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Important question about motor control

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 different questions because I want to prove new options.

1. I want to use the evaluation board to realize the control of motor, so I want to do the control FOC (2 controllers PI) but I want to simulate the plant (the motor PMSM) and the power electronics (GD3000). In this example, how I can modify it to simulate the plant but continue perfoming the control from the evaluation board? I suppose that I have to change something of state machine block but I don´t know what I have to change.

2. Could you tell me the pins that I am using to send different signals from GD3000 (driver of motor) to motor PMSM? I have information in your website about this but I don´t if that´s the case. I send you a pdf with this information, although it´s not yhe same board I think the pins are the same (INFO_Driver_MOtor.pdf).

Thank you for all,

Jon Ander Amante

Re: Important question about motor control

Hi, @JonAnder_Amante,

You can find the answer to the initial thread here: missing Motor Control PMSM example in the 1.60 version of the S32K3 MBDT

Best regards,

Dragos

Re: Important question about motor control

Hi @JonAnder_Amante ,

In order to use the S32K344MINI-EVB, the following modifications are needed on the board:

1. Remove resistors R396 and R397, located on bottom PCB near DC Jack:

2. Populate with 0 (zero) Ohm resistors R413, R414 and R418 located near J4 connector:

And also because the VDD_HV_A is supplied with 3.3V instead of 5V:

We need to modify the parameters for the Udc and Idc Gains:

%% Application scales

MBD_I_MAX = 20.625;

MBD_U_DCB_MAX = 29.7;

After this we can connect the DEVKIT-MOTORGD (GD3000) board on top of S32K344MINI-EVB:

Now Open FreeMASTER and run the example and check iABC waveforms:

Best regards,

Stefan V.

Re: Important question about motor control

Hi,

Thank you for your reply. At now, I want to realize only the control of FOC in the board "S32K344 MINI-EVB", that is to say, I have another block of the plant that it´s represented the motor PMSM (Sunrise) with power electronics but I have to use the control of FOC with MBD. In this example, could you tell me which block I have to keep and what blocks I have to remove?

I think that I have to keep the current loop and speed loop in the block called "state machine" but the problem is there are many variables and different blocks with different jumps between them.

Basically, my project´s target is to use the same control of FOC from this project but to use another plant.

Thank you for all,

Jon Ander Amante

Re: Important question about motor control

Hi @JonAnder_Amante ,

I am not sure i understand what other plant you want to use, another motor maybe?

We currently support the Sunrise Motor with parameters in s32k344_mc_pmsm_2sh_s32ct_data.m and Linix Motor with parameters in s32k344_mc_pmsm_2sh_s32ct_data_linix.m

If you have any other motors, you will need to modify the parameters accordingly in data.m files, then do a clean Build.

Have a good day,

Stefan V.

Re: Important question about motor control

Hi,

1. I want to use Sunrise motor with its parameters but my question is if there is any block in SImulink that represents the plant because I want to have a block of the plant on one hand and the controller on the other.

2. Moreover, I send you the parameters of motor Sunrise and I don´t know if you can confirm that the dates are true.

PARAM_Rs = 0.192; % Resistencia del estator [Ohms]

PARAM_Mpp = 2; % Pares de polos [-]

PARAM_Ld = 0.000096; % Inductancia eje D [H]

PARAM_Lq = 0.000107; % Inductancia eje Q [H]

PARAM_Ke = 0.005872; % Constante Back-EMF [V.sec/rad]

PARAM_J = 0.12e-4; % Inercia [kg.m2]

PARAM_r32_F_IP_Wb_motor1 = 0.00518; % Flujo magnetico

%% Parametros diseño LAZO DE CORRIENTE

%Loop Bandwidth = 150 [Hz]

%Loop Attenuation = 1 [-]

%Loop sample time = 0.0001 [sec]

%-----------------------------------------------------

f_cutoff_current = 150; % Frecuencia de corte deseada [Hz]

w0_current = 2 * pi * f_cutoff_current; % Frecuencia natural [rad/s]

xi_current = 0.707; % Amortiguamiento

Ts_current = 1 /fsw; % Tiempo de muestreo

% Cálculos eje D

Kp_D = (2 * xi_current * w0_current * PARAM_Ld) - PARAM_Rs;

Ki_D = (w0_current^2) * PARAM_Ld;

% Cálculos eje Q

Kp_Q = (2 * xi_current * w0_current * PARAM_Lq) - PARAM_Rs;

Ki_Q = (w0_current^2) * PARAM_Lq;

% Current Loop Control (Calculado según NXP GFLIB)

%----------------------------------------------------------------------

MBD_CLOOP_LIMIT = 0.9;

% Eje D (D-axis)

MBD_D_CC1SC = Kp_D + (Ki_D * Ts_current / 2);

MBD_D_CC2SC = -Kp_D + (Ki_D * Ts_current / 2);

% Eje Q (Q-axis)

MBD_Q_CC1SC = Kp_Q + (Ki_Q * Ts_current / 2);

MBD_Q_CC2SC = -Kp_Q + (Ki_Q * Ts_current / 2);

2. I send you the scheme that I am using in Simulink. My idea is

My idea is to not use the physical motor and to simulate it with the green block you see in the photos. and to perform the control (current loop and speed loop) with the MCLIB blocks.

Thank you for all;

Re: Important question about motor control

Good morning,

I am using one of your evaluation boards, specifically the FRDM-A-S32K344 board, with the ‘S32K344_mc_pmsm_1sh_s32ct’ example in MATLAB and Simulink. The problem I’m having is that when I connect the interface to the Freemaster, some variables don’t appear and show up as a question mark; in other words, they aren’t being detected or aren’t implemented. Also, I’m trying to load the .elf file in case there was a compilation error, and I’m getting some errors saying that certain variables aren’t being detected.

Could you help me?

If i try to reload the file .elf I have:

Re: Important question about motor control

Hello,

If variables are not detected in the FreeMASTER project make sure that the elf file is properly selected from the settings.

If it is properly set, check in the model if the variables are set to External or Volatile. Otherwise, the FreeMASTER is not able to detect them.

Best regards,
Sorin Bancila