MTRCKTSPS5643L Fact Sheet

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