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TI C2000 28027F技术手册

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TI C2000 28027F技术手册

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TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Technical Reference Manual Literature Number: SPRUHP4 August 2013 Contents 1 TMS320F2802xF InstaSPIN™-FOC Enabled MCUs ................................................................... 4 2 FAST Estimator Features ..................................................................................................... 6 3 InstaSPIN™-FOC Solution Features ....................................................................................... 6 4 InstaSPIN-FOC Block Diagram .............................................................................................. 7 5 Comparing FAST Estimator to Typical Solutions .................................................................... 8 6 FAST Provides Sensorless FOC Performance ........................................................................ 9 6.1 FAST Estimator Replaces Mechanical Sensor ...................................................................... 9 6.2 Rotor Angle Accuracy Critical for Performance .................................................................... 11 6.3 Phase Currents Key to Estimator Accuracy ........................................................................ 11 7 Evaluating FAST and InstaSPIN-FOC Performance ................................................................ 12 8 Microcontroller Resources ................................................................................................. 12 8.1 Memory Allocation and Utilization ................................................................................... 15 8.2 Pin Utilization ........................................................................................................... 17 Appendix A Definition of Terms and Acronyms ............................................................................. 18 2 Table of Contents Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com 1 2 3 4 5 6 7 List of Figures FAST - Estimating Flux, Angle, Speed, Torque - Automatic Motor Identification .................................. 5 Block Diagram of InstaSPIN-FOC in User Memory, with Exception of FAST in ROM ............................ 7 Sensored FOC System ................................................................................................... 10 Inverter Using the 3-Shunt Current Sampling Technique ............................................................ 12 Software Execution Clock Tree Provides Flexibility with Real-Time Scheduling.................................. 13 28027 Memory Map....................................................................................................... 15 2802xF Allocated Memory for InstaSPIN-FOC Library ............................................................... 16 List of Tables 1 FAST Estimator Compared to Typical Solutions........................................................................ 8 2 CPU Cycles for MIN Implementation Executing from ROM, RAM, and FLASH .................................. 13 3 Table 3. CPU loading for MIN Implementation Executing from ROM, RAM, and FLASH ....................... 14 4 2802xF Allocated Memory for InstaSPIN-FOC Library ............................................................... 16 5 User Memory and Stack Sizes .......................................................................................... 16 6 Pin Utilization Per Motor.................................................................................................. 17 SPRUHP4 – August 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated List of Figures 3 Technical Reference Manual SPRUHP4 – August 2013 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 1 TMS320F2802xF InstaSPIN™-FOC Enabled MCUs TMS320F2802xF are the second family of devices (26F and 27F — 48-pin package) from Texas Instruments that include the FAST™ (Figure 1) estimator and additional motor control functions needed for cascaded speed and torque loops for efficient three-phase field-oriented motor control (FOC). Together — with F2802xF peripheral drivers in user code — they enable a sensorless (also known as selfsensing) InstaSPIN-FOC solution which can identify, tune the torque controller and efficiently control your motor in minutes, without the use of any mechanical rotor sensors. This entire package is called InstaSPIN-FOC. The FAST estimator is called from execute only ROM while the rest of the functions required for InstaSPIN-FOC reside in user memory (FLASH and RAM). InstaSPIN-FOC was designed for flexibility to accommodate a range of system software architectures and customization. The range of this flexibility is shown in Figure 2. This document is a supplement to all standard TMS320F2802x documentation, including the standard device data sheet [TMS320F2802x Piccolo Microcontrollers (literature number SPRS523)], technical reference manual, and user’s guides. An additional document included with the InstaSPIN-FOC documentation package is the TMS320F2806xF, TMS320F2802xF InstaSPIN-FOC/TMS320F2806xM InstaSPIN-MOTION User's Guide (literature number SPRUHJ1), which covers the scope and functionality of: • F2802xF devices • F2802xF ROM contents • FAST flux estimator • InstaSPIN-FOC system solutions. 4 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com TMS320F2802xF InstaSPIN™-FOC Enabled MCUs \a Flux a T Angle Za Speed aW Torque a Irated \a a T EST_run IH_in IJ_in Za &^d¡š]uš}Œ Flux, Angle, Speed, Torque aW Motor Parameters ID VH_in VJ_in Motor Phase Currents Motor Phase Voltages Vbus Bus Voltage ROM a Rs a Rr a Lsd a Lsq \a rated a Irated Enable PowerWarp¡ Enable Motor Identification Enable Rs Online Recalibration Enable Force Angle Startup Motor Type Figure 1. FAST - Estimating Flux, Angle, Speed, Torque - Automatic Motor Identification SPRUHP4 – August 2013 Submit Documentation Feedback TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 5 Copyright © 2013, Texas Instruments Incorporated FAST Estimator Features www.ti.com 2 FAST Estimator Features • Unified observer structure which exploits the similarities between all motors that use magnetic flux for energy transduction – Both synchronous (BLDC, SPM, IPM), and asynchronous (ACIM) control are possible – Salient compensation for Interior Permanent Magnet motors: observer tracks rotor flux and angle correctly when Ls-d and Ls-q are provided • Unique, high quality motor feedback signals for use in control systems – High-quality Flux signal for stable flux monitoring and field weakening – Superior rotor flux Angle estimation accuracy over wider speed range compared to traditional observer techniques independent of all rotor parameters for ACIM – Real-time low-noise motor shaft Speed signal – Accurate high bandwidth Torque signal for load monitoring and imbalance detection • Angle estimator converges within first cycle of the applied waveform, regardless of speed • Stable operation in all power quadrants, including generator quadrants • Accurate angle estimation at steady state speeds below 1 Hz (typ) with full torque • Angle integrity maintained even during slow speed reversals through zero speed • Angle integrity maintained during stall conditions, enabling smooth stall recovery • Motor Identification measures required electrical motor parameters of unloaded motor in under 2 minutes (typ) • "On-the-fly" stator resistance recalibration (online Rs) tracks stator resistance changes in real time, resulting in robust operation over temperature. This feature can also be used as a temperature sensor of the motor's windings (basepoint calibration required) • Superior transient response of rotor flux angle tracking compared to traditional observers • PowerWarp™ adaptively reduces current consumption to minimize the combined (rotor and stator) copper losses to the lowest, without compromising ACIM output power levels 3 InstaSPIN™-FOC Solution Features • Includes the Flux Angle Speed Torque (FAST) estimator, used to measure rotor flux (both magnitude and angle) in a sensorless field-oriented control (FOC) system • Automatic torque (current) loop tuning, with option for user adjustments • Automatic speed loop tuning provides stable operation for most applications. (Better transient response can be obtained by optimizing parameters for a particular application) • Automatic or manual field weakening and field boosting • Bus Voltage compensation • Automatic offset calibration insures quality samples of feedback signals 6 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com 4 InstaSPIN-FOC Block Diagram Torque Mode User_SpdRef User_IqRef User_IdRef Traj Ramp Zref Za Speed PI Spdout + + Iq_ref Iq Iq PI Id_ref Id Id PI InstaSPIN-FOC Block Diagram Vq INV Vd PARK a T VH_out VJ_out Id Iq PARK CTRL_run CTRL_setup Ta SVM Tb Tc DRV_run PWM Driver FLASH/RAM \a Flux a T Angle Za Speed aW Torque a Irated \a a a T EST_run T IH_in IJ_in Za &^d¡š]uš}Œ Flux, Angle, Speed, Torque aW Motor Parameters ID VH_in VJ_in Vbus FLASH/RAM Ia CLARKE Ib Ic Va CLARKE Vb Vc DRV_acqAdcInt DRV_readAdcData ADC Driver ROM FLASH/RAM a Rs Rar a Lsd aLsq \a rated a Irated Enable PowerWarp¡ Enable Motor Identification Enable Rs Online Recalibration Enable Force Angle Startup Motor Type Figure 2. Block Diagram of InstaSPIN-FOC in User Memory, with Exception of FAST in ROM SPRUHP4 – August 2013 Submit Documentation Feedback TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 7 Copyright © 2013, Texas Instruments Incorporated Comparing FAST Estimator to Typical Solutions www.ti.com 5 Comparing FAST Estimator to Typical Solutions Table 1 shows a comparison of the FAST estimator and InstaSPIN-FOC solution to typical software sensors and FOC solutions. Table 1. FAST Estimator Compared to Typical Solutions Topic Typical Software Sensors and FOC Solutions Fast Estimator and InstaSPIN-FOC Solution Electrical Motor Parameters Motor-model based observers heavily dependent on motor parameters. Relies on fewer motor parameters. Off-line parameter identification of motor – no data sheet required. On-line parameter monitoring and re-estimation of stator resistance. Estimator Tuning Complex observer tuning, done multiple times for speed/loads, for each motor. No estimator tuning required. Once motor parameters are identified, it works the same way every time, across speed/torque dynamics. Estimator Accuracy Angle-tracking performance is typically only good at over 5-10Hz with challenges at higher speeds and compensation for field weakening. Dynamic performance influenced by hand tuning of observer; Motor stalls typically crash observer. FAST provides reliable angle tracking which converges within one electrical cycle of the applied waveform, and can track at less than 1 Hz frequency (dependent on quality and resolution of analog sensing). Angle tracking exhibits excellent transient response (even with sudden load transients which can stall the motor, thus enabling a controlled restart with full torque). Start-up Difficult or impossible to start from zero speed. Observer feedback at zero speed is not stable, resulting in poor rotor angle accuracy and speed feedback. InstaSPIN-FOC includes: • Zero Speed start with forced-angle • 100% torque at start-up • FAST rotor flux angle tracking converges within one electrical cycle. FAST is completely stable through zero speed, providing accurate speed and angle estimation. Current Loop Tuning FOC current control is challenging – especially Automatically sets the initial tuning of current for novices. controllers based on the parameters identified. User may update gains or use own controllers, if desired. The algorithm to fully tune the observer and torque controller takes less than 2 minutes. Feedback Signals System offsets and drifts are not managed. FAST includes automatic hardware/software calibration and offset compensation. FAST requires 2-phase currents (3 for 100% and over-modulation), 3-phase voltages to support full dynamic performance, DCbus voltage for ripple compensation in current controllers. FAST includes an on-line stator resistance tracking algorithm. Motor Types Multiple techniques for multiple motors: standard back-EMF, Sliding Mode, Saliency tracking, induction flux estimators, or "mixed mode" observers. FAST works with all 3-phase motor types, synchronous and asynchronous, regardless of load dynamics. Supports salient IPM motors with different Ls-d and Ls-q. Includes PowerWarp™ for induction motors = energy savings. Field-Weakening Field-weakening region challenging for observers - as the Back-EMF signals grow too large, tracking and stability effected. FAST estimator allows easy field weakening or field boosting applications due to the stability of the flux estimation in a wide range, including field weakening region. Motor Temperature Angle tracking degrades with stator temperature changes. Angle estimation accuracy is improved from online stator resistance recalibration. Speed Estimation Poor speed estimation causes efficiency losses in the High quality low noise Speed estimator, includes slip FOC system and less stable dynamic operation. calculation for induction motors. Torque Estimation Torque and vibration sensors typically required. High bandwidth motor Torque estimator. 8 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com 6 FAST Provides Sensorless FOC Performance FAST Provides Sensorless FOC Performance 6.1 FAST Estimator Replaces Mechanical Sensor Field-oriented control (FOC) of an electric motor results in superior torque control, lower torque ripple, and in many cases, improved efficiency compared to traditional AC control techniques. For best dynamic response, rotor flux referenced control algorithms are preferred to stator flux referenced techniques. To function correctly, these systems need to know the spacial angle of the rotor flux with respect to a fixed point on the stator frame (typically the magnetic axis of the phase A stator coil). This has traditionally been accomplished by a mechanical sensor (for example, encoder or resolver) mounted to the shaft of the motor. These sensors provide excellent angle feedback, but inflict a heavy toll on the system design. There are six major system impacts resulting from sensored angle feedback, as discussed below and illustrated in Figure 3: 1. The sensor itself is very expensive (often over $2500 for a good resolver and several dollars for high volume integrated encoders). 2. The installation of the sensor requires skilled assembly, which increases labor costs. 3. The sensor often requires separate power supplies, which increases system costs and reduces reliability. 4. The sensor is the most delicate component of the system, which impacts system reliability, especially in harsh real-world applications. 5. The sensor feedback signals are brought back to the controller board via connectors, which also increases system costs and can significantly reduce reliability, depending on the type of connector. 6. The cabling required to bring the sensor signals back to the controller creates multiple challenges for the system designer: • Additional costs for the cable, especially if there is a substantial distance between the motor and controller. • Susceptibility to sources of noise, which requires adding expense to the cable with special shielding or twisted pairs. • The sensor and associated cabling must be earth grounded for safety reasons. This often adds additional cost to isolate these signals, especially if the processor which processes the sensor signals is not earth grounded. In some applications where the motor is enclosed (for example, compressors), a sensored solution is impractical due to the cost of getting the feedback wires through the casing. For these reasons, designers of FOC systems are highly motivated to eliminate the sensor altogether, and obtain the rotor flux angle information by processing signals which are already available on the controller circuit board. For synchronous machines, most techniques involve executing software models of the motor being controlled to estimate the back-EMF waveforms (rotor flux), and then processing these sensed waveforms to extract an estimation of the rotor shaft angle, and a derivation of its speed. For asynchronous machines the process is a bit more complicated, as this software model (observer) must also account for the slip which exists between the rotor and rotor flux. However, in both cases, performance suffers at lower speeds due to the amplitude of the back-EMF waveforms being directly proportional to the speed of the motor (assuming no flux weakening). As the back-EMF amplitude sinks into the noise floor, or if the ADC resolution cannot faithfully reproduce the small back-EMF signal, the angle estimation falls apart, and the motor drive performance suffers. To solve the low-speed challenge, techniques have been created that rely on high frequency injection to measure the magnetic irregularities as a function of angle (that is, magnetic saliency) to allow accurate angle reconstruction down to zero speed. However, this introduces another set of control problems. First, the saliency signal is non-existent for asynchronous motors and very small for most synchronous machines (especially those with surface mount rotor magnets). For the motors that do exhibit a strong saliency signal (for example, IPM motors), the signal often shifts with respect to the rotor angle as a function of loading, which must be compensated. Finally, this angle measurement technique only works at lower speeds where the fundamental motor frequency does not interfere with the interrogation frequency. The control system has to create a mixed-control strategy, using high-frequency injection tracking at low speed, then move into Back-EMF based observers at nominal and high speeds. SPRUHP4 – August 2013 Submit Documentation Feedback TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 9 Copyright © 2013, Texas Instruments Incorporated FAST Provides Sensorless FOC Performance www.ti.com With any technique, the process of producing a stable software sensor is also extremely challenging, as this motor model (observer) is essentially its own control system that needs to be tuned per motor across the range of use. This tuning must be done with a stable forward control loop. Needed is a stable torque (and usually speed) loop to tune the observer, but how do you pre-tune your forward control without a functioning observer? One option is to use a mechanical sensor for feedback to create stable current and speed loops, and then tune your software sensor in parallel to the mechanical sensor. However, the use of a mechanical sensor is often not practical. This problem has delayed market use of software sensors for sensorless FOC control. Sensor Issues Texas Instruments Dave ¶ s Motor Control Center + V sensor - V sensor Sensor Power Supplies Sensor Connector Sensor Cabling Noise Susceptibility Figure 3. Sensored FOC System In summary, these existing solutions all suffer from various maladies including: • Poor low-speed performance (back-EMF and SMO) • Poor high-speed performance (saliency observers) • Poor dynamic response • Calculation intensive (multi-modal observers) • Parameter sensitivity • Requirement for observer tuning. The most recent innovation in the evolution of sensorless control is InstaSPIN-FOC. Available as a Ccallable library embedded in on-chip ROM on several TI processors, InstaSPIN-FOC was created to solve all of these challenges, and more. It reduces system cost and development time, while improving performance of three-phase variable speed motor systems. This is achieved primarily through the replacement of mechanical sensors with the proprietary FAST estimator. FAST is an estimator that: • Works efficiently with all three phase motors, taking into account the differences between synchronous/asynchronous, salient/non-salient, and permanent/non-permanent/induced magnets. • Dramatically improves performance and stability across the entire operating frequency and load range for a variety of applications. • Removes the manual tuning challenge of traditional FOC systems: – Qbservers and estimators, completely removes required tuning. – Current loop regulators, dramatically reduces required tuning. 10 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com FAST Provides Sensorless FOC Performance • Eliminates or reduces motor parameter variation effects. • Automatically designs a stable and functional control system for most motors in under two minutes. 6.2 Rotor Angle Accuracy Critical for Performance Why has the need for a precise estimation of the rotor flux angle driven many to use mechanical sensors? For efficient control of three-phase motors, the objective is to create a rotating flux vector on the stator aligned to an ideal orientation with respect to the rotor in such a way that the rotor field follows the stator field while creating necessary torque and using the minimum amount of current. • Stator: stationary portion of the motor connected to the microprocessor-controlled inverter. • Ideal Orientation: 90 degrees for non-salient synchronous; slightly more for salient machines, and slightly less in asynchronous machines since part of the current vector is also used to produce rotor flux. • Rotor: rotating portion of the motor, produces torque on the shaft to do work. To achieve this, you need to extract the following information from the motor: • Current being consumed by each phase. • Precise relative angle of the rotor flux magnetic field (usually within ± 3 electrical degrees), so you can orient your stator field correctly. • For speed loops, you also need to know rotor speed. 6.3 Phase Currents Key to Estimator Accuracy Resistor shunt current measurement is a very reasonable technique for measuring phase current in a motor control inverter. There are three widely used examples, the 1-, 2-, and 3-shunt resistor measurements. While at first the 1- and 2-shunt techniques seem to reduce cost, they require much faster and more expensive amplifier circuits. These 1- and 2-shunt current measurements also limit the capability of the current feedback which will limit the ability of the drive to use the full voltage that is provided to the inverter. The 3-shunt technique is superior and not much different in cost due to the advantage of using cheap slow current amplifier circuits. For best performance and cost with the FAST and InstaSPIN-FOC, the 3-shunt technique is recommended. For more details, see the TMS320F2806xF, TMS320F2802xF InstaSPIN-FOC/TMS320F2806xM InstaSPIN-MOTION User's Guide (literature number SPRUHJ1). SPRUHP4 – August 2013 Submit Documentation Feedback TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 11 Copyright © 2013, Texas Instruments Incorporated Evaluating FAST and InstaSPIN-FOC Performance VDC + - A1 A A2 B1 B B2 C1 C C2 R1shunt R2shunt R3shunt www.ti.com A1 B1 C1 Sample Here C phase current window is too small. Sample phases A and B. Sample Here A1 B phase current window is too small. Sample phases A and C. B1 Sample C1 Here A1 A phase current window is too small. Sample phases B and C. B1 C1 Figure 4. Inverter Using the 3-Shunt Current Sampling Technique 7 Evaluating FAST and InstaSPIN-FOC Performance FAST and InstaSPIN-FOC performance data is being collected and will be provided in a future revision of this document. 8 Microcontroller Resources The F2802xF microcontroller resources required by the InstaSPIN libraries are discussed in detail in the TMS320F2806xF, TMS320F2802xF InstaSPIN-FOC/TMS320F2806xM InstaSPIN-MOTION User's Guide (literature number SPRUHJ1). Specifically for the library implementation and where the code is loaded and executed from, the following resources categories are discussed in this document: • CPU Utilization • Memory Allocation • Stack Utilization • Digital and Analog Pins Utilization 12 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com Microcontroller Resources InstaSPIN-FOC provides flexibility throughout its design, including its software execution clock tree. Figure 5 illustrates the options available to the designer to manage the real-time scheduling of each of the major software functions. Balancing motor performance with CPU loading is not difficult, shortening system integration time. SYSCLKOUT Clock TBCLK Prescale TBPRD PWMFREQ /ETPS EPWMxSOCA ADC ISR /ISRvsCTRL CTRL /CTRLvsEST EST Hardware Decimation /CTRLvsCURRENT CURRENT /CTRLvsSPEED SPEED /CTRLvsTRAJ TRAJ Software Decimation Figure 5. Software Execution Clock Tree Provides Flexibility with Real-Time Scheduling Executing from a combination of single-cycle memory (RAM and ROM) and also from FLASH, total execution time for the minimum full implementation of InstaSPIN-FOC depends on the software execution clock tree. Table 2 shows the CPU cycles used when a minimum full implementation of InstaSPIN is done, as well as users' code is loaded to FLASH. Note the impact of the software execution tree to total execution time. Table 3 shows the CPU loading and available MIPs for other system functions. Table 2. CPU Cycles for MIN Implementation Executing from ROM, RAM, and FLASH Function Name DRV_acqAdcInt DRV_readAdcData CPU Cycles Min Average Max 17 17 17 94 94 94 Executed From ROM RAM FLASH × ✓ × × ✓ × SPRUHP4 – August 2013 Submit Documentation Feedback TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 13 Copyright © 2013, Texas Instruments Incorporated Microcontroller Resources www.ti.com Table 2. CPU Cycles for MIN Implementation Executing from ROM, RAM, and FLASH (continued) Function Name Ctrl_run Rs Online Disabled, ISR vs CTRL = 1, CTRL vs EST = 1 CTRL vs EST = 2 CTRL vs EST = 3 ISR vs CTRL = 2, CTRL vs EST = 1 CTRL vs EST = 2 CTRL vs EST = 3 ISR vs CTRL = 3, CTRL vs EST = 1 CTRL vs EST = 2 CTRL vs EST = 3 Rs Online Enabled, ISR vs CTRL = 1, CTRL vs EST = 1 CTRL vs EST = 2 CTRL vs EST = 3 ISR vs CTRL = 2, CTRL vs EST = 1 CTRL vs EST = 2 CTRL vs EST = 3 ISR vs CTRL = 3, CTRL vs EST = 1 CTRL vs EST = 2 CTRL vs EST = 3 DRV_writePwmData CTRL_setup Min 2320 1131 1154 51 51 51 51 51 51 2766 1129 1129 51 51 51 51 51 51 110 26 CPU Cycles Average 2331 1735 1536 1191 893 793 811 612 544 2781 1969 1692 1424 1010 871 966 689 596 110 36 Max 2413 2413 2413 2413 2413 2413 2413 2413 2413 2882 2882 2882 2882 2882 2882 2882 2882 2882 110 188 Executed From ROM RAM FLASH ✓ ✓ ✓ × ✓ × × ✓ ✓ Table 3. Table 3. CPU loading for MIN Implementation Executing from ROM, RAM, and FLASH 2802xF CPU = 60 MHz Available MIPs = 60 MIPs PWM = 15 kHz CPU Utilization [%] Rs Online Disabled, ISR vs CTRL = 1, CTRL vs EST = 1 64.7 CTRL vs EST = 2 49.8 CTRL vs EST = 3 44.83 ISR vs CTRL = 2, CTRL vs EST = 1 36.2 CTRL vs EST = 2 28.75 CTRL vs EST = 3 26.25 ISR vs CTRL = 3, CTRL vs EST = 1 26.7 CTRL vs EST = 2 21.73 CTRL vs EST = 3 20.03 Rs Online Enabled, ISR vs CTRL = 1, CTRL vs EST = 1 CTRL vs EST = 2 75.95 55.65 CTRL vs EST = 3 48.73 ISR vs CTRL = 2, CTRL vs EST = 1 42.03 CTRL vs EST = 2 31.68 CTRL vs EST = 3 28.2 ISR vs CTRL = 3, CTRL vs EST = 1 30.58 CTRL vs EST = 2 23.65 CTRL vs EST = 3 21.33 MIPs Used [MIPS] 38.82 29.88 26.9 21.72 17.25 15.75 16.02 13.04 12.02 45.57 33.39 29.24 25.22 19.01 16.92 18.35 14.19 12.8 MIPS Available [MIPS] 21.18 30.12 33.11 38.28 42.75 44.25 43.98 46.97 47.99 14.43 26.61 30.77 34.79 41 43.08 41.66 45.81 47.21 14 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com Microcontroller Resources 8.1 Memory Allocation and Utilization Figure 6, Figure 7, and Table 4 show the memory map of the 28027, the location in ROM where the InstaSPIN-FOC library is located, and the required allocation of M1 RAM for the library to use. For a general memory map of these devices, see the device-specific data sheet. 0x00 0000 0x00 0040 0x00 0400 0x00 0800 0x00 0D00 0x00 0E00 0x00 2000 0x00 6000 0x00 7000 Data Space Prog Space M0 Vector RAM (Enabled if VMAP = 0) M0 SARAM (1K x 16, 0-Wait) M1 SARAM (1K x 16, 0-Wait) Peripheral Frame 0 PIE Vector - RAM (256 x 16) (Enabled if VMAP = 1, ENPIE = 1) Reserved Peripheral Frame 0 Reserved Peripheral Frame 1 (4K x 16, Protected) Peripheral Frame 2 (4K x 16, Protected) Reserved 0x00 8000 0x00 9000 0x3D 7800 0x3D 7C00 0x3D 7C80 0x3D 7CC0 0x3D 7CE0 0x3D 7E80 0x3D 7EB0 0x3D 7FFF 0x3D 8000 0x3F 0000 0x3F 7FF8 0x3F 8000 0x3F 9000 0x3F E000 0x3F FFC0 L0 SARAM (4K x 16) (0-Wait, Secure Zone + ECSL, Dual Mapped) Reserved User OTP (1K x 16, Secure Zone + ECSL) Reserved Calibration Data Get_mode function Reserved Calibration Data Reserved PARTID Reserved FLASH (32K x 16, 4 Sectors, Secure Zone + ECSL) 128-Bit Password L0 SARAM (4K x 16) (0-Wait, Secure Zone + ECSL, Dual Mapped) Reserved Boot ROM (8K x 16, 0-Wait) Vector (32 Vectors, Enabled if VMAP = 1) Figure 6. 28027 Memory Map SPRUHP4 – August 2013 Submit Documentation Feedback TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 15 Copyright © 2013, Texas Instruments Incorporated Microcontroller Resources Table 4. 2802xF Allocated Memory for InstaSPIN-FOC Library Features Maximum Number of Motors that can be controlled FAST Version ROM Library [size, hex, words] ROM Library Start [address, hex] Library Required RAM [size, hex, words] Library Start RAM [address, hex] 2802xF 1 1.7 2000 3F C000 200 600 www.ti.com Figure 7 highlights the pieces of ROM EXE-only memory used by the libraries. EXE-only is execute only memory where read access is not possible. 0x000000 See Datasheet 0x000600 0x000800 FAST Variables Last Part of M1 RAM See Datasheet 0x3FC000 0x3FE000 FAST Libraries Execute Only ROM See Datasheet 0x3FFFFF Figure 7. 2802xF Allocated Memory for InstaSPIN-FOC Library Table 5 summarizes the memory used for the configurations shown in Figure 2 (Min implementation), with user memory in FLASH. Table 5. User Memory and Stack Sizes Code Configurations Memory Sizes (16bit Words) ROM Code Min Implementation User Code FLASH RAM 0x06B2 Flash 0x2DD8 Total 0x348A Maximum Stack Used (16bit Words) 0x0120 16 TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback www.ti.com Microcontroller Resources 8.2 Pin Utilization Flexibility in the design of InstaSPIN-FOC allows for multiple motors to be supported. Table 6 lists the minimum and maximum pins used per motor. Note that a F2802xF microcontroller provides (8) ePWM outputs with the 48-pin package. Pin Type Digital Analog Table 6. Pin Utilization Per Motor Pin Name PWM1A PWM1B (Optional) PWM2A PWM2B (Optional) PWM3A PWM3B (Optional) Trip Zone (Optional) IA IB IC (Optional) VA VB VC VBUS (Optional) Pins Usage Per Motor Min Max 3 7 (Requires External Fault and External Complementary Mode with Dead Time) 5 7 (Only two currents and no VBUS ripple compensation) SPRUHP4 – August 2013 Submit Documentation Feedback TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software 17 Copyright © 2013, Texas Instruments Incorporated Appendix A Definition of Terms and Acronyms www.ti.com ACIM — Alternating current induction motor. CCStudio — Code Composer Studio. FAST — Unified observer structure which exploits the similarities between all motors that use magnetic flux for energy transduction, automatically identifying required motor parameters and providing the following motor feedback signals: • High-quality Flux signal for stable flux monitoring and field weakening. • Superior rotor flux Angle estimation accuracy over wider speed range compared to traditional observer techniques independent of all rotor parameters for ACIM. • Real-time low-noise motor shaft Speed signal. • Accurate high bandwidth Torque signal for load monitoring and imbalance detection. FOC — Field-oriented control. Forced-Angle — Used for 100% torque at start-up until the FAST rotor flux angle tracker converges within first electrical cycle. InstaSPIN-FOC — Complete sensorless FOC solution provided by TI on-chip in ROM on select devices (FAST observer, FOC, speed and current loops), efficiently controlling your motor without the use of any mechanical rotor sensors. IPM — Interior permanent magnet motor. Motor Parameters ID or Motor Identification — A feature added to InstaSPIN-FOC, providing a tool to the user so that there is no barrier between running a motor to its highest performance even though the motor parameters are unknown. PI — Proportional-integral regulator. PMSM — Permanent magnet synchronous motor. PowerWarp™ — Mode of operation used for AC induction motors (ACIM) that allows minimum current consumption. Rs-Offline Recalibration — InstaSPIN-FOC feature that is used to recalibrate the stator resistance, Rs, when the motor is not running. Rs-Online Recalibration — InstaSPIN-FOC feature that is used to recalibrate the stator resistance, Rs, while the motor is running in closed loop. SVM — Space-vector modulation. 18 Definition of Terms and Acronyms Copyright © 2013, Texas Instruments Incorporated SPRUHP4 – August 2013 Submit Documentation Feedback IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, enhancements, improvements and other changes to its semiconductor products and services per JESD46, latest issue, and to discontinue any product or service per JESD48, latest issue. Buyers should obtain the latest relevant information before placing orders and should verify that such information is current and complete. All semiconductor products (also referred to herein as “components”) are sold subject to TI’s terms and conditions of sale supplied at the time of order acknowledgment. TI warrants performance of its components to the specifications applicable at the time of sale, in accordance with the warranty in TI’s terms and conditions of sale of semiconductor products. Testing and other quality control techniques are used to the extent TI deems necessary to support this warranty. Except where mandated by applicable law, testing of all parameters of each component is not necessarily performed. TI assumes no liability for applications assistance or the design of Buyers’ products. Buyers are responsible for their products and applications using TI components. To minimize the risks associated with Buyers’ products and applications, Buyers should provide adequate design and operating safeguards. TI does not warrant or represent that any license, either express or implied, is granted under any patent right, copyright, mask work right, or other intellectual property right relating to any combination, machine, or process in which TI components or services are used. Information published by TI regarding third-party products or services does not constitute a license to use such products or services or a warranty or endorsement thereof. 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With such components, TI’s goal is to help enable customers to design and create their own end-product solutions that meet applicable functional safety standards and requirements. Nonetheless, such components are subject to these terms. No TI components are authorized for use in FDA Class III (or similar life-critical medical equipment) unless authorized officers of the parties have executed a special agreement specifically governing such use. Only those TI components which TI has specifically designated as military grade or “enhanced plastic” are designed and intended for use in military/aerospace applications or environments. Buyer acknowledges and agrees that any military or aerospace use of TI components which have not been so designated is solely at the Buyer's risk, and that Buyer is solely responsible for compliance with all legal and regulatory requirements in connection with such use. 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Products Applications Audio www.ti.com/audio Automotive and Transportation www.ti.com/automotive Amplifiers amplifier.ti.com Communications and Telecom www.ti.com/communications Data Converters dataconverter.ti.com Computers and Peripherals www.ti.com/computers DLP® Products www.dlp.com Consumer Electronics www.ti.com/consumer-apps DSP dsp.ti.com Energy and Lighting www.ti.com/energy Clocks and Timers www.ti.com/clocks Industrial www.ti.com/industrial Interface interface.ti.com Medical www.ti.com/medical Logic logic.ti.com Security www.ti.com/security Power Mgmt power.ti.com Space, Avionics and Defense www.ti.com/space-avionics-defense Microcontrollers microcontroller.ti.com Video and Imaging www.ti.com/video RFID www.ti-rfid.com OMAP Applications Processors www.ti.com/omap TI E2E Community e2e.ti.com Wireless Connectivity www.ti.com/wirelessconnectivity Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265 Copyright © 2013, Texas Instruments Incorporated

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