Datasheet

6
controlSUITE
™
software
• Feedbackandsensing
circuitry
• IsolatedJTAG
• Screenshots
• Hardwarehook-up
• Debugtips
www.ti.com/controlsuite
Applications: Motor Control Full example systems have been built using the Digital Motor Control (DMC) library
Incremental Build
DMC example systems 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. This is critical in real-time control applications
with so many different variables that may affect the system and
so many unique challenges across motor parameters.
Forexample,intheSensorlessPMSMFOCsystembelowthe
following incremental builds are built into the software:
Build Level 1: Using a dummy signal, verify Inverse Park,
 SpaceVectorandPWMdriverareproducing 
correct waveforms
Build Level 2: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
Documentation
All systems come with:
• Incrementalbuildsoftware
• Step-by-stepuser’sguide
• DMCcontroltheory
All hardware example systems are open source, ready for
you to insert into your design and include:
• Gerberles
• Schematics
• BOM
SpeedRef1
RAMP_CNTL
set_value
trgt_value
rmp_out
ipark_Q ipark_q
Ubeta
Ta
Tb
Tc
Mfunc_c1
FC_PWM_
DRV
EV
HWQO/HW
Mfunc_c2
Mfunc_c3
Mfunc_p
R
C
VA-FB
PWM1
PWM2
PWM3
ipark_d Ualfa
theta_ip
ipark_D
set_eq_trgt
rmp_freq
rmp_offset
rmp_gain
RAMP_GEN
IqRef1
I_PARK SVGEN-DQ
Scope
IdRef1
PMSM
Motor
I_PARK
Q1 5/Q15
ipark_Q
ipark_D
theta_ip
ipark_q
ipark_d
clark_a
clark_b
clark_c
clark_d
clark_q
PARK
Q15/Q15
park_d
park_q
theta_p
park_D
park_Q
i_ref_q
i_fdb_q
u_out_q
i_ref_d
i_fdb_d
u_out_d
spd_ref
spd_fdb
spd_out
Constant 0
Ia_out
Ib_out
ADCINx
ADCINy
Ia_gain
Ib_gai
n
Ia_offset
Ib_offset
I_ch_sel
Ubeta
Ualfa
T a
Tb
T c
speed_ref_
FC_PWM_
DRV
Q0 /HW
Mfunc_c1
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
Mfunc_c2
Mfunc_c3
Mfunc_p
EV
HW
ADC
HW
SMOPOS
Q15/Q15
vsalfa
thetae
vsbeta
speedref
Ualfa
Ubeta
speed_ref_
isalfa
isbeta
clark_d
clark_q
zalfa
zbeta
SMOSPD
Q15/Q15
(sliding
mode
rotor speed
estimator)
(sliding
mode
rotor
angle
estimator)
zalfaspd
zbetaspd
thetaspd
speede
RAMP_
GEN
Q15/Q15
rmp_freq
rmp_offset
rmp_gain
RAMP_
CNTL
Q15/Q15
trgt_value
set_value
set_eq_trgt
rmp_out
Q15/Q15
SVGEN_DQ
pid_reg_iq
Q15/Q15
pid_reg_id
Q15/Q15
pid_reg_spd
Q15/Q15
CLARKE
Q15/Q15
ILEG2DRV
Q15/HW
Q0
Q15
Q15
Q13
Q13
3-
Phase
Inverter
SpeedRef1
RAMP_CNTL
set_value
trgt_value
rmp_out
ipark_Q ipark_q
Ubeta
Ta
Tb
Tc
Ta
Tb
Tc
Mfunc_c1
FC_PWM_
DRV
ADC
CONV
ADC
HW
EV
DRV8402
3-Phase
Inverter
HWQO/HW
Mfunc_c2
Mfunc_c3
Mfunc_p
clark_d clark_a
clark_b
AdcResult0
AdcResult1
AdcResult2
clark_q
park_D
park_Q
park_d
Mfunc_v1
Mfunc_v1
Mfunc_v1
DcBusVolt AdcResult2
theta_p
park_q
VPhase_ABC
Valpha
Vbeta
PWM1
ADCINx (la)
ADCINy (lb)
ADCINx (Vdc)
PWM2
PWM3
ipark_d Ualfa
theta_ip
ipark_D
set_eq_trgt
rmp_freq
rmp_offset
rmp_gain
RAMP_GEN
IqRef1
I_PARK SVGEN_DQ
PARK
Phase voltage
Calc
CLARKE
IdRef1
PMSM
Motor
Build Level 1
Build Level 2 Build Level 3 and 4 (not shown)
Build Level 5
Motor Technique Type Feedback
ACI
FOC Speed & Torque Tachometer
FOC Speed & Torque Sensorless
BLDC
Trapezoidal Speed HalfEffect
Trapezoidal Speed Sensorless
Sinusoidal Speed HalfEffect
Sinusoidal Speed Sensorless
PMSM
FOC Speed & Torque Encoder
FOC Position Encoder
FOC Speed & Torque Sensorless
Steppper Microstep Position Sensorless
Brushed DirectDrive Speed & Position Encoder
C2000 Digital Motor Control Gives You MORE
C2000 based motor control systems enable energy and cost
savings throughout products
 –Variablespeedcontrol MOREefcientmotors
 –Field-orientedcontrol MOREefcientcontrol
 –SpacevectorPWM MOREefcientpowerstage
 –Sensor-lesscontrol MOREcosteffective
 –Multi-axiscontrol MOREmotorspercontroller
 –IntegrateddigitalPFC MOREsystemfunctions
 –MeetingIECstandards MOREreliableandrobust
 –BroadestMCUportfolio MOREproducts,oneplatform
Systems included or planned
Motor types, control and feedback techniques
These system examples have been created across different
motor types, control techniques and feedback methods.