Motor Control Software Development Kit

The MotorControl SDK (MC SDK) is a cohesive set of software infrastructure, tools, and documentation designed to minimize C2000 real-time controller based motor control system development time targeted for various three-phase motor control applications. The software includes firmware that runs on C2000 motor control evaluation modules (EVMs) and TI designs (TIDs) which are targeted for industrial drives, robotics, appliances, and automotive applications. MotorControl SDK provides all the needed resources at every stage of development and evaluation for high performance motor control applications.

MC SDK has the latest sensored servo, sensorless InstaSPIN-FOC and sliding mode observer solutions, real-time connectivity examples, incremental and absolute encoders, and the Fast Current Loop (FCL) optimized software library.

The MC SDK is built on top of C2000Ware and is available for download from C2000WARE-MOTORCONTROL-SDK. The SDK is also available online via the TI Resource Explorer for C2000 MC SDK. For a list of supported devices, kits, and reference designs, see the latest MC SDK release notes.

_images/MCSDKStack.png

Fig. 6 Motor Control SDK

Features

  • Complete software repository for C2000 MCU Motor Control Applications

  • Sensorless solutions

    • Sensorless Torque or Velocity

    • Trapezoidal or Field Oriented Control

    • Enhanced sliding mode observer for open solution, best for high-speed applications

    • InstaSPIN-FOC

      • FAST™ software observer for premium rotor Flux, Angle, Speed, and Torque estimationsMotor Parameter Identification

      • Motor Parameter Identification

      • Observer and torque control loop automatic tuning

      • Premium performance for low-speed and highly dynamic applications

    • Reference designs may include the following examples

      • Send commands through CAN interface, potentiometer analog input, and frequency input

      • System protection

      • Flying start

      • Field Weakening

      • Stall detection and recovery

      • Start-up failure detection and recovery

      • Lost phase detection/protection

      • Motor stop with brake

      • Vibration and acoustic compensation

      • Initial Position Detection

      • Maximum Torque Per Amp (MTPA) for IPM motors

  • Sensored FOC solutions

    • Sensored Velocity or Position Field Oriented Control

    • Position feedback: Resolver, Incremental and Absolute Encoders

    • Current sense techniques: Low-side shunt, in-line current sampling, and sigma-delta filter demodulation

    • Fast Current Loop (FCL): Optimized software library that takes full advantage of hardware resources to accelerate the sampling, processing, and actuation of the system to achieve the highest control bandwidth for a given PWM frequency in servo control applications.

    • Real-time connectivity examples (EtherCAT, CAN, CAN-FD, FSI)

    • Decentralized / Distributed architecture examples

    • Use of Configurable Logic Block for absolute encoders, pulse train input/output, QEP decode, and dead-band compensation

Supported Solutions

Table 3 summarizes key kits supported in the Motor Control SDK. Please check the latest MC SDK release notes for an up to date list of solutions.

Table 3 Motor Control Solutions

EVM / TI Design

C2000™ SoC

Description

TIDM-2006

F2838x, F28004x, F28002x

Distributed multi-axis servo drive over fast serial interface (FSI) reference design

TIDM-2007

F2837x, F28004x

Dual-axis motor drive using fast current loop (FCL) and SFRA on a single MCU reference design

TIDM-2010

F280013x, F28002x, F28003x

Dual motor control with digital interleaved PFC for HVAC reference design

TIDM-2012

F28003x

High-voltage EV/HEV HVAC eCompressor motor control reference design

Universal Motor Control Lab

F280013x, F28002x, F28003x

Single project example for different Sensorless (FAST, eSMO, InstaSPIN-BLDC), Sensored (Incremental Encoder, Hall), and control techniques (FOC, Trapezoidal)

InstaSPIN-FOC Labs

F28004x

InstaSPIN-FOC labs for F28004x FAST ROM

Servo Drive with Fast Current Loop

F2838x, F2837x, F28004x, F28002x

Quick response control of PMSM using Fast Current Loop on the DesignDRIVE Development Kit

Position Encoders

F2838x, F2837x, F28004x, F28002x, F28003x

Implemented using Configuration Logic Block and / or other peripherals of C2000 devices T-format Master, PTO – QEP, PTO – PulseGen, PTO – QEP Div, PTO – Abs2QEP

Servo drive with CAN

F28002x, F28003x, F28004x

Sensored FOC motor drive using QEP with integrated CAN communication to control the motor