1. Renesas Electronics America Inc. © 2012 Renesas Electronics America Inc. All rights reserved. Sensorless Vector Control with RL78G14

2. © 2012 Renesas Electronics America Inc. All rights reserved.2 Renesas Technology & Solution Portfolio

3. © 2012 Renesas Electronics America Inc. All rights reserved.3 Microcontroller and Microprocessor Line-up Wide Format LCDs  Industrial & Automotive, 130nm  350µA/MHz, 1µA standby 44 DMIPS, True Low Power Embedded Security, ASSP 165 DMIPS, FPU, DSC 1200 DMIPS, Performance 1200 DMIPS, Superscalar 500 DMIPS, Low Power 165 DMIPS, FPU, DSC 25 DMIPS, Low Power 10 DMIPS, Capacitive Touch  Industrial & Automotive, 150nm  190µA/MHz, 0.3µA standby  Industrial, 90nm  242µA/MHz, 0.2µA standby  Automotive & Industrial, 90nm  600µA/MHz, 1.5µA standby  Automotive & Industrial, 65nm  600µA/MHz, 1.5µA standby  Automotive, 40nm  500µA/MHz, 35µA deep standby  Industrial, 40nm  242µA/MHz, 0.2µA standby  Industrial, 90nm  1mA/MHz, 100µA standby  Industrial & Automotive, 130nm  144µA/MHz, 0.2µA standby 2010 2013 32-bit 8/16-bit

4. © 2012 Renesas Electronics America Inc. All rights reserved.4 Enabling the Smart Society Energy efficiency is key to a Smart Society Motor control is key to efficient energy management

5. © 2012 Renesas Electronics America Inc. All rights reserved.5 Agenda Introduction to the Field Oriented Control (FOC) with Sensorless Speed and Position Detection Challenges to implement SVC on 16-bit MCUs RL78G14 special features Implementation with RL78G14 Introduction to the RL78G14 kit Lab procedure Setup Sensorless Vector Control Demo Sample motor currents and DC bus voltage Drive motor in open loop Understand sensorless position and speed estimation Drive motor by closing the speed loop Tune motor operation

6. © 2012 Renesas Electronics America Inc. All rights reserved.6 Sensorless Vector Control Loop Commanded speed Actual speed Clarke transformPark transform Inverse Clarke transform Inverse Park transform Computation intensive operations

7. © 2012 Renesas Electronics America Inc. All rights reserved.7 Examples of control equations Phase voltages : ν a, ν b, ν c –i a, i b, i c phase currents –R s stator resistance –λ magnetic flux linkage Clark transformation – 3-phase to 2-phase in stator frame Park transformation – ωangular speed – Lmutual inductance

8. © 2012 Renesas Electronics America Inc. All rights reserved.8 Challenges of 16-bit MCUs for Motor Control Most 16-bit MCUs are CISC architecture Good code density (smaller memory needed) Execution time may not be fast enough for real-time control Representation of quantities is range limited 0 to 65536unsigned -32768 to 32768signed Without FPU scaling needs to be used Scaling limitation Multiply-Accumulate (MAC) operation:a = a + (b * c) d = b * c a = a + d Can the 16-Bit MCUs do field oriented sensorless control? Yes with the right performance and peripherals!

9. © 2012 Renesas Electronics America Inc. All rights reserved.9 RL78G14: 16-bit MCU for Motor Control Communications 2 x I 2 C Master / Slave 1 x I 2 C Multi-Master 2 x CSI/SPI 7-, 8-bit 2 x CSI/SPI 7-, 8-bit 3 x UART 7-, 8-, 9-bit 3 x UART 7-, 8-, 9-bit 1 x LIN 1ch 1 x LIN 1ch Analog ADC 10-bit, 12ch ADC 10-bit, 12ch Internal Vref. Memory Program Flash up to 64KB SRAM up to 5.5KB Data Flash up to 4KB System Interrupt Controller 4 Levels, 20 pins Interrupt Controller 4 Levels, 20 pins Power Management HALT RTC,DMA Enabled HALT RTC,DMA Enabled SNOOZE Serial,ADC Enabled SNOOZE Serial,ADC Enabled STOP SRAM On STOP SRAM On Timers 2 x Timer Array 16-bit, 4ch 2 x Timer Array 16-bit, 4ch Interval Timer 12-bit, 1ch Interval Timer 12-bit, 1ch Window WDT 17-bit, 1ch Window WDT 17-bit, 1ch RTC Calendar RTC Calendar Temp. Sensor Safety RAM Parity Check/protection RAM Parity Check/protection POR, LVD MUL/DIV/MAC Debug Single-Wire Debug Single-Wire ADC Self-diagnostic ADC Self-diagnostic SFR protection SFR protection Memory CRC Memory CRC Clock system External Clock 20MHz External Clock 20MHz External Clock 32.768KHz Internal OCO up to 64MHz Internal OCO up to 64MHz Internal LOCO 15KHz Internal LOCO 15KHz Clock Monitoring Clock Monitoring DTC Motor Control Support 16-Bit Motor Control Timers – 64MHz / 1% Internal Clock – RD for 3-Phase PWM – RJ for interrupt culling – RG for quadrature encoder ADC trigger Event Link Controller (ELC) Data Transfer Controller (DTC) Hardware Safety –Independent Watchdog –Hardware shutdown Self-test o Flash ECC, RAM Parity, H/W CRC, WDT, A/D, RAM/SFR write protect, Clock monitor Motor Control 3ph MC Timer RD 16-bit with dead time Encoder Timer RG 16-bit, 1ch Timer RJ 16-bit, 1ch ELC 16-Bit CISC CPU Core 41 DMIPS @32MHz 3-stage pipelined Harvard architecture MUL/DIV/MAC instructions 16-Bit Barrel Shifter

10. © 2012 Renesas Electronics America Inc. All rights reserved.10 High Performance Optimized Architecture 16-bit CPU core with pipelining Efficient instruction execution – 86% in 1-2 cycles Single cycle multiplication (HW math assist) Data transfer controller (up to 24 channels) HW math assistOperation Clock cycles 16-bit barrel shiftershift/rotate by n (n = 1-15)1 multiply signed & unsigned16 x 16 = 32 Bit result2 multiply/accumulate signed & unsigned16 x 16 + 32 = 32 Bit result3

11. © 2012 Renesas Electronics America Inc. All rights reserved.11 Motor Timer RD TRDGRA0 TRDGRB0 TRDGRA1 TRDGRB1 TRDGRD0 TRDGRC1 TRDGRD1 DUTY 1 DUTY 2 DUTY 3 PERIOD Waveform Control Timer RD Registers RD0 RD1 BufferCompare U /U V /V W /W TRDIOC0 TRDIOB0 TRDIOD0 TRDIOA1 TRDIOC1 TRDIOB1 TRDIOD1

12. © 2012 Renesas Electronics America Inc. All rights reserved.12 Complementary PWM Operation Value in TRDGRA0 Value in TRDGRB0 Value in TRDGRA1 Value in TRDGRB1 TRDIOB0 Output TRDIOD0 Output TRDIOA1 Output TRDIOC1 Output TRDIOB1 Output TRDIOD1 Output U /U V /V W /W TRD0 TRD1

13. © 2012 Renesas Electronics America Inc. All rights reserved.13 Event Link Controller (ELC) Standard processing Processing with ELC CPU Comparator Timer A/D Interrupt Controller Interrupt Controller External analog input voltage CPU Comparator Timer A/D Interrupt Controller Interrupt Controller ELC External analog input voltage ELC links Inputs and Outputs of internal peripherals Performance benefits: Reduces CPU load, interrupts, program size and power consumption Improves real-time operation Enables direct control of I/O ports and built in event timers Using Interrupt: > 9-16 cyc ELC: 3cyc

14. © 2012 Renesas Electronics America Inc. All rights reserved.14 Data Transfer Controller (DTC) Data transfer between memory and registers without CPU use Reduced CPU overhead CPU DTC DTC unused DTC used DTC Performance (G14 64-pin) Number of channels24 ch Address space for transfer64 KB Max. transmission time/ Block size256 times / 512B Transmission target memory ⇔ memory memory ⇔ SFR Activation sources31 Memory, SFR CPU Memory, SFR

15. © 2012 Renesas Electronics America Inc. All rights reserved.15 Control loop cycle management PWM interrupt culling (skipping) –Timer RD: PWM frequency - 24KHz –Timer RJ: Event count mode Count down from 2 to 0 –ELC : Input from Timer RD Output to Timer RJ –Control loop frequency set by Timer RJ underflow interrupt @8KHz RL78/G14 Use for Motor Control CPU Timer RD Timer RJ Interrupt Controller Interrupt Controller ELC Timer RD Event Link Controller TRD1 Underflow Trigger Event Input Trigger Complementary PWM Timer RJ Event Counter

16. © 2012 Renesas Electronics America Inc. All rights reserved.16 Software Flow – Main Loop Hardware and software Init Interrupt enabling 125us Interrupt 10ms Main loop Main loop synchronization Main loop body Speed ramp management Communication management General board management Parameter modification management cnt_init==0? cnt_init=NUM_INT

17. © 2012 Renesas Electronics America Inc. All rights reserved.17 Software Flow – Control Interrupt Phase current reading Park and Clarke transformations iu, iv, iw  iα, iβ  id, iq DC bus voltage reading Rotor phase angle calculation Current PI processing (id ref, iq ref ), (id mea, iq mea ),  vd out, vq out Inverse Clarke and Park transformations vd out, vq out  vα out, vβ out, vu out, vv out, vw out PWM duty update Rotor phase estimation: θ est Speed estimation: ω est Speed PI processing or Start up Main loop synchronization

18. © 2012 Renesas Electronics America Inc. All rights reserved.18 Physical quantities represented as 16-bit signed integers sin(), cos():(-1 to +1) x 16384-16384 to +16384 Voltages (V):(0 to 511.9) x 6432768 Currents (A):(0 to 32) x 102432768 Resistance (Ω):(0 to 128) x 25632768 Inductance (Henry):(0 to 2) x 16384 32768 Magnetic flux (Weber):(0 to 8) x 409632768 32-Bit:-2147483648 to +2147483648 16-Bit: -32768to +32768

19. © 2012 Renesas Electronics America Inc. All rights reserved.19 High Integration = Cost Reduction Supply Voltage Monitoring Voltage Regulator (1.6V to 5.5V input) Dedicated flash memory for data storage (Data Flash) Accurate Internal Oscillators Temperature Sensor REG Temp. Sensor DATA FLASH OCO RL78 CPU LVD POR CODE FLASH SRAM PERIPHERALS Reset IC X1 Regulator IC Regulator IC Internal Reset EEPROM IC EEPROM IC Temp. IC Temp. IC WDT 20mA port drive (no need for external transistors) IEC60730 in HW (Easier/quicker certification) Reduce system BOM by eliminating external components

20. © 2012 Renesas Electronics America Inc. All rights reserved.20 Sensorless Vector Control Lab Agenda Setup Sensorless Vector Control Demo Sample motor currents and DC bus voltage Drive motor in open loop Understand sensorless position and speed estimation Drive motor by closing the speed loop Tune motor operation

21. © 2012 Renesas Electronics America Inc. All rights reserved.21 Introduction to the RL78G14 Kit

22. © 2012 Renesas Electronics America Inc. All rights reserved.22 RL78G14 Kit

23. © 2012 Renesas Electronics America Inc. All rights reserved.23 RL78G14 Board

24. © 2012 Renesas Electronics America Inc. All rights reserved.24 Skill Level 1.Familiar with motor control techniques 2.Familiar with sensorless vector control concepts 3.Familiar with IAR Embedded Workbench Skill Level 1.Familiar with motor control techniques 2.Familiar with sensorless vector control concepts 3.Familiar with IAR Embedded Workbench Time to Complete Lab 100 Minutes Time to Complete Lab 100 Minutes Lab Materials Please verify you have the following materials at your lab station. RL78G14 Motor Control Evaluation Kit with E1 emulator, two USB cables, 24V DC power supply, control board and motor Laptop with the CD drive Lab Materials Please verify you have the following materials at your lab station. RL78G14 Motor Control Evaluation Kit with E1 emulator, two USB cables, 24V DC power supply, control board and motor Laptop with the CD drive Lab Objectives 1.Get familiar with the RL78G14 starter kit and drive the motor. 2.Understand ADC sampling to measure motor currents and DC bus voltage. 3.Drive the motor in open loop. 4.Understand sensorless position and speed estimation. 5.Drive motor by closing the speed loop 6.Understand motor tuning Lab Objectives 1.Get familiar with the RL78G14 starter kit and drive the motor. 2.Understand ADC sampling to measure motor currents and DC bus voltage. 3.Drive the motor in open loop. 4.Understand sensorless position and speed estimation. 5.Drive motor by closing the speed loop 6.Understand motor tuning Lab Overview

25. © 2012 Renesas Electronics America Inc. All rights reserved.25 Enabling the Smart Society Energy efficiency is key to a Smart Society Motor control is key to efficient energy management

26. © 2012 Renesas Electronics America Inc. All rights reserved.26 Questions? Questions?

27. © 2012 Renesas Electronics America Inc. All rights reserved.27 Please refer to the lab handout Go ahead and start the lab Start Lab

28. © 2012 Renesas Electronics America Inc. All rights reserved.28 Summary Introduced FOC with sensorless speed and position detection Challenges to implement SVC on 16-bit MCUs RL78G14 special features Implementation with RL78G14 Introduced the RL78G14 kit Lab procedure Setup sensorless vector control demo Sampled motor currents and DC bus voltage Drove motor in open loop Examined sensorless position and speed estimation Drove motor by closing the speed loop Tuned motor operation

29. Renesas Electronics America Inc. © 2012 Renesas Electronics America Inc. All rights reserved.