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

4.4.3.3 Run the Code

  1. Power on the AC or DC power supply, gradually increase output voltage at power supply to get an appropriate DC-bus voltage.
  2. Disable the data cache by unchecking the Data Cache Enabled in Tools > ARM Advanced Features.
  3. Run the project by clicking on Resume button, or click Run → Resume in the Debug tab. The systemVars.flagEnableSystem must be set to 1 after a fixed time, that means the offsets calibration have been done. The fault flags motorVars_M1.faultMtrUse.all are equal to 0 , if not, the user have to check the current and voltage sensing circuit as described in Section 4.4.1.
  4. To verify run the motor with current closed-loop control, set the variable motorVars_M1.flagEnableRunAndIdentify to 1 in the Expressions window as shown in Figure 4-23. The motor runs with a closed-loop control using the angle from the angle generator at a setting speed in the variable motorVars_M1.speedRef_Hz. Check the value of motorVars_M1.speed_Hz in Expressions window. The values of both variables are very close.
  5. Connect oscilloscope probes to the EPWMDAC (for HV kit) outputs and motor phase line to probe the angles and current signals, and current. These waveforms on the oscilloscope appear as shown in Figure 4-24. Change the motorVars_M1.Idq_set_A.value[1] in the Expressions window to set the reference torque current, the motor phase current increases with the same percentage accordingly.
  6. If the motor cannot run with current-closed loop control and an over current fault appears, check if the sign of motorVars_M1.adcData.current_sf and the value of userParams_M1.current_sf are set correctly according to the hardware board. The values of both variables are related to the definition constant USER_M1_ADC_FULL_SCALE_CURRENT_A in the user_mtr1.h file.
  7. Set the variables motorVars_M1.flagEnableRunAndIdentify to 0 to stop run the motor.
  8. Once complete, the controller can now be halted and the debug connection terminated. Fully halting the controller by first clicking the Suspend button on the toolbar or by clicking Target → Halt. Finally, reset the controller by clicking on CPU Reset button or clicking Run → Reset.
  9. Close CCS debug session by clicking on Terminate Debug Session button or clicking Run → Terminate.
TIDM-02018 Build Level 3: Variables in Expressions Window Figure 4-23 Build Level 3: Variables in Expressions Window
TIDM-02018 Build Level 3: Motor Rotor Angle and Phase Current Waveforms Monitoring by EPMWDAC Figure 4-24 Build Level 3: Motor Rotor Angle and Phase Current Waveforms Monitoring by EPMWDAC