PMSMKE17Z512 MCUXpresso SDK Field Oriented Control

Product Information

Specifications

• Product Name: PMSMKE17Z512

• SDK Version: MCUXpresso

• Control Type: Field-Oriented Control (FOC)

• Motor Types: 3-Phase PMSM (Permanent Magnet Synchronous Motors)
  and BLDC (Brushless DC Motors)

• Document Revision: 0

• Date: 20 November 2023

Introduction

The PMSMKE17Z512 is a motor control software development kit
designed for implementing field-oriented control algorithms on
3-phase Permanent Magnet Synchronous Motors (PMSM) and BLDC Motors.
This user guide provides detailed information on hardware setup,
processor features, peripheral settings, motor control project
description, motor control peripheral initialization, user
interface, and additional example features.

Hardware Setup

Linix 45ZWN24-40 Motor

The Linix 45ZWN24-40 motor is a low-voltage 3-phase
permanent-magnet motor with hall sensors. It is commonly used in
PMSM applications. The motor parameters are as follows:

• Rated Voltage: 24V
• Rated Speed: 4000 RPM
• Rated Torque: 0.0924 Nm
• Rated Power: 40W
• Continuous Current: 2.34A
• Number of Pole-Pairs: 2

The motor has two types of connectors (cables). The first cable
has three wires for powering the motor, and the second cable has
five wires for the hall sensors’ signal sensing. For sensorless
applications, only the power input wires are needed.

Teknic M-2310P Motor

The Teknic M-2310P-LN-04K motor is a low-voltage 3-phase
permanent-magnet motor used in PMSM applications. It has two
feedback sensors (hall and encoder). The motor parameters are as
follows:

• Rated Voltage: 40V
• Rated Speed: 6000 RPM

For information on the wiring of feedback sensors, refer to the
data sheet on the manufacturer’s webpage.

Frequently Asked Questions (FAQ)

Q: What types of motors are supported by the SDK motor control

examples?

A: The SDK motor control examples support both 3-phase PMSM and
BLDC motors.

Q: What control methods are available in the SDK motor control

examples?

A: The SDK motor control examples support Scalar and Current
FOC, Sensorless FOC, Sensored FOC, Voltage (Torque) FOC, Speed FOC,
and Position FOC control methods.

Q: What additional features are included in the SDK motor

control example?

A: The SDK motor control example includes several additional
features. Please refer to the user guide for detailed
information.

PMSMKE17Z512

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC

Motors

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User guide

Document information

Information

Content

Keywords

FRDM-KE17Z512 , 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

PMSMKE17Z512

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:
· FRDM-KE17Z512 (FRDM-KE17Z512) · 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

pmsm_snsless

Linix 45ZWN2440 (default motor)

Teknic M-2310P

N/A

N/A

N/A

N/A

SDK motor control example description:
· pmsm_snsless – pmsm example uses fraction arithmetic, the example contains sensorless Field Oriented Control (FOC). Default motor configuration is tuned for the Linix 45ZWN24-40 motor.
The SDK motor control example contains several additional features:
· FreeMASTER pmsm_frac.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).

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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

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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~

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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

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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 FRDM-KE17Z512 board
The FRDM-KE17Z512 is a low-cost development tool for Kinetis KE1x family of MCUs built around the Arm Cortex-M0+ core. The FRDM-KE17Z512 hardware is form- factor compatible with the Arduino R3 pin layout, providing a broad range of expansion board options. The FRDM-KE17Z512 platform features CMSIS-DAP, the hardware embedded serial and debug adapter.

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To begin, configure the jumpers on the FRDM-KE17Z512 Freedom System module properly. FRDM-KE17Z512 jumper settings lists the specific jumpers and their settings for the FRDM-KE17Z512 Freedom System module.

Table 4.FRDM-KE17Z512 jumper settings

Jumper

Setting

Jumper

JP4

1-2

JP5

Setting 1-2

Jumper JP8

Setting 2-3

Figure 7.FRDM-KE17Z Freedom development board
2.5 Freedom system assembling
1. Connect the FRDM-MC-LVPMSM shield on top of the FRDM-Kxxxx board (there is only one possible option).
2. Connect the Linix motor 3-phase wires to the screw terminals on the board. 3. Plug the USB cable from the USB host to the OpenSDA micro USB connector. 4. Plug the 24-V DC power supply to the DC power connector.

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Figure 8.Assembled Freedom system

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3 Processors features and peripheral settings
This chapter describes the peripheral settings and application timing.
3.1 KE1xZ
The KE1xZ family is based on Kinetis E series of Arm Cortex-M0+ MCUs. The Kinetis E series family is a product portfolio with enhanced ESD/EFT performance for cost-sensitive, high-reliability applications used in the environments with high electrical noise. Built upon the Arm Cortex-M0+ core running at 72 MHz with up to 512 KB of flash and 32 KB of RAM, it delivers a platform that enables you to build a scalable solution portfolio. For more information, see KE1xZ Sub-Family Reference Manual (document KE1xZP100M72SF0RM).
3.1.1 KE1xZ hardware timing and synchronization
Hardware timing and synchronization A correct and precise timing is crucial in motor-control applications. The motor-control dedicated peripherals handle the timing and synchronization on the hardware layer. The timing diagram is shown below.

Figure 9.Hardware timing and synchronization on KE1xZ using LPIT

3.1.2 KE1xZ peripheral settings

3.1.2.1 Peripheral settings

This section describes only the peripherals used for motor control. KE17Z uses a 6-channel FlexTimer (FTM) to generate a 6-channel PWM and two 12-bit SAR ADCs to measure the 3-phase currents, and DC-bus voltage. The FTM and ADC are synchronized via the LPIT. One channel from another independent FTM is used for the slow-loop interrupt generation.

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3.1.2.2 PWM generation–FTM0
· The FTM is clocked from the 72-MHz System clock. · Only six channels are used, the other two are masked in the OUTMASK register. · Channels 0+1, 2+3, and 4+5 are combined in pairs and running in a complementary mode. · The PWM period (frequency) is determined as a time for the FTM to count from CNTIN to
MOD. By default, CNTIN = -MODULO / 2 and MOD = MODULO / 2 – 1 where MODULO = kCLOCK_CoreSysClk/M1_PWM_FREQ. The FTM is clocked from the 72-MHz System clock and the PWM period is 0.0001 s (10 kHz). · The dead time insertion is enabled for each combined pair. The dead time length is calculated as System clock 72 MHz × Tdeadtime. The dead time length is 0.5 s. · The FTM generates a trigger for the LPIT on the counter initialization.
3.1.2.3 Analog sensing–ADC0
· The ADCs operate as 12-bit, single-ended converters. · The clock source for ADC is the 24-MHz Bus clock divided by 1 = 24 MHz. · For the ADC calibration purposes, the ADC clock is set to 3 MHz. The continuous conversion and averaging
with 32 samples are enabled in the SC3 register. After the calibration is done, the SC register is filled with its default values and the clock is set back to 24 MHz. · ADC is triggered by the LPIT pre-triggers. · An interrupt that serves for the fast-loop algorithm calculation is generated when the last conversion is completed.
3.1.2.4 PWM and ADC synchronization–LPIT
· LPIT is clocked from LPFLL async clock source. · LPIT has several triggers. LPIT channel 0 timer is started by a trigger from FTM0_trigger. · Pre-trigger is generated and starts first ADC conversion, after LPIT channel 0 timer reach channel 0 period. · ADC coco A trigger starts LPIT channel 1 timer, after executing the first ADC conversion. · Pre-trigger is generated and starts second ADC conversion, after LPIT channel 1 timer reach channel 1
period. · ADC coco B trigger starts LPIT channel 2 timer, after executing second ADC conversion. · Pre-trigger is generated and starts last ADC conversion, after LPIT channel 2 timer reach channel 2 period. · ADC ISR (interrupt) is generated after the last ADC conversion is executed.
3.1.2.5 Slow loop interrupt generation–FTM1
· The slow loop is usually 10× (or more) slower than the fast loop. Therefore, the FTM1 is clocked from the System clock / 16 to keep its modulo value reasonably low.
· The FTM counts from CNTIN = 0 to MOD = SPEED_MODULO where speed modulo is equal SPEED_MODULO = kCLOCK_CoreSysClk/g_sClockSetup.ui16M1SpeedLoopFreq.
· The interrupt that serves the slow loop is enabled and generated at the reload.
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

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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

FRDMKE17Z512 (Release configuration) 49.5 %

Table 6.Memory usage
Readonly code memory Readonly data memory Readwrite dada memory

FRDMKE17Z512 (Release configuration) 33 420 B 9 286 B 7 608 B

Note: Memory usage and maximum CPU load can differ depending on the used IDEs and settings.

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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 project includes all the available functions and routines. This project serves for development and testing purposes.
4.1 PMSM project structure
The directory tree of the PMSM project is shown in below.
Figure 10.Directory tree

The main project folder packmotorboardsdemo_appsmc_pmsm pmsm_snsless contains the following folders and files:
· 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

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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 packmotormiddlewaremotor_control contains these subfolders:
· pmsm: contains main PMSM motor-control functions. · freemaster: contains the FreeMASTER project file pmsm_frac.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 packmotormiddlewaremotor_controlpmsmpmsm_frac 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.

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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.

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­ 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.

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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): ­ FRDM-KE17Z512 – 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.

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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_frac.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_frac.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.

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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.

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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

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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.

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· 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.

7.4 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. 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

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)

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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).
VDC

Ud_req Uq_req

dq

U_req

U_req

SVM

VSI PMSM

e init

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.

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Id_req Iq_req

Ud_req PI controller
Uq_req PI controller id_real iq_real
init

VDC

dq

U_req

SVM

VSI

U_req

e

dq

i_real i_real

abc

ia_real ib_real ic_real

e

PMSM Sensor

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”. 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:

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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 d-

q 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.

Id_req Iq_req

Ud_req 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
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.

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Id_req e_req

Ud_req PI controller

Iq _ re q

Uq _ req

PI controller

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_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”. 2. Switch variable “M1 MCAT Control” on “SPEED_FOC”. 3. In variable “M1 Speed Required” set the required speed. (i.e. 1000rpm). The motor automatically starts
spinning. 4. 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.

Figure 22.Faults in variable watch located in “Motor M1” subblock

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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 23.Undervoltage fault is indicated (pending)

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”.

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Figure 24.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.
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 7 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.

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Table 7.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 8).

Table 8.Fault limits Parameter

Units

Description

Typical range

U DCB trip

[V]

Voltage value at which the external braking resistor switch turns on

U DCB Over ~ U DCB max

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 9).

Table 9.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.

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· 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 25.

Figure 25.MID FreeMASTER control

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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 Motor parameter identification using MID). 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.

7.7.2 Motor parameter identification using MID

The whole MID is controlled via the FreeMASTER “Variable Watch”. Motor Identification (MID) sub-block shown in Figure 25. The motor parameter identification workflow is following:
1. Set the MID: On/Off variable to OFF. 2. Select the measurement type you want to perform via the MID: Measurement Type variable:
· PP_ASSIST – Pole-pair identification assistant.
· EL_PARAMS – Electrical parameters measurement. 3. Set the measurement configuration paramers in the MID: Config set of variables. 4. Start the measurement by setting MID: On/Off to ON. 5. Observe the MID: Status variable which indicates whether identification runs or not. Variable MID: State
indicates actual state of the MID state machine. Variable MID: Fault indicates fault captured by estimation algorithm (e.g. incorrect measurement parameters). Variable is cleared automatically. Variable DIAG: Fault Captured indicates captured hardware faults (e.g. DC bus undervoltage). Variable is cleared by setting “On” to DIAG: Fault clear variable. 6. If the measurement finishes successfully, the measured motor parameters are shown in the MID: Measured set of variables and MID: State goes to STOP.

Table 10.MID: Fault variable Fault mask b#0001
b#0010

Description
Error during initialization electrical parameters measurement.
Electrical parameters measurement fault. Some required value cannot be reached or wrong measurement configuration.

Troubleshooting Check whether inputs to the MCAA_ EstimRLInit_F16 are valid.
Check whether measurement configuration is valid.

Table 11.DIAG: Fault Captured variable Fault mask b#0001 b#0010 b#0100

Description Overcurrent fault occurs. Undervoltage fault occurs. Overvoltage fault occurs.

7.8 MID algorithms
This section describes how each MID algorithm works.

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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 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.
7.9 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 can be selected by MID: Config El Mode Estim RL variable. Function MCAA_EstimRLInit_F16 must be called before the first use of MCAA_EstimRL_F16. Function MCAA_EstimRL_F16 must be called periodically with sampling period F_SAMPLING, which can be definied be user. Maximum sampling frequency F_SAMPLING is 10 kHz. In the scopes under “Motor identification” FreeMASTER sub-block can be observed measured currents, estimated parameters etc.
7.9.1 Mode 0
This mode is automatic, inductances are measured at a single operating point. Rotor is not fixed. 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. Frequency of the AC signal set to default 500 Hz. The function will output stator resistance Rs, direct inductance Ld and quadrature inductance Lq.
7.9.2 Mode 1 DC stepping is automatic at this mode. Rotor is not fixed. Compared to the Mode 0, there will be performed an automatic measurement of the inductances for a definied number (NUM_MEAS) of different DC current levels using positive values of the DC current. The Ldq dependency map can be seen in the “Inductances (Ld, Lq)” recorder. User has to specify following parameters before parameters estimation: · 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.

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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. Frequency of the AC signal set to default 500 Hz. The function will output stator resistance Rs, direct inductance Ld , quadrature inductance Lq and Ldq dependency map.
7.9.3 Mode 2
DC stepping is automatic at this mode. Rotor must be mechanically fixed after initial alignment with the first phase. Compared to the Mode 1, there will be performed an automatic measurement of the inductances for a definied number (NUM_MEAS) of different DC current levels using both positive and negative values of the DC current. The estimated inductances can be seen in the “Inductances (Ld, Lq)” recorder. 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. Frequency of the AC signal set to default 500 Hz. The function will output stator resistance Rs, direct inductance Ld , quadrature inductance Lq and Ldq dependency map.
7.9.4 Mode 3
This mode is manual. 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 26). Use the following equation for calculating V/Hz factor:

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(5)

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 26.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 27) 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 27.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.

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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 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.
7.10.2 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).

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Figure 28.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 29.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).

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Figure 30.Fast step response of the Id current controller
7.10.3 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 31. 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 31.Speed profile
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7.10.4 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 32.
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 32.Motor startup

7.10.5 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:

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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.
7.10.6 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 33). 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”.

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Figure 33.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 34.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.

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Figure 35.Speed controller response–speed loop response with a small overshoot

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8 Conclusion
This application note describes the implementation of the sensor and sensorless field-oriented control of a 3-phase PMSM. The motor control software is implemented on NXP FRDMKE17Z 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.

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9 Acronyms and abbreviations

Table 12 lists the acronyms and abbreviations used in this document.

Table 12.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

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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) · Sensorless PMSM Field-Oriented Control on Kinetis KV (document AN5237) · PMSM Sensorless Application Package User’s Guide (document PMSMSAPUG)

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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)

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12 Revision history

Section 12 summarizes the changes done to the document since the initial release.

Table 13.Revision history Revision number
0

Date 12/2023

Substantive changes Initial release

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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.

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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.
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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.

FRDMKE17Z512
User guide

All information provided in this document is subject to legal disclaimers.
Rev. 0 — 20 November 2023

© 2023 NXP B.V. All rights reserved.
46 / 49

NXP Semiconductors

PMSMKE17Z512

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.

Available example type, supported motors and control methods ………………………………….. 2 Linix 45ZWN24-40 motor parameters …………… 3 Teknic M-2310P motor parameters ………………. 3 FRDM-KE17Z512 jumper settings ……………….. 7 Maximum CPU load (fast loop) ………………….. 11 Memory usage ………………………………………… 11

Tab. 7. Tab. 8. Tab. 9. Tab. 10. Tab. 11. Tab. 12. Tab. 13.

MCAT motor parameters …………………………… 28 Fault limits ………………………………………………. 28 Application scales ……………………………………. 28 MID: Fault variable ……………………………………30 DIAG: Fault Captured variable …………………… 30 Acronyms and abbreviations ……………………… 42 Revision history ………………………………………..45

FRDMKE17Z512
User guide

All information provided in this document is subject to legal disclaimers.
Rev. 0 — 20 November 2023

© 2023 NXP B.V. All rights reserved.
47 / 49

NXP Semiconductors

PMSMKE17Z512

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.

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 FRDM-KE17Z Freedom development board ……………………………………………………….. 7 Assembled Freedom system ………………………..8 Hardware timing and synchronization on KE1xZ using LPIT ……………………………………… 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 …………………………………. 21 Voltage – Open loop control ………………………. 22 Current – Open loop control ………………………. 23

Fig. 19. Fig. 20. Fig. 21. Fig. 22.
Fig. 23. Fig. 24. Fig. 25. Fig. 26. Fig. 27. Fig. 28.
Fig. 29.
Fig. 30.
Fig. 31. Fig. 32. Fig. 33.
Fig. 34.
Fig. 35.

Voltage FOC control mode …………………………23 Current (torque) control mode …………………….24 Speed FOC control mode …………………………. 25 Faults in variable watch located in “Motor M1” subblock ……………………………………………25 Undervoltage fault is indicated (pending) …….. 26 Undervoltage fault is captured …………………… 27 MID FreeMASTER control ………………………… 29 Phase currents ………………………………………… 33 Generated and estimated positions ……………..33 Slow step response of the Id current controller ………………………………………………….35 Optimal step response of the Id current controller ………………………………………………….35 Fast step response of the Id current controller ………………………………………………….36 Speed profile …………………………………………… 36 Motor startup …………………………………………… 37 Speed controller response–SL_Ki value is low, Speed Ramp is not achieved ………………. 39 Speed controller response–SL_Kp value is low, Speed Actual Filtered greatly overshoots ………………………………………………. 39 Speed controller response–speed loop response with a small overshoot …………………40

FRDMKE17Z512
User guide

All information provided in this document is subject to legal disclaimers.
Rev. 0 — 20 November 2023

© 2023 NXP B.V. All rights reserved.
48 / 49

NXP Semiconductors

PMSMKE17Z512

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

FRDM-KE17Z512 board ……………………………… 6

2.5

Freedom system assembling ………………………..7

3

Processors features and peripheral

settings ………………………………………………………..9

3.1

KE1xZ ………………………………………………………. 9

3.1.1 KE1xZ hardware timing and

synchronization ………………………………………….. 9

3.1.2 KE1xZ peripheral settings …………………………… 9

3.1.2.1 Peripheral settings ……………………………………… 9

3.1.2.2 PWM generation–FTM0 …………………………… 10

3.1.2.3 Analog sensing–ADC0 …………………………….. 10

3.1.2.4 PWM and ADC synchronization–LPIT ……….. 10

3.1.2.5 Slow loop interrupt generation–FTM1 ………… 10

3.2

CPU load and memory usage ……………………. 10

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

7.4

Motor Control Modes – How to run motor ………21

7.4.1 Scalar control ……………………………………………21

7.4.2 Open loop control mode ……………………………. 22

7.4.3 Voltage control ………………………………………….23

7.4.4 Current (torque) control …………………………….. 24

7.4.5 Speed FOC control ……………………………………24

7.5

Faults explanation ……………………………………..25

7.5.1 Variable “M1 Fault Pending” ………………………. 26

7.5.2 Variable “M1 Fault Captured” …………………….. 26

7.5.3 Variable “M1 Fault Enable” …………………………27

7.6

Initial motor parameters and harware

configuration ……………………………………………. 27

7.7

Identifying parameters of user motor …………… 29

7.7.1 Switch between Spin and MID …………………….30

7.7.2 Motor parameter identification using MID …….. 30

7.8

MID algorithms ………………………………………… 30

7.8.1 Stator resistance measurement …………………..31

7.8.2 Stator inductances measurement ……………….. 31

7.8.3 Number of pole-pair assistant ……………………..31

7.9

Electrical parameters measurement control …..31

7.9.1 Mode 0 …………………………………………………… 31

7.9.2 Mode 1 …………………………………………………… 31

7.9.3 Mode 2 …………………………………………………… 32

7.9.4 Mode 3 …………………………………………………… 32

7.10

Control parameters tuning …………………………. 32

7.10.1 7.10.2 7.10.3 7.10.4 7.10.5 7.10.6 8 9 10 11 12 13

Alignment tuning ………………………………………. 34 Current loop tuning ……………………………………34 Speed ramp tuning …………………………………… 36 Open loop startup ……………………………………..37 BEMF observer tuning ……………………………….37 Speed PI controller tuning …………………………. 38 Conclusion …………………………………………………41 Acronyms and abbreviations ………………………42 References ………………………………………………… 43 Useful links ………………………………………………..44 Revision history ………………………………………… 45 Legal information ………………………………………. 46

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: 20 November 2023 Document identifier: FRDMKE17Z512

References

• FreeMASTER Run-Time Debugging Tool | NXP Semiconductors
• MCUXpresso SDK for Motor Control | NXP Semiconductors

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