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 Motor Control Theory

Permanent Magnet Synchronous motor (PMSM) has a wound stator, a permanent magnet rotor assembly and internal or external devices to sense rotor position. The sensing devices provide position feedback for adjusting frequency and amplitude of stator voltage reference properly to maintain rotation of the magnet assembly. The combination of an inner permanent magnet rotor and outer windings offers the advantages of low rotor inertia, efficient heat dissipation, and reduction of the motor size.

  • Synchronous motor construction: Permanent magnets are rigidly fixed to the rotating axis to create a constant rotor flux. This rotor flux usually has a constant magnitude. The stator windings when energized create a rotating electromagnetic field. To control the rotating magnetic field, it is necessary to control the stator currents.
  • The actual structure of the rotor varies depending on the power range and rated speed of the machine. Permanent magnets are suitable for synchronous machines ranging up-to a few Kilowatts. For higher power ratings the rotor usually consists of windings in which a DC current circulates. The mechanical structure of the rotor is designed for number of poles desired, and the desired flux gradients desired.
  • The interaction between the stator and rotor fluxes produces a torque. Since the stator is firmly mounted to the frame, and the rotor is free to rotate, the rotor will rotate, producing a useful mechanical output as shown in Figure 2-1.
  • The angle between the rotor magnetic field and stator field must be carefully controlled to produce maximum torque and achieve high electromechanical conversion efficiency. For this purpose a fine tuning is needed after closing the speed loop using sensorless algorithm to draw minimum amount of current under the same speed and torque conditions.
  • The rotating stator field must rotate at the same frequency as the rotor permanent magnetic field; otherwise the rotor will experience rapidly alternating positive and negative torque. This will result in less than optimal torque production, and excessive mechanical vibration, noise, and mechanical stresses on the machine parts. In addition, if the rotor inertia prevents the rotor from being able to respond to these oscillations, the rotor will stop rotating at the synchronous frequency, and respond to the average torque as seen by the stationary rotor: Zero. This means that the machine experiences a phenomenon known as pull-out. This is also the reason why the synchronous machine is not self starting.
  • The angle between the rotor field and the stator field must be equal to 90ºC to obtain the highest mutual torque production. This synchronization requires knowing the rotor position to generate the right stator field.
  • The stator magnetic field can be made to have any direction and magnitude by combining the contribution of different stator phases to produce the resulting stator flux.
The Interaction Between the Rotating Stator Flux, and the Rotor Flux Produces a Torque Figure 2-1 The Interaction Between the Rotating Stator Flux, and the Rotor Flux Produces a Torque