PMSM FOC using Quadrature Encoder

This example application shows how to control the Permanent Magnet Synchronous Motor (PMSM) with Quadrature Encoder based Field Oriented Control (FOC) on a SAME54 Micro-controller.

Description

Permanent Magnet Synchronous Motor (PMSM) is controlled using Field Oriented Control (FOC). Rotor position and speed is determined using quadrature encoder sensor. Motor start/stop operation is controlled by the switch and motor speed can be changed by the on-board potentiometer. Waveforms and variables can be monitored runtime using X2CScope.

Key features enabled in this project are:

• Dual shunt current measurement
• Speed control loop
• Field weakening

MHC Project Configurations

• PMSM_FOC:

  This component configures FOC algorithm parameters, motor parameters and motor control board parameters. It connects to underlying peripheral libraries ADC,TCC and PDEC. This component auto configures ADC channels,PWM channels and PDEC peripheral as per PMSM_FOC component configurations.

• ADC0-ADC1:

  ADC0 and ADC1 are setup to operate in Master - Slave mode with ADC0 acting as a Master

  Both ADCs convert single ended inputs. Phase U current is sampled and converted by ADC0 and Phase V current is sampled and converted by ADC1

  Both ADCs are hardware triggered simultaneously by an event generated from TCC0 at the end of each PWM cycle

  Conversion Ready interrupt is generated by ADC0. Since both ADCs are triggered simultaneously and have the same resolution and sampling time, both ADCs complete conversion at the same time

• TCC0:

  This peripheral is used to generated three phase synchronous PWM waveforms. Fault functionality is also enabled to switch off the output waveforms asynchronously.

• PDEC Peripheral:

  It is used to decode the rotor position and speed from quadrature encoder signals.

• EIC:

  External Interrupt Controller detects a hardware over-current fault input and generates a non-recoverable fault event for TCC0, thereby shutting down the PWM in the event of an over-current fault

• EVSYS:

  Event System acts as an intermediary between event generator and event users

  Event generated by the TCC0 when the counter reaches TOP, is used by the ADC0 as a hardware trigger source via the Event System

  Event generated by the EIC upon over-current fault, is used by the TCC0 as a non-recoverable fault event via Event System

• SERCOM2:

  SERCOM2 is configured in USART mode and is set to operate at 115200 bps

  This USART channel is used by the X2CScope plugin to plot or watch global variables in run-time. Refer to X2C Scope Plugin section for more details on how to install and use the X2CScope

• X2CScope:

  This component adds X2C scope protocol code. This uses UART to communicate to the host PC. X2CScope allows user to monitor variables runtime.

• UART Peripheral:

  The UART is used for X2CScope communication to observe graphs and variable values in run time

Project Details

For details refer Harmony QSpin

Development Kits

MCLV2 with ATSAME54 PIM

Downloading and building the application

To clone or download this application from Github, go to the main page of this repository and then click Clone button to clone this repository or download as zip file. This content can also be downloaded using content manager by following these instructions.

Path of the application within the repository is apps/pmsm_foc_encoder_sam_e54 .

To build the application, refer to the following table and open the project using its IDE.

MCHV3 with ATSAME54 PIM

Downloading and building the application

To clone or download this application from Github, go to the main page of this repository and then click Clone button to clone this repository or download as zip file. This content can also be downloaded using content manager by following these instructions.

Path of the application within the repository is apps/pmsm_foc_encoder_sam_e54 .

To build the application, refer to the following table and open the project using its IDE.

---