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