Texas Instruments Incorporated 2005 No reproduction permitted without prior authorization from Texas Instruments.
1H2004 Slide 1
SPRB167A
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 2
Conceptual
Practical
Three phase machines have three windings, separated in phase by 120- a third of a rotation.
1H2004 Slide 3
A`
Fc
B
Fa
Fb
B`
C `
A
1.50 1.00 0.50 0.00 1 -0.50 -1.00 -1.50 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
Phase currents
ia
ib
ic
t
The three phase winding produces three magnetic fields, which are spaced 120 apart physically. When excited with three sine waves that are a 120 apart in phase, there are three pulsating magnetic fields. The resultant of the three magnetic fields is a rotating magnetic field.
1H2004 Slide 4
ia
B
Fa
per phase
d (real) For instance, a 3 phase machine, with: 60Hz Three Phase Supply; and 4 poles per phase will have a synchronous speed of 1800 r.p.m.
Fs
C`
Fb
B` A
o o
$ Fs = Fs . e jt
$ Fs = Fd + jFq
o
1H2004 Slide 5
C` A
B`
The interaction between the rotating stator flux, and the rotor flux produces a torque which will cause the motor to rotate. The rotation of the rotor in this case will be at the same exact frequency as the applied excitation to the rotor. This is an example of Synchronous operation.
1H2004 Slide 6
1H2004 Slide 7
A`
1.50 1.00 0.50 0.00 1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346 -0.50
Phase currents
ia
ib
ic
Im
~ I c
B` A
C `
-1.00 -1.50
Re
~ I b
The induction machine has a rotor that is a closed circuit in the case of the squirrel-cage induction motor it is two rings joined by bars along the rotor axis. The rotor when placed in a moving magnetic field will have induced currents, which produce an induced magnetic field. The interaction of these two magnetic fields produces the rotational torque.
1H2004 Slide 8
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 9
fc
frating
f (Hz)
+ Simple to implement: All you need is three sine waves feeding the ACI + No position information needed. Doesnt deliver good dynamic performance.
1H2004 Slide 10
TIME
Q R
/2
R D
rotor
t IQ t
t t ID
1H2004 Slide 12
R D
rotor
=load angle
1H2004 Slide 13
1H2004 Slide 14
C`
F
B` A
t = constant
C28x Controllers
1H2004 Slide 16
Power Inverter
wr
Speed Calculator
Angle
Encoder
Motor
1H2004 Slide 17
iqs* PI
vqs
*
vds*
Power Inverter ias ibs Clarke ias ibs Vdc Ileg2_ Bus Driver
ADCIN1 ADCIN2 ADCIN3
ias
Flux Est.
ibs va
s s
vb
Ta Tb Tc TMS320F2812 DSP
controller
ACI
1H2004 Slide 18
Power Inverter
wr
Speed Calculator
Angle
Resolver
Motor
1H2004 Slide 19
1H2004 Slide 20
Speed Controller
State Selector
PWM Gen
Communications modules
SCI CAN
CAPTURE Inputs
Motor
1H2004 Slide 21
S F
B `
00 300 600
C `
Both (typically) have permanent-magnet rotor and a wound stator BLDC (Brushless DC) motor is a permanent-magnet brushless motor with trapezoidal back EMF PMSM (Permanent-magnet synchronous motor) is a permanent-magnet brushless motor with sinusoidal back EMF
Phase A
Hall A
ia
ea
eb
ec
t
Phase B ib
Hall B
0.00 1 -0.50 -1.00 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
Phase C ic
Hall C
-1.50
1H2004 Slide 22
is
~ is
Sliding Control
Lowpass Filter
~ es
Phase Calculate
~ eu
~ e
See hidden slides (2) for equations The core is current observer Speed calculator not adopted
Phase Comp
~ e
Sin/Cos
Calculator
Speed Calculate
Based on well established robust control technique: Non-linear Sliding Mode Control Bang-bang control type -> High Gain A priori feel of bounds of uncertainties and disturbances -> To tune sliding control gain Different techniques can be adopted to remove ripple effect
1H2004 Slide 23
A priori feel of bounds of uncertainties and disturbances -> To tune sliding control gain Different techniques can be adopted to remove ripple effect
1H2004 Slide 24
SMO Equations
d dt ~ ~ is = A is + B ( v
s s
~ es + z) 1 L
R A = I L 3 L = Lm 2
B =
Current observer
z = ksign
d dt ~ es =
~ ( is i s )
~ es + z
Sliding control
Low-pass filter
1H2004 Slide 25
es
= 3 / 2 K
iq
1H2004 Slide 26
Experimental Result
1H2004 Slide 27
1H2004 Slide 28
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 29
Power converter
Motor
Load
MOSFET driver
Current sense
Resolver Simult. Sampling DSP Controller ADCs and interface Optical encoder Hall effect
Network interface
4-20mA interface
Data line
CAN RS232 RS485
ADC interface
DAC interface
Ethernet
4-20mA loop
+/- 10V
+/- 10V
1H2004 Slide 30
Discrete PFC controller eliminated Replaced trapezoidal or sine commutation with FOC: Enhanced performance Machine resonance control: Performance enhancement. (e.g., Cost saving on damper) Moved motion profile processing into same processor: Eliminates second microprocessor Added Spread spectrum PWM Generation: Reduces size of EMI filter
b s
i i
a s
i i
V
d c
a s
w
r
S p e e d E s t .
b s
q
l r
F l u x
b s
l
a r
l
b r
E s t .
v
a s
v
b s
P h a s e V o l t a g e C a l .
T
a T b T c
Command interpreter
ADC
C28x Controller
1H2004 Slide 31
PI
q * s
v
q * s
as
PI
T
b
ds
v
d * s
bs
q s
PI
T
c
d s
Inv. Park q
l r
q
l r
Park
i i
a s
Clarke
i
a s
PWM Gen
MIPS enable high performance + FOC gives full torque from zero to full speed + Enables four quadrant operation Software integrates a variety of auxiliary functions Flexible software enables one controller for many drives.
i PI
q * s
v v PI i
* q * s
* as
T
a
i
q s
ds
v PI
d * s
* bs
T
c
Speed controller
Inv. Park q
l r
q
l r
Park
i i
a s
Clarke
i
a s
b s
i
b s
PWM Gen
i i
a s
i i
V
d c
a s
w
r
S p e e d E s t .
b s
q
l r
F l u x E s t .
a s
b s
l
a r
l
b r
v
b s
Command queue
Software filtering
TCP/IP protocol
C28x Controller
MAC/PHY Hardware
1H2004 Slide 32
Power Inverter
Command interpreter
P h a s e V o l t a g e C a l .
T
a T b T c
Power
Discrete PFC controller eliminated Higher efficiency driven by sensorless FOC + possible use of PMSM motor. Eliminated separate (electronic/electro mechanical) thermostat Added Spread spectrum PWM Generation: Reduced size of EMI filtering
Temp Sensor
w
* r
i PI
q * s
v v PI
* q * s
* as
Temperature controller
T i
q s
ds
v PI
d * s
* bs
T
c
PWM Gen
i
a s
Speed controller
w
r
i
d s
FOC Core
Inv. Park q
l r l r
q i
a s
Park
Clarke
i
b s
i
b s
i i
a s
i i
V
d c
S p e e d E s t .
b s
q
l r
F l u x E s t .
a s
b s
l
a r
l
b r
v
b s
P h a s e V o l t a g e C a l .
T
a T b T c
Power Inverter
ADC
RS-232
SCI
Parasiliti F., Petrella R., Tursini M.: "Rotor speed and position detection for PM synchronous motors based on sliding mode observer and Kalman filter", Proc. of the European Conference on Power Electronics and Applications (EPE), Lausanne, 1999.
1H2004 Slide 33
sp*
K
dc_shunt
Speed Calculator
e
I*
Commutation Sequencer
PWM Gen
Trapezoidal sensorless control for constant speed applications enables low cost implementations.
DC Bus
30 Degree Delay
3
Zero Crossing Detector PWM Generation
3
Trapezoidal BLDC Motor
1H2004 Slide 34
Phase current must be turned on and off in order and at the right time in order to follow back EMF commutation Capture interrupts can be used to trigger commutation when Hall sensors are used Capture function can also be used to help calculate motor speed
Speed Computation
Iref
Ea
Phase A
ia
Phase B ib
Phase C ic AB 1 AC 2 BC 3 BA 4 CA 5 CB 6 AB 1
Speed feedback
Speed setpoint
PI Controller
Position Sensor PID Controller Commutation PWM Control 3-Phase Inverter Three-phase BLDC motor
+ -
Idc_shunt
1H2004 Slide 35
TMS320LF2401
PWM1 PWM1/IOPA0 PWM2 DIRA PWM A
DRIVER
Phase A
H Bridge
drive
BLDC
ADCIN0 ADCIN1
VSENSEA
sense
IA
RS232
SCITXD SCIRXD
DIRB PWM B IB
H H bridge Bridge
ADCIN3
VSENSEB
Field oriented control enables smooth torque control. Sensorless control drives low cost control
Overload trip
Battery Manager
Dithering
w
* r
i PI
q * s
v v PI
* q * s
* as
T
a
T i
q s
ds
v PI
d * s
* bs
T
c
Trigger Control
Speed controller
w
r
i
d s
FOC Core
Inv. Park q
l r l r
q i
a s
Park
Clarke
i
a s
i
b s
i
b s
i i
a s
i i
V
d c
PWM
High quality MIPS make it possible to add features without adding cost such as electronic torque control
Power Power Inverter Inverter
S p e e d E s t .
b s
q
l r
F l u x E s t .
a s
b s
l
a r
l
b r
v
b s
P h a s e V o l t a g e C a l .
T T
a b T c
Temp Sensor
ADC
LC2401A Controller
1H2004 Slide 37
Filtering Filtering
1H2004 Slide 38
1H2004 Slide 39
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 40
Selecting a Controller
A controller to be used for motor control must provide:
Performance: Computational ability 100+ sustained MMACS @ 32 bits Ease of use: Tools and Collateral Peripheral Integration: Flash, ADC, PWM, Sensor interfacing, communications all on one chip Third party development support Price: Broad range from sub $2.00 $15.00
LC2401 LF2401 F2801 LF240xA C/R281x F2806/08
$2 $5
$10
F281x
1H2004 Slide 41
Control Performance
C2810 C2810 150MHz 150MHz F2801 F2801 100 MHz 100 MHz
C/R2812 C/R2812 150 MHz 150 MHz F2808 F2808 100 MHz 100 MHz
NEW!
Software Compatible
On-Chip Flash ROM / RAM only
Price
1H2004 Slide 42
In Development
Standard Peripherals
Register Bus Data Write Bus (32) Program Write Bus (32)
External Interfaces
Multibus architecture makes better use of the processor cycles: Instruction, fetch, decode and execute can happen on the same clock cycle with multiple buses
1H2004 Slide 43
SMART peripherals
Peripheral Bus
TMS320LF240x TMS320F281x
TMS320F280x
1H2004 Slide 44
Peripheral Bus
Encoder and timer capture interfaces PWM Generation Synch/Async serial ports Watchdog timer On-chip ADCs with dual sample and holds
Peripheral Bus
Memory
64-Bit Security
64 KB 8K Sectored Sectored Flash Flash
128-Bit Security
5 KB RAM Boot ROM
256 KB Sectored Flash + 2 KB OTP 36 KB RAM 8 KB Boot ROM
Memory Bus
TMS320LF240xA
Flash from 16 KB 256 KB
TMS320F28xx
RAM from 1 KB 40 KB
128-bit user defined password is stored in Flash 128-bits = 2128 = 3.4 x 1038 possible passwords To try 1 password every 2 cycles at 150MHz, it would take at least 1.4 x 1023 years to try all possible combinations!
1H2004 Slide 45
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 46
Hardware Tools
Third Parties
Real-Time Monitor
RealTime +DSP/BIOS
C24xTM
C28xTM
1H2004 Slide 47
Project Manager Source & object files File dependencies Compiler, assembler & linker build options
Productive Editor:
Structure expansion
Status Window
Watch Window
1H2004 Slide 48
Graph Window
Memory Window
Frequency Click Generation Point & Config. Create APIs for Auto
Initialization Power Down Read/Write Initialize device and peripheral 117 devices on 5 DSP platforms www.ti.com/sc/dcplug-in Integrated
CSM Support
Full C/C++ & Assembly Debugging C & ASM source Mixed mode Disassembly (patch) Plug-in Set break points Config. Set probe points
Operation Free Motor Control Library has pre-setFor More Info Workspaces Control Free Motor Control Library has pre-set workspaces workspaces On-line Help
1H2004 Slide 49
1H2004 Slide 50
Real-time Debug
Control systems must be debugged while running! Real-time Debug
Allows you to halt in non-critical code for debug while timecritical interrupts continue to be serviced Access memory and registers without stopping the processor Implemented in silicon, not by a debug monitor: Easy to use, no application resources required!
Main() { }
function() {
} }
1H2004 Slide 51
Analysis Configuration
2 Hardware Breakpoints
Debug Activity
Halt on a specified instruction in Flash A memory location is getting corrupted. Halt the processor when any value is written to this location Halt program execution after a specific value is written to a variable Halt on a specified instruction only after a specific interrupt service routine has executed
1H2004 Slide 53
2 Address Watchpoints
Evaluation Modules
C24x or C28x Development board C-Compiler/Asm/Lnk Full Version Code Composer Studio IDE Emulator (XDS510PP+ or USB) Power Supply
Power Modules
DMC550 or DMC1500 from Spectrum Digital Interfaces to EVM, DSK or standalone operation Protection features provide convenient s/w development platform DMC1500: 350V 7.5 Amp (Supports
3ph and 1ph; BLDC, ACI, SR)
Price $1749
DMC500: 24V 2.5 Amp (Supports
Brushless DC) Price
Price: $1,995-2,295
$499
http://www.ti.com/c2000hwtools
1H2004 Slide 54
www.softbaugh.com
1H2004 Slide 55
CAN 2.0B
PORT GmbH [Germany] has developed an extensive CANopen protocol stack for the 240xA and 28x devices. Port closely works with Vector Informatik. The contact for Port is : PORT GmbH Heinz-Jrgen Oertel phone +49 345 77755-0 Halle/Saale Germany oe@port.de Web : http://www.port.de
Ethernet
Windmill Innovations in Holland has developed an extensive TCP-IP protocol stack for the 28x devices. The contact for Windmill is : Windmill Innovations Rutger van Dalen phone +31 33 2465314 Nijkerk Holland rvdalen@windmill-systems.com Web : http://www.windmill-innovations.com
1H2004 Slide 56
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 57
http://www.ti.com/c2000appsw
1H2004 Slide 58
1H2004 Slide 60
park_D
PARK
park_d
clark_d
CLARKE
clark_a Ia_out
ILEG2DRV ADC
ADCINx ADCINy
Encoder speed_frq SPEED_FRQ Q15 / Q15 speed_rpm theta_elec shaft_angle direction QEP_A PMSM Motor
theta_mech QEP_ QEP_B THETA_ QEP I/F DRV QEP_index dir_QEP HW / Q15 HW index_sync_fl g
1H2004 Slide 62
Vq
Ta Tb Tc
Vd
E V
PWM7 PWM8
Q15 / HW H PWM9 W
Examples
PWMDAC driver (ezDSP) DAC driver (EVM) Data logger (Sim) Emulated Plant (Sim)
1.8K 100n
1H2004 Slide 63
Interconnecting Modules
PWM1 Iclark_d
CLARKI Q15 / Q15
FC_PWM DRV Q0 / HW
Iclark_q rnd_gain
rnd_offset
At the C level:
clarkInv(&dqBuffer, &fcPwm.InputBuffer) fcPwmInputBuffer.ditherIn = randomGen1.calc(&randomGen1) fcPwm.calc(&fcPwm);
1H2004 Slide 64
Embedded Target Integrates Simulink and MATLAB with eXpressDSP Tools and C2000 Controllers
TM TM
Key Features
Verification of embedded implementation Design and Simulation MATLAB Link for Code Composer Automatic code generation Studio Embedded Target for C2000 Auto debug, testbench Documentation, re-usable C code Real-time visualization Support for on-chip peripherals
http://www.ti.com/c2000embeddedtarget
1H2004 Slide 65
Embedded Target Integrates Simulink and MATLAB with eXpressDSP Tools and C2000 Controllers
TM TM
http://www.ti.com/c2000embeddedtarget
1H2004 Slide 66
http://www.vissim.com/
1H2004 Slide 67
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 68
1H2004 Slide 69
iqs* PI
vqs
*
vds*
vb
Ta Tb Tc
TMS320F28x controller
ACI
1H2004 Slide 70
Build Level 1
vqs*
vas* vbs*
Ta
Space Tb Vector Gen. PWM Driver
vds
Inv. * Park
Tc
fe
Ramp Control
Ramp Gen.
TMS320F28x controller
1H2004 Slide 71
Build Level 2
vqs*
Measurement Tests
Ta
Space Tb Vector Gen. PWM Driver
vds
Inv. * Park
Tc
VSI fe
Ramp Control Ramp Gen.
ias ibs
Clarke
iqs
vas vbs
Ta wr Speed Tb Cal. Tc
time stamp
ACI
TMS320F28x controller
1H2004 Slide 72
PI Regulator Tests
1H2004 Slide 73
Build Level 3
iqs* iqs ids* ids fe
Ramp Control
PI Regulator Tests
vqs*
PI
Ta
Space Tb Vector Gen. PWM Driver
vds
PI PI
Ramp Gen.
Inv. * Park
Tc
iqs
vas vbs
Ta wr Speed Tb Cal. Tc
time stamp
ACI
TMS320F28x controller
1H2004 Slide 74
Build Level 4
iqs* iqs ids* ids fe
Ramp Control
vqs*
PI
Ta
Space Tb Vector Gen. PWM Driver
vds
PI PI
Ramp Gen.
Inv. * Park
Tc
ias ibs wr
Speed Est.
iqs
lr lar lbr
Flux Est.
Ta Tb Tc
wr
CAP
ACI
TMS320F28x controller
1H2004 Slide 75
Build Level 5
wr*
PI
iqs*
PI
vqs*
Ta
Space Tb Vector Gen. PWM Driver
wr
iqs i * ds PI PI ids
vds
Inv. * Park
Tc
lr
ibs
Clarke
vas vbs
Ta Tb Tc
wr
CAP
ACI
TMS320F28x controller
1H2004 Slide 76
Build Level 6
wr*
PI
iqs*
PI
vqs*
Ta
Space Tb Vector Gen. PWM Driver
iqs i * ds PI PI ids
vds
Inv. * Park
Tc
lr
ibs
Clarke
ias ibs wr
Speed Est.
ias ibs
Flux Est.
lr lar lbr
vas vbs
Ta Tb Tc
TMS320F28x controller
ACI
1H2004 Slide 77
Agenda
Motor Control Fundamentals AC Induction and Permanent Magnet Motors Scalar and Vector Control
Timeline
25 min
Applications: Smarter controllers, high performance, lower cost Controller Selection Motor Control Collateral Overview Development Tools Overview: Faster HW+SW Development Modular Software Libraries: Development Accelerators Incremental Build Technology: Easy Deployment
Completing the signal chain: TI Analog and Communications Get Started Today with TI! Question and Answers
1H2004 Slide 78
Power converter
Motor
Load
MOSFET driver
Current sense
Resolver Simult. Sampling DSP Controller ADCs Optical encoder Hall effect
Network interface
4-20mA interface
Data line
ADC interface
DAC interface
Ethernet
4-20mA loop
+/- 10V
+/- 10V
Texas Instruments
High Performance Analog For Industrial Motor Control
1H2004 Slide 80
Controller
UCC3895
PFC
UCC3851x UCC38050 UCC3817/18
AC/DC
DC/DC Converters
SVS
Supervisors TPS380X-XX
DC/DC Controllers TPS40000 (Sync. buck) TPS40050 (8 to 40V buck) TPS40060 (10 to 55V buck) TPS5120 (Sync. buck, dual)
Non-Isolated Modules 1A to 60 Amp available PT6440 (1V to 3.3V, 6A) PT6940 (Dual output, 6A) PT6520 (1.5V to 3.3V, 8A)
1H2004 Slide 82
1H2004 Slide 83
3.3-V
UCC27423: Dual 4A, High Speed, Inverting Low Side Driver UCC27424: Dual 4A, High Speed, Non-Inverting Low Side Driver UCC27425: Dual 4A, High Speed, Low Side Driver with one Inverting and one Non-Inverting Output
1H2004 Slide 86
Motor Controllers
BLM Controllers: UC2625, UC3625, UCC2626, UCC3636 Stepper Controllers: UC3717, UC3770 DC Motor Controllers: UC2638, UC3637, UC3638
1H2004 Slide 88
Amplifiers in MC System
Difference Amplifiers
INA168, Automotive Current Shunt
CMOS Amplifiers
Rail to Rail (5-100mV)
Isolation Amplifiers
To 3500VRMS
Instrumentation Amplifiers Difference Amplifiers High Speed Amplifiers 4-20mA Transmitters Voltage References Temperature Sensors
I2C, 12bit Resolution
1H2004 Slide 89
1H2004 Slide 90
1H2004 Slide 91
EW !
ADS7869: 12-Channel Analog Motor Control Front End with Three 1MSPS, 12-Bit ADCs
1H2004 Slide 92
Motor Current
Shunt R: ADS1202 ADS1203 Hall Effect: ADS1204 ADS1205 ADS1206 1MHz ADS1207 4MHz
4kHz Current Loop 16-bit Accuracy
1H2004 Slide 93
VIN
x1
Modulator
Buff
FOUT
BUF
CLKOUT
CLKIN
Higher performances than AD7740 Higher performances than AD7740 Input frequency 4MHz Input frequency 4MHz Output buffer Output buffer Low price - -ASD1206 1Ku $0.98 Low price ASD1206 1Ku $0.98
- -ASD1207 1Ku $0.98 ASD1207 1Ku $0.98
Applications: Applications:
Galvanic Isolation Measurements Galvanic Isolation Measurements High Voltage Measurements High Voltage Measurements Low Cost A-to-D Conversion Low Cost A-to-D Conversion Motor Control Motor Control Industrial Process Control Industrial Process Control
1H2004 Slide 94
ADS1203
1-bit 10MSPS, 2nd Order Modulator
Features:
16-Bit Resolution 250mV Input Range 3LSB INL Max 1% Internal Voltage Reference 83dB SNR Min -95dB THD Typ Flexible Serial Interface 8-lead TSSOP Package QFN 3x3 Coming Soon
VIN+ VINAVDD Second-Order -Modulator RC Oscillator 20MHz Reference Voltage 2.5V AGND BGND Interface Circuit BVDD MDAT MCLK CLKOUT M0 M1
Buff
REFIO
Higher performances than AD7400 Higher performances than AD7400 Implemented Manchester Coding Implemented Manchester Coding On Board Oscillator On Board Oscillator Output buffer Output buffer Low price 1Ku $2.70 Low price 1Ku $2.70
1H2004 Slide 95
Applications: Applications:
Current Measurement Current Measurement Motor Control Motor Control Closed-Loop Servo Control Closed-Loop Servo Control Power Converters Power Converters 3-Phase Power Monitor 3-Phase Power Monitor
ADS1204
1-bit 10MSPS, 2nd Order Modulator
Features:
16-Bit Accuracy Input Range 2.5V @ 2.5V Gain Error: 0.5% Dynamic Range 100dB 86dB SNR Min Four Independent Modulators Four Input Reference Buffers On Board 20MHz Oscillator QFN-32 (5x5) Package
CH A+ CH AREFIN A CH B+ CH BREFIN B CH C+ CH CREFIN C CH D+ + 2nd-Order Modulator Out EN Oscillator 20MHz + 2nd-Order Modulator + 2nd-Order Modulator Divider Clock Select + AVDD 2nd-Order Modulator BVDD OUT A OUT B OUT C OUT D CLKOUT
CLKIN CLKSEL
CH DREFIN D REFOUT
First in Industry First in Industry Low price 1Ku $6.75 Low price 1Ku $6.75
Applications: Applications:
Current Measurement Current Measurement Motor Control Motor Control Power Converters Power Converters
1H2004 Slide 96
Application Notes:
Choosing an Optocoupler for the ADS1202 Operating in Mode 1
http://www-s.ti.com/sc/psheets/sbaa088/sbaa088.pdf
Combining ADS1202 with FPGA Digital Filter for Current Measurement in Motor Control Application
http://www-s.ti.com/sc/psheets/sbaa094/sbaa094.pdf
Interfacing the ADS1202 Modulator With a Pulse Transformer in Galvanically Isolated Applications
http://www-s.ti.com/sc/psheets/sbaa096/sbaa096.pdf
1H2004 Slide 97
1H2004 Slide 98
1H2004 Slide 99
10VP-P
IR VR IS VS IT VT
10VP-P
10VP-P
10VP-P
10VP-P
220kV/110kV/10kV
1H2004 Slide 100
220V 50Hz PT
10VP-P
0.50
-0.50
-1.00
-1.50
Phase Amplitude
Degrees
ADS8361
16bit 500kSPS, 4 ch. Simultaneous Sampling SAR ADCs
Features:
4 Fully Differential Inputs 2 Independent 16-Bit ADCs 500kSPS Sample Rate per ADC 2 Sample and Holds Internal VREF (+2.5V) Serial Data-Bus Power - 200mW max 24 pin SSOP and QFN 32 (5x5)
A0+ A0 A1+ A1 REFIN B0+ B0 B1+ B1 REFOUT VREF 2.5V MUX
+ -
AVDD
DVDD
MUX
+ -
S/H
+ -
SAR ADC
Control & Serial Interface
S/H
+ -
SAR ADC
Applications: Applications:
ADS7861 ADS7861 Pin Compatible With the ADS7861 Pin Compatible With the ADS7861 Low price 1Ku $8.75 Low price 1Ku $8.75
1H2004 Slide 104
Closed-Loop Servo Control Closed-Loop Servo Control Machine and Motion Control Machine and Motion Control Multi-Axis Positioning Multi-Axis Positioning 3-Phase Power Control 3-Phase Power Control Motor Control Motor Control
ADS8364
16-bit 250kSPS, 6 ch. Simultaneous Sampling SAR ADCs
AV DD DV DD
Key Features
6 Fully Differential Inputs 6 Independent 16-bit ADCs 250kSPS Sample Rate per ADC 6 Sample and Holds 6 FIFO Registers Internal VREF (+2.5V) Power - 470mW max 64 pin TQFP
A0+ A0 B0+ B0 C0+ C0 A1+ A1 B1+ B1 C1+ C1 REFIN REFOUT S/H S/H S/H S/H S/H S/H
+ + + + + + -
ADC 3 ADC 2
ADC 1
V REF 2.5V
6x FIFO
Key Differentiators
Applications
Closed-Loop Servo Control Machine and Motion Control Multi-Axis Positioning 3-Phase Power Control Motor Control
First In Industry 66Channels First In Industry Channels Low price Low price
--ASD8364 1Ku $17.23 ASD8364 1Ku $17.23 Functional Compatible 16-Bit Upgrade Functional Compatible 16-Bit Upgrade for ADS7864. for ADS7864.
1H2004 Slide 105
Competitive Comparison
+12V 0.1uF R C 0.1uF AD845 + -12V 47uF 47uF +5V
AD7865
R1A
Requires additional operational amplifier Requires two additional analog power supplies Single ended input, poor CMVR Additional errors due to op amp characteristics
+
C1 R1B R2B R2A C2B C2A
ADS8364
REFIN REFOUT CR
Differential input, high CMVR Only one power supply Optimum performances
+
C1 R1B VL 230V 50Hz R2B R2A C2B C2A
ADS8364
REFIN REFOUT CR
10VP-P
ADS8364 Example: Clock 3.8MHz 38kSPS Sampling time 21.84s Conversion time 4.47s
1H2004 Slide 107
Motor Current Measurement (2-Phase or 3-Phase): Motor current value for control algorithm Sign of the phase current for dead time compensation Over-Load and Over Current protection Motor Encoder or Resolver: Rotor Speed Rotor Position Load Encoder: Load Position DC-Link voltage Temperature Etc
R S T
Load
1H2004 Slide 109
Motor
ADS7869
12-bit 1MSPS, 12 ch. Simultaneous Sampling SAR ADCs
Key Features
12 Fully Differential Inputs 3 Independent 12-bit ADCs 1MSPS sample rate per ADC 7 Sample and Holds 5 Multiplexers 7 Sign and 3 Win. Comparator 2 Up/Down 16-Bit Counters 100 pin TQFP
Key Differentiators
Applications
Closed-Loop Servo Control Machine and Motion control Multi-Axis Positioning Motor Control
Complete Motor Control Front End Complete Motor Control Front End Low price Low price --ADS7869 1Ku $14.56 ADS7869 1Ku $14.56
1H2004 Slide 110
Three: Sample & Hold 12BIT ADC 1MSPS PGA iu(t)=IU sin(t) iv(t)=IV sin(t+120) iw(t)=IW sin(t-120)
IV
PGA
PGA
Simultaneous Sampling
1.50
IW
PGA
1.00
0.50
Phase Amplitude
-0.50
-1.00
-1.50
Degrees
3X : Sample & Hold 12BIT ADC 1MSPS PGA Sign Comparators Window Comp.
IU
PGA
OVER-CURRENT
Three simultaneous sampling inputs No time difference error in sampling of signals Three differential inputs High CMRR for noisy environment Three PGA are simultaneously scaling inputs Same HW for different power range Three 12 bits 1MSPS ADCs Low delay in control algorithm Three sign comparators SW Lockout time compensation One 8 bit DAC for set up of current limit Dynamic control of motor acceleration Three programmable window comparators Separate control of motor phases over-current
+LIMIT
IUp-IUn
-LIMIT
U_COMP
U_ILIM
Two Synchronous inputs Two Asynchronous inputs Differential inputs Two 12 bits 1MSPS ADCs 20% Gain correction 20% Offset correction
SIN
MUX
Offset
SIGN A
+ SIGN B
SYNC ASYNC
Gain Offset
Two Sign Comparators 16-bit UP/DOWN Counter State Machine Digital Filter 4 Registers 26-bit total resolution
SYNC
COS
MUX
Product Listing
HW & SW Tools
Application Notes
Data Converter Software support embedded into Code Composer Studio (CCS)
Supports 117 devices: 4 devices on the C2800 DSP platform 86 devices on the C5400 DSP platform 26 devices on the C5500 DSP platform 75 devices on the C6200/C6700 DSP platform 21 devices on the C6400 DSP platform
1H2004 Slide 118
Power Electronics
Current Voltage Position/ Speed Feedback EE Prom
EV (CAP/Q EP) ADC
Support
Web casts Workshops KnowledgeBase Application notes
TI Power Management
Foundation Software CAN Network PC Test Equipment
DSP offers the performance and flexibility to implement advanced motor control algorithms Modular software reduces time-to-market Advanced Development Tools make development easy Offers a broad selection of signal conditioning and power management
1H2004 Slide 120