Hi,
I am using the board S32K344MINI-EVB with driver GD3000 and Sunrise motor. I have tested a program where you can manage the speed of motor with the project "S32K344:mc_pmsm_1sh_s32ct". I have to get my target as soon as possible.
My goal is to implement an algorithm to control the Sunrise's engine plant using the Speedgoat real-time systems platform. To do this, I want to simulate the engine plant along with the power electronics and control the engine using the S32K344-MINIEV evaluation board. The following image and link show how the MATLAB team has done it, but with a Texas Instruments microprocessor. I want to realize the controller with your blocks of NXP from Model Based Design (Currrent Controller and Speed Controller). Could you tell me how to achieve my objective?
https://es.mathworks.com/help/mcb/gs/field-oriented-control-pmsm-using-hardware-in-the-loop-hil-simu...
Thank you for all,
Jon Ander
Hello @JonAnder_Amante
The reference example for Motor Control HiL from MathWorks you are referring to takes a lot of elements that need to be modified. I cannot provide you a full model tailored for S32K344-MINI EVB, but I can provide some brief high-level guidance and overview on which subsystem you have to work on your own.
1. Firstly, looking at the top model you can see 2 main subsystems: Embedded Processor subsystem and Inverter and Motor subsystem. The Embedded Processor subsystem will generate code that will be deployed to your embedded target and the Inverter and Motor subsystem will be deployed on your SpeedGoat HiL.
The entire motor control application is executed within ADC interrupt which is triggered by the PWM. Looking within Hardware model settings, the base rate trigger for the Embedded Processor Subsystem is set to ADCB1_INT.
To do this kind of approach using NXP blocks, you will need to include all the motor control application inside a triggered subsystem connected to the Hardware Interrupt Callback Block that is set to ADC interrupt, if you want to generate code. For simulation purposes, to replicate this behavior you can replace the Hardware Interrupt block with the Function-Call Generator block where you can set the frequency of the triggering simulated ADC interrupt.
2. The Input drivers for getting the phase currents measurement and estimated rotor position & speed. For this, there is a Variant subsystem called Sensor Driver Block. If you go inside it, you can see 2 subsystems: one for codegen and another one for simulation. By going inside the codegen subsystem, here you have to replace the blocks for getting the data from ADC peripheral. You can use the NXP Adc block and set it to Adc_CtuReadFifoData, if you are using the BCTU peripheral for triggering all ADC instances for getting the currents and DC bus voltage.
For estimating the speed and position of the rotor, it depends on what sensor you are using. The sunrise motor is not equiped with an encoder so you have to remove all blocks and computation for encoder. It has Hall sensors that can be used or you can use sensorless techniques. For sensorless, refer to our delivered motor control examples to see how this approach can be fulfilled.
3. FOC reference model. It depends on what blocks for implementing the FOC architecture you want to use. If you are evaluating the Motor Control Blockset, you can leave the entire FOC subsystem as it is with eventually small modifications. But if you want to use NXP's AMMCLib blocks, you have to go on each subsystem from FOC reference model and to replace each Clark, Park, PI controllers, etc. blocks with their AMMCLib equivalent blocks.
4. Output Drivers subsystem. This subsystem will handle the PWM duty cycle updates for the PWM generator peripheral. If you can inside this subsystem, the PWM blocks from TI has to be replaced with NXP Pwm block and configure it properly. Again you can refer to our delivered motor control examples to see how to use the Pwm blocks and how to configure them to achieve PWM generation for each motor phase.
On the SpeedGoat side, I suppose you can leave the subsystem as it is, but you will need to provide the parameters of your motor within the pmsm_hil_data.m script.
These are some high-level observations, but definitely you have to work on your own to see exactly what other things you have to consider modifying.
Hope this helps!
Regards!
Stefan.
