NXP Semiconductors PMSMMCXN9XXEVK User manual

PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC
Motors
Rev. 0 — 5 December 2023 User guide
Document information
Information Content
Keywords MCX-N9XX-EVK , PMSM, FOC, MCAT, MID, Motor control, Sensorless control, Speed control,
Servo control, Position control
Abstract This user guide describes the implementation of the motor-control software for 3-phase
Permanent Magnet Synchronous Motors.

NXP Semiconductors PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
1 Introduction
SDK motor control example user guide describes the implementation of the motor-control software for 3-phase
Permanent Magnet Synchronous Motors (PMSM) using following NXP platforms:
•MCX-N9XX-EVK
•Freedom Development Platform for Low-Voltage, 3-Phase PMSM Motor Control (FRDM-MC-LVPMSM)
The document is divided into several parts. Hardware setup, processor features, and peripheral settings are
described at the beginning of the document. The next part contains the PMSM project description and motor
control peripheral initialization. The last part describes user interface and additional example features.
Available motor control examples types with supported motors, and possible control methods are listed in
Table 1.
Possible control methods in SDK example
Example type Supported motor Scalar and
Voltage
Current FOC
(Torque)
Sensorless
Speed FOC
Sensored
Speed FOC
Sensored
Position FOC
Linix 45ZWN24-
40 (default motor) ✓ ✓ ✓ N/A N/A
pmsm_enc Teknic M-2310P
(with ENC) ✓ ✓ ✓ ✓ ✓
Table 1. Available example type, supported motors and control methods
SDK motor control example description:
• pmsm_enc - pmsm example uses float arithmetic, the example contains sensored and also sensorless field
oriented vector control (FOC). This example can be used for sensor and sensorless motor control application
both. Default motor configuration is tuned for the Linix 45ZWN24-40 motor.
The SDK motor control example contains several additional features:
• FreeMASTER pmsm_float_enc.pmpx project provides a simple and user-friendly way for algorithm tuning,
software control, debugging, and diagnostics.
• MCAT - Motor Control Application Tuning page based on the FreeMASTER runtime debugging tool.
• MID - Motor parameter identification.
The control software and the PMSM control theory, in general, are described in Sensorless PMSM Field-
Oriented Control (FOC) (document DRM148).
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NXP Semiconductors PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
2 Hardware setup
The following chapter describes the used hardware and the setup needed for proper example working
2.1 Linix 45ZWN24-40 motor
The Linix 45ZWN24-40 motor is a low-voltage 3-phase permanent-magnet motor with hall sensor used in
PMSM applications. The motor parameters are listed in Table 2.
Characteristic Symbol Value Units
Rated voltage Vt 24 V
Rated speed - 4000 RPM
Rated torque T 0.0924 Nm
Rated power P 40 W
Continuous current Ics 2.34 A
Number of pole-pairs pp 2 -
Table 2. Linix 45ZWN24-40 motor parameters
Figure 1. Linix 45ZWN24-40 permanent magnet synchronous motor
The motor has two types of connectors (cables). The first cable has three wires and is designated to power the
motor. The second cable has five wires and is designated for the hall sensors’ signal sensing. For the PMSM
sensorless application, only the power input wires are needed.
2.2 Teknic M-2310P motor
The Teknic M-2310P-LN-04K motor is a low-voltage 3-phase permanent-magnet motor used in PMSM
applications. The motor has two feedback sensors (hall and encoder). For information on the wiring of feedback
sensors, see the data sheet on the manufacturer webpage. The motor parameters are listed in Table 3.
Characteristic Symbol Value Units
Rated voltage Vt 40 V
Rated speed - 6000 RPM
Table 3. Teknic M-2310P motor parameters
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NXP Semiconductors PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
Characteristic Symbol Value Units
Rated torque T 0.247 Nm
Rated power P 170 W
Continuous current Ics 7.1 A
Number of pole-pairs pp 4 -
Table 3. Teknic M-2310P motor parameters...continued
Figure 2. Teknic M-2310P permanent magnet synchronous motor
For the sensorless control mode, you only need the power input wires. If used with the hall or encoder sensors,
connect the sensor wires to the NXP Freedom power stage.
1 DRAIN x3 P DRAIN 9 16AWG BLK PHASE R
Pin Color
Encoder wires
Motor phases(Wire entry view)
Signal ColorPin Signal
2 N/A N/A 10 16AWG RED PHASE S
3 GRN 11 16AWG WHT PHASE T
4 GRN/WHT 12 RED +5VDC IN
5 GRY/WHT 13 BRN ENC 1
6 DRAIN x1 14 ORN ENC B
7 BLK 15 BLU ENC A
16* ORN/WHT ENC B˜
8* BLU/WHT
COMM S-T
COMM R-S
COMM T-R
E DRAIN
GND
ENC A˜
9 10 11 12 13 14 15 16
1 2 3 4 5 6 7 8
Figure 3. Teknic motor connector type 1
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NXP Semiconductors PMSMMCXN9XXEVK
MCUXpresso SDK Field-Oriented Control (FOC) of 3-Phase PMSM and BLDC Motors
R DRAIN x3 P DRAIN L GRY/WHT COMM T-R
Pin Color
Motor phases Encoder wires(Mating face shown)
Signal ColorPin
F
Signal
C 16AWG RED PHASE S U BRN ENC I
D 16AWG WHT G GRN COMM S-T
B 16AWG BLK T RED +5VDC IN
J BLU F* ORN/WHT ENC B˜
K* BLU/WHT V ORN ENC B
H GRN/WHT M DRAIN x1 E DRAIN
S BLK
PHASE T
PHASE R
ENC A
ENC A˜
COMM R-S
GND
G
A M
E
B
H
L
D R
C
J
K
P
T
U
S
V
N
Figure 4. Teknic motor connector type 2
2.3 FRDM-MC-LVPMSM
In a shield form factor, this evaluation board effectively turns an NXP Freedom development board or an
evaluation board into a complete motor-control reference design. It is compatible with existing NXP Freedom
development boards and evaluation boards. The Freedom motor-control headers are compatible with the
Arduino R3 pin layout.
The FRDM-MC-LVPMSM low-voltage, 3-phase Permanent Magnet Synchronous Motor (PMSM) Freedom
development platform board has a power supply input voltage of 24 VDC to 48 VDC with reverse polarity
protection circuitry. The auxiliary power supply of 5.5 VDC is created to supply the FRDM MCU boards. The
output current is up to 5 A RMS. The inverter itself is realized by a 3-phase bridge inverter (six MOSFETs) and a
3-phase MOSFET gate driver. The analog quantities (such as the 3-phase motor currents, DC-bus voltage, and
DC-bus current) are sensed on this board. There is also an interface for speed and position sensors (encoder,
hall). The block diagram of this complete NXP motor-control development kit is shown in Figure 5.
Figure 5. Motor-control development platform block diagram
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