Spinning Brushless Motors with Simulink
Nukul Sehgal
Vamshi Kumbham
We will spin a brushless motor using Simulink and Model-Based
Design
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Brushless motors are everywhere
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Developing embedded motor control software has its challenges
Developing embedded motor control software has its challenges
▪ Design work needed to be started before
motor hardware was available and needed
extensive testing to comply with standards
▪ Team needed to rapidly implement control
software on embedded processor once more
hardware became available
▪ Complex algorithms running at high sample
rates were difficult to implement in short
amount of time
Why Simulink for motor control?
▪ Verify control algorithm with desktop
simulation
Customers routinely
▪ Generate compact and fast code from models report 50% faster
time to market
▪ Minimize development time using reference
examples
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Motor Control Blockset simplifies the workflow
▪ Control blocks optimized for code
generation
▪ Sensor decoders and observers
▪ Motor parameter estimation
▪ Controller autotuning
▪ Reference examples
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Brushless motors require complex algorithms – field-oriented
control Voltage
Supply
Control algorithm
𝑣𝐷𝐶
Physical system Inverse Park Transform
𝑖𝑑_𝑟𝑒𝑓 𝑣𝑑_𝑟𝑒𝑓 𝑣𝛼_𝑟𝑒𝑓
Current d,q Space
𝜔𝑟𝑒𝑓 Speed 𝑇𝑟𝑒𝑓 Current 𝑑𝑢𝑡𝑦 Power
Reference Vector 𝑐𝑦𝑐𝑙𝑒𝑠
Controller 𝑖𝑞_𝑟𝑒𝑓 Controller 𝑣𝑞_𝑟𝑒𝑓 Inverter
Generator 𝑣𝛽_𝑟𝑒𝑓 Generator
α,β
𝑖𝑑 𝑖𝑎
d,q
𝜔 𝜃𝑒 𝑖𝑏
𝑖𝑞
a,b
Sensor
Park, Clarke Transforms
decoders or PMSM
observers
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Workflow for implementing field-oriented control
Model Design
Calibrate Estimate Deploy &
Motor & Control
Sensors Motor Validate
Inverter Algorithm
Parameters
We will use Texas Instruments motor control kit
Teknic 2310P
surface-mount PMSM
DRV8305 3-phase
inverter
TMS320F28379D
MCU
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Sensor calibration
▪ Calibrate ADC offsets
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Sensor calibration
▪ Calibrate ADC offsets
▪ Calibrate position sensor
offset
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Parameter estimation
▪ Instrumented tests running
on the target
▪ Host model to start and
control parameter estimation
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Bonus: you can use other techniques to parameterize motor models
From datasheet From ANSYS Maxwell, From dyno data
JMAG, Motor-CAD FEA tools
Simscape Electrical Simscape Electrical Powertrain Blockset
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Modeling motor and inverter
▪ Use linear lumped-parameter
motor model
▪ Model inverter as an
average-value inverter or
model switching with
Simscape Electrical
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Bonus: you can model at needed level of fidelity
Motor Control Blockset Simscape Electrical Simscape Electrical
Simscape Electrical
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Control algorithm design
▪ Model field-oriented control
algorithm
▪ Model sensor decoders or
sensorless observers
▪ Tune loop gains
▪ Verify in closed-loop
simulation
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Control algorithm design
▪ Model field-oriented control
algorithm
▪ Model sensor decoders or
sensorless observers
▪ Tune loop gains
▪ Verify in closed-loop
simulation
Control System Toolbox
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Bonus: you can use several techniques to tune loop gains
Empirical Computation FOC Autotuner Classic Control Theory
Motor Control Blockset Motor Control Blockset and Simulink Control Design
Simulink Control Design
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Control algorithm design
▪ Model field-oriented control
algorithm
▪ Model sensor decoders or
sensorless observers
▪ Tune loop gains
▪ Verify in closed-loop
simulation
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Deployment
▪ Target any processor with
ANSI C code
▪ Use provided example to
partition the model into
algorithmic and
hardware-specific parts
▪ Generate algorithmic
code for integration into
embedded application
Algorithmic Code
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Deployment
▪ Generate code (floating and
fixed-point)
▪ Use host model to control and
debug
▪ Validate on hardware
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MathWorks Training Services:
Exploit the full potential of MathWorks products
Production Code Generation
Control
System
Design
Simulation Based Testing
Load tests Run test Results
You can verify and profile code using Processor-In-the-Loop testing
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Bonus: you can target FPGAs as well
HDL Code Generation
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Workflow for implementing field-oriented control
Model Design
Calibrate Estimate Deploy &
Motor & Control
Sensors Motor Validate
Inverter Algorithm
Parameters
ATB Technologies cuts electric motor controller development time
by 50% using code generation for TI’s C2000 MCU
Challenge
Develop control software to maximize the efficiency
and performance of a permanent magnet
synchronous motor
Solution
Use MathWorks tools for Model-Based Design to
model, simulate, and implement the control system
ATB Technologies permanent magnet
on a target processor synchronous motor.
Results
“MathWorks tools enabled us to verify the quality of our design at
▪ Development time cut in half
multiple stages of development, and to produce a high-quality
▪ Design reviews simplified component within a short time frame.”
▪ Target verification and deployment accelerated - Markus Schertler, ATB Technologies
Link to user story
Use Model-Based Design for your next motor control project!
▪ Verify control algorithm with desktop
simulation
▪ Generate compact and fast code from models
▪ Minimize development time using reference
examples, built-in algorithmic blocks,
automated parameter estimation, and gain-
tuning
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Learn More
▪ Visit mathworks.com/products/motor-control
and mathworks.com/solutions/power-
electronics-control
▪ Get power electronics control design trial
package with necessary tools for desktop
modeling, simulation, control design, and
production code generation of your next
motor control project
As a follow up, in which area would you like to talk to us?
▪ Buy/Try the product
▪ Speak with our technical expert
▪ Training (Paid)
▪ Consulting (Paid)
▪ I am not ready for any of the above
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