C2000 real-time control MCUs – Motor control
Accelerate your motor control development by starting with our most advanced solutions and application specific TI Designs.
Offering fundamental software building blocks, example implementations, and high performance complete solutions for both rotor sensored and sensorless designs.
Tools & resources
Start evaluation with low cost motor control hardware. Enhance your development through use of simulation and code generation tools, education on motor control, and training on our solutions.
Motor control applications
- Traction drives
- Construction & agriculture
- Auxiliary motors
- Power steering
- Small household appliances
General motor control
- Medical pumps
- Dental tools
- Garden & power tools
- Fitness equipment
Market leading motor control solutions
C2000 microcontrollers have been used to control motors in a huge variety of applications for over 25 years. These are primarily three-phase machines that have power levels from less than 100 watts to multiple megawatts.
- Motors typically used in applications with variable frequency and variable loads
- Field Oriented Control (FOC) and other advanced techniques
- Maximize energy efficiency
- Minimum current to produce only the torque required
- Has greatest benefits in highly dynamic systems
- Use of software observers whenever possible to replace mechanical rotor sensors to reduce system cost and improve reliability
- Use of mechanical rotor sensors for highest performance systems
- Locate the rotor flux vector through sensor or observer
- Calculate stator flux vector orientation and magnitude to maximize efficiency of torque production and meet control system torque demand
- Produce the stator flux vector through PWM control of the three-phase inverter
C2000 development paths
There are two different paths for C2000 motor control.
The DMC Library is a broad set of motor control software building blocks created over years of helping motor control experts. Baseline system examples are given on hardware EVMs as a starting point for experienced motor control engineers.
More recently the DMC Library was used as a baseline to build more advanced solutions specific for industrial drive applications. These are called DesignDRIVE and components include:
- Fast Current Loop (< 1us field oriented control processing)
- Inverter protection techniques
- Demonstration of multiple current sensing topologies
- Interface to multiple rotor sensor standards
- Industrial communications
InstaSPIN™ motor control solutions
Created to give those with limited motor control design experience access to superior performing systems while easing many of the real-world challenges in developing advanced motor control solutions. InstaSPIN components include:
- Motor parameter identification
- Self-tuning sensorless observer
- Pre-calculated torque controller tuning
- Inertia identification with high-performance velocity/position controller
- Complete trajectory generation and motion control solution
|Building blocks for customer expertise||Expertise included|
|Device Support||Most C2000 devices||Specific Piccolo devices with InstaSPIN library in on-chip ROM|
|Software Delivery||Source code and libraries||On-chip ROM library and source code|
|Motor Commissioning||Not included||Motor Parameter and system inertia identification|
|Sensorless Observer||Multiple observers for different motor types and techniques||Single unified observer (FAST) for all motor types|
|Observer Tuning||Challenging, user must tune||Automatic, self-tuning|
|Current Control||User tuned; Fast Current Loop option as part of DesignDRIVE||Automatic initial stable tuning; User can adjust or customize|
|Velocity and Position Control||User tuned PI or customized||User tuned PI (InstaSPIN-FOC) or single variable high performance velocity & position controller (InstaSPIN-MOTION)|
|Motion Control||Basic, user customized||Built-in motion trajectory calculation and generation with state machine framework (InstaSPIN-MOTION)|
The sensorless observer is the most important feature for a sensorless FOC system.
Sliding Mode Observer (SMO)
The most widely used rotor flux estimator in the industry, but takes expertise to implement and has challenges with many real world system scenarios (start-up, low-speed, speed reversals, already moving rotor, etc.)
Enhanced Sliding Mode Observer (eSMO)
Created to improve stability, performance, and ease of tuning, but still faces many of the same challenges.
Offers the highest performance in the industry, requires no expertise, no tuning, and includes features and capabilities to solve the real-world system challenges. FAST is only available in on-chip ROM on select Piccolo devices as part of our InstaSPIN solutions.
|Estimator motor types|
|Estimator motor parameters||Datasheet required||Datasheet required|
|Analog feedback||Vbus, 2-3 currents||Vbus, 2-3 currents||Vbus, 3 phase voltages, 2-3 currents|
|Estimator tuning||Very challenging||Challenging||Self tuning|
|Estimator low-speed performance||Average||Average||Excellent, <1Hz possible|
|Start-up||Open loop, challenging||Open loop, challenging|
|Low-speed closed loop||~20 Hz typ||10-20 Hz typ||< 1 Hz possible|
|Dynamic performance||Good, effort to tune||Good, effort to tune||Excellent|
|Performance through zero speed||Not achieved||Not achieved||Excellent|
|PWM features||SVPWM||SVPWM with Dead-band Comp||SVPWM over-modulation for 100% duty|
|Current control tuning||Expertise required||Expertise required||Self-tuned & adjustable|
|Speed control tuning||Expertise required||Expertise required||Expertise required or SpinTAC inertia ID + 1-variable tuning|
|High-speed & field weakening||Challenging||Challenging, but best performance for deep field weakening||Excellent, but performance reduces under deepest field weakening when motor model breaks down|