freescale powerpoint template - 恩智浦半导体 ... · pdf filedual-clutch trans. seatbelt...
TRANSCRIPT
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, t
he Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore and Symphony
are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack,
ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a Package, Processor Expert, QorIQ
Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks
of Freescale Semiconductor, Inc. All other product or service names are the property
of their respective owners. © 2011 Freescale Semiconductor, Inc.
August 2011
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
2
Weibo? Please use hashtag
#FTF2011#
Freescale on KaixinTag yourself in photos
and upload your own!
• Driving Applications / Factors / Trends
• Electric Motor / El. Power Stage / Power Electronics
• Acoustic Noise and Electromagnetic Noise
• Functional Safety
• Freescale Microcontrollers & Electrical Motor Control
Solutions
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
3
Weibo? Please use hashtag
#FTF2011#
Freescale on KaixinTag yourself in photos
and upload your own!
• Driving Applications / Factors / Trends
• Electric Motor / El. Power Stage / Power Electronics
• Acoustic Noise and Electromagnetic Noise
• Functional Safety
• Freescale Microcontrollers & Electrical Motor Control
Solutions
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
4
Body/Security Chassis/Safety Powertrain
HVAC Blower
HVAC Flappers EPS
Steer by wire
Fuel Pump
Dual-Clutch Trans.
EV – Water PumpSeatbelt pre-tens.
EV - Propulsion
Window Lift
Wipers
Seat Control
Sliding Door
Sunroof
EV – A/C Compr.
Going BLDC
Mostly DC
Mostly Stepper
Convertible Roof
ABS fluid pump
Oil Pump
Mostly PMSM
Low End EPS
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
5
• System cost reduction
− Smaller el. motors (material + space savings) requires high el. frequencies (~1kHz) to drive el. motor
enabler: new mag. materials, efficient switching, high frequency/resolution MCU PWM peripheral
− Smaller power stage (space savings) requires more efficient power devices
− Smaller DC-bus circuit + filtering (material + space savings) requires high switching freq. (>>20kHz)
enabler: more efficient power devices, better soft + fast diodes, high frequency/resolution MCU PWM
− Cheaper el. motor manufacturing requires non-linear + non-harmonic control to deal with el. motor
imperfections (e.g. back-EMF harmonics, mag. circuit saturation …)
enabler : MCU‟s with math. computing capability
− Cost reduction of MC SW process standardization of the control algorithm (FOC)
enabler: 32-bit MCU‟s at low-end market
• System performance improvement
− Sensorless operation requires robust methods, understanding what el. motor parameters are key
enabler: MCU‟s with signal processing (+math.) capability , fast ADC‟s, ability to guarantee el. motor
parameter specifics for high-volume manufacturing and required lifetime
− Self diagnostic requires complex state variable observers/estimators, more sensory input capability
enabler: MCU‟s with signal processing (+math.) capability, fast ADC‟s, smart power devices, sensorless IP
− System functional safety requires redundancy in various areas – MCU, power, SW, algorithms…
enabler: SIL3 “ready” components (SW+HW), processes, diagnostic algorithms …
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
6
Weibo? Please use hashtag
#FTF2011#
Freescale on KaixinTag yourself in photos
and upload your own!
• Driving Applications / Factors / Trends
• Electric Motor / El. Power Stage / Power Electronics
• Acoustic Noise and Electromagnetic Noise
• Functional Safety
• Freescale Microcontrollers and Electrical Motor Control
Solutions
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
7
ELECTRIC MOTORS
AC DC
SYNCHRONOUSASYNCHRONOUS
El. CommutatedInduction Reluctance StepperSinusoidal
Permanent
Magnet
Wound Field
(Excitation winding)
Surface PM
Interior PM
SR
VAR. RELUCTANCE
Split phase
Shaded pole
Capac. run
Capac. start
Permanent
Magnet / BLDC
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
8
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
9
• 3-phase winding on the stator
• distributed or concentrated
• Assumed sinusoidal flux distribution in air gap
• Different rotor construction & consequences
ACIM
• Squirrel cage (rugged, reliable, economical)
• No brushes, no PM
• Low maintenance cost
Synchronous
• Rotor with permanent magnet
• High efficiency (no rotor loses)
• Synchronous motor rotates at the same frequency as the
revolving magnetic field
• Asynchronous means that the mechanical speed of the
rotor is generally different from the speed of the revolving
magnetic field
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
10
• Motor/Generator must be very small and powerful (not to carry
unnecessary mass/space). It is designed to work at high electric
frequency (~1 kHz) – high number of poles
• Such design requires high resolution PWM, both in time and amplitude
• The advanced PWM peripheral is key to design powerful electric motors
• High-RPM el. mnotors/fly-wheels can serve as kinetic energy storage
with short storage-release cycle
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
11
• Motivation and goals
− Decreasing cost delta between motor types
− Complex MCUs/DSC are becoming more and more affordable
− The cost of the 3ph power stage is also becoming more and
affordable
− Reducing the drive size, increasing W/kg and W/dm3
− Improving noise (acoustic and electromagnetic)
− Increasing reliability factors
− El. motors replacing “belt” based drives
Improving Power efficiency to reduce CO2 emissions
As the only solution for vehicles in with the EV mode
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
12
0 V
A
C B
A B C
A B C• BLDC Motor Commutation
- one phase is un-powered at any
given time
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
13
DC Bus Voltage & Current
Sensing
3 Phase Back EMF Sensing
3 Phase Inverter3 Phase BLDC Power Stage
FlexTimer ModuleADC Module
Power Line3 Phase
BLDC
Motor
GPIO
Module
SCI
Module
Start / StopSpeed/Torque Up / Down
Other purposes
Speed
PI Controller
Zero Crossing Period &
Position Recognition
Commutation
Control
1/T
MC9S08MP16 Controller
BDM On Board
Programming
Duty cycle
Actual Speed
Comm.
sequence
Required Speed +-
Current
PI Controller
Actual DC
Bus Current
DC Bus
Voltage
Back EMF
Voltages
-
Superior system
FreeMASTER
Required DC Bus
Current Limit
Limitations
MC33937 SP
I
SPI
Drive
r
Se
tup
& S
tatu
s
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
14
Zero-
crossing
Detection
Handler
Commutation
Handler
two successful zero-crossings
PWM
Block
BLDC
Motor
Zero-
Crossing
Detection
Timer
Module
Speed
ControllerRequested Speed
Speed
Calculation
Control Loop 1
Control Loop 2
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
15
0 30 60 90 120 150 180 210 240 270 300 330 360 390
uiA
PsiA
0 30 60 90 120 150 180 210 240 270 300 330 360 390
uVA
uA
0 30 60 90 120 150 180 210 240 270 300 330 360 390
id0
iA
0 30 60 90 120 150 180 210 240 270 300 330 360 390
u0
0 30 60 90 120 150 180 210 240 270 300 330 360 390
Torgue
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
16
• Sinusoidal” or “Sinewave” machine means Synchronous (PMSM)
• Trapezoidal means brushless DC (BLDC) motors
• Differences in flux distribution
• Six-Step control vs. Field-Oriented Control
• Both requires position information
• BLDC motor control
− 2 of the 3 stator phases are excited at any time
− 1 unexcited phase used as sensor (BLDC Sensorless)
• Synchronous motor
− All 3 phases persistently excited at any time
− Sensorless algorithm becomes complicated
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
17
UBus
PWM1
PWM4PWM2
PWM3 PWM5
PWM6
Three-phase PWM waveforms and harmonic spectrum.Source: Power Electronics, by Ned Mohan, Tore Undeland, and William Robbins, John Wiley & Sons, 1995
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
18
UD
C-B
US
Up
ha
se
-phase
BC
APWM3PWM1
PWM4PWM2
PWM5
PWM6
• In sinusoidal modulation the amplitude is limited to half of the DC-bus voltage
• The phase to phase voltage is then lower then the DC-bus voltage (although such voltage can be generated between the terminals)
Can a modulation technique be found such itwould generate full phase-to-phase voltage?
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
19
All is about magnetic fields interaction− Rotor Magnetic field− Stator Magnetic field
• The torque/force is produced when both fields form an non zero angle
• Having the stator magnetic field leading the rotor magnetic field we form an el. motor
• Then FOC is to control the torque− thus also the mag. field angle− by strength of the rotor mag. field
and − by strength of the stator mag.
field
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
20
Anti
aliasing filterFast A/D CPU PWM
Power
ModuleActuator (el. motor)
HIGH DATA
THROUGHPUT REQUIRED
Peripherals
Control Loop
The MCU is part of the control loop and provides in fact the DSP functionality.
System data throughput defines control speed, response time, stability of the control,
etc. Hence the corresponding performance of the interface is needed, as it is a part of
the control loop.
This approach allows to change/utilize different control techniques/strategy/parameters
since control is done on the software side.
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
21
microcontroller
microcontroller
• Delays
i
GATE BOTTOM
+
-
GND
+5V
LPF ADC
Dri
ve
r
GATE TOP
L
GND
DCBV+
DCBV-
iDbot
iDtopiTtop
iTbot
1
2
SOURCE TOP
SOURCE BOT
DRAIN TOP
Lpar
Lpar
CDCB
iDCB
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
22
1 = Top Switch is ON; 0 = Bottom Switch is ON
• Active State
Vector 10
• Active State
Vector 01
• Null State
Vector 00
• Null State
vector 11
• 2 Active State (voltage) Vectors and 2 null State Vectors
• The inverter can be driven to 4 states
PWM BtPWM At
Out A Out B
DC Bus
Ground
Shunt
resistor
+U/2
- U/2
PWM BbPWM Abpositive current direction
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
23
PWM Bt PWM CtPWM At
Phase A Phase B Phase C
n
+U/2
- U/2
PWM Bb PWM CbPWM Ab
3-ph PM Synchronous Motor3-ph AC Induction Motor
Shunt
resistor
DC Bus
Ground
PWM Bt PWM CtPWM At
Phase A Phase B Phase C
DC Bus
Ground
Shunt
resistor
n
+U/2
- U/2
PWM Bb PWM CbPWM Ab
3-ph BLDC Motor3-ph PM Synchronous Motor3-ph AC Induction Motor
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
24
• Shunt resistors
voltage drop
measured
• Cheap HW solution
• Complex SW
calculation of all 3
phase currents
needed
• Multi-sampling
capability in one
PWM period
necessary
PWM Bt PWM CtPWM At
Phase A Phase B Phase C
n
+U/2
- U/2
PWM Bb PWM CbPWM Ab
3-ph AC Induction Motor3-ph PM Synchronous Motor
Shunt
resistor
DC Bus
Ground
uI_DCB_A
iSA
iSB
iSC
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
25
1 = Top Switch is ON; 0 = Bottom Switch is ON
• Active State
Vector 100
• Active State
Vector 110
• Active State
Vector 010
• Active State
Vector 011
• Active State
Vector 001
• Active State
Vector 101
• Null State
Vector 000
• Null State
vector 111
• 6 Active State (voltage) Vectors and 2 null State Vectors
• The inverter can be driven to 8 states
PWM Bt PWM CtPWM At
Phase A Phase B Phase C
DC Bus
Ground
Shunt
resistor
+U/2
- U/2
PWM Bb PWM CbPWM Ab
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
26
MCU
FreeMaster
-
Forward ClarkTransformation
a,b,c >alpha,beta
Current Sensing
Processing
-
Forward ParkTransformationalpha,beta>d,q
SpeedController
Current qPI
Controller
PWM
Modulation
-
Inverse ParkTransformationd,q >alpha,beta
Current dPI
Controller
-DC busripple
compensation
Is_
a_
co
mp
Us_alpha
Us_beta
Is_
b_
co
mp
Is_
c_
co
mp
Is_beta
Is_alpha
Is_q
Is_d
Us_q
Us_d
Is_q_Req
Us_alpha_comp
Us_beta_comp
Speed_R
eq
Is_a
Is_b
Is_c
U_
dcb
Duty cycleaDuty cyclebDuty cyclec
theta_actual_elsin cos
Application ControlSector
START/STOP
12 V
dc
3-Phase Low Voltage Power Stage
PWM Isa
Isc
U_Dc bus
Isb
U_D
c b
us
66PMSM
Load
Back-EMF
Observer
Field Weakening Controller
SCI
Driver Driver
GPIOADCPWMGPIO
Driver Driver Driver
Om
ega_atu
al_
mech
Fault
Protection
Faults
CTU
Driver
MCLIB functions
FOC control loop executed
every 100 us and speed loop
executed every 1 ms
Is_beta
Is_alpha
Us_alpha
Us_beta
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
27
Internal PWM counter
Desired PWM
DC bus current
real feedback signal
at ADC pin
Overall delay: ~0.4 6 us
ADC
trigger
output
event ADC clock sync. ADC MUX selection S&H
ADC Sample
Trigger advancement to
compensate ADC delays
ADC delays
~1us
Amplifier slew rate: <1 us/full range
Low pass filter delay + Topto: ~1us
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
28
• Position and velocity measurement is
often required in feedback loops
• For positioning, and velocity control
• Position measurement:
− Potentiometers
− Encoders
Optical
MR Sensor based
Hall IC based
− Linear Variable Differential Transformer
− Sin-Cos
Hollow shaft Resolvers
VR Resolvers
OPTO-ASIC
Inductive Micro-coil Sensor
Magnetic Resistance (MR) Sensors
Giant Magnetic Resistance (GMR) Sensors
• Velocity measurement:
− Tachogenerator
Potentiometers
Encoders
Resolvers
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
29
Weibo? Please use hashtag
#FTF2011#
Freescale on KaixinTag yourself in photos
and upload your own!
• Driving Applications / Factors / Trends
• Electric Motor / El. Power Stage / Power Electronics
• Acoustic Noise and Electromagnetic Noise
• Functional Safety
• Freescale Microcontrollers & Electrical Motor Control
Solutions
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
30TM
Both transistors are “off” during deadtime.
Load inductance keeps current flowing through the diodes
and thus defines an output voltage.
Positive current flow causes negative output voltage during
deadtime – top transistor controls output voltage.
Negative current flow causes positive output voltage during
deadtime – bottom transistor controls output voltage.
i+
i-
+U/2
- U/2
Desired load voltage
PWM to top transistor
PWM to bottom transistor
Actual load voltage (for i+)
Actual load voltage (for i-)
TON - 2×deadtime
TON
TON + 2×deadtime
deadtime
Causes poor low-speed motor performance
Torque ripple
Distorts current
Produces noise in audible region
No Deadtime Correction
Am
plit
ude
Time
Positive Output Voltage During Deadtime
Negative Output Voltage During Deadtime
Current Output Voltage
12 volts
peak-to-peak
Desired load voltage
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
31
TON - deadtimeTON + deadtime
Desired load voltage
PWM to top transistor
PWM to bottom transistor
Actual load voltage
+U/2
- U/2
i+ condition i- condition
deadtime/2
NOTE: Center-aligned PWM mode
TON
TON
TON
TON
TON
TON
PWMVAL0 = TON + deadtime/2; PWMVAL0 controls the PWM0/PWM1 compl. pair
deadtime/2
PWMVAL1 = TON - deadtime/2; PWMVAL1 controls the PWM0/PWM1 compl. pair
Deadtime Corrected
Am
plit
ude
Time
12 volts
peak-to-peak
Positive Output Voltage During Deadtime
Negative Output Voltage During Deadtime
Current Output Voltage
i+
i-
PWM0
PWM1
+U/2
- U/2
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
32TM
• Performance Evaluation
− Measurement / Qualification testing
International measurement standards
Freescale measurement methods
Freescale qualification levels
− Engineering evaluation/ Conformity (LIN/CAN/..)
• New Product Dev. Process
− Design for EMC Performance (emission/immunity)
− NPI checklists
• Design Tools
− Integrated into design flow, Modeling..
• Research
− New predictive tools and Models , New Materials..…
Immunity (IEC 62132)
TEM/GTEM cell
Mode- stirred chamber
LIHA
Near- field immunity
TEM/GTEM cell
Surface scan
Mode- stirred chamber
Radiated mode
Conducted mode
DPI (Direct Power Injection)
BCI (Bulk Current Injection)
Workbench Faraday cage
Impulse immunity
Electrical fast transient
1 /150
Workbench Faraday cage
Magnetic probe
Emission (IEC 61967)
TEM/GTEM cell
Mode- stirred chamber
LIHA
Near- field immunity
TEM/GTEM cell
Surface scan
Mode- stirred chamber
Radiated mode
Conducted mode
DPI (Direct Power Injection)
BCI (Bulk Current Injection)
Workbench Faraday cage
Impulse immunity
Electrical fast transient
1Ω /150
Workbench Faraday cage
Magnetic probe
Ω
Output
voltage
Device Under Test
Multiplexor
Probe
array chip
package
Near field probe array Near field map
EM-ID – ElectroMagnetic Interference Diagnostics for
reliable System-in-Package design
IEC61967-1-1
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
33
Weibo? Please use hashtag
#FTF2011#
Freescale on KaixinTag yourself in photos
and upload your own!
• Driving Applications / Factors / Trends
• Electric Motor / El. Power Stage / Power Electronics
• Acoustic Noise and Electromagnetic Noise
• Functional Safety
• Freescale Microcontrollers & Electrical Motor Control
Solutions
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
34
• 34
Safety Systems
systems to protect
against danger
outside the system
Functional Safety
the art to minimize
danger caused by a
(perhaps faulty) system
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
35
• How could the electronics have failed? And why?
− HW errors vs. SW errors
− Permanent vs. transient error
A permanent errors continues to exist until the system is repaired
A transient error only occurs for a (short) time
• Border case: Error only „repaired‟ by reset or power cycling
An intermittent error is a transient error which re-occurs with a relatively high
rate
− Random vs. systematic error
A random error is an error that occurs unpredictably (following a probability
distribution)
A systematic error is an error that occurs deterministically in certain
circumstances (in all/many instances of the component)
• Classification as cross-product of three criteria
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
36
Failure
Error
Fault
error detection
latency
fault duration
fault
dormacy
fault
occurence
fault
activation
error
detection
error
activation
error latency
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
37
• fail-dangerous: Possibly causes a hazard in the case of a failure
• fail-safe: Returns to or stays in a safe state in the case of a failure
− the number of simultaneous faults is normally restricted to 1
• fail-operational: Continues to work correctly in the case of a failure
− Possibly in a degraded mode only
• fail-silent: Will not disturb anyone in the case of a failure
− This includes not providing wrong results
• fail-stop: Completely stops itself in the case of a failure
− Typically needs a reset to get out of this mode again
• fail-indicate: Indicates to its environment that it has failed
− But might continue to provide wrong results, hog resources, ….
• fail-inconsistent: Provided results will be noticeably inconsistent in the
case of a failure
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
38
• Knowing the error type is important as it influences how errors can be detected and handled
− Random errors
Goal: Reduce probability of occurrence (of effects) below a certain value
Risk can be estimated
− Systematic errors
Goal: Reduce probability of introduction into component
Risk caused by them is typically unknown
− Permanent errors
Functionality stays destroyed
Can be found by self tests
− Transient errors
Functionality might recover
Happen more often; sometimes can be ignored
• E.g. if short and system safety time > 2*calculation cycle time
Can be found by time diversity
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
39
• Two relevant safety standards
− IEC 61508 (in revision)
Generic standard for functional safety of electronic systems
Specialized versions for individual industries
− ISO 26262 (first version available)
„Derivate‟ of IEC 61508 for automotive applications
Already in used although not complete
• Goal
− Prevent unacceptable risk due to failures of equipment
• Approach
− Reduction of Systematic faults
Human-introduced „bugs‟
Constraints on development process
− Reduction of Random faults
Failures due to aging, interference, …
Quantitative requirements via Safety metrics
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
40TM
SIL 1
SIL 2
SIL 3
SIL 4
ASIL A
ASIL B
ASIL C
ASIL D
Safety Integrity Level
IEC61508
[today]
Ranking by assessing the
probability of a dangerous
failure per hour
Automotive SIL
ISO26262
[future]
Ranking by assessing
severity of injuries,
exposure to hazardous
situations and the
controllability of the
driving situation
low
high
• Direct comparison not possible
• Assessment of recommended & mandatory HW/SW measures & practices
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
41
Standard New FSL Enabled
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
42
Weibo? Please use hashtag
#FTF2011#
Freescale on KaixinTag yourself in photos
and upload your own!
• Driving Applications / Factors / Trends
• Electric Motor / El. Power Stage / Power Electronics
• Acoustic Noise and Electromagnetic Noise
• Functional Safety
• Freescale Microcontrollers & Electrical Motor Control
Solutions
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
43
• DC Motor control
• Single phase control (chopper)
• BLDC six step control
• Volt per Hertz control (V/Hz)
• Volt per Hertz control with speed closed loop
• Stepper Motor Control
• Speed/Torque Vector Control
• Servo Control - Position Vector Control
• Sensorless Vector Control
• Direct Torque Control
• NFO Control
• Parameter Auto-tuning, Param. Estimation
• On-the-fly Self-diagnostic, Functional Safety
8-bit
32-bit
16-bit
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
44TM
8-/16-bit MCU Solutions for Automotive Applications
S08 S12(X) S12XE/D• 8-bit MCU with embedded CAN
• EEPROM (except DV sub-family)
• on-chip emulation/debug
• 2KB to 128KB Flash
• SCI(LIN), ATD, SPI, IIC
• 20MHz Performance
• 8 - 100 pin
Performance scale
• 16-bit MCU (with integrated LCD and gauge
driver)
• 4x40 LCD and 4 gauge driver with SSD
• 25 - 40MHz Performance
• 32KB to 256KB flash
• 2KB - 12KB RAM
• MSCAN, SCI(LIN), PWM,ATD, Timer
• 48 - 112 pin
• Fully-featured 16-bit MCUs
• S12X CISC core @ 50MHz + XGATE Coprocessor
• Memory Protection Unit (MPU)
• Emulated EEPROM
• 128kB to 1MB Flash
• Best of the class code density
• MSCAN, SCI(LIN), PWM, ATD, Timer
• 80/112/144/208 pin
Watchdog Control
Electric Pump
General Purpose and CAN/LIN nodes
Battery sensor
Step Motor control
HVAC
Motorbike engine control
General Purpose and CAN/LIN
nodes:
HVAC blower
Very Low end engine control
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
45
• Command− PWM input, LIN or CAN
• PWM− PWM signals
− Dead time insertion
− ADC triggering
− Fault control
• Delay block− Set ADC measurement at
specific times within PWM
cycle
• ADC− BEMF zero-crossing
detection
− Measure current in motor
• Comparator− Over-current detection
6 ch PWM
12 bit ADC
Fault inputs
Prog delay
SCI/CAN
Comparator
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
46TM
• S08 Core− Industrial version: 50MHz (25MHz bus), -40 to 105ºC− Automotive version: 40MHz (20MHz bus), -40 to 125ºC
• 2.7V – 5.5 V operation
• 16KB of Flash Memory
• 1KB of RAM
• RTC with periodical timer interval interrupt
• 8bit Modulo Timer Module (MTIM)
• 6Ch+2Ch FlexTimer for Motor Control with automatic fault protection inputs – 40/50 MHz Clock
• Serial communications Port: SCI /W LIN, IIC, SPI
• One Programmable Gain Amplifier (PGA)
• 3 Analog Comparators
HW sample trigger from PWM module, allowing comparing at defined point in PWM cycle
• 3 x 5-bit DAC - 32 taps internal voltage reference
• Software Programmable Internal Clock Source
• Power Management Controller (PMC)
• 13 channel ADC, 12-bit, 3.5 us conversion time @ 8MHz
HW trigger from PWM module, allowing conversion at ANY point in PWM cycle
• 8bit KBI module
• Cyclic Redundancy Check Generator (CRC)
• Two Programmable Delay block (PDB)
• Integrated Power On Reset, and low voltage reset
• Interrupt controller supports 4 interrupt priority levels
• Watchdog Timer
• Current Output per pin 20mA
• Background Debug Mode Interface/ICE
Note: With max Core clock 40MHz, max derived ADC clock is 5 MHz (40MHz/8) - ADC conversion time takes 4.725 us (10-bit or 12-bit)
Internal
Clock
Source
12 Channel 12-bit ADC
GPIO/KBI
Watchdog Timer
PMC
► 48-pin LQFP
► 32-pin LQFP
► 28-pin PDIP
► 28-pin SOIC
40 MHz
S08
Core
BDM / ICE Flash
16KB
RAM
1KB
3 AnalogComparators
SCI /W LIN
6 Ch MC FlexTimer
One RTC
I2C/SMbus
Programm-able
Voltage Ref
One PGA
Interrupt Controller
Crystal OSC
SPI
CRC Gen2 Ch MC
FLexTimer8bit MTIM
PDB0
PDB1
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
47TM
Power Architecture® Core
• Up to 60 MHz e200 zen0h core
Memory
•512 KB Program Flash with ECC
•4 x 16 KB DataFlash® with ECC
•40 KB SRAM with ECC
I/O
•1 x FlexCAN with 32MB
•1 x Safety port (can be used as additional FlexCAN – 32 MB)
•1 x FlexRay Dual Channel with 32 MB
•2 x LinFlex
•4 x DSPI (4 independent chip selects each)
•1 x FlexPWM (4 channels with 4 fault inputs)
•1 x eTimer (6 channels incl. quad decode)
•1 x eTimer (6 channels for general purpose)
•2 x ADC
•2 x 12 ch.(4 shared channels), 10-bit, conversion time
760 nsec ( 2x 6 ch., 4shared on 100-pin package)
•1 x ADC triggering unit: 8 events
System
•2 x PLL (one FM-PLL, one for FlexRay™)
•16-ch. eDMA
•Fault collection unit
•16 MHz internal RC OSC
•Junction temperature sensor
•JTAG (2 pin or 5 pin) / Nexus Class 2+
•3.3V single supply (5V mask option) with external ballast
transistor
•100- and 144-pin thin quad flat pack (TQFP)
I/O
BridgeSRAM
e200
CoreVReg
Co
mm
un
icati
on
s
I/O
Syste
m
Crossbar Slaves
Crossbar Masters
2A
TD
Nexus
JTAG
Debug
PROGRAM
Flash
1
eF
lexC
AN
eDMA VLE
Boot Assist
Module (BAM)
Osc/PLL
CROSSBAR SWITCH
System
Integration
FlexRay™
Controller
Fle
xP
WM
DATA
Flash
2
LIN
Fle
x
2
eT
imer
4 x
DS
PI
Safe
ty
CT
U
Interrupt
Controller
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
48TM
48Power Architecture® Core• up to 120MHz PowerPC ISA Dual e200 zen4 core, 240DMIPS• 4K 2-way / 4-way I-cache• FPU• Safety enhanced Cores + FPU + VLE + MMU• Dual Parallel or Lock Step configuration + HW/SW monitoring
Memory• Up to 1MByte RWW Flash with ECC• Up to 128 KByte SRAM with ECC• EE emulation• Dual crossbar with MPUs
I/O• 2 x FlexCAN (32 message buffers each)• 1 x FlexRay (64 msg. buffers)• 2 x LINFlex• 3 x DSPI• 1 x External clock output • 2 x FlexPWM (2 x 12 channels)• 3 x eTimer modules (3 x 6 channels)• Dual ADC (16 channels each, 12bit, 650ns), 1 S/H per ADC• 1 x Cross-triggering unit for motor control
System• 16 Channels eDMA• Autonomous Fault Collection and Control Unit• CRC computing unit• Software watchdog timer (inc. window mode, flow monitoring)• 2 x Junction temperature sensor • Nexus debug interface (up to N3)• FM-PLL + FlexRay PLL• 3.3 V Single supply with external and internal ballast transistor• 3.3 V I/Os (ADC 5 V capable)• 144 LQFP / 257 MAPBGA• Tj = 150°C
Cross Bar Switch
I/O
Bridge
Memory Protection Unit
Cross Bar Switch
Memory Protection Unit
FlexRay
RC
RC RC
1M
FLASH
(ECC)
128K
SRAM
(ECC)
RC
I/O
Bridge
PMU
SWT
MCM
STM
INTC
eDMACACHE
PowerPC™
e200
MMU
VLE
CACHE
FPUNexus
JTAG
Debug PMU
SWT
MCM
STM
INTC
eDMACACHE
PowerPC™
e200
MMU
VLE
CACHE
FPU
Co
mm
un
icati
on
s
I/O
Syste
m2 x
LIN
Fle
x
3 x
DS
PI
2 x
AD
C
2
Fle
xC
AN
3 x
eT
imer
FC
CU
2 x
Fle
xP
WM
CT
U
TS
EN
S
2x
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
49
Intelligent
Distributed Control eXtreme SwitchesApplication Specific
Standard Products
• Mixed signal SmartMOS™
• 0.25 um technology
• IP modules
Seatbelt Pretensioner
Small Motor Control
LIN Distributed Systems
Space Constraints PCBs
Battery Monitoring
ABS/ESP Hydraulic Pump
Lighting Applications
Motor Control
Power Steering
Relay Replacement
System Basis Chip (SBC)
CAN Physical Layer
Airbag PSI5 & DSI ASSP
Electronic Stability Control
Power Steering
Power
Mode
Control
WA
KE
VP
WR
Boost
Converter
BS
TS
W
BS
TG
ND
BS
TC
OM
P1
BS
TC
OM
P2
VB
ST
Energy
Reserve
Control
ER
SW
VE
R
VE
RD
IAG
Buck
Converter
VB
UC
K
VB
UC
K_
R
BU
CK
SW
BU
CK
GN
D
BU
CK
CO
MP
1
BU
CK
CO
MP
2
CP
C1
CP
C2
VS
YN
C
CP
GN
D
Sync
Supply
VC
CD
RI
VC
C
Linear
Regulator &
Watchdog
VD
D
RE
SE
T
PP
TA
nalo
g M
ult
iple
xer
Dri
ver
Ou
tpu
t
OU
Tx M
on
ito
r
Po
wer
Su
pp
ly
I/O
Mo
nit
or
An
alo
g M
ult
iple
xer
Analog
Mux.
Quad
Bias
Voltage
Regulator
GNDA
AO
UT
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
PSI5
Satellite
Sensor
Interfaces
CL
K
SA
TS
YN
C
PS
I5_
1
PS
I5_
2
PS
I5_
3
PS
I5_
4
GN
D_
PS
I
Co
nfi
gu
rab
le
Dri
ve
rsO
UT
1_
D
OU
T1
_S
OU
T2
_D
OU
T2
_S
VSS
VREF
Safing
LogicSP
I
Mo
nit
or
SafingSPI
Interface
SC
RA
P
AS
ST
FD
IS
FE
N
A_
SE
NS
OR
CS
_C
CS
_B
CS
_A
CS
SC
K
SOSI
LIN /
K-
LineGND_LIN
TX
D
LIN
_IS
O
RX
D
VREF
• Dual die construction
• Control die & high power FET
• High current capability
• Single package for small remote
modules
• Embedded popular S12 16-bit core
• Reprogrammable with Flash memory
• Motor control libraries
• Embedded analog peripherals
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
50TM
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
51
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
52
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, the Energy Efficient Solutions logo, mobileGT, PowerQUICC, QorIQ, StarCore
and Symphony are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, ColdFire+, CoreNet, Flexis, Kinetis, MXC, Platform in a
Package, Processor Expert, QorIQ Qonverge, Qorivva, QUICC Engine, SMARTMOS, TurboLink, VortiQa and Xtrinsic are trademarks of Freescale Semiconductor, Inc.
All other product or service names are the property of their respective owners. © 2011 Freescale Semiconductor, Inc.
53
Session materials will be posted @
www.freescale.com.cn/FTFLook for announcements in the FTF Group
on LinkedIn or follow Freescale on Sina
• Electric Motors go high-RPM (=> high W/kg; W/dm3)
• Power Electronics go high kHz (=> high W/kg; W/dm3)
• All is shrinking
− space and material savings (environmentally friendly)
− challenges for cooling
• Moore‟s law works for MCU‟s => capable to provide calculation power:
− to run complex nonlinear algorithms
− support functional safety needs
• Functional Safety on-chip starts possible
• Global emission regulations demand energy saving everywhere
• Low noise is a key feature inside the cabin
• Progressive move from DC to BLDC Pro: Better energy efficiency, increased reliability, lower noise Contra: Cost adder – declining
• Progressive move from sensored to sensorless drives Pro: sensor cost reduction Contra: complex algorithm/powerful MCU needed – declining $/MIPS
• Freescale offers from 8-bit to 32-bit solution to
provide cost optimized performance for specific application.
TM