1
Introduction
Turning a motor control concept into a running dual-motor traction real system requires more than a control algorithm. It requires a connected software and hardware environment that can take the design from simulation to generated code, from target deployment to real-time calibration, and finally to validation on physical motors.
This article continues the Motor Control System series by moving from the system-level overview to the enablement layer behind the application. It highlights the MathWorks and NXP tools, software components, MCU resources, and power-stage building blocks that make the Dual-Motor EV traction system possible.
At the core of the workflow is Model-Based Design. MathWorks tools are used to model the field-oriented control algorithms, define the CAN communication interfaces, and support validation across simulation stages. NXP tools then bring those models onto the S32K396 target platform, connecting the generated application to real-time peripherals, gate-driver hardware, and motor feedback signals.
Together, these elements form the development backbone of the dual-motor application: a path that starts with definition of the control strategy and ends with validation on real hardware.
2
Table of Contents
• Software
• Hardware
• References
• Conclusion
3
Software
The software environment provides the modeling, simulation, communication, code generation, and deployment capabilities required by the Motor Control System. Each tool contributes a specific part of the development flow.
3.1. Motor Control Blockset
Motor Control Blockset is the control-algorithm engine behind the traction application. It provides a ready-to-use environment for designing, simulating, and deploying motor control algorithms, while also supporting optimized C code generation from Simulink.
In this Motor Control System, the MCB models the Field-Oriented Control strategy for Permanent Magnet Synchronous Motors. It supports the main control-loop blocks. These include Clarke and Park transforms, current and speed regulation, Space Vector Modulation, and position or speed feedback processing.
The same model can run across desktop simulation and real-time validation. This keeps the controller consistent from early algorithm work to target execution. It also aligns the design across Model-in-the-Loop, Software-in-the-Loop, Processor-in-the-Loop, and hardware deployment stages. For more information, see the Motor Control Blockset documentation in the References chapter.
3.2. Vehicle Network Toolbox
Vehicle Network Toolbox brings CAN communication into the model-based workflow. It provides MATLAB functions and Simulink blocks for sending, receiving, encoding, and decoding CAN messages. This makes network behavior visible and testable before deployment.
In the Motor Control System, CAN exchanges commands, feedback, and status information. It links the ECU with the surrounding vehicle architecture. The toolbox helps define the signal interface, pack and unpack CAN frames, simulate bus traffic, and validate communication behavior before target execution.
Communication is not treated as a late integration step. CAN interaction can be simulated and verified together with the control model. This reduces integration risk and makes ECU behavior easier to validate end to end. For more information, see the Vehicle Network Toolbox documentation in the References chapter.
3.3. NXP Model-Based Design Toolbox for S32K3
NXP Model-Based Design Toolbox for S32K3 connects the Simulink model to the NXP S32K3 target environment. It provides the embedded target support required to generate, build, download, and run applications on NXP microcontrollers.
The toolbox provides peripheral blocks for hardware access. These include interfaces for ADC, PWM, CAN, SPI, UART, timers, interrupts, and other target resources used by motor control applications.
For the Motor Control System, the toolbox enables the generated application to run on top of the S32K3 software stack. It also supports configuration flows based on NXP tools, real-time data visualization with FreeMASTER, and integration with optimized libraries such as AMMCLib.
NXP Model-Based Design Toolbox for S32K3 is used as part of the enablement environment for the S32K3 complex applications. It provides the bridge between the model and the production-oriented embedded implementation.
4
Hardware
The hardware environment provides the real-time execution platform and the power stage interface required to control the motors. The key hardware components are the NXP S32K396 microcontroller and the NXP MC33937 three-phase FET pre-driver.
4.1. The NXP S32K396 Microcontroller
The NXP S32K396 is the main processing device used by the Motor Control System. It belongs to the S32K39 family of electrification microcontrollers and is optimized for traction inverter, torque vectoring, and smart actuation applications.
The device combines real-time compute, motor control acceleration, advanced analog acquisition, high-resolution actuation, safety mechanisms, security services, and automotive networking in a single MCU platform.
At the compute level, the S32K396 provides Arm Cortex-M7 processing resources running up to 320 MHz. The architecture supports safety-oriented execution through lockstep and split-lock configurations. This enables separation between safety-critical motor control tasks and additional monitoring or communication functions.
For motor control, the device includes a dedicated motor control coprocessor called eTPU (Enhanced Time Processing Unit) and a programmable CoolFlux DSP. These resources can offload timing-critical functions from the main CPU. They support fast current-loop execution, resolver processing, PWM generation, analog sensing, and other functions required by high-performance FOC applications.
The smart timer and I/O subsystem is also important for traction control. The S32K396 includes eFlexPWM modules with NanoEdge capability, eMIOS channels, Logic Control Units, and Body Cross-Triggering Units. These blocks help synchronize PWM generation, ADC triggering, fault handling, and real-time control events.
The analog subsystem supports the feedback path of the inverter. It includes multiple SAR ADCs, Sigma-Delta ADCs, analog comparators, and sine wave generators. These resources are used to acquire phase currents, DC bus voltage, phase voltages, temperature signals, and position-related feedback.
The communication subsystem enables integration with the vehicle network and external devices. The S32K396 provides CAN FD, Ethernet with TSN support, LIN/UART, SPI, I2C, QSPI, FlexIO, and Zipwire interfaces. In this Motor Control System, CAN is used for vehicle-level command and status exchange.
Figure 4-1. S32K396 Block Diagram
In the Motor Control System, the S32K396 executes the real-time control loops, reads current and voltage feedback, processes rotor position or speed information, generates PWM signals, and exchanges data with the vehicle network over CAN.
The same platform can support one six-phase motor or two three-phase motors. This makes it suitable for the dual rear-motor architecture used throughout this article series.
4.2. The NXP MC33937 Three-Phase FET Pre-Driver
The NXP MC33937 is the three-phase Field Effect Transistor pre-driver used between the microcontroller and the inverter power switches. It is designed for three-phase motor control and similar automotive actuation applications.
The device contains three high-side FET pre-drivers and three low-side FET pre-drivers. Together, these six gate-drive channels control the external MOSFET bridge used by the three-phase inverter.
The MC33937 interfaces with the S32K396 through six direct input control signals. These signals provide the fast phase control path from the PWM outputs of the microcontroller to the gate-driver stage.
The device also includes an SPI interface. SPI is used for device setup, configuration, diagnostics, and safe control features. Reset, enable, and interrupt pins provide additional control and fault signaling between the pre-driver and the MCU.
The MC33937 supports an extended operating range from 6 V to 58 V and is fully specified from 8 V to 40 V. This makes it suitable for 12 V and 24 V automotive systems, as well as higher-voltage transient operating conditions.
The MC33937 also provides protection and monitoring features needed in motor control applications. These include undervoltage detection, overcurrent comparison, desaturation comparison, temperature limitation, phase voltage comparison, and protection against reverse charge injection from the external FETs.
The device accepts both 3.3 V and 5 V logic-level inputs and provides 5 V logic-level outputs. This simplifies the connection with automotive microcontrollers and allows the pre-driver to fit into different control board designs.
Figure 4-2. MC33937 Block Diagram
In the Motor Control System, the MC33937 forms the actuation bridge between the PWM signals generated by the S32K396 and the three-phase inverter that drives each PMSM. It converts logic-level control commands into the gate-drive signals required by the external power stage.
4.3. NXP Evaluation Boards
The Motor Control System hardware is built from modular NXP evaluation boards. This allows the same S32K396 control platform to be connected to one or two low-voltage three-phase inverter stages.
Figure 4-3. NXP S32K396-BGA-DC1
The S32K396-BGA-DC1 evaluation board is the main controller board. It contains the S32K396 microcontroller in MAPBGA 289 package, an onboard debugger, communication interfaces, and the connectors required to access the real-time control signals. It is optimized for electrification applications such as traction drive and torque vectoring.
The S32X-MB board is used as an I/O extension board. It is not a standalone development board. It must be used together with a compatible S32K39/37 evaluation board. In this setup, it expands the number of accessible peripherals and provides an additional motor control connector.
Figure 4-4. S32X-MB Board
The MCSPTR2AK396 kit provides the low-voltage motor control power stage used in the demo. From this kit, the demo uses the three-phase low-voltage pre-driver board and the PMSM motor. The power stage is based on the MC33937A pre-driver and is designed for BLDC or PMSM control.
Figure 4-5. 3-Phase Low Voltage Motor Control Kit
The kit also provides useful motor control interfaces. These include the three-phase motor output, Hall or encoder interface, resolver interface, DC bus sensing, phase voltage sensing, and protection feedback. These signals are required to close the control loop on the target hardware.
4.4. Dual-Motor Hardware Connections
For the dual-motor hardware set-up, the S32K396-BGA-DC1 board provides the main MCU resources. The first three-phase motor control channel is connected through the primary motor control connector. The second channel is routed through the S32X-MB extension board.
Each motor channel uses one low-voltage three-phase pre-driver and one PMSM motor. The PWM signals generated by the S32K396 are routed to the MC33937A gate-driver stage. The pre-driver then controls the external MOSFET bridge of the inverter.
The feedback path is routed back from each power stage to the MCU. This includes phase current feedback, DC bus voltage, phase voltage, and position or speed feedback from the selected sensor interface. These signals are sampled and synchronized with the PWM events.
The S32K396 therefore controls two independent three-phase inverter stages. Each motor has its own PWM outputs, sensing path, position feedback, and protection signals. The control software coordinates both channels and exchanges the resulting status information over CAN.
This hardware arrangement can also be viewed as a scalable topology. The same MCU platform can be used for two independent three-phase motors or for one six-phase motor, depending on how the PWM outputs, sensing resources, and power stages are mapped.
By connecting the software workflow with the hardware execution path, this enablement layer shows how a model-based motor control concept can be taken from algorithm design to a running dual-motor traction demonstrator on NXP silicon.
5
References
Motor Control Blockset Documentation
Vehicle Network Toolbox Documentation
NXP Model-Based Design Toolbox for S32K3
S32K39-37-36 Microcontrollers for Electrification Applications
MC33937: 3-Phase Field Effect Transistor Pre-Driver
S32K396-BGA-DC1 Evaluation Board
MCSPTR2AK396 BLDC/PMSM Motor Control Development Kit
S32X-MB I/O Extension Evaluation Board
6
Conclusion
This article described the software and hardware enablement required for the Motor Control System. The software environment combines MathWorks motor control and vehicle network capabilities with NXP target support. The hardware environment combines the S32K396 microcontroller with the MC33937 pre-driver and the inverter stage.
Together, these elements provide the foundation for modeling, simulation, communication, code generation, deployment, and validation of the dual-motor control application.
The next article will focus on the architecture and model description of the Motor Control System, including the main control layers, signal interfaces, and application structure.
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