NXP Semiconductors MCUXpresso SDK User manual

MCUXpresso SDK 3-Phase PMSM Control
(i.MX RT)
NXP Semiconductors Document identifier: 3PPMSMCRTUG
User's Guide Rev. 2, 01/2021

Contents
Chapter 1 Introduction........................................................................................... 3
Chapter 2 Hardware setup.....................................................................................4
Chapter 3 RT crossover processors features and peripheral settings.................30
Chapter 4 Project file and IDE workspace structure............................................ 47
Chapter 5 Tools................................................................................................... 49
Chapter 6 Motor-control peripheral initialization.................................................. 50
Chapter 7 User interface......................................................................................52
Chapter 8 Remote control using FreeMASTER...................................................53
Chapter 9 Identifying parameters of user motor using MCAT..............................61
Chapter 10 Conclusion........................................................................................ 80
Chapter 11 Acronyms and abbreviations.............................................................81
Chapter 12 References........................................................................................82
Chapter 13 Useful links........................................................................................83
Chapter 14 Revision history.................................................................................84
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Chapter 1
Introduction
This user's guide describes the implementation of the sensorless motor-control software for 3-phase Permanent Magnet
Synchronous Motors (PMSM), including the motor parameters identification algorithm, on the NXP i.MX RT series crossover
processors. The sensorless control software and the PMSM control theory in general are described in design reference manual
DRM148 Sensorless PMSM Field-Oriented Control (FOC) . The NXP Freedom (FRDM-MC-LVPMSM) is used as the hardware
platform for the PMSM control reference solution. The hardware-dependent part of the sensorless and sensored control software,
including a detailed peripheral setup and the Motor Control (MC) peripheral drivers, are addressed as well. The motor parameters
identification theory and algorithms are presented in this document. The last part of the document introduces and explains the
user interface represented by the Motor Control Application Tuning (MCAT) page based on the FreeMASTER run-time debugging
tool. These tools provide a simple and user-friendly way for the motor parameter identification, algorithm tuning, software control,
debugging, and diagnostics.
This document describes how to run and control the Permanent Magnet Synchronous Motor (PMSM) project using i.MX RT
Series Crossover Processors with the Freedom development board. The software provides sensorless/sensored field-oriented
vector position, speed, torque, and scalar control. You can control the application using the board buttons or via FreeMASTER.
The motor identification and application tuning is done using the MCAT tool integrated in the FreeMASTER page. The required
software, hardware setup, jumper settings, project arrangement, and user interface are described in the following sections. For
more information, visit www.nxp.com/motorcontrol_pmsm.
Table 1. Supported devices and control methodes
Possible control methods in SDK example
Device Default motor Scal
ar
Volt
age
Current FOC
(Torque)
Sensorless
Speed FOC
Sensored
Speed FOC
Sensored Position
FOC (Servo)
MIMXRT1010-EVK Linix 45ZWN24-40 ✓ ✓ ✓ ✓ x x
MIMXRT1020-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1024-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1050-EVKB Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1060-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1170-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
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Chapter 2
Hardware setup
The PMSM Field-Oriented Control (FOC) application runs on the FRDM-MC-LVPMSM development platform with the i.MX
RT1020-EVK, i.MX RT1050-EVKB, and i.MX RT1060-EVK development tools in combination with the Teknic M-2310P-LN
permanent magnet synchronous motor or with the i.MX RT1010-EVK development tool in combination with the Linix 45ZWN24-40
permanent magnet synchronous motor.
2.1 FRDM-MC-LVPMSM
This evaluation board, in a shield form factor, effectively turns an NXP Freedom development board or an evaluation board into
a complete motor-control reference design, 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 the power supply input voltage of 24-48 VDC with a 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 1.
Figure 1. Motor-control development platform block diagram
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Figure 2. FRDM-MC-LVPMSM
The FRDM-MC-LVPMSM board does not require a complicated setup. For more information about the Freedom development
platform, see www.nxp.com.
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 datasheet on the
manufacturer web page. The motor parameters are listed in Table 2.
Table 2. Teknic M-2310P motor parameters
Characteristic Symbol Value Units
Rated voltage Vt 40 V
Rated speed - 6000 RPM
Rated torque T 0.247 Nm
Rated power P 170 W
Continuous current Ics 7.1 A
Number of pole-pairs pp 4 -
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Figure 3. Teknic M-2310P permanent magnet synchronous motor
For the sensorless control mode, you need only the power input wires. If used with the hall or encoder sensors, connect also the
sensor wires to the NXP Freedom power stage.
Figure 4. Teknic motor connector type 1
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Figure 5. Teknic motor connector type 2
2.3 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 3.
Table 3. Linix 45ZWN24-40 motor parameters
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 -
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Figure 6. 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.
2.4 i.MX RT1010 Evaluation Kit
The MIMXRT1010-EVK is a two-layer low-cost through-hole USB-powered PCB. At its heart lies the i.MX RT1010 crossover MCU
in an 80LQFP package, featuring NXP’s advanced implementation of the Arm® Cortex®-M7 core. This core operates at speeds
of up to 500 MHz to provide high CPU performance and excellent real-time response. (Quick Start Guide)
Table 4. MIMXRT1010-EVK jumper settings
Jumper Setting Jumper Setting Jumper Setting
J1 1-2 J22 open J37 1-2
J3 1-2 J27 2-3 J54 open
J4 1-2 J30 open J61 1-2
J5 1-2 J31 1-2 J62 1-2
J6 1-2 J32 1-2 J63 1-2
J8 1-2 J35 open J64 1-2
J21 1-2 J36 open
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Figure 7. MIMXRT1010-EVK board with highlighted jumper settings
The motor-control application requires the PWM and ADC signals to be connected from the MCU to the power stage. For a correct
connection, solder the R794, R793, R796, R795, R798, R797 resistors for PWMs and R1849, R1850, R1852, R1853, R1854
resistors for ADCs. These resistors are located on the both sides of the EVK board. For more details, see the schematic.
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Figure 8. Resistor needed for proper operation on the top side of the EVK board
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Figure 9. Resistor needed for proper operation on the bottom side of the EVK board
For more information about the MIMXRT1010-EVK hardware (processor, peripherals, and so on), see the MIMXRT1010 EVK
Board Hardware User’s Guide (document MIMXRT1010EVKHUG).
Hardware assembling
1. Connect the FRDM-MC-LVPMSM shield on top of the MIMXRT1010-EVK board (there is only one possible option).
2. Connect the 3-phase motor wires to the screw terminals (J7) on the Freedom PMSM power stage.
3. Plug the USB cable from the USB host to the Debug USB connector (J41) on the EVK board.
4. Plug the 24-V DC power supply to the DC power connector on the Freedom PMSM power stage.
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Figure 10. Assembled Freedome system
2.5 i.MX RT1020 evaluation kit (MIMXRT1020-EVK)
MIMXRT1020-EVK is a 2-layer, low-cost, hole-through, USB-powered PCB. It features the i.MX RT1020 crossover processor in
a LQFP144 package, featuring NXP’s advanced implementation of the Arm Cortex-M7 core. This core operates at up to 500 MHz
to provide high CPU performance and the best real-time response.
Table 5. MIMXRT1020-EVK jumper settings
Jumper Setting Jumper Setting Jumper Setting
J1 5-6 J8 1-2 J26 1-2
J3 1-2 J21 open J27 1-2
J4 1-2 J22 1-2 J28 1-2
J5 1-2 J24 1-2 J29 open
J6 1-2 J25 1-2 J37 1-2
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Figure 11. MIMXRT1020-EVK board with highlighted jumper settings
The ADC pins are shared with the next peripherals. Therefore, remove resistors R65, R68, R69, and R74 from the board. These
resistors are located on the top side of the EVK board. For more details, see the schematic.
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Figure 12. Removed resistor for proper operation of the ADC on the top side of the EVK board
For more information about the MIMXRT1020-EVK hardware (processor, peripherals, and so on), see the MIMXRT1020 EVK
Board Hardware User’s Guide (document MIMXRT1020EVKHUG).
Hardware assembling
1. Wire the FRDM-MC-LVPMSM power stage to the MIMXRT1020-EVK board according to the pin assignment (Table 6) and
the interconnection diagram (Figure 13).
2. Connect the 3-phase motor wires to the screw terminals (J7) on the Freedom PMSM power stage.
3. Plug the USB cable from the USB host to the OpenSDA micro USB connector (J23) on the EVK board.
4. Plug the 24-V DC power supply to the DC power connector on the Freedom PMSM power stage.
Table 6. MIMXRT1020-EVK pin assignment
FRDM-MC-LVPMSM Connection MIMXRT1020-EVK
PWM_AT J3, 15 <-> J17, 7 D6/AIN0/PWM/OC0A GPIO_AD_B0_14
PWM_AB J3, 13 <-> J19, 2 D9/OC1A/PWM GPIO_AD_B0_15
PWM_BT J3, 11 <-> J19, 4 D11/OC2A/PWM/SPI_MOSI GPIO_AD_B0_12
PWM_BB J3, 9 <-> J19, 5 D12/SPI_MISO GPIO_AD_B0_13
PWM_CT J3, 7 <-> J19, 6 D13/SPI_CLK GPIO_AD_B0_10
PWM_CB J3, 5 <-> J19, 3 D10/SPI_CS GPIO_AD_B0_11
Table continues on the next page...
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Table 6. MIMXRT1020-EVK pin assignment (continued)
FRDM-MC-LVPMSM Connection MIMXRT1020-EVK
3V3 J3, 4 <-> J20, 4 3V3 3V3
ENC_A J3, 3 <-> J17, 1 D0/UART_RX GPIO_AD_B1_09
ENC_B J3, 1 <-> J17, 2 D1/UART_TX GPIO_AD_B1_08
GND J3, 14 <-> J20, 6 GND GND
CUR_A J2, 1 <-> J18, 2 A1/ADC1 GPIO_AD_B1_11
CUR_B J2, 3 <-> J18, 3 A0/ADC0 GPIO_AD_B1_12
CUR_C J2, 5 <-> J18, 4 A3/ADC3 GPIO_AD_B1_13
VOLT_DCB J2, 7 <-> J18, 1 A4/ADC4/SDA GPIO_AD_B1_10
CUR_DCB J2, 9 <-> J17, 3 D2/INT0 GPIO_AD_B0_09
Figure 13. MIMXRT1020-EVK interconnection diagram
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2.6 i.MX RT1024 evaluation kit (MIMXRT1024-EVK)
MIMXRT1024-EVK board is a platform designed to showcase the most commonly used features of the i.MX RT1024 Processor
in a small, low cost package. The MIMXRT1024 EVK board is an entry-level development board, which gives the developer the
option of becoming familiar with the processor before investing a large amount or resources in more specific designs.
Table 7. MIMXRT1024-EVK jumper settings
Jumper Setting Jumper Setting Jumper Setting
J1 5-6 J8 1-2 J47 1-2
J3 1-2 J37 1-2 J48 1-2
J4 1-2 J43 1-2 J49 1-2
J5 1-2 J45 1-2 J50 1-2
J6 1-2 J46 1-2
All others jumpers are open.
Figure 14. MIMXRT1024-EVK board with highlighted jumper settings
For correct board working are needed solder and remove several resistors. Please, solder resistors R1843, R1844, R1845,
R1846, R1847 and if you will use encoder, solder also R1841 and R1847. For proper encoder working, please remove resistor
R1870 shared with USER LED. The resistor R1847 is located on the top side of EVK next to J19. All others resistor are located
on the bottom EVK side. For more details, see the schematic.
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Figure 15. Removed resistor for proper operation of the ADC on the bottom side of the EVK board
For more information about the MIMXRT1024-EVK hardware (processor, peripherals, and so on), see the MIMXRT1024 EVK
Board Hardware User’s Guide (document MIMXRT1024EVKHUG).
Hardware assembling
1. Connect the FRDM-MC-LVPMSM shield on top of the MIMXRT1024-EVK board (there is only one possible option).
2. Connect the 3-phase motor wires to the screw terminals (J7) on the Freedom PMSM power stage.
3. Plug the USB cable from the USB host to the Debug USB connector (J23) on the EVK board.
4. Plug the 24-V DC power supply to the DC power connector on the Freedom PMSM power stage.
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Figure 16. Assembled Freedome system
2.7 i.MX RT1050 evaluation kit (MIMXRT1050-EVKB)
MIMXRT1050-EVKB is a 4-layer, hole-through, USB-powered PCB. It includes the i.MX RT1050 crossover processor, featuring
NXP’s advanced implementation of the Arm Cortex-M7 core. This core operates at up to 600 MHz to provide high CPU
performance and the best real-time response.
Table 8. MIMXRT1050-EVK jumper settings
Jumper Setting Jumper Setting Jumper Setting
J1 5-6 J13 open J30 1-2
J3 1-2 J15 open J31 1-2
J4 1-2 J26 open J32 1-2
J5 1-2 J27 1-2 J33 1-2
J7 1-2 J29 1-2 J36 1-2
Jumper J1 in position 5-6 means that that the board is powered from the debug USB. You may also change J1 into
position 1-2 for powering from the DC input (5 V).
NOTE
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Figure 17. MIMXRT1050-EVKB board with highlighted jumper settings
The motor-control application requires the PWM signals to be connected from the MCU to the power stage. For a correct
connection, solder the R278, R279, R280, and R281 resistors to the board and remove resistors R309, R59, and R60 from the
board. These resistors are located on the bottom side of the EVK board. For more details, see the schematic.
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Figure 18. Resistor needed for proper operation on the bottom side of the EVK board
For more information about the MIMXRT1050-EVK hardware (processor, peripherals, and so on), see the MIMXRT1050 EVK
Board Hardware User’s Guide (document MIMXRT1050EVKHUG).
Hardware assembling
1. Wire the FRDM-MC-LVPMSM power stage to the MIMXRT1050-EVKB board according to the pin assignment (Table 9)
and the interconnection diagram (Figure 19).
2. Connect the 3-phase motor wires to the screw terminals (J7) on the Freedom PMSM power stage.
3. Plug the USB cable from the USB host to the OpenSDA micro-USB connector (J41) on the EVK board.
4. Plug the 24-V DC power supply to the DC power connector on the Freedom PMSM power stage.
Table 9. MIMXRT1050-EVKB pin assignment
FRDM-MC-LVPMSM Connection MIMXRT1050-EVK
PWM_AT J3, 15 <-> J24, 6 D13/SPI_CLK GPIO_SD_B0_00
PWM_AB J3, 13 <-> J24, 3 D10/SPI_CS GPIO_SD_B0_01
PWM_BT J3, 11 <-> J24, 4 D11/OC2A/PWM/SPI_MOSI GPIO_SD_B0_02
PWM_BB J3, 9 <-> J24, 5 D12/SPI_MISO GPIO_SD_B0_03
PWM_CT J3, 7 <-> J22, 6 D5/TI/PWM GPIO_AD_B0_10
PWM_CB J3, 5 <-> J22, 3 D2/INT0 GPIO_AD_B0_11
3V3 J3, 4 <-> J24, 8 3V3 3V3
ENC_A J3, 3 <-> J24, 10 D15/I2C_SCL GPIO_AD_B0_00
Table continues on the next page...
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