NXP Semiconductors PMSMMCXN9XXEVK MCUXpresso SDK Field Oriented Control User Guide Product Information
- January 16, 2024
- NXP Semiconductors
Table of Contents
- PMSMMCXN9XXEVK MCUXpresso SDK Field Oriented Control
- Product Information
- Specifications
- Product Usage Instructions
- 1. Introduction
- 2. Hardware Setup
- Q: What is the purpose of this product?
- Q: What types of control methods are supported by this
- Q: Which motors are supported by this product?
- Q: What are the specifications of the Linix 45ZWN24-40
- Q: What are the specifications of the Teknic M-2310P
PMSMMCXN9XXEVK MCUXpresso SDK Field Oriented Control
Product Information
Specifications
Product Name | PMSMMCXN9XXEVK |
---|---|
Supported Motors | 3-Phase PMSM and BLDC Motors |
Control Methods | Scalar and Current FOC, Sensorless, Sensored, Voltage |
(Torque)
Speed FOC, Speed FOC, Position FOC
Release Date| 5 December 2023
Product Usage Instructions
1. Introduction
The MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM
and BLDC Motors user guide provides information on the
motor-control software implementation for 3-phase Permanent Magnet
Synchronous Motors. The guide is specific to the NXP Semiconductors
PMSMMCXN9XXEVK platform.
2. Hardware Setup
2.1 Linix 45ZWN24-40 Motor
The Linix 45ZWN24-40 motor is a low-voltage 3-phase
permanent-magnet motor with hall sensor, commonly used in PMSM
applications. The motor parameters are as follows:
Parameter | Value | Units |
---|---|---|
Rated voltage | Vt | 24 V |
Rated speed | – | 4000 RPM |
Rated torque | T | 0.0924 Nm |
Rated power | P | 40 W |
Continuous current | Ics | 2.34 A |
Number of pole-pairs | pp | 2 |
The Linix 45ZWN24-40 motor has two types of connectors. The
first cable, with three wires, is used to power the motor. The
second cable, with five wires, is used for the hall sensors’ signal
sensing. For sensorless applications, only the power input wires
are needed.
2.2 Teknic M-2310P Motor
The Teknic M-2310P-LN-04K motor is a low-voltage 3-phase
permanent-magnet motor used in PMSM applications. The motor has two
feedback sensors: hall and encoder. For information on the wiring
of feedback sensors, refer to the data sheet on the manufacturer’s
webpage. The motor parameters are as follows:
Parameter | Value | Units |
---|---|---|
Rated voltage | Vt | 40 V |
Rated speed | – | 6000 RPM |
Frequently Asked Questions (FAQ)
Q: What is the purpose of this product?
A: This product provides motor-control software implementation
for 3-phase Permanent Magnet Synchronous Motors and BLDC
Motors.
Q: What types of control methods are supported by this
product?
A: This product supports Scalar and Current FOC, Sensorless,
Sensored, Voltage (Torque) Speed FOC, Speed FOC, and Position FOC
control methods.
Q: Which motors are supported by this product?
A: This product supports 3-Phase PMSM and BLDC Motors.
Q: What are the specifications of the Linix 45ZWN24-40
motor?
A: The specifications of the Linix 45ZWN24-40 motor are as
follows:
– Rated voltage: 24 V
– Rated speed: 4000 RPM
– Rated torque: 0.0924 Nm
– Rated power: 40 W
– Continuous current: 2.34 A
– Number of pole-pairs: 2
Q: What are the specifications of the Teknic M-2310P
motor?
A: The specifications of the Teknic M-2310P motor are as
follows:
– Rated voltage: 40 V
– Rated speed: 6000 RPM
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC
Motors
Rev. 0 — 5 December 2023
User guide
Document information
Information
Content
Keywords
MCX-N9XX-EVK , PMSM, FOC, MCAT, MID, Motor control, Sensorless control, Speed control, Servo control, Position control
Abstract
This user guide describes the implementation of the motor-control software for 3-phase Permanent Magnet Synchronous Motors.
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
1 Introduction
SDK motor control example user guide describes the implementation of the
motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM)
using following NXP platforms:
· MCX-N9XX-EVK · Freedom Development Platform for Low-Voltage, 3-Phase PMSM
Motor Control (FRDM-MC-LVPMSM)
The document is divided into several parts. Hardware setup, processor
features, and peripheral settings are described at the beginning of the
document. The next part contains the PMSM project description and motor
control peripheral initialization. The last part describes user interface and
additional example features.
Available motor control examples types with supported motors, and possible
control methods are listed in Table 1.
Table 1.Available example type, supported motors and control methods
Possible control methods in SDK example
Example type
Supported motor
Scalar and Current FOC Sensorless Sensored
Sensored
Voltage
(Torque) Speed FOC Speed FOC Position FOC
Linix 45ZWN2440 (default motor)
pmsm_enc
Teknic M-2310P (with ENC)
N/A
N/A
SDK motor control example description:
· pmsm_enc – pmsm example uses float arithmetic, the example contains sensored
and also sensorless field oriented vector control (FOC). This example can be
used for sensor and sensorless motor control application both. Default motor
configuration is tuned for the Linix 45ZWN24-40 motor.
The SDK motor control example contains several additional features:
· FreeMASTER pmsm_float_enc.pmpx project provides a simple and user-friendly
way for algorithm tuning, software control, debugging, and diagnostics.
· MCAT – Motor Control Application Tuning page based on the FreeMASTER runtime
debugging tool. · MID – Motor parameter identification. The control software
and the PMSM control theory, in general, are described in Sensorless PMSM
FieldOriented Control (FOC) (document DRM148).
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
2 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
2 Hardware setup
The following chapter describes the used hardware and the setup needed for proper example working
2.1 Linix 45ZWN24-40 motor
The Linix 45ZWN24-40 motor is a low-voltage 3-phase permanent-magnet motor with hall sensor used in PMSM applications. The motor parameters are listed in Table 2.
Table 2.Linix 45ZWN24-40 motor parameters
Characteristic
Symbol
Rated voltage
Vt
Rated speed
–
Rated torque
T
Rated power
P
Continuous current
Ics
Number of pole-pairs
pp
24 4000 0.0924 40 2.34 2
Value
V RPM Nm W A –
Units
Figure 1.Linix 45ZWN24-40 permanent magnet synchronous motor
The motor has two types of connectors (cables). The first cable has three
wires and is designated to power the motor. The second cable has five wires
and is designated for the hall sensors’ signal sensing. For the PMSM
sensorless application, only the power input wires are needed.
2.2 Teknic M-2310P motor
The Teknic M-2310P-LN-04K motor is a low-voltage 3-phase permanent-magnet motor used in PMSM applications. The motor has two feedback sensors (hall and encoder). For information on the wiring of feedback sensors, see the data sheet on the manufacturer webpage. The motor parameters are listed in Table 3.
Table 3.Teknic M-2310P motor parameters
Characteristic
Symbol
Rated voltage
Vt
Rated speed
–
40 6000
Value
V RPM
Units
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
3 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Table 3.Teknic M-2310P motor parameters…continued
Characteristic
Symbol
Rated torque
T
Rated power
P
Continuous current
Ics
Number of pole-pairs
pp
0.247 170 7.1 4
Value
Units Nm W A –
Figure 2.Teknic M-2310P permanent magnet synchronous motor For the sensorless
control mode, you only need the power input wires. If used with the hall or
encoder sensors, connect the sensor wires to the NXP Freedom power stage.
12345678 9 10 11 12 13 14 15 16
Pin
Color
1
DRAIN x3
2
N/A
3
GRN
4 GRN/WHT
5 GRY/WHT
6
DRAIN x1
7
BLK
8* BLU/WHT
Encoder wires
Figure 3.Teknic motor connector type 1
(Wire entry view)
Motor phases
Signal Pin
Color
P DRAIN 9 16AWG BLK
N/A
10 16AWG RED
COMM S-T 11 16AWG WHT
COMM R-S 12
RED
COMM T-R 13
BRN
E DRAIN 14
ORN
GND
15
BLU
ENC A~ 16* ORN/WHT
Signal PHASE R PHASE S PHASE T +5VDC IN
ENC 1 ENC B ENC A ENC B~
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
4 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
AM
B CP
N
L UK
V
DR E
S
TJ H
FG
Motor phases (Mating face shown) Encoder wires
Pin
Color
R DRAIN x3
C 16AWG RED
D 16AWG WHT
B 16AWG BLK
J
BLU
K* BLU/WHT
H GRN/WHT
S
BLK
Signal Pin
P DRAIN L
PHASE S U
PHASE T G
PHASE R T
ENC A F*
ENC A~
V
COMM R-S M
GND
Color GRY/WHT
BRN GRN RED ORN/WHT ORN DRAIN x1
Signal COMM T-R
ENC I COMM S-T +5VDC IN
ENC B~ ENC B E DRAIN
Figure 4.Teknic motor connector type 2
2.3 FRDM-MC-LVPMSM
In a shield form factor, this evaluation board effectively turns an NXP
Freedom development board or an evaluation board into a complete motor-control
reference design. It is compatible with existing NXP Freedom development
boards and evaluation boards. The Freedom motor-control headers are compatible
with the Arduino R3 pin layout.
The FRDM-MC-LVPMSM low-voltage, 3-phase Permanent Magnet Synchronous Motor
(PMSM) Freedom development platform board has a power supply input voltage of
24 VDC to 48 VDC with reverse polarity protection circuitry. The auxiliary
power supply of 5.5 VDC is created to supply the FRDM MCU boards. The output
current is up to 5 A RMS. The inverter itself is realized by a 3-phase bridge
inverter (six MOSFETs) and a 3-phase MOSFET gate driver. The analog quantities
(such as the 3-phase motor currents, DC-bus voltage, and DC-bus current) are
sensed on this board. There is also an interface for speed and position
sensors (encoder, hall). The block diagram of this complete NXP motor-control
development kit is shown in Figure 5.
Figure 5.Motor-control development platform block diagram
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
5 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
24-48V DC
Motor Encoder Hall
FRDM-MC-LVPMSM
Polarity Protection
Power Supply
6x MOSFET
15V
MOSFET Predriver
Analog Sensing
Encoder / Hall
5.5V 3.3V
6xPWM
Ia, Ib, Ic Udc, Idc Enc, Hall
Controler card
Power Supply
Open SDA
Target MCU
Buttons LEDs Accel Therm
FRDM-MC-LVPMSM Parts Controller Card Parts
USB JTAG
Figure 6.FRDM-MC-LVPMSM
The FRDM-MC-LVPMSM board does not require a complicated setup. For more
information about the Freedom development platform, see www.nxp.com.
Note: There might be a wrong FRDM-MC-LVPMSM series in the market (series
VV19520XXX). This series is populated with 10 mOhm shunt resistors and noisy
operational amplifiers which affect phase current measurement. The mc_pmsm
example is tuned for original FRDM-MC-LVPMSM board with 20 mOhm shunt
resistors.
2.4 MCX-N9XX-EVK
The MCX-N9XX-EVK development board consists of the MCX N94X device with a
64-Mbit external serial flash, accelerometer, I3C temperature sensor, visible
light sensor, onboard CAN PHY, Ethernet PHY, SDHC circuit, general-purpose RGB
LED, touch slider, FS and HS USB circuits, general-purpose push buttons, and
onboard MCU-Link debug probe circuit with energy monitoring. The board is
compatible with the Arduino and
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
6 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
FRDM ecosystem shield modules and Mikroe click boards. The onboard MCU-Link debug probe is based on the LPC55S69 MCU.
Table 4.MCXN9XX-EVK jumper settings
Jumper
Setting
Jumper
JP4
1-2
JP25
JP8
1-2
JP26
JP11
1-2
J26
JP12
1-2
JP27
JP13
1-2
JP29
JP14
1-2
JP30
JP16
1-2
JP32
JP17
1-2
JP33
JP18
2-3
JP34
JP20
1-2
JP35
JP21
1-2
JP36
Setting 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2
Jumper JP37 JP38 JP39 JP40 JP43 JP44 JP45 JP46 JP47 JP48
Setting 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2
All others jumpers are open.
Figure 7.MCX-N9XX-EVK board with highlighted jumper settings
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
7 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
2.4.1 Hardware assembling
1. Connect the FRDM-MC-LVPMSM shield on top of the MCXN9XX-EVK board (there
is only one possible option).
2. Connect the 3-phase motor wires to the screw terminals (J7) on the Freedom
PMSM power stage. 3. Plug the USB cable from the USB host to the Debug USB
connector J5 on the FRDM board. 4. Plug the 24-V DC power supply to the DC
power connector on the Freedom PMSM power stage.
Figure 8.Assembled EVK system Note: The example has been tested on the board with schematic number: SCH-55276 REVB. The jumper setting can vary between board revisions. Please, check the schematic.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
8 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
3 Processors features and peripheral settings
This chapter describes the peripheral settings and application timing.
3.1 MCXN94x
The MCX N94x is based on dual high-performance Arm® Cortex®-M33 cores running
up to 150 MHz, with 2MB of Flash with optional full ECC RAM, a DSP co-
processor and an integrated eIQ Neutron NPU. The NPU delivers up to 30x faster
machine learning (ML) throughput compared to a CPU core alone enabling it to
spend less time awake and reducing overall power consumption.
The multicore design delivers improved system performance and reduced power
consumption by enabling smart, efficient distribution of workloads to the
analog and digital peripherals. The devices are supported by the MCUXpresso
Developer Experience to optimize, ease and help accelerate embedded system
development.
The MCX N94x family is geared toward industrial applications with a wider set
of analog and motor control peripherals.
For more information, see MCX N Series Microcontrollers web pages.
3.1.1 Hardware timing and synchronization
Correct and precise timing is crucial for motor-control applications.
Therefore, the motor-control-dedicated peripherals take care of the timing and
synchronization on the hardware layer. In addition, you can set the PWM
frequencies as a multiple of the ADC interrupt (ADC ISR) frequency where the
FOC algorithm is calculated. In this case, the PWM frequency is equal to the
FOC frequency.
Figure 9.Hardware timing and synchronization on MCXA153
· The top signal shows the PWM_AT (PWM phase A – top) and PWM_AB (PWM phase A
– bottom). The dead time is emphasized at the PWM top and PWM bottom signals.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
9 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
· The eFlexPWM submodule SM0 generates trigger 0 (ADC Trigger) when the
counter counts to a value equal to the VAL4 value. ADC Trigger is delayed of
approximately Tdeatime/2. This delay ensures correct current sampling at the
duty cycles close to 100 %.
· When the ADC conversion is completed, the ADC_ISR (ADC interrupt) is
entered. The FOC calculation is done in this interrupt.
3.1.2 Peripheral settings
This section describes the peripherals used for the motor control. On MCXN94x,
three submodules from the enhanced FlexPWM (eFlexPWM) are used for 6-channel
PWM generation and 12-bit ADC for the phase currents and DC-bus voltage
measurement. The eFlexPWM and ADC are synchronized via submodule 0 from the
eFlexPWM. The following settings are located in the mc_periph_init.c and
peripherals.c files and their header files.
3.1.2.1 PWM generation – FlexPWM1
· Six channels from three submodules are used for the 3-phase PWM generation.
Submodule 0 generates the master reload at event every nth opportunity,
depending on the user-defined macro M1_FOC_FREQ_VS_PWM_FREQ.
· Submodules 1 and 2 get their clocks from submodule 0. · The counters at
submodules 1 and 2 are synchronized with the master reload signal from
submodule 0. · Submodule 0 is used for synchronization with ADC. The submodule
generates the output trigger after the
PWM reload, when the counter counts to VAL4. · Fault mode is enabled for
channels A and B at submodules 0, 1, and 2 with automatic fault clearing.
Note: The PWM outputs are re-enabled at the first PWM reload after the fault
input returns to zero. · The PWM period (frequency) is determined by how long
the counter takes to count from INIT to VAL1.
By default, INIT = -MODULO/2 and VAL1 = MODULO/2 -1 where MODULO =
FastPeripheralClock / M1_PWM_FREQ. · Dead time insertion is enabled. Define
the dead time length in the M1_PWM_DEADTIME macro.
3.1.2.2 Analog sensing – ADC0
ADC0 is used for the MC analog sensing of currents and DC-bus voltage. · The
ADC operate as 12-bit with the single-ended conversion and hardware trigger
selected. · ADC0 trigger source is the PWM submodule 0.
3.1.2.3 Peripheral interconnection for – XBAR The crossbar is used to interconnect the trigger from the PWM to the ADC.
3.1.2.4 Slow-loop interrupt generation – CTIMER0
The Standard Counter or Timer CTIMER is used to generate the slow-loop
interrupt.
· The slow loop is usually ten times slower than the fast loop. Therefore, the
interrupt is generated after the timer counter counts to MR[0] = kCLOCK_FroHf
/ M1_SLOW_LOOP_FREQ. The speed loop frequency is set in the M1_SPEED_LOOP_FREQ
macro and equals 1000 Hz.
· An interrupt (which serves the slow-loop period) is enabled and generated at
the reload event.
3.1.2.5 Quadrature Decoder (ENC) The QD module is used to sense the position and speed from the encoder sensor.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
10 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
· The direction of counting is set in the M1_POSPE_ENC_DIRECTION macro. · The
modulo counting and the modulus counting roll-over/under to
increment/decrement revolution counter are
enabled.
3.2 CPU load and memory usage
The following information applies to the application built using one of the
following IDE: MCUXpresso IDE, IAR, or Keil MDK. The memory usage is
calculated from the *.map linker file, including FreeMASTER recorder buffer
allocated in RAM. In the MCUXpresso IDE, the memory usage can be also seen
after project build in the Console window. The table below shows the maximum
CPU load of the supported examples. The CPU load is measured using the SYSTICK
timer. The CPU load is dependent on the fast-loop (FOC calculation) and
slowloop (speed loop) frequencies. The total CPU load is calculated using the
following equations:
(1)
(2)
(3)
Where:
CPUfast = the CPU load taken by the fast loop cyclesfast = the number of cycles consumed by the fast loop ffast = the frequency of the fast-loop calculation fCPU = CPU frequency CPUslow = the CPU load taken by the slow loop cyclesslow = the number of cycles consumed by the slow loop fslow = the frequency of the slow-loop calculation CPUtotal = the total CPU load consumed by the motor control
Table 5.Maximum CPU load (fast loop) CPU load
MCXN94x (Release configuration) 21.2 %
Table 6.Memory usage
Readonly code memory Readonly data memory Readwrite rada memory
MCXN9XX-EVK (Release configuration) 39 600 B 13 130 B 6 028 B
Measured CPU load and memory usage applies to the application built using IAR IDE. Note: Memory usage and maximum CPU load can differ depending on the used IDEs and settings.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
11 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
4 Project file and IDE workspace structure
All the necessary files are included in one package, which simplifies the
distribution and decreases the size of the final package. The directory
structure of this package is simple, easy to use, and organized logically. The
folder structure used in the IDE differs from the structure of the PMSM
package installation, but it uses the same files. The different organization
is chosen due to better manipulation of folders and files in workplaces and
the possibility of adding or removing files and directories. The
packmotor
4.1 PMSM project structure
The directory tree of the PMSM project is shown in below.
Figure 10.Directory tree
The main project folder
packmotor
· iar: for the IAR Embedded Workbench IDE. · armgcc: for the GNU Arm IDE. ·
mdk: for the uVision Keil IDE. · m1_pmsm_appconfig.h: contains the definitions
of constants for the application control processes,
parameters of the motor and regulators, and the constants for other vector-
control-related algorithms. When
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
12 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
you tailor the application for a different motor using the Motor Control
Application Tuning (MCAT) tool, the tool generates this file at the end of the
tuning process. · main.c: contains the basic application initialization
(enabling interrupts), subroutines for accessing the MCU peripherals, and
interrupt service routines. The FreeMASTER communication is performed in the
background infinite loop. · board.c: contains the functions for the UART,
GPIO, and SysTick initialization. · board.h: contains the definitions of the
board LEDs, buttons, UART instance used for FreeMASTER, and so on. ·
clock_config.c and .h: contains the CPU clock setup functions. These files are
going to be generated by the clock tool in the future. · mc_periph_init.c:
contains the motor-control driver peripherals initialization functions that
are specific for the board and MCU used. · mc_periph_init.h: header file for
mc_periph_init.c. This file contains the macros for changing the PWM period
and the ADC channels assigned to the phase currents and board voltage. ·
freemaster_cfg.h: the FreeMASTER configuration file containing the FreeMASTER
communication and features setup. · pin_mux and .h: port configuration files.
Generate these files in the pin tool. · peripherals.c and .h: MCUXpresso
Config Tool configuration files.
The main motor-control folder packmotor
· pmsm: contains main PMSM motor-control functions. · freemaster: contains the
FreeMASTER project file pmsm_float_enc.pmpx. Open this file in the
FreeMASTER tool and use it to control the application. The folder also
contains the auxiliary files for the MCAT tool.
The pack_motor_imxrt1xxxmiddlewaremotor_controlpmsmpmsm_float folder contains
these subfolders common to the other motor-control projects:
· mc_algorithms: contains the main control algorithms used to control the FOC
and speed control loop. · mc_cfg_template: contains templates for MCUXpresso
Config Tool components. · mc_drivers: contains the source and header files
used to initialize and run motor-control applications. · mc_identification:
contains the source code for the automated parameter-identification routines
of the
motor. · mc_state_machine: contains the software routines that are executed
when the application is in a particular
state or state transition. · state_machine: contains the state machine
functions for the FAULT, INITIALIZATION, STOP, and RUN
states.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
13 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
5 Motor-control peripheral initialization
The motor-control peripherals are initialized by calling the MCDRV_Init_M1()
function during MCU startup and before the peripherals are used. All
initialization functions are in the mc_periph_init.c source file and the
mc_periph_init.h header file. The definitions specified by the user are also
in these files. The features provided by the functions are the 3-phase PWM
generation and 3-phase current measurement, as well as the DC-bus voltage and
auxiliary quantity measurement. The principles of both the 3-phase current
measurement and the PWM generation using the Space Vector Modulation (SVM)
technique are described in Sensorless PMSM Field-Oriented Control (document
DRM148).
The mc_periph_init.h header file provides the following macros defined by the
user:
· M1_MCDRV_ADC_PERIPH_INIT: this macro calls ADC peripheral initialization. ·
M1_MCDRV_PWM_PERIPH_INIT: this macro calls PWM peripheral initialization. ·
M1_MCDRV_QD_ENC: this macro calls QD peripheral initialization. · M1_PWM_FREQ:
the value of this definition sets the PWM frequency. ·
M1_FOC_FREQ_VS_PWM_FREQ: enables you to call the fast-loop interrupt at every
first, second, third, or
nth PWM reload. This is convenient when the PWM frequency must be higher than
the maximal fast-loop interrupt. · M1_SPEED_LOOP_FREQ: the value of this
definition sets the speed loop frequency (TMR1 interrupt). · M1_PWM_DEADTIME:
the value of the PWM dead time in nanoseconds. · M1_PWM_PAIR_PH[A..C]: these
macros enable a simple assignment of the physical motor phases to the PWM
periphery channels (or submodules). You can change the order of the motor
phases this way. · M1_ADC[1,2]PH[A..C]: these macros assign the ADC channels
for the phase current measurement. The general rule is that at least one-phase
current must be measurable on both ADC converters, and the two remaining phase
currents must be measurable on different ADC converters. The reason for this
is that the selection of the phase current pair to measure depends on the
current SVM sector. If this rule is broken, a preprocessor error is issued.
For more information about the 3-phase current measurement, see Sensorless
PMSM Field-Oriented Control (document DRM148). · M1_ADC[1,2]_UDCB: this define
is used to select the ADC channel for the measurement of the DC-bus voltage.
In the motor-control software, the following API-serving ADC and PWM
peripherals are available:
· The available APIs for the ADC are: mcdrv_adc_t: MCDRV ADC structure data
type. void M1_MCDRV_ADC_PERIPH_INIT(): this function is by default called
during the ADC peripheral initialization procedure invoked by the
MCDRV_Init_M1() function and should not be called again after the peripheral
initialization is done. void M1_MCDRV_CURR_3PH_CHAN_ASSIGN(mcdrv_adc_t):
calling this function assigns proper ADC channels for the next 3-phase current
measurement based on the SVM sector. void
M1_MCDRV_CURR_3PH_CALIB_INIT(mcdrv_adc_t): this function initializes the
phase-current channel-offset measurement. void
M1_MCDRV_CURR_3PH_CALIB(mcdrv_adc_t): this function reads the current
information from the unpowered phases of a stand-still motor and filters them
using moving average filters. The goal is to obtain the value of the
measurement offset. The length of the window for moving the average filters is
set to eight samples by default. void
M1_MCDRV_CURR_3PH_CALIB_SET(mcdrv_adc_t): this function asserts the phase-
current measurement offset values to the internal registers. Call this
function after a sufficient number of M1_MCDRV_CURR_3PH_CALIB() calls.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
14 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
void M1_MCDRV_ADC_GET(mcdrv_adc_t): this function reads and calculates the
actual values of the 3-phase currents, DC-bus voltage, and auxiliary quantity.
· The available APIs for the PWM are: mcdrv_pwma_pwm3ph_t: MCDRV PWM
structure data type. void M1_MCDRV_PWM_PERIPH_INIT: this function is by
default called during the PWM periphery initialization procedure invoked by
the MCDRV_Init_M1() function.
void M1_MCDRV_PWM3PH_SET(mcdrv_pwma_pwm3ph_t): this function updates the
PWM phase duty cycles.
void M1_MCDRV_PWM3PH_EN(mcdrv_pwma_pwm3ph_t): this function enables all PWM
channels. void M1_MCDRV_PWM3PH_DIS(mcdrv_pwma_pwm3ph_t): this function
disables all PWM channels. bool_t
M1_MCDRV_PWM3PH_FLT_GET(mcdrv_pwma_pwm3ph_t): this function returns the state
of
the overcurrent fault flags and automatically clears the flags (if set). This
function returns true when an overcurrent event occurs. Otherwise, it returns
false.
· The available APIs for the quadrature encoder are: mcdrv_qd_enc_t: MCDRV
QD structure data type. void M1_MCDRV_QD_PERIPH_INIT(): this function is by
default called during the QD periphery initialization procedure invoked by the
MCDRV_Init_M1() function.
void M1_MCDRV_QD_GET(mcdrv_qd_enc_t): this function returns the actual
position and speed. void M1_MCDRV_QD_SET_DIRECTION(mcdrv_qd_enc_t): this
function sets the direction of the
quadrature encoder.
void M1_MCDRV_QD_SET_PULSES(mcdrv_qd_enc_t): this function sets the number
of pulses of the quadrature encoder.
void M1_MCDRV_QD_CLEAR(mcdrv_qd_enc_t*): this function clears the internal
variables and decoder counter.
Note: Not all macros are available for every motor control example type.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
15 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
6 User interface
The application contains the demo mode to demonstrate motor rotation. You can
operate it either using the user button, or using FreeMASTER. The NXP
development boards include a user button associated with a port interrupt
(generated whenever one of the buttons is pressed). At the beginning of the
ISR, a simple logic executes and the interrupt flag clears. When you press the
button, the demo mode starts. When you press the same button again, the
application stops and transitions back to the STOP state.
The other way to interact with the demo mode is to use the FreeMASTER tool.
The FreeMASTER application consists of two parts: the PC application used for
variable visualization and the set of software drivers running in the embedded
application. The serial interface transfers data between the PC and the
embedded application. This interface is provided by the debugger included in
the boards.
The application can be controlled using the following two interfaces:
· The user button on the development board (controlling the demo mode): MCX-
N9XX-EVK – SW3
· Remote control using FreeMASTER (Following chapter): Setting a variable in
the FreeMASTER Variable Watch. See chapter Section 7.4
Identify all motor parameters if you are using your own motor (different from
the default motors). The automated parameter identification is described in
the following sections.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
16 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
7 Remote control using FreeMASTER
This section provides information about the tools and recommended procedures
to control the sensor/ sensorless PMSM Field-Oriented Control (FOC)
application using FreeMASTER. The application contains the embedded-side
driver of the FreeMASTER real-time debug monitor and data visualization tool
for communication with the PC. It supports non-intrusive monitoring, as well
as the modification of target variables in real time, which is very useful for
the algorithm tuning. Besides the target-side driver, the FreeMASTER tool
requires the installation of the PC application as well. You can download the
latest version of FreeMASTER at www.nxp.com/freemaster. To run the FreeMASTER
application including the MCAT tool, double-click the pmsm_float_enc.pmpx file
located in the middlewaremotor_controlfreemaster folder. The FreeMASTER
application starts and the environment is created automatically, as defined in
the *.pmpx file.
Note: In MCUXpresso, the FreeMASTER application can run directly from IDE in
motor_control/ freemaster folder.
7.1 Establishing FreeMASTER communication
The remote operation is provided by FreeMASTER via the USB interface. To
control a PMSM motor using FreeMASTER, perform the steps below:
1. Download the project from your chosen IDE to the MCU and run it. 2. Open
the FreeMASTER project pmsm_float_enc.pmpx . The PMSM project uses the TSA by
default, so
it is not necessary to select a symbol file for FreeMASTER. 3. To establish
the communication, click the communication button (the green “GO” button in
the top left-hand
corner).
Figure 11. Green “GO” button placed in top left-hand corner 4. If the
communication is established successfully, the FreeMASTER communication status
in the
bottom right-hand corner changes from “Not connected” to “RS-232 UART
Communication; COMxx; speed=115200”. Otherwise, the FreeMASTER warning pop-up
window appears.
Figure 12.FreeMASTER–communication is established successfully 5. To reload
the MCAT HTML page and check the App ID, press F5. 6. Control the PMSM motor
by writing to a control variable in a variable watch. 7. If you rebuild and
download the new code to the target, turn the FreeMASTER application off and
on.
If the communication is not established successfully, perform the following
steps:
1. Go to the Project > Options > Comm tab and make sure that the correct COM
port is selected and the communication speed is set to 115200 bps.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
17 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 13.FreeMASTER communication setup window 2. Ensure, that your computer
is communicating with the plugged board. Unplug and then plug in the USB
cable and reopen the FreeMASTER project.
7.2 TSA replacement with ELF file
The FreeMASTER project for motor control example uses Target-Side Addressing
(TSA) information about variable objects and types to be retrieved from the
target application by default. With the TSA feature, you can describe the data
types and variables directly in the application source code and make this
information available to the FreeMASTER tool. The tool can then use this
information instead of reading symbol data from the application’s ELF/Dwarf
executable file.
FreeMASTER reads the TSA tables and uses the information automatically when an
MCU board is connected. A great benefit of using the TSA is no issues with the
correct path to ELF/Dwarf file. The variables described by TSA tables may be
read-only, so even if FreeMASTER attempts to write the variable, the target
MCU side denies the value. The variables not described by any TSA tables may
also become invisible and protected even for read-only access.
The use of TSA means more memory requirements for the target. If you do not
want to use the TSA feature, you must modify the example code and FreeMASTER
project.
To modify the example code, follow the steps below:
1. Open motor control project and rewrite macro FMSTR_USE_TSA from 1 to 0 in
freemaster_cfg.h file. 2. Build, download, and run motor control project. 3.
Open FreeMASTER project and click to Project > Options (or use shortcut
Ctrl+T). 4. Click to MAP Files tab and find Default symbol file (ELF/Dwarf
executable file) located in IDE output folder.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
18 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 14.Default symbol file 5. Click OK and restart the FreeMASTER
communication.
For more information, check FreeMASTER User Guide.
7.3 Motor Control Aplication Tuning interface (MCAT)
The PMSM sensor/sensorless FOC application can be easily controlled and tuned
using the Motor Control Application Tuning (MCAT) plug-in for PMSM. The MCAT
for PMSM is a user-friendly page, which runs within the FreeMASTER. The tool
consists of the tab menu and workspace as shown in Figure 15. Each tab from
the tab menu (4) represents one submodule which enables tuning or controlling
different application aspects. Besides the MCAT page for PMSM, several scopes,
recorders, and variables in the project tree (5) are predefined in the
FreeMASTER project file to further the motor parameter tuning and debugging
simplify.
When the FreeMASTER is not connected to the target, the “Board found” line (2)
shows “Board ID not found”. When the communication with the target MCU is
established, the “Board found” line is read from Board ID variable watch and
displayed. If the connection is established and the board ID is not shown,
press F5 to reload the MCAT HTML page.
There are three action buttons in MCAT (3):
· Load data – MCAT input fields (for example, motor parameters) are loaded
from mX_pmsm_appconfig.h file (JSON formatted comments). Only existing
mX_pmsm_appconfig.h files can be selected for loading. Loaded
mX_pmsm_appcofig.h file is displayed in grey field (7).
· Save data – MCAT input fields (JSON formatted comments) and output macros
are saved to mX_pmsm_appconfig.h file. Up to 9 files (m1-9_pmsm_appconfig.h)
can be selected. A pop-up window with the user motor ID and description
appears when a different mX_pmsm_appcofig.h file is selected. The motor ID and
description are also saved in mX_pmsm_appcofig.h as a JSON comment. The
embedded code includes m1_pmsm_appcofig.h only at single motor control
application. Therefore, saving to higher indexed mX_pmsm_appconfig.h files has
no effect at the compilation stage.
· Update target – writes the MCAT calculated tuning parameters to FreeMASTER
Variables, which effectively updates the values on target MCU. These tuning
parameters are updated in MCU’s RAM. To write these
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
19 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
tuning parameters to MCU’s flash memory, m1_pmsm_appcofig.h must be saved, code recompiled, and downloaded to MCU. Note: Path to mX_pmsm_appcofig.h file also composed from Board ID value. Therefore, FreeMASTER must be connected to the target, and Board ID value read prior using Save/Load buttons. Note: Only Update target button updates values on the target in real time. Load/Save buttons operate with mX_pmsm_appcofig.h file only. Note: MCAT may require Internet connection. If no Internet connection is available, CSS and icons may not be properly loaded.
Figure 15.FreeMASTER + MCAT layout
1. Tab content 2. Connected board 3. User buttons 4. Tab menu 5. Project tree
6. Variable watch 7. Loaded configuration
In the default configuration, the following tabs (4) are available:
· Application concept: welcome page with the PMSM sensor/sensorless FOC
diagram and a short application description.
· Parameters: this page enables you to modify the motor parameters, hardware
and application scales specification, alignment, and fault limits.
· Current loop: current loop PI controller gains and output limits.
· Speed loop: this tab contains fields for the specification of the speed
controller proportional and integral gains, as well as the output limits and
parameters of the speed ramp. The position proportional controller constant is
also set here.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
20 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
· Sensors: this page contains the encoder parameters and position observer
parameters. · Sensorless: this page enables you to tune the parameters of the
BEMF observer, tracking observer, and
open-loop startup. · Output file: this tab shows all the calculated constants
that are required by the PMSM sensor/sensorless FOC
application. It is also possible to generate the m1_pmsm_appconfig.h file,
which is then used to preset all application parameters permanently at the
project rebuild. · Online update : this tab shows actual values of variables
on target and new calculated values, which can be used to update the target
variables.
Every sublock in FreeMASTER project tree (5) has defined several variables in
variable watch (6).
The following sections provide simple instructions on how to identify the
parameters of a connected PMSM motor and how to tune the application
appropriately.
7.3.1 MCAT tabs description
This chapter describes MCAT input parameters and equations used to calculate MCAT output (generated) parameters. In the default configuration, the below described tabs are available. Some tabs may be missing if not supported in the embedded code. There are general constants used at MCAT calculations listed in the following table:
Table 7.Constants used in equations Constant
UmaxCoeff DiscMethodFactor k_factor pi
Value 1.73205
1 100 3.1416
Unit –
7.3.1.1 Application concept
This tab is a welcome page with the PMSM sensor/sensorless FOC diagram and a
short description of the application.
7.3.1.2 Parameters
This tab enables modification of motor parameters, specification of hardware and application scales, alignment, and fault limits. All inputs are described in the following table. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations below.
Table 8.Parameters tab inputs
MCAT group
MCAT name
Motor
PP
Pp
parameters
Equation name
Rs
Rs
Ld
Ld
Description
Unit
Motor number of pole-pairs.
–
Obtain from motor manufacturer
or use the pole-pair assistant to
determine and then fill manually.
Stator phase resistance. Obtain [] from motor manufacturer or use the electrical parameters identification and then fill manually.
Stator direct inductance. Obtain [H] from motor manufacturer or
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
21 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Table 8.Parameters tab inputs…continued
MCAT group
MCAT name
Equation name
Lq
Lq
Ke
Ke
J
Iph nom Uph nom N nom Hardware scales I max
J
IphNom UphNom Nnom Imax
U DCB max
UdcbMax
Fault limits
U DCB trip
UdcbTrip
U DCB under
U DCB over
N over N min
UdcbUnder
UdcbOver
Nover Nmin
Description
Unit
use the electrical parameters identification and then fill manually.
Stator quadrature inductance. [H] Obtain from motor manufacturer or use the electrical parameters identification and then fill manually.
Motor electrical constant. Obtain from motor manufacturer or use the Ke identification and then fill manually.
[V.sec/rad]
Drive inertia (motor + plant). Use [kg.m2] the mechanical identification and then fill manually.
Nominal motor current. Obtain [A] from motor manufacturer.
Nominal motor voltage. Obtain [V] from motor manufacturer.
Nominal motor speed. Obtain from motor manufacturer.
[rpm]
Current sensing HW scale. Keep [A] as-is in case of standard NXP HW or recalculate according to own schematic.
DCBus voltage sensing HW
[V]
scale. Keep as-is in case of
standard NXP HW or recalculate
according to own schematic.
DCBus braking resistor
[V]
threshold. Braking resistor’s
transitor is turned on when
DCbus voltage exceeds this
threshold.
DCBus under voltage fault
[V]
threshold
DCBus over voltage fault
[V]
threshold
Over speed fault threshold
[rpm]
Minimal closed loop speed. When the required speed ramps down under this threshold, the motor control state machine goes to freewheel state where top and bottom transistors are turned off and motor speeds down freely. Applies only for sensorless operation.
[rpm]
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
22 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Table 8.Parameters tab inputs…continued
MCAT group
MCAT name
Equation name
E block
Eblock
E block per
EblockPer
Application scales
N max
Nmax
U DCB IIR F0
UdcbIIRf0
Calibration duration CalibDuration
Fault duration
FaultDuration
Freewheel duration FreewheelDuration
Alignment
Scalar Uq min
Align voltage Align duration
ScalarUqMin
AlignVoltage AlignDuration
Description
Unit
Blocked rotor detection. When [V]
BEMF voltage drops under E block threshold for more than E
–
block per (fast loop ticks), the
blocked rotor fault is detected.
Application speed scale. Keep about 10 % margin above N over.
[rpm]
Cut-off frequency of DCBus IIR [Hz] filter
ADC (phase current offset) calibration duration. Done every time transitioning from STOP to RUN.
[sec]
After fault condition disappears, wait defined time to clear pending faults bitfield and transition to STOP state.
[sec]
Free-wheel state duration.
[sec]
Freewheel state in entered when ramped speed drops under N min.
Scalar control voltage minimal [V] value.
Motor alignment voltage.
[V]
Motor alignment duration.
[sec]
Output equations (applies for saving to mX_pmsm_appcofig.h and also for
updating a corresponding FreeMASTER variable):
· M1_U_MAX = UdcbMax / UmaxCoeff · M1_FREQ_MAX = Nmax / 60 Pp ·
M1_ALIGN_DURATION = AlignDuration / speedLoopSampleTime · M1_CALIB_DURATION =
CalibDuration / speedLoopSampleTime · M1_FAULT_DURATION = FaultDuration /
speedLoopSampleTime · M1_FREEWHEEL_DURATION = FreewheelDuration /
speedLoopSampleTime · M1_E_BLOCK_PER = EblockPer · M1_SPEED_ANGULAR_SCALE = 60
/ (Pp 2 pi) · M1_N_MIN = Nmin / 60 (Pp 2 pi) · M1_N_MAX = Nmax / 60
- (Pp 2 pi) · M1_N_ANGULAR_MAX = (60 / (Pp 2 pi)) · M1_N_NOM = Nnom /
60 (Pp 2 pi) · M1_N_OVERSPEED = Nover / 60 (Pp 2 pi) ·
M1_UDCB_IIR_B0 = (2 pi UdcbIIRf0 currentLoopSampleTime) / (2 + (2 pi
UdcbIIRf0
currentLoopSampleTime)) · M1_UDCB_IIR_B1 = (2 pi UdcbIIRf0 currentLoopSampleTime) / (2 + (2 pi UdcbIIRf0
currentLoopSampleTime))
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
23 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
· M1_UDCB_IIR_A1 = -(2 pi UdcbIIRf0 * currentLoopSampleTime – 2) / (2 + (2
- pi UdcbIIRf0 currentLoopSampleTime))
· M1_SCALAR_VHZ_FACTOR_GAIN = UphNomk_factor/100/(NnomPp/60) · M1_SCALAR_INTEG_GAIN = 2piPpNmax/60currentLoopSampleTime/pi · M1_SCALAR_RAMP_UP = speedLoopIncUpcurrentLoopSampleTime/60Pp · M1_SCALAR_RAMP_DOWN = speedLoopIncDowncurrentLoopSampleTime/60Pp
7.3.1.3 Current loop
This tab enables current loop PI controller gains and output limits tuning. All inputs are described in the following table. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.
Table 9.Current loop tab input
MCAT group
MCAT name
Loop parameters Sample time
Equation name currentLoopSampleTime
Current PI controller limits
F0 Output limit
currentLoopF0 currentLoopKsi currentLoopOutputLimit
Description
Unit
Fast control loop period. This [sec] disabled value is read from target via FreeMASTER because application timing is set in embedded code by peripherals setting. This value is accessible only if target is not connected and value cannot be obtained from target.
Current controller’s bandwidth [Hz]
Current controller’s attenuation –
Current controllers’ output
[%]
voltage limit = Duty cycle limit.
Be careful setting this limit above
95 % because it affects current
sensing (Some minimal bottom
transistors on time is required).
Output equations (applies for saving to mX_pmsm_appcofig.h and also for
updating a corresponding FreeMASTER variable):
· M1_CLOOP_LIMIT = currentLoopOutputLimit / UmaxCoeff / 100 · M1_D_KP_GAIN =
(2 currentLoopKsi 2 pi currentLoopF0 Ld) – Rs · M1_D_KI_GAIN = (2
pi currentLoopF0)^2 Ld currentLoopSampleTime / DiscMethodFactor ·
M1_Q_KP_GAIN = (2 currentLoopKsi 2 pi currentLoopF0 Lq) – Rs ·
M1_Q_KI_GAIN = (2 pi currentLoopF0)^2 Lq currentLoopSampleTime /
DiscMethodFactor
7.3.1.4 Speed loop
This tab enables speed loop PI controller gains and output limits tuning,
required speed ramp parameters, feedback speed filter tuning, and position P
controller gain tuning (available at sensored/encoder applications only). MCAT
group and MCAT name help to locate the parameter in MCAT layout. Equation name
represents the input parameter in equations bellow.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
24 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Table 10.Speed loop tab input
MCAT group
MCAT name
Loop parameters Sample time
Equation name speedLoopSampleTime
Speed ramp
F0 Inc up
Inc down
Actual speed filter
Speed PI controller limits
Cut-off freq Upper limit
Lower limit
speedLoopF0 speedLoopKsi speedLoopIncUp speedLoopIncDown speedLoopCutOffFreq
speedLoopUpperLimit
speedLoopLowerLimit
Position P controller constants
PL_Kp
speedLoopPLKp
Description
Unit
Slow control loop period. This [sec] disabled value is read from target via FreeMASTER because application timing is set in embedded code by peripherals setting. This value is accessible only if target is not connected and value cannot be obtained from target.
Speed controller’s bandwidth [Hz]
Speed controller’s attenuation –
Required speed maximal acceleration
[rpm/sec]
Required speed maximal acceleration
[rpm/sec]
Speed feedback (before entering [Hz] PI subtraction) filter bandwidth.
Maximal required Q-axis current [A] (Speed controller’s output). Qaxis current limitation equals to motor torque limitation.
Minimal required Q-axis current [A] (Speed controller’s output). Qaxis current limitation equals to motor torque limitation.
Position controller proportional constant in time domain.
Output equations (applies for saving to mX_pmsm_appcofig.h and also for
updating a corresponding FreeMASTER variable):
· varKt = 3 Ke / (sqrt(3)) · M1_SPEED_PI_PROP_GAIN = (2 pi / 60 (4
speedLoopKsi pi speedLoopF0) J / varKt) · M1_SPEED_PI_INTEG_GAIN = (2
pi / 60 ((2 pi speedLoopF0) (2 pi speedLoopF0) J) / (varKt
10) speedLoopSampleTime) · M1_SPEED_RAMP_UP = (speedLoopIncUp
speedLoopSampleTime / (60 / (Pp 2 pi))) · M1_SPEED_RAMP_DOWN =
(speedLoopIncDown speedLoopSampleTime / (60 / (Pp 2 pi))) ·
M1_SPEED_IIR_B0= (2 pi speedLoopCutOffFreq currentLoopSampleTime) / (2 +
(2 pi
speedLoopCutOffFreq currentLoopSampleTime)) · M1_SPEED_IIR_B1 = (2 pi
speedLoopCutOffFreq currentLoopSampleTime) / (2 + (2 pi
speedLoopCutOffFreq currentLoopSampleTime)) · M1_SPEED_IIR_A1 = -(2 pi
speedLoopCutOffFreq currentLoopSampleTime – 2) / (2 + (2 pi
speedLoopCutOffFreq * currentLoopSampleTime))
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
25 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
7.3.1.5 Sensors
Available at sensored (encoder) applications only. This tab enables setting the encoder properties and tuning encoder’s tracking observer. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.
Table 11.Sensors tab input
MCAT group
MCAT name
Quadrature encoder
Pulse number
Equation name sensorEncPulseNumber
Position observer parameters
Direction
Minimal speed Sample time
sensorEncDir
sensorEncNmin sensorObsrvParSampleTime
F0
sensorObsrvParF0
sensorObsrvParKsi
Description
Unit
Number of quadrature encoder pulses. Obtain this value from encoder manufacturer OR estimate based on speed/ position comparison of Scalar controlled application with encoder processing running on background.
[pulses]
Encoder direction / Phase A&B order.
Encoder minimal speed.
[rpm]
Current control loop sampling [sec] period. This disabled value is read from target via Free MASTER because application timing is set in embedded code by peripherals setting. This value is accessible only if target is not connected and value cannot be obtained from target.
Position observer bandwidth
[Hz]
Position observer attenuation –
Output equations (applies for saving to mX_pmsm_appcofig.h and also for
updating a corresponding FreeMASTER variable):
· M1_POSPE_KP_GAIN = (4.0 pi sensorObsrvParKsi sensorObsrvParF0) ·
M1_POSPE_KI_GAIN = ((2pisensorObsrvParF0)^2 sensorObsrvParSampleTime) ·
M1_POSPE_INTEG_GAIN = (sensorObsrvParSampleTime / pi / DiscMethodFactor) ·
M1_POSPE_ENC_N_MIN = sensorEncNmin · M1_POSPE_MECH_POS_GAIN =
(32768/((sensorEncPulseNumber*4)/2))
7.3.1.6 Sensorless
This tab enables BEMF observer and Tracking observer parameters tuning and open-loop startup tuning. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.
Table 12.Sensorless tab input
MCAT group
MCAT name
BEMF observer F0
parameters
Equation name sensorlessBemfObsrvF0 sensorlessBemfObsrvKsi
Description BEMF observer bandwidth BEMF observer attenuation
Unit [Hz] –
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
26 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Table 12.Sensorless tab input…continued
MCAT group
MCAT name
Equation name
Tracking
F0
observer parameters
sensorlessTrackObsrvF0 sensorlessTrackObsrvKsi
Open loop startup parameters
Startup ramp Startup current Merging Speed
sensorlessStartupRamp sensorlessStartupCurrent sensorlessMergingSpeed
Merging Coefficient sensorlessMergingCoeff
Description Tracking observer bandwidth Tracking observer attenuation
Open loop startup ramp Open loop startup current Merging speed Merging
coefficient (100 % = merging is done within one electrical revolution)
Unit [Hz] –
[rpm/sec] [A] [rpm] [%]
Output equations (applies for saving to mX_pmsm_appcofig.h and also for
updating a corresponding FreeMASTER variable):
· M1_I_SCALE = (Ld / (Ld + currentLoopSampleTime Rs)) · M1_U_SCALE =
(currentLoopSampleTime / (Ld + currentLoopSampleTime Rs)) · M1_E_SCALE =
(currentLoopSampleTime / (Ld + currentLoopSampleTime Rs)) · M1_WI_SCALE =
(Lq currentLoopSampleTime / (Ld + currentLoopSampleTime Rs)) ·
M1_BEMF_DQ_KP_GAIN = ((2 sensorlessBemfObsrvKsi 2 pi
sensorlessBemfObsrvF0 Ld – Rs)) · M1_BEMF_DQ_KI_GAIN = (Ld (2 pi
sensorlessBemfObsrvF0)^ 2 currentLoopSampleTime) · M1_TO_KP_GAIN = 2
sensorlessTrackObsrvKsi 2 pi sensorlessTrackObsrvF0 · M1_TO_KI_GAIN =
((2 pi sensorlessTrackObsrvF0)^ 2) currentLoopSampleTime ·
M1_TO_THETA_GAIN = (currentLoopSampleTime / pi) · M1_OL_START_RAMP_INC =
(sensorlessStartupRamp currentLoopSampleTime / (60 / (Pp 2 pi))) ·
M1_MERG_SPEED_TRH = (sensorlessMergingSpeed / (60 / (Pp 2 pi))) ·
M1_MERG_COEFF = ((sensorlessMergingCoeff / 100) sensorlessMergingSpeed Pp
- currentLoopSampleTime) / 60 · TO_IIR_cutoff_freq = 1 / (2 speedLoopSampleTime) 0.8 · M1_TO_SPEED_IIR_B0 = (2 pi TO_IIR_cutoff_freq
- currentLoopSampleTime) / (2 + (2 pi
TO_IIR_cutoff_freq currentLoopSampleTime)) · M1_TO_SPEED_IIR_B1 = (2 pi TO_IIR_cutoff_freq currentLoopSampleTime) / (2 + (2 pi
TO_IIR_cutoff_freq currentLoopSampleTime)) · M1_TO_SPEED_IIR_A1 = -(2 pi TO_IIR_cutoff_freq currentLoopSampleTime – 2) / (2 + (2 pi
TO_IIR_cutoff_freq * currentLoopSampleTime))
7.4 Motor Control Modes – How to run motor
In the “Project Tree”, you can choose between the scalar and FOC control using
the appropriate FreeMASTER tabs. The FreeMASTER variables can control the
application, corresponding to the control structure selected in the FreeMASTER
project tree. This is useful for application tuning and debugging. The
required control structure must be selected in the “M1 MCAT Control” variable.
To turn on or off the application, use “M1 Application Switch” variable.
Set/clear “M1 Application Switch” variable also enables/disables all PWM
channels.
Before motor starts, several conditios have to be completed:
1. Connected power supply to the inverter with the correct voltage value. 2.
If you want to use sensored control (encoder feedback), connect the encoder to
the inverter.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
27 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
3. No pending fault. Check variable “M1 Fault Pending” in “Motor M1” project tree subblock. If there is some value, first remove the cause of the fault, or disable fault checking. (for example in variable “M1 Fault Enable Blocked Rotor”)
7.4.1 Scalar control
The scalar control diagram is shown in figure below. It is the simplest type
of motor-control techniques. The ratio between the magnitude of the stator
voltage and the frequency must be kept at the nominal value. Therefore, the
control method is sometimes called Volt per Hertz (or V/Hz). The position
estimation BEMF observer and tracking observer algorithms run in the
background, even if the estimated position information is not directly used.
This is useful for the BEMF observer tuning. For more information, see the
Sensorless PMSM FieldOriented Control (document DRM148).
VDC
Ud_req = 0 Um = Uq_req
dq
U_req
U_req
SVM
VSI PMSM
e
Frequency
2 e
Sensor
Integrator
Figure 16.Scalar control mode
For run motor in scalar control, follow these steps:
1. Switch project tree subblock on “Scalar & Voltage Control”. 2. Switch
variable “M1 MCAT Control” on “SCALAR_CONTROL”. 3. In variable “M1 Scalar Freq
Required” set required frequency. (i.e. 20Hz) 4. Set variable “M1 Application
Switch” to “1”. Motor start spinning. 5. Observe motor speed, position, phase
currents and other graphs predefined in subblock scopes and
recorders.
7.4.2 Open loop control mode
Open loop mode (its diagram is shown in figure below) is similar in function
to the Scalar control mode. However, it provides more flexibility in
specifying required parameters. This mode allows you to set specific angle and
frequency, according to the following equation:
(4)
Besides setting voltage in DQ axis, when using this mode you can also enable current controllers and specify required currents in D and Q axis. Therefore, this function can be utilized for current controller parameter tuning. Please, bear in mind that current controllers cannot be enabled/disabled in SPIN state (user must turn the Application Switch OFF before enabling/disabling current controllers).
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
28 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Ud_req Uq_req
init
dq
U_req
U_req
SVM
e
VDC VSI
PMSM
Sensor
Frequency
2 e
Integrator
Figure 17.Voltage – Open loop control For run motor in Voltage – Open loop
control, follow these steps:
1. Switch project tree subblock on “Openloop Control”. 2. Switch variable “M1
MCAT Control” on “OPEN_LOOP”. 3. In variable “M1 Openloop Required Ud” and “M1
Openloop Required Uq” set required values. 4. In variable “M1 Openloop Theta
Electrical” set required initial position. 5. In variable “M1 Openloop
Required Frequency Electrical” set required frequency. 6. Set variable “M1
Application Switch” to “1”. Motor start spinning. 7. Observe motor speed,
position, phase currents and other graphs predefined in subblock scopes and
recorders.
Id_req Iq_req
Ud_req PI controller
Uq_req PI controller id_real iq_real
VDC
dq
U_req
SVM
VSI
U_req
e
dq
i_real i_real
abc
ia_real ib_real ic_real
PMSM Sensor
e init
Frequency
2 e
Integrator
Figure 18.Current – Open loop control
For run motor in Current – Open loop control, follow these steps:
1. Switch project tree subblock on “Openloop Control”. 2. Switch variable “M1
MCAT Control” on “OPEN_LOOP”. 3. Set variable “M1 Openloop Use I Control” to
“1”.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
29 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
4. In variable “M1 Openloop Required Id” and “M1 Openloop Required Iq” set
required values. 5. In variable “M1 Openloop Theta Electrical” set required
initial position. 6. In variable “M1 Openloop Required Frequency Electrical”
set required frequency. 7. Set variable “M1 Application Switch” to “1”. Motor
start spinning. 8. Observe motor speed, position, phase currents and other
graphs predefined in subblock scopes and
recorders.
7.4.3 Voltage control
The block diagram of the voltage FOC is shown in Figure 19. Unlike the scalar
control, the position feedback is closed using the BEMF observer and the
stator voltage magnitude is not dependent on the motor speed. Both the d-axis
and q-axis stator voltages can be specified in the “M1 MCAT Ud Required” and
“M1 MCAT Uq Required” fields. This control method is useful for the BEMF
observer functionality check.
VDC
Udreq Uq req
dq
U_req
U_req
SVM
VSI PMSM
e
Position/speed evaluation
Sensor
Figure 19.Voltage FOC control mode
For run motor in voltage control, follow these steps:
1. Switch project tree subblock on “Scalar & Voltage Control”. 2. Switch
variable “M1 MCAT Control” on “VOLTAGE_FOC”. 3. In variable “M1 MCAT Uq
Required” and “M1 MCAT Ud Required” set required voltages. 4. Set variable “M1
Application Switch” to “1”. Motor start spinning. 5. Observe motor speed,
position, phase currents and other graphs predefined in subblock scopes and
recorders.
7.4.4 Current (torque) control
The current FOC (or torque) control requires the rotor position feedback and
the currents transformed into a dq reference frame. There are two reference
variables (“M1 MCAT Id Required” and “M1 MCAT Iq Required”) available for the
motor control, as shown in Figure 20. The d-axis current component “M1 MCAT Id
Required” controls the rotor flux. The q-axis current component of the current
“M1 MCAT Iq Required” generates torque and, by its application, the motor
starts running. By changing the polarity of the current “M1 MCAT Iq Required”,
the motor changes the direction of rotation. Supposing the BEMF observer is
tuned correctly, the current PI controllers can be tuned using the current FOC
control structure.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
30 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Id_req Iq_req
Ud_req PI controller
Uq_req PI controller id_real iq_real
VDC
dq
U_req
SVM
VSI
U_req
e
dq
i_real i_real
abc
ia_real ib_real ic_real
PMSM Sensor
e
Position/speed evaluation
Figure 20.Current (torque) control mode
For run motor in current control, follow these steps:
1. Switch project tree subblock on “Current Control”. 2. Switch variable “M1
MCAT Control” on “CURRENT_FOC”. 3. In variable “M1 MCAT Iq Required” and “M1
MCAT Id Required” set required currents. 4. Set variable “M1 Application
Switch” to “1”. Motor start spinning. 5. Observe motor speed, position, phase
currents and other graphs predefined in subblock scopes and
recorders.
7.4.5 Speed FOC control
As shown in Figure 21, the speed PMSM sensor/sensorless FOC is activated by enabling the speed FOC control structure. Enter the required speed into the “M1 Speed Required” field. The d-axis current reference is held at 0 during the entire FOC operation.
Id_req
e_req
Iq _ re q PI controller
Udreq PI controller
Uq req PI controller
dq
U_req
U_req
SVM
e
VDC VSI
PMSM Sensor
id_real iq_real
dq
i_real i_real
abc
ia_real ib_real ic_real
e_real
e
Position/speed evaluation
Figure 21.Speed FOC control mode For run motor in speed FOC control, follow these steps:
1. Switch project tree subblock on “Speed Control”.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
31 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
2. Switch variable “M1 MCAT Control” on “SPEED_FOC”.
3. Choose between sensored and sensorless control in variable “M1 MCAT POSPE
Sensor”.
4. In variable “M1 Speed Required” set the required speed. (i.e. 1000rpm).
The motor automatically starts spinning.
5. Observe motor speed, position, phase currents and other graphs predefined
in subblock scopes and recorders.
7.4.6 Position (servo) control
The position of PMSM sensor FOC is shown in Figure 22 (available for sensored/encoder based applications only). The position control using the P controller can be tuned in the “Speed loop” menu tab. An encoder sensor is required for the feedback. Without the sensor, the position control does not work. A braking resistor is missing on the FRDM-MC-LVPMSM board. Therefore, it is necessary to set a soft speed ramp (in the “Speed loop” menu tab) because the voltage on the DC-bus can rise when braking the quickly spinning shaft. It may cause an overvoltage fault.
Id_req
m_req
e_req P controller
Iq_req PI controller
Ud_req PI controller
Uq_req PI controller
dq
U_req
U_req
SVM
e
VDC VSI
PMSM Sensor
idreal iq re al
dq
i_real i_real
abc
ia_real ib_real ic_real
m_real
e_real
e
Position/speed evaluation
Figure 22.Position control mode
For run motor in position (servo) control, follow these steps:
1. Switch project tree subblock on “Position Control”. 2. Switch variable “M1
MCAT Control” on “POSITION_CNTRL”. 3. Swich variable “M1 MCAT POSPE Sensor” to
“Encoder [1]”. 4. In variable “M1 Position Required” set the required psition.
(i.e. 10 revs). 5. Set variable “M1 Application Switch” to “1”. The motor
starts and automatically stops in the required
position. 6. Change “M1 Encoder Direction” if the motor does not spin. (See
chapter Section 7.10.1) 7. Observe motor speed, position, phase currents and
other graphs predefined in subblock scopes and
recorders.
7.5 Faults explanation
When the motor is running or during the tuning process, there may be several
fault conditions. Therefore, the motor-control example has an integrated fault
indication located in the variable watch of the “Motor M1” FreeMASTER
subblock. If a fault is indicated, state machine enters the FAULT state.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
32 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 23.Faults in variable watch located in “Motor M1” subblock
7.5.1 Variable “M1 Fault Pending”
It shows actually persisting faults, which means that the fault indicated
during fault conditions is accomplished. For example, if the source voltage is
still under the undervoltage fault threshold, the undervoltage pending fault
is shown. If the fault condition disappears, the fault pending is cleared
automatically. “M1 Fault Pending” is shown in a binary format in the
FreeMASTER variable watch. Each place in the variable denotes a different
fault condition.
· b 0000 0001 – the overcurrent fault is indicated. If the overcurrent fault
is present, the PWMs are automatically disabled. The fault occurs when the DC-
Bus current exceeds the Imax value (current-sensing HW scale).
· b 0000 0010 – the undervoltage fault is indicated. The undervoltage fault
occurs when the UDCBus voltage (source voltage) is lower than the U DCB under
threshold.
· b 0000 0100 – the overvoltage fault is indicated. The overvoltage fault
occurs when the UDCBus voltage (source voltage) is higher than the U DCB over
threshold.
· b 0000 1000 – the overload fault is indicated. The overload fault occurs
when the rotor is overloaded. · b 0001 0000 – the overspeed fault is
indicated. The overspeed fault occurs when the rotor speed exceeds the
N over threshold. · b 0010 0000 – the block rotor fault is indicated. The
block rotor fault occurs when the back-EMF voltage is
lower than the E block threshold and the duration of the drop is longer than E
block per.
Figure 24.Undervoltage fault is indicated (pending)
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
33 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
7.5.2 Variable “M1 Fault Captured”
If any fault condition appears, the fault captured is indicated. Similar to
fault pending, fault captured is shown in the BIN format, but every fault type
has its own variable (“M1 Fault Captured Over Curent” and others). For
example, if the undervoltage fault condition is accomplished, fault captured
is indicated. Fault captured is also indicated after the undervoltage fault
condition disappears. The captured faults are cleared manually by writing
“Clear [1]” to “M1 Fault Clear”.
Figure 25.Undervoltage fault is captured
7.5.3 Variable “M1 Fault Enable”
The fault indication can be unwanted during the tuning process. Therefore, the
fault indication can be disabled by writing “Disabled [0]” to the “M1 Fault
Enable” variables. Note: The overcurrent fault cannot be disabled. Note: Fault
thresholds are located in the “MCAT parameters” tab.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
34 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
7.6 Initial motor parameters and harware configuration
Motor control examples contain two or more configuration files:
m1_pmsm_appconfig.h, m2_pmsm_appconfig.h, and so on. Each contains constants
tuned for the selected motor (Linix 45ZWN24-40 or Teknic M-2310P for the
Freedom development platform and Mige 60CST-MO1330 for the High-voltage
platform). The initial motor parameters and the hardware configuration
(inverter) are to MCAT loaded from m1_pmsm_appconfig.h configuration file.
There are tree ways to change motor configuration corresponding to the
connected motor.
1. The first way is rename the configuration file:
· In the project example folder, find configuration file to be used. · Rename
this configuration file to m1_pmsm_appconfig.h. · Rebuild project and load the
code to the MCU. 2. The second way is to change motor configuration, as
described in Section 7.3.
3. The last way is change motor and hardware parameters manually:
· Open the PMSM control application FreeMASTER project containing the
dedicated MCAT plug-in module. · Select the “Parameters” tab. · Specify the
parameters manually. The motor parameters can be obtained from the motor data
sheet
or using the PMSM parameters measurement procedure described in PMSM
Electrical Parameters Measurement (document AN4680). All parameters provided
in Table 13 are accessible. The motor inertia J expresses the overall system
inertia and can be obtained using a mechanical measurement. The J parameter is
used to calculate the speed controller constant. However, the manual
controller tuning can also be used to calculate this constant.
Table 13.MCAT motor parameters Parameter
Units
Description
Typical range
pp
[-]
Motor pole pairs
1-10
Rs
[]
1-phase stator resistance 0.3-50
Ld
[H]
1-phase direct inductance 0.00001-0.1
Lq
[H]
1-phase quadrature
0.00001-0.1
inductance
Ke
[V.sec/rad]
BEMF constant
0.001-1
J
[kg.m2]
System inertia
0.00001-0.1
Iph nom
[A]
Motor nominal phase current
0.5-8
Uph nom
[V]
Motor nominal phase voltage
10-300
N nom
[rpm]
Motor nominal speed
1000-2000
· Set the hardware scales–the modification of these two fields is not required
when a reference to the standard power stage board is used. These scales
express the maximum measurable current and voltage analog quantities.
· Check the fault limits–these fields are calculated using the motor
parameters and hardware scales (see Table 14).
Table 14.Fault limits Parameter
U DCB trip
[V]
Units
Description
Voltage value at which the external braking resistor switch turns on
Typical range U DCB Over ~ U DCB max
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
35 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Table 14.Fault limits…continued Parameter
Units
Description
Typical range
U DCB under
[V]
Trigger value at which the undervoltage fault is detected
0 ~ U DCB Over
U DCB over
[V]
Trigger value at which the U DCB Under ~ U max overvoltage fault is detected
N over
[rpm]
Trigger value at which the N nom ~ N max overspeed fault is detected
N min
[rpm]
Minimal actual speed value (0.05~0.2) *N max for the sensorless control
· Check the application scales–these fields are calculated using the motor parameters and hardware scales (see Table 15).
Table 15.Application scales Parameter
Units
Description
Typical range
N max
[rpm]
Speed scale
1.1 * N nom
E block
[V]
BEMF scale
ke* Nmax
kt
[Nm/A]
Motor torque constant
–
· Check the alignment parameters–these fields are calculated using the motor
parameters and hardware scales. The parameters express the required voltage
value applied to the motor during the rotor alignment and its duration.
· To save the modified parameters into the inner file, click the “Store data”
button.
7.7 Identifying parameters of user motor
Because the model-based control methods of the PMSM drives provide high
performance (for example, dynamic response, efficiency), obtaining an accurate
model of a motor is an important part of the drive design and control. For the
implemented FOC algorithms, it is necessary to know the value of the stator
resistance Rs, direct inductance Ld, quadrature inductance Lq, and BEMF
constant Ke. Unless the default PMSM motor described above is used, the motor
parameter identification is the first step in the application tuning. This
section shows how to identify user motor parameters using MID. MID is written
in floating-point arithmetics. Each MID algorithm is detailed in Section 7.8.
MID is controlled via the FreeMASTER “Motor Identification” page shown in
Figure 26.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
36 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 26.MID FreeMASTER control
7.7.1 Switch between Spin and MID Users can switch between two modes of
application: Spin and MID (Motor Identification). Spin mode is used for
control PMSM (see Section 7.3). MID mode is used for motor parameters
identification (see Section 7.7.2). The actual mode of application is shown in
APP: State variable. The mode is changed by writing one to APP: MID to Spin
request or APP: Spin to MID request variables. The transition between Spin and
MID can be done only if the actual mode is in a defined stop state (for
example, MID not in progress or motor stopped). The result of the change mode
request is shown in APP: Fault variable. MID fault occurs when parameters
identification still runs, or the MID state machine is in the fault state. A
spin fault occurs when M1 Application switch variable watch is ON, or M1
Application state variable watch is not STOP.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
37 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
7.7.2 Motor parameter identification using MID
The whole MID is controlled via the FreeMASTER “Variable Watch”. The Motor
Identification (MID) subblock is shown in Figure 26. Following is the motor
parameter identification workflow:
1. Set the MID: Command variable to STOP. 2. Select the measurement type that
you want to perform via the MID: Measurement Type variable:
· PP_ASSIST – Pole-pair identification assistant · EL_PARAMS – Electrical
parameters measurement · Ke – BEMF constant measurement · MECH_PARAMS –
Mechanical parameters measurement 3. Insert the known motor parameters via the
MID: Known Param set of variables. All parameters with a nonzero known value
are used instead of measured parameters (if necessary). 4. Set the measurement
configuration parameters in the MID: Config set of variables. 5. Start the
measurement by setting MID: Command to RUN. 6. Observe the MID Start Result
variable for the MID measurement plan validity (see Table 18) and the actual
MID: State, MID: Faults (see Table 16), and MID: Warnings (see Table 17)
variables. 7. If the measurement finishes successfully, the measured motor
parameters are shown in the MID: Measured set of variables and MID: State goes
to STOP.
7.7.3 MID faults and warnings
The MID faults and warnings are saved in the format of masks in the MID:
Faults and MID: Warnings variables. Faults and warnings are cleared
automatically when starting a new measurement. If a MID fault appears, the
measurement process immediately stops and brings the MID state machine safely
to the STOP state. If a MID warning appears, the measurement process
continues. Warnings report minor issues during the measurement process. For
more details on individual faults and warnings, see Table 16 and Table 17.
Table 16.Measurement faults Fault mask
Fault description
b#0001
Electrical parameters measurement fault
b#0010
Mechanical measurement timeout
Fault reason
Troubleshooting
Some required value
Check whether measurement
cannot be reached or wrong configuration is valid
measurement configuration
Some part of the mechanical measurement (acceleration, deceleration) took too long and exceeded 10 seconds
Raise the MID: Config Mech Iq Accelerate or lower the MID: Config Mech Iq Decelerate
Table 17.Measurement warnings
Warning mask
Warning description
b#0001
Ke is out of range
Warning reason
Troubleshooting
The measured Ke is negative Visually check whether the motor was spinning properly during the Ke measurement
The MID measurement plan is checked after starting the measurement process. If a necessary parameter is not scheduled for the measurement and not set manually, the MID is not started and an error is reported via the MID: Start Result variable.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
38 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Table 18.MID Start Result variable MID Start Result mask
b#00 0001
b#00 0010
b#00 0100
b#00 1000
b#01 0000
b#10 0000
Description Error during initialization electrical parameters measurement The
Rs value is missing
The Ld value is missing
The Lq value is missing
The Ke value is missing
The Pp value is missing
Troubleshooting
Check whether inputs to the MCAA_ EstimRLInit_FLT are valid
Schedule electrical measurement or enter Rs value manually
Schedule electrical measurement or enter Ld value manually
Schedule electrical measurement or enter Lq value manually Schedule Ke for
measurement or enter its value manually Enter the Pp value manually
7.8 MID algorithms
This section describes how each MID algorithm works.
7.8.1 Stator resistance measurement The stator resistance Rs is averaged from
the DC steps generated by the algorithm. The DC step levels are automatically
derived from the currents inserted by the user. For more details, refer to the
documentation of AMCLIB_EstimRL function from AMMCLib.
7.8.2 Stator inductances measurement Injection of the AC-DC currents is used
for the inductances (Ld and Lq) estimation. Injected AC-DC currents are
automatically derived from the currents inserted by the user. The default AC
current frequency is 500 Hz. For more detail, refer to the documentation of
AMCLIB_EstimRL function from AMMCLib.
7.8.3 BEMF constant measurement Before the actual BEMF constant Ke
measurement, the BEMF and Tracking observers parameters are recalculated from
the previously measured or manually set Rs, Ld, and Lq parameters. To measure
Ke, the motor must spin. During the measurement, the motor is open-loop driven
at the user-defined frequency MID: Config Ke Freq El. Required with the user-
defined current MID: Config Ke Id Required value. When the motor reaches the
required speed, the BEMF voltages obtained by the BEMF observer are filtered
and Ke is calculated:
(5)
When Ke is being measured, you must visually check whether the motor is
spinning properly. If the motor is not spinning properly, perform the steps
below:
· Ensure that the number of pp is correct. The required speed for the Ke
measurement is also calculated from pp. Therefore, inaccuracy in pp causes
inaccuracy in the resulting Ke.
· Increase MID: Config Ke Id Required variable to produce higher torque when
spinning during the open loop. · Decrease MID: Config Ke Freq El. Required
variable to decrease the required speed for the Ke measurement.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
39 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
7.8.4 Number of pole-pair assistant
The number of pole-pairs can only be measured with a position sensor. However,
there is a simple assistant to determine the number of pole-pairs (PP_ASSIST).
The number of the pp assistant performs one electrical revolution, stops for a
few seconds, and then repeats. Because the pp value is the ratio between the
electrical and mechanical speeds, it can be determined as the number of stops
per one mechanical revolution. It is recommended to refrain from counting the
stops during the first mechanical revolution because the alignment occurs
during the first revolution and affects the number of stops. During the
PP_ASSIST measurement, the current loop is enabled, and the Id current is
controlled to MID: Config Pp Id Meas. The electrical position is generated by
integrating the open-loop frequency MID: Config Pp Freq El. Required. If the
rotor does not move after the start of PP_ASSIST assistant, stop the
assistant, increase MID: Config Pp Id Meas, and restart the assistant.
7.8.5 Mechanical parameters measurement
The moment of inertia J and the viscous friction B can be identified using a
test with the known generated torque T and the loading torque Tload.
(6)
The m character in the equation is the mechanical speed. The mechanical
parameter identification software uses the torque profile. The loading torque
is (for simplicity reasons) said to be 0 during the whole measurement. Only
the friction and the motor-generated torque are considered. During the
measurement phase, the constant torque Tmeas is applied and the motor
accelerates to 50 % of its nominal speed in time t1. These integrals are
calculated during the period from t0 (the speed estimation is accurate enough)
to t1:
(7)
(8)
During the second phase, the rotor decelerates freely with no generated
torque, only by friction. This enables you to measure the mechanical time
constant m=J/B as the time the rotor decelerates from its original value by 63
%. The final mechanical parameter estimation can be calculated by integrating:
(9)
The moment of inertia is: (10)
The viscous friction is then derived from the relation between the mechanical
time constant and the moment of inertia. To use the mechanical parameters
measurement, the current control loop bandwidth f0,Current, the speed control
loop bandwidth f0,Speed, and the mechanical parameters measurement torque Trqm
must be set.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
40 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 27.PMSM identification tab
7.9 Electrical parameters measurement control
This section describes how to control electrical parameters measurement, which
contains measuring stator resistance Rs, direct inductance Ld, and quadrature
inductance Lq. There are available 4 modes of measurement which MID: Config El
Mode Estim RL variable can select.
Function MCAA_EstimRLInit_FLT must be called before the first use of
MCAA_EstimRL_FLT. Function MCAA_EstimRL_FLT must be called periodically with
sampling period F_SAMPLING, which can be defined by the user. Maximum sampling
frequency F_SAMPLING is 10 kHz. In the scopes under “Motor identification”,
FreeMASTER subblock can be observed in measured currents, estimated
parameters, and so on.
7.9.1 Mode 0
This mode is automatic. Inductances are measured at a single operating point.
The rotor is not fixed. The user has to specify nominal current (MID: Config
El I DC nominal variable). The AC and DC currents are automatically derived
from the nominal current. The frequency of the AC signal is set to 500 Hz. The
function outputs stator resistance Rs, direct inductance Ld, and quadrature
inductance Lq.
7.9.2 Mode 1
DC stepping is automatic in this mode. The rotor is not fixed. Compared to the
Mode 0, an automatic measurement of the inductances for a defined number
(NUM_MEAS) of different DC current levels is performed using positive values
of the DC current. The Ldq dependency map can be seen in the “Inductances (Ld,
Lq)” recorder. The user has to specify the following parameters before
parameters estimation:
· MID: Config El I DC (estim Lq) – Current to determine Lq. In most cases,
nominal current.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
41 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
· MID: Config El I DC positive max – Maximum positive DC current for the Ldq
dependency map measurement.
Injected AC and DC currents are automatically derived from the MID: Config El
I DC (estim Lq) and MID: Config El I DC positive max currents. The frequency
of the AC signal is set to 500 Hz.
The function outputs stator resistance Rs, direct inductance Ld, quadrature
inductance Lq, and Ldq dependency map.
7.9.3 Mode 2
DC stepping is automatic in this mode. The rotor must be mechanically fixed
after initial alignment with the first phase. Compared to the Mode 1, an
automatic measurement of the inductances for a defined number (NUM_MEAS) of
different DC current levels is performed using both positive and negative
values of the DC current. The estimated inductances can be seen in the
“Inductances (Ld, Lq)” recorder. The user has to specify following parameters
before parameters estimation:
· MID: Config El I DC (estim Ld) – Current to determine Ld. In most cases, 0
A. · MID: Config El I DC (estim Lq) – Current to determine Lq. In most cases,
nominal current. · MID: Config El I DC positive max – Maximum positive DC
current for the Ldq dependency map measurement.
In most cases, nominal current. · MID: Config El I DC negative max – Maximum
negative DC current for the Ldq dependency map
measurement.
Injected AC and DC currents are automatically derived from the MID: Config El
I DC (estim Ld), MID: Config El I DC (estim Lq), MID: Config El I DC positive
max, and MID: Config El I DC negative max currents. The frequency of the AC
signal is set to 500 Hz.
The function outputs stator resistance Rs, direct inductance Ld, quadrature
inductance Lq, and Ldq dependency map.
7.9.4 Mode 3
This mode is manual. The rotor must be mechanically fixed after alignment with
the first phase. Rs is not calculated at this mode. The estimated inductances
can be observed in the “Ld” or “Lq” scopes. The following parameters can be
changed during the runtime:
· MID: Config El DQ-switch – Axis switch for AC signal injection (0 for
injection AC signal to d-axis, 1 for injection AC signal to q-axis).
· MID: Config El I DC req (d-axis) – Required DC current in d-axis. · MID:
Config El I DC req (q-axis) – Required DC current in q-axis. · MID: Config El
I AC req – Required AC current injected to the d-axis or q-axis. · MID: Config
El I AC frequency – Required frequency of the AC current injected to the
d-axis or q-axis.
7.10 Control parameters tuning
To check correct current measuring and proper working of back EMF observer,
follow the steps below:
1. Select the scalar control in the “M1 MCAT Control” FreeMASTER variable
watch. 2. Set the “M1 Application Switch” variable to “ON”. The application
state changes to “RUN”. 3. Set the required frequency value in the “M1 Scalar
Freq Required” variable; for example, 15 Hz in the
“Scalar & Voltage Control” FreeMASTER project tree. The motor starts running.
4. Select the “Phase Currents” recorder from the “Scalar & Voltage Control”
FreeMASTER project tree. 5. The optimal ratio for the V/Hz profile can be
found by changing the V/Hz factor directly using the “M1 V/Hz
factor” variable. The shape of the motor currents should be close to a
sinusoidal shape (Figure 28). Use the following equation for calculating V/Hz
factor:
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
42 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
(11)
Where, Uphnom = nominal voltage kfactor = ratio within range 0-100% pp = number of pole-pairs Nnom = nominal revolutions Note: Changes V/Hz factor is not propagated to the m1_pmsm_appconfig.h.
Figure 28.Phase currents
6. Select the “Position” recorder to check the observer functionality. The
difference between the “Position Electrical Scalar” and the “Position
Estimated” should be minimal (see Figure 29) for the Back-EMF position and
speed observer to work properly. The position difference depends on the motor
load. The higher the load, the bigger the difference between the positions due
to the load angle.
Figure 29.Generated and estimated positions 7. If an opposite speed direction
is required, set a negative speed value into the “M1 Scalar Freq Required”
variable. 8. The proper observer functionality and the measurement of analog
quantities is expected at this step.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
43 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
9. Enable the voltage FOC mode in the “M1 MCAT Control” variable while the
main application switch “M1 Application Switch” is turned off.
10. Switch on the main application switch on and set a non-zero value in the
“M1 MCAT Uq Required” variable. The FOC algorithm uses the estimated position
to run the motor.
7.10.1 Encoder sensor setting
The encoder sensor settings are in the “Sensors” tab. The encoder sensor
enables you to compute speed and position for the sensored speed. For a proper
encoder counting, set the number of encoder pulses per one revolution and the
proper counting direction. The number of encoder pulses is based on
information about the encoder from its manufacturer. If the encoder sensor has
more pulses per revolution, the speed and position computing is more accurate.
The counting direction is provided by connecting the encoder signals to the
NXP Freedom board and also by connecting the motor phases.
To determine the direction of rotation, follow the steps below:
1. Navigate to the “Scalar & Voltage Control” tab in the project tree and
select “SCALAR_CONTROL” in the “M1 MCAT Control” variable.
2. Turn on the application switch. The application state changes to “RUN”. 3.
Set the required frequency value in the “M1 Scalar Freq Required” variable;
for example, 15 Hz. The motor
starts running. 4. Check the encoder direction. Select the “Encoder Direction
Scope” from the “Scalar & Voltage Control”
project tree. If the encoder direction is right, the estimated speed is equal
to the measured mechanical speed. If the measured mechanical speed is opposite
to the estimated speed, the direction must be changed. The first way is to
change “M1 Encoder Direction” variable – only 0 or 1 value is allowed. The
second way is invert the encoder wires–phase A and phase B (or the other way
round).
Figure 30.Encoder direction–right direction
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
44 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 31.Encoder direction–wrong direction
7.10.2 Alignment tuning
For the alignment parameters, navigate to the “Parameters” MCAT tab. The
alignment procedure sets the rotor to an accurate initial position and enables
you to apply full startup torque to the motor. A correct initial position is
needed mainly for high startup loads (compressors, washers, and so on). The
alignment aims to have the rotor in a stable position, without any
oscillations before the startup.
· The alignment voltage is the value applied to the d-axis during the
alignment. Increase this value for a higher shaft load.
· The alignment duration expresses the time when the alignment routine is
called. Tune this parameter to eliminate rotor oscillations or movement at the
end of the alignment process.
7.10.3 Current loop tuning
The parameters for the current D, Q, and PI controllers are fully calculated
using the motor parameters and no action is required in this mode. If the
calculated loop parameters do not correspond to the required response, the
bandwidth and attenuation parameters can be tuned.
1. Select “Openloop Control” in the FreeMASTER project tree, set “M1 MCAT
Control” to “OPENLOOP_CTRL” and switch “M1 Openloop Use I Control” on.
2. Turn the application on by switching “M1 Application Switch” on and then
set “M1 Openloop Requred Id” for rotor alignment. (Rotor alignment always uses
Id, even when you are tuning the Q axis regulator)
3. Mechanically lock the motor schaft and turn the application off. 4. Set
the required loop bandwidth and attenuation in MCAT “Current loop” tab and
then click the “Update
target” button. The tuning loop bandwidth parameter defines how fast the loop
response is while the tuning loop attenuation parameter defines the actual
overshoot magnitude. 5. Select “Current Controller Id” recorder in project
tree, turn the application on and set the required step amplitude in “M1
Openloop Requred Id”. Observe the step response in the recorder. 6. Tune the
loop bandwidth and attenuation until you achieve the required response. The
example waveforms show the correct and incorrect settings of the current loop
parameters: · The loop bandwidth is low (100 Hz) and the settling time of the
Id current is long (Figure 1).
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
45 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 32.Slow step response of the Id current controller · The loop bandwidth (300 Hz) is optimal and the response time of the Id current is sufficient (see Figure 2).
Figure 33.Optimal step response of the Id current controller
· The loop bandwidth is high (700 Hz) and the response time of the Id current
is very fast, but with oscillations and overshoot (see Figure 3).
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
46 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 34.Fast step response of the Id current controller
7.10.4 Speed ramp tuning
To tune speed ramp parameters, follow the steps below:
1. The speed command is applied to the speed controller through a speed ramp.
The ramp function contains two increments (up and down) which express the
motor acceleration and deceleration per second. If the increments are very
high, they can cause an overcurrent fault during acceleration and an
overvoltage fault during deceleration. In the “Speed” scope, you can see
whether the “Speed Actual Filtered” waveform shape equals the “Speed Ramp”
profile.
2. The increments are common for the scalar and speed control. The increment
fields are in the “Speed loop” tab and accessible in both tuning modes.
Clicking the “Update target” button applies the changes to the MCU. An example
speed profile is shown in Figure 35. The ramp increment down is set to 500
rpm/sec and the increment up is set to 3000 rpm/sec.
3. The startup ramp increment is in the “Sensorless” tab and its value is
higher than the speed loop ramp.
Figure 35.Speed profile
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
47 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
7.10.5 Open loop startup
To tune open loop startup parameters, follow the steps below:
1. The startup process can be tuned by a set of parameters located in the
“Sensorless” tab. Two of them (ramp increment and current) are accessible in
both tuning modes. The startup tuning can be processed in all control modes
besides the scalar control. Setting the optimal values results in a proper
motor startup. An example startup state of low-dynamic drives (fans, pumps) is
shown in Figure 36.
2. Select the “Startup” recorder from the FreeMASTER project tree. 3. Set the
startup ramp increment typically to a higher value than the speed-loop ramp
increment. 4. Set the startup current according to the required startup
torque. For drives such as fans or pumps, the
startup torque is not very high and can be set to 15 % of the nominal current.
5. Set the required merging speed. When the open-loop and estimated position
merging starts, the threshold is
mostly set in the range of 5 % ~ 10 % of the nominal speed. 6. Set the merging
coefficient–in the position merging process duration, 100 % corresponds to a
one of an
electrical revolution. The higher the value, the faster the merge. Values
close to 1 % are set for the drives where a high startup torque and smooth
transitions between the open loop and the closed loop are required. 7. To
apply the changes to the MCU, click the “Update Target” button. 8. Select
“SPEED_FOC” in the “M1 MCAT Control” variable. 9. Set the required speed
higher than the merging speed. 10. Check the startup response in the recorder.
11. Tune the startup parameters until you achieve an optimal response. 12. If
the rotor does not start running, increase the startup current. 13. If the
merging process fails (the rotor is stuck or stopped), decrease the startup
ramp increment, increase the merging speed, and set the merging coefficient to
5 %.
Figure 36.Motor startup
7.10.6 BEMF observer tuning
The bandwidth and attenuation parameters of the BEMF and tracking observer can
be tuned. To tune the bandwidth and attenuation parameters, follow the steps
below:
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
48 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
1. Navigate to the “Sensorless” MCAT tab. 2. Set the required bandwidth and
attenuation of the BEMF observer. The bandwidth is typically set to a value
close to the current loop bandwidth. 3. Set the required bandwidth and
attenuation of the tracking observer. The bandwidth is typically set in the
range of 10 20 Hz for most low-dynamic drives (fans, pumps). 4. To apply the
changes to the MCU, click the “Update target” button. 5. Select the “Observer”
recorder from the FreeMASTER project tree and check the observer response in
the
“Observer” recorder.
7.10.7 Speed PI controller tuning
The motor speed control loop is a first-order function with a mechanical time
constant that depends on the motor inertia and friction. If the mechanical
constant is available, the PI controller constants can be tuned using the loop
bandwidth and attenuation. Otherwise, the manual tuning of the P and I
portions of the speed controllers is available to obtain the required speed
response (see Figure 37). There are dozens of approaches to tune the PI
controller constants. To set and tune the speed PI controller for a PM
synchronous motor, follow the steps below:
1. Select the “Speed Controller” option from the FreeMASTER project tree. 2.
Select the “Speed loop” tab. 3. Check the “Manual Constant Tuning” option–that
is, the “Bandwidth” and “Attenuation” fields are disabled
and the “SL_Kp” and “SL_Ki” fields are enabled. 4. Tune the proportional gain:
· Set the “SL_Ki” integral gain to 0. · Set the speed ramp to 1000 rpm/sec (or
higher). · Run the motor at a convenient speed (about 30 % of the nominal
speed). · Set a step in the required speed to 40 % of Nnom. · Adjust the
proportional gain “SL_Kp” until the system responds to the required value
properly and without
any oscillations or excessive overshoot: If the “SL_Kp” field is set low,
the system response is slow. If the “SL_Kp” field is set high, the system
response is tighter. When the “SL_Ki” field is 0, the system most probably
does not achieve the required speed. To apply the changes to the MCU, click
the “Update Target” button. 5. Tune the integral gain: · Increase the “SL_Ki”
field slowly to minimize the difference between the required and actual speeds
to 0. · Adjust the “SL_Ki” field such that you do not see any oscillation or
large overshoot of the actual speed value while the required speed step is
applied. · To apply the changes to the MCU, click the “Update target” button.
6. Tune the loop bandwidth and attenuation until the required response is
received. The example waveforms with the correct and incorrect settings of the
speed loop parameters are shown in the following figures: · The “SL_Ki” value
is low and the “Speed Actual Filtered” does not achieve the “Speed Ramp”.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
49 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 37.Speed controller response–SL_Ki value is low, Speed Ramp is not
achieved
· The “SL_Kp” value is low, the “Speed Actual Filtered” greatly overshoots,
and the long settling time is unwanted.
Figure 38.Speed controller response–SL_Kp value is low, Speed Actual Filtered
greatly overshoots
· The speed loop response has a small overshoot and the “Speed Actual
Filtered” settling time is sufficient. Such response can be considered
optimal.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
50 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 39.Speed controller response–speed loop response with a small overshoot
7.10.8 Position P controller tuning
The position control loop can be tuned using the proportional gain “M1
Position Loop Kp Gain” variable. A proportional controller can be used to
unpretend the position-control systems. The key for the optimal position
response is a proper value of the controller, which multiplies the error by
the proportional gain (Kp) to get the controller output. The predefined base
value can be manually changed. An encoder sensor must be used for a working
position control. The following steps provide an example of how to set the
position P controller for a PM synchronous motor:
1. Select the “Position Controller” scope in “Position Control” tab in the
FreeMASTER project tree. 2. Tune the proportional gain in the position P
controller constant:
· Set a small value of “PL_Kp” (M1 Position Loop Kp Gain). · Select the
position control, and set the required position in “M1 Position Required”
variable (for example;
10 revolutions). · Select the “Position Controller” scope and watch the actual
position response. 3. Repeat the previous steps until you achieve the required
position response.
The “PL_Kp” value is low and the actual position response on the required
position is very slow.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
51 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 40.Position controller response–PL_Kp value is low, the actual position response is very slow The “PL_Kp” value is too high and the actual position overshoots the required position.
Figure 41.Position controller response–PL_Kp value is too high and the actual position overshoots The “PL_Kp” value and the actual position response are optimal.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
52 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 42.Position controller response–the actual position response is good
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
53 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
8 Conclusion
This application note describes the implementation of the sensor and
sensorless field-oriented control of a 3phase PMSM. The motor control software
is implemented on NXP MCX-N9XX-EVK board with the FRDMMC-LVPMSM NXP Freedom
development platform. The hardware-dependent part of the control software is
described in Section 2. The motor-control application timing, and the
peripheral initialization are described in Section 3. The motor user interface
and remote control using FreeMASTER are described in Section 6. The motor
parameters identification theory and the identification algorithms are
described in Section 7.8.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
54 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
9 Acronyms and abbreviations
Table 19 lists the acronyms and abbreviations used in this document.
Table 19.Acronyms and abbreviations Acronym
ADC ACIM ADC_ETC AN BLDC CCM CPU DC DRM ENC FOC GPIO LPIT LPUART MCAT MCDRV
MCU PDB PI PLL PMSM PWM QD TMR USB XBAR IOPAMP
Meaning Analog-to-Digital Converter Asynchronous Induction Motor ADC External Trigger Control Application Note Brushless DC motor Clock Controller Module Central Processing Unit Direct Current Design Reference Manual Encoder Field- Oriented Control General-Purpose Input/Output Low-power Periodic Interrupt Timer Low-power Universal Asynchronous Receiver/Transmitter Motor Control Application Tuning tool Motor Control Peripheral Drivers Microcontroller Programmable Delay Block Proportional Integral controller Phase-Locked Loop Permanent Magnet Synchronous Machine Pulse-Width Modulation Quadrature Decoder Quad Timer Universal Serial Bus Inter-Peripheral Crossbar Switch Internal operational amplifier
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
55 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
10 References
These references are available on www.nxp.com: · Sensorless PMSM Field-
Oriented Control (document DRM148) · Motor Control Application Tuning (MCAT)
Tool for 3-Phase PMSM (document AN4642) · MCX General-Purpose MCUs
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
56 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
11 Useful links
· MCUXpresso SDK for Motor Control www.nxp.com/sdkmotorcontrol · Motor Control
Application Tuning (MCAT) Tool · FRDM-MC-PMSM Freedome Development Platform ·
MCUXpresso IDE – Importing MCUXpresso SDK · MCUXpresso Config Tool ·
MCUXpresso SDK Builder (SDK examples in several IDEs) · Model-Based Design
Toolbox (MBDT)
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
57 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
12 Revision history
Section 12 summarizes the changes done to the document since the initial release.
Table 20.Revision history Revision number
0
Date 12/2023
Substantive changes Initial release
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
58 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
13 Legal information
13.1 Definitions
Draft — A draft status on a document indicates that the content is still under
internal review and subject to formal approval, which may result in
modifications or additions. NXP Semiconductors does not give any
representations or warranties as to the accuracy or completeness of
information included in a draft version of a document and shall have no
liability for the consequences of use of such information.
13.2 Disclaimers
Limited warranty and liability — Information in this document is believed to
be accurate and reliable. However, NXP Semiconductors does not give any
representations or warranties, expressed or implied, as to the accuracy or
completeness of such information and shall have no liability for the
consequences of use of such information. NXP Semiconductors takes no
responsibility for the content in this document if provided by an information
source outside of NXP Semiconductors. In no event shall NXP Semiconductors be
liable for any indirect, incidental, punitive, special or consequential
damages (including – without limitation lost profits, lost savings, business
interruption, costs related to the removal or replacement of any products or
rework charges) whether or not such damages are based on tort (including
negligence), warranty, breach of contract or any other legal theory.
Notwithstanding any damages that customer might incur for any reason
whatsoever, NXP Semiconductors’ aggregate and cumulative liability towards
customer for the products described herein shall be limited in accordance with
the Terms and conditions of commercial sale of NXP Semiconductors.
Right to make changes — NXP Semiconductors reserves the right to make changes
to information published in this document, including without limitation
specifications and product descriptions, at any time and without notice. This
document supersedes and replaces all information supplied prior to the
publication hereof.
Suitability for use — NXP Semiconductors products are not designed, authorized
or warranted to be suitable for use in life support, life-critical or safety-
critical systems or equipment, nor in applications where failure or
malfunction of an NXP Semiconductors product can reasonably be expected to
result in personal injury, death or severe property or environmental damage.
NXP Semiconductors and its suppliers accept no liability for inclusion and/or
use of NXP Semiconductors products in such equipment or applications and
therefore such inclusion and/or use is at the customer’s own risk.
Applications — Applications that are described herein for any of these
products are for illustrative purposes only. NXP Semiconductors makes no
representation or warranty that such applications will be suitable for the
specified use without further testing or modification. Customers are
responsible for the design and operation of their applications and products
using NXP Semiconductors products, and NXP Semiconductors accepts no liability
for any assistance with applications or customer product design. It is
customer’s sole responsibility to determine whether the NXP Semiconductors
product is suitable and fit for the customer’s applications and products
planned, as well as for the planned application and use of customer’s third
party customer(s). Customers should provide appropriate design and operating
safeguards to minimize the risks associated with their applications and
products. NXP Semiconductors does not accept any liability related to any
default, damage, costs or problem which is based on any weakness or default in
the customer’s applications or products, or the application or use by
customer’s third party customer(s). Customer is responsible for doing all
necessary testing for the customer’s applications and products using NXP
Semiconductors products in order to avoid a default of the applications and
the products or of the application or use by customer’s third party
customer(s). NXP does not accept any liability in this respect.
Terms and conditions of commercial sale — NXP Semiconductors products are sold
subject to the general terms and conditions of commercial sale, as published
at http://www.nxp.com/profile/terms, unless otherwise agreed in a valid
written individual agreement. In case an individual agreement is concluded
only the terms and conditions of the respective agreement shall apply. NXP
Semiconductors hereby expressly objects to applying the customer’s general
terms and conditions with regard to the purchase of NXP Semiconductors
products by customer.
Export control — This document as well as the item(s) described herein may be
subject to export control regulations. Export might require a prior
authorization from competent authorities.
Suitability for use in non-automotive qualified products — Unless this
document expressly states that this specific NXP Semiconductors product is
automotive qualified, the product is not suitable for automotive use. It is
neither qualified nor tested in accordance with automotive testing or
application requirements. NXP Semiconductors accepts no liability for
inclusion and/or use of non-automotive qualified products in automotive
equipment or applications. In the event that customer uses the product for
design-in and use in automotive applications to automotive specifications and
standards, customer (a) shall use the product without NXP Semiconductors’
warranty of the product for such automotive applications, use and
specifications, and (b) whenever customer uses the product for automotive
applications beyond NXP Semiconductors’ specifications such use shall be
solely at customer’s own risk, and (c) customer fully indemnifies NXP
Semiconductors for any liability, damages or failed product claims resulting
from customer design and use of the product for automotive applications beyond
NXP Semiconductors’ standard warranty and NXP Semiconductors’ product
specifications.
Translations — A non-English (translated) version of a document, including the
legal information in that document, is for reference only. The English version
shall prevail in case of any discrepancy between the translated and English
versions.
Security — Customer understands that all NXP products may be subject to
unidentified vulnerabilities or may support established security standards or
specifications with known limitations. Customer is responsible for the design
and operation of its applications and products throughout their lifecycles to
reduce the effect of these vulnerabilities on customer’s applications and
products. Customer’s responsibility also extends to other open and/or
proprietary technologies supported by NXP products for use in customer’s
applications. NXP accepts no liability for any vulnerability. Customer should
regularly check security updates from NXP and follow up appropriately.
Customer shall select products with security features that best meet rules,
regulations, and standards of the intended application and make the ultimate
design decisions regarding its products and is solely responsible for
compliance with all legal, regulatory, and security related requirements
concerning its products, regardless of any information or support that may be
provided by NXP. NXP has a Product Security Incident Response Team (PSIRT)
(reachable at PSIRT@nxp.com) that manages the investigation, reporting, and
solution release to security vulnerabilities of NXP products.
NXP B.V. — NXP B.V. is not an operating company and it does not distribute or
sell products.
13.3 Trademarks
Notice: All referenced brands, product names, service names, and trademarks
are the property of their respective owners.
NXP — wordmark and logo are trademarks of NXP B.V.
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
59 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Tables
Tab. 1.
Tab. 2. Tab. 3. Tab. 4. Tab. 5. Tab. 6. Tab. 7. Tab. 8. Tab. 9. Tab. 10.
Available example type, supported motors and control methods ………………………………….. 2 Linix 45ZWN24-40 motor parameters …………… 3 Teknic M-2310P motor parameters ………………. 3 MCXN9XX-EVK jumper settings ………………….. 7 Maximum CPU load (fast loop) ………………….. 11 Memory usage ………………………………………… 11 Constants used in equations ………………………21 Parameters tab inputs ………………………………. 21 Current loop tab input ………………………………. 24 Speed loop tab input …………………………………25
Tab. 11. Tab. 12. Tab. 13. Tab. 14. Tab. 15. Tab. 16. Tab. 17. Tab. 18. Tab. 19. Tab. 20.
Sensors tab input …………………………………….. 26 Sensorless tab input ………………………………… 26 MCAT motor parameters …………………………… 35 Fault limits ………………………………………………. 35 Application scales ……………………………………. 36 Measurement faults …………………………………..38 Measurement warnings …………………………….. 38 MID Start Result variable ………………………….. 39 Acronyms and abbreviations ……………………… 55 Revision history ………………………………………..58
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
60 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figures
Fig. 1.
Fig. 2.
Fig. 3. Fig. 4. Fig. 5.
Fig. 6. Fig. 7.
Fig. 8. Fig. 9.
Fig. 10. Fig. 11.
Fig. 12.
Fig. 13.
Fig. 14. Fig. 15. Fig. 16. Fig. 17. Fig. 18. Fig. 19. Fig. 20. Fig. 21. Fig.
22. Fig. 23.
Linix 45ZWN24-40 permanent magnet synchronous motor ……………………………………..3 Teknic M-2310P permanent magnet synchronous motor ……………………………………..4 Teknic motor connector type 1 …………………….. 4 Teknic motor connector type 2 …………………….. 5 Motor-control development platform block diagram ……………………………………………………..5 FRDM- MC-LVPMSM ………………………………….. 6 MCX-N9XX-EVK board with highlighted jumper settings …………………………………………..7 Assembled EVK system ………………………………8 Hardware timing and synchronization on MCXA153 …………………………………………………. 9 Directory tree ……………………………………………12 Green “GO” button placed in top left-hand corner …………………………………………………….. 17 FreeMASTER–communication is established successfully …………………………….17 FreeMASTER communication setup window …………………………………………………….18 Default symbol file …………………………………….19 FreeMASTER + MCAT layout ……………………. 20 Scalar control mode …………………………………. 28 Voltage – Open loop control ………………………. 29 Current – Open loop control ………………………. 29 Voltage FOC control mode …………………………30 Current (torque) control mode …………………….31 Speed FOC control mode …………………………. 31 Position control mode ………………………………..32 Faults in variable watch located in “Motor M1” subblock ……………………………………………33
Fig. 24. Fig. 25. Fig. 26. Fig. 27. Fig. 28. Fig. 29. Fig. 30. Fig. 31. Fig.
32.
Fig. 33.
Fig. 34.
Fig. 35. Fig. 36. Fig. 37.
Fig. 38.
Fig. 39.
Fig. 40.
Fig. 41.
Fig. 42.
Undervoltage fault is indicated (pending) …….. 33 Undervoltage fault is captured …………………… 34 MID FreeMASTER control ………………………… 37 PMSM identification tab ……………………………. 41 Phase currents ………………………………………… 43 Generated and estimated positions ……………..43 Encoder direction–right direction ………………. 44 Encoder direction–wrong direction ……………..45 Slow step response of the Id current controller ………………………………………………….46 Optimal step response of the Id current controller ………………………………………………….46 Fast step response of the Id current controller ………………………………………………….47 Speed profile …………………………………………… 47 Motor startup …………………………………………… 48 Speed controller response–SL_Ki value is low, Speed Ramp is not achieved ………………. 50 Speed controller response–SL_Kp value is low, Speed Actual Filtered greatly overshoots ………………………………………………. 50 Speed controller response–speed loop response with a small overshoot …………………51 Position controller response–PL_Kp value is low, the actual position response is very slow ……………………………………………………….. 52 Position controller response–PL_Kp value is too high and the actual position overshoots ………………………………………………. 52 Position controller response–the actual position response is good …………………………. 53
PMSMMCXN9XXEVK
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 5 December 2023
© 2023 NXP B.V. All rights reserved.
61 / 62
NXP Semiconductors
PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Contents
1
Introduction ………………………………………………… 2
2
Hardware setup …………………………………………… 3
2.1
Linix 45ZWN24-40 motor ……………………………..3
2.2
Teknic M-2310P motor …………………………………3
2.3
FRDM-MC-LVPMSM ……………………………………5
2.4
MCX-N9XX-EVK ………………………………………… 6
2.4.1 Hardware assembling …………………………………. 8
3
Processors features and peripheral
settings ………………………………………………………..9
3.1
MCXN94x …………………………………………………..9
3.1.1 Hardware timing and synchronization …………….9
3.1.2 Peripheral settings ……………………………………. 10
3.1.2.1 PWM generation – FlexPWM1 ……………………. 10
3.1.2.2 Analog sensing – ADC0 …………………………….. 10
3.1.2.3 Peripheral interconnection for – XBAR …………. 10
3.1.2.4 Slow-loop interrupt generation – CTIMER0 …… 10
3.1.2.5 Quadrature Decoder (ENC) ……………………….. 10
3.2
CPU load and memory usage ……………………. 11
4
Project file and IDE workspace structure ……..12
4.1
PMSM project structure …………………………….. 12
5
Motor-control peripheral initialization …………. 14
6
User interface ……………………………………………. 16
7
Remote control using FreeMASTER …………….17
7.1
Establishing FreeMASTER communication ….. 17
7.2
TSA replacement with ELF file …………………… 18
7.3
Motor Control Aplication Tuning interface
(MCAT) …………………………………………………….19
7.3.1 MCAT tabs description ……………………………… 21
7.3.1.1 Application concept ……………………………………21
7.3.1.2 Parameters ……………………………………………… 21
7.3.1.3 Current loop ……………………………………………..24
7.3.1.4 Speed loop ……………………………………………… 24
7.3.1.5 Sensors ……………………………………………………26
7.3.1.6 Sensorless ………………………………………………. 26
7.4
Motor Control Modes – How to run motor ………27
7.4.1 Scalar control ……………………………………………28
7.4.2 Open loop control mode ……………………………. 28
7.4.3 Voltage control ………………………………………….30
7.4.4 Current (torque) control …………………………….. 30
7.4.5 Speed FOC control ……………………………………31
7.4.6 Position (servo) control ………………………………32
7.5
Faults explanation ……………………………………..32
7.5.1 Variable “M1 Fault Pending” ………………………. 33
7.5.2 Variable “M1 Fault Captured” …………………….. 34
7.5.3 Variable “M1 Fault Enable” …………………………34
7.6
Initial motor parameters and harware
configuration ……………………………………………. 35
7.7
Identifying parameters of user motor …………… 36
7.7.1 Switch between Spin and MID …………………….37
7.7.2 Motor parameter identification using MID …….. 38
7.7.3 MID faults and warnings …………………………….38
7.8
MID algorithms ………………………………………… 39
7.8.1 Stator resistance measurement …………………..39
7.8.2 7.8.3 7.8.4 7.8.5 7.9 7.9.1 7.9.2 7.9.3 7.9.4 7.10 7.10.1 7.10.2 7.10.3 7.10.4 7.10.5 7.10.6 7.10.7 7.10.8 8 9 10 11 12 13
Stator inductances measurement ……………….. 39 BEMF constant measurement ……………………. 39 Number of pole-pair assistant ……………………..40 Mechanical parameters measurement ………….40 Electrical parameters measurement control …..41 Mode 0 …………………………………………………… 41 Mode 1 …………………………………………………… 41 Mode 2 …………………………………………………… 42 Mode 3 …………………………………………………… 42 Control parameters tuning …………………………. 42 Encoder sensor setting ………………………………44 Alignment tuning ………………………………………. 45 Current loop tuning ……………………………………45 Speed ramp tuning …………………………………… 47 Open loop startup ……………………………………..48 BEMF observer tuning ……………………………….48 Speed PI controller tuning …………………………. 49 Position P controller tuning …………………………51 Conclusion …………………………………………………54 Acronyms and abbreviations ………………………55 References ………………………………………………… 56 Useful links ………………………………………………..57 Revision history ………………………………………… 58 Legal information ………………………………………. 59
Please be aware that important notices concerning this document and the product(s) described herein, have been included in section ‘Legal information’.
© 2023 NXP B.V.
All rights reserved.
For more information, please visit: http://www.nxp.com
Date of release: 5 December 2023 Document identifier: PMSMMCXN9XXEVK
References
- Automotive, IoT & Industrial Solutions | NXP Semiconductors
- FreeMASTER Run-Time Debugging Tool | NXP Semiconductors
- Our Terms And Conditions Of Commercial Sale | NXP Semiconductors
- MCUXpresso SDK for Motor Control | NXP Semiconductors