Sensorless Vector Control with RL78G14 (1)

Enabling the Smart Society Industrial Motors Smart Metering Energy harvesting Home Automation  Energy efficiency is key to a Smart Society  Motor control is key to efficient energy ma

Renesas Electronics America Inc.

Sensorless Vector Control with RL78G14

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Enabling the Smart Society

Industrial Motors

Smart Metering

Energy harvesting Home

Automation

 Energy efficiency is key to a Smart Society

 Motor control is key to efficient energy management

Sensorless Vector Control Loop

ω

id PI Regulator

1 θ

−

T

Motor Model Based Flux and Position Observer

q

i

d i

*

q U

*

d U

* α

U

* β

U

Voltage Source 3-phase Inverter

SIN PWM

r

ω

to d,q

β

α ,

) ( θ

T

a i b i d

Inverse Clarke transform

Inverse Park transform

Computation intensive operations

Examples of control equations

Challenges of 16-bit MCUs for Motor Control

 Most 16-bit MCUs are CISC architecture

 Representation of quantities is range limited

 Can the 16-Bit MCUs do field oriented sensorless control?

RL78G14: 16-bit MCU for Motor Control

Communications

2 x I 2 C Master / Slave

1 x I 2 C Multi-Master

2 x CSI/SPI 7-, 8-bit

3 x UART 7-, 8-, 9-bit

1 x LIN 1ch

Analog

ADC 10-bit, 12ch Internal Vref.

Clock system

External Clock 20MHz External Clock 32.768KHz Internal OCO

up to 64MHz Internal LOCO 15KHz Clock Monitoring

DTC

 Motor Control Support

 16-Bit Motor Control Timers

– 64MHz / 1% Internal Clock

– RD for 3-Phase PWM

– RJ for interrupt culling

– RG for quadrature encoder

 ADC trigger

 Event Link Controller (ELC)

 Data Transfer Controller (DTC)

 Hardware Safety – Independent Watchdog – Hardware shutdown

 Self-test

o Flash ECC, RAM Parity, H/W CRC, WDT, A/D, RAM/SFR write protect, Clock monitor

Motor Control

3ph MC Timer RD 16-bit with dead time

Encoder Timer RG 16-bit, 1ch

Timer RJ 16-bit , 1ch

High Performance Optimized Architecture

 16-bit CPU core with pipelining

 Efficient instruction execution – 86% in 1-2 cycles

 Single cycle multiplication (HW math assist)

 Data transfer controller (up to 24 channels)

16-bit barrel shifter shift/rotate by n (n = 1-15) 1

multiply signed & unsigned 16 x 16 = 32 Bit result 2

multiply/accumulate signed & unsigned 16 x 16 + 32 = 32 Bit result 3

RD1

Buffer Compare

U /U

V /V

W /W

TRDIOC0

TRDIOB0 TRDIOD0

TRDIOA1 TRDIOC1 TRDIOB1 TRDIOD1

V /V

W /W TRD0

TRD1

Event Link Controller (ELC)

CPU

Comparator

Timer A/D

Interrupt Controller

External analog input voltage

CPU

Comparator

Timer A/D

Interrupt Controller

ELC

External analog input voltage

 ELC links Inputs and Outputs of internal peripherals

 Performance benefits:

Data Transfer Controller (DTC)

 Data transfer between memory and registers without CPU use

Control loop cycle management

– Timer RD: PWM frequency - 24KHz

– Timer RJ: Event count mode

Count down from 2 to 0

– ELC : Input from Timer RD

ELC

Controller

TRD1 Underflow Trigger

Event Input Trigger

Complementary

PWM

Timer RJ

Event Counter

Software Flow – Main Loop

Hardware and software Init

Interrupt enabling

125us Interrupt

10ms Main loop

Main loop synchronization

Main loop body Speed ramp management

Communication management General board management

Parameter modification management

cnt_init==0?

cnt_init=NUM_INT

Software Flow – Control Interrupt

 Phase current reading

 Park and Clarke transformations

 iu, iv, iw  iα, iβ  id, iq

 DC bus voltage reading

 Rotor phase angle calculation

 Current PI processing

 (id ref , iq ref ), (id mea , iq mea ),  vd out , vq out

 Inverse Clarke and Park transformations

 vd out , vq out  vα out , vβ out, vu out , vv out, vw out

 PWM duty update

 Rotor phase estimation: θ est

 Speed estimation: ω est

 Speed PI processing or Start up

 Main loop synchronization

Physical quantities represented as 16-bit signed integers

High Integration = Cost Reduction

Supply

Voltage Monitoring

Voltage Regulator (1.6V to 5.5V input) Dedicated flash memory for data storage (Data Flash)

Accurate Internal

Oscillators

Temperature Sensor

REG

Temp.

Sensor

DATA FLASH

OCO

RL78 CPU LVD

POR

CODE FLASH

Internal Reset

EEPROM IC

Temp.

IC

WDT

20mA port drive

(no need for external transistors)

IEC60730 in HW

(Easier/quicker certification)

 Reduce system BOM by eliminating external components

Sensorless Vector Control Lab Agenda

 Setup Sensorless Vector Control Demo

 Sample motor currents and DC bus voltage

 Drive motor in open loop

 Understand sensorless position and speed estimation

 Drive motor by closing the speed loop

 Tune motor operation

Introduction to the RL78G14 Kit

RL78G14 Kit

RL78G14 Board

 RL78G14 Motor Control Evaluation Kit with E1 emulator, two USB cables, 24V DC power supply,

control board and motor

 Laptop with the CD drive

Lab Objectives

1 Get familiar with the RL78G14

starter kit and drive the motor.

2 Understand ADC sampling to

measure motor currents and DC

bus voltage.

3 Drive the motor in open loop.

4 Understand sensorless position and

Enabling the Smart Society

Industrial Motors

Smart Metering

Energy harvesting Home

Automation

 Energy efficiency is key to a Smart Society

 Motor control is key to efficient energy management

Questions?

 Please refer to the lab handout

 Go ahead and start the lab

Start Lab

 Introduced FOC with sensorless speed and position detection

 Introduced the RL78G14 kit

 Lab procedure

Renesas Electronics America Inc.