Professional Documents
Culture Documents
A Faster Current Loop
A Faster Current Loop
A Faster Current Loop
Sang Chon
Automotive marketing manager
C2000™ Real-time MCU
Texas Instruments
Introduction
When it comes to the design and manufacturing of electric vehicles, the goal of
automotive OEMs is to provide an ownership experience that meets or exceeds
ICE-based cars today.
One major goal for OEMs is to reduce size and weight of mechanical components
within the EV vehicle in order to save on cost and due to the limited space available.
One novel way to reduce the physical size of the EV traction motor while maintaining
the same rated power level is by improving the overall performance of the EV traction
inverter. And by improving traction inverter performance, this will also improve overall
efficiency for the motor drive system. Therefore the next major step in advancing EV
motor system design is to significantly increase the speed of the motor in order to
achieve smaller motor size with higher efficiency.
Motor power = torque x speed Only one solution in particular can optimize or eliminate
the design trade-offs involving expensive FPGAs
The key to reducing motor size but maintaining
or increased CPU speeds. This solution, which is
its power level is to reduce the amount of torque
based on TI’s C2000™ real-time microcontrollers
needed for the motor system and increase speed.
(MCUs) and the enhanced MotorControl Software
Since the power (size) of the motor is a product of
Development Kit, increases the bandwidth of a
the torque times motor speed, OEMs and Tier 1s
EV traction motor drive’s current control loop.
can aim to double motor speed (rpm) in order to cut
the amount of torque needed by ½.
Current loop close-up
However, as motor speed increases, motor
The current loop controls the torque in an EV
frequency increases as well which will require
traction motor by manipulating the pulse-width
higher system current-loop performance (or
modulator (PWM) outputs that drive an inverter. The
torque response) and thus pushes the need for
motor currents are monitored and fed back to the
higher PWM switching frequencies that challenge
current-loop controller and the controller updates
traditional IGBTs.
the PWM outputs if necessary. The current-loop
The current control loop bandwidth becomes the feedback path quantifies the analog output of the
linchpin upon which the rest of the traction inverter motor current sensor with a high-precision analog-
drive system depends. In order to improve current to-digital converter (ADC), and then feeds the result
loop bandwidth, more OEMs and Tier 1s are either to the current-loop controller. Several different
considering adding costly FPGAs to the system or modules of field-oriented control (FOC) algorithms
demanding more CPU MIPS from MCU supplier to process this sample before the controller makes any
improve performance. adjustments to the PWM’s outputs.
PI Control
PI Control Q Current Inverse Space PWM PWM Isolated
Speed Park Vector Driver HW Gate
PI Control Transform Modulation Drive
D Current Three
PI Control Phase
Position Trip Config PWM Trip Inverter
Sensing
Isolated Shunt
Park Clarke ADC Driver ADC Current Buffer
Transform Transform Comparator Comparators Fluxgate
Config Sensors
ΔΣ Filter
Driver ΔΣ Filters
ΔΣ Comp Comparators PM
Config Motor
Position
Software Incremental eQEP Sensor
Registers
Hardware
Figure 1. Less than 1 uS current loop with FCL (replace “QEP” with “Resolver” in the picture).
Conventionally, designers assume that increasing controller at high speeds. Digital or transport delays
the current-loop bandwidth will require higher carrier progressively reduce the phase margin of the current
frequencies. So, for example, increasing the current- control loop at higher speeds, eventually leading to
loop bandwidth by a factor of 3 from 1kHz to 3kHz a loss of control. Traditional controllers in the current
will require increasing the carrier frequency from loop do not model these digital delays well.
But C2000 real-time MCU’s ability to perform that assumes a more appropriate system model,
sub-cycle PWM updates in less than a microsecond compensating for the inherent transport delay of the
improves the current-loop bandwidth, making system. This is embodied in the complex controller
it possible to reduce or optimize the switching (CC) and results in perfect pole-zero cancellation at
frequency for a given bandwidth requirement. Tests all times, ensuring stability at high speeds.
Important Notice: The products and services of Texas Instruments Incorporated and its subsidiaries described herein are sold subject to TI’s standard
terms and conditions of sale. Customers are advised to obtain the most current and complete information about TI products and services before placing
orders. TI assumes no liability for applications assistance, customer’s applications or product designs, software performance, or infringement of patents.
The publication of information regarding any other company’s products or services does not constitute TI’s approval, warranty or endorsement thereof.
The platform bar, C2000 and Delfino are trademarks of Texas Instruments. All other trademarks are the property of their
respective owners.
TI PROVIDES TECHNICAL AND RELIABILITY DATA (INCLUDING DATASHEETS), DESIGN RESOURCES (INCLUDING REFERENCE
DESIGNS), APPLICATION OR OTHER DESIGN ADVICE, WEB TOOLS, SAFETY INFORMATION, AND OTHER RESOURCES “AS IS”
AND WITH ALL FAULTS, AND DISCLAIMS ALL WARRANTIES, EXPRESS AND IMPLIED, INCLUDING WITHOUT LIMITATION ANY
IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT OF THIRD
PARTY INTELLECTUAL PROPERTY RIGHTS.
These resources are intended for skilled developers designing with TI products. You are solely responsible for (1) selecting the appropriate
TI products for your application, (2) designing, validating and testing your application, and (3) ensuring your application meets applicable
standards, and any other safety, security, or other requirements. These resources are subject to change without notice. TI grants you
permission to use these resources only for development of an application that uses the TI products described in the resource. Other
reproduction and display of these resources is prohibited. No license is granted to any other TI intellectual property right or to any third
party intellectual property right. TI disclaims responsibility for, and you will fully indemnify TI and its representatives against, any claims,
damages, costs, losses, and liabilities arising out of your use of these resources.
TI’s products are provided subject to TI’s Terms of Sale (www.ti.com/legal/termsofsale.html) or other applicable terms available either on
ti.com or provided in conjunction with such TI products. TI’s provision of these resources does not expand or otherwise alter TI’s applicable
warranties or warranty disclaimers for TI products.
Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265
Copyright © 2018, Texas Instruments Incorporated