AM243x Motor Control SDK  11.00.00
Transformation Algorithm

Table of Contents

Introduction

The Transformation module consists of transformations commonly found in motor-control applications.

Features Supported

Transformation module includes:

  • Clarke transformation
  • Park transformation
  • Inverse Park transformation
  • Space Vector Generation (SVGEN)
    • Common-mode subtraction approach
  • DPWM Generation (Part of SVGEN)
    • Maximum Modulation
    • Minimum Modulation
  • SVGEN current reconstruction for single-shunt (SVGENCURRENT)
  • Phase voltage reconstruction in overmodulation (VOLTS_RECON)

Features Not Supported

N/A

Benchmark Results

A benchmark on Arm® Cortex®-R5F core has been conducted to observe the following results when running the following functions:

Transform Function CPU Cycles
Clarke Transform
CLARKE_run_twoInput 16
CLARKE_run_threeInput 18
Park Transform
PARK_run 19*
Inverse Park Transform
IPARK_run 19*
Space Vector Generation
SVGEN_runCom 41
DPWM Generation
SVGEN_runMax 36
SVGEN_runMin 36
Phase voltage reconstruction
VOLREC_calcVolSF 30
VOLREC_run 90
Note
both PARK and IPARK do not include trigonometric calculations of phasor. For Arm Cortex-R5F core, it's recommended to leverage the fast ti_arm_sincos/FastRTS_sincos function found in mathlib of MCU+ SDK.
  • Ran with TI Clang Compiler v3.2.0.LTS, with -Os flag and the benchmarking function placed in TCM memory. Obtained the average result from 600 consecutive loops of running transform functions with DPL CycleCountP, mimicking the usage of a control loop.
  • Actual result may vary depending on provided datasets and memory configuration. For Arm Cortex-R5F, it is recommended for users to map control loops to TCM for the best performance.

Provided Examples

The following examples have been provided to demonstrate transformation module:

API

APIs for Transformation Algorithms

Note
Arm is a registered trademark of Arm Limited (or its subsidiaries or affiliates) in the US and/or elsewhere.