Renesas RX72T APPLICATION NOTE

APPLICATION NOTE

R01AN4721EJ0100 Rev.1.00 Page 1 of 37 Mar 29. 2019

RX72T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

Abstract

This application note aims to explain the sample programs for a permanent magnet synchronous motor with encoder, by using functions of RX72T. 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 device.

- RX72T (R5F572TKCDFB)

Target Software

The target programs of this application note are as follows.

- RX72T_MRSSK_SPM_ENCD_FOC_CSP_RV100 (IDE: CS+)

- RX72T_MRSSK_SPM_ENCD_FOC_E2S_RV100 (IDE: e2studio)

Vector control with encoder software for ‘24V Motor Control Evaluation System for RX23T’ and ‘RX72T CPU Card’

Reference

- RX72T Group User’s Manual: Hardware (R01UH0803)

- Application note: ‘Vector control for permanent magnet synchronous motor with encoder (Algorithm)’ (R01AN3789)

- Renesas Motor Workbench V.1.00 User’s Manual (R21UZ0004)

- Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T User’s Manual (R20UT3697)

R01AN4721EJ0100

Rev.1.00

Mar 29. 2019

RX72T Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

R01AN4721EJ0100 Rev.1.00 Page 2 of 37 Mar 29. 2019

Contents

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

2. System overview ............................................................................................................................. 4

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

4. Motor Control Development Support Tool ‘Renesas Motor Workbench’ ................................ 29

RX72T Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

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1. Overview

Note that these sample programs use the algorithm described in the application note ‘Vector control for permanent magnet synchronous motor with encoder (Algorithm)’.

1.1 Development environment

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

Table 1-1 Hardware Development Environment

Microcontroller

Evaluation board

Motor

RX72T(R5F572TKCDFB)

24V inverter board & RX72T CPU Card

(Note 1)

FH6S20E-X81

(Note 2)

Table 1-2 Software Development Environment

Toolchain version

CC-RX V3.01.00

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

Notes:1. 24V inverter board & RX72T CPU Card are product of Renesas Electronics Corporation.

2. FH6S20E-X81 is a product of NIDEC SERVO CORPORATION. NIDEC SERVO (http://www.nidec-servo.com/)

RX72T Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

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2. System overview

Overview of this system is explained below.

2.1 Hardware configuration

The hardware configuration is shown below.

A/D converter input

Bus voltage

Rotation speed command

PWM output

Over current detection

Power supply circuit

Switch input

Motor rotation start/stop

Error reset

LED output

Over current detection input

Inverter circuit

Phase current

detection

Phase current

Encoder input

RX72T

GND

Input DC24V

VR1

SW1

SW2

LED1 LED2

vVw

P35

PA0

P63 / AN209

P43 / AN003

PC5

PC6

P71 / MTIOC3B / GTIOC4A(Up)

P72 / MTIOC4A / GTIOC5A(Vp)

P73 / MTIOC4B / GTIOC6A(Wp)

P74 / MTIOC3D / GTIOC4B(Un)

P75 / MTIOC4C / GTIOC5B(Vn)

P76 / MTIOC4D / GTIOC6B(Wn)

P70 / POE0#

PMSM

P40 / AN000

IU_AIN

P42 / AN002

IW_AIN

LED3

P34

PA7 / MTCLKA

PA6 / MTCLKB

Hall Input

P23 / IRQ11

P24 / IRQ4

P25 / IRQ10

U port

W port

V port

HU port

HW port

HV port

GND port

port

ENC_Z port

ENC_A port

ENC_B port

GND port

port

Figure 2-1 Hardware Configuration Diagram

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2.2 Hardware specifications

2.2.1 User interfaces

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

Table 2-1 User Interfaces

Item

Interface component

Function

Rotation position / speed

Variable resistor (VR1)

Reference value of rotation position / 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

LED3

Yellow green LED

- Complete of positioning: ON

- Uncomplete of positioning: OFF RESET

Push switch

System reset

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

Table 2-2 Port Interfaces

R5F572TKCDFB port name

Function

P63 / AN209

Inverter bus voltage measurement

P43 / AN003

For position / speed command value input (analog value)

P35

START/STOP toggle switch

PA0

ERROR RESET toggle switch

PC5

LED1 ON/OFF control

PC6

LED2 ON/OFF control

P34

LED3 ON/OFF control

P40 / AN000

U phase current measurement

P42 / AN002

W phase current measurement

P71 / MTIOC3B / GTIOC4A

PWM output (Up)

P72 / MTIOC4A / GTIOC5A

PWM output (Vp)

P73 / MTIOC4B / GTIOC6A

PWM output (Wp)

P74 / MTIOC3D / GTIOC4B

PWM output (Un)

P75 / MTIOC4C / GTIOC5B

PWM output (Vn)

P76 / MTIOC4D / GTIOC6B

PWM output (Wn)

P23 / IRQ11

Hall Phase-U signal input

P24 / IRQ4

Hall Phase-V signal input

P25 / IRQ10

Hall Phase-W signal input

PA7 / MTCLKA

Encoder Phase-A signal input

PA6 / MTCLKB

Encoder Phase-B signal input

P70 / POE0#

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

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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

12-bit A/D

CMT

MTU3 / GPTW

POE3B

- Rotation speed command value input

- Current of each phase U and W

measurement

- Inverter bus voltage measurement

500 [µs] interval timer

- Complementary PWM output

- Encoder phase counter

- Encoder count capture

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

(1) 12-bit A/D converter (S12ADH)

U phase current (Iu), W phase current (Iw), inverter bus voltage (Vdc) and rotation speed reference are measured by using the single scan mode (use hardware trigger). The sample-and-hold function is used for U phase current (Iu) and W phase current (Iw) measurement.

(2) Compare match timer (CMT)

The channel 0 of the compare match timer is used as 500 [µs] interval timer.

(3) Multi-function timer pulse unit 3 (MTU3d)

The operation mode varies depending on channels. On the channels 3 and 4, output (active level: high) with dead time is performed by using the complementary PWM mode.

The channel 1 of MTU3 operate in phase counting mode, the counter is incremented or decremented according to the phase difference between Phase-A and Phase-B signals from the encoder.

(4) General PWM Timer (GPTW)

The operation mode varies depending on channels. On the channels 4, 5 and 6, output (active level: high) with dead time is performed by using the PWM Output Operating mode.

The channel 3 operate in phase counting mode, the counter is incremented or decremented according to the phase difference between Phase-A and Phase-B signals from the encoder.

The channel 9 is used as free-run timer for speed measurement.

(5) Port output enable 3 (POE3B)

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

The setting of the PWM output timer is selected by the following macro definition.

Table 2-4 List of Macro Definitions ‘r_mtr_ctrl_rx72t.h’

File name

Macro name

Definition value

Remarks

r_mtr_ctrl_rx72t.h

MTR_GPT

0:MTU 1:GPT

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2.3 Software configuration

2.3.1 Software file configuration

Folder and file configuration of the sample programs are given below.

Figure 2-2 Folder and file configuration

middle

driver

user_interface

application

main

ics

board

interface

common

control

inverter

mcu

sensor

main.h, main.c: main function

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

note1

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

ICS2_RX72T.lib: Tool communication library

ICS2_RX72T.h: Function definition of tool communication

(Project Folder)

r_mtr_driver_access.h, r_mtr_driver_access.c: Function definition of user access

r_mtr_common.h: Common definition

r_mtr_filter.h, r_mtr_filter.c: Function definition of general purpose filter

r_mtr_fluxwkn.h, r_mtr_fluxwkn.objc : Function definition for flux weakening control

r_mtr_pi_control.h, r_mtr_pi_control.c: Function definition of PI controller r_mtr_transform.h, r_mtr_transform.c: Function definition of coordinate transformation r_mtr_volt_err_comp.h, r_mtr_volt_err_comp.obj: Function definition of voltage error

compensation

r_mtr_mod.h, r_mtr_mod.c: Function definition of modulation r_mtr_statemachine.h, r_mtr_statemachine.c: Function definition of state machine

r_mtr_parameter.h: Function definition of various parameter

r_mtr_ctrl_gain_calc.obj: Function definition of control gain calculation r_mtr_foc_action.c: Function definition of event action r_mtr_interrupt_carrier.c: Function definition of carrier interrupt r_mtr_interrupt_timer.c: Function definition of periodic interrupt r_mtr_interrupt_sensor.c: Function definition of sensor signal interrupt r_mtr_foc_control_encd_position.h, r_mtr_foc_control_encd_position.c

: Function definition of FOC control

r_mtr_foc_current.h, r_mtr_foc_current.c: Function definition of current control r_mtr_foc_speed.h, r_mtr_foc_speed.c: Function definition of speed control r_mtr_foc_position.h, r_mtr_foc_position.c: Function definition of position control r_mtr_position_profiling.h, r_mtr_position_profiling.c

Function definition of position profiling

r_mtr_speed_observer.h, r_mtr_speed_observer.obj:

Function definition of speed observer

r_mtr_ipd.h, r_mtr_ipd.obj: Function definition of IPD controller

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

r_mtr_ctrl_encoder.h, r_mtr_ctrl_encoder.c: Function definition of encoder

r_mtr_ctrl_hall.h, r_mtr_ctrl_hall.c: Function definition of hall

config

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

‘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’.

r_mtr_config.h: Common definition for software configuration

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

r_mtr_encoder_parameter.h: Configuration definition for encoder parameters

r_mtr_interrupt.c: Interrupt function definition

r_mtr_ctrl_rx72t.h, mtr_ctrl_rx72t.c: Function definition depends on MCU r_mtr_ctrl_mcu.h: Common definition depends on MCU auto_generation: Folder for auto generation files

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2.3.2 Module configuration

Module configuration of the sample programs is described below.

Figure 2-3 Module Configuration

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

Interface Module

Control Module (FOC, Feedback Loop Control)

r_mtr_interrupt_carrier.c

r_mtr_foc_control_encd_position.c

r_mtr_foc_current.c

r_mtr_interrupt_timer.

r_mtr_interrupt_sensor.c

r_mtr_foc_speed.c

r_mtr_foc_position.c

Other Control Modules

Device Layer (MCU Register Access, Inverter Driver, Sensor Driver)

r_mtr_ctrl_mrssk.c

r_mtr_ctrl_encoder.c

r_mtr_ctrl_hall.c

r_mtr_interrupt.c

r_mtr_ctrl_rx72t.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 & Sensor Signal

Output PWM Signal

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2.4 Software specifications

Table 2-5 shows basic software specification of this system. For details of the vector control, refer to the application note ‘Vector control of permanent magnet synchronous motor with encoder: algorithm’.

Table 2-5 Basic Specifications of Vector Control PMSM with Encoder Software

Item

Content

Control method

Vector control

Motor control start/stop

Determined depending on the level of SW1 (“Low”: control start “High”: stop) or input from Analyzer

Position detection of rotor magnetic pole

Incremental encoder (A-B Phase), Hall sensor (UVW Phase) Input voltage

DC 24 [V]

Carrier frequency (PWM)

20 [kHz] (carrier cycle: 50[µs])

Dead time

2 [μs]

Control cycle (Current loop)

50 [μs]

Control cycle (Speed and Position loop)

500 [µs]

Management of position command value

Board UI

Position command generation: Direct input of VR1 (input range)

-180°～180°

ICS UI

Position command generation: Position profile of trapezoidal curve for speed command value (input range)

- 32768°～32767° (Max speed) CW / CCW: 2000[rpm]

Management of speed command value

CW: 0 [rpm] to 2000rpm] CCW: 0 [rpm] to 2000rpm]

Accuracy of position

0.3° (Encoder pulse: 300[ppr] 4 for multiplying 1200[cpr])

Dead band of position

(Note)

Encoder count ±1 [cpr] (±0.3°)

Natural frequency of each control system

Current control system:300Hz Speed control system:30Hz Position control system:10Hz

Optimization setting for compiler

Optimization level

2 (-optimize=2) (default)

Optimization method

Size priority (default)

ROM/RAM size

ROM: 21.0KB RAM: 4.8KB

Processing stop for protection

Motor control signal outputs (six outputs) will be disabled, under any of the following conditions.

1. Current of each phase exceeds 3.28 [A] (monitored every 50 [μs])

2. Inverter bus voltage exceeds 28 [V] (monitored every 50 [μs])

3. Inverter bus voltage is less than 14 [V] (monitored every 50 [μs])

4. Rotation speed exceeds 3000 [rpm] (monitored every 50 [μs])

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

Note: Dead zone is provided to prevent hunting in positioning.

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3. Descriptions of the Control Program

The target sample programs of this application note are 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’, the program determines that the motor should be stopped.

3.1.2 A/D Converter

(1) Motor Rotation Position and Speed Command Value

The motor rotation position and speed command value 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 Position and Speed Command Value

Item

Conversion ratio (Command value: A/D conversion value)

Channel

Rotation position command value

0°～180°:0800H～0FFFH

AN003 CCW

0 °～-180°:07FFH～0000H

Rotation speed command value

0 [rpm]～2000[rpm]:0800H～0FFFH

CCW

0 [rpm]～2000[rpm]:07FFH～0000H

(2) Inverter Bus Voltage

Inverter bus voltage is measured as given in エラー! 参照元が見つかりません。. It is used for modulation factor calculation, under-voltage detection and over-voltage detection. (When an abnormality

is detected, PWM is stopped.)

Table 3-2 Inverter Bus Voltage Conversion Ratio

Item

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

Channel

Inverter bus voltage

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

AN209

(3) U, W Phase Current

The U and W phase currents are measured as shown in エラー! 参照元が見つかりません。 and used for vector control.

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

Item

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

Channel

U, W phase current

-10 [A] to 10 [A]: 0000H to 0FFFH

(Note 1)

Iu: AN000 Iw: AN002

Notes:1 For more details of A/D conversion characteristics, refer to RX72T Group User’s Manual: Hardware. .

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3.1.3 Position Profile Generation (Position Profile of Trapezoidal Curve for Speed Command Value)

In vector control software for PMSM with encoder, the position profile generation is used to create command value (input position value). The implementation of command value is each control cycle is used as method of managing acceleration and the maximum speed value with respect to target position value.

Figure 3-1 Position Profile Generation

Enter the following variables from the Analyzer to create a command value.

‐Position reference [degree] (com_s2_ref_position_deg) ‐Acceleration time (com_f4_accel_time) ‐Maximum speed command value (com_f4_accel_max_ref_speed_rad) ‐Position stabilization wait time (com_u2_ref_pos_interval_time)

u1_ref_pos_status

u1_ref_pos_mode

Time[s]

Speed

Position

Constant Speed

com_s2_max_speed_rpm

com_u2_ref_pos_interval_time

MTR_CTRL_TRIANGLE

MTR_CTRL_TRAPEZOIDAL

MTR_CTRL_TRIANGLE ：f4_accel_max_ref_speed_rad * f4_accel_time >= f4_dt_pos_rad

MTR_CTRL_TRAPEZOIDAL ：f4_accel_max_ref_speed_rad * f4_accel_time < f4_dt_pos_rad

com_s2_ref_position_deg

MTR_POSITION_STEADY_STATE

MTR_POSITION_TRANSITION_STATEE

MTR_POSITION_STEADY_STATE

MTR_POSITION_TRANSITION_STATE

com_s2_ref_position_deg

Reference Position

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3.1.4 Speed Measurement

In order to obtain better real-time performance and higher speed resolution at low speed, this system use encoder signal edge interval to calculate speed, the speed extrapolation is used in PI control calculation. In addition, taking the difference between rise time and fall time and the accuracy of quadrature of encoder signal into consideration, the speed is calculated with time elapsed and angle changed in one period of encoder Phase-A or Phase-B signals.

(1) Speed Calculation

2π/Pulses per Rotation

Timer Counter

Capture Capture

Counter Difference

Phase-A

Encoder Signal

Phase-B

Encoder Signal

2π/Pulses per Rotation

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Figure 3-2 Speed Calculation using Encoder

+ 27 hidden pages

Renesas RX72T 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 interfaces

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 Position Profile Generation (Position Profile of Trapezoidal Curve for Speed Command Value)

3.1.4 Speed Measurement