C2000+Motor+Solutions+2011-08-09

nullnullTI Motor Control Solutions2011 AugustWhy C2000 for Motor ControlWhy C2000 for Motor ControlReferences Quick to Spin TI Control + Drive + Analog High Performance Features Connectivity (USB & ENET) Software Libraries Motor & Safety IQMath Real-Time Debug FREE, MCU Common IDE GUI – easy out of box Best Abstraction & Simulation Support Portfolio of Silicon <$1 to Highest Performance, 32-bit engines, premium analog and PWMTI Motor SolutionsTI Motor Solutionscommon motor SWcommon driveBOARDscommon controlCARDscommon GUIcommon abstractionDeveloper NetworkTrainingMotor DIN SupportAnalog, Isolation & PowerAgendaAgendaHardware Software Key MCUs & PeripheralsLow Voltage (24-36V) PMSM + PFCLow Voltage (24-36V) PMSM + PFC*No external emulator required! TMDS2MTRPFCKIT(2 motors) TMDS1MTRPFCKIT(1 motor) Piccolo F28035 controlCARD Sensorless FOC Single or Dual Axis Operation Integrated Digital Power Factor Correction Hardware Features 100W 2 phase interleaved power factor correction stage 2 x 60 W motor driver stages based on TI DRV8402 IMD On board isolated XDS100 JTAG emulation Software Lab Projects Dual Axis in controlSUITE Motor Control Workshop + Self Paced Lab in controlSUITE Motor + PFC solutions in non-controlSUITE CCSv3.3 formatDRV8402 is NRND will Rev in Q3 with DRV83x2null DRV8402 3-Phase IMD 24-36V and 3A continuous Includes Piccolo F28035 in controlCARD slot controlSUITE SW and GUI Sensorless FOC of 1 or 2 axis 50KHz Digital PFC BOM, Schematic, Gerbers CCStudio MCU IDE PMSM Low Voltage Gen 1TMDS2MTRPFCKIT $399 TMDS1MTRPFCKIT $369DRV8412-C2-KIT $299Brushed / SteppernullBLDC PMACMCU controlCARDModular DMCLibGUIDRV8301-HC-C2-KIT DRV8302-HC-C2-KIT $299 (9/1 RTM)DRV8312-C2-KIT $299BLDC/PMSM Low Voltage Gen 2 3-phase Inverter BLDC & PMSM3-phase Inverter BLDC & PMSMHigh Voltage (350V) BLDC, PMSM, ACI + PFCHigh Voltage (350V) BLDC, PMSM, ACI + PFC controlCARDs included: Piccolo & Delfino High voltage PFC and single axis motor control board 1.5KW, 350V, 20A three phase motor driver stage 750W 110-220 Vac PFC stage Can control most common motor types ACI, PMAC, and BLDC Motors available directly from TI Isolated CAN and UART interfaces CCS V4, GUI Onboard isolated XDS100 USB JTAG emulationHardwareFully controlSUITE compatible Sensor/Less FOC for ACI, PMAC Piccolo & Delfino Sensored V/f for ACI Sensor/Less Trapezoidal for BLDC Sensorless FOC for ACI + PFC on CLASoftwareNo external emulator required! Price: $599 Part number: TMDSHVMTRPFCKITHardwareSoftwareIQMathWhy? Fixed point is actually more precise in a given range Floating point is MUCH easier to deal with Library and Compiler Intrinsic Move your decimal point to where you need it Write in floating point, compiler does all the work Start-up, tuning, and debug effort are reduced Change numerical range on the fly, global or local Tune for best resolution and dynamic range Remove quantization, scaling and saturation burden Better integration with simulation and code gen tools Single source set to move between fixed and floating point processors (C2000 today, M3  M4F soon!) Easy re-use and re-tuning for new systems IQMathIQMath: Choose your decimal Range or Resolution?Based On The Required Dynamic Range Or ResolutionIQMath: Choose your decimal Range or Resolution?S I I I I I I I I I I I I I I I I . Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q (Q15)310IDE CCStudio v4IDE CCStudio v4FREE with C2000/430 XDS100 Emulators or 32KB VersionEclipse IDEReal-time DebugResources: Real-Time Mode on wiki Chapter 7.4 in the C28x CPU Reference GuideTraditional debugging (Stop Mode) stops all threads and prevents interrupts from being handled makes debugging real-time systems extremely difficult C2000 Real-time Mode: real-time, non-intrusive, continuous Does not require use of target memory, special interrupts, or SW intrusiveness Allows time critical interrupts to be marked for special treatment (high priority) Allows time-critical interrupts to be serviced while background program execution is suspended Included on all C2000 devices and integrated with Code Composer StudioReal-time DebugnullcontrolSUITE motor_libMotor ControlPeripheral Blocks - SVPWM Gen - BLDC PWM - PWM Full Compare - HALL CAP - HALL GPIO - QEP - ADC Conversions - PWM DAC - Data Log C SOURCE Provided for all Modular structures or macros with variable inputs and variable outputs At initialization all variables are defined and outputs of one block are set as inputs to the next At run-time the structures or macro functions are called Complete documentation – including equations and theory – is provided for every moduleControl Blocks - PID - Speed Estimators - Speed Freq/Period - Clarke / iClarke - Park / iPark - Commutation Trig - Impulse - Mod6 Counter - Phase Voltage Calc - Ramp Controllers - Sin/Cos Table Calls - Sliding Mode Observer - ACI Flux/Speed Estimators - CLA Versions in worksYou will see Stellaris support later this yearDevelopment NetworkMetatools Visual Solutions VisSim www.vissim.com/c2000 (C2000 & 430, Stellaris soon) The Mathworks Embedded Target www.mathworks.com/products/tic2000 (C2000, working on 570) DMC and Peripheral Blocks Simulation and Modeling Auto-Tuning Code Generation Interface to CCStudio IDE Works with controlKITs Development NetworkAbstraction, Rapid Prototyping, Simulation, Graphical Development & Auto Code GenMultiple Local Consultants & Design HousesnullTelephone: +47 73512852 crosshairsembedded.comInterface Designer v1.5Provides specialized interfaces for visualizing system parameters. • Infinite design possibilities allow the closest match for your system. • High definition, scalable graphics for easy assimilation and user interaction. • Operates in real-time. • Seamless remote, non-intrusive operation. • Streamlined deployment and one-click re-use of interfaces. • Branded interfaces for highly effective sales and marketing customer relationships. • Powerful, feature-rich and competitively adaptable. Supports C2000/MSP430/C6000. (Stellaris/570 in works) nullTelephone: +47 73512852 crosshairsembedded.comEmbedded Real-Time Functional Debugger v2.0Embedded real time functional debugger. Covers program development, maintenance, testing and verification. Remote testing and monitoring from multiple locations, simultaneously. Non-intrusive testing while embedded systems are still running. Highly reliable even in electronically noisy environments. Internal flash programming. Real-time on-chip data-logger with configurable triggers. Variables are automatically extracted from your embedded target applications. Advanced memory inspection functionality. Supports multiple concurrent connections via any port or interface. Configurable alarms with SMS/e-mail delivery. Supports C2000/MSP430/C6000. Working on Stellaris/570C2000 32-bit Real-time MCUC2000 32-bit Real-time MCUC2000 Public RoadmapPerformance & Memory100+ Code Compatible DevicesFixed Pt Low CostDelfinoTM (176-256 Pins) $9 - $16Fixed Pt w/ Co-Processor OptionsFloating Pt Performance40100150300MIPS6080All Pricing is to be considered budgetary and subject to change . Pricing is 1KU SRP -40 to 105CF2801xF280xF281xF2823xF2802xF2833xC2834xCANCANNextConnectivity TI Confidential NDA RestrictionsFloating Pt Low Cost Piccolo™ (38-144 Pins) $<2 - $8Sampling!F2806xUSB HostCANF2803xCANC2000 Public RoadmapUnique combination of performance and integration for real-time controlUnique combination of performance and integration for real-time control45+ configurations bring a wide range of performance, package, and memoryBest mix of control peripherals Robust software libraries Code compatibility across C2000 platform ranging from 40MHz to 300MHz Increased on-chip analog integrationSerial InterfacesMemory16 - 256 KB FlashDebugReal-Time JTAG 6-100 KB RAMBoot ROMPower & Clocking Dual Osc 10 MHz On-Chip Osc Dynamic PLL Ratio Changes POR BOR16 ch, 2SH, 12-bit, 5 MSPS ADCADCC28x 32-bit CPU 80MHz 32 x 32 bit Multiplier RMW Atomic ALUPeripheralsTimer Modules3x 32-bit CPU TimersWatchdog Timer2 x 32-bit eQEP3 x 32-bit eCAP8x ePWM Modules: (8x 150ps high-res) 16x PWM outputsDMA-6CHFPUCLAUSB 2.0 FSHigh-Performance C28x™ CPU Up to 80-MHz performance • Single-cycle 32-bit MAC • Fast interrupt response and minimal latency • Floating-Point on F2806xVCU • Complex Math Unit: 3x faster FFT Butterfly • Viterbi Unit: Up to 7.5x faster Viterbi operations • CRC Unit: 2x faster than software implementationEnhanced Architecture • High accuracy on-chip oscillators (10 MHz) • Single 3.3-V supply with BOR/POR supervision • 6-ch Direct Memory Access Intelligent Peripherals • 150ps resolution on PWM frequency and duty cycle • 12-bit radio-metric ADC with individual channel triggers • Up to 3x analog comparators with 10-bit reference • New High Resolution Capture Enhanced CAN bus unit, USB 2.0 with Host Control Law Accelerator • 32-bit floating-point math accelerator • Operates independent of C28x CPU • Up to 5x performance boost4 x HRCAPVCU$1 - $8 38 pin – 100 pin 16 – 256 KB FlashPiccolo 12-bit Pipeline/SAR Hybrid ADC 12-bit Pipeline/SAR Hybrid ADC Start of Conversion (SOC) Configuration and Logic BlockDual Sample and Hold12-bit Analog-Digital ConverterResult Registers 16 SOC triggers from Software, CPU timers, ePWMs, and GPIOs Allows easy creation of conversion sequences Multiple conversions processed in Round Robin or Priority Modes 9 flexible interrupts Dual sample/hold enable simultaneous sampling or sequencing sampling modes Adjustable acquisition window ensures proper sampling Fast conversion rate: Up to 5MSPS Just-in-time interrupts (early interrupts) eliminates context switch latency by calling interrupts before conversion finishes Sixteen result registers (individually addressable) to store conversion valuesAnalog Mux Uses SOC input to select which channels will be processedUp to 16 Analog Inputs 16 channel, multiplexed analog inputs. Supports both 0-3.3V fixed range and ratio-metric input range8 ADC InputsSample/Hold A12-bit ADC Module8 ADC InputsSOC Configurations and LogicSample/Hold BAnalog MUXAnalog MUXStart of ConversionPiccolo’s hybrid ADC allows even more flexible creation of conversion sequences.Result Register 16 WordsEnhanced PWMTrip ZoneEvent Trigger & InterruptEPWMxAEPWMxBSystem Input*ADC TriggersPIEAction QualifierCounter ComparatorPWM ChopperDead-Band GeneratorDedicated 16-bit Time Base Uses pre-scaled CPU system clock; Registers are shadowed Up, Up-Down, Down-Up; Events: Zero, PeriodCounter Comparator (CC)Programmable Dead-Band GeneratorPWM ChopperProgrammable Trip Zone Generator Registers and comparators eliminate the need to interrupt the CPU in PWM generation Events: CMPA (rising & falling), CMPB (rising & falling) Programmable rising-edge and falling-edge delay Allows a high-frequency carrier signal to modulate PWM waveforms Programmable chopping frequency, duty cycle, first pulse width Quickly overrides PWM signals to Hi, Low, or Hi-Z One-shot or cycle-by-cycle (current limiting) operation Can generate events, filtered events, or trip conditionsAction Qualifier At any Event: Set PWMxA/B (High, Low, Toggle, Do Nothing); Trigger a programmable Event or InterruptEach ePWM module has two outputs, EPWMxA and EPWMxB (same frequency, independent duty) Each module is independent frequency, but can be synched or phase delayedEnhanced PWMComparators*VSSAComparatorsDACCOMPxSync/QualEPWM module, GPIO Mux, PIEAnalog ComparatorSync/QualificationEPWM and GPIO Mux Outputs True analog voltage comparator in VDDA domain 30ns response time to PWM Trip Zone Comparator output can be passed directly or synchronized with the system clock Qualification logic can delay output for multiple clock cycles Output can be routed to ePWM Trip Zone Module as well as GPIO output10-bit DAC Analog DAC can provide input to comparatorAnalog Comparators on Piccolo devices bring instant protection Input Pin AInput Pin BVDDAPWM Trip ZonesCOMPA COMPB ExternalTrip Logic Select Trip Event PWMA PWMB PWM Action Trip A/B Output Generate CPU Interrupt Start of Conversion PWM Sync.Comparator 1-3Trip Zones operate even if the clocks go missing! Each trip pin/event can map to any combination of PWM outputs, Interrupt, SOC, or PWM Synchronization Trip event can be synchronous or asynchronous User can block trip action for a given offset and window after start of PWM period Automatically records counter value in case of trip One Shot (Fault) or Continuous (Cycle By Cycle Control) PWM Trip ZonesClocking SystemGPIO/XCLKINCLKINSYSCLKWDCLKDevice Reset Or InterruptCPUCPU Timer 2CPU Timer 0CPU Timer 1WatchdogInternal Oscillator 2 10MHzOSC2CLKExternal Oscillator 5-20MHzX1X2EXTCLKCPUTMR2CLKPLL x1 x2 x3 . . x10NMI WatchdogCLKFAILClock Fail DetectGPIO/XCLKOUT/1 /2 /4Oscillator Accuracy ~3% (85C to 125C) Can be compensated over temperature to improve and enable CAN off of OSC only!Internal Oscillator 1 10MHzOSC1CLK/1 /2 /4 /8 /16/1 /2 /4Piccolo’s clocking system provides two zero-pin on-chip oscillators to eliminate the need for external clock circuitry. The high accuracy, high speed internal clocks are also a part of an extensive clock protection systemLower System Cost No external clock circuitry or crystal required Includes secondary internal oscillator for backup or alternate clock sourceIncreased System Reliability Back-up internal oscillator automatically triggered in case of error Configurable clock sources allows independent CPU, CPU Timer 2 and Watchdog clocks Watchdog support standards such as IEC-60730 Automatic PWM trip in case of clock failure If clock failure is detected, CLKIN and WDCLK automatically switches to backup oscillator Two internal high-speed oscillators If both internal clocks fail, PLL clock automatically goes into “limp mode” to facilitate shut-down procedures. (5 MHz only)3-tier Clock ProtectionClocking SystemPiccolo Analog IntegrationLower System Cost / Increased System ReliabilityPiccolo Analog IntegrationOn-Chip Voltage Regulation On-chip regulator eliminates requirement for external 1.8V rail BOR/POR protection eliminates requirement for external supervisor Eliminates start-up glitches on PWM outputs Dual On-Chip Oscillators No external clock circuitry required Independent time bases for main CPU and Watchdog for IEC-60730 Auto PWM Trip on Fail Temperature Compensation Analog Comparators Trip PWM Outputs, Generate Interrupts, Sync PWM Outputs, Generate ADC SOC, Route to GPIO Pins Analog-to-Digital Converter Continuous sampling up to 5 MSPS Ratio metric across full 3.3V input range No support pins High Resolution PWM High Resolution Duty Cycle Modulation with 150ps Steps High Resolution Frequency Modulation with 150ps Steps GPIO Input Digital Filters Removes Noise No external filters saves costcontrolSUITE: Content + Content ManagementcontrolSUITE: Content + Content ManagementKitsKitsDocsDocsQuickstart Guide 8 pages - Quick HW Quick Sys GUI Next Steps Hardware Guide 14 pages - Everything about the HW How To Run 15 pages Getting Started Out of Box HW connections CCStudio Set-Up Systems 20-60 pages Motor, control, theory background System Overview, Memory & CPU Usage Peripheral to HW Map Software Flowchart Hardware Set-Up Running the Software Step-by-step incremental build with screen shots, verification, explanations, and tuning procedures “C2000 Motor Control Primer” Google: sprugi6 GUIGUIImage already in Piccolo Flash GUI Source Provided Drag and drop from Memory Map Low Cost License from CrosshairsQSG 8 pages - Quick HW Quick Sys GUI Next Steps nullHardware Developer’s PackageHardware Developer’s Package includes: Bill of Materials PCB layout Schematics GerbersWe provide you with all the necessary files to recreate the hardware. The PCB layout and schematics are broken up into modules that can be interconnected or implanted into a new design. controlCARDs and controlKITsIncremental Build1A) verify 120° SV-PWM outputs 1B) verify PWM-DACs used for analysis1C) Verify SV-PWM Gen  PWM Outputs / Inverter InputsIncremental BuildIncremental BuildIncremental Build2A) Check ADC calc of Voltage using watch window (WW)2B) Check Clarke (Phase Currents) in WW2C) Calibrate phase current off-set to enable low load sensorlessIncremental BuildIncremental Build3A) Tune current PIDs (Id, Iq)3B) Verify QEP speed value in WWIncremental BuildIncremental Build4) Tune SMO and Speed Estimator to MeasuredIncremental BuildIncremental Build5A) Tune Speed PID loopIncremental BuildIncremental Build5B) Alternative: Tune Speed PID loop w/o SMOIncremental BuildIncremental Build6) Close all loops – Full Sensorless FOC CL Speed/CurrentcontrolSUITE DMC BenchmarkscontrolSUITE DMC Benchmarks* Modules run as Macros ** Not including the Optional Early Build Level Modules *** FOC Benchmarks at 10 KHz control loop, BLDC at 20 KHz Dual Axis FOC + PFC Benchmarks (10 KHz + 50 KHz)MCU Mapping - Single InverterMCU Mapping - Single Inverter3 phase Inverter topology suitable for: ACI PMSM BLDC Dual Inverter + PFC BoostDual Inverter + PFC BoostBenchmarks for Motors & PFC on 60 MIPS PiccoloBenchmarks for Motors & PFC on 60 MIPS PiccoloPFC or FOC can be done on 28x CPU or CLAFOC Sensorless SMO 10KHz 16 MIPS 28x FOC Sensorless FA3ST 10KHz 30 MIPS 28x PFC 50KHz 12 MIPS 28x PFC 100KHz 22 MIPS CLA 2x FOC SMO + PFC(50KHz) 44 MIPS 28xPFCPFC