MODEL BASED DESIGN TOOLBOX

ENABLING FAST PROTOTYPING AND DESIGN

• Speed Estimation based on Hall Sensor

• Create Simulink model for Speed Estimator
• Test Speed Estimator in Open Loop Control with FreeMASTER via CAN

EXTERNAL USE
Application mapping: SW vs. HW
MotorGD DevKit 3-phase Inverter

MISO/MOSI/SCLK/CS
MC34GD3000
pre-driver
EN RST

Vdc Idc
ADC SPI GPIO
ADC
Initialization
GPIO HS LS HS LS HS LS
1 2 3 4 5 6
Desired PWM
Speed + Speed PI Duty cycle ON
FlexPWM Protection
-
Controller OFF
SVM
FreeMASTER

UART
DIR BLDC commutation LED
CW/CCW Control Sequence GPIO
CAN Position
Motor Hall A
Actual Speed Hall Measure Hall Time & Hall B
OpenSDA 1/T counts Position Recognition
eTIMER Hall C

1 MPC5744P
EXTERNAL USE DevKit
Motor Speed – Technical Background

Hall Effect Sensor

T=1/f

2 EXTERNAL USE
Motor Speed – Technical Background

Hall Effect Sensor

T=1/f

60 ∙ 𝑓
𝑁𝑠 =
𝑝
• Ns – rotor speed in RPM

3 EXTERNAL USE
Motor Speed – Technical Background

Hall Effect Sensor

T=1/f

60 ∙ 𝑓
𝑁𝑠 =
𝑝
• Ns – rotor speed in RPM
• f – frequency in cycles per seconds (Hz)

4 EXTERNAL USE
Motor Speed – Technical Background

Hall Effect Sensor

T=1/f

60 ∙ 𝑓
𝑁𝑠 =
𝑝
• Ns – rotor speed in RPM
• f – frequency in cycles per seconds (Hz)
• p – number of pole pairs

5 EXTERNAL USE
Speed Estimator Prerequisites

6 EXTERNAL USE
Speed Estimator Prerequisites
1. Need a “well defined” periodic signal

HALL A

HALL B

HALL C

0° 60° 120° 180° 240° 300°

HALL STATE = 2 HALL STATE = 6 HALL STATE = 4 HALL STATE = 5 HALL STATE = 1 HALL STATE = 3

SECTOR = A SECTOR = B SECTOR = C SECTOR = D SECTOR = E SECTOR = F

7 EXTERNAL USE
Speed Estimator Prerequisites
1. Need a “well defined” periodic signal
2. Detect the periodic signal transitions

HALL A

HALL B

HALL C

0° 60° 120° 180° 240° 300°

HALL STATE = 2 HALL STATE = 6 HALL STATE = 4 HALL STATE = 5 HALL STATE = 1 HALL STATE = 3

SECTOR = A SECTOR = B SECTOR = C SECTOR = D SECTOR = E SECTOR = F

8 EXTERNAL USE
Speed Estimator Prerequisites
1. Need a “well defined” periodic signal
2. Detect the periodic signal transitions
3. Need a simple counter to measure between signal transitions

HALL A

HALL B

HALL C

0° 60° 120° 180° 240° 300°

HALL STATE = 2 HALL STATE = 6 HALL STATE = 4 HALL STATE = 5 HALL STATE = 1 HALL STATE = 3

SECTOR = A SECTOR = B SECTOR = C SECTOR = D SECTOR = E SECTOR = F

No of Counts
Counting
Window

9 EXTERNAL USE 180° electrical degrees period

Speed Estimator Implementation
• There are multiple approaches to measure the speed: HW or SW based
• We are going to use a SW based approach – measuring the period of the HALL A active HIGH signal

10 EXTERNAL USE
Speed Estimator Implementation
• There are multiple approaches to measure the speed: HW or SW based
• We are going to use a SW based approach – measuring the period of the HALL A active HIGH signal

360° electrical degrees period

1. Hall signal semi-period calculation
HALL A
𝑇ℎ = 𝑇𝑄 ∙ 𝑁𝐶 (eq. 1)
0° 60° 120° 180° 240° 300°

2. 360 electrical degrees period calculation

𝑇 = 2 ∙ 𝑇ℎ (eq. 2) TQ
NC
(time quanta)
Counting (no. of counts)
3. Hall signal frequency Window
𝑓 = 1/𝑇 (eq. 3)
180° electrical degrees period

Th
4. Estimated Speed
𝑓 T = 2 • Th
𝑁𝑠 = 60 ∙ ൗ𝑝 (eq. 4)

11 EXTERNAL USE
FreeMASTER over CAN
• UART1(routed via OpenSDA micro USB port) shares the same pins as FET pre-driver
• Enable FreeMASTER to use the CAN0 interface

• NOTE! R38 is not places on the PCB. An external 120Ohm CAN termination resistor must be placed between
CAN-H and CAN-L signals

12 EXTERNAL USE
FreeMASTER over CAN - Setup

CAN-H CAN-L GND

13 EXTERNAL USE
MODEL BASED DESIGN TOOLBOX
ENABLING FAST PROTOTYPING AND DESIGN

…you are now ready to design the next big thing. Good luck!

Need help? Visit us at: https://community.nxp.com/community/mbdt to share ideas

EXTERNAL USE