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2013
32-bit
8/16-bit
Industrial, 90nm
1mA/MHz, 100A standby
Industrial
Automotive, 130nm
Wide
Format&LCDs
350A/MHz, 1A standby
MCU
Solution:
This class will help you understand key challenges associated with
sensorless vector control and how to implement it using Renesas
microcontrollers
4
Agenda
Need for vector control
Theory behind vector control
Challenges in implementing sensorless vector control
RX62T MCU family for sensorless vector control
Renesas motor control solutions
Global
Environmental
Concerns
Energy Efficiency
Policies
New Initiatives
Residential 26%
Others 30%
Motors
(45%)
Electronic Control
Energy Efficient
Motors
Motor Design
Vector control
Motor Type
15%
20%
Up to ~30% savings
7
= k .s r
A
X
X
C
A
900
Rotor Field
10
Three-phase Stator
iu
iq
0
120
11
iv
Mapping
id
stationary frame
uvw
stationary frame
iu
dq
rotatory frame
Id
iv
iw
12
Iq
i
d-axis
Clarke Transformation
i
2
i =
3
0
2
qaxis
1 i
a
2 i
3 b
i
2 c
Park Transformation
I d cos sin i
I =
i
sin
cos
q
PI
Controller
i*
i
PI
Controller
PWM
Generation
Speed
Calculation
13
Position
Estimation
i
Speed
/position
sensor
Flux Linkage
d
v = Rs i +
dt
d
v = Rs i +
dt
= m cos r + Li
= m sin r + Li
=0
m cos r = Li
m
r
14
m sin r = Li=0
is the rotor flux linked Potential Inaccuracy: If full load or large motor
is the rotor position
m cos r =
m sin r =
r = arctan( )
d
=
dt
Bottleneck: arctan implementation takes several CPU cycles
15
v , = Rs i , +
d ,
dt
= 0 + (v Rs i )dt
0
16
e ,
yn
yn =
17
Derivative
1023
yn 1 + e ,
1024
d
dt
d n = yn yn 1
, ( n )
, ( n )
1023
=
, ( n 1) + d n
1024
Park-1
*r
r
Speed
Regulator
Iq*
iq
Regulator
id
Regulator
id*=0
id
dq
To
DC
BUS
Clarke-1
Sine
PWM
to
abc
iq
to
dq
abc
to
i
i
Park
Speed
Estimation
18
Clarke
ia
ib
3-ph
Inverter
Implementation Challenges
19
Implementation Challenges
Requirements
1. Computation intensive routines
20
MCU Considerations
High performance CPU, FPU
3. Robust performance
1. Computation Intensive
Clarke/Park Transformations
Flux Estimation
Rotor position and speed
21
Ease of Use
Ease of coding, reading, debugging
Compatible with the C/Matlab simulation code
22
..0..
..0..
Resolution 10-39
Resolution 2-21
10-7
-210
-103
Range
+210
+103
-1038
23
or
Range
+1038
X(n)
X(n-1)
(32b,Q14.18)
A1
(16b, Q12.4)
E(n)
(16b, Q8.8)
MULT
(32b,Q20.12)
SHIFT
(32b,Q14.18)
(32b,Q14.18)
24
No Scaling Needed
Fixed-Point Implementation
SHIFT
25
FPU Implementation
No Saturation Check
Fixed-Point Implementation
Check for
Saturation
26
27
FPU Implementation
Readability
Fixed-Point Implementation
Parameters
28
FPU Implementation
Parameters
Simulation
Platform
Time-consuming
Unidirectional
Fixed Point
Algorithm
Fixed Point
CPU
29
Portable to FPU
Bidirectional
Floating Point
Algorithm
Floating
Point CPU
FPU Implementations
Traditional FPU
Renesas RX FPU
General
Registers
General Registers
No Load/Store
Instructions
Load/Store
Dedicated
Data
Registers
FloatingPoint Unit
30
FloatingPoint Unit
4 ADC Samples
U
V
W
5us
50us
31
3-shunt
1-Shunt Advantages
Cost reduction (Res, PGA)
No need for 3-ph calibration
Reliability
1-shunt Challenges
ADC samples twice quickly
U
V
W
IW,V,U
Reconstruction of current
IW
32
IW+IV
ADC Set 1
S/H
AN1
PGA
S/H
AN2
PGA
S/H
AN03/CVref L
Multiplexer
AN0
ch0
Register 1
Register 2
Register CH1
S/H
A/D
Register CH2
External Reference
Register CH3
CPU Interrupt
Window Comparators
33
3. Robust Performance
Susceptibility to noise
Hardware shut off
On-chip hardware
POE circuit
Fast window comparators
34
4. Cost Effectiveness
On-chip integration
Scalability
Scalability
6 window comparators
2 x 3ph cPWM timers
2 x quadrature encoder inputs
63TH
32-512KB
Data flash
Scalability
RX6xT package, ROM
RX200 - performance
35
62T
63TL
48-144 pins
36
ch0
ch1
ch2
ch3
Quadrature Encoder1
A,B,Z
Quadrature Encoder2
A,B,Z
ch4
ch5
ch6
ch7
MTU3
37
3 Input Captures
Hardware Implementation
RX62T
MTU CH3/4
6
PWM Generation
PWM Shut Off
RX600
CORE
Gate Driver
3-phase
inverter
Comparator
x3
3-phase BLDC
Motor
12-bit ADC
S/H
Analog Unit 0
38
PGA
Motor
Current
Software Implementation
Initialization
PWM
Interrupt
VBUS/Current
Measurement
(u,v,w) ->
(,) ->(d,q)
Current
Reconstruction
Last
Actual
Current
Reference
Current
Last &
Reference
Speed PI
Current PI
Voltage (d,q)
New Speed
Estimation
New
Estimation
V(u,v,w) ->
PWM Duty
39
RX62T
Starter Kit
40
Renesas
Inverter Board
Look-up Table
Floating Point
Fixed point
Sine,Cosine,Atan Functions
0%
41
CPU BW
Overall
Current Measurement
Position Estimation
Floating Point
Fixed point
42
10
20
30
40 us
Code Size
Floating-point code size is 45% lower
Current Measurement
Position Estimation
Floating Point
Clarke and Park
Fixed point
PI Loop
B
0
43
50
www.renesas.com/rxmotorkit
Motor #2
External Inverter
44
Motor #1
Alternate Implementations
Control loops at different rates
Interrupt at overflow/underflow
MTU.CH3/4
10KHz
MTU.CH3/4
10KHz
MTU.CH6/7
20KHz
MTU.CH6/7
10KHz
CPU Available
Control
Loop 1
45
Control
Loop 2
Control
Loop 1
Control
Loop 2
Software Implementation
Initialization
PWM
Interrupt
VBUS/Current
Measurement
(u,v,w) ->
(,) ->(d,q)
Current
Reconstruction
PWM
Interrupt2
Last
Actual
Current
Reference
Current
Last &
Reference
Speed PI
Current PI
Voltage (d,q)
New Speed
Estimation
New
Estimation
V(u,v,w) ->
PWM Duty
46
System Cost
Code size
+50%
7.8KB
High-end DSP
7.4KB
RX62T
Loop execution
47
16us
18us
1040
1030
1020
High-end DSP
Speed (rpm)
1010
RX62T
1000
990
980
970
960
950
0.265
6.343
time
48
22.906
49
Performance
100MHz, 165DMIPs
256KB 512KB
RX62T
100MHz, 165DMIPs
64KB 256KB
RX Core
RX600 Family
-Dual motor vector control
-Floating point
-RX600 Motor Kit
RX63TL
100MHz, 165DMIPs
32KB 64KB
RX220
32MHz,50DMIPs
32KB-256KB
RL78/G14
RX200 Family
-Single motor vector control
-Entry level RX core
RL78/G14
-Scalar control (low-end
vector control)
-RL78 Motor Kit
32MHz, 44DMIPs
32KB 256KB
R8C/3xM
20MHz
8KB 128KB
50
Oct.2012
Timeline
51
Line AC
85-265V
AC to DC
rectifier
IGBTs
RJH60D5DPQ-A0
Interleaved PFC
PWM
Set RPM
RPM
Is
Iq
Vdc
Gate
Driver
LCD
CPU Board
Potentiometer and
Push Buttons
In-circuit Scope
52
Current Sense
Hall and Encoder
53
Summary
Sensorless vector control improves the motor system
efficiency
Implementing sensorless vector control requires careful
selection of MCU
Renesas provides several motor control MCUs depending on
the application requirements
RX600 and RL78 motor control kits are available for an easy
evaluation of Renesas solutions
High voltage platforms are also available
54
Questions?
55
MCU