NXP Semiconductors PMSMFRDMMCXN947 Bedienungsanleitung

PMSMFRDMMCXN947

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

Motors

Rev. 0 — 5 December 2023 User guide

Document information

Information Content

Keywords FRDM-MCXN947 , 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 PMSMFRDMMCXN947

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:

•FRDM-MCXN947

•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 PMSMFRDMMCXN947

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

2 Hardware setup

The following chapter describes the used hardware and the setup needed for proper example working

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

Table 3. Teknic M-2310P motor parameters

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NXP Semiconductors PMSMFRDMMCXN947

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

Characteristic Symbol Value Units

Rated torque T 0.247 Nm

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 PMSMFRDMMCXN947

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 PMSMFRDMMCXN947

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 FRDM-MCXN947

The FRDM-MCXN947 board consists of one MCXN947 device with a 64-Mbit external serial flash. The board

also features I3C temperature sensor, CAN PHY, Ethernet PHY, SDHC circuit, RGB LED, touch pad, high-speed

USB circuit, push buttons, and MCU-Link debug probe circuit. The board is compatible with the Arduino shield

modules and Mikroe click boards. The onboard MCU-Link debug probe is based on the LPC55S69 MCU.

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NXP Semiconductors PMSMFRDMMCXN947

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

Jumper Setting Jumper Setting

J22 1-2 J24 1-2

Table 4. FRDM-MCXN947 jumper settings

All others jumpers are open.

For correct working of overcurrent protection, please, remove the R145 resistor.

2.4.1 Hardware assembling

1. Connect the FRDM-MC-LVPMSM shield on top of the FRDM-MCXN947 board (there is only one possible

option).

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

3. Plug the USB cable from the USB host to the Debug USB connector J17 on the FRDM board.

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

Figure 7. Assembled Freedome system

Note: The example has been tested on the board with schematic number: SCH-90818 REVB.

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NXP Semiconductors PMSMFRDMMCXN947

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 MCXN94x

The MCX N94x is based on dual high-performance Arm® Cortex®-M33 cores running up to 150 MHz, with

2MB of Flash with optional full ECC RAM, a DSP co-processor and an integrated eIQ Neutron NPU. The NPU

delivers up to 30x faster machine learning (ML) throughput compared to a CPU core alone enabling it to spend

less time awake and reducing overall power consumption.

The multicore design delivers improved system performance and reduced power consumption by enabling

smart, efficient distribution of workloads to the analog and digital peripherals. The devices are supported by the

MCUXpresso Developer Experience to optimize, ease and help accelerate embedded system development.

The MCX N94x family is geared toward industrial applications with a wider set of analog and motor control

peripherals.

For more information, see MCX N Series Microcontrollers web pages.

3.1.1 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.

Figure 8. Hardware timing and synchronization on MCXA153

•The top signal shows the PWM_AT (PWM phase A - top) and PWM_AB (PWM phase A - bottom). The dead

time is emphasized at the PWM top and PWM bottom signals.

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NXP Semiconductors PMSMFRDMMCXN947

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

•The eFlexPWM submodule SM0 generates trigger 0 (ADC Trigger) when the counter counts to a value equal

to the VAL4 value. ADC Trigger is delayed of approximately Tdeatime/2. This delay ensures correct current

sampling at the duty cycles close to 100 %.

•When the ADC conversion is completed, the ADC_ISR (ADC interrupt) is entered. The FOC calculation is

done in this interrupt.

3.1.2 Peripheral settings

This section describes the peripherals used for the motor control. On MCXN94x, three submodules from the

enhanced FlexPWM (eFlexPWM) are used for 6-channel PWM generation and 12-bit ADC for the phase

currents and DC-bus voltage measurement. The eFlexPWM and ADC are synchronized via submodule 0 from

the eFlexPWM. The following settings are located in the mc_periph_init.c and peripherals.c files and

their header files.

3.1.2.1 PWM generation - FlexPWM1

•Six channels from three submodules are used for the 3-phase PWM generation. Submodule 0

generates the master reload at event every nth opportunity, depending on the user-defined macro

M1_FOC_FREQ_VS_PWM_FREQ.

•Submodules 1 and 2 get their clocks from submodule 0.

•The counters at submodules 1 and 2 are synchronized with the master reload signal from submodule 0.

•Submodule 0 is used for synchronization with ADC. The submodule generates the output trigger after the

PWM reload, when the counter counts to VAL4.

•Fault mode is enabled for channels A and B at submodules 0, 1, and 2 with automatic fault clearing.

Note: The PWM outputs are re-enabled at the first PWM reload after the fault input returns to zero.

•The PWM period (frequency) is determined by how long the counter takes to count from INIT to VAL1.

By default, INIT = -MODULO/2 and VAL1 = MODULO/2 -1 where MODULO = FastPeripheralClock /

M1_PWM_FREQ.

•Dead time insertion is enabled. Define the dead time length in the M1_PWM_DEADTIME macro.

3.1.2.2 Analog sensing - ADC0

ADC0 is used for the MC analog sensing of currents and DC-bus voltage.

•The ADC operate as 12-bit with the single-ended conversion and hardware trigger selected.

•ADC0 trigger source is the PWM submodule 0.

3.1.2.3 Peripheral interconnection for - XBAR

The crossbar is used to interconnect the trigger from the PWM to the ADC.

3.1.2.4 Slow-loop interrupt generation - CTIMER0

The Standard Counter or Timer CTIMER is used to generate the slow-loop interrupt.

•The slow loop is usually ten times slower than the fast loop. Therefore, the interrupt is generated after the

timer counter counts to MR[0] = kCLOCK_FroHf / M1_SLOW_LOOP_FREQ. The speed loop frequency is set in

the M1_SPEED_LOOP_FREQ macro and equals 1000 Hz.

•An interrupt (which serves the slow-loop period) is enabled and generated at the reload event.

3.1.2.5 Quadrature Decoder (ENC)

The QD module is used to sense the position and speed from the encoder sensor.

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NXP Semiconductors PMSMFRDMMCXN947

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

•The direction of counting is set in the M1_POSPE_ENC_DIRECTION macro.

•The modulo counting and the modulus counting roll-over/under to increment/decrement revolution counter are

enabled.

3.2 CPU load and memory usage

The following information applies to the application built using one of the following IDE: MCUXpresso IDE,

IAR, or Keil MDK. The memory usage is calculated from the *.map linker file, including FreeMASTER recorder

buffer allocated in RAM. In the MCUXpresso IDE, the memory usage can be also seen after project build in the

Console window. The table below shows the maximum CPU load of the supported examples. The CPU load is

measured using the SYSTICK timer. The CPU load is dependent on the fast-loop (FOC calculation) and slow-

loop (speed loop) frequencies. The total CPU load is calculated using the following equations:

(1)

(2)

(3)

Where:

CPUfast = the CPU load taken by the fast loop

cyclesfast = the number of cycles consumed by the fast loop

ffast = the frequency of the fast-loop calculation

fCPU = CPU frequency

CPUslow = the CPU load taken by the slow loop

cyclesslow = the number of cycles consumed by the slow loop

fslow = the frequency of the slow-loop calculation

CPUtotal = the total CPU load consumed by the motor control

MCXN94x (Release configuration - speed control)

CPU load 19.5 %

Table 5. Maximum CPU load (fast loop)

FRDM-MCXN947 (Release configuration)

Readonly code memory 39 248 B

Readonly data memory 13 108 B

Readwrite rada memory 5 944 B

Table 6. Memory usage

Measured CPU load and memory usage applies to the application built using IAR IDE.

Note: Memory usage and maximum CPU load can differ depending on the used IDEs and settings.

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