SPRUJ26A September   2021  – April 2024

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
  5. 2Motor Control Theory
    1. 2.1 Mathematical Model and FOC Structure of PMSM
    2. 2.2 Field Oriented Control of PM Synchronous Motor
    3. 2.3 Sensorless Control of PM Synchronous Motor
      1. 2.3.1 Enhanced Sliding Mode Observer with Phase Locked Loop
        1. 2.3.1.1 Design of ESMO for PMSM
        2. 2.3.1.2 Rotor Position and Speed Estimation With PLL
    4. 2.4 Hardware Prerequisites for Motor Drive
      1. 2.4.1 Motor Phase Voltage Feedback
    5. 2.5 Additional Control Features
      1. 2.5.1 Field Weakening (FW) and Maximum Torque Per Ampere (MTPA) Control
      2. 2.5.2 Flying Start
  6. 3Running the Universal Lab on TI Hardware Kits
    1. 3.1 Supported TI Motor Evaluation Kits
    2. 3.2 Hardware Board Setup
      1. 3.2.1  LAUNCHXL-F280025C Setup
      2. 3.2.2  LAUNCHXL-F280039C Setup
      3. 3.2.3  LAUNCHXL-F2800137 Setup
      4. 3.2.4  TMDSCNCD280025C Setup
      5. 3.2.5  TMDSCNCD280039C Setup
      6. 3.2.6  TMDSCNCD2800137 Setup
      7. 3.2.7  TMDSADAP180TO100 Setup
      8. 3.2.8  DRV8329AEVM Setup
      9. 3.2.9  BOOSTXL-DRV8323RH Setup
      10. 3.2.10 BOOSTXL-DRV8323RS Setup
      11. 3.2.11 DRV8353RS-EVM Setup
      12. 3.2.12 BOOSTXL-3PHGANINV Setup
      13. 3.2.13 DRV8316REVM Setup
      14. 3.2.14 TMDSHVMTRINSPIN Setup
      15.      34
      16.      35
    3. 3.3 Lab Software Implementation
      1. 3.3.1 Importing and Configuring Project
      2.      38
      3.      39
      4. 3.3.2 Lab Project Structure
      5. 3.3.3 Lab Software Overview
    4. 3.4 Monitoring Feedback or Control Variables
      1. 3.4.1 Using DATALOG Function
      2. 3.4.2 Using PWMDAC Function
      3. 3.4.3 Using External DAC Board
    5. 3.5 Running the Project Incrementally Using Different Build Levels
      1. 3.5.1 Level 1 Incremental Build
        1. 3.5.1.1 Build and Load Project
        2. 3.5.1.2 Setup Debug Environment Windows
        3. 3.5.1.3 Run the Code
      2. 3.5.2 Level 2 Incremental Build
        1. 3.5.2.1 Build and Load Project
        2. 3.5.2.2 Setup Debug Environment Windows
        3. 3.5.2.3 Run the Code
      3. 3.5.3 Level 3 Incremental Build
        1. 3.5.3.1 Build and Load Project
        2. 3.5.3.2 Setup Debug Environment Windows
        3. 3.5.3.3 Run the Code
      4. 3.5.4 Level 4 Incremental Build
        1. 3.5.4.1 Build and Load Project
        2. 3.5.4.2 Setup Debug Environment Windows
        3. 3.5.4.3 Run the Code
  7. 4Building a Custom Board
    1. 4.1 Building a New Custom Board
      1. 4.1.1 Hardware Setup
      2. 4.1.2 Migrating Reference Code to a Custom Board
        1. 4.1.2.1 Setting Hardware Board Parameters
        2. 4.1.2.2 Modifying Motor Control Parameters
        3. 4.1.2.3 Changing Pin Assignment
        4. 4.1.2.4 Configuring the PWM Module
        5. 4.1.2.5 Configuring the ADC Module
        6. 4.1.2.6 Configuring the CMPSS Module
        7. 4.1.2.7 Configuring Fault Protection Function
      3. 4.1.3 Adding Additional Functionality to Motor Control Project
        1. 4.1.3.1 Adding Push Buttons Functionality
        2. 4.1.3.2 Adding Potentiometer Read Functionality
        3. 4.1.3.3 Adding CAN Functionality
    2. 4.2 Supporting New BLDC Motor Driver Board
    3. 4.3 Porting Reference Code to New C2000 MCU
  8.   A Appendix A. Motor Control Parameters
  9.   References
  10.   Revision History

Table 3-4 The Supporting Algorithms, Functions and Motors Matrix in Example Lab
Algorithms or FunctionsPre-Define Symbols

LaunchPad

controlCARD

DRV8329AEVMBOOSTXL-DRV8323RHBOOSTXL-DRV8323RSDRV8353RS-EVMBOOSTXL-3PHGANINVDRV8316REVMTMDSHVMTRINSPIN
FAST based Sensorless FOCMOTOR1_FAST✔, LVSERVOMTR, LVBLDCMTR

✔, LVSERVOMTR

✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, HVPMSMMTR
eSMO based Sensorless FOCMOTOR1_ESMO✔, LVSERVOMTR, LVBLDCMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, HVPMSMMTR
QEP Encoder based Sensored FOCMOTOR1_ENCQEP_ENABLE✔, LVSERVOMTR, LVBLDCMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, LVSERVOMTR✔, HVPMSMMTR
Hall Sensors based Sensored FOCMOTOR1_HALLHALL_ENABLEHALL_CAL✔, LVSERVOMTR, LVBLDCMTR✔, LVSERVOMTR, LVBLDCMTR✔, LVSERVOMTR, LVBLDCMTR✔, LVSERVOMTR, LVBLDCMTR✔, LVSERVOMTR, LVBLDCMTR✔, LVSERVOMTR, LVBLDCMTR✔, HVBLDCMTR#
Trapezoidal InstaSPIN-BLDCMOTOR1_ISBLDC✔, LVSERVOMTR, LVBLDCMTR✖✖

✖

✖✖✖
Single-Shunt Current SenseMOTOR1_DCLINKSS✔, LVSERVOMTR, LVBLDCMTR✖✖✖✖✖✖
Datalog with Graph Tool(1)DATALOGF2_EN✔✔✔✔✔✔✔
PWMDACEPWMDAC_MODE✖✖✖✖✖✖✔
External DACDAC128S_ENABLE✔✔✔✔✔✔✖

SFRA Tool

SFRA_ENABLE✔✔✔✔✔✔✔
Step Response with Graph ToolSTEP_RP_EN✔✔✔✔✔✔✔
1.

The Datalog implementation in the Universal Motor Control Lab requires DMA. Not all C2000 devices have DMA. Refer to specific device datasheet to determine DMA support.