TIDM-02007

Dual-axis motor drive using fast current loop (FCL) and SFRA on a single MCU reference design

TIDM-02007

Design files

Overview

This reference design presents a dual-axis motor drive using fast current loop (FCL) and software frequency response analyzer (SFRA) technologies on a single C2000 controller. The FCL utilizes dual core (CPU, CLA) parallel processing techniques to achieve a substantial improvement in control bandwidth and phase margin, to reduce the latency between feedback sampling and PWM update, to achieve higher control bandwidth and maximum modulation index, to improve DC bus utilization by the drive and to increase speed range of the motor. The integrated SFRA tool enables developers to quickly measure the frequency response of the application to tune speed and current controllers. Given the system-level integration and performance of C2000 series, MCUs have the ability to support dual-axis motor drive requirements simultaneously that delivers very robust position control with higher performance. The software is released within C2000Ware MotorControl SDK.

Features
  • Three-phase GaN inverter with wide-input voltage from 12-V to 60-V and 7-Arms, 10-A peak output current per phase
  • Precision-phase current sensing with high accuracy (0.1%) based inline shunt resistor on BoosterPack
  • Implement dual-axis motor drive with fast current loop (FCL) on a single F2837x or F28004x MCU on the existing hardware kit
  • Working software is compatible with F2837x or F28004x as a starting point for those with expertise or limited expertise
  • Enables outer position and velocity loop, and inner torque loop using FCL technique simultaneously to achieve fast response on each motor
  • Integrated SFRA tool to support tuning speed and current loops online separately
  • Incremental system builds are designed to verify the major software modules used in the system
  • Low PWM update latency (1.02 uS on F2837x, 2.02 us on F28004x) to achieve higher control bandwidth and modulation index

Design files & products

Design files

Download ready-to-use system files to speed your design process.

TIDUEW0.PDF (806 K)

Reference design overview and verified performance test data

SLURAY0A.PDF (550 K)

Detailed schematic diagram for design layout and components

SLURAY1A.PDF (94 K)

Complete listing of design components, reference designators, and manufacturers/part numbers

Products

Includes TI products in the design and potential alternatives.

C2000 real-time microcontrollers

TMS320F280021C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 32-KB flash

Data sheet document-pdfAcrobat PDF open-in-new HTML
C2000 real-time microcontrollers

TMS320F280023C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 64-kb flash

Data sheet document-pdfAcrobat PDF open-in-new HTML
C2000 real-time microcontrollers

TMS320F280023CC2000™ 32-bit MCU with 100 MHz, FPU, TMU, 64-KB flash, CLB

Data sheet document-pdfAcrobat PDF open-in-new HTML
C2000 real-time microcontrollers

TMS320F280025C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash

Data sheet document-pdfAcrobat PDF open-in-new HTML
C2000 real-time microcontrollers

TMS320F280025CC2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, CLB

Data sheet document-pdfAcrobat PDF open-in-new HTML
C2000 real-time microcontrollers

TMS320F280040-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280040C-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041CC2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041C-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280045C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280048-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280048C-Q1Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049CC2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049C-Q1Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28075C2000™ 32-bit MCU with 120 MHz, FPU, TMU, 512 KB flash, CLA, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28075-Q1Automotive C2000™ 32-bit MCU with 120 MHz, FPU, TMU, 512 KB flash, CLA, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28076C2000™ 32-bit MCU with 120 MHz, FPU, TMU, 512 KB flash, CLA, CLB, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28374DC2000™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 512 KB flash, EMIF, 12b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28374SC2000™ 32-bit MCU with 400 MIPS, 1xCPU, 1xCLA, FPU, TMU, 512 KB flash, EMIF, 12b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28375DC2000™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1024 KB flash, EMIF, 12b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28375SC2000™ 32-bit MCU with 400 MIPS, 1xCPU, 1xCLA, FPU, TMU, 1024 KB flash, EMIF, 12b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28375S-Q1Automotive C2000™ 32-bit MCU with 400 MIPS, 1xCPU, 1xCLA, FPU, TMU, 1024 KB flash, EMIF, 12b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28376DC2000™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 512 KB flash, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28376SC2000™ 32-bit MCU with 400 MIPS, 1xCPU, 1xCLA, FPU, TMU, 512 KB flash, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28377DC2000™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1024 KB flash, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28377D-EPC2000™ Enhanced Product 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1 MB flash, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF open-in-new HTML
C2000 real-time microcontrollers

TMS320F28377D-Q1Automotive C2000™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1024 KB flash, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28377SC2000™ 32-bit MCU with 400 MIPS, 1xCPU, 1xCLA, FPU, TMU, 1024 KB flash, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28377S-Q1Automotive C2000™ 32-bit MCU with 400 MIPS, 1xCPU, 1xCLA, FPU, TMU, 1024 KB flash, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28378DC2000™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1024 KB flash, CLB, EMIF, 12b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28378SC2000™ 32-bit MCU with 400 MIPS, 1xCPU, 1xCLA, FPU, TMU, 1024 KB flash, CLB, EMIF, 12b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28379DC2000™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1024 KB flash, CLB, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28379D-Q1Automotive C2000™ 32-bit MCU w/ 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1024 KB flash, CLB, EMIF, 16b ADC

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28379SC2000™ 32-bit MCU with 400-MIPS, 1x CPU, 1x CLA, FPU, TMU, 1024-KB flash, CLB, EMIF and 16-b ADC ;

Data sheet document-pdfAcrobat PDF
Current sense amplifiers analog output

INA240-4 to 80V, bidirectional, ultra-precise current sense amplifier with enhanced PWM rejection

Data sheet document-pdfAcrobat PDF open-in-new HTML
Gallium nitride (GaN) ICs

LMG520080V GaN Half Bridge Power Stage

Data sheet document-pdfAcrobat PDF open-in-new HTML
Isolated DC/DC converters & modules

LM50187.5-100V Wide Vin, 300mA Constant On-Time Synchronous Buck Regulator

Data sheet document-pdfAcrobat PDF open-in-new HTML

Start development

Hardware

Daughter card

BOOSTXL-3PHGANINV – 48-V three-phase GaN inverter with shunt-based in-line motor phase current sensing evaluation module

The BOOSTXL-3PHGANINV evaluation module features a 48-V/10-A three-phase GaN inverter with precision in-line shunt-based phase current sensing for accurate control of precision drives such as servo drives.

MathWorks MATLAB & Simulink example models include the following:

Out of stock on TI.com
Development kit

LAUNCHXL-F28379D – C2000 Delfino MCUs F28379D LaunchPad Development Kit

LAUNCHXL-F28379D is a low-cost evaluation and development tool for the TMS320F2837xDTMS320F2837xS, and TMS320F2807x products in the TI MCU LaunchPad™ development kit ecosystem which is compatible with various plug-on BoosterPacks (suggested under the recommended BoosterPack™ Plug-in (...)

In stock
Limit: 5
Evaluation board

LAUNCHXL-F280049C – C2000 Piccolo MCU F280049C LaunchPad Development Kit With InstaSPIN-FOC

LAUNCHXL-F280049C is a low-cost development board for TI C2000™ Real-Time Controllers series of F28004x devices. Ideal for initial evaluation and prototyping, it provides a standardized and easy to use platform to develop your next application. This extended version LaunchPad offers extra pins (...)
Out of stock on TI.com

Software

Software development kit (SDK)

C2000WARE-MOTORCONTROL-SDK – MotorControl software development kit (SDK) for C2000™ MCUs

  • MotorControl SDK for C2000™ microcontrollers (MCU) is a cohesive set of software infrastructure, tools, and documentation designed to minimize C2000 MCU based motor control system development time targeted for various three-phase motor control applications. The software includes firmware that (...)
Supported products & hardware

Supported products & hardware

C2000
  • F28002X
  • F28004X
  • F2807X
  • F2837XD
  • F2837XS
  • F2838X
Hardware
BOOSTXL-3PHGANINV 48-V Three-Phase Inverter With Shunt-Based In-Line Motor Phase Current Sensing Evaluation Module BOOSTXL-DRV8320RS DRV8320RS three-phase smart gate driver with buck and SPI interface evaluation module BOOSTXL-DRV8323RH DRV8323RH Three-Phase Smart Gate Driver With Buck, Shunt Amps (Hardware Interface) Evaluation Module BOOSTXL-DRV8323RS DRV8323RS three-phase smart gate driver with buck, shunt amps (SPI interface) evaluation module BOOSTXL-POSMGR C2000 DesignDRIVE position manager BoosterPack™ plug-in module DRV8316REVM DRV8316R three-phase PWM motor driver evaluation module DRV8353RS-EVM DRV8353RS evaluation module, three-phase brushless DC smart gate driver  LAUNCHXL-F280025C C2000™ real-time MCU F280025C LaunchPad™ development kit LAUNCHXL-F280049C C2000 Piccolo MCU F280049C LaunchPad™ development kit LAUNCHXL-F28379D C2000 Delfino MCU F28379D LaunchPad™ development kit TIDM-02006 Distributed multi-axis servo drive over fast serial interface (FSI) reference design TIDM-02007 Dual-axis motor drive using fast current loop (FCL) and SFRA on a single MCU reference design TIDM-1011 Tamagawa T-Format Absolute Encoder Master Interface Reference Design for C2000 MCUs TMDSCNCD280025C TMS320F280025C controlCARD evaluation module TMDSCNCD280049C F280049C controlCARD Evaluation Module TMDSCNCD28379D F28379D controlCARD for C2000 Real time control development kits TMDSCNCD28388D F28388D controlCARD evaluation module TMDSHVMTRINSPIN High Voltage Motor Control Kit with InstaSPIN-FOC and InstaSPIN-MOTION enabled Piccolo MCU TMDXIDDK379D C2000 DesignDRIVE Development Kit for Industrial Motor Control

Download options

Software development kit (SDK)

C2000WARE-MOTORCONTROL-SDK
MotorControl software development kit (SDK) for C2000™ MCUs

Version: 3.03.00.00
Release date: 22 Sep 2021
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Technical documentation

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Type Title Date
* Design guide Dual-Axis Motor Drive Using FCL & SFRA on a Single MCU Ref. Design Nov. 27, 2019
More literature TMS320F28379D LaunchPad Quick Start Guide (Rev. A) Aug. 11, 2017

Related design resources

Hardware development

DEVELOPMENT KIT
LAUNCHXL-F280025C C2000™ real-time MCU F280025C LaunchPad™ development kit

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