RX62T Position Control of Permanent Magnet Synchronous Motors
Contents
1. 04 Deceler rpm s 10000 05 Polar co 25 06 Startup Apk AmpDiv 07 Maximur Apk AmpDiv 08 Stator R Ohm OhmDiv Save data to file Figure 38 Changing the Parameter Settings in the GUI Application To terminate the GUI application return the control needle to zero position press Disconnect button and then press the Exit button to close the application This concludes the description of the Position Control of PMSM with Encoder Demonstration Guide RO1TANO899EU0201 Rev 2 01 Page 32 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Appendix A References 1 RX62T Group User s Manual Hardware RO1UH0034EJ0110 April 20 2011 2 DevCon 2010 Courses ID 620C Complete Motor Control Integration with RX62T ID 623C Understanding Sensorless Vector Control with Floating Point Unit FPU Implementation 3 DevCon 2008 Courses D 504 Speed Control Using a Digital Encoder and Vector Formulation 4 Application Note of Sensorless Vector Control of Three Phase PMSM Motors REU05B0103 0100 Rev 1 00 March 2009 5 Application Note of Mcrp05 Brushless AC Motor Reference Platform REUO5B0051 0100 Feb 2009 RO1ANO899EU0201 Rev 2 01 Page 33 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Website and Support Renesas Electronics Website http www renesas com Inquiries http www renesas com inquiry All t2. Figure 22 Importing Projects into the Workspace 1 of 2 After clicking the lt Next gt Button the Import Projects dialog box in Figure 23 prompts the user to Select a directory to search for existing Eclipse projects Step 4 Select the Radio Button Select archive file and click lt Browse gt to locate the Position Control with Encoder zip file to import into the workspace The selected project will then appear with a checked box in the Projects message box as seen in Figure 23 Step 5 Check the Add project to working sets check box and then click the lt Finish gt button to complete the project import R01AN0899EU0201 Rev 2 01 Page 23 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder e Ee E za _ Import Projects i Wel X adda Select a directory to search for existing Eclipse projects d Select i C WorkSpace Rx62T_kit_updated_e2stud Br EvaKit_Rx62T_PositionControl EvaKit_Rx62T_PositionControl IV Search for nested projects M Copy projects inte workspace Figure 23 Importing Projects into the Workspace 2 of 2 If the file does not appear with a check box in the Projects message box the selected zip file is the wrong zip file type or it was not properly exported If the file already exists in the workspace then the user will see a message that states Some projects cannot be imported because they alr
3. Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder EJ Debug Configurations Create manage and run configurations axor Name EvaKit_Rx62T_PositionControl Debug D Main Debugger gt Startup Common Source Debug only GDB Hardware Debugging j E 5 GDB Settings Connection Settings Debug Tool Setting GDB Simulator Debugging SH RL78 RH850 oe Debug sl GHS Local C C Launch Renesas GDB Hardware Attach ze F Renesas GDB Hardware Debugging z 2 cakal ae On Wrtng I tosh M E EvaKit_ Rx62T_PostionControl Det erme ource Change On Writing Internal Flash Memory _ Connection with Target Board Renesas Simulator Debugging RX only aa u D eka E Fl Pl el o onnecuon De JTag Clock Frequency MHz ine Baud Rate Mbps Hot Plug Power Target From The Emulator MAX 200mA upply Voltage a e l Fiter matched 8 of 12 items Figure 31 Debug Configuration Dialog Box 1 of 2 FJ Debug Configurations Create manage and run configurations Gaxl ary type fitertext E Debug only E GDB Hardware Debugging E GDB Simulator Debugging SH RL78 RH850 aka GHS Local C C Launch E gt Renesas GDB Hardware Attach E Renesas GDB Hardware Debugging Use Default IO Filename E EvaKit_Rx62T_PositionControl Debug 10 Filename E Renesas Simulator Debugging RX on
4. Figure 34 Connecting to the Motor Control Demo GUI 1 of 2 After successfully connecting with the target board the Communication Settings area will change to a green color and the Connect button will change to Disconnect The LED DL6 will blink while communicating between the target board and GUI Figure 35 shows the GUI after a successful connection Renesas RX62T Demo Kit User Interface Communication Settings Algorithm information Parameter Settings Speed Control Position Control Figure 35 Connecting to the Motor Control Demo GUI 2 of 2 The GUI will detect the programmed algorithm In this case the Encoder Based Position Control will be used After connection the Position Control button is active while the Speed Control button is grayed out The user can check with the Algorithm Information message box which shows a valid algorithm Clicking the Verify Jumper Settings button shows Table 3 in the GUI Figure 36 shows the Algorithm Information dialog box Follow the below procedure for using the GUI The LED DL1 will be blinking continuously while running demo with no fault occurrence If a fault occurs the LED DL2 will flash and DL1 will remain illuminated without flashing If a fault occurs press P6 reset and check if DL1 begins to blink If pressing P6 does not fix the fault disconnect and reconnect the E1 debugger and the Mini USB and reprogram the board using
5. K o L l K The system exhibits the standard second order response with the addition of a real zero To tune the system the high frequency of 500Hz needs to be first set for Kp and then slowly increase the integral term Ki to bring the steady state error to zero RO1ANO899EU0201 Rev 2 01 Page 14 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 7 Software Description 7 1 Overall Software Structure Position control algorithm is implemented with the complete C code using the Renesas RX62T MCU FPU The overall software structure is shown in Figure 14 Initialize MCU and Parameters Y Main Program y MTU3 Timer PWM interrupt 16KH2 t Phase Currents and Bus Voltage Measurements Current Hall Sensor and Trajectory Transformation Encoder Measurement Generation Position Id Current Iq Current PWM duty Sin or Space Vector regulator Controller Controller Calculation PWM Generation Figure 14 Position Software Architecture The procedures include gt S Initializations of RX62T MCU Motor and Control Parameters Current Offset Calculations Phase Currents and Bus Voltage Measurements Hall Sensor and Encoder Measurements Initial Position Identification Rotor Position Calculations Vector Control Transformations Motion Profile Trajectory Generatio
6. Rated Bus Voltage 24V Output Voltage 24VAC Rated Output Power 120W PWM Switch Frequency 20KHz Control Loop Frequency 1OKHz Current Measurement 3 Shunt Resistors Position Measurement 1000 Line Quadrature Encoder Implementation FPU CPU Bandwidth 17 Used Flash Memory 13 444Kbytes Used RAM 1 725Kbytes Used Stack 336bytes gt hS SCS hS SCS 2S SCS 2S SCS 2S SCS hS SCS 2S SCS hS SCS 2S SCS 2S SCS hS 2 SCS hS R01AN0899EU0201 Rev 2 01 Page 3 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 3 Hardware Platform RX62T FPU based position control is implemented with the Renesas RX62T evaluation kit and a three phase PMSM with a 1000 line single ended encoder as shown in Figure 1 RX62T evaluation kit is a single board inverter based on the RX series microcontroller RX62T The board has the following features L2 A complete 3 phase inverter on board with a low voltage motor 24V external power supply to provide DC bus voltage 15V and 5V power supply Power devices use Renesas low voltage MOSFETs Power rate up to 120 watts Supports three shunt and single shunt current measurements Easily change jumpers from the external amplifiers to the internal Programmable Gain Amplifier PGA USB communication with the PC via a H8S2212 MCU Graphic User Interface GUI used to both modify the motor and control para
7. a Hall transition occurs the rotor position is then determined by reading the incremental encoder The basic block diagram for the current vector control is shown in Figure 12 PMSM Motor q7 AON See if En pe H P Regulator CY YO m ON pe a a a te 1 j P I Regulator CY YYOL e V q ad Va Figure 12 Block Diagram of Current Vector Control Neglecting motor saliency the commanded q axis current iq is linearly related to the commanded torque The d axis current command id is set to zero as field weakening is not required The transformation takes two steps First the stationary currents are transformed to an arbitrary stationary pair of orthogonal axes a P Second the axes are then rotated to the rotor axes for control purposes RO1ANO899EU0201 Rev 2 01 Page 13 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder The typical current PI controller is depicted in Figure 13 Kp and Ki are the proportional gain and integration gain and they can be independently adjusted by the software The hardware gain Kb takes into account the bus voltage Motor Elec Model Figure 13 Current PI Controller Topology The transfer function of the block diagram 1s 25 s 4 i s L L i s E 2 KK K K S s L L It has a characteristic equation in the form of 2 s 260 s 0 Therefore 2L w w R x 20 K
8. box For debugging or programming the user needs to connect J5 with E1 Use the Mini USB connector J1 in the evaluation board for communication to the GUI ENCODER HALL MOTOR FUSE 24VDC 24VDC Aux DEBUG DEBUG START RX62T SPEED STOP _ FORWARD _ REVERSE _ MODE a Board Layout Figure 20 Demo Board Layout Before starting the demo reconfigure the jumpers JP6 JP15 as highlighted with red in Table 3 The jumper s location is shown in Figure 20 b The board can be operated in standalone mode or in the GUI mode but this demo algorithm only supports the GUI mode The GUI mode will be explained in section 9 4 Table 3 a Jumper rar Operation JPB spo 3P10 JP11 JP12 JP13 IP14 IP15 o MABEN Powe fea e a pee ff et sa 23l 3al aal aa ism fae faa RO1ANO899EU0201 Rev 2 01 Page 21 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 9 3 Build Project and Debug Operation with e studio To generate the firmware program for demonstration the provided zip file must be imported to the project workspace using e studio IDE revision 3 0 or higher The following steps will explain the procedure for importing the project and setting up the debugger in the e studio IDE 9 3 1 Build Project Procedure in e studio Before importing the project the user needs to install e studio version 3 0 or higher and Renesas complier CCRX revision 1 0 Note This demo will only use Rene
9. information included herein Renesas Electronics does not assume any liability for infringement of patents copyrights or other intellectual property rights of third parties by or arising from the use of Renesas Electronics products or technical information described in this document No license express implied or otherwise is granted hereby under any patents copyrights or other intellectual property rights of Renesas Electronics or others You should not alter modify copy or otherwise misappropriate any Renesas Electronics product whether in whole or in part Renesas Electronics assumes no responsibility for any losses incurred by you or third parties arising from such alteration modification copy or otherwise misappropriation of Renesas Electronics product Renesas Electronics products are classified according to the following two quality grades Standard and High Quality The recommended applications for each Renesas Electronics product depends on the product s quality grade as indicated below Standard Computers office equipment communications equipment test and measurement equipment audio and visual equipment home electronic appliances machine tools personal electronic equipment and industrial robots etc High Quality Transportation equipment automobiles trains ships etc traffic control systems anti disaster systems anti crime systems and safety equipment etc Renesas Electronics products are neither intended nor author
10. is only realizable in a digital based system The RX62T is a 32 bit high performance microcontroller with a maximum operating frequency of 100MHz and 165 DMIPS and single precision floating point unit FPU which is equipped with multifunction timers MTU GPT high speed 12 bit A D converter and encoder signal capture for facilitating servo motion control In this application note a RX62T FPU based position motion control system is proposed Position regulation is developed to provide both a trajectory generator and a PID controller which ensures accurate position control and fast tracking The trajectory generator provides position set point commands and the position PID controller operates on the position error and outputs a current command The current regulation with field oriented control is implemented to secure fast dynamic response The software described in this application note is applicable to following devices and platforms MCU RX62T and RX62N Motor Three Phase PMSM Platform Renesas Evaluation Kit Control Algorithm Encoder Based Position Control SCS 2S SCS 2S SCS hS RO1ANO899EU0201 Rev 2 01 Page 2 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 2 Specifications and Performance Data The implementation of position control is based on the Renesas evaluation kit and the RX62T MCU The main specifications are described as following Input Voltage 24VDC
11. 99EU0201 Rev 2 01 f Page 20 of 34 Jul 30 2014 AD 2 lt C NESAS RX62T Position Control of PMSM with Encoder 9 Demonstration Guide 9 1 Introduction to the Demonstration Guide The purpose of this Demonstration Guide is to help users get up and running quickly with the RX62T motor control kit YMCRPRX62T The RX62T Microcontroller is pre programmed to run Three Shunt Sensorless Vector Control with External Amplifier Therefore the user does need to reprogram the board using the E1 programmer debugger to demonstrate the Position Control of PMSM with Encoder and later sections will explain how to 1 setup the demo board 2 build and debug the demo project with e studio and 3 run the GUI application The user needs to connect the motor and the power supply to experience the efficient motor control capabilities of the Renesas RX62T microcontroller Caution Do not connect power to the board until all instructions are followed The Demo contains the following items RX62T Motor Control Evaluation Board YMCRPRX62T One BLDC Motor with a 3 way Molex connector and encoder cable 24V DC Power Supply Mini USB cable CD ROM for motor firmware and Application GUI 9 2 Demo Board Setup Figure 20 a shows the board with the motor connected to J8 J9 J10 and the power supply to J3 There are four push buttons a thumb wheel potentiometer a graphic LCD and a few simple steps to quickly operate the motor out of the
12. A dbsct c 5 A ges_eqp c E A ges_egp h 5 A globdef h S A globvar h amp 8 hwsetup c i intprg c E A iodefine h main c B A mask h amp mapibf h B A mesratypes h amp motorcontrol c S A motorcontrol h a resetprg c 5 A stacksct h E A typedefine h S A userif c S A userif h a A vect h la vecttbl c D EvaKit_Rx62T_PositionControl x launch RO1ANO899EU0201 Rev 2 01 Jul 30 2014 HR esa sel om ote amp Ie Ce ity tk ea ee eee Quick Access ey C C Debug oo D E mea UIF_R var flg WSET2 UIF_R var flg WSET3 RAM test ok FPU enabled eeprom parameters upload ini_eqp def_to_ram ram_to_eqp if eqp_to_ram 0 UIF_R var all EQP_ALL UIF_R var f1lg wSET7 current offsets reading MC_Setoff program init MC_IniPar ini_232_pc MC_IniPwM Ext_Intr_Init Ej EvaKit_Rx62T_PositionControl Debug EvaKt_Rx62T_PositionControlx Figure 26 Target Firmware in Workspace Page 25 of 34 RENESAS RX62T Position Control of PMSM with Encoder 9 3 2 Debug Procedure in e studio IDE After generating target firmware the user is now ready to setup the debug interface through the E1 debugger The El debugger is necessary as an interface from the software to the hardware Even if there is no need for any debugging this procedure is still necessary to reprogram the board using the provided algorithms Connect the 24V DC
13. GRA Input capture Reg H FFFF by intemal chock Ch0 TGRE Compare match Reg aa a a aoa Setting Speed Conta Loop Periodi Speed Control Loop Pernod Tsp Figure 6 Speed Calculation Using Encoder Pulses A and B at Control Loop Rate 5 2 Initial Position Identification Incremental encoders can only give displacements from the initial position and can t provide absolute position For PMSM and position control the initial position is required Although alignment has been calibrated the initial starting position before the Z pulse is still unknown By means of Hall sensors the rotor initial position can be identified and further corrected when the rotor starts rotating Assuming the Hall sensors are located at each phase as shown in Figure 7 The output signals of the Hall sensors are illustrated in Figure 8 It can be seen that the resolution of the Hall sensor signals are 60 electrical degree Table 2 shows the possible combinations corresponding to different positions Figure 7 Hall Sensors for Initial Rotor Position From Figure 8 and Table 2 given a specific Hall sensor output combination the rotor must reside in certain section with a range of 60 The initial position is determined as follows When a group of output signals are obtained for example 101 we can decide which section the rotor is in section in this example We can set the initial position at the center of the section 30 in this example It can b
14. Microcontroller The RX62T has a dedicated function for the encoder measurement as depicted in Figure 2 The MTU3 timer external clock input TCLKA TCLKB TCLKC and TCLKD can be used for two phase encoder pulse inputs When the MTU3 timer of Channels 1 and 2 are specified by the phase counting mode an external encoder clock is selected as the counter input clock and the TCNT operates as an up down counter The phase difference between two external input clocks is detected and the TCNT is incremented or decremented accordingly The rotor position and speed can be measured by reading the TCNT counts The following summarizes the MTU3 function for the encoder pulse counting functionality we e MTU Channel 1 amp 2 support 2 phase pulse counting mode which is called Phase Counting Mode This function covers 4 modes At these modes the counter works as up down counter and it is possible to detect the direction of counter with the flag Up down count by detecting phase difference between phase A and B of the encoder on mode 1 and mode 4 o Mode 1 every rising edge amp falling edge of both phases of the encoder pulse o Mode 4 every rising edge amp falling edge of phase B encoder pluse Up down count by two pulse lines which indicate the direction speed and position o Mode 2 One pulse line and one direction o Mode 3 Two pulse lines for each direction The MTU can detect automatically speed and position data as the pulse wid
15. annel 1 and Channel 2 and the interrupt of speed control loop Channel 2 measures the pulse command input Channel 0 compare match speed control loop period can be selected as an input capture trigger for Channel 1 internally Channel 1 and Channel 2 external timer clocks encoder pulse or command pulse can be selected as input capture triggers for Channel 0 internally SCS hS SCS 2S Table 1 MTU Timer Registers Function Register Function Data Counter TENTO Free Running Timer by internal clock Interval timer ChO Counter TGROA Input capture register Pulse width of encoder pulse trigger by every edge of encoder pulse which is used for chi counter clock TGROB Output compare register Speed Control Loop Period to create input capture trigger for Chi amp Ch2 TGROC Buffer register of TGRAO Last data of pulse width TGROD Output compare register Position Control Loop Period to create input capture trigger for Chi amp Ch2 TENTI Up Down Counter by encoder pulse Up Down Counter shows position and Chi Counter speed TGR1IA Input capture register The number of pulse of encoder at trigger by ChO TGROB compare match every speed control loop period TGR1iB Input capture register The number of pulse of encoder at trigger by ChO TGROD compare match every position control loop period TCNT2 Up Down Counter by command input Up Down counter shows command Ch2 Counter of speed and position Input
16. capture register The number of pulse of command at trigger by ChO TGROB compare match every speed control loop period Input capture register The number of pulse of command at trigger by ChO TGROD compare match every position control loop period Figure 3 shows how the MTU captures the encoder signals in phase counting mode The Channel 1 is coupled with Channel 0 to input 2 phase encoder pulses of a servo motor in order to detect position or speed Channel 1 is set to phase counting mode 1 and the encoder pulse A phase and B phase are input to MTCLKA and MTCLKB In Channel 0 MTU3_0 TGRC compare match is specified as the TCNT clearing source and MTU3_0 TGRA and MTU3_0 TGRC are used for the compare match function and are set with the speed control cycle and position control cycle MTU3_0 TGRB is used for input capture with MTU3_0 TGRB and MTU3_0 TGRD operating in buffer mode The Channel counter input clock is designated as the MTU3_0 TGRB input capture source and the widths of 2 phase encoder 4 multiplication pulses are detected MTU3_1 TGRA and MTU3_1 TGRB for Channel 1 are designated for the input capture function MTU3_0 TGRA and MTU3_0 TGRC compare matches in Channel 0 and are selected as the input capture sources to store the up down counter values for the control cycles Therefore the RX62T MTU itself can realize precise detection of the pulse width and the number of pulses which are needed to estimate motor speed and position and it m
17. cation Settings POSITION zoom VOLTAGE zoom CURRENT 6000 deg 30 400 mA Algorithm information a D 300 mA 4000 deg 20 _ 200 mA 2000 deg 100 mA g 00 m Parameter Settings Odeg 1 OmA 2000 deg 100 mA System Monitor 200 mA Speed Control Position Control us Direct Torque ff Total E STOP UPDATE PROPERTY MONITOR Motor speed Motor speed Imposed F Direct Curr Torque Cur Direct Volt Quadratur DC Bus Vol Alarm Code lime stamp Position Save data to file Figure 37 Set Position in Degree to Turn the Motor in the GUI Application Step 7 Click the Parameter Settings button RO1ANO899EU0201 Rev 2 01 Page 31 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder The Parameter Settings feature can be used to manually adjust the preset variables using the GUI Figure 38 shows the Parameter Settings dialog box Eh gt 2rCENESAS Position Control x Renesas RX462T Demo Kit User Interface Communication Settings POSITION zoom VOLTAGE zoom CURRENT zoom 6000 deg 3 400 mA Algorithm information mande 300 mA 200 mA 2000 deg 100 mA Parameter Settings 0 deg i x 2000 de System Monitor z 4000 deg 00 Default 32767 Write Speed Control 6000 deg erau 01 Minimum rpm 5000 7 Actual p Position Control aa 02 Maximur rpm 20000 03 Acceler rpm s 10000 P UPDATE
18. ce settings is selected RO1ANO899EU0201 Rev 2 01 Page 26 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder e x a EvaKit_Rx62T_PositionControl x Debug Evakit_Rx62T_PositionControl x S E Renesas cD rd Debugging jec me ae Evakt Rx62T Postonconr rises a PF tear erry Filter matched 9 of 13 items Figure 29 Debug Configuration Main Dialog Box Step 4 Select the Debugger tab as shown in Figure 30 Step 5 Select the GDB Settings sub tab under the Debugger tab and set the Debugger hardware to E1 and Target Device to R5F562TA EJ Debug Configurations Create manage and run configurations EvaKit_Rx62T_PositionControl Debug ada GHS Local C C Launch p Renesas GDB Hardware Attach lagging Filter matched 8 of 12 items Figure 30 Debug Configuration Debugger Dialog Box Step 6 Select the Connection Settings sub tab and change the External Frequency value to 12 00 MHz and JTag Clock Frequency to 12 38 MHz Set Power to No Step 7 Select the Debug Tool Settings sub tab under the Debugger tab and select Big Endian in the Endian setting under Memory Then click the lt Apply gt button The typical debug settings for this demo are shown with RED boxes in Figure 31 and in Figure 32 RO1ANO899EU0201 Rev 2 01 Page 27 of 34
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20. e seen that the maximum error of the initial position is 30 which occurs when the rotor is at the edge of two regions However even with 30 error the motor is still able to produce sufficient torque to start the motor Once the motor starts rotating the position can be readily corrected when the rotor moves out of the initial section and enters the next section This position is accurate In the previous example when the motor starts rotating in the positive direction from section 1 the rotor position can be corrected when the position is 60 RO1ANO899EU0201 Rev 2 01 Page 9 of 34 Jul 30 2014 RENESAS Position Control of PMSM with Encoder RX62T Table 2 Relationship Between Hall Sensors and Rotor Position pb N A io a 3 a gt as 5 am i p O 9 N Electrical Degrees Figure 8 Hall Sensor Output Signals Page 10 of 34 RO1TANO899EU0201 Rev 2 01 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 6 Position Control Strategy 6 1 Block Diagram of Position Control Figure 9 is the block diagram of position control The position control developed includes two loops The outer loop is position control to make the motor track and hold the given position The inner loop is current control Actually it is the torque control loop The motor currents are sampled through three shunt resistors and converted into the dq axis currents The control loop
21. eaceneneeeaetanendcdeenunsenteaeenccedtevacnesenesqeeeeeeacetenstecasaeeeees 15 8 Motor and Position Control Parameters ccccccccsseeeeeeeeeeeeeeaeeeeeeeeeeeeeeaaeaeeeeeeeessaaaaceeeeeeeeeanaaaaaes 19 9 Demonstration Guide casi ccsstnaessuninn aisianaidtiaalanntandisasSainshan cneeias usdeanantanmasssdsishnhceadunesddaaninenenianesiuadannvmeiies 21 Appendix A References riccciienscndutentenahiennansatensnadiibesanisliea teadifiesitantetenssedddnssenieluanenddientactutumiseadiuntesiatentenanhe 33 RO1ANO899EU0201 Rev 2 01 Page 1 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 1 Overview Position control plays an important role in various areas such as automation industry semiconductor industry etc PMSMs are ideal for advanced position control systems for their potentials of high efficiency high torque to current ratio and low inertia and PMSMs have been widely used in the industrial fields Various approaches have been made to realize high performance motion control With successively improving reliability and performance of digital controllers advancements in microcontrollers MCU have greatly enhanced the potential of PMSMs in servo position control applications Digital control can be implemented by MCUs An MCU is much more compact reliable and flexible which makes it superior to an analog based stepper control High performance of PMSM can be obtained by means of field oriented control which
22. eady exist in the workspace After clicking lt Finish gt the imported project is now in the estudio workspace shown in Figure 24 and the project should be in Debug mode by default PF SOS 949 wie Sra Zp Su aes eat sri ado bde ai e io Ye a Quick Access g yC Debug a BE Outline R Project Explorer 22 _ amp Part Number Revision ABC ay 2 2011 Software Release Date year 0x9 lt lt 8 16 Software Release Time month day Figure 24 Setting the Toolchain Version in the e studio Workspace Step 6 Select Properties from the Project pull down menu and expand C C Build section Select the Change Toolchain Version option and set the Available Versions to v1 02 01 Step 7 Select the Clean command from the Project pull down menu for cleaning and rebuilding the project RO1ANO899EU0201 Rev 2 01 Page 24 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Figure 25 shows the Clean Windows dialog box Step 8 Check the Start a build immediately option and select the Radio buttons Clean all projects and Build the entire workspace Then click the lt OK gt button to clean and rebuild all projects in the workspace For debugging the target firmware x file is generated in the Binaries workspace folder shown in Figure 26 For release set the active project to release mode fo
23. ensor encoder capture timer registers and I O ports Identify the rotor initial position using Hall sensor Move the motor to capture the position using encoder pulses Calibrate the rotor position once the Hall commutation changes After calibration recalculate the rotor position Check encoder Z pulse and reset the position offset and encoder pulse capture timer count Calculate the rotor position and motor speed Os S SCS S SCS S SCS S 2 SO S RO1TANO899EU0201 Rev 2 01 Page 16 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Hall and encoder initialization Read hall sensor and identify rotor initial position Y Start to move the motor Y Capture encoder pulses and measure position based on encoder all commutation change Calibrate rotor position offset a Reset position offset and timer count Calculate rotor position and motor speed o End Figure 16 Encoder Counting Mode Operation Flowchart of Position and Speed Measurement 7 4 PWM Interrupt for Position Control The position profile generation and position control are put in the PWM interrupt with a 16 kHz carrier frequency Figure 17 is a flowchart of PWM interrupt The procedures in the PWM interrupt of MC_ConInt are 9 Measure motor phase currents and DC bus voltage Calcu
24. evolution define PWM _FREQ CUSTOM 16000 PWM Frequency in Hz define SAM_FREQ CUSTOM 16000 Sample Frequency in Hz define C_POLI CUSTOM 4 Polar couples number define R_STA_CUSTOM 8 Stator phase resistance in Ohm OHM_DIV define L_SYN_CUSTOM 10 Synchronous inductance in Henry HEN_DIV define POS MIN CUSTOM 0 Minimum position in counts define POS MAX CUSTOM 40000 Maximum position in counts define KP_CUR_CUSTOM 60 K prop current control define KI CUR CUSTOM 80 K integ current control define K_P_POSITION 10 K prop position control define K_I_POSITION 12 K integ position control define K_D POSITION 150 K derivative position control 8 2 Operation Using the GUI The motor and control parameters can be tuned with the Renesas GUI as shown in Figure 18 Without modifying the code the parameters can be set or changed for different motors and applications There is a parameter window to set up 20 separate parameters By scrolling up and down through these parameters the user can decide to make changes to the settings and Write to EEPROM but this doesn t change the customize h file The original values will be restored upon clicking Reload From Figure 19 it can be seen that these parameters mirror the defines in the customize h file and the motor and control parameters can be easily changed using the GUI The GUI has a position contr
25. he moment when power is supplied The states of internal circuits in the LSI are indeterminate and the states of register settings and pins are undefined at the moment when power is supplied In a finished product where the reset signal is applied to the external reset pin the states of pins are not guaranteed from the moment when power is supplied until the reset process is completed In a similar way the states of pins in a product that is reset by an on chip power on reset function are not guaranteed from the moment when power is supplied until the power reaches the level at which reseiting has been specified 3 Prohibition of Access to Reserved Addresses Access to reserved addresses is prohibited The reserved addresses are provided for the possible future expansion of functions Do not access these addresses The correct operation of LSI is not guaranteed if they are accessed 4 Clock Signals After applying a reset only release the reset line after the operating clock signal has become stable When switching the clock signal during program execution wait until the target clock signal has Stabilized When the clock signal is generated with an external resonator or from an external oscillator during a reset ensure that the reset line is only released after full stabilization of the clock signal Moreover when switching to a clock signal produced with an external resonator or by an external oscillator while program executi
26. here is to control the q axis current for the torque Position Setting 5_ Position Current PWM Control Control Control Motor Current Detection Actual Position Encoder Pulse Detection Figure 9 Block Diagram of Position Control The position control scheme of the PMSM is illustrated in Figure 10 The system has an inner loop of current regulation using vector control and an outer loop of position regulation This dual loop structure ensures the fast torque response by using the vector control high position accuracy and fast tracking performance with the position controller In order to determine the d and q axis currents the phase currents must be measured Vector formulation uses Clarke and Park transforms to convert the measured phase currents from the u v and w frame to first transform them in the static orthogonal a 3 frame which is 90 degrees apart and then to the rotor frame The rotor frame is also an orthogonal frame aligned along the magnetic field axes known as the d and q frame These transformations use the transcendental functions sine and cosine of the rotor angle Therefore it is a requirement that the rotor angle is known at the time of the calculation The position control requires current sensors and an encoder attached to the rotor shaft to measure the rotor position Once the currents are transformed into the d and q frame the control algorithm simply runs the PID or PI loop to calculate the required v
27. ice driver Note Separate instructions for the USB device driver installation are provided in the Quick Start Guide or the driver will install automatically depending on the CD ROM installer Figure 33 shows the necessary connections and LED designations ENCODER HALL MOTOR FUSE 24VDC 24VDC Aux LCD Hro Be Her Hrs ae oP os 1 g JP15 JPi4 JP13 OP m LJ hf oe F DEBUG DEBUG START RX62T H8S SPEED STOP FORWARD REVERSE MODE E1 E10 Figure 33 Running the Demo with e studio and the GUI Step 2 Start the GUI program by double clicking on the Motor Control Demo icon 2 or select the Motor Control Demo program from the Windows taskbar Start in All Programs under the Motor Control Demonstrator folder The GUI program screen will launch and display as shown in Figure 34 For a serial port update wait for a few seconds to get the Connect button highlighted and then proceed to Step 3 Note If the Connect button is not highlighted the GUI couldn t find the correct USB device driver for COM port setting Step 3 Click the Communication Settings tab on the top left of the GUI seen in Figure 34 and select Auto detect under the serial port drop down tab Step 4 Click lt Connect gt RO1ANO899EU0201 Rev 2 01 Page 29 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Renesas RX62T Demo Kit User Interface
28. iguration EJ Debug Configurations Create manage and run configurations d deduc E Debug only Debug hdp GDB Hardware Debugging B P EvaKit_Rx62T_PostionControl abs E GDB Simulator Debugging SH RL78 RH850 i 2 EvaKi_Rx62T_PostionControl bis tia GHS Local C C Launch P Press the Filter button to configure filtering options EvaKi_Rx62T_PostionControl hik Renesas GDB Hardware Attach i Edit or view an existing configuration by selecting it 7 Evaki_Rx62T_PostionControl lb ica Renesas GDB Hardware Debugging T Rx62T P ol E Renesas Simulator Debug PENAM Duplicate Console 2 u Delete Configure launch perspective settings from the Perspectives preference page CDT Build Console EvaKt_Rx62T_PositionControl 17 23 50 Build Finished took 18s 437ms a L EvaKit_Rx62T_PostionControl Debug EvaKt_Rx62T_PostionControl map Fiter matched 7 of 11 items 2 re oe Figure 28 Setup Debug Configuration in Workspace Step 2 Select Renesas GDB Hardware Debugging Using the mouse right click on Renesas GDB Hardware Debugging and select New as shown in Figure 28 Step 3 In Figure 29 under the Main tab in Debug Configurations Select the Position Control of PMSM with Encoder EvaKit_Rx62T_PositionControl as the Project and verify the Build Configuration tab is selected as Debug and the Use workspa
29. iled information Renesas Electronics America Inc 2880 Scott Boulevard Santa Clara CA 95050 2554 U S A Tel 1 408 588 6000 Fax 1 408 588 6130 Renesas Electronics Canada Limited 1101 Nicholson Road Newmarket Ontario L3Y 9C3 Canada Tel 1 905 898 5441 Fax 1 905 898 3220 Renesas Electronics Europe Limited Dukes Meadow Millboard Road Bourne End Buckinghamshire SL8 5FH U K Tel 44 1628 651 700 Fax 44 1628 651 804 Renesas Electronics Europe GmbH Arcadiastrasse 10 40472 Dusseldorf Germany Tel 49 211 65030 Fax 49 211 6503 1327 Renesas Electronics China Co Ltd 7th Floor Quantum Plaza No 27 ZhiChunLu Haidian District Beijing 100083 P R China Tel 86 10 8235 1155 Fax 86 10 8235 7679 Renesas Electronics Shanghai Co Ltd Unit 301 Tower A Central Towers 555 LanGao Rd Putuo District Shanghai China Tel 86 21 2226 0888 Fax 86 21 2226 0999 Renesas Electronics Hong Kong Limited Unit 1601 1613 16 F Tower 2 Grand Century Place 193 Prince Edward Road West Mongkok Kowloon Hong Kong Tel 852 2886 9318 Fax 852 2886 9022 9044 Renesas Electronics Taiwan Co Ltd 13F No 363 Fu Shing North Road Taipei Taiwan Tel 886 2 8175 9600 Fax 886 2 8175 9670 Renesas Electronics paves kaart Pte Ltd 80 Bendemeer Road Unit 06 02 Hyflux Innovation Centre Singapore 339949 Tel 65 6213 0200 Fax 65 6213 0300 Renesas Electronics Malaysia Sdn Bhd Unit 906 Block B Menara Amcorp Am
30. inimizes the load of the CPU to detect those Also the MTU 1s able to receive the pulse command as well RO1TANO899EU0201 Rev 2 01 Page 6 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder ChO TGRD ChO TGRB Internal count clock ChO Counter eV ChO TGRA ChO TGRC Encoder pulse Ch1 TGRA Input capture trigger Phase A A reag N ge detectio Count pulse Ch1 Counter Ve Ch1 TGRB Ch2 TGRA A iea Ch2 Counter circuit O Ch2 TGRB Figure 3 Encoder Pulse Capture in Phase Counting Mode RO1ANO899EU0201 Rev 2 01 Page 7 of 34 Jul 30 2014 tENESAS RX62T Position Control of PMSM with Encoder 5 Encoder Based Position and Speed Calculation 5 1 Position and Speed Measurement A digital encoder outputs three pulse trains A B and Z as shown in Figure 4 These pulses are fed into timer units TCLKA and TCLKB that count events Pulses A and B are offset by 1 4th of the distance to give a 90 degree offset so they are known as quadrature counts Pulse Z occurs only once per rotation and it is fed into the interrupt input IRQO and zeroes out resets the counter MTU2_TCNT When the pulse Z occurs the rotor angle with respect to the stator frame produces a definite value preferably zero If this value is not zero it is a constant offset that can be measured Quadrature counters are designed to count these pulses up or down depending on whether A comes before or after B That is the re
31. ion resistance design Please be sure to implement safety measures to guard them against the possibility of physical injury and injury or damage caused by fire in the event of the failure of a Renesas Electronics product such as safety design for hardware and software including but not limited to redundancy fire control and malfunction prevention appropriate treatment for aging degradation or any other appropriate measures Because the evaluation of microcomputer software alone is very difficult please evaluate the safety of the final products or systems manufactured by you Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product Please use Renesas Electronics products in compliance with all applicable laws and regulations that regulate the inclusion or use of controlled substances including without limitation the EU RoHS Directive Renesas Electronics assumes no liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations Renesas Electronics products and technology may not be used for or incorporated into any products or systems whose manufacture use or sale is prohibited under any applicable domestic or foreign laws or regulations You should not use Renesas Electronics products or technology described in this document for any purpose relating to military applications or use by the military incl
32. ized for use in products or systems that may pose a direct threat to human life or bodily injury artificial life support devices or systems surgical implantations etc or may cause serious property damages nuclear reactor control systems military equipment etc You must check the quality grade of each Renesas Electronics product before using it in a particular application You may not use any Renesas Electronics product for any application for which it is not intended Renesas Electronics shall not be in any way liable for any damages or losses incurred by you or third parties arising from the use of any Renesas Electronics product for which the product is not intended by Renesas Electronics You should use the Renesas Electronics products described in this document within the range specified by Renesas Electronics especially with respect to the maximum rating operating supply voltage range movement power voltage range heat radiation characteristics installation and other product characteristics Renesas Electronics shall have no liability for malfunctions or damages arising out of the use of Renesas Electronics products beyond such specified ranges Although Renesas Electronics endeavors to improve the quality and reliability of its products semiconductor products have specific characteristics such as the occurrence of failure at a certain rate and malfunctions under certain use conditions Further Renesas Electronics products are not subject to radiat
33. late motor position and speed using Hall sensors and encoder Transfer motor currents into dq currents Current control loop Update trajectory generator and position profile Position control loop PWM generation using space vector PWM modulation or sinusoidal PWM modulation gt S 2 gt S 2 gt S 2 RO1ANO899EU0201 Rev 2 01 Page 17 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder PWM interrupt Motor phase currents and bus voltage ADC measurements Y Calculate motor position based on hall sensor and ecnoder Y Current transformation from uvw to ab to dq Id and Iq current control loop Update trajectory generator and position profile Y Position control loop Y Space vector PWM generation End Figure 17 Flowchart of PWM Interrupt for Position Control RO1TANO899EU0201 Rev 2 01 Page 18 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 8 Motor and Position Control Parameters 8 1 Tuning Through the Header File According to the motor datasheet and position control requirements the motor and control parameters and the motion profile should be properly tuned Motor and control parameters required in the header file customize h include define ENC_EDGES_ CUSTOM 4000 Total encoder Edges R
34. lationship between A and B indicates the direction of rotation a TTL SLT s LLL PL 2 FL a ST One Revolution Figure 4 Relationship Among the Digital Encoder Pulses A B and Z The encoder has been aligned and calibrated with Hall sensor U with zero initial position The angle is zero count when the Z pulse occurs through the external interrupt IRQO From this point onwards it is given a certain count value as the quadrature counter is read As shown in Figure 5 the phase counting mode 1 is used to up down count by detecting phase difference between A and B phase These counts are transformed into a proper angle value for the rotor position Figure 5 Encoder Counting Mode Operation Motor speed determines how much the angle of the rotor changes over time As shown in Figure 6 pulses A and B from the encoder are used at the control loop rate Two angles are measured at constant time intervals thus giving the measurements needed to compute speed delta angle and delta time Speed is computed by dividing the delta angle A by the delta time The motor position is the number of the encoder pulse as N m 1 N m where m is the number of consecutive samples AQ N m 1 N m and the motor speed is E N m 1 N m ro Tsp RO1TANO899EU0201 Rev 2 01 Page 8 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Encoder phase A Phase 6 Clock pulse for Chi Chi Timer Counter by encoder pulse Chi T
35. ly Break Force Hardware Breakpoints Memory Endian Internal Flash Memory Overwrite External Memory Areas Work RAM Start Address Work RAM Size Bytes System EvaKit_Rx62T_PositionControl Debug Filter matched 8 of 12 items Figure 32 Debug Configuration Dialog Box 2 of 2 Step 8 Check the target board power is ON and verify the connections through the PC E1 debugger and the target board Clicking the lt Debug gt button in the Debug Configurations dialog box will download the firmware to the target board Step 9 Click the Resume icon co or the F8 Key to run the program This may require the user to press the Resume icon or F8 multiple times depending on the delay in the code The icon should turn gray when the program is running The LED DL 1 will blink at about a one second rate continuously while running the target board RO1TANO899EU0201 Rev 2 01 Page 28 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder 9 4 GUI Operation This operation requires the demo board to be connected to the PC using the supplied Mini USB cable Step 1 Connect the Mini USB cable to J1 from the PC LED DL8 is on when the USB bus power is applied to evaluation board The PC will recognize the new hardware and will launch the driver installation screen Follow the instruction from the Message Box to install respective USB dev
36. meters and tune the speed and position control Connectors for Hall sensors and encoder connections LCD to monitor the operation status Supports the standalone mode set by potentiometer and push buttons Supports the second motor drive signals and connector for another motor control power stage are available SCS 2S SCS 2S 2 L2 SCS 2S SCS 2S 2 L2 SCS hS 2 L2 SCS hS SCS 2S 2 L2 The motor is a 24V 4 pair poles 3 phase PMSM with PS 3 Hall sensors 2 1000 line quadrature encoder 24V DC gt a N S N Encoder Senon Ror Power Supply Encoder ene Goo Renesas p MOSFETs A i _ a iT a 1 a LoD TE 24V 3 A Displayer PMSM Motor lt lt Q Hall A Second Motor Control Connector Potentiometer Standalone Operation Buttons Figure 1 System Hardware Setup Motor and Control Platform RO1ANO899EU0201 Rev 2 01 Page 4 of 34 Jul 30 2014 tENESAS RX62T Position Control of PMSM with Encoder 4 RX62T Encoder Capture Function The RX62T is a 32 bit high performance microcontroller with a maximum operating frequency of 100MHz 165 DMIPS and single precision FPU which is equipped with multifunction timers MTU GPT high speed 12 bit A D converter and 10 bit A D converter for facilitating motor control Figure 2 shows the block diagram of a sensorless vector control of PMSM based on the Renesas RX62T
37. n Position Regulator Current Controllers PWM Duty Calculation Space vector PWM generation gt S SCS S SCS S SCS S 2 SCS S SCS KS SCS S SCS S 2 SCS S 7 2 Software e studio Workspace Shown in Figure 15 is the workspace for position control using Renesas e studio IDE Integrated Development Environment gt S All code is written in the floating point C language The software is modularized according to the position control block diagram as shown in Figure 10 I O definitions and basic MCU drivers are automatically ported by e studio Motor and control parameters are easily tuned through the header file customize h and the GUI SCS S SCS S SCS S The code includes dbsct c hwsetup c intprg c main c mcrplibf c motorcontrol c resetprg c userif c and vectbl c dbsct c includes structures used by the runtime library both to clear un initialized global variables and to write initial values into initialized global variable sections hwsetup c is the hardware initializations RO1ANO899EU0201 Rev 2 01 Page 15 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder vecttbl c contains the array of addresses of ISRs resetpr c has functions called just after reset intprg c is entry points for all of standard ISRs vectors main c includes initialization of control parameters MTU3 timer interrupts serial c
38. ol window to set the commanded position and display the motor actual operation status Renesas RX62T Demo Kit User Interface Comunication Settings w eesedssttings end Display Connect zoom VOLTAGE zoom CURRENT Algorithm selection _Speed seting and Display Parameter Settings System Monitor Position Control PHOS o CIA oda Pane j AOOO aii ee 4000 rs ann Me anon 6000 m 6000 Motor speed Z000 aa Motor speed Imposed F Direct Curr Torque Cur Figure 18 GUI Interface of Evaluation Kit RO1ANO0899EU0201 Rev 2 01 Page 19 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder DESCRIPTION UNIT MIN MAX YALUE YALID T s2fO true etting Minimum Speed rom 200 Sooo 50 true Maximun Speed rom iog 2000 true amp accelaration roms 1 10000 1000 true Deceleration roms 1 10000 1000 true Polar couples 5 true Startup Current 4ok 10 i zaad 500 g Current 4ok 10 D 5000 true 10 og true 27 Maxirnum Stator Resistance Ohm 10 i 5000 true 09 Synchronous Inductance c 5000 true 0 Startup Time ms 300 LO000 1000 true Current Loop K i 204r true true Speed Loop Kp i 4095 true 2 Current Loop Ki i 1025 pao true Speed Loop Ki 0 4095 1 Startup offset Y true 56 Startup delta Y true 7 PI Tuning trigger 0 32707 Poo true Free true oO Free true Figure 19 Parameter Window RO1ANO8
39. oltages for the torque and flux These required voltages Vdc Vqc are then transformed back into the u v and w frame using the inverse Clarke and inverse Park transforms to further calculate the PWM duty cycle The position command is an input to the position control system The motor has an encoder mounted on its rotor to give the quadrature pulses A and B as well as the zero synch pulse Z All three of the rotor position signals are sent to the MCU s input capture and timer quadrature counter peripheral for making position and speed measurements The commanded position is compared with the actual rotor position The position regulator uses the traditional PID controller and outputs the torque control command of iq to make the motor move and track the commanded position RO1ANO899EU0201 Rev 2 01 Page 11 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Position PID 4 PI _ m Regulator Regulator gt Voltage l m y Source id PI m 3 phase Regulator Inverter 3 phase Induction Motor Position and Speed M easurement Encoder Hall sensor Figure 10 Position Control Scheme Diagram 6 2 Position Control Loop Design The basic components of a typical servo position control system are depicted in Figure 11 In this figure the servo position control closes a c
40. ommunication encoder capture definitions and uploading eeprom parameters The current sensor offsets are calculated before the output of the PWMs The while loop executes parameter updates and SCI communication with the GUI The motorcontrol c is the major code for position control which contains most of functions and function calls to implement position control Mcrplibf c includes vector control transformations Clarke Park and inverse Clarke and Park transformations and sine and space vector PWM generation SCS S 2 SCS S SCS S a5 EvaKt_Rx62T_PositionControl H 4 Binaries A 6 Includes amp Debug amp Release a const_def h customize h dbsct c ges_eqp c ges_eqp h globdef h globvar h hwsetup c intprg c iodefine h main c mask h mcerplibf h misratypes h motorcontrol c motorcontrol h resetprg c stacksct h h typedefine h userif c E E E FF DH BEBEBE BDD EBBE DDE EE E E F H E 4 H H B userif h He e E vect h vecttbl c makefile init mcrplibf lib E Upgrade txt o B B ey f Figure 15 Encoder Counting Mode Operation Position Control Software Workspace 7 3 Hall and Encoder Based Position and Speed Measurement Figure 16 is a flowchart of position measurement The procedures for the position measurement based on Hall sensors and encoder are SCS S Initialize Hall s
41. on is in progress wait until the target clock signal is stable 5 Differences Between Products Before changing from one product to another i e to a product with a different part number confirm that the change will not lead to problems The characteristics of an MPU or MCU in the same group but having a different part number may differ in terms of the internal memory capacity layout pattern and other factors which can affect the ranges of electrical characteristics such as characteristic values operating margins immunity to noise and amount of radiated noise When changing to a product with a different part number implement a system evaluation test for the given product Notice Descriptions of circuits software and other related information in this document are provided only to illustrate the operation of semiconductor products and application examples You are fully responsible for the incorporation of these circuits software and information in the design of your equipment Renesas Electronics assumes no responsibility for any losses incurred by you or third parties arising from the use of these circuits software or information Renesas Electronics has used reasonable care in preparing the information included in this document but Renesas Electronics does not warrant that such information is error free Renesas Electronics assumes no liability whatsoever for any damages incurred by you resulting from errors in or omissions from the
42. oop The basic servo position controller provides both a trajectory generator and a PID controller The trajectory generator provides only position set point commands labeled in Figure 11 as 0 s The PID controller operates on the position error and outputs a current command There are three gains to adjust in the PID controller Kp Ki and Kd These gains all act on the position error defined as AO 0 s s Note the superscript refers to a commanded value The output of the PID is given mathematically in the time domain as SE d iq t K AO K AO dt K AA t In general the proportional term affects the overall response of the system to a position error The integral term is needed to force the steady state position error to zero for a constant position command and the derivative term is needed to provide a damping action as the response becomes oscillatory Unfortunately all three parameters are inter related so adjusting one parameter will affect any of a previous parameter adjustments Tuning the PID controller can be done if the motor and load parameters and the desired frequency response are known They are adjusted using the parameters in the header file customize h 6 3 Current Control Loop The current loop is a standard PI type based on the standard Park Clarke stationary reference frame to rotary reference transformations The initial rotor position is determined by the Hall sensors Once
43. power to J3 the E1 Debugger to J5 and the motor to the J8 J9 and J10 connectors The connection is shown in Figure 27 Check the recommended jumper settings for this demo refer to section 9 2 ENCODER HALL MOTOR FUSE 24VDC 24VDC Aux t y F ma o7 Be JP9 Be Her Hrs Cr oH JP10 TZ LYLYLY C B_J JP415 JP14 JP13 mer DEBUG DEBUG START RX62T H8S SPEED STOP FORWARD REVERSE MODE E1 E10 Figure 27 Debug Setup for the Demo Board Step 1 Select Debug Configurations from the Run pull down menu or click the debug drop down icon 7 and select Debug Configurations Now the user will view the Debug Configurations Windows dialog box as shown in Figure 28 Fie Edt Navigate Search Project Run Window Help ETN ee Meh ee TEs SS SET ee ere PNG oc Access cs C Debug 2 Outline Project Explorer amp yl 72o Ges anes sr yy o ii EvaKit_Rx62T_PositionControl Debug a 24 Bnanes gh Incudes BS Debug aM dbsct obj rx be E EvaKe_Rx62T_PostionControl x rx be a ges_eqp obj mybe i hwsetup obj rx be E B intprg obj nbe 4 main obj rx be E E motorcontrol obj rx be S F resetprg obj rx be TS z R 2 userif obj rx be Di le Configure launch settings from this dialog m vecttbl obj rx be type fiter text L Press the New button to create a configuration of the selected type D dbsa d _ Press the Duplicate button to copy the selected conf
44. r building projects The target firmware mot file is generated in the workspace Release folder Fj C C e2 studio wa Fie Edt Source e Project Explorer 3 a8 e 7 LS EvaKit_Rx62T_PositionControl Debug S Incdudes a e Debug a Release const_def h customize h 8 dbsct c iQ ges_eqp c A ges_eqp h S A globdef h S A globvar h S A hwsetup c intprg c E A iodefine h main c mask h A moplbf h 3 A misratypes h l motorcontrol c 5 A motorcontrol h l resetprg c 3 A stacksct h 3 A typedefine h a i userif c f userif h E A vect h vecttbl c 1 EvaKt_Rx62T _PostionControl x launch makefie int mopibf ib D Upgrade txt i gt EvaKt_Rx62T_PostionControl PF Debug e studio Refactor Navigate Search Project Run S74 aii 37 5 advair evGegr rOraQary car7 v lt v a l8 x Window Hep lojx if ansni a Clean wal discard all buid problems and buit states The next tme a buid occurs An outine ss not avaiable the projects wil be rebuk from scratch Cean al projects iS Evakt_Rx62T_PostionContro m Ba C C D C Cean projects selected below Lf Code Preview amp Figure 25 Clean Message Box Fie Edt Source Refactor Navigate Search Project Run Window Help a 2 Outline I Project Explorer 33 ka at a hd 5 6 EvaKit_Rx62T_PositionControl Debug ay ag Incudes B S Debug a Release E A const_def h B customize h m
45. rademarks and registered trademarks are the property of their respective owners RO1TANO899EU0201 Rev 2 01 Page 34 of 34 Jul 30 2014 RENESAS Revision Record Rev 1 00 2 00 2 01 Date Nov 18 2011 Jan 31 2014 Jul 30 2014 Description Page 21 Summary First edition issued Second edition issued Demonstration Guide added A 1 General Precautions in the Handling of MPU MCU Products The following usage notes are applicable to all MPU MCU products from Renesas For detailed usage notes on the products covered by this manual refer to the relevant sections of the manual If the descriptions under General Precautions in the Handling of MPU MCU Products and the body of the manual differ from each other the description in the body of the manual takes precedence 1 Handling of Unused Pins Handle unused pins in accordance with the directions given under Handling of Unused Pins in the manual The input pins of CMOS products are generally in the high impedance state In operation with an unused pin in the open circuit state extra electromagnetic noise is induced in the vicinity of LSI an associated shoot through current flows internally and malfunctions occur due to the false recognition of the pin state as an input signal become possible Unused pins should be handled as described under Handling of Unused Pins in the manual 2 Processing at Power on The state of the product is undefined at t
46. s RENESAS APPLICATION NOTE RX62T RO1ANO899EU0201 Rev 2 01 Position Control of Permanent Magnet Synchronous Jul 30 2014 Motors PMSM with Encoder Introduction This document presents the RX62T position control with a PMSM which has been implemented on the RX62T evaluation kit with Hall sensors and encoder This document describes the hardware platform methodology of position control control block diagram software structure and flow chart of the position measurement and control The solution in this application note has been implemented with the RX62T evaluation kit and a 3 phase 8 pole 24V PMSM with a 1000 line single ended encoder Target Device RX62T Contents Dee VICI scien sre ences arcieeeta gare cs gee teaieaa pees an anacatusqvanseunguaieeacuveasdusecs O E E 2 2 Specifications and Performance Data cccccccssscccccseeececseeeeeeseeeeesseeeeeseeeeeeesegeeesseeeeeesseseeesseeeeeens 3 a MPU AN OU arr E ers EAE tenes E E E A E EE R E E R EE E S ENTE 4 4 RX62T Encoder Capture Function ccccccccccccccsssseccecceeseeccecceesseceeecseaeeceseseeaeeeeesssageeeeeesaageeeessnaess 5 5 Encoder Based Position and Speed Calculation ccccccccccsseeeeeeeeeeeeeeaeceeeeeeeeesseaasceeeeeeeeesaeaeees 8 6 Position Control Strategy snedccccestvencceacenesisencxoetdaceseseueseceaxteneecedverenecttenssqostdtenexeeorcseqsant sechtanceecbeabaswes 11 7 Software Description scccicetscceccivsscrsceateeeseccecexacetdcc
47. sas complier CCRX revision v1 02 01 The user will need to create a new file folder in Windows Explorer Open the e studio IDE as shown in Figure 21 and proceed with the following steps Step 1 Browse or type the newly created file folder path in the Workspace Launcher window and click the lt OK gt button tENESAS e2studio v3 0 FJ Workspace Launcher X Select a workspace Parts Copyright 2014 Rer e2 studio stores your projects in a folder caled a workspace Choose a workspace folder to use for this session WorkSpace Rx62T_ kit Use this as the default and do not ask again Figure 21 e studio IDE Start up Windows and Workspace Launcher Step 2 Select Import from the File pull down menu After selecting Import Figure 22 shows a Select dialog box that prompts the user to Create new projects from an archive file or directory Step 3 Select Existing Projects into Workspace from the Select pop up dialog box and click the lt Next gt button RO1ANO0899EU0201 Rev 2 01 Page 22 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder EJ C C e2 studio Ctrl Shiiis Welcome Select a Import Create new projects from an archive file or directory SSS ey EXPO type filter text RENESAS _ gt Renesas Common Project File amp C C amp Code Generator Eiis Cance
48. th amp the pulse The data of speed and position can be captured every periodic cycle SC S In this application the encoder pulses of A and B are the inputs to the TCLKA and TCLKB The Z pulse is the input to IRQO For the second motor the encoder pulses of A and B are the inputs to the TCLKC and TCLKD The Z pulse is the input to IRQ3 The host communication using the GUI is communicated with the RX62T MCU by the USB communication It can display the motor operation status in the real time modify the motor and control parameters and tune the speed and position control SCI SPI I2C CAN Host Communication Figure 2 RX62T Encoder Capture Functionality RO1ANO899EU0201 Rev 2 01 Page 5 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Table 1 lists the timer register function for Channel 0 to 2 for the encoder capture The timer MTU is enabled to automatically detect both the pulse width and the number of pulses from the encoder every speed control loop period External wiring is not necessary for any trigger signals The encoder signals are directly input to the timer external clock TCLKA and TCLKB are clock sources of channel 1 and input command pulses to the timer external clock TCLKC and TCLKD are clock sources of channel 2 Channel counter is counted by every falling edge and rising edge of the encoder pulse Channel 0 is used for interval time to generate input capture trigger of Ch
49. the steps discussed in section 9 3 2 RO1ANO899EU0201 Rev 2 01 Page 30 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder Renesas RX62T Demo Kit User Interface Communication Settings Algorithm information Parameter Settings System Monitor Speed Control 3 Shunt Sensorless Vector Control with External Amplifier Position Control 1 Shunt Sensorless Vector Control with External Amplifier 3 Shunt Sensorless Vector Control with Internal Amplifier 1 Shunt Sensorless Vector Control with Internal Amplifier Encoder Based Position Control Algorithm JPG JP7 JP8 JP9 JP10 JP11 JP12 JP13 JP14 JP15 AOS EA ESS EARS EN PEM EEE Amplifier 1 Shunt 1 2 1 2 REE aera oe as Le oe oe Lo lis Ne MEE cS eI ce Pe ee S Figure 36 Algorithm Information in the GUI Application Step 5 Click the Position Control button Step 6 Set the position arbitrarily by dragging the indicator needle to the right or left as shown in Figure 37 or a position can be manually typed into the dialog box below the indicator needle The motor shaft should rotate and stop at the set position degree By default the demo sets the below parameter values for position Thus user needs to set angular position value from 5 to 8000 degrees to run this demo e Minimum position 5 degree e Maximum position 8000 degree Renesas RX62T Demo Kit User Interface Communi
50. uding but not limited to the development of weapons of mass destruction When exporting the Renesas Electronics products or technology described in this document you should comply with the applicable export control laws and regulations and follow the procedures required by such laws and regulations Itis the responsibility of the buyer or distributor of Renesas Electronics products who distributes disposes of or otherwise places the product with a third party to notify such third party in advance of the contents and conditions set forth in this document Renesas Electronics assumes no responsibility for any losses incurred by you or third parties as a result of unauthorized use of Renesas Electronics products 11 This document may not be reproduced or duplicated in any form in whole or in part without prior written consent of Renesas Electronics 12 Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas Electronics products or if you have any other inquiries Note 1 Renesas Electronics as used in this document means Renesas Electronics Corporation and also includes its majority owned subsidiaries Note 2 Renesas Electronics product s means any product developed or manufactured by or for Renesas Electronics CENESAS SALES OFFICES Renesas Electronics Corporation http www renesas com Refer to http www renesas com for the latest and deta
51. urrent loop as described in next section and is modeled simply as a linear transfer function Gireg s Of course the servo drive has peak current limits so this linear model is not entirely accurate However it does provide a reasonable representation for analysis For the purposes of this discussion the transfer function of the current regulator or really the torque regulator can be approximated as unity for the relatively lower motion frequencies Figure 11 Position PID Controller Topology The PMSM is modeled as a lump inertia J a viscous damping term B and a torque constant Kt The lump inertia term is comprised of both the servo motor and load inertia It is also assumed that the load is rigidly coupled such that the torsional rigidity moves the natural mechanical resonance point well out beyond the position controller s bandwidth This assumption allows us to model the total system inertia as the sum of the motor and load inertia for the frequencies that can be controlled RO1ANO899EU0201 Rev 2 01 Page 12 of 34 Jul 30 2014 RENESAS RX62T Position Control of PMSM with Encoder An encoder coupled directly to the motor shaft measures the actual motor position 0 s External shaft torque disturbances Td are added to the torque generated by the motor s current to give the torque available to accelerate the total inertia J Around the current regulator motor block is the servo position controller that closes the position l
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