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Sensorless Vector Control with RL78G14
John Pocs, Applications Engineering Manager
Class ID: 7L02I
Renesas Electronics America Inc.
© 2012 Renesas Electronics America Inc. All rights reserved.
John Pocs
 Sr. Application Engineering Manager
 Application focus: motor control, PFC
 Support Renesas MCUs, Rx, V850, RL78
 20+ years embedded system development, application and
industrial experience
 16 yrs with Renesas Electronics/ NEC Electronics
– Hardware, firmware, development tools, applications
 8 yrs with Electronics Detection Systems
– Life safety, security systems and CCTV
 5 yrs with Anina (Romania) Power Generation Plant
– Power generator, plant automation, power inverters
 Knowledge in 8/16/32-bit MCUs
 MSEE – San Francisco State University
 Diploma Engineer in Industrial Electronics from Polytechnic
Institute Iasi - Romania
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© 2012 Renesas Electronics America Inc. All rights reserved.
Renesas Technology & Solution Portfolio
3
© 2012 Renesas Electronics America Inc. All rights reserved.
Microcontroller and Microprocessor Line-up
2010
2013
1200 DMIPS, Superscalar
32-bit
 Automotive & Industrial, 65nm
 600µA/MHz, 1.5µA standby
1200 DMIPS, Performance
 Automotive, 40nm
 500µA/MHz, 35µA deep standby
500 DMIPS, Low Power
 Automotive & Industrial, 90nm
 600µA/MHz, 1.5µA standby
165 DMIPS, FPU, DSC
 Industrial, 40nm
 242µA/MHz, 0.2µA standby
165 DMIPS, FPU, DSC
 Industrial, 90nm
 242µA/MHz, 0.2µA standby
8/16-bit
25 DMIPS, Low Power
 Industrial, 90nm
 1mA/MHz, 100µA standby
 Industrial & Automotive, 150nm
 190µA/MHz, 0.3µA standby
44 DMIPS, True Low Power
10 DMIPS, Capacitive Touch
 Industrial & Automotive, 130nm
 144µA/MHz, 0.2µA standby
 Industrial
Automotive, 130nm
Wide
Format&LCDs
 350µA/MHz, 1µA standby
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Embedded Security, ASSP
© 2012 Renesas Electronics America Inc. All rights reserved.
Enabling the Smart Society
 Energy efficiency is key to a Smart Society
Energy
harvesting
Home
Automation
Smart
Metering
Industrial
Motors
 Motor control is key to efficient energy management
5
© 2012 Renesas Electronics America Inc. All rights reserved.
Agenda
 Introduction to the Field Oriented Control (FOC) with
Sensorless Speed and Position Detection
 Challenges to implement SVC on 16-bit MCUs
 RL78G14 special features
 Implementation with RL78G14
 Introduction to the RL78G14 kit
 Lab procedure
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
Setup Sensorless Vector Control Demo

Sample motor currents and DC bus voltage

Drive motor in open loop

Understand sensorless position and speed estimation

Drive motor by closing the speed loop

Tune motor operation
© 2012 Renesas Electronics America Inc. All rights reserved.
Sensorless Vector Control Loop
Inverse
Park transform
Commanded
speed
 r*
r
r
Actual
speed
iq
*
Speed Regulator
id  0
*
id
iq
iq PI
Regulator
Uq
*
U
d,q
to
id PI
Regulator
Ud
, 
T 1 ( )
*

U
PWM1~6
*
, 
*
to
a, b, c
iq
Clarke transform
to
d,q
i
T ( )
r
a,b,c
to
i
, 

Speed Estimation
 Computation intensive operations
© 2012 Renesas Electronics America Inc. All rights reserved.
ia
, 
id
Voltage
Source
3-phase
Inverter
SIN
PWM
Motor Model
Based Flux and
Position Observer
Park transform
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DC Bus
Inverse
Clarke transform
ib
3-phase
PMSM
Examples of control equations
 Phase voltages: νa, νb, νc
– ia, ib, ic phase currents
– Rs
stator resistance
– λ
magnetic flux linkage
 Clark transformation
– 3-phase to 2-phase in stator frame
 Park transformation
– ω
– L
8
angular speed
mutual inductance
© 2012 Renesas Electronics America Inc. All rights reserved.
Challenges of 16-bit MCUs for Motor Control
 Most 16-bit MCUs are CISC architecture
 Good code density (smaller memory needed)
 Execution time may not be fast enough for real-time control
 Representation of quantities is range limited
 0 to 65536
unsigned
 -32768 to 32768
signed
 Without FPU scaling needs to be used
 Scaling limitation
 Multiply-Accumulate (MAC) operation:
a = a + (b * c)
 d=b*c
 a=a+d
 Can the 16-Bit MCUs do field oriented sensorless control?
 Yes with the right performance and peripherals!
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© 2012 Renesas Electronics America Inc. All rights reserved.
RL78G14: 16-bit MCU for Motor Control
 16-Bit CISC CPU Core




Memory
Program Flash
up to 64KB
SRAM
up to 5.5KB
Data Flash
up to 4KB
System
DTC
Interrupt Controller
4 Levels, 20 pins
Clock system
Analog
20MHz
External Clock
32.768KHz
Internal OCO
up to 64MHz
 Motor Control Support
Timers
External Clock
2 x Timer Array
16-bit, 4ch
ADC
10-bit, 12ch
Interval Timer
12-bit, 1ch
Internal Vref.
POR, LVD
Internal LOCO
15KHz
Window WDT
17-bit , 1ch
Temp. Sensor
MUL/DIV/MAC
Clock
Monitoring
RTC
Calendar
Communications
Debug
Single-Wire
Safety
Power Management
Parity Check/protection
HALT
RTC,DMA Enabled
ADC
Self-diagnostic
SNOOZE
Serial,ADC Enabled
SFR
protection
STOP
SRAM On
Memory
CRC
RAM
2 x I2C
Master / Slave
Motor Control
3ph MC Timer RD
16-bit with dead time
Encoder Timer RG
16-bit, 1ch
Timer RJ
16-bit , 1ch
ELC
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© 2012 Renesas Electronics America Inc. All rights reserved.
41 DMIPS @32MHz
3-stage pipelined Harvard architecture
MUL/DIV/MAC instructions
16-Bit Barrel Shifter
1 x I2C
Multi-Master
2 x CSI/SPI
7-, 8-bit
3 x UART
7-, 8-, 9-bit
1 x LIN
1ch
 16-Bit Motor Control Timers
–
64MHz / 1% Internal Clock
–
RD for 3-Phase PWM
–
RJ for interrupt culling
–
RG for quadrature encoder
 ADC trigger
 Event Link Controller (ELC)
 Data Transfer Controller (DTC)
 Hardware Safety
– Independent Watchdog
– Hardware shutdown
 Self-test
o
Flash ECC, RAM Parity, H/W CRC,
WDT, A/D, RAM/SFR write protect,
Clock monitor
High Performance Optimized Architecture

16-bit CPU core with pipelining

Efficient instruction execution – 86% in 1-2 cycles

Single cycle multiplication (HW math assist)

Data transfer controller (up to 24 channels)
HW math assist
16-bit barrel shifter
multiply signed & unsigned
multiply/accumulate signed & unsigned
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© 2012 Renesas Electronics America Inc. All rights reserved.
Operation
Clock
cycles
shift/rotate by n (n = 1-15)
1
16 x 16 = 32 Bit result
2
16 x 16 + 32 = 32 Bit result
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Motor Timer RD
Timer RD Registers
TRDGRA0
Waveform
Control
TRDIOC0
PERIOD
RD0
U
TRDGRD0
TRDGRB0
DUTY 1
/U
V
TRDGRC1
TRDGRA1
DUTY 2
/V
TRDIOB0
TRDIOD0
TRDIOA1
TRDIOC1
RD1
W
12
TRDGRD1
TRDGRB1
Buffer
Compare
© 2012 Renesas Electronics America Inc. All rights reserved.
DUTY 3
/W
TRDIOB1
TRDIOD1
Complementary PWM Operation
TRD0
Value in TRDGRA0
TRD1
Value in TRDGRB0
Value in TRDGRA1
Value in TRDGRB1
TRDIOB0 Output
TRDIOD0 Output
TRDIOA1 Output
TRDIOC1 Output
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U
/U
V
/V
TRDIOB1 Output
W
TRDIOD1 Output
/W
© 2012 Renesas Electronics America Inc. All rights reserved.
Event Link Controller (ELC)
 ELC links Inputs and Outputs of internal peripherals
 Performance benefits:
 Reduces CPU load, interrupts, program size and power consumption
 Improves real-time operation
CPU
External
analog input
voltage
Interrupt
Controller
External
analog input
voltage
Interrupt
Controller
Comparator
Comparator
Timer
ELC
Timer
A/D
Standard processing
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© 2012 Renesas Electronics America Inc. All rights reserved.
A/D
Processing with ELC
ELC: 3cyc
CPU
Using Interrupt: > 9-16 cyc
 Enables direct control of I/O ports and built in event timers
Data Transfer Controller (DTC)
 Data transfer between memory and registers without CPU use
 Reduced CPU overhead
Memory,
SFR
CPU
Memory,
SFR
CPU
DTC
DTC
DTC unused
DTC used
DTC Performance (G14 64-pin)
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Number of channels
24 ch
Address space for transfer
64 KB
Max. transmission time/ Block size
256 times / 512B
Transmission target
memory ⇔ memory
memory ⇔ SFR
Activation sources
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© 2012 Renesas Electronics America Inc. All rights reserved.
RL78/G14 Use for Motor Control
 Control loop cycle management
 PWM interrupt culling (skipping)
– Timer RD:
PWM frequency - 24KHz
– Timer RJ:
Event count mode
Count down from 2 to 0
– ELC :
– Control loop frequency set by Timer RJ underflow
interrupt @8KHz
Timer RD
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Interrupt
Controller
Timer RD
Input from Timer RD
Output to Timer RJ
Complementary
PWM
CPU
ELC
Timer RJ
Timer RJ
Event Link
Controller
TRD1
Underflow
Trigger
© 2012 Renesas Electronics America Inc. All rights reserved.
Event
Input
Trigger
Event
Counter
Software Flow – Main Loop
Main loop
synchronization
cnt_init==0?
Hardware and software Init
cnt_init=NUM_INT
Interrupt enabling
Main loop body
125us Interrupt
Speed ramp management
Communication management
10ms Main loop
General board management
Parameter modification management
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© 2012 Renesas Electronics America Inc. All rights reserved.
Software Flow – Control Interrupt
 Phase current reading
 Park and Clarke transformations
 iu, iv, iw  iα, iβ  id, iq
 DC bus voltage reading
 Rotor phase angle calculation
 Current PI processing
 (idref, iqref), (idmea, iqmea),  vdout, vqout
 Inverse Clarke and Park transformations
 vdout, vqout  vαout, vβout, vuout, vvout, vwout
 PWM duty update
 Rotor phase estimation: θest
 Speed estimation: ωest
 Speed PI processing or Start up
 Main loop synchronization
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© 2012 Renesas Electronics America Inc. All rights reserved.
Physical quantities represented as 16-bit signed integers
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 32-Bit:
-2147483648
to
+2147483648
 16-Bit:
-32768
to
+32768
 sin(), cos():
(-1 to +1) x 16384
-16384 to +16384
 Voltages (V):
(0 to 511.9) x 64
32768
 Currents (A):
(0 to 32) x 1024
32768
 Resistance (Ω):
(0 to 128) x 256
32768
 Inductance (Henry):
(0 to 2) x 16384
32768
 Magnetic flux (Weber):
(0 to 8) x 4096
32768
© 2012 Renesas Electronics America Inc. All rights reserved.
High Integration = Cost Reduction
 Reduce system BOM by eliminating external components
Voltage Regulator
(1.6V to 5.5V input)
EEPROM
IC
Dedicated flash memory for data
storage (Data Flash)
Supply
Regulator
IC
Voltage Monitoring
REG
Reset IC
DATA
FLASH
RL78
CPU
LVD
SRAM
POR
WDT
PERIPHERALS
Internal Reset
CODE
FLASH
OCO
Accurate Internal
Oscillators
Temp.
Sensor
PERIPHERALS
X1
Temp.
IC
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© 2012 Renesas Electronics America Inc. All rights reserved.
Temperature
Sensor
20mA port drive
(no need for external
transistors)
IEC60730 in HW
(Easier/quicker
certification)
Sensorless Vector Control Lab Agenda
21

Setup Sensorless Vector Control Demo

Sample motor currents and DC bus voltage

Drive motor in open loop

Understand sensorless position and speed estimation

Drive motor by closing the speed loop

Tune motor operation
© 2012 Renesas Electronics America Inc. All rights reserved.
Introduction to the RL78G14 Kit
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© 2012 Renesas Electronics America Inc. All rights reserved.
RL78G14 Kit
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© 2012 Renesas Electronics America Inc. All rights reserved.
RL78G14 Board
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© 2012 Renesas Electronics America Inc. All rights reserved.
Lab Overview
Lab Objectives
Lab Materials
1. Get familiar with the RL78G14
starter kit and drive the motor.
Please verify you have the
following materials at your lab
station.
2. Understand ADC sampling to
measure motor currents and DC
bus voltage.
3. Drive the motor in open loop.
4. Understand sensorless position and
speed estimation.
5. Drive motor by closing the speed
loop
6. Understand motor tuning
 RL78G14 Motor Control
Evaluation Kit with E1
emulator, two USB cables,
24V DC power supply,
control board and motor
 Laptop with the CD drive
Skill Level
1. Familiar with motor control
techniques
Time to Complete Lab
100 Minutes
25
© 2012 Renesas Electronics America Inc. All rights reserved.
2. Familiar with sensorless
vector control concepts
3. Familiar with IAR Embedded
Workbench
Enabling the Smart Society
 Energy efficiency is key to a Smart Society
Energy
harvesting
Home
Automation
Smart
Metering
Industrial
Motors
 Motor control is key to efficient energy management
26
© 2012 Renesas Electronics America Inc. All rights reserved.
Questions?
27
© 2012 Renesas Electronics America Inc. All rights reserved.
Start Lab
 Please refer to the lab handout
 Go ahead and start the lab
28
© 2012 Renesas Electronics America Inc. All rights reserved.
Summary
 Introduced FOC with sensorless speed and position detection
 Challenges to implement SVC on 16-bit MCUs
 RL78G14 special features
 Implementation with RL78G14
 Introduced the RL78G14 kit
 Lab procedure
29

Setup sensorless vector control demo

Sampled motor currents and DC bus voltage

Drove motor in open loop

Examined sensorless position and speed estimation

Drove motor by closing the speed loop

Tuned motor operation
© 2012 Renesas Electronics America Inc. All rights reserved.
Please Provide Your Feedback…
 Please utilize the ‘Guidebook’ application to leave feedback
or
 Ask me for the paper feedback form for you to use…
30
© 2012 Renesas Electronics America Inc. All rights reserved.
Renesas Electronics America Inc.
© 2012 Renesas Electronics America Inc. All rights reserved.