Real Time Control Embedded Software Motor Control and Power Conversion Libraries

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Embedded Software and Motor Control Libraries Block Diagram

Embedded Software and Motor Control Libraries Block Diagram

RTCESL-BD

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Features

  • Math Library (MLIB): Simple math functions (addition, subtraction, multiplication, division, shifts...) with and without saturation. This aim of this block is to have efficient and fast mathematics built on the MCU’s instructions.
  • General Function Library (GFLIB): Contains the basic building blocks of a real-time control application. Functions for basic mathematical calculations, trigonometric functions, simple look-up table and control functions such as PI and PID controllers.
  • General Motor Control Library (GMCLIB): The fundamental blocks of a motor control application. The libraries include vector modulation, Park and Clarke transformations and specific motor-related functions to build digitally controlled motor drives.
  • General Digital Filter Library (GDFLIB): Includes filter functions for signal conditioning.
  • Advanced Motor Control Library (AMCLIB): Functions that enable the construction of a variable speed, AC motor drive system that implements field oriented control techniques without position or speed sensors to provide the lowest cost solution.
  • Power Conversion Library (PCLIB): Contains control loop algorithms required in power conversion applications such as PI, PID and PID with low pass filter controller, 2P-2Z and 3P-3Z controller algorithms.
  • Supported Cores:
    • Arm® Cortex®-M0+
    • Arm® Cortex®-M4
    • Arm® Cortex®-M7
    • Arm® Cortex®-M33
    • DSP56800E
    • DSP56800EX
  • Many basic math, filter and motor control related functions
  • Written in assembler
  • Optimized for speed and size
  • Supplied as binary files
  • Easy to link to the project

Supported Devices

  • KV1x: Kinetis® KV1x-75 MHz,  Entry-level 3ph FOC / Sensorless Motor Control MCUs based on Arm® Cortex®-M0+
  • KV3x: Kinetis® KV3x-100–120 MHz,  Advanced 3ph FOC / Sensorless Motor Control MCUs based on Arm® Cortex®-M4
  • KV4x: Kinetis KV4x-168 MHz, High Performance Motor / Power Conversion MCUs based on Arm® Cortex®-M4
  • KV5x: Kinetis® KV5x-240 MHz, Motor Control and Power Conversion, Ethernet, MCUs based on Arm® Cortex®-M7
  • MC56F82xxx: MC56F826xx and MC56F827xx Digital Signal Controllers
  • MC56F83xxx: Performance Level Digital Signal Controllers, USB FS OTG, CAN-FD
  • S12ZVMB: Mixed-Signal MCU for Automotive & Industrial Motor Control Applications
  • LPC80X: Low-Cost Microcontrollers (MCUs) based on Arm® Cortex®-M0+ Core
  • LPC55S6x: High Efficiency Arm® Cortex®-M33-Based Microcontroller Family
  • i.MX-RT1020: i.MX RT1020 Crossover MCU with Arm® Cortex®-M7 Core
  • i.MX-RT1050: i.MX RT1050 Crossover MCU with Arm® Cortex®-M7 Core
  • i.MX-RT1060: i.MX RT1060 Crossover MCU with Arm® Cortex®-M7 Core
  • i.MX-RT1170: i.MX RT1170 First GHz Crossover MCU with Arm® Cortex®-M7 and Cortex-M4 Cores

Implemented Algorithms in latest RTCESL

Algorithm (16 and 32-bit fixed point, 32-bit floating point) Core Supported
DSP56800E DSP56800EX Cortex M33 Cortex M7 Cortex M4 Cortex M0+
Absolute value x x x x x x
Negation x x x x x x
Conversion x x x x x x
Conversion with rounding x x x x x x
Addition x x x x x x
Leading-bit count x x x x x x
Subtraction x x x x x x
Single-bit Shift x x x x x x
Multi-bit Shift x x x x x x
Mutli-bib bidirectional shift x x x x x x
Mutliplication x x x x x x
Mutliplication with negation x x x x x x
Mutliplication with rounding x x x x x x
Mutliplication with negation and rounding x x x x x x
Multiplication-accumulation x x x x x x
Multiplication-negation-accumulation x x x x x
Multiplication-subtraction x x x x x x
Multiplication-negation-accumulation with rounding x x x x x
Multiplication-accumulation with rounding x x x x x x
Multiplication-subtraction with rounding x x x x x x
Division (single quadrant) x x x x x x
Signed division x x x x x x
Reciprocal (single-quadrant) x x x x x x
Signed reciprocal x x x x x x
Sign x x x x x x
Binary logarithm x x x x x x
Saturation x x x x x x
Sum of four addends x x x x x x
Subtraction of 3 subtrahends from the minuend x x x x x x
Addition of two products of two multiplicands x x x x x x
Addition of two products of two multiplicands with rounding x x x x x x
Subtraction of a product of last two multiplicands from the product of first two multiplicands x x x x x x
Subtraction of a product of last two multiplicands from the product of first two multiplicands with rounding x x x x x x
Algorithm (16 and 32-bit fixed point, 32-bit floating point) Core Supported
DSP56800E DSP56800EX Cortex M33 Cortex M7 Cortex M4 Cortex M0+
Sine x x x x x x
Cosine x x x x x x
Tangent x x x x x
Arcus Sine x x x x x
Arcus Cosine x x x x x
Arcus Tangent x x x x x x
Arcus Tangent YX x x x x x x
Square Root x x x x x x
Limitation x x x x x x
Lower Limitation x x x x x x
Upper Limitation x x x x x x
Vector Limitation x x x x x
Vector Limitation 1 x x x x x x
Hysteresis x x x x x x
Look-up table 1D x x x x x x
Periodical Look-up table 1D x x x x x x
Look-up table 1D (32 bit) x x x x x
Periodical look-up table 1D (32 bit) x x x x x
Ramp x x x x x x
Dynamic Ramp x x x x x x
Flex Ramp x x x x x x
Flex S Ramp x x x x
Dynamic Flex Ramp x x x x x x
Integrator x x x x x x
Parallel form of PI controller with anti-wind-up x x x x x x
Parallel form of PID controller with anti-wind-up x x x x x
Parallel form of Beta IP controller with anti-wind-up x x x x x
Parallel form of Beta IPD controller with anti-wind-up x x x x
Algorithm (16 and 32-bit fixed point, 32-bit floating point) Core Supported
DSP56800E DSP56800EX Cortex M33 Cortex M7 Cortex M4 Cortex M0+
Clarke Transformation x x x x x x
Inverse Clarke Transformation x x x x x x
Park Transformation x x x x x x
Inverse Park Transformation x x x x x x
PMSM Decoupling x x x x x x
DC Bus Ripple Elimination for FOC x x x x x x
DC Bus Ripple Elimination x x x x x x
Dead Time Compensation x x x x
Space Vector Modulation-standard x x x x x x
Space Vector Modulation – standard shifted (for single shunt sensing) x x x x
Space Vector Modulation-with 0 000 nulls x x x x x x
Space Vector Modulation-with 0 111 nulls x x x x x x
Space Vector Modulation-inverse Clarke Transformation x x x x x x
Algorithm (16 and 32-bit fixed point, 32-bit floating point) Core Supported
DSP56800E DSP56800EX Cortex M33 Cortex M7 Cortex M4 Cortex M0+
1st Order IIR Filter x x x x x x
2nd Order IIR Filter x x x x x x
3rd Order IIR Filter x x x x x
4th Order IIR Filter x x x x x
Moving Average Filter x x x x x
Algorithm (16 and 32-bit fixed point, 32-bit floating point) Core Supported
DSP56800E DSP56800EX Cortex M33 Cortex M7 Cortex M4 Cortex M0+
ACIM rotor flux observer x x x x
ACIM speed MRAS x x x x
ACIM controller for Maximum torque per Amper x x x x
Angle Tracking Observer x x x x x x
PMSM BEMF observer in D/Q or Alpha/Beta x x x x x x
Tracking Observer x x x x x
Algorithm (16 and 32-bit fixed point, 32-bit floating point) Core Supported
DSP56800E DSP56800EX Cortex M33 Cortex M7 Cortex M4 Cortex M0+
PI controller x x x x x x
PI with low-pass filter controller x x x x x x
PID controller x x x x x x
2P-2Z controller x x x x x x
3P-3Z controller x x x x x x
NXP

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