SLAU927B June   2024  – November 2024 MSPM0G3507

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
  5. 2Hardware Setup
    1. 2.1  EVM Hardware Setup
      1. 2.1.1 EVM Hardware Support
    2. 2.2  Pin Configurations for IPD Usage
    3. 2.3  Pin Configurations for PWM Outputs
    4. 2.4  Pin Configurations for ADC Currents
    5. 2.5  Pin Configurations for ADC Voltages
    6. 2.6  Pin Configurations for Faults
    7. 2.7  Pin Configurations for GPIO Output Functions
    8. 2.8  Pin Configurations for SPI Communication
    9. 2.9  Pin Configurations for UART Communication
    10. 2.10 External Connections for Evaluation Boards
  6. 3Software Setup
  7. 4GUI Setup
    1. 4.1 Serial Port Configuration
    2. 4.2 GUI Home Page
    3. 4.3 System Configurations
    4. 4.4 Register Map
    5. 4.5 Motor Tuning Page
    6. 4.6 Collateral Page
  8. 5Register Map
    1. 5.1 Register Map Page in GUI
    2. 5.2 User Control Registers (Base Address = 0x20200400h)
      1. 5.2.1 Speed Control Register (Offset = 0h) [Reset = 00000000h]
      2. 5.2.2 Algo Debug Control 1 Register (Offset = 4h) [Reset = 00000000h]
      3. 5.2.3 Algo Debug Control 2 Register (Offset = 8h) [Reset = 00000000h]
      4. 5.2.4 Algo Debug Control 3 Register (Offset = Ch) [Reset = 00000000h]
      5. 5.2.5 DAC Configuration Register (Offset = 10h) [Reset = 00000000h]
    3. 5.3 User Input Registers (Base Address = 0x20200000h)
      1. 5.3.1  SYSTEM_PARAMETERS (Offset = 0h)
      2. 5.3.2  ISD_CONFIG Register (Offset = 38h) [Reset = 00000000h]
      3. 5.3.3  RVS_DRV_CONFIG Register (Offset = 3Ch) [Reset = 00000000h]
      4. 5.3.4  MOTOR_STARTUP1 Register (Offset = 40h) [Reset = 00000000h]
      5. 5.3.5  MOTOR_STARTUP2 Register (Offset = 44h) [Reset = 00000000h]
      6. 5.3.6  CLOSED_LOOP1 Register (Offset = 48h) [Reset = 00000000h]
      7. 5.3.7  CLOSED_LOOP2 Register (Offset = 4Ch) [Reset = 00000000h]
      8. 5.3.8  FIELD_CTRL Register (Offset = 50h) [Reset = 00000000h]
      9. 5.3.9  FAULT_CONFIG1 Register (Offset = 54h) [Reset = 00000000h]
      10. 5.3.10 FAULT_CONFIG2 Register (Offset = 58h) [Reset = 00000000h]
      11. 5.3.11 MISC_ALGO Register (Offset = 5Ch) [Reset = 00000000h]
      12. 5.3.12 PIN_CONFIG Register (Offset = 60h) [Reset = 00000000h]
      13. 5.3.13 PERI_CONFIG Register (Offset = 64h) [Reset = 00000000h]
    4. 5.4 User Status Registers (Base Address = 0x20200430h)
  9. 6Basic Tuning
    1. 6.1 System Configuration Parameters
      1. 6.1.1 Configuring System Parameters from GUI
      2. 6.1.2 Motor Resistance in Milliohms (mΩ)
      3. 6.1.3 Motor Inductance in Microhenries (μH)
      4. 6.1.4 Saliency of IPMSM Motor
      5. 6.1.5 Motor BEMF Constant
      6. 6.1.6 Base Voltage (V)
      7. 6.1.7 Base Current (A)
      8. 6.1.8 Maximum Motor Electrical Speed (Hz)
    2. 6.2 Control Configurations for Basic Motor Spinning
      1. 6.2.1 Basic Motor Startup
        1. 6.2.1.1 Disable ISD
        2. 6.2.1.2 Motor Start Option - Align
        3. 6.2.1.3 Motor Open Loop Ramp
        4. 6.2.1.4 Motor Open Loop Debug
      2. 6.2.2 Controller Configuration for spinning the Motor in Closed Loop
        1. 6.2.2.1 PI Controller Tuning for Closed Loop Speed Control
          1. 6.2.2.1.1 Reference
          2. 6.2.2.1.2 Speed Controller Tuning
        2. 6.2.2.2 Testing for Successful Startup Into Closed Loop
    3. 6.3 Fault Handling
      1. 6.3.1 Abnormal BEMF Fault [ABN_BEMF]
      2. 6.3.2 Monitoring Power Supply Voltage Fluctuations for Voltage Out of Bound Faults
      3. 6.3.3 No Motor Fault [NO_MTR]
  10. 7Advanced Tuning
    1. 7.1 Control Configurations Tuning
      1. 7.1.1  Control Mode of Operation
        1. 7.1.1.1 Closed Loop Speed Control Mode
        2. 7.1.1.2 Closed Loop Power Control Mode
        3. 7.1.1.3 Closed Loop Torque Control Mode
        4. 7.1.1.4 Voltage Control Mode
      2. 7.1.2  Initial Speed Detection of the Motor for Reliable Motor Resynchronization
      3. 7.1.3  Unidirectional Motor Drive Detecting Backward Spin
      4. 7.1.4  Preventing Back Spin of Rotor During Startup
        1. 7.1.4.1 Option 1: IPD
        2. 7.1.4.2 Option 2: Slow First Cycle
      5. 7.1.5  Gradual and Smooth Start up Motion
      6. 7.1.6  Faster Startup Timing
        1. 7.1.6.1 Option 1: Initial Position Detection (IPD)
        2. 7.1.6.2 Option 2: Slow First Cycle
      7. 7.1.7  Stopping Motor Quickly
      8. 7.1.8  Flux Weakening: Operating Motor at Speeds Higher than Rated Speed
      9. 7.1.9  Maximum Torque Per Ampere : Improve Efficiency of IPMSM Motors
      10. 7.1.10 Preventing Supply Voltage Overshoot During Motor Stop.
      11. 7.1.11 Protecting the Power Supply
      12. 7.1.12 FOC Bandwidth Selection
  11. 8Hardware Configurations
    1. 8.1 Direction Configuration
    2. 8.2 Brake Configuration
    3. 8.3 Main.h Definitions
      1. 8.3.1 Sense Amplifier Configuration
      2. 8.3.2 Driver Propagation Delay
      3. 8.3.3 Driver Min On Time
      4. 8.3.4 Current Shunt Configuration Selection
        1. 8.3.4.1 Three Shunt Configurations
        2. 8.3.4.2 Dual Shunt Configuration
        3. 8.3.4.3 Single Shunt Configuration
      5. 8.3.5 CSA Offset Scaling Factor Selection
    4. 8.4 Real Time Variable Tracking
  12. 9Revision History

7.1.1.4 Voltage Control Mode

This mode can be selected by setting the CONTROL_MODE in CLOSED_LOOP1 Register as 3h. In Voltage control mode, the modulation index of the motor is controlled according to the input reference set as SPEED_CTRL value in Speed Control Register (P.U value in IQ15 format).

Example: Setting reference Input in SPEED_CTRL to 0x3FFFh (0.5 P.U in IQ15) operates the Motor with a constant modulation Index of 0.5.

Lead Angle Control : In Voltage control mode , Lead Angle can be adjusted to derive the best efficiency from the motor for a given speed. LEAD_ANGLE configuration in CLOSED_LOOP2 register can be used to set the Lead Angle.

For a given LeadAngle θ, Appled Voltages Vq and Vd are defined as

Vq = MODULATION_INDEX * Cosθ

Vd = MODULATION_INDEX * Sinθ

Figure 7-1 can be used to set the above Control modes through GUI.

Control Mode Configuration Figure 7-1 Control Mode Configuration