Microcontrollers (MCU)

Real-time Control – Industrial drives

DesignDRIVE solutions for industrial servo and AC inverter drives

Jumpstart industrial drives, servo control evaluation and development with:

  • Examples using vector control of motors, incorporating torque, speed and position
  • Multiple current sense topologies
  • Analog and digital position sensor interfaces
  • Flexible real-time connectivity
  • Series of platform releases

DesignDRIVE Development Resources

Industrial communications

  • Solution support saves development time

Processing

  • Performance for real-time industrial motor control

Drive Control SOC

  • C2000™ microcontroller differentiated architecture for drive control

Sensored FOC software

  • Comprehensive support and future proof

Actuation

  • Multi-axis, multi-level and flexible PWMs

Protection

  • System protection

Sensing

  • High-performance, high-precisionand smart sensing

Position sensor management

  • Position Manager technology

Sensored field oriented control software

  • Comprehensive support saves development time
    • Fast current loop
    • 3 current/voltage sensing options
    • 5 position sensor options
    • Over current protection

Computation and transforms
  • • Fast current loop implementation
       ‐ < 1.5 us on C28x at 200MHz
  • TMU-accelerated space-vector modulation, Park, Clarke
  • • Native PMSM support (portable to asynchronous machines)
  • • Scales from Piccolo™ F2807x to Deflino™ F2837xMCUs
Observer
Loop control
  • • Position, speed and torque control loops
  • • Cost-effective power circuit design
  • • Enables optimal profiles and move trajectories
Actuation and protection
  • • Highly configurable PWM
  • • Flexible on-chip routing of trip sources and qualifications
  • • High-resolution PWM
Sensing
  • • Drivers supporting concurrent Σ∆, fluxgate and shunt current sensing
  • • Programmable over current detection hardware
  • • 50ns prop delay protection—over current to PWM trip
Industrial communications
  • • CANOpen stacks (Third party)
  • • EtherCAT® stack (ETG)
Position manager technology
  • • On-chip master support for digital and analog position sensors: EnDat 2.2, BiSS-C, resolver, SIN/COS, incremental and more
  • • Example project showcasing use of each API command
  • • Analog sensor and absolute encoder performance results
Drive Control SOC


Right Block Diagram

Fast Current Loop

  • PWM output updated ASAP after sample (sub-cycle)
    • Prioritizes current control calculations
    • Uses ePWM immediate update mode
    • Samples twice per carrier period
  • Complex controller (option to PI)
    • Improves stability at high speed
  • Compacted code
    • TMU accelerates Park and complex controller
    • CLA manages QEP, PI_Q
    • Optimized for C2000 architecture features
    • Embedded coding techniques
Fast current loop diagrams

Industrial communications

TI C2000™ real-time control MCUs  now integrates EtherCAT® slave nodes

  • IEC 61158-compliant software integrated into controlSUITE
  • Reduces data processing system latency
  • Solution support saves engineering months
  • Ideal for servo motor drives and factory automation
DesignDRIVE Industrial Communications Diagram

Position Manager technology

  • Save at least 10 percent of the development effort when compared to custom solutions
  • Reduce system cost by up to 10 percent
  • Supports the leading analog and digital position sensors including resolver, SIN/COS, QEP, BiSS-C and EnDAT2.2
  • Reference hardware, example software is compliance tested and future-proof
Position manager technology diagram
Sensor type Speed Tested length Resolution C2000 MCU supported devices Technical documents
Incremental ~ 12,000 rpm N/A Encoder dependent

TMS320F2803x, TMS320F2806x,

TMS320F2807x, TMS320F2837xS,

TMS320F2837xD

Download
EnDat 2.2 / 2.1 8 MHz 100 m Up to 35 bits TMS320F28379S, TMS320F28379D Download
BiSS-C 5 MHz 100 m Up to 26 bits TMS320F28379S, TMS320F28379D Download
t-format (Tamagawa) 2.5 MHz 100 m Up to 24 bits TMS320F28379S, TMS320F28379D Download
SIN/COS ~ 12,000 rpm 1 m <.0025º

TMS320F2807x, TMS320F2837xS,

TMS320F2837xD1

Download
Resolver > 3,000 rpm ~1 m >13.47 ENOB

TMS320F2802x, TMS320F2807x,

TMS320F2837xS, TMS320F2837xD1

Download

1 This project can be ported to other C2000 MCU families, but has not been released via controlSUITE™ software at this time.

High-performance, high-precision and smart sensing

ADC

Precise and concurrent sampling of all three motor phases and DC bus with zero jitter

ADC post processing

On-chip hardware reduces ADC ISR complexity; shortens current loop cycles

Sigma Delta Filter Modules (SDFM)

Enable galvanic isolation with reinforced delta sigma modulators, like TI’s AMC1304

DesignDRIVE Sensing Diagram

Multi-axis, multi-level and flexible PWMs

Up to 12 ePWM pairs

Can generate high- side/low-side PWMs with deadband for multiple axes or multi-level inverters

High resolution PWM transitions

Provide 150ps steps for duty cycle, period, dead band and phase offsets for 99 percent greater precision

PWM phase relationships and timer synchronization

Makes advanced time based control possible:

  • Configurable phase offset and time synchronization between PWM waveforms
  • Support for cycle-by-cycle modification of the each PWM phase value

One-shot and global reload

Of shadow registers to active registers

Double buffered (shadow) registers

Allow updates while PWM register in-use; synchronized loading

Actuation/ePWM Diagram

Time-base sync on:

  • Period event / Zero event / SYNCIN event / S/W Sync event

Shadow load sync on:

  • Period event / Zero event / S/W Sync event
  • Simultaneous register update across modules
  • Compare logic C and D for finer positioning of ADC SOC, interrupts or for resetting Σ∆ filters
  • Preconfigured logical operation options in digital compare to qualify tripping

System protection

Analog comparators

On-chip overvoltage protection eliminates external components; completely analog path to trip; generates STO 50ns detection to trip time!

Digital compare

Event generated when selected logical evaluation is true. Inputs from trip-zone input, ePWM crossbar or input crossbar. Trips and syncs PWMs, triggers ADC and generates interrupt.

ePWM crossbar

Over 60 on-chip trip sources including Analog compare, ADC, SD filters, capture and ADC post-processing compare.

Trip-zone

Is a fast, configure-once path to shut down the PWMs without software intervention (no ISR latency)

System protection diagram

Performance for real-time industrial motor control

Up to 400 C28x MIPS

  • Single cycle execution across pipeline
  • Single-cycle trigonometry instructions
  • Complex math, FFT acceleration

Up to 400 CLA MIPS

  • Independent processing of multiple control loops
  • Optimized for math
  • Fast interrupt response

TMS320F2837xD MCU at 200 MHz features two C28x and two CLA co-processors for 800 total MIPS.

TMU-accelerated Park transform

C28x performance chart formula
C28x Faster CPU Cycles

TMU-accelerated resolver angle

Angle = arctan(S1/S2)

C28x performance chart diagram
C28x CPU Cycles 7x faster

C28x Field oriented control loop

C28x CPU Cycles 2x faster

CLA real-time co-processor

CLA real-time co-processor

C2000 MCU differentiated architecture for drive control

Drive control block diagram