Motor Drive & Control

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C2000™ 32-bit Real-time Controllers

Software Concept | DMC Systems | System Considerations | Device Features

The C2000 platform of real-time controllers has been the industry leader in digital motor control since the inception of the TMS320F24x generation in 1996. In 2002 we debuted the F281x series based on the C28x DSP engine, becoming the first 32-bit architecture specifically built for high performance, math intensive power electronics control. Based on the C28x we have created a family of code compatible devices to meet application needs across performance, price, pin-out, and peripherals.

C2000 MCUs are used in a variety of three phase motor applications, including; AC Servo Drives, precision motion controls, electronic power steering, HVAC compressors and blowers, industrial pumps, and appliances such as washing machines and refrigerator compressors.

Customers using C2000 have enjoyed success because of C2000's:

Best in class capability to perform the precision calculations for sensorless operation and field oriented control (FOC)
Motor Control Library of fundamental software routines, with accompanying theory, documentation, and system examples
High speed, high precision on-chip analog to digital convertors and easy support for even higher speed or precision external ADCs
Feature-rich PWM generators and fault detection to support any system power topology
Graphical simulation, system development, and auto-code generation tools available from partners

C2000 Software Concept for Motor Control

Highest precision & most numerically accurate
Modular libraries (C source) for easiest re-use and customization
Removal of fixed point scaling and saturation burden
Easiest to tune for your custom motor
Documentation: theory, software, system, BOM, schematics

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Library (source code provided) of fundamental software blocks for motor control

Transforms & Estimators: Clarke, Parke, Sliding Mode Observer, Phase Voltage Calculator, Flux & Speed Calculators and Estimators, Resolver Calculator
Control: Signal Generation, PID, BEMF Commutation, Space Vector Generators
Peripheral Drivers: For different modes and topologies - ADC, PWM, Encoders, Sensor Captures

Modular structures or macros with variable inputs and variable outputs
At initialization all variables are defined and outputs of one block are set as inputs to the next
At run-time the structures or macro functions are called
Complete documentation – including mathematical and DMC theory – is provided for every module

DMC Systems: Connect the Blocks – Incrementally

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Using the DMC Library modules, we build up complete motor control system examples. These system examples have been created across different motor types, control techniques, and feedback methods and most have an electrically isolated hardware platform for verification.

The most important feature of the systems is they all use an Incremental Build approach, which allows an incremental section of code to be built so that the developer can verify each section of their application one step at a time. For example, in the Sensorless PMSM FOC example above the following incremental builds are built into the software.

Build Level 1: Using a dummy signal, verify Inverse Park, Space Vector Generation, and 3-ph PWM driver is producing the correct PWM waveforms
Build Level 2: Hook up the power stage, verify ADC conversion, Phase Voltage calculation, Clarke and Park transforms
Build Level 3: Closed loop PID current control verification
Build Level 4: Sliding Mode Observer and Speed Estimator verification
Build Level 5: Closed loop PID speed control

All systems come with complete working software, step-by –step user's guide, copious documentation, screenshots, and hardware hook-up.

These white papers include information on designing high performance drives and the motor control methodology for C2000 real-time controllers.

C2000 Motor Control Primer (PDF 164 KB)
Designing high performance drives (PDF 193 KB)
Motor control methodology (PDF 160 KB)

Digital Motor Control Library

		Software
		1x Series	0x Series	Piccolo Series	Delfino Series
DMC Library	Fundamental DMC Building Blocks and Peripheral Drivers	SPRC080	SPRC215	controlSUITE	controlSUITE

Piccolo™ and Delfino™ Microcontrollers

Motor Type	Control Technique	Hardware
		Piccolo Low Voltage Dual Axis + PFC	Piccolo High Voltage Single Axis + PFC	Delfino High Voltage Single Axis + PFC	Piccolo Low Voltage Low Current	Piccolo Low Voltage High Current	Piccolo Low Voltage Dual H-Bridge
		TMDS1MTRPFCKIT TMDS2MTRPFCKIT	TMDSHVMTRPFCKIT	TMDSHVMTRPFCKIT	DRV8312-C2-KIT DRV8332-C2-KIT	DRV8301-HC-C2-KIT DRV8302-HC-C2-KIT	DRV8412-C2-KIT DRV8432-C2-KIT
Brushless DC	Trapezoidal Sensored	controlSUITE 1Q12	controlSUITE	—	controlSUITE	—	—
	Trapezoidal Sensorless	controlSUITE 1Q12	controlSUITE	—	controlSUITE	controlSUITE	—
	Sinusoidal Sensored	SPRC922	controlSUITE (see PMSM)	—	controlSUITE	—	—
	Sinusoidal Sensorless	SPRC922 or controlSUITE	controlSUITE (see PMSM)	—	controlSUITE	controlSUITE	—
Permanent Magnet	FOC Sensored	controlSUITE	controlSUITE	controlSUITE	controlSUITE	—	—
	FOC Sensorless	controlSUITE	controlSUITE	controlSUITE	controlSUITE	controlSUITE	—
	FOC Servo Encoder	—	controlSUITE 1Q12	—	—	—	—
AC Induction	V/f Tach/Encoder	—	controlSUITE	—	—	—	—
	FOC Sensored	—	controlSUITE	controlSUITE	—	—	—
	FOC Sensorless	—	controlSUITE	controlSUITE	—	—	—
Stepper	Stepper	—	—	—	—	—	controlSUITE
Brushed DC	Servo	—	—	—	—	—	controlSUITE

DMC Systems: Legacy Fixed-Point Series

Motor Type	Uses	Control Technique	Control Type	Feedback		Software			Hardware
				Position	Current	1x Series	0x Series	Update Freq	Low Voltage	High Voltage
AC Induction 3PH	Fixed or Variable High SpeedControl, Industrial Drives, Compressors, Pumps	Scalar - V/Hz SVPWM	Speed Control	Tachometer	NONE	SPRC130	SPRC194	20 KHz	—	DMC1500 + eZdsp
		FOC - Vector SVPWM	Speed & Torque Control	Tachometer	2PH Current	SPRC077	SPRC207	20 KHz	—	DMC1500 + eZdsp
		FOC - Vector SVPWM	Speed & Torque Control	Sensorless Flux + Speed Estimator	2PH Current	SPRC078	SPRC195	20 KHz	—	DMC1500 + eZdsp
Brushless DC 3PH	Variable Speed Control, Some Position Control, Fans, Compressors, Pumps, Throttles	Trapezoidal	Speed Control	Hall Effect	NONE	SPRC175	SPRC213	20 KHz	DMC550 + eZdsp	DMC1500 + eZdsp
Brushless DC 3PH		Trapezoidal	Speed Control	Sensorless BEMF	DC Bus Single Shunt	SPRC176	SPRC196	20 KHz	DMC550 + eZdsp	DMC1500 + eZdsp
Permanent Magnet 3PH	Precision Position, High Torque Speed Control, Traction, Steering, Direct Drive, Robotics	FOC - Vector SVPWM	Speed & Torque Control	Encoder	2PH Current	SPRC129	SPRC210	20 KHz	DMC550 + eZdsp	DMC1500 + eZdsp
		FOC - Vector SVPWM	Position Control	Encoder	2PH Current	SPRC179	SPRC212	20 KHz	DMC550 + eZdsp	DMC1500 + eZdsp
		FOC - Vector SVPWM	Speed & Torque Control	Sensorless SMO Position Estimator	2PH Current	SPRC128	SPRC197	20 KHz	DMC550 + eZdsp	DMC1500 + eZdsp
		FOC - Vector SVPWM	Speed & Torque Control	Resolver	2PH Current	SPRC178	SPRC211	20 KHz	—	DMC1500 + eZdsp
Stepper	Position & Low Torque Speed Control	Microstepping Bipolar	Position Control	Sensorless Discrete Angle Estimator	2PH Current	—	SPRAAU7	10 KHz	—	—
Brushed DC	Low End Speed Control	Direct Drive H Bridge	Speed & Position	Encoder	NONE	SPRC177	SPRC214	40 KHz	—	—

IQMath: Virtual Floating Point

IQMath is a library and compiler intrinsic for the C28x generation that allows you to select your range (and hence your resolution) by choosing which bits of your binary represented number are integer (I) and which are the quotient (Q). It also allows you to write C functions in floating point format instead of dealing with fixed point scaling, and the compiler takes care of the rest.

Start-up, tuning, and debug effort are reduced

Change numerical range on the fly, global or local
Tune for best resolution and dynamic range
Remove quantization effects
Reduce scaling and saturation burden
Better integration with simulation and code gen tools
Single source set to move between fixed and floating point processors
Easy re-use and re-tuning for new systems

Real-Time Debug

Implemented in silicon, not by a software debug monitor
No CPU cycles required
RTDX always available, real-time debug on customer returns
Halt in non-critical code for debug while time-critical interrupts continue to be serviced
Access memory and registers without stopping the processor

System Considerations

The latest Piccolo family of devices includes the latest advances with the following goal in mind:

To Lower System Cost and Increase System Reliability:

On-chip voltage supervisor with POR/BOR eliminates external supervisor and has in built-in features to eliminate start-up glitches on all PWM pins
Three Tier Clock Protection for IEC-60730

Two internal and optional external oscillators
Two watchdogs and clock fail detection circuitry automatically switches to back-up OSC
If both internal fail device automatically goes into limp mode with graceful shutdown

GPIOs include internal digital filter which reduce noise and saves external system cost

In most countries outside of the United States we also see regulatory bodies mandating inclusion of Power Factor Correction (PFC) into most new white goods, and we expect this to spread to other industries.

Problem

A 3-phase inverter and motor act as a non-linear load and draw harmonic currents from the provider's line. These harmonics result in losses and distortions.

Solution

PFC guarantees the current waveform drawn follows the voltage waveform of the line and also regulates the output DC voltage to a constant value regardless of any changes in the load or the input conditions.

Analog vs. Digital PFC:

Analog or passive implementations of PFC are locked into a single mode and have a limited ability to react to changes in operating conditions.
Active or digitally controlled PFC, in contrast, can act on and adapt to changes in operating conditions and it can be more precise and eliminate any phase shift between voltage and current, increasing efficiency.
The flexibility of digital PFC also enables developers to employ more complex PFC topologies than is possible with passive implementations.

C2000 devices have the processing headroom and high resolution ADCs and PWMs to implement PFC with sensorless FOC control (and dual axis FOC) even with our lowest cost Piccolo MCUs
Example hardware and software are included in all Piccolo and Delfino solutions.

Graphical Simulation and Code Development

Both the Mathworks Embedded Target and Visual Solutions VisSim support graphical motor control development tools that target C2000 MCUs (and interface seamlessly to existing DMC hardware). These tools offer:

Block support for the TI DMC Library and other TI device, math, and peripheral libraries
Simulation, modeling, and validation of complete DMC systems
Auto-tuning and Co-efficient finders
Code generation and target deployment
Direct interface to TI's Integrated Development Environment and hardware development tools
Vissim diagrams for C2000 motor control kits demonstrate a complete system created without C programming. These diagrams can be downloaded for free at http://www.vissim.com/solutions/field_oriented_motor_control.html

C2000 Device Features

	Fixed-Point			Delfino		Piccolo
C2000 series	F281x	F280x	F2823x	F2833x	C2834x	F2802x	F2803x
Mass Production	2003	2005	2008	2008	2009	2009	2010
C28x CPU	Fixed	Fixed	Fixed	Float	Float	Fixed	Fixed + CLA opt
MHz	150	60 -100	100 - 150	100 - 150	200 - 300	40 - 60	60
PINS	128 - 179	100	176 - 179	176 - 179	176 - 256	38 - 56	64 - 80
Flash (KB)	128 - 256	32 - 256	128 - 512	128 - 512	0	16 - 64	32 - 128
RAM (KB)	36	12 - 36	52 - 68	52 - 68	196 - 516	4 - 12	12 - 20
Budgetary Pricing	$13 - $15	$3 - $13	$13 - $14	$14 - $16	$9 - $16	$1.85 - $3	$3 - $4.50

DSP performance within a
Microcontroller architecture

40-300MHz C28x CPU

Built-in DSP functions
Single Cycle 32x32-bit MAC

Control Law Accelerator
Fixed & Floating Point
Embedded Flash

Comprehensive Peripheral Set

Best in class ADC performance
Flexible high resolution PWMs
Advanced Capture, Quadrature Encoder Interfaces
CAN, LIN, SPI, I2C, SCI/UART, McBSP

Fine-tuned for real-time control

Optimized core
Fast interrupts
Flexible interrupt system
Real-time debugging

Broad portfolio of configurations

40-300 MHz
Fixed and Floating-point devices
32-512KB of Flash
From sub $2 to $20
Software compatibility across C2000 family

Key Features for Motor Control

C28x CPU

The C28x 32-bit DSP is the premier computational engine for Digital Motor Control.

Offers the highest precision and fastest throughput for computationally intensive algorithms.

DMC Library based sensorless FOC takes ˜12 MIPS

Extended performance

Delfino family offers single precision floating point unit
FPU is an extension of the fixed point core and provides about a 50% cycle improvement in the core DMC algorithms

In the Piccolo family we are offering an optional Control Law Accelerator (CLA)

CLA is a floating point parallel processing unit that has independent control of the ADCs and PWMs
Was designed for very high speed, low latency control loops in digital power applications
In process of releasing a CLA DMC Library and System Examples that will allow the core DMC functions to be "black boxed and off-loaded" into the CLA, allowing the C28x CPU extra bandwidth for other system functions

A/D Converter

The ADC on every F28x device has a common ancestry, but has been improved upon in each successive series with more accurate references, better auto-calibration, and DMA support.

12-bit ADC converter with up to 12.5 MSPS throughput
Two sample and hold circuits for simultaneous sampling
Single or dual bank sequencer with flexible start of conversion and 16 result registers
The latest Piccolo family supports ratiometric operation, a more flexible sequencer, adjustable acquisition window, and a just-in-time feature which allows the ADC to pre-call the CPU interrupt to synchronize availability of the converted sample with the CPU

PWM Generation

The ePWM modules provide the industry's most feature-rich and flexible PWM pattern generation.

Each ePWM module has an independent shadowed 16-bit time base (count up, down, or up-down) that can produce two duty cycle independent outputs
There is an optional rising and falling edge dead-band generator, high frequency chopper, and programmable trip zone
The trip zone operates even if the MCU clocks go missing, and allows you to map an external pin to any combination of PWM output states, interrupts, ADC start of conversion, or PWM synchronization signals. The trip can be synchronous or asynchronous, has an off-set window, and can be run in cycle by cycle or one-shot modes
Independent ePWM blocks can be synchronized to a common time base or automatically phase delayed
Standard PWM resolution is tied to the system clock, but there are also High Resolution PWMs with as accurate as 55ps resolution, and the Piccolo family offers High Resolution precision on both the duty cycle and the period.