TIDUF67 April   2024  – December 2024

 

  1.   1
  2.   Description
  3.   Resources
  4.   Features
  5.   Applications
  6.   6
  7. 1System Description
    1. 1.1 Terminology
    2. 1.2 Key System Specifications
  8. 2System Overview
    1. 2.1 Block Diagram
    2. 2.2 Highlighted Products
      1. 2.2.1 AM263x Microcontrollers
        1. 2.2.1.1 TMDSCNCD263
        2. 2.2.1.2 LP-AM263
  9. 3System Design Theory
    1. 3.1 Three-Phase PMSM Drive
      1. 3.1.1 Mathematical Model and FOC Structure of PMSM
      2. 3.1.2 Field Oriented Control of PM Synchronous Motor
        1. 3.1.2.1 The (a, b) → (α, β) Clarke Transformation
        2. 3.1.2.2 The (α, β) → (d, q) Park Transformation
        3. 3.1.2.3 The Basic Scheme of FOC for AC Motor
        4. 3.1.2.4 Rotor Flux Position
      3. 3.1.3 Sensorless Control of PM Synchronous Motor
        1. 3.1.3.1 Enhanced Sliding Mode Observer With Phase Locked Loop
          1. 3.1.3.1.1 Design of ESMO for PMSM
          2. 3.1.3.1.2 Rotor Position and Speed Estimation with PLL
      4. 3.1.4 Hardware Prerequisites for Motor Drive
      5. 3.1.5 Additional Control Features
        1. 3.1.5.1 Field Weakening (FW) and Maximum Torque Per Ampere (MTPA) Control
        2. 3.1.5.2 Flying Start
  10. 4Hardware, Software, Testing Requirements, and Test Results
    1. 4.1 Hardware Requirements
    2. 4.2 Software Requirements
      1. 4.2.1 Importing and Configuring Project
      2. 4.2.2 Project Structure
      3. 4.2.3 Lab Software Overview
    3. 4.3 Test Setup
      1. 4.3.1 LP-AM263 Setup
      2. 4.3.2 BOOSTXL-3PHGANINV Setup
      3. 4.3.3 TMDSCNCD263 Setup
      4. 4.3.4 TMDSADAP180TO100 Setup
      5. 4.3.5 TMDSHVMTRINSPIN Setup
    4. 4.4 Test Results
      1. 4.4.1 Level 1 Incremental Build
        1. 4.4.1.1 Build and Load Project
        2. 4.4.1.2 Setup Debug Environment Windows
        3. 4.4.1.3 Run the Code
      2. 4.4.2 Level 2 Incremental Build
        1. 4.4.2.1 Build and Load Project
        2. 4.4.2.2 Setup Debug Environment Windows
        3. 4.4.2.3 Run the Code
      3. 4.4.3 Level 3 Incremental Build
        1. 4.4.3.1 Build and Load Project
        2. 4.4.3.2 Setup Debug Environment Windows
        3. 4.4.3.3 Run the Code
      4. 4.4.4 Level 4 Incremental Build
        1. 4.4.4.1 Build and Load Project
        2. 4.4.4.2 Setup Debug Environment Windows
        3. 4.4.4.3 Run the Code
    5. 4.5 Adding Additional Functionality to Motor Control Project
      1. 4.5.1 Using DATALOG Function
      2. 4.5.2 Using PWMDAC Function
      3. 4.5.3 Adding CAN Functionality
      4. 4.5.4 Adding SFRA Functionality
        1. 4.5.4.1 Principle of Operation
        2. 4.5.4.2 Object Definition
        3. 4.5.4.3 Module Interface Definition
        4. 4.5.4.4 Using SFRA
    6. 4.6 Building a Custom Board
      1. 4.6.1 Building a New Custom Board
        1. 4.6.1.1 Hardware Setup
        2. 4.6.1.2 Migrating Reference Code to a Custom Board
          1. 4.6.1.2.1 Setting Hardware Board Parameters
          2. 4.6.1.2.2 Modifying Motor Control Parameters
          3. 4.6.1.2.3 Changing Pin Assignment
          4. 4.6.1.2.4 Configuring the PWM Module
          5. 4.6.1.2.5 Configuring the ADC Module
          6. 4.6.1.2.6 Configuring the CMPSS Module
  11. 5General Texas Instruments High Voltage Evaluation (TI HV EVM) User Safety Guidelines
  12. 6Design and Documentation Support
    1. 6.1 Design Files
      1. 6.1.1 Schematics
      2. 6.1.2 BOM
      3. 6.1.3 PCB Layout Recommendations
        1. 6.1.3.1 Layout Prints
    2. 6.2 Tools and Software
    3. 6.3 Documentation Support
    4. 6.4 Support Resources
    5. 6.5 Trademarks
  13. 7About the Author
4.6.1.2.6 Configuring the CMPSS Module

The CMPSS module is used for overcurrent monitoring for the phase currents. A threshold is set using the CMPSS DAC, and if the output of the current sense amplifier exceeds that threshold then the CMPSS output trips.

If using a custom motor driver board, or migrating the code to a TI MCU or a TI motor driver EVM that is not supported with the current Universal Motor Control Project, then the connections between the ADC pins and the CMPSS modules need to be properly modified in the .syscfg file based on the motor driver and TI MCU connections. For more details on the internal connections of the CMPSS module, see the ADC Signal Descriptions tables in the AM263x Sitara™ Microcontrollers data sheet.

The .syscfg file configures the CMPSS modules according to the motor driver board that is used. For example, the diagram of the connections between the LP-AM263 and BOOSTXL-3PHGANINV are shown in Figure 4-55. Figure 4-56 shows the CMPSSA block diagram. CMPSSA has the additional support of INH and INL as a muxable input for the COMPL positive signal.

TIDM-02018 CMPSS Connection Diagram Figure 4-55 CMPSS Connection Diagram
TIDM-02018 CMPSSA Block Diagram Figure 4-56 CMPSSA Block Diagram

Each CMPSS comparator has a high and low comparator, so the signals must be muxed appropriately to the desired input of the desired comparator. For more information on these connections, please refer to the Analog Pins and internal connections table in the data sheet of the microcontroller that is being used. Figure 4-57 shows the CMPSS comparator configuration for the LP-AM263 and BOOSTXL-3PHGANINV combination to do window comparison for phase currents. DAC values are updated in the code based on the defined maximum current. Note that for AM263x devices, the ADCx_AIN1 and ADCx_AIN3 are only connected to the (INL) which results limitation for both positive and negative overcurrent trips. For TMDSHVMTRINSPIN and TMDSCNCD263 combination, the ADC used for U-pahse current measurement are connected to ADC1_AIN3.

Also, please note that to select the right voltage reference in Launch Pad or EVM Control Card matching the DAC Reference Voltage. For example, in AM263x LaunchPad, use DAC VREF Switch (S1) to choose AM263x on-die LDO.

TIDM-02018 CMPSS Comparator Configuration Figure 4-57 CMPSS Comparator Configuration

Figure 4-58 shows the selecting corresponding CMPSS CTRIPL and CTRIPH for the EPWM XABR to generate trip in the event of overcurrent and undercurrent.

TIDM-02018 EPWM XBAR Configuration Figure 4-58 EPWM XBAR Configuration