathematical Model and FOC Structure of PMSM
    2. 2.2 Field Oriented Control of PM Synchronous Motor
    3. 2.3 Sensorless Control of PM Synchronous Motor
      1. 2.3.1 Enhanced Sliding Mode Observer with Phase Locked Loop
        1. 2.3.1.1 Design of ESMO for PMSM
        2. 2.3.1.2 Rotor Position and Speed Estimation With PLL
    4. 2.4 Hardware Prerequisites for Motor Drive
      1. 2.4.1 Motor Phase Voltage Feedback
    5. 2.5 Additional Control Features
      1. 2.5.1 Field Weakening (FW) and Maximum Torque Per Ampere (MTPA) Control
      2. 2.5.2 Flying Start
  6. 3Running the Universal Lab on TI Hardware Kits
    1. 3.1 Supported TI Motor Evaluation Kits
    2. 3.2 Hardware Board Setup
      1. 3.2.1  LAUNCHXL-F280025C Setup
      2. 3.2.2  LAUNCHXL-F280039C Setup
      3. 3.2.3  LAUNCHXL-F2800137 Setup
      4. 3.2.4  TMDSCNCD280025C Setup
      5. 3.2.5  TMDSCNCD280039C Setup
      6. 3.2.6  TMDSCNCD2800137 Setup
      7. 3.2.7  TMDSADAP180TO100 Setup
      8. 3.2.8  DRV8329AEVM Setup
      9. 3.2.9  BOOSTXL-DRV8323RH Setup
      10. 3.2.10 BOOSTXL-DRV8323RS Setup
      11. 3.2.11 DRV8353RS-EVM Setup
      12. 3.2.12 BOOSTXL-3PHGANINV Setup
      13. 3.2.13 DRV8316REVM Setup
      14. 3.2.14 TMDSHVMTRINSPIN Setup
      15.      34
      16.      35
    3. 3.3 Lab Software Implementation
      1. 3.3.1 Importing and Configuring Project
      2.      38
      3.      39
      4. 3.3.2 Lab Project Structure
      5. 3.3.3 Lab Software Overview
    4. 3.4 Monitoring Feedback or Control Variables
      1. 3.4.1 Using DATALOG Function
      2. 3.4.2 Using PWMDAC Function
      3. 3.4.3 Using External DAC Board
    5. 3.5 Running the Project Incrementally Using Different Build Levels
      1. 3.5.1 Level 1 Incremental Build
        1. 3.5.1.1 Build and Load Project
        2. 3.5.1.2 Setup Debug Environment Windows
        3. 3.5.1.3 Run the Code
      2. 3.5.2 Level 2 Incremental Build
        1. 3.5.2.1 Build and Load Project
        2. 3.5.2.2 Setup Debug Environment Windows
        3. 3.5.2.3 Run the Code
      3. 3.5.3 Level 3 Incremental Build
        1. 3.5.3.1 Build and Load Project
        2. 3.5.3.2 Setup Debug Environment Windows
        3. 3.5.3.3 Run the Code
      4. 3.5.4 Level 4 Incremental Build
        1. 3.5.4.1 Build and Load Project
        2. 3.5.4.2 Setup Debug Environment Windows
        3. 3.5.4.3 Run the Code
  7. 4Building a Custom Board
    1. 4.1 Building a New Custom Board
      1. 4.1.1 Hardware Setup
      2. 4.1.2 Migrating Reference Code to a Custom Board
        1. 4.1.2.1 Setting Hardware Board Parameters
        2. 4.1.2.2 Modifying Motor Control Parameters
        3. 4.1.2.3 Changing Pin Assignment
        4. 4.1.2.4 Configuring the PWM Module
        5. 4.1.2.5 Configuring the ADC Module
        6. 4.1.2.6 Configuring the CMPSS Module
        7. 4.1.2.7 Configuring Fault Protection Function
      3. 4.1.3 Adding Additional Functionality to Motor Control Project
        1. 4.1.3.1 Adding Push Buttons Functionality
        2. 4.1.3.2 Adding Potentiometer Read Functionality
        3. 4.1.3.3 Adding CAN Functionality
    2. 4.2 Supporting New BLDC Motor Driver Board
    3. 4.3 Porting Reference Code to New C2000 MCU
  8.   A Appendix A. Motor Control Parameters
  9.   References
  10.   Revision History

2.1 Mathematical Model and FOC Structure of PMSM

The FOC structure for a PMSM is illustrated in Figure 2-2. In this system, the eSMO is used for achieving the sensorless control an IPMSM system, and the eSMO model is designed by utilizing the back EMF model together with a PLL model for estimating the rotor position and speed.

Sensorless FOC Structure of an PMSM System Figure 2-2 Sensorless FOC Structure of an PMSM System

An IPMSM consists of a three-phase stator winding (a, b, c axes), and permanent magnets (PM) rotor for excitation. The motor is controlled by a standard three-phase inverter. An IPMSM can be modeled by using phase a-b-c quantities. Through proper coordinate transformations, the dynamic PMSM models in the d-q rotor reference frame and the α-β stationary reference frame can be obtained. The relationship among these reference frames are illustrated in Equation 1. The dynamic model of a generic PMSM can be written in the d-q rotor reference frame as:

Equation 1. v d v q = R s + p L d - ω e L q ω e L d R s + p L q i d i q + 0 ω e λ p m

Where vd and vq are the q-axis and d-axis stator terminal voltages, respectively; id and iq are the d-axis and q-axis stator currents, respectively; Ld and Lq are the q-axis and d-axis inductances, respectively, p is the derivative operator, a short notation of d d t ; λpm is the flux linkage generated by the permanent magnets, Rs is the resistance of the stator windings; and ωe is the electrical angular velocity of the rotor.

Definitions of Coordinate Reference Frames for PMSM Modeling Figure 2-3 Definitions of Coordinate Reference Frames for PMSM Modeling

By using the inverse Park transformation as shown in Figure 2-3, the dynamics of the PMSM can be modeled in the α-β stationary reference frame as:

Equation 2. v α v β = R s + p L d ω e ( L d - L q ) - ω e ( L d - L q ) R s + p L q i α i β + e α e β

Where the ea and eβ are components of extended electromotive force (EEMF) in the α-β axis and can be defined as:

Equation 3. e α e β = λ p m + L d - L q i d ω e - s i n ( θ e ) c o s ( θ e )

According to Equation 2 and Equation 3, the rotor position information can be decoupled from the inductance matrix by means of the equivalent transformation and the introduction of the EEMF concept, so that the EEMF is the only term that contains the rotor pole position information. And then the EEMF phase information can be directly used to realize the rotor position observation. Rewrite the IPMSM voltage equation Equation 4 as a state equation using the stator current as a state variable:

Equation 4. i ˙ α i ˙ β = 1 L d - R s - ω e ( L d - L q ) ω e ( L d - L q ) - R s i α i β + 1 L d V α - e α V β - e β

Since the stator current is the only physical quantity that can be directly measured, the sliding surface is selected on the stator current path:

Equation 5. S x = i ^ α - i α i ^ β - i β = i ~ α i ~ β

where i ^ α and i ^ β are the estimated currents, the superscript ^ indicates the estimated value, the superscript “˜” indicates the variable error which refers to the difference between the observed value and the actual measurement value.