This document provides a legal disclaimer and proprietary information notice for a presentation by Analog Devices (ADI) on efficient motor control solutions. It states that all information in the presentation is the exclusive property of ADI and cannot be reproduced or distributed without permission. It also disclaims all warranties, stating that while ADI intends the information to be accurate, no guarantees are made. It excludes liability for any damages arising from the use of the information. The presentation agenda is then outlined, covering motor applications and markets, motor operation and construction, control strategies, feedback sensors, power and isolation, and an ADI high performance servo control board.

1. Efficient Motor Control Solutions:
High Performance Servo Control
Reference Designs and Systems Applications

2. Legal Disclaimer
 Notice of proprietary information, Disclaimers and Exclusions Of Warranties
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©2013 Analog Devices, Inc. All rights reserved.2

3. Today’s Agenda
Motor control applications and target markets
Motor operation and construction
Motor control strategies
Feedback sensors and circuits
Power and isolation
ADI high performance servo control FMC board
Using the ADI high performance servo FMC board with Xilinx®
FPGAs and Simulink®
3

4. Objectives
Provide insight into the operation of electric motor
drive systems and show where ADI technology adds
value to the system
Understand motor control strategies and the challenges
of designing efficient motor control applications
Show how some ADI motor control solutions can be used
with Xilinx FPGAs
Show how some ADI motor control solutions can be used
with Simulink from MathWorks®
4

5. Motor Control Applications
and Target Markets
Section 1
5

6. Electric Motor Applications
Electric motors are used in a wide range of applications
 Industrial
 Medical
 Transportation
 Automotive
 Integrated applications
 Communications
 Household appliances
6

7. Electric Motor Drives
Motor Drive
 A system that varies the motor electrical input power to
control the shaft torque, speed, or position.
Types of Drives
 Application specific drive—designed to run a specific
motor in a specific application (e.g., variable speed pump
drive).
 Standard drive—designed as a general-purpose motor
speed controller capable of running a variety of motors
within a given power range.
 Servo drive—designed to deliver accurate and high
dynamic control of position, speed, or torque down to
zero speed. Typically used in automation applications.
 High performance servos—designed to deliver best in
class accuracy and connectivity. Typically used in CNC
and pick and place machines.
7

8. Market Classification in Motor Control
Classification and Categories
8
High End Servos
and CNC
* Different real-time
connectivity
* Multiaxis in single
controller
* Highest
performance AFE/
sensing
* Advanced system
architecture
Servos and
Premium Drives
* System dependent
real-time connectivity
* Single and dual axis
in single controller
* Highest
performance AFE/
sensing
* Balanced/cost
optimal system
architecture
Standard and
Midrange Drives
* Ethernet and field
bus connectivity
* Single axis in one
controller
* Midend performance
AFE/sensing
* Cost optimal system
architecture
Application
Specific Motor
Control
*Simple/system
connectivity
* Single axis in one
controller
* System dependent
AFE/sensing
* Cost optimal end
application
architecture

9. Market Sub Segments in Motor Control
Partners and Systems Value from ADI
9
High End Servos/CNC
ADI + FPGA Vendors
Xilinx
Focus ADI Parts:
Isolation (Gate Drivers/Discrete)
AD740x + AMP
RDC + SAR ADC
Transceivers
Power
Accelerometers/Sensors
Servos and Premium
Drives
ADI Has Complete Signal
Chain + Select Partners
Focus ADI Parts:
ASSPs/SHARC/BF
Isolation (Gate Drivers/Discrete)
AD740x + AMP
RDC + SAR ADC
Transceivers
Power
Accelerometers/Sensors
Standard and Midrange
Motor Drives
ADI Has Complete Signal
Chain + Select Partners
Focus ADI Parts:
ASSPs/BF
Isolation (Gate Drivers/Discrete)
AD740x + AMPs
RDC + SAR ADC
Transceivers
Power
Applications Specific
Motor Control
ADI Has Part of Signal
Chain + Select Partners
Focus ADI Parts:
ASSPs / ADuC Family
Isolation (Gate Drivers/Discrete)
AMPs
SAR ADC
Transceivers
Power
Highest Value for
High Performance
FPGA and AFE

10. Market Trends
Save Energy
 Drive for performance and quality in motor control
 More than 40% of global energy consumed by motors
 The requirement for higher system efficiency means
there is a need to move from standard induction
machines to permanent magnet motors
 Shift from analog to digital control—focus on highest
possible efficiency
Impact of Trends
 Increases need for new performing technologies on:
converters, amplifiers, processors, isolation, power, in
terfaces
 The need for higher controller performance makes
room for new technologies like FPGAs and other
advanced controllers to be used in motor control
systems
10

11. Electric Motors
Operation and Construction
Section 2
11

12. Types of Electric Motors
DC Motors
 Stepper
 Brushed DC
 Brushless Permanent Magnet
 Brushless DC (BLDC)
 Permanent Magnet Synchronous Motors
(PMSM)
AC Motors
 Asynchronous Motors
 Synchronous Motors
12

13. Basic Motor Operation
13
Torque Production Back EMF Generation
..
..


paa
apa
ke
ikT


 Magnetization Fa of the armature
coil due to ia produces torque
that tends to align the coil with
the external magnet.
 Rotation of the armature results in
a change in the flux coupled from
the magnet and EMF ea is
generated.

14. Motor Flux and BEMF
14
 The total flux picked up by the
motor winding depends on the
alignment of the coils with the
magnetic field.
 The flux linked by a coil varies as a
sinusoidal function of its
alignment angle with the field.
 When the coil moves at a constant
speed, the coil flux has a cosine
waveform.
 The back EMF is the rate of change
of flux and is a sine waveform.
 AC motors are designed to have a
sinusoidal flux function—the back
EMF magnitude is proportional to
the frequency.
 The torque generation function is
also sinusoidal.
   
 
  
   tte
dt
d
t
dt
d
te
pa
p
a
a
pa
.sin..
.sin.
cos.










15. Field Alignment and Torque Production
15
 Torque produced by magnetic
forces on the current carrying
conductors.
 Maximum torque generated
when the coil axis is
orthogonal to the magnetic
field.
 In dc motors, the current
polarity is switched when the
coil reverses alignment.
 In ac motors, torque has a sine
function with angle.
 Maximum torque is produced
when the coil current is in
phase with the coil back EMF.
 Three phase machines
generate constant power and
torque.
   
   
       
 



cos.
.sin..sin..
.sin.
.sin..
mp
mpaa
ma
pa
IT
ttItiteT
tIti
tte





16. DC and AC Motor Construction
16
DC Motor
 Moving armature coils and fixed
magnets
 The coil voltage polarity depends
on alignment angle with the
magnet
 The commutator automatically
selects the coils generating
positive voltage
AC Motor
 Fixed stator coils and moving
rotor magnets
 The coil voltages depend on the
alignment angle with the rotor
magnets
 Multiple stator windings for
smooth torque production

17. Brushless DC and PMSM Motor Construction
17
BLDC Motor
 Fixed stator coils and moving
rotor permanent magnets
 Trapezoidal supply voltage
 Trapezoidal BEMF
 Stator flux position commutates
each 60 degrees
 High core losses
 Relative simple control algorithm
PMSM Motor
 Fixed stator coils and moving
rotor permanent magnets
 Sinusoidal supply voltage
 Sinusoidal BEMF
 Continuous stator flux position
variation
 Lower core losses
 Complex control algorithm

18. Motor Control Strategies
Section 3
18

19. Brushed DC Motor Control
19
 Vary the dc supply, and the motor speed
will follow the applied voltage
 Pulse width modulation
 Constant amplitude voltage pulses of varying
widths are provided to the motor: the wider the
pulse, the more energy transferred to the motor
 The frequency of the pulses is high enough that
the motor’s inductance averages them, and it
runs smooth
 A single transistor and diode can control
the speed of a dc motor
 The motor speed (voltage) is proportional to the
transistor ON duty cycle
 Positive torque only—passive braking
 An H-bridge power circuit enables four
quadrant control
 Forward and reverse motion and braking
 Complementary PWM signals applied to the high
and low side switches in the bridge

20. A
B C
BLDC
CONTROLLER
+
-
HALLA
HALLB
HALLC
Brushless DC Motor Control
20
 Brushless dc motors windings generate a
trapezoidal back EMF synchronized to the
position of the rotor magnet.
 Hall effect sensors detect the rotor magnet
position and provide signals indicating the
“flat top” portion for each winding’s back
EMF.
 Six switching segments can be identified.
 Star Connection Control
 For any one segment, two windings will be in the
“flat top” portion of the back EMF and a third
winding will be switching between a positive and
negative output.
 Electronic control leaves one winding open
circuit, connects one winding to the lower dc
rail, and controls the voltage applied to the third
winding using PWM.
 The fill factor of the applied PWM controls the
speed of the motor.

21. A
B C
BLDC
CONTROLLER
+
-
HALLA
HALLB
HALLC
Brushless DC Motor Control
21
 Delta Connection Control
 For any one segment, two windings are
connected to the positive voltage supply and
a third winding is connected to the negative
voltage supply.
 The fill factor of the applied PWM controls
the speed of the motor.
 The rotation sequence can be reversed by
reversing the polarity of the windings.
 Sensorless control can be achieved by
detecting the zero crossings of the BEMF
for each phase
 Sensorless control benefits
 Lower system cost
 Increased reliability
 Sensorless control drawbacks
 BEMF zero crossings can’t be reliably
detected at low motor speeds

22. AC Motor Control
22
 Volts per Hertz Control
 Variable frequency drive for applications like
fans and pumps
 Fair speed and torque control at a
reasonable cost
 Sensorless Vector Control
 Does not require a speed or position
transducer
 Better speed regulation and the ability to
produce high starting torque
 Flux Vector Control
 More precise speed and torque control, with
dynamic response
 Retains the Volts/Hertz core and adds
additional blocks around the core
 Field Oriented Control
 Best speed and torque control available for ac
motors
 The machine flux and torque are controlled
independently
U
V
W
AC MOTOR
CONTROLLER
+
-
Ia
Ib
Speed

23. Field Oriented Control (FOC)
23
 Separates and independently controls the motor flux and torque
 Applies equally well to dc motors and ac motors and is the reason “dc
like” performance can be demonstrated using field oriented control on
ac drives
Torque
Controller
PI
Flux
Controller
PI
Inverse
Park
Transform
d,q → α,β
Space
Vector
PWM
3 Phase
Inverter
Forward
Clarke
Transform
a,b → α,β
Forward
Park
Transform
α,β → d,q
Vsq
Vsd
Vsα
Vsβ
Vsa PWM
Vsb PWM
Vsc PWM
AC
Motor
isa
isb
isα
isβ
isd
isq
Vsq
Vsd
VsqRef
VsdRef
_
+
+
_
VDC
Rotor Flux
Angle θ

24. Field Oriented Control—Clarke
24
 The forward Clarke transformation converts a 3-phase system
(a, b, c) to a 2-phase coordinate system (α, β).
 Forward Clarke transformation
 Inverse Clarke transformation
a, α
β
b
c
Isa Isα
Isb
Isc
IsIsβ

25. Field Oriented Control—Park
25
 The forward Park transformation converts a 2-phase system (α, β)
attached to the stator reference frame to a 2-phase coordinate system
(d, q) attached to the rotor reference frame.
 Forward Park transformation
 Inverse Park transformation
β
αIsα
Isβ
Is
d
q
θfield
Isd
Isq

26. Space Vector Modulation
26
 Directly transforms the stator voltage vectors from a (α, β) coordinate
system to PWM signals
 A vector is produced that transitions smoothly between sectors and, thus,
provides sinusoidal line-to-line voltages to the motor
 The mean vector computed during a PWM period is equal to the desired
voltage vector
U V W Vector
0 0 0 U000
0 0 1 U0
0 1 0 U120
0 1 1 U60
1 0 0 U240
1 0 1 U300
1 1 0 U180
1 1 1 U111

27. Feedback Sensors and Circuits
Section 4
27

28. Current and Voltage Sensing
28
 Shunt Resistor
 Linear, wide BW, zero offset
 Power loss at high currents and
no isolation
 Current Transformer
 Isolating
 AC only with poor linearity at low current
 Hall Effect Current Sensor
 Isolating, dc operation and less expensive
than CT
 Nonlinearity and zero offset
 Nulling Hall Effect Sensor
 Isolating, dc operation and better linearity
than HE sensor
 More expensive and zero offset
 Voltage isolation
 Used to remove CM signal from dc
bus, motor voltage, and current shunt
voltages
Isolating

29. Shaft Position and Speed Sensing Devices
Speed
 AC and DC tachometers are permanent
magnet generators that produce a
voltage proportional to speed.
 The ac tachometer output frequency is
also proportional to speed.
Commutation (Rotor Angle)
 Brushless dc motors require low
resolution feedback derived from the
motor magnets using Hall effect sensors.
 A Hall effect based magnetic encoder
generates a pulse train for speed and
incremental position.
Precision Shaft Angle
 Optical encoders with precision pattern
printed on a glass disk provide very high
resolution shaft position and speed data.
 Resolvers generate sine/cosine relative
to position. They are the analog
counterpart of the rotary encoder.
29

30. Sensorless Control
Eliminate mechanical speed/position sensors by calculating
feedback signal from other information
 Often used for rotor position estimation in PMSM and BLDC motors
 Very useful in estimating rotor flux position in ACIM FOC control
 In some cases, can provide better results than real sensors
Techniques
 BEMF detection to estimate rotor position in BLDC motor control
 Rotor angle detection based on motor model using measured phases currents
and voltages
Problems
 Variation of motor/model parameters over time, temperature
 Usually need special handling of low speed/zero speed and/or start-up
30

31. Power and Isolation
Section 5
31

32. Safety and Functional Isolation
32
 Functional isolation protects electronic control
circuits from damaging voltages
 Isolate high voltage output from control circuits
connected to Power_GND
 Safety isolation protects the user from dangerous
voltages
 Protects user and electronic circuits
 International standard apply
 Typically requires double insulation barrier: single
device with two insulating layers OR two single
insulating layer devices in path to EARTH
 Isolation options
 Isolate power circuits from the control and user I/O
circuits
 Common in “noisy” high power systems
 Required when there is high BW communications
between control and communications process
 Isolate power and control circuits from user I/O
circuits
 Common in low power systems
 Simplifies signal isolation when there is limited
communications between control and user

33. Motor Control Signal Isolation—Isolated Power
Circuit
Feedback isolation
 Measure winding current using
isolating ADC
 Isolated RS-485 position data from
encoder ASIC
Inverter drive isolation
 Isolated high- and low-side gate
drivers
DC bus signal isolation
 Serial I2C ADC for analog signal
isolation
 Digital isolation of hardware trip
signals
Field Bus isolation
 Isolate CAN outputs from field bus
network
33

34. ADI High Performance Servo
Control FMC Board
Section 6
34

35. FPGAs in Motor Control
FPGAs are becoming more popular for
motor control
 Wide integration capabilities
 Higher performance, reduced latency
 Cost reduction
FPGAs are used in a large number of
industry fields for efficient motor control
 Industrial servos and drives
 Manufacturing, assembly, and automation
 Medical diagnostic
 Surgical assist robotics
 Video surveillance and machine vision
 Power efficient drives for transportation
35

36. ADI FMC High Performance Servo Board
Purpose
 Provide an efficient motor control solution for different types of
electric motors
 Address power and isolation challenges encountered in motor
control application
 Provide accurate measurement of motor feedback signals
 FPGA interfacing capability
Added Value
 Complete control solution showing how to integrate hardware for:
 Power
 Isolation
 Measurement
 Control
 Increased control flexibility due to FPGA interfacing capabilities
 Increased versatility to be able to control different types of
motors
 Example reference designs showing how to use the control
solution with Xilinx FPGAs and Simulink
36

37. ADI FMC High Performance Servo Board
 FMC 12 V or external power
 Drives motors up to 42 V at 4 A
 Control signals isolation
 Current and voltage measurement using
isolated ADCs
 BEMF zero cross detection for sensorless
control of PMSM or BLDC motors
 Connectors for Hall and speed encoders
 Can drive two BLDC/PMSM/brushed DC
motors simultaneously
 Can drive one stepper motor
 Compatible with all Xilinx FPGA platforms
with FMC LPC or HPC connectors
 Interface for Xilinx 7 series FPGAs XADC
37

38. ADI FMC Motor Control Board Block Diagram
38
ADI FMC MOTOR CONTROL
ISOLATED
Motor Driver
L6234
Current +
Voltage Sense
AD7401A
Current +
Voltage Sense
XADC
AD8126 AD8137
Power
ADP2504
ADUM5000
ADP122
Isolation
ADUM1310
Voltage Translation
ADG3308
BEMF Sense
CMP04
FMC_3.3V
VEXT_DC 12V-42V
FLOATING GND REFERENCE
VBUS
FMC_12V
FPGA GND REFERENCE
HALL Sensors / Speed Encoder
HALL Sensors / Speed Encoder
HALL /
Speed Encoder
HALL /
SpeedEncoder
Ia / Ib / It
Vbus
U/V/W BEMF
XADC Header
5V_ISO
3.3V_ISO
Motor Driver
L6234
Voltage
Translation
ADG3308
Voltage
Translation
ADG3308
FMC_M1_PWM
FMC_M2_PWM
FMC_M1_FAULT
FMC_M2_FAULT
Isolation
ADUM110
Isolation
ADUM1310
Isolation
ADUM110
Isolation
ADUM1310
VBUS
GND_ISO
BLDC /
PMSM /
DC /
STEPPER
FMC
LPC
BLDC /
PMSM /
DC /
STEPPER
Shunt
Resistors
U / V / W
Shunt
Resistors
U / V / W
Ia / Ib / It
Ia / Ib / It

39. Key Parts Features That Improve System
Performance
 Efficient Motor Control Prerequisites
 High quality power sources
 Reliable power, control, and feedback signals isolation
 Accurate currents and voltages measurements
 High speed interfaces for control signals to allow fast controller response
39
Measurement
AD7401A 5 kV rms, isolated 2nd order Sigma-Delta modulator
AD8216 High bandwidth, bidirectional 65 V difference amplifier
Power
ADuM5000 isoPower® integrated isolated dc-to-dc converter
ADP2504 1000 mA, 2.5 MHz buck-boost dc-to-dc converter
ADP122 Low quiescent current, CMOS linear regulator
Isolation
ADuM1310 Triple channel digital isolator
ADuM1100 iCoupler® digital isolator
Voltage Translation
ADG3308 8-channel bidirectional level translator

40. AD7400A/7401A: 5 kV rms, Isolated 2nd Order
Sigma-Delta Modulator
 Features
 High performance isolated ADC
 16-bit NMC
 ±2 LSB (typ) INL with 16-bit resolution
 1.5 mV/°C (typ) offset drift
 ±250 mV differential analog input
 −40°C to +125°C operating temperature
range
 5 kV rms, isolation rating (per UL 1577)
 Maximum continuous working voltages
 565 V pk-pk: ac voltage bipolar waveform
 891 V pk-pk: ac voltage unipolar
waveform (CSA/VDE)
 891 V: dc (CSA/VDE)
 Ideal for motor control and dc-to-ac inverters
 Shunt resistor current feedback sensing
 Isolated voltage measurement
 External clocked version simplifies
synchronization
40
Product Data Rate Clock SNR ENOB INL Package
AD7400A 10 MHz Internal 80 dB 12.5 ±2 LSB SOIC-16
Gull Wing-8
AD7401A 20 MHz External 83 dB 13.3 ±1.5 LSB SOIC-16

41. AD8216: High Bandwidth, Bidirectional 65 V
Difference Amplifier
 Features
 ±4000 V HBM ESD
 Ideal for current shunt applications
 High common-mode voltage range
 −4 V to +65 V operating
 −40 V to +80 V survival
 3 MHz bandwidth
 <100 ns output propagation delay
 Gain: 3 V/V
 Wide operating temperature range
 Die: −40°C to +150°C
 8-lead SOIC: −40°C to +125°C
 Adjustable output offset
 Excellent ac and dc performance
 10 μV/°C offset drift
 10 ppm/°C gain drift
 Qualified for automotive applications
 Applications
 High-side current sensing in
 DC-to-DC converters
 Motor controls
 Transmission controls
 Diesel-injection controls
 Suspension controls
 Vehicle dynamic controls
41

42. ADuM5000: Isolated DC-to-DC Converter
 Features
 isoPower® integrated isolated dc-to-dc
converter
 Regulated 3.3 V or 5 V output
 Up to 500 mW output power
 16-lead SOIC package with >8 mm
creepage
 High temperature operation
 105°C maximum
 High common-mode transient immunity
 >25 kV/μs
 Thermal overload protection
 Safety and regulatory approvals
 UL recognition
 2500 V rms for 1 minute per UL 1577
 CSA component accept notice #5A
(pending)
 Applications
 RS-232/RS-422/RS-485 transceivers
 Industrial field bus isolation
 Power supply startups and gate drives
 Isolated sensor interfaces
 Industrial PLCs
42

43. ADP2504: 1000 mA, 2.5 MHz Buck-Boost
DC-to-DC Converter
 Features
 2.5 MHz operation enables 1.5 μH inductor
 Input voltage: 2.3 V to 5.5 V
 Fixed output voltage: 2.8 V to 5.0 V
 1000 mA output
 Boost converter configuration with load
disconnect
 Power save mode (PSM)
 Forced fixed frequency operation mode
 Synchronization with external clock
 Internal compensation
 Soft start
 Enable/shutdown logic input
 Overtemperature protection
 Short-circuit protection
 Undervoltage lockout protection
 Applications
 Wireless handsets
 Digital cameras/portable audio players
 Miniature hard disk power supplies
 USB powered devices
43

44. ADuM1310: Triple Channel Digital Isolator
 Features
 Low power operation
 5 V operation
 1.7 mA per channel maximum at 0 Mbps to 2
Mbps
 4.0 mA per channel maximum at 2 Mbps to
10 Mbps
 3 V operation
 1.0 mA per channel maximum at 0 Mbps to 2
Mbps
 2.1 mA per channel maximum at 2 Mbps to
10 Mbps
 Bidirectional communication
 3 V/5 V level translation
 Schmitt trigger inputs
 High temperature operation
 105°C
 Up to 10 Mbps data rate (NRZ)
 Programmable default output state
 High common-mode transient immunity
 >25 kV/μs
 Applications
 General-purpose multichannel isolation
 SPI interface/data converter isolation
 RS-232/RS-422/RS-485 transceiver
 Industrial field bus isolation
44

45. L6234: 3-Phase Motor Driver
Features
 Supply voltage from 7 V to 52 V
 5 A peak current
 RDSON 0.3 Ω typ value at 25°C
 Cross conduction protection
 TTL compatible driver
 Operating frequency up to 150 kHz
 Thermal shutdown
 Intrinsic fast free wheeling diodes
 Input and enable function for each
half bridge
 10 V external reference available
Applications
 Brushed dc drives
 BLDC drives
 PMSM drives
45

46. Using the ADI High Performance
Servo FMC Board with Xilinx
FPGAs and Simulink
Section 7
46

47. ADI High Performance Servo Development
Platform
Target FPGA Platforms
 Xilinx Virtex FPGA platforms
 Xilinx Kintex FPGA platforms
 Xilinx Zynq FPGA platforms
Control Algorithms
 Simulink models for controller ready for code
generation using HDL Coder™ from MathWorks
and Xilinx System Generator
 Reference design showing BLDC motor speed
control
 Reference design showing BLDC motor speed
and torque control
Simulation and Monitoring
 Controller simulation and tuning in Simulink
 ChipScope™ interface for internal signals
monitoring
47

48. Motor Control Reference Design FPGA Blocks
 Motor Controller generated from Simulink
 6 State Motor Driver
 SINC3 Filters for current and voltage
measurement
 BEMF position detector
 Hall position detector
 ChipScope blocks
48
Xilinx ML605/KC705/VC707/ZC702 FPGA
FMC
LPC
ADI Motor Control Board
Motor
Controller
BEMF Position
Detector
SINC3 Filters
HALL Position
Detector
Isolated Gate
Driver M
BLDC
PWM
Isolated ADCs
Current
Shunts
BEMF Zero
Cross
Detectors
HALL
Sensors
Voltage Level
Translator
Chipscope ICON
Chipscope ILA
6 State Motor
Driver
MUX
PWM
Current
Position
Chipscope VIO

49. Speed Control Reference Designs
Speed Control Reference Design
 Target motor: BLDC
 Speed control using Hall sensor
 Sensorless speed control using
BEMF
 Simulink controller model
 ChipScope interface for internal
signals monitoring
Implementation Flow
49
BLDC
PID
Controller
6 State
Motor Driver
Speed
Computation
PWM
PositionSpeed
Reference
Speed
+
-
Design and Tune
the
Motor Controller
in
Simulink
using the
Xilinx Blockset
Generate the HDL Netlist
for the
Simulink Motor Controller
using
Xilinx System Generator
Integrate
the
Motor Controller HDL Netlist
in the
Speed Control Reference
Design

50. Simulink Speed Controller
50
Speed Computation
PID Controller
Edge Detection

51. Simulink Speed Controller
51

52. Motor Control Reference Designs
Speed and Torque Control
Reference Design
 Target motor: BLDC
 Speed and torque control
 Simulink controller model
 ChipScope interface for
internal signals monitoring
Implementation Flow
52
BLDC
PI Speed
Controller
6 State
Motor Driver
Speed
Computation
Current
Reference
PositionSpeed
Speed
Reference
+
-
PID Current
Controller
PWM
Current
Computation
Total Current
Measurement
Total
Current
+ -
Design and Tune
the
Motor Controller
in
Simulink
using
Simulink Native Blocks
Generate the HDL Netlist
for the
Simulink Motor Controller
using
Xilinx System Generator
Integrate
the
Motor Controller HDL Netlist
in the
Speed and Torque Control
Reference Design
Generate the HDL code
for the
Motor Controller
using
HDL Coder
Replace in the Simulink model
the Motor Controller
with
Xilinx Black Boxes
containing the
HDL generated by
HDL Coder

53. Simulink Speed and Torque Controller
53
Speed Computation
PI Speed Controller
Current Computation
PID Torque Controller

54. Simulink Speed and Torque Controller
54

55. Simulink Speed and Torque Controller
55

56. Conclusions
The ADI high performance servo development platform showcases
a full motor control solution that shows how to integrate all the
necessary hardware components for efficient motor control in one
system
The FPGA interfacing capabilities provide a high degree of flexibility
in developing high performance motor control algorithms
By using the MathWorks simulation and development tools, high
performance control algorithms can be developed and simulated on
the PC and transferred directly into the FPGA
The ADI motor control reference designs provide a starting point for
developing enhanced motor control algorithms using MathWorks
and Xilinx FPGAs
56

57. Tweet it out! @ADI_News #ADIDC13
What We Covered
Motor operation and construction
Motor control strategies
Feedback sensors and circuits
Power and isolation
ADI high performance servo control FMC board
Using the ADI high performance servo FMC board with Xilinx FPGAs
and Simulink
57

58. Tweet it out! @ADI_News #ADIDC13
Design Resources Covered in This Session
Ask technical questions and exchange ideas online in our
EngineerZone™ Support Community
 Choose a technology area from the homepage:
 ez.analog.com
 Access the Design Conference community here:
 www.analog.com/DC13community
Download the motor control reference designs and documentation
from the ADI wiki
 wiki.analog.com
58

59. Tweet it out! @ADI_News #ADIDC13
Visit the Motor Control Demo in the Exhibition
Room
Demo: speed and torque control of a BLDC motor
Two motors connected through a drive belt—one motor in generator
mode with variable output resistance to simulate load changes on
the driving motor
The system’s operation can be completely monitored and controlled
through ChipScope
Hardware:
 ADI servo control FMC board
 Xilinx ML605 FPGA board
 2 × 24 V BLDC motors
59
This demo board is available for purchase:
www.analog.com/DC13-hardware