Automotive Motor Control Development Solutions 3-Phase PMSM Kit with Qorivva MPC5643L MCU Target Automotive Applications Overview • Active suspension The 3-phase PMSM motor control development kit demonstrates the advantages of the Qorivva • Braking and stability control MPC5643L MCU for motor control applications using 3-phase permanent magnet synchronous • Electric power steering motor (PMSM) with encoder and resolver position sensors. It serves as an example of a PMSM • Hybrid electric vehicles control design using the Freescale family of automotive motor control MCUs based on Power • Transmission and gearbox Architecture® technology optimized for a full range of automotive applications. The application utilizes a vector control approach of the 3-phase PMSM motor, and it is implemented with use of the Qorivva MPC5643L MCU Features functions from the automotive math and motor control library set for the MPC5643L. • Up to 120 MHz dual e200z4 32-bit Power Architecture core with 1 MB of flash and 128 KB of SRAM memory and 3-phase PMSM low-voltage power stage equipped with a 3-phase MC33937A pre-driver. • Dual-core safety platform targeting ISO26262 ASILD and IEC61508 SIL3 integrity levels • Lock step or decoupled parallel mode configuration • Floating point unit • VLE instructions for reduced code footprint • Freescale SafeAssure functional safety solution • One FlexRay™, two FlexCAN and two LINFlex modules The application is designed for the MPC5643L controller board with an encoder/resolver interface Beside the main control loop, the DC bus voltage and phase currents are monitored during the control process for overvoltage, undervoltage and overcurrent drive protection. Freescale offers a broad portfolio of automotive MCUs, MPUs, analog integrated circuits and sensor solutions, along with extensive enablement and technical support, enabling you to create the next breakthrough automotive designs for powertrain, body, chassis and safety, infotainment and telematics, and in-vehicle networking applications. 3-Phase PMSM Development Kit: Qorivva MPC5643L • MPC5643L controller board with a double encoder/resolver interface Motor Control Algorithm Concept Motor Control Algorithm Concept 3-Phase Low-Voltage Power Stage • 3-phase BLDC/PMSM low-voltage power stage (10 A) based on a SMARTMOS MC33937A pre-driver •Parameters: 20 kHz PWM (50 μs period), 100 μs current control loop, 1 ms speed control loop 10 kHz resolver excitation frequency • Software approach optimized for portability, low maintenance cost and speed • Application, algorithms and drivers written purely in ANSI-C • Layered software approach PMSM 12 Vdc Load Start/Stop FreeMASTER Faults U_Dc bus lsa lsb PWM Resolver H/W lsc Sine • Low-voltage PMSM motor with resolver and encoder sensors Resolver Encoder U_Dc bus Automotive Math and Motor Control Library Set for MPC5643L USB GPIO PWM CTU ADC Driver Driver Driver Driver Driver Duty Cycle a Fault Protection Duty Cycle b Duty Cycle c Application Control Speed_Req Is_q_req Speed Controller - Field Weakening Controller Current q Limitation PI Controller Current d Limitation PI Controller Is_q Is_d Omega_autual_mech PWM Modulation Us_alpha_comp Us_beta_comp Inverse Park Transformation d,q→ alpha, beta Us_d Us_alpha sin cos Forward Park Transformation alpha, beta→ d,q Current Sensing Processing Theta_actual_el Is_alpha Driver Cosine Position Count Angle Tracking Observer Angle Tracking Observer Software Switch ls_a_comp ls_b_comp ls_c_comp Forward Clark Transformation a,b,c→ alpha, beta Is_beta E-Timer U_dc DC_bus Ripple Compensation Us_beta Ref Sine Us_q Is_d_req - lsa lsb lsc Sector Cosine Demo Features MPC5643L MCLib functions • Algorithm layer not peripheral dependent • Field oriented control (torque and speed) of a 3-phase PMSM Resolver Driver and Resolver Driver and Interface Interface 3-Phase Low-Voltage Power Stage U_Dc bus • Faults of DC bus overvoltage, DC bus undervoltage and phase overcurrent are processed • Position sensor selection (encoder or resolver) via FreeMASTER control • FreeMASTER visualization support Motor Vdc PWM MPC5643L U_Dc bus lsa lsb lsc PWM Tracking Observer Algorithm Software Resolver Resolver Physical Layer Cross Triggering Unit Differential Amplifier + Filter Uref Ucos GND 3.3 V Qorivva MPC5643L MCU Motor Control Modules • 2x FlexPWM, four channels with four fault inputs • 3x e-timer, including quadrature decode 0V Synchronization 3.3 V Sine Sample Cosine Sample Tracking Obeserver computation Position Speed ADC Usin 0V Resolver Ref. Driver Timer LP Filter IRef 20–100 mA # Revolutions • 2x 10-bit ADC modules with 2 x 12 channels (include four shared channels) • Cross triggering unit with 32 input channels (eight events, 24 ADC commands) MC33937A Features • Fault collection unit • Fully specified from 8 to 40 V (covers 12 and 24 V automotive systems) • Extended operating range from 6 to 58 V (covers 12 and 42 V systems) • Greater than 1 A gate drive capability with protection MC33905 (System Basis Chip) Features • 5 or 3.3 V voltage regulator with current, temperature and voltage protection • Configuration and diagnostic accessible through the SPI • One CAN and up to two LIN transceivers • Protection against reverse charge injection from CGD and CGS of external FETs • Window watchdog, two configurable input/ output pins • Deadtime is programmable via the SPI port • Very low quiescent current in low power modes • Simultaneous output capability enabled via safe SPI command • Stop (Vdd On) and sleep (Vdd Off) modes For more information, visit freescale.com/automcdevkits Freescale, the Freescale logo, Qorivva, SafeAssure and the SafeAssure logo are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. SMARTMOS is a trademark of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. The Power Architecture and Power.org word marks and the Power and Power.org logos and related marks are trademarks and service marks licensed by Power.org. © 2012, 2013 Freescale Semiconductor, Inc. Document Number: MTRCKTSPS5643LFS REV 1 Agile Number: 926-78757 REV B