MTRCKTDPS5643L Fact Sheet

Automotive Motor Control Development Solutions
Dual 3-Phase PMSM Kit with
Qorivva MPC5643L MCU
Overview
The application is designed for the MPC5643L
Demo Features
The dual 3-phase PMSM motor control
controller board with an encoder/resolver
• Qoriva MPC5643L controller board with a
double encoder/resolver interface
development kit demonstrates the advantages
of the Qorivva MPC5643L MCU for dual
motor control applications using two 3-phase
permanent magnet synchronous motors
interface and two 3-phase PMSM low-voltage
power stages equipped with a 3-phase
MC33937A pre-driver. Beside the main control
loop, the DC-bus voltage and phase currents
• Two 3-phase BLDC/PMSM low-voltage
power stages (10 A) based on a
SMARTMOS MC33937A pre-driver
overvoltage, undervoltage and overcurrent
• Two low-voltage PMSM motors with
resolver and encoder sensors
control design using the Freescale family of
drive protection.
•Parameters:
automotive motor control MCUs based on
Freescale offers a broad portfolio of
Power Architecture technology optimized
automotive MCUs, MPUs, analog integrated
for a full range of automotive applications.
circuits and sensor solutions, along with
This application utilizes the vector control
extensive enablement and technical
approach of the 3-phase PMSM motor and
support, empowering you to create the
it is implemented with functions from the
next breakthrough automotive designs
automotive math and motor control library set
for powertrain, body, chassis and safety,
for the MPC5643L.
infotainment and telematics, and in-vehicle
(PMSM) with encoder and resolver position
sensors. It serves as an example of a PMSM
®
Target Automotive Applications
• Braking and stability control
• Electric power steering
• Active suspension
• Hybrid electric vehicles
• Transmission and gearbox
are monitored during the control process for
networking applications.
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
• Algorithm layer not peripheral dependent
• Field-oriented control (torque and speed)
of a 3-phase PMSM motor
• 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
Qorivva MPC5643L MCU
Features
Dual 3-Phase PMSM Development Kit: Qorivva MPC5643L
• Up to 120 MHz PowerPC ISA dual e200z4
core, 32-bit Power Architecture CPU with
1 MB of flash and 128 KB of SRAM memory
• 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
Motor Control Algorithm Concept
Motor Control Algorithm Concept
3-Phase Low-Voltage Power Stage
Qorivva MPC5643L MCU Motor
Control Modules
• 3x e-timers, including quad decode
• 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)
• Fault collection unit
MC33937A Features
• Greater than 1 A gate drive capability
with protection
• Protection against reverse charge injection
from CGD and CGS of external FETs
12 Vdc
Load
Start/Stop
FreeMASTER
Faults
U_Dc bus lsa lsb
PWM
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
Resolver
Driver
and
Resolver
Driver and
Interface
Inverse Park
Transformation
d,q→ alpha, beta
Us_d
• Window watchdog, two configurable
input/output pins
• Very low quiescent current in low-power
modes
Us_beta
DC_bus
Ripple
Compensation
Forward Clark
Transformation
a,b,c→ alpha, beta
Is_alpha
Position
Count
U_dc
Angle
Tracking
Observer
Current
Sensing
Processing
Theta_actual_el
Is_beta
Cosine
Angle
Tracking
Observer
Software
Switch
ls_a_comp
ls_b_comp
ls_c_comp
MPC5643L
Interface
3-Phase Low-Voltage Power Stage
U_Dc bus
Motor
12 Vdc
PWM
MPC5643L
U_Dc bus lsa lsb
lsc
PWM
Tracking Observer
Algorithm Software
• Configuration and diagnostics accessible
through the SPI
• One CAN and up to two LIN transceivers
Us_alpha
sin
cos
Forward Park
Transformation
alpha, beta→ d,q
• Simultaneous output capability enabled via
safe SPI command
• 5 or 3.3 V voltage regulator with current,
temperature and voltage protection
Us_alpha_comp
Us_beta_comp
Driver
Sine
Us_q
Is_d_req
-
PWM
Modulation
Ref
E-Timer
lsa
lsb
lsc
Sector
• Dead time is programmable via the SPI port
MC33905 (System Basis Chip)
Features
Resolver H/W
lsc
USB
• 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) MCLib functions
PMSM
Sine
• 2x FlexPWM, four channels with four fault
inputs
Resolver
Encoder
U_Dc bus
Automotive Math and
Motor Control Library
Set for MPC5643L
Cosine
• One FlexRay™, two FlexCAN and two
LINFlex modules
Resolver
Resolver Physical Layer
Cross
Triggering Unit
Synchronization
Differential Amplifier + Filter
Uref
Ucos
GND
3.3 V
0V
3.3 V
Sine Sample
Cosine Sample
Tracking Obeserver
Computation
ADC
Timer
Usin
0V
Resolver Ref. Driver
LP
Filter
Position
Speed
IRef 20–100 mA
# Revolutions
• Stop (Vdd On) and sleep (Vdd Off) modes
For more information, visit freescale.com/automcdevkits
Freescale, the Freescale logo and Qorivva are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. SafeAssure
and the SafeAssure logo and SMARTMOS are trademarks 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: MTRCKTDPS5643LFS REV 1
Agile Number: 926-78758 Rev B