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1 © 2015 The MathWorks, Inc. Motor Controls Implementation on Systems-On-Chip Vasco Lenzi

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Page 1: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

1© 2015 The MathWorks, Inc.

Motor Controls Implementation on

Systems-On-Chip

Vasco Lenzi

Page 2: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

2

Key Takeaways

Meet stringent requirements

and lower costs

Manage design complexity and improve team collaboration

Reduce hardware testing

time up to 5x

Page 3: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

3

Punch Powertrain develops complex SoC-based motor control

▪ Powertrains for hybrid and electric vehicles

▪ Hardware choice through simulations

▪ Traditional microcontroller too slow

▪ No experience designing FPGAs!

Link to video

✓ Designed integrated E-drive: Motor, power electronics

and software

✓ 4 different control strategies implemented

✓ Done in 1.5 years with 2FTE’s

✓ Models reusable for production

✓ Smooth integration and validation due to development

process

https://www.mathworks.com/videos/faster-and-more-accurate-control-of-switched-reluctance-electric-motors-using-zynq-soc-highlights-121425.html
Page 4: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

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Key trend: Increasing demands from motor drives

Page 5: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

5

Systems-on-Chip for motor control

Page 6: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

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Key Trend: SoCs are now used in 36% of new FPGA projects

Source: Wilson Research Group and Mentor Graphics,

2016 Functional Verification Study

% o

f D

esig

n P

roje

cts

Page 7: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

7

Challenges in using SoCs for Motor and Power Control

?

?

Page 8: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

8

?

Why use Model-Based Design to develop motor control

applications on SoCs?

??

Page 9: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

9

Load motor

Motor under test

(with encoder)

ZedBoard

FMC module:

control board +

low-voltage board

Mechanical

coupler

Zynq SoC (XC7Z020)

Page 10: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

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Page 11: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

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Embedded System

SoC

Hard Processor

Linux / VxWorks

Reference

Framework

Programmable

Logic

Reference

Framework

System Simulation Test Bench

Conceptual workflow targeting SoCs

Model of

Motor &

Dyno

Motor &

Dyno

Hardware

SoC

Programmable

Logic

Algorithm

HDL

Code

Algorithm

C

Code

Algorithm

C

Model

Algorithm

HDL

Model

Algorithm

developer

Hardware

designerEmbedded

software

engineer

Page 12: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

13

Hardware/software partitioning

Target to ARM

Target to

Programmable

Logic

Page 13: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

14

Code Generation

Page 14: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

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Page 15: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

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ChallengeDesign and implement a robot emergency braking system with minimal

hardware testing

SolutionModel-Based Design with Simulink and HDL Coder to model, verify, and

implement the controller

Results▪ Cleanroom time reduced from weeks to days

▪ Late requirement changes rapidly implemented

▪ Complex bug resolved in one day

Link to user story

“With Simulink and HDL Coder we eliminated

programming errors and automated delay balancing,

pipelining, and other tedious and error-prone tasks.

As a result, we were able to easily and quickly

implement change requests from our customer and

reduce time-to-market.”

Ronald van der Meer

3T

A SCARA robot.

3T Develops Robot Emergency Braking System with

Model-Based Design

https://www.mathworks.com/company/user_stories/3t-develops-robot-emergency-braking-system-with-model-based-design.html
Page 16: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

17

Key Takeaways

Meet stringent requirements

and lower costs

Manage design complexity and improve team collaboration

Reduce hardware testing

time up to 5x

Page 17: Motor Controls Implementation on Systems-On-Chip · Motor Controls Implementation on Systems-On-Chip Vasco Lenzi. 2 Key Takeaways Meet stringent requirements and lower costs Manage

18

Learn More

▪ Get an in-depth demo in the Technology Showcase

– discuss the award-winning Native Floating Point in HDL Coder!

▪ Videos– HDL Coder: Native Floating Point

▪ Webinars– Prototyping SoC-based Motor Controllers on Intel SoCs with

MATLAB and Simulink

– How to Build Custom Motor Controllers for Zynq SoCs with

MATLAB and Simulink

▪ Articles– How Modeling Helps Embedded Engineers Develop Applications for SoCs (MATLAB Digest)

– MATLAB and Simulink Aid HW-SW Codesign of Zynq SoCs (Xcell Software Journal)

▪ Tutorials: – Define and Register Custom Board and Reference Design for SoC Workflow

– Field-Oriented Control of a Permanent Magnet Synchronous Machine on SoCs

https://www.mathworks.com/videos/hdl-coder-native-floating-point-123505.html
https://www.mathworks.com/videos/prototyping-soc-based-motor-controllers-with-matlab-and-simulink-100255.html
https://www.mathworks.com/videos/how-to-build-custom-motor-controllers-for-zynq-socs-with-matlab-and-simulink-107884.html
https://www.mathworks.com/company/newsletters/articles/how-modeling-helps-embedded-engineers-develop-applications-for-socs.html
https://issuu.com/xcelljournal/docs/xcell_software_journal_issue_1/42
https://www.mathworks.com/help/hdlcoder/examples/define-and-register-custom-board-and-reference-design-for-soc-workflow.html
https://www.mathworks.com/examples/embedded-coder/mw/xilinxzynq7000ec_product-zynq_pmsmfoc-field-oriented-control-of-a-permanent-magnet-synchronous-machine

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