topic BLDC Motor Control with Model Based Design in Model-Based Design Toolbox (MBDT)

BLDC Motor Control with Model Based Design

Daniel_Popa — Tue, 09 May 2017 11:54:34 GMT

This course explains how to design and prototype a Motor Control Application using Model Based Design Toolbox for MPC5744P

(view in My Videos)

Course Objectives

1 - Leverage MBD Toolbox Capabilities:

Automatic C-code generation for different microprocessors

Initialization and control for multiple peripherals

Ease of use and speed of development for complex apps

2 - Highlight MPC5744P Capabilities For Industrial Control

3 - Learn Step-by-Step How To Control A Motor Speed:

Sensors reading via GPIO

Field Oriented Control of BLDC motors

Pulse Width Modulation via FTM

4 - Understand How To Use Available Tools:

FreeMASTER - real time data visualizer

RAppID Bootloader

Run-Time Debugging Tools

This Course Explains:

All the concepts and dependencies with the assumption that users meet first time with NXP products.
Programming model of various peripherals, communication protocols or motor control concepts
How to use Model Based Design to program a fairly complex application for Motor Control

Video #1 – Introduction

MPC5744P and MotorGD DevKits unboxing

MBD Toolbox environment setup

Video #2 – Application Partitioning

Motor Control block diagram

SW blocks and HW peripherals mapping

Video #3 – Configure Input Commands

ADC configuration

GPIOs configuration

FreeMASTER interface

Video #4 – BLDC Motor Theory

What it is and where to use it

How it works with digital controller

Video #5 – Read Hall Sensors

Hall sensors setup

GPIO and eTimer input capture

Decode rotor initial position

Video #6 – Commutation

FOC sector identification

6-step commutation

SVM procedure

Video #7 – Commutation Algorithm Validation

6-step commutation algorithm implementation

SIL and PIL model conversion

Validate results with MIL, SIL and PIL

Video #8 – Power Stage Configuration

MotorGD pin assignment

PWM generation and validation

FET pre-driver programming via SPI

Power stage verification

Video #9 – Open Loop Control System

Open Loop control algorithm implementation

Phase voltage commutation based on Hall sensors

Spin BLDC motor for the 1st time

Video #10 – Speed Estimator

Speed estimator implementation

Testing and validation on real motor

Video #11 – Closed Loop Control System

PI Speed Controller tuning

Closed Loop System transfer function

Root Locus vs. Ziegler Nichols methods

Video #12 – Motor Control System

Final motor control Simulink model

FreeMASTER control panel

Tests and Conclusions

What Is Available As Support Information For The Course:

Video training	19 videos showing step by step the theory, practical implementation and validation 145 minutes of video content
Training Material	PDF slides used for each lecture
Simulink Models	Matlab 2015b SLX models for each of the functionalities and peripherals covered in the lectures: ADC/GPIO/CAN/UART/FTM/SPI
Support	Any additional question will be answered via Community

UPDATE August 2nd, 2019: Here is an interesting investigation on various controllers design/implementation/test made by andreicador13@gmail.com : https://community.nxp.com/thread/509234

Re: Motor Control Class

wsung1 — Tue, 09 May 2017 19:56:20 GMT

Hi, I'm excited to join you but how can I watch Video #1~11? Aren't they available for now? Then, do you have your timeline to update them one by one? Thanks, anyway!

Re: Motor Control Class

Daniel_Popa — Wed, 10 May 2017 05:35:44 GMT

Hi Woosuk Sung,

Thank you for joining and also for pointing out the scheduling issue. I made an update to the announcement. First video will be released on Monday, May 15. Then, every other week we will release a new video giving anyone the chance to add comments and clarify any potential issues.

Thank you!

Daniel

Re: Motor Control Class

jgerhardy — Wed, 10 May 2017 06:56:12 GMT

Hello Daniel,

The course sounds very interesting and I have some questions. It is necessary to sign up for the course? Will it be possible to view the videos after the release week appointments? Unfortunately, I will not be able to participare during the first three weeks of the course. Is it necessary to have the MotorGD DevKit to participate? What IDE will be used for the course, the S32 or is it possible to work with code warrior?

Greetings,

John

Re: Motor Control Class

Daniel_Popa — Wed, 10 May 2017 07:17:29 GMT

Hi John,

There is no need for sign up - just make sure you are "Following " this discussion in order to get updates. Each week we will release a video + all the related content like (pdf, Matlab models used, Source code generated, etc). This content will stay on community and anyone can revisit the course.

The catch with this approach is to give you all the possibility to interact for a week in this community, share ideas and concerns and then hopefully we can integrate your feedback in the next week video release.

If you wish to go hand in hand with the course and replicate each week the setup, then the MotorGD would be nice to have. Nonetheless, the concepts we are using in this course are generic and applicable to any type of power adapter circuit. We do not want to link the model with a particular setup. Just for convenience we choose to use the MotorGD since it is a new product in a very small form factor that we wish to advertise.

We plan to use S32DesignStudio just to demonstrate how you can debug the code or even load the executable, but most of the time the course will focus on Simulink interactions.

Best regards,
Daniel

Re: Motor Control Class

jgerhardy — Wed, 10 May 2017 07:29:13 GMT

Hello Daniel,

thanks for your detailed Response. At the moment I am working with codewarrior and the Kinetis KEA128BLDCRD. Can I use this set up for the course work as well?

Best regards,

John

Re: Motor Control Class

Daniel_Popa — Wed, 10 May 2017 07:41:39 GMT

John,

I'll try to be as generic as possible during the lecture and i'll pay special attention how the information can be leverage to other microprocessors. Ideally we will focus on MPC but we can also try this kind of exercise to think about other setup as well.

CodeWarrior and S32DesignStudio are very much alike in terms of look and feel - it should not pose any issues in using one or the other for your particular setup.

Thank you for your valuable feedback and for giving me new ideas about expanding the content of the course on the fly. This is the exact type of feedback we look for from all participants.

Best regards,
Daniel

Re: Motor Control Class

Maciek — Wed, 10 May 2017 07:46:22 GMT

Hi Daniel,

the course is a great idea! I will join it for sure. At my company we are using MBD and we are generating code for NXP processors but we don't use MBD toolbox or any other board support packages.

A few months ago we were evaluating MBD toolbox using a few low-cost devkits from NXP (for: MC9S12ZVMx, MPC5643L and Kinetis). And we have had multiple problems/questions like: compiler version settings, Rappid Bootloader usage, specific block usage etc. Even questions about intended usage/application of MBD toolbox itself.

The most important thing (at least for us) would be to have alive and responsive channel (like this forum) with direct response from MBD toolbox people at NXP.

I can't also see MotorGD DevKit available anywhere. Can You point us what exactly is the course hardware setup ?

It looks like DEVKIT-MPC5744P with DEVKIT-MOTORGD and some BLDC motor (but what model exactly) - but there is no info about this kits on the NXP site ?! Are they available now (and where) ?

Best regards

Maciek

Re: Motor Control Class

Daniel_Popa — Wed, 10 May 2017 08:00:03 GMT

Hi Maciek,

We look forward to answer all your questions. We want to change the way we do things and become much more involved with the customers/users of MBD via this community and this course is one of the first initiatives that hopes to clarify some of the aspects you have already highlighted.

For the setup - please wait until Monday when we will release the 1st video - mainly that is the content of the Introduction video - unboxing the devkits and various information about it. We want to avoid spoiler alert at this time :-)

Thank you!

Daniel

Re: Motor Control Class

jgerhardy — Wed, 10 May 2017 08:06:58 GMT

Hello Daniel,

okay, thanks a lot! I am looking Forward to your courses.

Best regards,

John

Re: Motor Control Class

edenli — Fri, 12 May 2017 08:10:18 GMT

Hi Daniel,

I very excited to find the "Motor Control Class",and i congratulate with you achiving complete success in advance.if yes,i wanna join in.and now i am learning the PMSM control,Can you add some videos about the PMSM control likely the BLDC?

Best Regrads!

Eden Li

Re: Motor Control Class

Daniel_Popa — Fri, 12 May 2017 08:23:24 GMT

Hi Eden Li,

We start with BLDC because is simple. Depending on the feedback we get - for sure we can think of another course on FOC Sensorless on PMSM - for second half of this year.

Best regards,

Daniel

Re: BLDC Motor Control with Model Based Design

thomsonzhou — Thu, 19 Apr 2018 07:15:43 GMT

Hi Daniel,

For the BLDC MCT toolbox model toolbox 1.3 , the target MCU does not contain the target MCU: MC9S12ZVML32. I have no idea why NXP does not provide the both options for both MC9S12ZVML32 and MC9S12ZVM32.

What is the differences between MC9S12ZVML32 and MC9S12ZVM32?

How can we reuse the model for MC9S12ZVML32?

Do you have any better suggestions for MC9S12ZVML32? Or do you have example BLDC modles for MC9S12ZVML32 ?

Thomson

Re: BLDC Motor Control with Model Based Design

Daniel_Popa — Sun, 22 Apr 2018 17:49:35 GMT

Hi Thomson,

This toolbox has been release some time ago and in the meantime was not updated to support all the available derivatives. Anyhow - the parts you are refering looks very similar - please check table 1 in this application node

https://www.nxp.com/docs/en/application-note/AN5330.pdf

You may reuse the MATLAB support for MC9S12ZVM32 to develop applications for MC9S12ZVML32 and should work fine.

As a BLDC example you can start with this one: Example Model: S12ZVM Trapezoidal Motor Control and migrate it to use the MC9S12ZVM32.

Hope this helps!

Daniel

Re: BLDC Motor Control with Model Based Design

thomsonzhou — Mon, 23 Apr 2018 01:14:13 GMT

Thank you very much. This helps.

Re: BLDC Motor Control with Model Based Design

thomsonzhou — Mon, 23 Apr 2018 08:23:22 GMT

Hi Daniel,

I downloaded the BLDC model you attached, however, I found when I use a simulink scope model, which contains 3

three input ports, connected to the corresponding 3 BLDC motor PWM output ports( pwma , pwmb and pwmc) , with

matlab BLDC data file ?.mat putted in matlab enviroment, the BLDC PWM output signals are always zero. It means the

BLDC model you attached did not run at all.

How can I make this BLDC simulink model generate the exact PWM signal waves when I attached a simulink scope?

Or this simulink model need to be actived to run with free master project, which attached in the simulink model file?

If yes, please let me know the corresponding pdf, http links or other resources with details how to make this simulink

BLDC model generate exact right PWM output signal.

Finally, I downloaded the FOC simulink model in your class, however, it always generate zero in the simulink scope,

which means the FOC motor does not run at all.

I have no idea, how to make this models generate exactly right signal output?

Thank you very much and wait for your reply.

Thomson

Re: BLDC Motor Control with Model Based Design

zhangrunhe — Wed, 12 Sep 2018 04:30:13 GMT

Hi,I want to know how to use the MBDT for MPC5744P to read the conversion value of the ADC through DMA. I tried to use your routine and found that I can't read the conversion value of the ADC at the destination address.Can you provide a demo for reference.

thank you very much and wait for your reply

Re: BLDC Motor Control with Model Based Design

thomsonzhou — Thu, 13 Sep 2018 01:53:40 GMT

Hello,

MPC5744P should have its own demo code. Or you can use MBDT simulink modues of BLDC or FOC to make your motor rotate. Since the MCU model can be changed from one to another, you can change it the simulink MCU model from MC9S12 to MPC5744P and then generate your code directly.

If you use the exact evaluation board, you can make your motor rotate immediately.

:smileyhappy:

Re: BLDC Motor Control with Model Based Design

zhangrunhe — Fri, 14 Sep 2018 05:37:07 GMT

Hello,

can you tell me how to set the deatime of MC34GD30000?use the MBDT simulink.I used your routine to find that the actual dead time is 24us, which is obviously too long.

thank you very much and wait for your reply

Re: BLDC Motor Control with Model Based Design

thomsonzhou — Fri, 14 Sep 2018 06:58:14 GMT

When you generate the model from simulink model to C code, you can locate the exact location of GDU part settings.

Locate the exact deadtime register, and then modify the deadtime value from 24us to 1us.

So often we use 1us to make BLDC/PMSM rotate as faster as possible.

To make clear which register is the deadtime register, please research the corresponding MCU manual.

You can download the corresponding manual from www.nxp.com

GOOD LUCK!