NXP Semiconductors PMSMKE17Z512 MCUXpresso SDK Field Oriented Control User Guide
- June 16, 2024
- NXP Semiconductors
Table of Contents
- PMSMKE17Z512 MCUXpresso SDK Field Oriented Control
- Product Information
- Specifications
- Introduction
- Hardware Setup
- Linix 45ZWN24-40 Motor
- Teknic M-2310P Motor
- Q: What types of motors are supported by the SDK motor control
- Q: What control methods are available in the SDK motor control
- Q: What additional features are included in the SDK motor
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
Rev. 0 — 20 November 2023
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).
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.
2 / 49
NXP Semiconductors
PMSMKE17Z512
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
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.
3 / 49
NXP Semiconductors
PMSMKE17Z512
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~
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.
4 / 49
NXP Semiconductors
PMSMKE17Z512
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
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.
5 / 49
NXP Semiconductors
PMSMKE17Z512
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 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.
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.
6 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
7 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 8.Assembled Freedom system
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.
8 / 49
NXP Semiconductors
PMSMKE17Z512
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 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.
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.
9 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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
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.
10 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
11 / 49
NXP Semiconductors
PMSMKE17Z512
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
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.
12 / 49
NXP Semiconductors
PMSMKE17Z512
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_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 packmotor
· 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.
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.
13 / 49
NXP Semiconductors
PMSMKE17Z512
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.
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.
14 / 49
NXP Semiconductors
PMSMKE17Z512
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.
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.
15 / 49
NXP Semiconductors
PMSMKE17Z512
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):
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.
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.
16 / 49
NXP Semiconductors
PMSMKE17Z512
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_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.
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.
17 / 49
NXP Semiconductors
PMSMKE17Z512
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.
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.
18 / 49
NXP Semiconductors
PMSMKE17Z512
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
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.
19 / 49
NXP Semiconductors
PMSMKE17Z512
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.
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.
20 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
· 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)
FRDMKE17Z512
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 0 — 20 November 2023
Sensor
© 2023 NXP B.V. All rights reserved.
21 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
22 / 49
NXP Semiconductors
PMSMKE17Z512
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
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:
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.
23 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
24 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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
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.
25 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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”.
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.
26 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
27 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
28 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
· 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
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.
29 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
30 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
31 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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:
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.
32 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
(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.
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.
33 / 49
NXP Semiconductors
PMSMKE17Z512
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 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).
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.
34 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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).
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.
35 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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
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.
36 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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:
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.
37 / 49
NXP Semiconductors
PMSMKE17Z512
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.
7.10.6 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”.
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.
38 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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.
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.
39 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Figure 35.Speed controller response–speed loop response with a small overshoot
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.
40 / 49
NXP Semiconductors
PMSMKE17Z512
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 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.
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.
41 / 49
NXP Semiconductors
PMSMKE17Z512
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
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
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.
42 / 49
NXP Semiconductors
PMSMKE17Z512
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) · Sensorless PMSM Field-Oriented
Control on Kinetis KV (document AN5237) · PMSM Sensorless Application Package
User’s Guide (document PMSMSAPUG)
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.
43 / 49
NXP Semiconductors
PMSMKE17Z512
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)
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.
44 / 49
NXP Semiconductors
PMSMKE17Z512
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 13.Revision history Revision number
0
Date 12/2023
Substantive changes Initial release
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.
45 / 49
NXP Semiconductors
PMSMKE17Z512
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.
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
Read User Manual Online (PDF format)
Read User Manual Online (PDF format) >>