Efficient and Easy Motor Control with New Kinetis KVxx and DSC Families

Transcription

1 Efficient and Easy Motor Control with New Kinetis KVxx and DSC Families EUF-IND-T0584 Petr Staszko System Application Engineer J U N E External Use

2 Agenda Introducing Kinetis V & new DSC series MCUs Family Details Kinetis V Modules Overview DSC Modules Overview Motor Control Performance Enablement Overview FreeMASTER S/W Libraries Motor Control Toolbox MCAT External Use 1

3 Kinetis V & DSC Series MCUs Introduction & Roadmap External Use 2

4 Performance Kinetis V - Solutions for Motor Control and Digital Power Conversion ARM Cortex-M0+ ARM Cortex-M4 ARM Cortex-M + Advanced Memory, Connectivity and Communications + High Speed ADC + High Resolution PWM KV3x Family Mid range PMSM, UPS power control KV4x Family High performance motors, UPS, solar and mid range AC/DC control + Multi Channel Timers + Floating Point Unit KVxx Families Increasing performance and feature integration Optimized memory configurations KV1x Family BLDC, entry level PMSM + Motor Control Software Feature Integration Freescale IDE, RTOS, Software Libraries and Motor Control Development Tools External Use 3

5 Kinetis V Series Performance and Feature Scalability High Performance DSC Peripherals MCU Family Core Memory Key IP for Motor and Power Control Applications Motor Control Timers Enhanced Timers ADC DAC ACMP LQFP & QFN Packages KV4x 150MHz CM4 + FPU kB Flash 2 x 8ch 1x 2ch FlexTimers 12ch eflexpwm + Nano- Edge 2x 12bit 4.1Msps / 1.9Msps 2x 12-bit 4x ACMP with 6-bit DAC 100 pin 64 pin KV3x 100/120MHz CM4 + FPU kB Flash 2x 8ch 2x 2ch FlexTimers - 2x 16-bit 1.2Msps 2x 12-bit 2x ACMP with 6-bit DAC 100 pin 64 pin 48 pin 32 pin KV1x 75MHz CM0+ H/W DIV & SQRT 16-32kB Flash 1x 6ch 2x 2ch FlexTimers - 2x 16-bit 1.2Msps 1x 12-bit 2x ACMP with 6-bit DAC 48 pin 32 pin Scalable performance, timing and analog functionality based on application needs External Use 4

6 Performance DSC Roadmap 120MHz 32-bit Core 256K Flash FPU MC56F85xx 56F MHz 32-bit Core 256K Flash DMA, UHS ADC, Ultra-Hi Res PWM MC56F802x/3x MC56F803x 32MHz Hi Res PWM, CAN, ADC, DAC MC56F824x/5x MC56F825x 60MHz 64K Flash Ultra-Hi Res PWM, UHS ADC MC56F824x 60MHz 48K Flash Ultra-Hi Res PWM, UHS ADC /1 100MHz 32-bit Core 128K Flash DMA, UHS ADC, Ultra-Hi Res PWM 56F8422/1 100MHz 32-bit Core 64K Flash DMA, UHS ADC, Ultra-Hi Res PWM 50/100MHz 64K Flash Ultra-Hi Res PWM UHS ADC MC56F82xxx MC56F801x MC56F802x 32MHz Hi Res PWM, ADC, DAC MC56F84xxx MC56F801x 32MHz Hi Res PWM, ADC MC56F800x MC56F800x 32MHz Hi Res PWM Low power Small Flash Blocks Hi Res PWM Available New MC56F80xx Planned Proposed Future External Use 5

7 NVM KB Freescale DSC Family Compatibility F84xxx F84xxx 56F84xxx 56F84xxx 64 56F F84xxx 56F F84xxx 56F8257 PIN COMPATIBLE 56F82xxx 56F82xxx 56F82xxx 48 56F F F Available Announced 56F82xxx 56F82xxx 56F82xxx Package Planned 44LQFP 48LQFP 64LQFP 80 / 100LQFP External Use 6

8 Kinetis V & DSC Series MCUs Family Details External Use 7

9 Kinetis V Series KV1x: Block Diagram Key Features: Core/System 75MHz Cortex-M0+ with 4ch DMA 32-bits wide flash memory access Hardware Divide & Square Root Memory 16/32KB Flash 8KB SRAM Communications Multiple serial ports Analog 2 x 8ch 16-bit ADC 1.2Msps in 12-bit mode (835ns) 1 x12-bit DAC 2 x ACMP with 6-bit DAC Timers 1x6ch FlexTimer (PWM) 2x2ch FlexTimer (PWM/Quad Dec.) Low Power Timer Other Dual Watchdog 32-bit CRC Up to 40 I/Os 1.71V-3.6V; -40 to 105oC Packages 32QFN, 32LQFP, 48LQFP From $0.99 to $1.31 at 10k units Debug Interfaces Interrupt Controller Security and Integrity Cyclic Redundancy Check (CRC) Internal and External Watchdogs Flash Access Controller Core System Memories Clocks ARM Cortex-M0+ 75 MHz MTB 2 x16-bit ADC 2 x ACMP w/ 6b DAC 1 x12-bit DAC 4ch-DMA BME Low Leakage Wake-up Unit H/W Divide & Square Root FlexTimers Programmable Delay Block Low-Power Timer Program Flash 32KB 1xI 2 C 2xUARTs 1xSPI SRAM 8KB Frequency- Locked Loop Low/High Frequency Oscillators Internal Reference Clocks Analog Timers Communication Interfaces HMI GPIO External Use 8

10 Kinetis V Series KV3x: Block Diagram Core/System 100/120MHz / FPU 64-bits wide flash memory access Memory 64/128/256/512KB Flash, 16/24/48/96KB SRAM FlexBus (External Bus Interface, 512KB version only) Bootloader Communications Multiple serial ports Analog 2 x16-bit ADC: 1.2Msps in 12-bit mode Up to 2 x12-bit DAC 2 x ACMP with 6-bit DAC Timers Up to 2x8ch F (PWM) 2x2ch F (PWM/Quad Dec.) Programmable Delay Block Low Power Timer Other Dual Watchdog Up to 70 I/Os 6 high-drive I/Os (20mA) SPI/I2C 1.71V-3.6V; -40 to 105oC Packages 32QFN, 48/64/100LQFP From $1.59 to 10k units Debug Interfaces Interrupt Controller Security and Integrity Cyclic Redundancy Check (CRC) Internal and External Watchdogs Flash Access Controller Core System Memories Clocks ARM Cortex-M4 100/120MHz DSP FPU 2 x16-bit ADC 2 x ACMP w/ 6b DAC Up to 2 x12- bit DAC 4/16ch- DMA Low-Leakage Wake-Up Unit FlexTimers Programmable Delay Block Periodic Interrupt Timers Low-Power Timer Program Flash Up to 512K Serial Programming Interface (Export) 2xI 2 C 4xUARTs 2x DSPI SRAM up to 96KB FlexBus External Bus Interface Phase-Locked Loop Frequency- Locked Loop Low/High Frequency Oscillators Internal Reference Clocks Analog Timers Communication Interfaces HMI VRef BOOT Flash SRAM Retention GPIO Optional External Use 9

11 Kinetis V Series KV4x: Block Diagram Core/System 150MHz Cortex-M4+ with 16ch DMA Floating Point Unit Memory 64/128/256KB 128bits wide w/ 128Byte cache 16/24/32KB SRAM Bootloader Communications Multiple serial ports Up to 2 x CAN Analog 2 x 8ch 12-bit ADC Sampling at up to 4.1MS/s (240ns) PGA x1, x2, x4 12-bit DAC 4 x ACMP with 6-bit DAC Timers Up to 12ch eflexpwm Up to 312ps PWM Resolution (*) 2x8ch + 1x2ch FlexTimer (PWM) Quadrature Encoder 2 x Programmable Delay Blocks Other 32-bit CRC Inter-Peripheral Crossbar with AND/OR interface Up to 56 I/Os 1.71V-3.6V; -40 to 105oC Packages 64 LQFP & 100LQFP From $2.49 to 10k units Debug Interfaces Interrupt Controller Security and Integrity Cyclic Redundancy Check (CRC) Internal and External Watchdogs Flash Access Controller Core System Memories Clocks ARM Cortex-M4 150MHz DSP FPU 2 x12-bit ADC 4 x ACMP 1 x12-bit DAC 16ch-DMA Inter- Peripheral Crossbar 2x8ch FlexTimer Programmable Delay Block Periodic Interrupt Timers Program Flash Up to 256KB 1xI 2 C 2xUARTs 1xSPI SRAM Up to 32KB Phase & Frequency- Locked Loop Low/High Frequency Oscillators Internal Reference Clocks Analog Timers Communication Interfaces HMI 12ch eflexpwm 1x2ch FlexTimer Quad Encoder BOOT Flash SRAM Retention 2x CAN GPIO External Use 10

12 MC56F84xxx 100 MHz/100MIPS V3 Core Harvard architecture 32 x 32bit MAC and 32bit arithmetic operation V Operation 256kB Program/Data FLASH 32kB Data Flash with up to 2kB of eee 32kB Data/Program RAM Resource Protection Unit 3 HS-QSCI (8MBS), 3xQSPI, 2xIIC/SMBus, 1xFlexCAN Multi-purpose timers 2 Periodic Timers with Real Time Interrupt Generation 2 Programmable Delay Blocks 8Ch multifunction timers 8ch High Resolution PWM Channels 312ps PWM and PFM resolution 8ch PWM Channels with Input Capture 8ch x 2 12-bit ADC converter with built-in PGA 300ns/3.33Msps conversion time with 12bit resolution 8ch 16bit SAR ADC with built-in temperature sensor and band gap. 2us conversion time. 4 Analog Comparators 1 Quadrature Decoder 1ch 12bit DAC with external outputs + 4ch 6bit DAC DMA controller Inter-Module Crossbar On-chip voltage regulator (Single 3.3V Power Supply) System Integration : Internal relaxation oscillator, PLL, COP, 32kHz, EWM, auxiliary Internal clock, low voltage detect, EZPort 5V tolerant I/O Temperature Range: -40 C to +105 C 256kB Program/Data Flash 32kB Program/Data RAM 32kB Data Flash with 2kB eee Memory Resource Protection Unit 56800E V3 Core 100MHz JTAG/EOnCE & ezport System Integration Module (SIM) Interrupt Controller 8ch 12bit ADCA 8ch 12bit ADCB CRC Crystal Oscillators PLL Relaxation OSC 8MHz Internal 32KHz Clock 2 x PIT (RTC) Inter-Module XBar Voltage Regulator COP POR LVI GPIO 48 LQFP, 64 LQFP, 80LQFP, 100LQFP Prog Gain Amp Ax1,2,4 Prog Gain Amp Bx1,2,4 8-ch PWM /w Capture 8-ch High Res PWM 1 Quadrature Decoders 4x 6bit DAC 1ch 12bit DAC 4 Analog Comparators 2 x PDB 8Ch 16bit Quad Timer 3 x QSPI 2x IIC/SMbus 1 x FlexCAN 3 x HS QSCI 16ch 16bit ADC /w Temp DMA Controller External Use 11

13 MC56F82xxx 64KB Flash 8KB SRAM 16KB Flash 2K B SRAM Memory Options Program Flash Data RAM Memory Resource Protection 56800EX Core 50MHz/40MHz JTAG/EOnCE System Integration Module (SIM) PLL Crystal OSC 8MHz OSC 32KHz OSC Inter-module Cross Bar Voltage Regulator 2 COP POR LVI CRC Band-gap Ref 8-Ch 12bit ADCA w/ PGA 8-Ch 12bit ADCB w/ PGA 8-Ch PWM 4-Ch 16bit Timer 4x Analog Comp 1 x MSCAN 2 x HS SCIs 2 x SPI IIC/SMbus 32QFN, 32LQFP, (44LQFP), 48LQFP & 64LQFP Packages will be pin compatible with the MC56F824x/5x and MC56F84xx Breakthrough Features: High speed 800ns conversion time Nano Edge 512ps Resolution Inter-module Cross bar DMA Memory Resource Protection Unit 4Ch DMA 2 x 12bit DAC 56800EX V3 50MHz (100MHz from RAM) V Operation Up to 64KB Program FLASH,with Flash Security Up to 6KB Program/Data RAM Memory Resource Protection Unit Up to 100 MHz Peripherals Timers and SCIs Eight Channel Nano Edge PWM (512ps resolution) Up to four programmable fault protection input Dead-time insertion Input Capture function 2 x12-bit ADCs with total 16 Inputs & PGAs 1x, 2x, 4x 800ns conversion rate Band-gap reference Four channel DMA controller Inter Module cross-bar 4 x Comparators with a 6bit Voltage reference CRC Generator 2 x Windowed Watchdog External Watchdog Monitor 4 x 16-bit Enhanced Multifunction Programmable Timers 2 x 12b DAC 2 x High Speed SCI 2 x SPI 1x I 2 C/SMbus Communications Interface Software Programmable Phase Locked Loop Multiple Clock sources External Crystal/Resonator Oscillator 8MHz/200KHz Tunable Internal Relaxation Oscillator 200kHz Internal RC relaxation Oscillator 5v Tolerant IO Error code correction Industrial temperature:-40c to 50MHz External Use 12

14 Kinetis V & DSC Series MCUs Kinetis V Modules Overview External Use 13

15 FlexTimer Module F source clock is selectable with prescaler divide-by 1, 2, 4, 8, 16, 32, 64, or 128 F has a 16-bit counter 2 up to 8 channels (inputs/outputs) The counting can be up or up-down Each channel can be configured for input capture, output compare, or Input filter can be selected for some channels New combined mode to generate a PWM signal (with independent control of both edges of PWM signal) Complementary outputs, include the deadtime insertion Software control of PWM outputs Up to 4 fault inputs for global fault control The polarity of each channel is configurable The generation of an interrupt per channel input capture/compare, counter overflow, at fault condition Synchronized loading of write buffered F registers Write protection for critical registers Backwards compatible with TPM Dual edge capture for pulse and period width measurement Quadrature decoder with input filters, relative position counting and interrupt on Position count or capture of position count on external event External Use 14

16 FlexTimer Module Diagram External Use 15

17 FlexTimer Center Aligned PWM Generation MOD ($0100) C1V ($0000) C0V CNTIN ($FF00) Channel 0, 1 Output When the Init value is the signed negative of the Modulus value, the PWM module works in signed mode. Center-aligned operation is achieved when the turn-on and turn-off values are the same number, but just different signs. External Use 16

18 Programmable Delay Block (PDB) The PDB provides delays between input and output triggers Up to 4 channels available (one for each ADC) with two pretriggers Trigger 0 => Sample A Trigger 1 => Sample B External Use 17

19 16-bit ADC Analog Quantities Measurement Up to 4 pairs of differential and 24 single-ended external analog inputs Single or continuous conversion (automatic return to idle after single conversion) Configurable sample time and conversion speed/power Input clock selectable from up to four sources Operation in low power modes Asynchronous clock source for lower noise operation Selectable hardware conversion trigger with hardware channel select Automatic compare with interrupt for less-than, greater-than or equal-to, within range,or out-ofrange, programmable value Temperature sensor Hardware average function Selectable voltage reference: external or alternate Self-calibration mode 2 sets of control (ADC_SC1n) and result (ADC_Rn) registers implemented on available Kinetic External Use 18

20 Kinetis V & DSC Series MCUs DSC Modules Overview External Use 19

21 Enhanced Flex Pulse Width Modulator (eflexpwm) Four independent sub-modules with own time base, two PWM outputs + 1 auxiliary PWM input/output 16-bits resolution for center, edge aligned, and asymmetrical PWMs Fractional delay for enhanced resolution of the PWM period and edge placement (Nano-Edge) Complementary pairs or independent operation Independent control of both edges of each PWM output Synchronization to external hardware or other PWM submodules Double buffered PWM registers Integral reload rates from 1 to 16 include half cycle reload Half cycle reload capability Multiple output trigger events per PWM cycle Support for double switching PWM outputs Fault inputs can be assigned to control multiple PWM outputs Programmable filters for fault inputs Independently programmable PWM output polarity Independent top and bottom deadtime insertion Individual software control for each PWM output Software control, and swap features via FORCE_OUT event Compare/capture functions for unused PWM channels Enhanced dual edge capture functionality External Use 20

22 eflexpwm - Sub-Module Detail External Use 21

23 eflexpwm PWM Generation External Use 22

24 eflexpwm Center Aligned PWM Generation VAL1 ($0100) VAL3 VAL5 ($0000) VAL4 VAL2 INIT ($FF00) Ch0 a Ch0 b When the Init value is the signed negative of the Modulus value, the PWM module works in signed mode. Center-aligned operation is achieved when the turn-on and turn-off values are the same number, but just different signs. External Use 23

25 eflexpwm Force Output Logic External Use 24

26 eflexpwm Complementary and Deadtime Logic External Use 25

27 eflexpwm Fractional Delay and Output Logic External Use 26

28 A/D Converter 12-bit resolution Sampling rate up to 4.1 million samples per second (240ns) ADC to PWM synchronization through the SYNC0/1 input signal sequentially scans and stores up to sixteen measurements Scans and stores up to eight measurements each on two ADC converters operating simultaneously or Multi-triggering support Gains the input signal by x1, x2, or x4 Optional interrupts at end of scan if an outof-range limit is exceeded or there is a zero crossing Optional sample correction by subtracting a pre-programmed offset value Signed or unsigned result Single-ended or differential inputs External Use 27

29 MUX RESULT MUX IRQ Logic A/D Converter HIGH LIMIT Gain Setting X1, x2, x4 8x LOW LIMIT > < Above Below IRQ AN0 Zero Crossing Logic AN1 ANx PGA V+ 12Bit ADC V- ADC RESULT 8x Vrefl Channel Select Single Ended or Differential ADC OFFSET 8x External Use 28

30 Crossbar Switch Flexible signal interconnection among peripherals Connects any of 22 signals on left side to the output on right side (multiplexer) Total 30 multiplexers All multiplexers share the same set of 22 signals Increase flexibility of peripheral configuration according to user needs External Use 29

31 Crossbar Inter-module Connection Crossbar B AND-OR-INV Logic AND-OR-INV Logic AND-OR-INT Logic AND-OR-INV Logic n n n n n n n6 n n n n DMA Req INT eflexpwm HS-CMP Timer I/O PDB Crossbar A External Use 30

32 Crossbar Inter-module Connection - MC56F824x/5x External Use 31

33 Kinetis V & DSC Series MCUs Motor control performance External Use 32

34 PMSM Vector Control w/ Encoder built on Libraries slow control loop fast control loop U dcb Required speed Ramp PI controller Measured Speed I d_req I q_req I q I d PI controller Lim PI controller Park Transf d,q α,β U d U q I α I β Inv Park Transf d,q α,β Clarke Transf α,β a,b,c Elim DC Bus Ripple SVM PWM Phase Currents Duty cycle DC-Bus Voltage PWM ADC PWM Output U dcb I a I b I c Inverter Speed evaluation sin cos Position evaluation Pulses count Quadr. decoder ENC ph A ENC ph B PMSM 3 Time base Timer Blocks supported by Libraries Peripherals External Use 33

35 PMSM Sensorless Vector Control built on Libraries slow control loop Required speed Ramp Merge PI controller MERGED Integrator I d_req I q_req + - I q + - I d MERGED Merge 1 PI controller Lim PI controller Park Trans d,q α,β sin cos ˆ ˆ U d U q I α I β fast control loop Inv Park Trans d,q α,β Tracking Observer Clarke Trans α,β a,b,c Elim DC Bus Ripple SVM PWM DC-Bus Voltage Phase Currents Back-EMF Observer d,q Park Trans d,q α,β sin cos PWM ADC ˆ U α U β PWM Output U dcb I a I b I c U dcb Inverter PMSM 3 MA filter d,q I α Open loop start up Blocks supported by Libraries Position Estimation Peripherals α,β Park Trans I β External Use 34

36 PMSM Sensorless Vector Control Algorithm Slow (speed) control loop - Executed in 1-5msec loop - represents just like 1% of the CPU performance Fast (current) control loop - Executed in usec loop - CPU load should be <40% - critical for sensorless FOC Sensorless algorithm External Use 35

37 Machine Cycles Fast Control Loop of PMSM FOC on M4 core Sensored (encoder based) solution Sensorless Solution Peripherals servicing Position calculation from Encoder signals ParkTrf Vector limit InvParkTrf ControllerPIpAW(2x) CosTlr SinTlr ElimDcBusRip Peripherals servicing Filter MA Vector limit InvParkTrf Filter IIR ParkTrf (3x) TrackObsv PMSMBemfObsrvDQ ControllerPIpAW(2x) CosTlr SinTlr SvmStd ClarkeTrf ElimDcBusRip SvmStd ClarkeTrf + 58% CPU load External Use 36

38 Benchmark - PMSM Sensorless Vector Control application Sensorless PMSM control application is used for benchmark The same C code runs on all platforms Compiler with highest optimization enabled The Flash clock = 25 MHz on all platforms Fast (current) and slow (speed) control loops are considered Kinetis V platform is compared with DSC performance External Use 37

39 Execution Time [us] Benchmark - Execution Time % faster M0+ core 32-bit FMC 44% faster 1.5% faster M4 core 64-bit FMC 95% % faster faster 70% M4 core 128-bit FMC faster KV10, 50MHz KV10, 75MHz KV30, 50MHz KV30,100MHz KV30,120MHz KV30, 120MHz, RAM KV40, 100MHz KV40, 150MHz KV40, 150MHz, RAM DSC, 50 MHz 0.00 External Use 38

40 CPU Cycles [-] Benchmark - Number of CPU Cycles % % % % % -41% KV10, 50MHz KV10, 75MHz KV30, 50MHz KV30,100MHz KV30,120MHz KV30, 120MHz, RAM KV40, 100MHz KV40, 150MHz 1000 KV40, 150MHz, RAM DSC, 50 MHz 0 External Use 39

41 Benchmark - Conclusion 32-bit FMC (Flash Memory Controller) is not suitable for 75MHz. Clock increased by 50%, performance by 13.5% only (KV10) 64-bit FMC is not suitable for clocks > 100MHz. Clock increased by 20%, performance by 1.5% only (KV30) Execution from Flash takes 2x longer time then from RAM [KV30, KV40] DSC is 2x faster then Cortex-M0+ (KV10) DSC is faster by 22% then Cortex-M4 on the same clock (DSC 50MHz versus KV30 50MHz) DSC is slower by 18% only when Cortex-M4 running on the double clock (DSC 50MHz versus KV30/KV40 100MHz) External Use 40

42 Benchmark H/W Divide & SQRT The sensorless PMSM application calculates 3 DIV and 1 SQRT in fast current loop. 2xDIV in dc bus ripple elimination 1xDIV in ArcusTangent (used in sensorless observer) 1xSQRT in Limitation S/W Divide = 180 to 360 cycles/divide H/W Divide = 20 cycles/divide Optimized_SW_SQRT = 201 cycles/sqrt H/W_SQRT = 13 cycles/sqrt H/W SQRT and DIV improve up to 26% performance External Use 41

43 Kinetis V & DSC Series MCUs Enablement External Use 42

44 Kinetis V Series Enablement New Freescale Enablement Software Kinetis SDK, Kinetis Design Studio, Kinetis Bootloader FreeMASTER: GUI-based run-time debug monitor and data visualization tool MCAT: FreeMASTER plug-in for real-time monitoring, tuning and updating of application control parameters Motor Control Toolbox: MATLAB modeling environment plug-in for automatic code generation Software Libraries for CM0+/M4 & IEC60730: Math, General, Filter and Motor Control libraries. Sensorless algorithms for advanced control Tower Development System, IDEs & Auto-code Generators: KDS, IAR, Keil & Processor Expert Extensive Ref. Design and App. Note Library: BLDC, PMSM, High Voltage Power Stage and more Supported by Freescale s Motor Control Center of Excellence with 20+ years of expertise in MCU development, enablement and customer support External Use 43

45 Kinetis V Series: Enablement TWR-KV10Z32 $99 MKV10Z32VLF7 MCU (32KB, 48LQFP) See out-of-box running BLDC algorithm with IAR & FreeMASTER TWR-KV31F120M $99 MKV31F512VLL12 (512KB, 100LQFP) Limited quantities available from April 2014 contact FSL sales/marketing. Production boards Aug 2014 See out-of-box running PMSM algorithm with IAR & FreeMASTER TWR-KV10Z32 TWR modules compatible with TWR-MC-LV3PH motor driver peripheral module TWR-MC-LV3PH $249 Up to 8 A power output, V MOSFET pre-driver MC33937 over SPI TWR-MC-LV3PH includes 3-phase BLDC motor (NOTE: TWR-ELEV modules must be ordered separately if required) TWR-KV31F120M IDEs KV1x: CodeWarrior, IAR & Keil now. Kinetis Design Studio Q214 KV3x: IAR & Keil Apr. Kinetis Design Studio Q214 KV4x: IAR, Keil & Kinetis Design Studio Sept 2014 TWR-MC-LV3PH External Use 44

46 High Voltage Motor Control Platform Available in August Provide real-size hardware for 3-phase motor control + PFC for customers Support key Freescale motor control devices Kinetis V and DSC Output power up to 1 kw Input voltage V AC or VDC Cost effective design (resale <600USD) Easy to use, safe and robust design Suitable for PMSM, BLDC and ACIM motors White goods Industrial drives Pumps, fans, compressors Air conditioners Optical isolation 5KV for USB communication and debugging Support Bluetooth wireless module CE/FCC External Use 45

47 High voltage platform block diagram External Use 46

48 Block diagram Kinetis daughter cards External Use 47

49 Distribution Main board KV40 will be default daughter card USB key with or link to external site for required s/w + + Optional, single orderable parts KV10 KV30 KV40 DSC IEC power cord + Mini USB cable for Debugging USB B cable for FreeMASTER Optional, single orderable parts PMSM ACIM External Use 48 Contact person: ivan.lovas@freescale.com

50 Kinetis V Series: Enablement Reference Designs (RD) / Demos (D) / App Notes (AN): AN4862: 3-Phase BLDC Sensorless Control Using the MKV10x AN4870: Tuning 3-Phase BLDC Motor Sensorless Control Application Using the MKV10x AN4911: 3-Phase PMSM Sensorless FOC Using the MKV31F AN4912: Tuning 3-Phase PMSM Sensorless Control Application Using MCAT Tool RD: High Voltage Power Stage (>24V) with KV1x daughter card: production Q2/ FreeMASTER Free GUI based run-time debug monitor and data visualization tool Replaces debugger in situations when the core can not be simply stopped (e.g. motor control) Software Libraries Modular s/ware library for CM0+ Modular s/ware library for CM0+ (H/W DIV & SQRT) Advanced s/ware library for CM0+ Core self test library for IEC60730 with UL Certifications for CM0+ Motor Control Toolbox MATLAB /Simulink modelling environment motor control plug-in tool for automatic code generation. Support multiple compilers. Compatible with FreeMASTER. $8K SRP MCAT (Motor Control Application Tuner) Free GUI based FreeMASTER plug-in tool that provides real-time monitoring, tuning and updating of control parameters Not provided as a standalone application, but as a FreeMASTER plug-in component of featured reference designs. External Use 49

51 Kinetis V Series Solutions FreeMASTER External Use 50

52 as a Real-time Monitor Connects to an embedded application SCI, UART JTAG/EOnCE (56F8xxx only) BDM (HCS08, HCS12 only) CAN Calibration Protocol Ethernet, TCP/IP Any of the above remotely over the network Enables access to application memory Parses ELF application executable file Parses DWARF debugging information in the ELF file Knows addresses of global and static C-variables Knows variable sizes, structure types, array dimensions etc. Serial Communication Driver Completely Interrupt-Driven LONG INTERRUPT Mixed Interrupt and Polling Modes SHORT INTERRUPT Completely Poll-Driven runs typically in main() loop External Use 51

53 Displays the variable values in various formats: as a Real-time Monitor Text, tabular grid variable name value as hex, dec or bin number min, max values number-to-text labels - similar to the classical hardware oscilloscope - variables read in real-time - sampling time limited by communication data link Real Time Graph Real-time waveforms up to 8 variables simultaneously in an oscilloscope-like graph High-speed recorded data up to 8 variables in on-board memory transient recorder External Use 52 - variables recorded by the embedded-side timer periodic ISR - after requested Variable number Watch of samples data stored in Recorder buffer - sample very fast actions - buffer download can be defined

54 Kinetis V Series Solutions S/W Libraries External Use 53

55 Documentation GMCLIB Motor Control MLIB Mathematical Target Platform Math and Motor Control Library Set Application Integration SYSTEM APPLICATION Application SW GDFLIB Digital filtering GFLIB General functions MC library set Drivers reflecting the chip features System Infrastructure Algorithm Libraries Drivers On-Chip Peripherals PINS External HW FMaster* Support External Appl.* Support *Optional External Connections External Use 54

56 Math and Motor Control Library Set - Architecture External Use 55

57 Math and Motor Control Library Set Contents MLIB GFLIB GDFLIB GMCLIB ACLIB/AMCLIB Absolute Value, Negative Value MLIB_Abs, MLIB_AbsSat MLIB_Neg, MLIB_NegSat Add/Subtract Functions MLIB_Add, MLIB_AddSat MLIB_Sub, MLIB_SubSat Multiply/Divide/Addmultiply Functions MLIB_Mul, MLIB_MulSat MLIB_Div, MLIB_DivSat MLIB_Mac, MLIB_MacSat MLIB_VMac Shifting MLIB_ShL, MLIB_ShLSat MLIB_ShR MLIB_ShBi, MLIB_ShBiSat Normalisation, Round Functions MLIB_Norm, MLIB_Round Conversion Functions MLIB_ConvertPU, MLIB_Convert Trigonometric Functions GFLIB_Sin, GFLIB_Cos, GFLIB_Tan GFLIB_Asin, GFLIB_Acos, GFLIB_Atan, GFLIB_AtanYX GFLIB_AtanYXShifted Limitation Functions GFLIB_Limit, GFLIB_VectorLimit GFLIB_LowerLimit, GFLIB_UpperLimit PI Controller Functions GFLIB_ControllerPIr, GFLIB_ControllerPIrAW GFLIB_ControllerPIp, GFLIB_ControllerPIpAW Interpolation GFLIB_Lut1D, GFLIB_Lut2D Hysteresis Function GFLIB_Hyst Signal Integration Function GFLIB_IntegratorTR Sign Function GFLIB_Sign Signal Ramp Function GFLIB_Ramp Square Root Function GFLIB_Sqrt Finite Impulse Filter GDFLIB_FilterFIR Moving Average Filter GDFLIB_FilterMA 1st Order Infinite Impulse Filter GDFLIB_FilterIIR1init GDFLIB_FilterIIR1 2nd Order Infinite Impulse Filter GDFLIB_FilterIIR2init GDFLIB_FilterIIR2 Clark Transformation GMCLIB_Clark GMCLIB_ClarkInv Park Transformation GMCLIB_Park GMCLIB_ParkInv Duty Cycle Calculation GMCLIB_SvmStd Elimination of DC Ripples GMCLIB_ElimDcBusRip Decoupling of PMSM Motors GMCLIB_DecouplingPMSM Delivery Content Angle Tracking Observer Tracking Observer PMSM BEMF Observer in Alpha/Beta PMSM BEMF Observer in D/Q Content currently in definition User Manuals Header files Compiled Library File License File (to be accepted at install time) External Use 56

58 Digital Control library Future. MPPT algorithm library for solar application Modified P&O method PI based control loop Input variable and drive output is in fraction to optimize number resolution PFC control loop library Control loop co-efficient is calculated in library User need to provide passive component value and switching and sampling frequency Average current mode control is implemented Drive output is in fraction format External Use 57

59 Kinetis V Series Solutions Motor Control Toolbox External Use 58

60 Zero Torque Control IQ loop ID loop ID IQ PI Filter PI Filter IQ cmd ID cmd Reverse Park Transform Forward Park Transform Va cmd Vb cmd Va Vb PWM Modulation Forward Clark Transform Motor Position PWM A PWM B PWM C IA IB IC Zero Torque Control IQ loop ID loop ID IQ PI Filter PI Filter IQ cmd ID cmd Reverse Park Transform Forward Park Transform Va cmd Vb cmd Va Vb PWM Modulation Forward Clark Transform Motor Position PWM A PWM B PWM C IA IB IC Zero Torque Control IQ loop ID loop ID IQ PI Filter PI Filter IQ cmd ID cmd Reverse Park Transform Forward Park Transform Va cmd Vb cmd Va Vb PWM Modulation Forward Clark Transform Motor Position PWM A PWM B PWM C IA IB IC Zero Torque Control IQ loop ID loop ID IQ PI Filter PI Filter IQ cmd ID cmd Reverse Park Transform Forward Park Transform Va cmd Vb cmd Va Vb PWM Modulation Forward Clark Transform Motor Position PWM A PWM B PWM C IA IB IC Model Based Design Steps: Summary Gate Driver Gate Driver Controller Model Controller Model Controller Model Controller Model Electric Motor Model Electric Motor Model Electric Motor Model Electric Motor PC Environment PC Environment PC Environment + MCU MCU with Embedded Control Module (ECM) Step 1 System Requirements: MBD Simulation Only Software requirements Control system requirements Overall application control strategy Modeling style guidelines applied Algorithm functional partitioning Interfaces are defined here Step 2 Modeling/Simulation: MBD Simulation with ANSI C Code using SIL Control algorithm design Code generation preparation Control system design Overall application control strategy design Start testing implementation approach Testing of functional components of algorithm Test harness to validate all requirements Test coverage of model here Creates functional baseline of model Step 3 Rapid Prototype: MBD Simulation with ANSI C Code using PIL Controller code generation Determine execution time on MCU Verify algorithm on MCU See memory/stack usage on MCU Start testing implementation approach Target testing controls algorithm on MCU Refine model for code generation Function/File partitioning Data typing to target environment done here Scaling for fixed point simulation and code gen Testing of functional components of algorithm Test harness to validate all requirements Test coverage of model here Creates functional baseline of model Equivalence testing Step 4 Target MCU Implementation ANSI C Code Running on Target HW & MCU Validation/verification phase Controller code generation Determine execution time on MCU Start testing implementation on target ECM Code generate control algorithm + I/O drivers. Complete implementation on ECM. Test system in target environment Utilize calibration tools for data logging and parameter tuning Execute code on target MCU Functional testing in target environment Ensure execution on target is correct as well as code generation on target is performing as desired. External Use 59

61 Model Based Design Steps: Step 1 (Simulation) Simulation in PC environment ADC Torque Control + - IQ loop PI Filter IQ cmd Reverse Park Transform Va cmd PWM Modulation PWM A PWM B A/D Conversion Zero + - ID loop ID IQ PI Filter ID cmd Forward Park Transform Vb cmd Va Vb Forward Clark Transform PWM C IA IB IC Gate Driver With Isolation Analog Sensor Model Motor Position Controller Model Analog Device Model Electric Motor Model Idealized simulation of the controller and the motor to refine the control technique. Done on host PC without regard for embedded controller. Can optionally add analog device models for fault detection and signal control. PC Environment External Use 60

62 Model Based Design Steps: Step 2 (SIL) (SIL) Generated code executes as atomic unit on PC ADC Torque Control + - IQ loop PI Filter IQ cmd Reverse Park Transform Va cmd PWM Modulation PWM A PWM B A/D Conversion Zero + - ID loop ID IQ PI Filter ID cmd Forward Park Transform Vb cmd Va Vb Forward Clark Transform PWM C IA IB IC Gate Driver Analog Sensor Model Motor Position Controller Model Analog Device Model Electric Motor Model Still done on host PC without regard for embedded controller. Instead using generated C code that is compiled using a PC-based compiler. Run same test vectors as in simulation for C Code Coverage analysis and verify functionality. PC Environment External Use 61

63 Model Based Design Steps: Step 3 (PIL) (PIL) Executes generated code on the target MCU ADC Torque Control + - IQ loop PI Filter IQ cmd Reverse Park Transform Va cmd PWM Modulation PWM A PWM B A/D Conversion Zero + - ID loop ID IQ PI Filter ID cmd Forward Park Transform Vb cmd Va Vb Forward Clark Transform PWM C IA IB IC Gate Driver Analog Sensor Model Motor Position Controller Model Analog Device Model Electric Motor Model Execute the model on the target MCU and perform numeric equivalence testing. Coexecution with MCU and Model Based Design working together while collecting execution metrics on the embedded controller of control algorithm. Validate performance on MCU. PC Environment + MCU External Use 62

64 Model Based Design Steps: Step 4 (Target MCU)* ADC A/D Conversion Zero Torque Control IQ loop ID loop ID IQ PI Filter PI Filter IQ cmd ID cmd Reverse Park Transform Forward Park Transform Va cmd Vb cmd Va Vb PWM Modulation Forward Clark Transform PWM A PWM B PWM C IA IB IC Gate Driver * I/O peripheral driver blocks can be included in the model, providing the analog driver interfaces needed to directly interface to devices external from the MCU. Input Drivers* Motor Position Controller Model Execute on Target MCU on ECM/EVB Output Drivers* Electric Motor MCU with Embedded Control Module (ECM) External Use 63 Generate production code to run on embedded MCU with real motor while collecting execution metrics on the embedded controller of control algorithm. Validate performance on MCU and use FreeMASTER to tune control parameters and perform data logging.

65 Kinetis V Series Solutions MCAT External Use 64

66 MCAT Introduction & Features Tool enabling tuning of control parameters according to the target motor / application Dynamic tuning & update of control parameters Generation of header file with static configuration of the tuned parameters MCU independent (Kinetis, MPC, DSC) Currently supports PMSM and BLDC MCAT for ACIM motor will follow External Use 65

67 FreeMASTER with MCAT HL based environment jscript based calculation engines File reading/storing via FreeMASTER External Use 66

68 Steps to Tune the Current Loop 1. Parameter Setting-Up 2. Control Loop Tuning 4. Generated.h file 3. Output Control Constant Preview External Use 67

69 MCAT Control Structure Selector Open loop control no need any current, position or speed feedback Voltage control position required no need any current and speed feedback Current control current, position required no need any speed feedback Speed control - current, position and speed required External Use 68

70 Motor Identification Tool coming soon Relieves of complicated and long motor measurement Estimation routines are standalone running on DSCs or Kinetis Convenient to use with MCAT where Identification precedes application tuning Motor Identification Application Tuning Application tuning based on the estimated parameters Offline estimation of electrical (in progress) and mechanical (will follow) parameters of a connected motor External Use 69

71 Motor Identification Tool coming soon Adds a new tab to the MCAT environment Application & HW scales Characterisation parameters Estimation parameters Estimated Rs, Ld, Lq External Use 70

72 Summary Scalable, low-power MCUs for next-generation motor control and digital power conversion applications Addressing market requirements Cortex-M series MCUs with performance, analog and timing IP for every motor control use case. Advanced DSC peripherals for the most demanding motor control and power conversion systems. Product family scalability From the industry s fastest Cortex-M0+ MCU, to 150 MHz Cortex-M4 MCUs with FPU. Multiple memory, peripheral and package options for evolving end product feature and price requirements. Enabling every customer Class-leading tools including free software libraries and the new Kinetis motor suite designed for simpler, faster and more cost-effective system development. External Use 71

73 Freescale Semiconductor, Inc. External Use