TMS320F28026F, TMS320F28027F
InstaSPIN™-FOC Software
Technical Reference Manual
Literature Number: SPRUHP4
August 2013
Contents
1
2
3
4
5
6
TMS320F2802xF InstaSPIN™-FOC Enabled MCUs
...................................................................
FAST Estimator Features
.....................................................................................................
InstaSPIN™-FOC Solution Features
.......................................................................................
InstaSPIN-FOC Block Diagram
..............................................................................................
Comparing FAST Estimator to Typical Solutions
....................................................................
FAST Provides Sensorless FOC Performance
........................................................................
6.1
FAST Estimator Replaces Mechanical Sensor
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6
6
7
8
9
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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
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List of Figures
1
2
3
4
5
6
7
..................................
Block Diagram of InstaSPIN-FOC in User Memory, with Exception of FAST in ROM
............................
Sensored FOC System
...................................................................................................
Inverter Using the 3-Shunt Current Sampling Technique
............................................................
Software Execution Clock Tree Provides Flexibility with Real-Time Scheduling
..................................
28027 Memory Map
.......................................................................................................
2802xF Allocated Memory for InstaSPIN-FOC Library
...............................................................
FAST - Estimating Flux, Angle, Speed, Torque - Automatic Motor Identification
5
7
10
12
13
15
16
List of Tables
1
2
3
4
5
6
FAST Estimator Compared to Typical Solutions
........................................................................
CPU Cycles for MIN Implementation Executing from ROM, RAM, and FLASH
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Table 3. CPU loading for MIN Implementation Executing from ROM, RAM, and FLASH
.......................
2802xF Allocated Memory for InstaSPIN-FOC Library
...............................................................
8
13
14
16
16
17
..........................................................................................
Pin Utilization Per Motor
..................................................................................................
User Memory and Stack Sizes
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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 self-
sensing) 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
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www.ti.com
TMS320F2802xF InstaSPIN™-FOC Enabled MCUs
a
T
a
\
Flux
Angle
Speed
Torque
a
T
a
Z
a
W
a
I
rated
a
\
a
Z
a
W
&^d¡ ]u}
Flux, Angle, Speed, Torque
Motor Parameters ID
EST_run
I
H_in
I
J_in
V
H_in
V
J_in
V
bus
Motor Phase
Voltages
Motor Phase
Currents
Bus Voltage
ROM
a
R
s
a
R
r
a
L
sd
a
L
sq
a
\
rated
a
I
rated
Enable PowerWarp¡
Enable Motor Identification
Enable R
s
Online Recalibration
Enable Force Angle Startup
Motor Type
Figure 1. FAST - Estimating Flux, Angle, Speed, Torque - Automatic Motor Identification
SPRUHP4 – August 2013
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TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software
Copyright © 2013, Texas Instruments Incorporated
5
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