scilabtec 2015 - xilinx

© Copyright 2015 Xilinx.

ZYNQ-7000

High Performance Electric Drive and

Silicon Carbide Multilevel inverter with Scilab Hardware-in-the-loop

Giulio CorradiXilinx ISM Senior System Architect

Diego QuagredaQDESYS Principal

XILINX CONFIDENTIAL.


AGENDA

What is an Electric Drive

– System

– Challenges

– Programmable Logic as Accelerator

Realizing The Hardware in The Loop

– ZYNQ-7000 the System On Chip

– The SCILAB Library

– The SCILAB Examples

Multi-Level Inverter

– System

– State of the Art using Silicon Carbide

– A Platform for Industry and Universities

Other Applications in Drives

– Fault Detection using Feature Extraction and Machine Vision



Open Source platform

Accessible

Expandable

Professional level

WHY SCILAB



A Generation Ahead at 28nm

First 28nm tape-out

First All Programmable SoC

First All Programmable 3D IC

First SoC-strength design suite

First Errata-Free Production Release

28nm



Next: Create the First All Programmable MPSoC Family

Heterogeneous Multi-Processing

Applications Processors

Secure and Smarter Real-Time Control

Hard Realtime & Soft Realtime Processing

Video and Vision



Enabling All Programmable Heterogeneous Multi-Processing



WHAT IS AN ELECTRICAL DRIVE

Torque

ControlSpeed

Control

Positioning

ControlLa

ra

Lcrc

rb

Lb

Power

Modulation

Motor

Load

Mechanical

Sensors

Electrical Feedback

Diagnostic

&

Safety

NetworkingPower

Mechanical Feedback

Braking

An electrical drive, converts energy from an electrical power source to control efficiently a mechanical load

Main electric to mechanical converter is an Electric Motor

Very good performances are obtained using Permanent Magnet Motors



Electric Drive – MAIN STAGES TIMESTEPSThe Electric Drive requires small and large timesamp simulation is challenging and often

requires uncountable iterations.

1ms 10us 100ns

POWER SOURCE[50/60Hz]

RETTIFICATION[100Hz/1KHz]

Non linear

POWER CONVERTER[10KHz/100KHz]

Non linear

MOTOR[10KHz] / [500Hz]

Electrical / Mechanical

La

ra

Lcrc

rb

Lb

1us 100us

SPEED SENSOR[2MHz]

Non linear

20ns

CONTROLLER

500ns

= Appropriate

time step

Networking

Synchronization

10us

1us



DEVELOPMENT PROCESS

ModelingInverter

SimulationTesting

Model unsatisfactory

Model satisfactory

Test unsatisfactory

ModelingInverter

HiLTesting

Model unsatisfactory

Test satisfactory

Test satisfactory

LONG

SHORT



2x GigE

with DMA

2x USB

with DMA

2x SDIO

with DMA

Static Memory Controller

Quad-SPI, NAND, NOR

Dynamic Memory Controller

DDR3, DDR2, LPDDR2

AMBA® Switches

I/O

MUXMIO

ARM® CoreSight™ Multi-core & Trace Debug

512 KB L2 Cache

NEON™/ FPU Engine

Cortex™-A9 MPCore™

32/32 KB I/D Caches

NEON™/ FPU Engine

Cortex™-A9 MPCore™

32/32 KB I/D Caches

Snoop Control Unit (SCU)

Timer Counters 256 KB On-Chip Memory

General Interrupt Controller DMA Configuration

2x SPI

2x I2C

2x CAN

2x UART

GPIO

Processing System

AMBA® Switches

AMBA® Switches

AMBA® Switches

Zynq-7000 All Programmable SoCThe World’s First Extensible Processing Platform

Programmable

Logic:System Gates,

DSP, RAM

XADC PCIe

Multi-Standards I/Os (3.3V & High Speed 1.8V)

Mu

lti-

Sta

nd

ard

s I/O

s (

3.3

V &

Hig

h S

peed

1.8

V)

Multi Gigabit Transceivers

PROGRAMMABLE LOGIC TO

PROCESSING SYSTEM

PROGRAMMABLE

LOGIC TO

PROCESSING

SYSTEM



Electric Drive - Partitioning

La

ra

Lcrc

rb

Lb

Bridge

Process Data

Observer (Speed)

Encoder readout

Current Measurement

Field Oriented Control IP

SVM - RPFM

SDC

DDR

La

ra

Lcrc

rb

Lb

Bridge

Process Data

Observer (Speed)

Encoder readout

Current Measurement

Field Oriented Control IP

SVM - RPFM

UDP/ Agent

Dynamic Link Library

Industrial Networking

PC1Gibit

PROGRAMMABLE

LOGIC

PROCESSING

SYSTEM



INTELLIGENT ELECTRICAL DRIVE

Torque

ControlSpeed

Control

Positioning

ControlLa

ra

Lcrc

rb

Lb

Power

Modulation

Motor

Load

Mechanical

Sensors

Electrical Feedback

Diagnostic

&

Safety

NetworkingPower

Mechanical Feedback

Continuous Control &

Hardware in the Loop

Remote Agent

1Gigabit

http://images.google.it/imgres?imgurl=http://img.clubic.com/photo/012C000000290419.jpg&imgrefurl=http://www.clubic.com/actualite-33308-dell-lance-de-nouveaux-pc-portables.html&h=230&w=300&sz=8&hl=it&start=23&tbnid=Q1BfyJR56MxjLM:&tbnh=89&tbnw=116&prev=/images?q=portable+PC+dell&start=20&ndsp=20&svnum=10&hl=it&lr=&rls=GGLG,GGLG:2005-50,GGLG:it&sa=N




C#

ARCHITECTURE OF THE DRIVE : The Host side

DLL for Mat applications

C++ to C#

GUI

C#

DLL for C++ / C#

ANSI C++

ATL / COM

MANAGER

XML Database

Shared Memory

Ethernet

HARDWARE IN THE LOOP



ARCHITECTURE OF THE DRIVE : All together





SCILAB SCRIPT



SCILAB script and internals

ARM #0

ARM #1(free)

FOC (Field Oriented Control)

VHDL

REALTIME

LOGGING

MEMORY

PO

WE

R S

TA

GE

DR

IVE

R

VH

DL

SVM

DA

TA

AC

QU

ISIT

ION

(Cu

rre

nts

& D

C_

Lin

k)

VH

DL

FE

ED

BA

CK

(E

nc

od

ers

)

VH

DL

RE

GIS

TE

RS

RE

GIS

TE

RS

Se

rve

r (a

ge

nt)

Primary Ethernet (UDP/IP)

EtherCAT

CAN

Wireless

RPC

(Remote Procedure Call Manager)

PS PL

Software

qmx_runlink();

qmp_linkcmd(1); - Run the Ethernet Link

qmx_rundbsload(); - Run the Database

motor=3; - Set the motor number

qmxm_enc_rst4align(motor,1); - Align motor shaft

qmpm_req_modulator(motor,0); Set Modulator

qmpm_swt_power(motor,1); Enable

qmpm_curset_pol(motor,qmgm_iscurrflux(motor),0); Set Flux

qmpm_curset_pol(motor,qmgm_iscurrhigh(motor)*0.5,%pi/2);

Set Current 50%

qmpm_acqi_synmod(motor,1); Synch Acquisition

qmpm_acqi_automemsz(motor,0); Automatic Acquisition

qmxm_acqi_start(motor); Start Motor



Sensorless Field Oriented ControlSliding Mode Estimator (SDM) for rotor position and rotor speed

motor

motor model

SDM speed estimatorBemf estimator

θ estimator

ESTIMATOR

Es * θ * ω *

is

is *

ZVS

NON LINEAR ADAPTIVE CONTROL SYSTEM

SLIDING MODE

PINK in Fabric



SCILAB SCRIPT

for Sensorless Control


3- Level Inverter



Three-level power converters are used ac-to-dc, dc-to-ac, and dc-

to-dc power conversion.

3-Levels inverter have the following benefits:

– Smaller output voltage steps reduces cables issues between the inverter and the

motor.

– Reduced surge voltages creates less EMI (electro magnetic interference)

– Output waveform deliver less Harmonic Distortion to the load

– Output filters for reconstructing the load currents are smaller, and weight less than 2-

Levels inverter.

WHAT IS A 3-LEVELS INVERTER



WHY SILICON CARBIDE POWER DEVICES


NEW TOPOLOGY “T” NPC

SiC allows full usage of the middle switch



3Levels NPC & TNPC Topology

SiC1

SiC2

P

0

N

OUT

SiC3

SiC4

SiC1

SiC4

SiC

3

SiC

2

P

0

N

OUT

NPC TNPC

3L TNPC phase leg 8 semiconductors:

4 SiC

4 Free-Wheeling Diodes

3L NPC phase leg 10 semiconductors:

4 SiC

4 Free-Wheeling Diodes

2 Clamping Diodes


3-LEVELS INVERTER BLOCK

DIAGRAM



3-LEVELS INVERTER + INDUSTRIAL NETWORK

Pow

erL

ink -

PR

OF

INE

T -

Eth

erC

AT

®

ETH1

ETH2

ISM_NET



XILINX’s ZYNQ BASED 3-LEVELS INVERTER

DC_Link Capacitors

MicroZed SOM

12 Silicon Carbide

MOSFETS

ZYNQ®-7000ISM_NETIndustrial

Networking

265 mm

54 mm

All trademarks or registered trademarks are property of their respective

owners.



SCILAB LIBRARY

• 200 Functions

• Synchronizaiton functions


Full System



ZYNQ-7000 EtherCAT® 3-Levels Inverter



Zynq based design

– 1 ARM A9 used – 2nd A9 free

– FOC and Acquisition in PL

Design available for evaluation

– Vivado 2014.4

– IPIntegrator ready

10KW power in very small volume

Fast Loop allows small size

Fast Loop allows small power filters

Very Low EMI

Full Field Oriented Control

Full Sensorless Control

EtherCAT® tested

Key Take Away


Further Information



Video explaining the 3-Level Inverter

• http://www.qdesys.com/3-level-inverter.php

http://www.qdesys.com/3-level-inverter.php



Provide customer with information from this presentation

Look to the video http://www.qdesys.com/3-level-inverter.php

Information

– Address requests to

• [email protected]



Information

• http://www.qdesys.com/pdf/MotorControlSolutions_QDESYS_Material.pdf

http://www.qdesys.com/3-level-inverter.php

mailto:[email protected]



http://www.qdesys.com/pdf/MotorControlSolutions_QDESYS_Material.pdf



ZedBoard

– http://zedboard.org/

Carrier Board with SiC –

– TLIMOT available from QDESYS [email protected]

PicoZed

– AES-Z7PZ-7Z010-SOM-G from Avnet (If EtherCAT is not used)

– AES-Z7PZ-7Z020-SOM-G from Avnet (If EtherCAT is used)

ISM-NET

– AES-FMC-ISMNET-G from Avnet (If EtherCAT is used)

Where

http://zedboard.org/



Thank You

scilabtec 2015 - xilinx

Presentations & Public Speaking