User's Guide
SPRUGI6 – September 2010
TMS320C2000 Motor Control Primer
High-performance drive applications require fast, reliable, and robust control systems. Therefore, there is
a significant demand for well-equipped digital motor control (DMC) platforms to educate the next
generation of engineers. In this users guide, a number of introductory-level digital motor control
methodologies and laboratory tools are presented. These tools help engineers learn how to easily
construct their own systems using TI provided device drivers, APIs, utilities, and libraries. Also described
is Texas Instruments' motor control developer’s kits, software framework, and DMC library. These
documents provide a modular development strategy which allows the user to experiment incrementally
from a basic to an advanced level.
1
Introduction
Digital motor control has been a challenging subject since the beginning of early implementations.
Although digital control techniques and the availability of high-speed microcontrollers made life
significantly easier for engineers, highly non-linear motor models, designing and tuning multiple control
loops, math intensive sensorless algorithms, parameter and temperature dependencies, and complex
software structures still have the potential to slow down development.
Texas Instruments understands the challenges facing motor control developers, and provides materials
and tools that significantly accelerate development and troubleshooting of motor-control systems.
Thorough documentation, a rich set of digital motor control and math libraries, modular software
strategies, incremental build processes, code development environments with real time debugging
support, and sample motor control kits at different voltage levels designed for all major motor types with
open source hardware support, lead developers through the process of creating a complete motor-control
system. These tools enable developers to quickly determine the processing resources required to
implement basic motor control. From this baseline, they are then able to bring in advanced algorithms to
trade-off the remaining processing capacity for greater accuracy, better performance, and higher power
efficiency, control of multiple motors or integrated power stages like digital power factor correction, and a
myriad of other options. In this way, developers can architect systems specifically optimized for their
application constraints and requirements.
2
Software Tools
2.1
IQ Math Library
2.1.1
What is IQ Math Library
Real-time control algorithms used in industry are typically computationally intensive, where optimal
execution speed and high accuracy is required. When C is used to develop control algorithm code,
generic math libraries can be used for computing math functions such as trigonometric functions, division,
etc. However, this approach may not result in the most cycle efficient code. Therefore, TI provides a
library of highly optimized and high precision math functions in the form of the IQMath library. Using the
math routines in the IQ Math library the user can achieve execution speeds considerably faster than
equivalent code written in standard ANSI C language.
The IQ Math library is available in both fixed- and floating-point versions, enabling easy migration from
float to fixed devices. The fixed-point library uses Q-arithmetic to emulate the fractional point (explained in
the following section), whereas the floating-point version uses the floating-point instruction set and
hardware FPU present on the device.
2
TMS320C2000 Motor Control Primer
SPRUGI6 – September 2010
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