Motor Control Sensorless Vector Control

Renesas Electronics America Inc.
2010 Renesas Electronics America Inc. All rights reserved.

ID630L: Becoming Familiar with Sensorless
Vector Control of BLDC Motors
Huangsheng Xu
Consumer & Industry BU
14 October 2010
Version: 1.0
2
2010 Renesas Electronics America Inc.
All rights reserved.
Huangsheng Xu
Senior Staff Application Engineer, Primary
focus on Motor Control Applications and
Customer Supports
Ph.D. degree in electrical engineering from
Texas A&M University, College Station,
Texas, in 2001.
Twenty years working on motor drives,
especially, sensorless vector control of
PMSM motors and induction motors.
Three U.S. patents
Over twenty papers in the IEEE journals and
conference proceedings.
The third award at IEEE-Industrial
Application Society 2006 for sensorless
vector control of three-phase induction
motors .
3
Lab Assistants Gordon Smith & John Pocs
Gordon Smith is a Sr. FAE at Renesas, responsible for
supporting Customer MCU designs throughout the Greater
Chicago Area. He uses his nearly 30 years of Hardware,
Software, and System Design experience, to assist
Renesas World-class Customers in creating the most
rugged, cost-effective, and innovative circuits on the
Planet!
John Pocs is a motor control expert for MCU motor
control applications and customer support. He has 12 year
with NEC Electronics, and currently he is a staff
application engineer at Renesas, and has over 20 years
embedded system development, application and industrial
experience. He is very familiar with 8/16/32-bit MCUs.
4
Renesas Technology and Solution Portfolio
Microcontrollers
& Microprocessors
#1 Market share
worldwide *
Analog and
Power Devices
#1 Market share
in low-voltage
MOSFET**
Solutions
for
Innovation
Solutions
for
Innovation
ASIC, ASSP
& Memory
Advanced and
proven technologies
* MCU: 31% revenue
basis from Gartner
"Semiconductor
Applications Worldwide
Annual Market Share:
Database" 25
March 2010
** Power MOSFET: 17.1%
on unit basis from
Marketing Eye 2009
(17.1% on unit basis).
5
5
Renesas Technology and Solution Portfolio
Microcontrollers
& Microprocessors
#1 Market share
worldwide *
Analog and
Power Devices
#1 Market share
in low-voltage
MOSFET**
ASIC, ASSP
& Memory
Advanced and
proven technologies
* MCU: 31% revenue
basis from Gartner
"Semiconductor
Applications Worldwide
Annual Market Share:
Database" 25
March 2010
** Power MOSFET: 17.1%
on unit basis from
Marketing Eye 2009
(17.1% on unit basis).
Solutions
for
Innovation
Solutions
for
Innovation
6
6
Microcontroller and Microprocessor Line-up
Superscalar, MMU, Multimedia
Up to 1200 DMIPS, 45, 65 & 90nm process
Video and audio processing on Linux
Server, Industrial & Automotive
Up to 500 DMIPS, 150 & 90nm process
600uA/MHz, 1.5 uA standby
Medical, Automotive & Industrial
Legacy Cores
Next-generation migration to RX
High Performance CPU, FPU, DSC
Embedded Security
Up to 10 DMIPS, 130nm process
350 uA/MHz, 1uA standby
Capacitive touch
190 uA/MHz, 0.3uA standby
Application-specific integration
Up to 25 DMIPS, 180, 90nm process
1mA/MHz, 100uA standby
Crypto engine, Hardware security
Ethernet, CAN, USB, Motor Control, TFT Display
High Performance CPU, Low Power
Ultra Low Power
General Purpose
7
7
Microcontroller and Microprocessor Line-up
Superscalar, MMU, Multimedia
Up to 1200 DMIPS, 45, 65 & 90nm process
Video and audio processing on Linux
Server, Industrial & Automotive
Up to 500 DMIPS, 150 & 90nm process
Medical, Automotive & Industrial
Legacy Cores
Next-generation migration to RX
High Performance CPU, FPU, DSC
Embedded Security
350 uA/MHz, 1uA standby
Capacitive touch
190 uA/MHz, 0.3uA standby
Application-specific integration
Up to 25 DMIPS, 180, 90nm process
1mA/MHz, 100uA standby
Crypto engine, Hardware security
Ethernet, CAN, USB, Motor Control, TFT Display
High Performance CPU, Low Power
Ultra Low Power
General Purpose
SuperH
8
Sensorless Vector Control Innovation
Green Power
Home Appliances
Industrial Automation Automotive, Health Medicals
Sensorless Vector Control Sensorless Vector Control
9
How much experience do you have with
Sensorless Vector Control Design?
1. Extensive
2. Moderate
3. Low
4. None
10
How much experience do you have with
Renesas Microcontrollers?
1. Extensive
2. Moderate
3. Low
4. None
11
Lab Agenda
Lab Overview (5 minutes)
Introducing Sensorless Vector Control (15 minutes)
Phase 1: Set up Sensorless Vector Control Demo
(10 minutes)
Phase 2: Sample Motor Currents and DC Bus Voltage
(15 minutes)
Phase 3: Drive the Motor with Open Loop
(20 minutes)
Phase 4: Understand Sensorless Position and Speed
Estimation (20minutes)
Phase 5: Drive Motor with Closing Speed using Estimated
Speed by GUI (25 minutes)
Play time or Q&A (10 minutes)
12
Lab Overview Hardware Configuration
USB Cable
E10A Cable
Motor
GUI
E10A
13
Hardware Platform
Motor
SH7216
E10A Connector
USB Connector
Motor Connector
14
Renesas Sensorless Vector Control Strategy
*
r
Speed Regulator
r

*
q
i
0
*
=
d
i
r
id PI
Regulator
iq PI
Regulator
d,q
to
,
) (
1
T
Motor Model
Based Flux and
Position Observer
q
i
d
i
*
q
U
*
d
U
*
U
*
U
Voltage
Source
3-phase
Inverter
SIN
PWM
PWM1~6
to
a, b, c
,
3-phase
PMSM
r
to
d,q
,
) ( T
u
i
v
i
d
i
q
i
i
u,v,w
to
,
Speed Estimation

DC Bus
Commanded speed
Observed
actual
speed
Clarke transform
Park transform
Inverse
Clarke transform
Inverse
park transform
Current loop
Speed loop
15
Motor Startup Procedure
Back EMF cant detect at very low speed.
Start up with rotor alignment continuing with open loop
The startup subroutine provides a constant torque by
closing current loop iq = maximum startup torque and
id=0.
At the given startup time, the software switches over to
closed speed loop.
Sensorless control takes position and speed from flux
and speed observer.
16
Software Configuration
Sensorless Vector Control Algorithm
(Flux observer, speed estimation , PI controller, protection, space vector PWM modulation ...)
Initialization
Parameter
Definitions
Startup
Procedure
Current id
Regulator
Speed
Regulator
Current iq
Regulator
Speed Setting &
Ramp Control
Communication
Layer
Vector Control
Transformation
WDT
IWDT
Space Vector PWM
Generation
Flux & Position
Observer
Speed
Estimation
ADC
Sampling
PI controller
PWM
Duty Calculation
Protections
(locked rotor , lost control, over-
current, POE, watchdog )
SH7216
200MHz 32bit FPU
LVD POE 2xADC 12xMTU 512KFlash 96KRAM SCI/CAN/Ethenet
17
Sensorless Vector Control Software Workspace
All code is written in C, and it is
compatible for all Renesas devices.
Compiler uses Renesas HEW,
which automatically generates the
MCU-related definition code.
All MCUs have basic ADC, PWM,
interrupt, etc, sample codes.
For sensorless vector control
solution, motor parameters,
sensor inputs, ADCs, and control
parameters are easily tuned
through Renesas Graph Interface
(GUI).
Real time control parameter
changes and track through the
watch window.
18
High-performance Embedded Workshop (HEW)
Real Time
Watch
Editor
Window
Project
Manager
19
Graphic User Interface (GUI)
Parameter
Setting
Speed
Setting
Variable
Display
Control
Status
20
1. Done
Start Lab
Please refer to the lab handout
Go ahead and start the lab
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
21
Q & A
Q & A
22
Sensorless Vector Control Innovation
Green Power
Home Appliances
Industrial Automation Automotive, Health Medicals
Sensorless Vector Control Sensorless Vector Control
23
Thank You!
Renesas Electronics America Inc.

Motor Control Sensorless Vector Control

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Motor Control Sensorless Vector Control

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Renesas Electronics America Inc.

2010 Renesas Electronics America Inc. All rights reserved.

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