Renesas RX24T, RX24 APPLICATION NOTE

APPLICATION NOTE

R01AN3788EJ0110

Rev.1.10

Oct. 01. 2020

RX24T/RX24U

Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

Abstract

This application note aims at explaining sensorless vector control software for a permanent magnet synchronous motor, by using functions of RX24T/RX24U. The explanation includes, how to use the library of ‘Renesas Motor Workbench’ tool, that is support tool for motor control development.

The target software of this application note is only to be used as reference and Renesas Electronics Corporation does not guarantee the operations. Please use them after carrying out a thorough evaluation in a suitable environment.

Operation Checking Device

Operations of the target software of this application note are checked by using the following devices.

- RX24T (R5F524TAADFP)

- RX24U (R5F524UEADFB)

Target Software

The target software of this application note is as follows.

- RX24T_MRSSK_SPM_LESS_FOC_CSP_RV110 (IDE：CS+)

- RX24T_MRSSK_SPM_LESS_FOC_E2S_RV110 (IDE：e

- RX24U_MRSSK_SPM_LESS_FOC_CSP_RV110 (IDE：CS+)

- RX24U_MRSSK_SPM_LESS_FOC_E2S_RV110 (IDE：e

RX24T/RX24U Sensorless vector control software for ‘24V Motor Control Evaluation System for RX23T’ and ‘RX24T/RX24U CPU Card’

studio)

Reference

- RX24T Group User’s Manual: Hardware (R01UH0576EJ0200)

- RX24U Group User’s Manual: Hardware (R01UH0658EJ0100)

- Application note: ‘Sensorless vector control for permanent magnet synchronous motor (Algorithm)’ (R01AN3786EJ0101)

- Renesas Motor Workbench V.1.00 User’s Manual (R21UZ0004EJ0100)

- Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T User’s Manual (R20UT3697EJ0120)

- RX24T CPU Card User’s Manual (R20UT3696EJ0110)

- RX24U CPU Card User’s Manual (R12TU0018EJ0100)

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

Contents

1. Overview .......................................................................................................................................... 3

2. System Overview ............................................................................................................................. 4

3. Descriptions of the Control Program .......................................................................................... 10

4. Motor Control Development Support Tool ‘Renesas Motor Workbench’ ................................ 27

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

Microcontroller

Evaluation board

Motor

(Note 3)

RX24T/RX24U

R5F524UEADFB)

CS+ version

e2studio version

Toolchain version

(Note 4)

1. Overview

This application note explains how to implement the sensorless vector control software of permanent magnet synchronous motor (PMSM) using the RX24T/RX24U microcontroller. The explanation includes, how to use the library of ‘Renesas Motor Workbench’ tool, that is support tool for motor control development.

Note that the software uses the algorithm described in the application note ‘Sensorless vector control for permanent magnet synchronous motor (Algorithm)’.

1.1 Development Environment

Table 1-1 and Table 1-2 show development environment of the software explained in this application note.

Table 1-1 Hardware Development Environment

(R5F524TAADFP/

24V inverter board & RX24T/RX24U CPU Card

(Note 1)

TG-55L

Table 1-2 Software Development Environment

V8.03.00 2020-04 CC-RX: V3.02.00

For purchase and technical support, contact sales representatives and dealers of Renesas Electronics Corporation.

Notes:1. 24V inverter board & RX24T CPU Card (RTK0EM0009C03402BJ) / RX24U CPU Card

(RTK0EMX590C02000BJ) are products of Renesas Electronics Corporation.

2. TG-55L is the product of TSUKASA ELECTRIC. TSUKASA ELECTRIC (http://www.tsukasa-d.co.jp/

)

3. Motors conforming to the inverter specifications listed in chapter 2 of Renesas Solution Starter Kit 24V

Motor Control Evaluation System for RX23T User’s Manual (R20UT3697EJ0120) can be connected to the product. When using motors other than the one included with the product, make sure to check the motor specifications carefully.

4. If the same version of the toolchain (C compiler) specified in the project is not in the import

destination, the toolchain will not be selected and an error will occur. Check the selected status of the toolchain on the project configuration dialog.

For the setting method, refer to FAQ 3000404.

FAQ 3000404: Program ""make"" not found in PATH error when attempting to build an imported project (e² studio)

(Note 2)

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

RX24T/RX24U

A/D converter input

Bus voltage

Rotation speed command

MTU3 output

Over current detection

GND

Power supply circuit

DC 24 V input

U port

W port

V port

HU port

HW port

HV port

GND port

port

VR1

Switch input

Motor rotation start/stop

Error reset

LED output

LED1 LED2

Over current detection

input

Inverter circuit

Phase current

detection

VvV

ENC_Z port

ENC_A port

ENC_B port

GND port

port

P80

P81

P64 / AN204

P53 / AN209

PA2

PA1

P71 / MTIOC3B (U

)

P72 / MTIOC4A (V

)

P73 / MTIOC4B (W

)

P74 / MTIOC3D (U

)

P75 / MTIOC4C (V

)

P76 / MTIOC4D (W

)

P70 / POE0#

PMSM

P44 / AN100

IU_AIN

Phase current

P46 / AN102

IW_AIN

SW1 SW2

2. System Overview

Overview of this system is explained below.

2.1 Hardware Configuration

The hardware configuration is shown below.

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Figure 2-1 Hardware Configuration Diagram

RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

Item

Interface component

Function

Rotation speed

Variable resistor (VR1)

Reference value of rotation speed input (analog value)

START/STOP

Toggle switch (SW1)

Motor rotation start/stop command

ERROR RESET

Toggle switch (SW2)

Command of recovery from error status

LED1

Yellow green LED

- At the time of motor rotation: ON

- At the time of stop: OFF

LED2

Yellow green LED

- At the time of error detection: ON

- At the time of normal operation: OFF

RESET

Push switch (RESET1)

System reset

R5F524TAADFP/ R5F524UEADFB port name

Function

P64 / AN204

Inverter bus voltage measurement

P53 / AN209

For rotation speed command value input (analog value)

P80

START/STOP toggle switch

P81

ERROR RESET toggle switch

PA2

LED1 ON/OFF control

PA1

LED2 ON/OFF control

P44 / AN100

U phase current measurement

P46 / AN102

W phase current measurement

P71 / MTIOC3B

PWM output (Up)

P72 / MTIOC4A

PWM output (Vp)

P73 / MTIOC4B

PWM output (Wp)

P74 / MTIOC3D

PWM output (Un)

P75 / MTIOC4C

PWM output (Vn)

P76 / MTIOC4D

PWM output (Wn)

P70 / POE0#

PWM emergency stop input at the time of over-current detection

2.2 Hardware Specifications

2.2.1 User Interface

List of user interfaces of this system is given in Table 2-1.

Table 2-1 User Interfaces

List of port interfaces of this system is given in Table 2-2.

Table 2-2 Port Interfaces

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

12-bit A/D Converter

CMT

MTU3

POE3

- Rotation speed command value

- Inverter bus voltage measurement

2.2.2 Peripheral Functions

List of the peripheral functions used in this system is given in Table 2-3.

Table 2-3 List of the Peripheral Functions

input

- Current of each phase U and W measurement

1 [ms] interval timer

Complementary PWM output

Set PWM output ports to high impedance state to stop the PWM output.

(1) 12-Bit A/D Converter (S12ADF)

U phase current (Iu) using the single scan mode (use hardware trigger). The sample-and-hold function is used for U phase current (Iu)

W phase current (Iw), inverter bus voltage (Vdc) and rotation speed reference are measured by

and W

phase current (Iw) measurement.

(2) Compare Match Timer (CMT)

The channel 0 of the compare match timer is used as 1 [ms] interval timer.

(3) Multi-Function Timer Pulse Unit 3 (MTU3)

On the channel 3 and 4, output (active level: high) with dead time is performed by using the complementary PWM mode.

(4) Port Output Enable 3 (POE3)

PWM output ports are set to high impedance state when an over-current is detected (when a falling edge of the POE0# port is detected) or when an output short circuit is detected.

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

middle

driver

user_interface

application

main

ics

board

interface

common

control

inverter

mcu

ICS_RX24T/RX24U.obj : Communication library for GUI tool

ICS_RX24T/RX24U.h : Function definition for GUI tool

(Project Folder)

config

r_mtr_parameter.h : Various parameter definition

r_mtr_common.h : Common definition

r_mtr_transform.h, r_mtr_transform.c : Function definition for coordinate transform

r_mtr_driver_access.h, r_mtr_driver_access.c : User access function definition

r_mtr_board.h, r_mtr_board.c : Function definition for board UI

r_mtr_ics.h, r_mtr_ics.c : Function definition for Analyzer

(Note1)

r_mtr_ctrl_mrssk.h, r_mtr_ctrl_mrssk.c : Function definition depends on inverter board

r_mtr_interrupt.c : Interrupt function definition r_mtr_config.h : Common definition for software configuration

Note 1: Regarding the specification of Analyzer function in the motor control development support tool

2.3 Software Configuration

2.3.1 Software File Configuration

Folder and file configuration of the software are given below.

main.h, main.c : main function

r_mtr_filter.h, r_mtr_filter.c : Function definition for general purpose filters r_mtr_fluxwkn.h, r_mtr_fluxwkn.c : Function definition for flux weakening control r_mtr_mod.h, r_mtr_mod.c : Function definition for modulation r_mtr_pi_control.h, r_mtr_pi_control.c : Function definition for PI control r_mtr_statemachine.h, r_mtr_statemachine.c : Function definition for state transition r_mtr_volt_err_comp.h, r_mtr_volt_err_comp.obj : Function definition for

voltage error compensation

r_mtr_ctrl_gain_calc.obj : Function definition for calculation of control gains r_mtr_foc_action.c : Action function definition r_mtr_interrupt_carrier.c : Carrier interrupt function definition r_mtr_interrupt_1ms.c : 1[ms] interrupt function definition r_mtr_foc_control_less_foc.h, mtr_foc_control_less_foc.c : Function definition for vector control r_mtr_foc_current.h, r_mtr_foc_current.c : Function definition for current control r_mtr_foc_speed.h, r_mtr_foc_speed.c : Function definition for speed control r_mtr_bemf_observer.h, r_mtr_bemf_observer.obj: Function definition for BEMF observer r_mtr_opl_damp_ctrl.h, r_mtr_opl_damp_ctrl.obj : Function definition for

r_mtr_opl2less.h, r_mtr_opl2less.obj : Function definition for sensorless switching control

r_mtr_ctrl_rx24t/rx24u.h, r_mtr_ctrl_rx24t/rx24u.c : Function definition depends on MCU r_mtr_ctrl_mcu.h : Common definition depends on MCU auto_generation : Folder for auto generation files

r_mtr_motor_parameter.h : Configuration definition for motor parameters r_mtr_inverter_parameter.h : Configuration definition for inverter parameters r_mtr_control_parameter.h : Configuration definition for control parameters

openloop damping control

‘Renesas Motor Workbench’, please refer to the chapter 4.The identifier ‘ics/ICS (ICS is previous motor control development support tool ‘In Circuit Scope’) is attached to the name of folders, files, functions, variables related to ‘Renesas Motor Workbench’.

Figure 2-2 Folder and File Configuration

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

Application Layer (User Application)

main.c

User Interface Module

Main

r_mtr_ics.c

r_mtr_board.c

Middle Layer (Motor Control Process)

r_mtr_driver_access.c

Control Module (FOC, Feedback Loop Control)

r_mtr_interrupt_carrier.c

r_mtr_foc_control.c

r_mtr_foc_current.c

r_mtr_interrupt_1ms.c

r_mtr_foc_speed.c

Other Control Modules

Device Layer (MCU Register Access, Inverter Driver)

Inverter Module

r_mtr_ctrl_mrssk.c

r_mtr_interrupt.c

r_mtr_ctrl_rx24t/rx24u.c

H/W Layer (MCU Inverter)

Function Call

Set User Command to Buffer

Set Control Gain & Command

Set PWM duty

Get Voltage, Current & Angle/Speed

Interrupt Process Modules

Control Modules

Get A/D Converter Data

Output PWM Signal

2.3.2 Module Configuration

Module configuration of the software is described below.

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Figure 2-3 Module Configuration

RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

Item

Content

Control method

Vector control

Position detection method

Sensorless

Motor rotation start/stop

Determined depending on the level of SW1 (‘Low’: rotation start, ‘High’: stop) or input from Analyzer

Input voltage

DC 24 [V]

Carrier frequency (PWM)

20 [kHz]

Dead time

2 [μs]

Control period

Current control / Position and speed estimation: 100 [μs]

Speed control:1 [ms]

Interrupt occupancy

Less than 50 [%]

Rotation speed control

CW: 0 [rpm] to 2650 [rpm] CCW: 0 [rpm] to 2650 [rpm]

Natural frequency

Current control system: 300 [Hz]

Position estimation system: 50 [Hz]

Optimization setting

Optimization level

2(-optimize=2) (default setting)

Optimization method

Size priority(-size) (default setting)

ROM/RAM size

ROM: 15.0KB RAM: 4.4KB

Processing stop for

- Disables the motor control signal output (six outputs), under any of the

output ports are set to high impedance state.

2.4 Software Specifications

Table 2-4 shows basic software specification of this system. For details of the sensorless vector control, refer to the application note ‘Sensorless vector control for permanent magnet synchronous motor (Algorithm)’.

Table 2-4 Basic Specifications of Sensorless Vector Control Software

(twice the carrier period)

range

of each control system

of compiler

protection

Speed control system: 5 [Hz] BEMF estimation system: 1000 [Hz]

following conditions.

1. Current of each phase exceeds 0.89 [A] (monitored every 100 [μs])

2. Inverter bus voltage exceeds 28 [V] (monitored every 100 [μs])

3. Inverter bus voltage is less than 14 [V] (monitored every 100 [μs])

4. Rotation speed exceeds 3000 [rpm] (monitored every 100 [μs])

- When an external over-current signal is detected (when a falling edge of the POE0# port is detected) or when the output short circuit is detected, the PWM

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

Item

Conversion ratio (Reference: A/D conversion value)

Channel

0 rpm to 2700 rpm: 0800H to 0FFFH

CCW

0 rpm to 2700 rpm: 07FFH to 0000H

Item

Conversion ratio (Inverter bus voltage: A/D conversion value)

Channel

Inverter bus voltage

0 [V] to 111 [V]: 0000H to 0FFFH

AN204

Item

Conversion ratio (U, W phase current: A/D conversion value)

Channel

Iu: AN100 Iw: AN102

3. Descriptions of the Control Program

The target software of this application note is explained here.

3.1 Contents of Control

3.1.1 Motor Start/Stop

The start and stop of the motor are controlled by input from Analyzer function of ‘Renesas Motor Workbench’ or SW1 switch of RSSK board.

A general-purpose port is assigned to SW1. The port is read within the main loop. When the port is at a ‘Low’ level, the software determines that the motor should be started. Conversely, when the level is switched to ‘High’ level, the software determines that the motor should be stopped.

3.1.2 A/D Converter

(1) Motor Rotation Speed Reference

The motor rotation speed reference can be set by Analyzer input or A/D conversion of the VR1 output value (analog value). The A/D converted VR1 value is used as rotation speed command value, as shown below.

Table 3-1 Conversion Ratio of the Rotation Speed Reference

Rotation speed reference

(2) Inverter Bus Voltage

Inverter bus voltage is measured as given in Table 3-2.

It is used for modulation factor calculation and over-voltage detection (when an abnormality is detected, PWM is stopped).

(3) U, W Phase Current

The U and W phase currents are measured as shown in Table 3-3 and used for vector control.

U, W phase current -10 [A] to 10 [A]: 0000H to 0FFFH

Table 3-2 Inverter Bus Voltage Conversion Ratio

Table 3-3 Conversion Ratio of U and W Phase Current

(Note)

AN209

Note: For more details of A/D conversion characteristics, refer to ‘RX24T Group User’s Manual: Hardware’, ‘RX24U Group User’s Manual: Hardware’.

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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)

U V

ωt

Modulation wave

: command voltage

Carrier wave (triangular wave): PWM timer count

U phase switching

waveform

V phase switching

waveform

Voltage between U – V lines

(U phase waveform) ｰ

(V phase waveform)

3.1.3 Modulation

The target software of this application note uses pulse width modulation (hereinafter called PWM) to generate the input voltage to the motor. And the PWM waveform is generated by the triangular wave comparison method.

(1) Triangular Wave Comparison Method

The triangular wave comparison method is used to output the voltage command value. By this method, the pulse width of the output voltage can be determined by comparing the carrier waveform (triangular wave) and voltage command value waveform. The voltage command value of the pseudo sinusoidal wave can be output by turning the switch on or off when the voltage command value is larger or smaller than the carrier wave respectively.

Figure 3-1 Conceptual Diagram of the Triangular Wave Comparison Method

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+ 23 hidden pages

Renesas RX24T, RX24 APPLICATION NOTE

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Overview

1.1 Development Environment

2. System Overview

2.1 Hardware Configuration

2.2 Hardware Specifications

2.2.1 User Interface

2.2.2 Peripheral Functions

2.3 Software Configuration

2.3.1 Software File Configuration

2.3.2 Module Configuration

2.4 Software Specifications

3. Descriptions of the Control Program

3.1 Contents of Control

3.1.1 Motor Start/Stop

3.1.2 A/D Converter

3.1.3 Modulation