Phase Voltages

-Vth

Flux Waveform

A

C

B

Sean ChenTI C2000 业务发展经理半导体事业部

TI Motor Solutions

2012 工业和以太网控制技术研讨会www.ti.com/motor

Agenda

• TI’s Motor Control Legacy

• The Motor System & Selecting an MCU

• Where TI Solutions Excel

• MCU Line-up

• Modular Strategy: Control, Drive & Software

• InstaSPIN Solutions

27 Years at the Forefront of Motor Control

1985

1997

Hard Disk Drive Servo and Automotive Active Suspension go DSP

First SOC for Inverter & Servo Control startsDigital Motor ControlRevolution

F24x16-bit DSP

2000

2003

Delfino™Floating Point

20072009+

LF240x16-bit DSP

F28x1st 32-bit DSP/DSC

Low Cost + Performance broadens reach in variable speed

Driving performance FOC applications

Continue performance leadership with ease of use

Mass appeal with adoption of smart control due to low cost, high performance MCUs

Now Leveraging motor driver expertise in:•Power MOSFETs•Audio •MCU•Laser printers •Hard disk drive •Mixed signal automotive

TMS320C10 &C25

2005DVD Spin &Tray Control

ASICMotorDrive

MSP430™Piccolo™Concerto™ ARMStellaris® ARMHercules™ ARM

Gate Driver

s

IGBTs

FETs

Sensing(Commutation,

Current, Speed,

Position, Observers)

Controller

Host, UI, Network, Trajector

y Command, Safety

Motor Control Systems

PWMControlOutput

ControlReference

Inputs

SENSEHall, Encoder, ResolverV-bus, V-phases (Bemf)I-phases, I-shunts, I-totalResolution, ScalingADC, Delta-SigmaTiming of Samples

CO

MM

UTA

TIO

N

TOR

QU

E

SPEE

D

POSI

TIO

N

DRIVEVoltage, CurrentPhases, Inverter Topology(H-bridge, 3PH Inverter)

Switching FrequencyRds-on, Gate StrengthDead-Time

MOTORBrushedStepperBLDCPMSM, IPMACI, SR

CONTROLLER(MCU, State Machine, Gates)

Right Mix of: Performance & IntegrationControl TechniquesCertification & Safety LevelsConnectivity, UI & HostPrice

POTENTIAL INTERFACE & ISOLATIONCAN, Serial, ENET, I/OFieldbus, Industrial ENETGate Drivers, Delta-Sigma

HOST(MCU, MPU)

Right Mix of: Integration of tasks

User InterfaceCertification & SafetyMotion & ControlConnectivity

Motor System ExampleSimple Low Voltage Brushed Speed Control

Gate Driver

sFETs

Sensing(Commutation,

Current, Speed,

Position, Observers)

Controller

Host, UI, Network, Trajector

y Command, Safety

PWMControlOutput

ControlReference

Inputs

SENSEHallV-BusI-total

CO

MM

UTA

TIO

N

TOR

QU

E

SPEE

D

POSI

TIO

N

DRIVE24V, 1A3-ph INV

MOTORBLDC

CONTROLLER(State Machine)

CommutationSpeed Regulation

INTERFACEGPIO Buttons

HOST(MCU)Single GPIO forSpeed input

Integrated Motor DriverDRV8814

Duty Cycle Edge Capture0% = -100% Speed50% = 0 Speed100% = +100% Speed

MSP430G2xMCU

GPIO GPIO

CO

MM

UTA

TIO

N

SPEE

D

PUMPSAutomotive Industrial/Consumer

•Respiratory•Vacuum•Fans•Air/Con Blowers•Exhaust

•Power Steering, Braking•eBike/Moped/Scooter•Off-highway Vehicles•Carts, Transport•Fork lifts•Wheel chairs

Vast majority should be controlled without mechanical sensors!!!

Smart· Safe · Connected · Efficient

TI MCU Motor Solutions BEST for 3‐phvariable torque, torque+speed, or position (servo) applications

TI Motor Solutions

commonMotorWare

commondriveBOARDs

CommonMCU

controlCARDs

commonGUIs

AbstractionCode Gen

& Simulation

EnhancedSafety &Industrial

Connectivity

Training

Motor DIN Support

Analog, Isolation &

PowerIndustry Leading

Sensorless & Motion

16-bit ultra-low-power

TI MCU Portfolio:     Silicon    to     Solutions

8

Safety• HW Design for

safety• Hercules

MSP430, Cortex™-R4 & Cortex-RM, C2000™

• SIL3, ASILD

Embedded RF

• RF connectivity• Active and

passive (RFID)• SoC / 2 chip

solutions• S/W and stack

integration

Motor Control

• InstaSPINsolutions

• Premier sensorlessthree phase

• Automotive • Safety• Connectivity

Smart Grid

• Grid infrastructure

• Utility meters• Smart homes/

buildings

Smart Sensors

• Sensor hub• Cap touch• Ultra-Low

Power proximity Sensing

Lighting• Bulb

replacement technology

• Switches, dimmers

• Multi-string LED drivers

• Lighting communication

Code Composer Studio® IDE

IDEscompilers & debuggers

Modularcode

examplesStacks &libraries

GUI-basedcode gen

toolsDevelopment

network

Up to 25 MHzFlash: 1 KB to 256 KB

Analog I/O, ADC, LCD, USB

C2000™

32-bit real-time

Motor controldigital power, lighting

renewable energy

40 MHz to 300 MHzFlash, RAM: 16 KB to 512 KB

PWM, ADC, CAN, SPI, I2C

$1.00 - $15.00

Stellaris®

32-bit ARM®

Motion controlHMI

industrial automation

Up to 80 MHzFlash: 64 KB to 256 KB

USB, ENET, MAC+PHY, CAN, ADC, PWM

$1.00 - $8.00

Hercules™

32-bit ARM® safety

Transportationmedical

industrial safety

80 MHz to 220 MHzFlash: 256 KB to 3MB

USB, ENET, FlexRay, ADC, CAN, LIN, SPI, I2C

$5.00 - $20.00

MSP430™

Measurementsensing

general purpose$0.25 - $9.00

Processing performance

• DSP performance

• Up to 300MHz CPU

• Control optimized

• Fixed and floating point

What is C2000™?The 32-bit real-time MCU family for power electronic applications

Piccolo™ 3-ph Motor Kit DRV8312-C2-KITSensored & Sensorless BLDC and Sensorless FOC solutions delivered through controlSUITE Modular controlCARD, Modular DRV8312 power state, Modular Software

What is Stellaris®?TI’s 32-bit ARM® Cortex™-M based MCU family for HMI, motion control, smart grid, and connectivity

10

Stellaris® ARM® Cortex™-M4F 3-ph Motor Kit DK-LM4F-DRV8312Sensorless BLDC and Sensorless FOC solutions delivered in new cross-TI-MCU Motor Software called MotorWareModular controlCARD, Modular DRV8312 power state, Modular Software

Hercules™

•ARM Cortex-M3 and R4F

CPUs

•Up to 220MHz (>350 DMIPS)

•IEC 61508 & ISO 26262

safety

•Safety MCUs starting under

$5.00

•Development kits starting

@ $79

Scalable memory& peripherals

•256KB to 3MB of embedded

Flash memory

•10-Bit & 12-Bit ADCs

•Ethernet, USB

•FlexRay, CAN, LIN

•SPI, I2C,UART

•NHET for customized logic

Hardware safety features

•Dual core Lockstep CPUs

•CPU&RAM built in self test

•RAM & Flash ECC

•Clock & voltage monitoring

What is Hercules™?TI’s 32-bit ARM® Cortex™ safety MCU family for industrial, medical and transportation

Hercules™ ARM® Cortex™-R4F 3-ph Motor Kit DRV8312-RM48-KITSensorless BLDC and Encoder+Sensorless FOC solutions delivered in new cross-TI-MCU Motor Software called MotorWareModular controlCARD, Modular DRV8312 power state, Modular Software

11

Where to Start?

– It is ok to try multiple solutions!– Modular drives, controlCARDs, and MotorWare make it easy

Some general guidelines / “how to choose which MCU”

2012-6-28

• C2000– Maximum motor performance– Industrial & Auto Q100– Appliance & Industrial Safety– Broad portfolio from low to high

• Hercules: TMS570 & RM– Maximum safety (ASIL-D, ISO2626)– Q100 (TMS570)

– ARM High Performance– Largest FLASH size

• Stellaris– Low-cost ARM – Added Connectivity– Easy to add O/S– Appliance Safety

• MSP430:– Lowest-cost– Deeply embedded

• DRV8301 3‐Phase IPD with external MOSFETs • 8‐60V and 60A continuous

• DRV8312 3‐Phase IMD• 8‐50V and 3.5A continuous• Base support for all TI MCU families

DRV8301-HC-C2-KITDRV8302-HC-C2-KIT

Piccolo 03x, 06x

$299

DRV8312-C2-KITDRV8312-430FR-KITDK-LM3S-DRV8312DK-LM4F-DRV8312 DRV8312-RM48-KITDRV8312-LS31-KIT

$299 - $425

• Powerex 600V/20A Integrated Power Module• 50‐350V DC Bus• BLDC, PMSM, and ACI motors available

TMDSHVMTRPFCKIT

Piccolo 03x, 05xDelfino 33x

$599

• 2x DRV8302 3‐Phase IPD • 2x NexFET• 24V and 10A• PMSM Servo Motors with Encoder• Position, Speed, FOC

DRV83-2MTR(September)

Hercules, Concerto, Piccolo 06x

$499 est.

• DRV8301 3‐phase IPD + High Efficiency NEXFETs• or DRV8312 IPM• 8‐24V,  3.5 or 10A• Connects to  MCULaunchPad XL

BOOSTER-DRIVESfor MCU

LaunchPad XL(September)

430Gx, Piccolo 02x

$25 est.

MotorWare: Object Oriented APIs, projects, modules, libraries

3‐phase Motor Modular Kits

NDA REQUIRED

24/50V, 3.5A 60V, 60A 50‐350V, 10A 2MTR: 24V, 10A 8‐24V, 3.5‐10A

MotorWare• Cross TI MCU motor software infrastructure:

ARM, C28x, even 430!

• Modular and portable across MCU, power electronics, and control techniques

• Object Oriented: structures with handles

• API based (e.g. StellarisWare)

• Port quickly from one MCU solution to another

• “Abstract away the differences”

Motor

MCU Specific Driver Software

UnifiedControl Software

“MotorWare”

MCU

Electronics//Run the ControllerCTRL_run(ctrlHandle, &adcData1, &elecPos1, &gPwmData.Tabc);

//Run the MotorDRV_run(drvHandle, &gPwmData);

//Set SpeedCTRL_set_spd(ctrlHandle, gui.gSpeedRef);

Modular ‐ Low Cost ‐ Eclipse Code Dev ToolsFree, $79, or $495 versions across all TI processors

Navigate to all MCU & Motor Resources

What is InstaSPIN™?

TI’s InstaSPIN™ motor solutionswill instantly spin and control

your three phase motor

Enabling every user to have the ideal three phase motor control for their application

www.ti.com/instaspin-bldc

Introducing the First

InstaSPIN™‐BLDC: Spinning in Seconds

Back EMFVoltage Sensing

CommutationEngine

CommutationObserver

Speed Control

OptTorqueControl

Speed Est.

3PHI

InstaSPIN-BLDC.lib

• Low Cost Sensorless Instant Spin & quick advanced tuning of BLDC motors• Bemf Voltage technique without issues of Bemf Zero Cross Detection!• Robust start‐up & control• Robust during acceleration / deceleration• Forward and Reverse control• Capable of much lower and higher speeds• More noise resistant

TI MCU

Vphases

1-current optionalTorque Control

Robust!InstaSPIN has currently been tested on over 200 different motors. In nearly every case, the motor was running in under 30 seconds, and suitably tuned in under two minutes

More Reliable Low Speed!Back-EMF integration creates a less noisy signal for commutation control.

Adapts to Acceleration Changes!unlike the zero-cross timing technique

Better High Speed!Commutation by dynamically lowering the threshold level.

Simple!Only one parameter needs to be adjusted to tune the commutation process.

InstaSPIN‐BLDC Advantages

PWM 1

PWM 3

PWM 5

PWM 2

PWM 4

PWM 6

Phase A

Phase B

Phase C

0 60 120 180 240 300 360Rotor Electrical Position (Degrees)

Zero crossings

Traditional Sensorless: Zero Cross

Phase A

Phase B

Phase C

0 60 120 180 240Rotor Electrical Position (Degrees)

300 360

Commutate

Vth

-Vth

InstaSPIN‐BLDC Method

Zero-crossing line1/6 Amplitude

Zero

-Vth

Start Integrating

Commutate Commutate

mdtd

dtdvoltage ω

θλθ

θλλ

⋅∂∂

=⋅∂∂

==

Speed Invariant Performance unlike Zero Cross!

InstaSPIN‐BLDC Cascade Mode Control Topology

+

-

CommandedRotorSpeed

Kp

Ki ∫

+

+

+

-

Kp

Ki ∫

+

+

Commanded current (torque)

PWM Value

InstaSPIN-BLDC

Commutation Engine

Bus Current(from shunt resistor)

Velocity Calculation

Commutation Times

Rotor Speed Estimate

Velocity Loop Limit

- Velocity Loop Limit

CO

MM

UTA

TIO

N

TOR

QU

E

SPEE

D

POSI

TIO

N

Spin with one click: Tune commutation in seconds

Closed loop torque, speed, and advanced start‐up

Instantly Spin & Control an Unknown Motor

Spinning in SecondsTrapezoidal Commutation for BLDC

Simple Voltage Bemf, Current optional for torque control

No motor parameters required

Robust start-upSimple tuningEasily add speed or current control

430FR, LM3/4, Piccolo, Hercules

ti.com/instaspin-bldc

more coming in 2012! 2013

MetatoolsVisual Solutions

VisSimwww.vissim.com/c2000(C2000 & 430)

The Mathworks Simulink & Embedded Target

www.mathworks.com/products/tic2000(C2000, 570 soon)

-Motor Lib and Peripheral Blocks-Simulation and Modeling-Auto-Tuning-Code Generation-Interface to CCStudio IDE-Works with Kits / EVMs

Abstraction, Rapid Prototyping, Simulation, Graphical Development & Code Gen

Industry Leading Graphical Simulation & Abstracted Code Generation

Multiple Local Consultants & Design Houses

www.ti.com/motorblog    /training

VideosAnimationsBlogsMotor 101SeminarsWorkshopsTrainings

Why TI for Motor Control• References

– Quick to Spin– TI Control + Drive + Analog– High Performance Features– Connectivity

• Software– Libraries

• Motor & Safety– IQMath– Real-Time Debug– Common IDE

• (Free or Low Cost)– GUI – easy out of box– Best Abstraction & Simulation Support

• Portfolio of Silicon– <$1 to Highest Performance, 32-bit engines, premium analog and PWM– Low latency CPU/INT/Peripherals with HW features for real-time control

TI Spins MotorsSmarter · Safer · Greener

www.ti.com/motor