NXP Semiconductors PMSMRT1060C Manuale utente

PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC

Motors

Rev. 0 — 20 April 2023 User guide

Document information

Information Content

Keywords PMSMRT1060C , PMSM, FOC, MCAT, MID, Motor control, Sensorless control, Speed control,

Servo control, Position control

Abstract This user guide describes the implementation of the motor-control software for 3-phase

Permanent Magnet Synchronous Motors.

NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

1 Introduction

SDK motor control example user guide describes the implementation of the motor-control software for 3-phase

Permanent Magnet Synchronous Motors (PMSM) using following NXP platforms:

•i.MX RT1060-EVKC (MIMXRT1060-EVKC)

•Freedom Development Platform for Low-Voltage, 3-Phase PMSM Motor Control (FRDM-MC-LVPMSM)

The document is divided into several parts. Hardware setup, processor features, and peripheral settings are

described at the beginning of the document. The next part contains the PMSM project description and motor

control peripheral initialization. The last part describes user interface and additional example features.

Available motor control examples types with supported motors, and possible control methods are listed in

Table 1.

Possible control methods in SDK example

Example type Supported motor Scalar and

Voltage

Current FOC

(Torque)

Sensorless

Speed FOC

Sensored

Speed FOC

Sensored

Position FOC

Linix 45ZWN24-

40 (default motor) ✓ ✓ ✓ N/A N/A

pmsm_enc Teknic M-2310P

(with ENC) ✓ ✓ ✓ ✓ ✓

Table 1. Available example type, supported motors and control methods

SDK motor control example description:

• pmsm_enc - pmsm example uses float arithmetic, the example contains sensored and also sensorless field

oriented vector control (FOC). This example can be used for sensor and sensorless motor control application

both. Default motor configuration is tuned for the Linix 45ZWN24-40 motor.

The SDK motor control example contains several additional features:

• FreeMASTER pmsm_float_enc.pmpx project provides a simple and user-friendly way for algorithm tuning,

software control, debugging, and diagnostics.

• MCAT - Motor Control Application Tuning page based on the FreeMASTER runtime debugging tool.

• MID - Motor parameter identification.

The control software and the PMSM control theory, in general, are described in Sensorless PMSM Field-

Oriented Control (FOC) (document DRM148).

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

2 Hardware setup

2.1 Linix 45ZWN24-40 motor

The Linix 45ZWN24-40 motor is a low-voltage 3-phase permanent-magnet motor with hall sensor used in

PMSM applications. The motor parameters are listed in Table 2.

Characteristic Symbol Value Units

Rated voltage Vt 24 V

Rated speed - 4000 RPM

Rated torque T 0.0924 Nm

Rated power P 40 W

Continuous current Ics 2.34 A

Number of pole-pairs pp 2 -

Table 2. Linix 45ZWN24-40 motor parameters

Figure 1. Linix 45ZWN24-40 permanent magnet synchronous motor

The motor has two types of connectors (cables). The first cable has three wires and is designated to power the

motor. The second cable has five wires and is designated for the hall sensors’ signal sensing. For the PMSM

sensorless application, only the power input wires are needed.

2.2 Teknic M-2310P motor

The Teknic M-2310P-LN-04K motor is a low-voltage 3-phase permanent-magnet motor used in PMSM

applications. The motor has two feedback sensors (hall and encoder). For information on the wiring of feedback

sensors, see the data sheet on the manufacturer webpage. The motor parameters are listed in Table 3.

Characteristic Symbol Value Units

Rated voltage Vt 40 V

Rated speed - 6000 RPM

Rated torque T 0.247 Nm

Table 3. Teknic M-2310P motor parameters

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

Characteristic Symbol Value Units

Rated power P 170 W

Continuous current Ics 7.1 A

Number of pole-pairs pp 4 -

Table 3. Teknic M-2310P motor parameters...continued

Figure 2. Teknic M-2310P permanent magnet synchronous motor

For the sensorless control mode, you only need the power input wires. If used with the hall or encoder sensors,

connect the sensor wires to the NXP Freedom power stage.

1 DRAIN x3 P DRAIN 9 16AWG BLK PHASE R

Pin Color

Encoder wires

Motor phases(Wire entry view)

Signal ColorPin Signal

2 N/A N/A 10 16AWG RED PHASE S

3 GRN 11 16AWG WHT PHASE T

4 GRN/WHT 12 RED +5VDC IN

5 GRY/WHT 13 BRN ENC 1

6 DRAIN x1 14 ORN ENC B

7 BLK 15 BLU ENC A

16* ORN/WHT ENC B˜

8* BLU/WHT

COMM S-T

COMM R-S

COMM T-R

E DRAIN

GND

ENC A˜

9 10 11 12 13 14 15 16

1 2 3 4 5 6 7 8

Figure 3. Teknic motor connector type 1

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

R DRAIN x3 P DRAIN L GRY/WHT COMM T-R

Pin Color

Motor phases Encoder wires(Mating face shown)

Signal ColorPin

Signal

C 16AWG RED PHASE S U BRN ENC I

D 16AWG WHT G GRN COMM S-T

B 16AWG BLK T RED +5VDC IN

J BLU F* ORN/WHT ENC B˜

K* BLU/WHT V ORN ENC B

H GRN/WHT M DRAIN x1 E DRAIN

S BLK

PHASE T

PHASE R

ENC A

ENC A˜

COMM R-S

GND

A M

D R

Figure 4. Teknic motor connector type 2

2.3 FRDM-MC-LVPMSM

In a shield form factor, this evaluation board effectively turns an NXP Freedom development board or an

evaluation board into a complete motor-control reference design. It is compatible with existing NXP Freedom

development boards and evaluation boards. The Freedom motor-control headers are compatible with the

Arduino R3 pin layout.

The FRDM-MC-LVPMSM low-voltage, 3-phase Permanent Magnet Synchronous Motor (PMSM) Freedom

development platform board has a power supply input voltage of 24 VDC to 48 VDC with reverse polarity

protection circuitry. The auxiliary power supply of 5.5 VDC is created to supply the FRDM MCU boards. The

output current is up to 5 A RMS. The inverter itself is realized by a 3-phase bridge inverter (six MOSFETs) and a

3-phase MOSFET gate driver. The analog quantities (such as the 3-phase motor currents, DC-bus voltage, and

DC-bus current) are sensed on this board. There is also an interface for speed and position sensors (encoder,

hall). The block diagram of this complete NXP motor-control development kit is shown in Figure 5.

Figure 5. Motor-control development platform block diagram

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

FRDM-MC-LVPMSM Parts

Controller Card Parts

Power Supply

Polarity

24-48V

Motor

15V

6xPWM

Ia, Ib, Ic

Udc, Idc

Enc, Hall

5.5V

3.3V

USB

JTAG

Protection

MOSFET

Analog

Sensing

Encoder /

Hall

Encoder

Hall

Power

Supply

MOSFET

Predriver

FRDM-MC-LVPMSM Controler card

Target

MCU

Open

SDA

Buttons

LEDs

Accel

Therm

Figure 6. FRDM-MC-LVPMSM

The FRDM-MC-LVPMSM board does not require a complicated setup. For more information about the Freedom

development platform, see www.nxp.com.

Note:

There might be a wrong FRDM-MC-LVPMSM series in the market (series VV19520XXX). This series

is populated with 10 mOhm shunt resistors and noisy operational amplifiers which affect phase current

measurement. The mc_pmsm example is tuned for original FRDM-MC-LVPMSM board with 20 mOhm shunt

resistors.

2.4 i.MX RT1060-EVKC

i.MX RT evaluation boards provide a powerful, extendable platform or evaluation and prototyping using the

MCUXpresso suite of software and tools. An Arduino UNO site is provided for expansion using NXP or 3rd party

shield boards. The boards feature a high speed USB debug probe based with easy firmware update options to

support CMSIS-DSP or a special version of J-link LITE from SEGGER.

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

The jumper setting is as default, except for J110. See the table below.

Jumper Setting Jumper Setting Jumper Setting

JP6 1-2 J29 1-2 J55 1-2

JP7 1-2 J30 1-2 J76 1-3

J25 1-2 J40 5-6 J107 2-3

J26 1-2 J44 1-2 J110 open

J27 1-2 J54 1-2 All other jumpers open

Table 4. MIMXRT1060-EVKC jumper settings

Figure 7. MIMXRT1060-EVKC board with highlighted jumper settings

The motor-control application requires the PWM signals to be connected from the MCU to the power stage.

For a correct connection, solder the R346, R350, R356, and R362 resistors to the board. These resistors are

located on the bottom side of the EVK board. For more details, see the schematic.

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

Figure 8. Resistor needed for proper operation on the bottom side of the EVK board

For more information about the MIMXRT1060-EVKC hardware (processor, peripherals, and so on), see the

MIMXRT1060/1064 Evaluation Kit Board Hardware User’s Guide (document MIMXRT10601064EKBHUG).

2.4.1 Hardware assembling

1. Connect the FRDM-MC-LVPMSM shield on top of the MIMXRT1060-EVKC board.

2. On the top of FRDM-MC-PMSM shield connect by wires following pins:

FRDM-MC-LVPMSM Connection MIMXRT1060-EVKC

PWM_AT J3, 15 <-> J2, 12 GPIO_SD_B0_00

PWM_AB J3, 13 <-> J2, 6 GPIO_SD_B0_01

PWM_BT J3, 11 <-> J2, 8 GPIO_SD_B0_02

PWM_BB J3, 9 <-> J2, 10 GPIO_SD_B0_03

PWM_CT J3, 7 <-> J1, 12 GPIO_AD_B0_10

PWM_CB J3, 5 <-> J1, 6 GPIO_AD_B0_11

3V3 J3, 4 <-> J2, 16 3V3

ENC_A J3, 3 <-> J2, 4 GPIO_AD_B0_02

ENC_B J3, 1 <-> J2, 2 GPIO_AD_B0_03

GND J3, 14 <-> J3, 12 GND

CUR_A J2, 1 <-> J4, 4 GPIO_AD_B1_11

CUR_B J2, 3 <-> J4, 12 GPIO_AD_B1_00

CUR_C J2, 5 <-> J4, 10 GPIO_AD_B1_01

Table 5. MIMXRT1060-EVKC pin assignment

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

FRDM-MC-LVPMSM Connection MIMXRT1060-EVKC

VOLT_DCB J2, 7 <-> J1, 14 GPIO_AD_B1_02

CUR_DCB J2, 9 <-> J1, 16 GPIO_AD_B1_03

Table 5. MIMXRT1060-EVKC pin assignment...continued

3. Connect the 3-phase motor wires to the screw terminals (J7) on the Freedom PMSM power stage.

4. Plug the USB cable from the USB host to the OpenSDA micro-USB connector (J53) on the EVK board.

5. Plug the 24-V DC power supply to the DC power connector on the Freedom PMSM power stage.

Note: Instead of connecting with wires, a RT2FRDM Cross Connection Board can be used.

Figure 9. Assembled Fredome system (with RT2FRDM Cross Connection Board)

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NXP Semiconductors PMSMRT1060C

MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors

3 Processors features and peripheral settings

This chapter describes the peripheral settings and application timing.

3.1 i.MX RT1060

i.MX RT1060 crossover MCUs are part of the EdgeVerse™ edge computing platform and expand the i.MX RT

series to three scalable families. The i.MX RT1060 MCU increases on-chip SRAM to 1 MB while keeping pin-

to-pin compatibility with i.MX RT1050 MCU. This new series introduces additional features ideal for real-time

applications such as high-speed GPIO, CAN-FD and synchronous parallel NAND/NOR/PSRAM controller. The

i.MX RT1060 device runs on the Arm® Cortex®-M7 core at 600 MHz.

For more information, see i.MX RT1060 Crossover MCU Family web pages.

3.1.1 RT1060 - Hardware timing and synchronization

Correct and precise timing is crucial for motor-control applications. Therefore, the motor-control-dedicated

peripherals take care of the timing and synchronization on the hardware layer. In addition, you can set the PWM

frequencies as a multiple of the ADC interrupt (ADC ISR) frequency where the FOC algorithm is calculated. In

this case, the PWM frequency is equal to the FOC frequency.

master

reload

master

reload

SM0 counter

PWM top

PWN bottom

ADC ETC

and ADC

conversion

ADC ETC

ISR

TRIG0 (val 4) Tdeadtime

Figure 10. Hardware timing and synchronization on i.MX RT1060

•The top signal shows the eFlexPWM counter (SM0 counter). The dead time is emphasized at the PWM top

and PWM bottom signals. The SM0 submodule generates the master reload at every opportunity.

•The SM0 generates trigger 0 (when the counter counts to a value equal to the VAL4) for the ADC_ETC (ADC

External Trigger Control) with a delay of Tdeatime/2. This delay ensures correct current sampling at the duty

cycles close to 100 %.

•ADC_ETC starts the ADC conversion.

•When the ADC conversion is completed, the ADC_ETC ISR (ADC_ETC interrupt) is entered. The FOC

calculation is done in this interrupt.

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