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

4.1 Hardware Requirements

Table 4-1 lists the current evaluation kits that are supported for the universal motor control project.

Table 4-1 Motor Drive Evaluation Kits Supported by Universal Motor Control
Motor Drive Evaluation Board TI MCU Evaluation Module Current Sensing Topology Rotor Position Sensing Method Tested Motors
Part Number Description
BOOSTXL-3PHGANINV 12-60V, 3.5A 3-ph GaN inverter LP-AM263 Three shunt-based inline motor phase current sensing eSMO observer based sensorless-FOC
QEP encoder based sensored-FOC
Hall sensors based sensored-FOC		 LVSERVOMTR (Encoder and Hall Sensor are Embedded)
TMDSHVMTRINSPIN (1) 400V, 10A 3ph inverter TMDSCNCD263 with TMDSADAP180TO100 Three low-side current shunt eSMO observer based sensorless-FOC
QEP encoder based sensored-FOC		 HVPMSMMTR (Encoder is Embedded)
(1) If you want to run a low voltage motor like LVSERVOMTR with the high voltage kit, you need to populate a jumper on J1, J2, J3 and J4 to bypass the 820k resistors for phase and dc bus voltages sensing. Also, set the parameters in user_mtr1.h as shown in the following code. The recommendation is to not run a low voltage motor with high current and low inductance on the high voltage kit.
// Bypass the 820k resistor for low voltage motor on this kit
#define LV_JUMPER_EN            // Bypass the 820k resistor

If the project is set to use Encoder or Hall based sensored-FOC, maintain that the physical connections are connected in the correct order. If the motor, encoder, or hall wires are connected in the wrong order, the project does not function properly, potentially resulting in the motor being unable to spin. For the motor phase wires, verify that the motor phases are connected to the right phase on the inverter board. For the motors that are provided with the TI Motor Control Reference Kits, the correct phase connections are provided as shown in Table 4-2.

For the encoder, verify that A is connected to A, B to B, and I to I. For the Hall sensor, maintain that A is connected to A, B to B, and C to C. Often +5V dc and ground connections are required as well. If you are using Hall sensors or encoders that are different than the ones specifically listed in Table 4-2, please refer to the users manual for the Hall sensor or encoder you are using to verify that you properly connect the wires.

Make sure that for the setup and configuration of the ENC module that the number of slots per rotation for the encoder is provided. This allows the ENC module to correctly convert the encoder signal into an angle. The USER_MOTOR1_NUM_ENC_SLOTS constant that is defined in the user_mtr1.h file needs to be updated to the correct value for your encoder. If this value is not correct, the motor spins faster or slower depending on the value that was set. Note that this value is set to the number of slots on the encoder, not the resulting number of counts after figuring the quadrature accuracy.

Table 4-2 Motor Phase, Encoder, or Hall Sensors Connections for Reference Kits and Motors
LVSERVOMTR HVPMSMMTR
Motor Phase Lines U BLACK (16AWG) RED
V RED (16AWG) BLUE/BLACK
W WHITE (16AWG) WHITE
Encoder GND BLACK (J4-1) BLACK
+5V RED (J4-2) RED
I BROWN (J4-3) YELLOW
B ORANGE (J4-4) GREEN
A BLUE (J4-1) BLUE
Hall Sensors GND BLACK (J10-1) Not support for Hall sensor based sensored-FOC
+5V RED (J10-2)
A GRAY-WHITE (J10-3)
B GREEN-WHITE (J10-4)
C GREEN (J10-5)

Get started with TI Real-Time Control Microcontrollers (MCUs) to implement motor control.

  • Step 1: Order the desired motor drive evaluation board, TI MCU evaluation module, and motor as shown in Table 4-1.
  • Step 2: Download the latest version of MOTOR-CONTROL-SDK-AM263X.
  • Step 3: Download the latest version of Code Composer Studio IDE.
  • Step 4: Follow the instructions in technical documentation to setup the hardware and run the project described in the following sections.
  • Step 5: For answers to any design questions that you have, you can search existing answers or ask your own question using the TI C2000 E2E design support forum.