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

2.3.1.2 Rotor Position and Speed Estimation With PLL

With the arc tangent method, the accuracy of the position and velocity estimations are affected due to the existence of noise and harmonic components. To eliminate this issue, the PLL model can be used for velocity and position estimations in the sensorless control structure of the IPMSM. The PLL structure used with SMO is illustrated in Section 2.3.1.1. The back-EMF estimations e ^ α and e ^ β can be used with a PLL model to estimate the motor angular velocity and position as shown in Figure 2-16.

Block Diagram of Phase Locked Loop Position Tracker Figure 2-16 Block Diagram of Phase Locked Loop Position Tracker

Since e α = E cos ⁡ θ e , e β = E sin ⁡ θ e and E = ω e λ p m , the position error can be defined as:

Equation 21. ε = e ^ β cos ⁡ θ ^ e - e ^ α sin ⁡ θ ^ e = E sin ⁡ θ e cos ⁡ θ ^ e - E cos ⁡ θ e sin ⁡ θ ^ e = E s i n ⁡ ( θ e - θ ^ e )

Where E is the magnitude of the EEMF, which is proportional to the motor speed ω e . When ( θ e - θ ^ e ) < π 2 , the Equation 21 could be simplified as

Equation 22. ε = E ( θ e - θ ^ e )

Further, the position error after the normalization of the EEMF can be obtained:

Equation 23. ε n = θ e - θ ^ e

According to the analysis, the simplified block diagram of the quadrature phaselocked loop position tracker can be obtained as shown in Figure 2-17. The closed-loop transfer functions of the PLL can be expressed as Equation 24:

Equation 24. θ ^ e θ e = k p s + k i s 2 + k p s + k i = 2 ξ ω n s + ω n 2 s 2 + 2 ξ ω n s + ω n 2

where the k p and k i are the proportional and the integral gains of the standard PI regulator, its natural frequency ω n and the damping ratio ξ is given:

Equation 25. k p = 2 ξ ω n ,     k i = ω n 2
Simplified Block Diagram of Phase Locked Loop Position Tracker Figure 2-17 Simplified Block Diagram of Phase Locked Loop Position Tracker