NXP Semiconductors MCUXpresso SDK User manual
MCUXpresso SDK 3-Phase PMSM Control
(i.MX RT)
NXP Semiconductors Document identifier: 3PPMSMCRTUG
User's Guide Rev. 2, 01/2021
Contents
Chapter 1 Introduction........................................................................................... 3
Chapter 2 Hardware setup.....................................................................................4
Chapter 3 RT crossover processors features and peripheral settings.................30
Chapter 4 Project file and IDE workspace structure............................................ 47
Chapter 5 Tools................................................................................................... 49
Chapter 6 Motor-control peripheral initialization.................................................. 50
Chapter 7 User interface......................................................................................52
Chapter 8 Remote control using FreeMASTER...................................................53
Chapter 9 Identifying parameters of user motor using MCAT..............................61
Chapter 10 Conclusion........................................................................................ 80
Chapter 11 Acronyms and abbreviations.............................................................81
Chapter 12 References........................................................................................82
Chapter 13 Useful links........................................................................................83
Chapter 14 Revision history.................................................................................84
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Chapter 1
Introduction
This user's guide describes the implementation of the sensorless motor-control software for 3-phase Permanent Magnet
Synchronous Motors (PMSM), including the motor parameters identification algorithm, on the NXP i.MX RT series crossover
processors. The sensorless control software and the PMSM control theory in general are described in design reference manual
DRM148
Sensorless PMSM Field-Oriented Control (FOC)
. The NXP Freedom (FRDM-MC-LVPMSM) is used as the hardware
platform for the PMSM control reference solution. The hardware-dependent part of the sensorless and sensored control software,
including a detailed peripheral setup and the Motor Control (MC) peripheral drivers, are addressed as well. The motor parameters
identification theory and algorithms are presented in this document. The last part of the document introduces and explains the
user interface represented by the Motor Control Application Tuning (MCAT) page based on the FreeMASTER run-time debugging
tool. These tools provide a simple and user-friendly way for the motor parameter identification, algorithm tuning, software control,
debugging, and diagnostics.
This document describes how to run and control the Permanent Magnet Synchronous Motor (PMSM) project using i.MX RT
Series Crossover Processors with the Freedom development board. The software provides sensorless/sensored field-oriented
vector position, speed, torque, and scalar control. You can control the application using the board buttons or via FreeMASTER.
The motor identification and application tuning is done using the MCAT tool integrated in the FreeMASTER page. The required
software, hardware setup, jumper settings, project arrangement, and user interface are described in the following sections. For
more information, visit www.nxp.com/motorcontrol_pmsm.
Table 1. Supported devices and control methodes
Possible control methods in SDK example
Device Default motor Scal
ar
Volt
age
Current FOC
(Torque)
Sensorless
Speed FOC
Sensored
Speed FOC
Sensored Position
FOC (Servo)
MIMXRT1010-EVK Linix 45ZWN24-40 ✓ ✓ ✓ ✓ x x
MIMXRT1020-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1024-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1050-EVKB Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1060-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
MIMXRT1170-EVK Teknic M-2310P
motor (with ENC) ✓ ✓ ✓ ✓ ✓ ✓
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Chapter 2
Hardware setup
The PMSM Field-Oriented Control (FOC) application runs on the FRDM-MC-LVPMSM development platform with the i.MX
RT1020-EVK, i.MX RT1050-EVKB, and i.MX RT1060-EVK development tools in combination with the Teknic M-2310P-LN
permanent magnet synchronous motor or with the i.MX RT1010-EVK development tool in combination with the Linix 45ZWN24-40
permanent magnet synchronous motor.
2.1 FRDM-MC-LVPMSM
This evaluation board, in a shield form factor, effectively turns an NXP Freedom development board or an evaluation board into
a complete motor-control reference design, compatible with existing NXP Freedom development boards and evaluation boards.
The Freedom motor-control headers are compatible with the Arduino™ R3 pin layout.
The FRDM-MC-LVPMSM low-voltage, 3-phase Permanent Magnet Synchronous Motor (PMSM) Freedom development platform
board has the power supply input voltage of 24-48 VDC with a reverse polarity protection circuitry. The auxiliary power supply
of 5.5 VDC is created to supply the FRDM MCU boards. The output current is up to 5 A RMS. The inverter itself is realized by a
3-phase bridge inverter (six MOSFETs) and a 3-phase MOSFET gate driver. The analog quantities (such as the 3-phase motor
currents, DC-bus voltage, and DC-bus current) are sensed on this board. There is also an interface for speed and position sensors
(encoder, hall). The block diagram of this complete NXP motor-control development kit is shown in Figure 1.
Figure 1. Motor-control development platform block diagram
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Figure 2. FRDM-MC-LVPMSM
The FRDM-MC-LVPMSM board does not require a complicated setup. For more information about the Freedom development
platform, see www.nxp.com.
2.2 Teknic M-2310P motor
The Teknic M-2310P-LN-04K motor is a low-voltage 3-phase permanent-magnet motor used in PMSM applications. The motor
has two feedback sensors (hall and encoder). For information on the wiring of feedback sensors, see the datasheet on the
manufacturer web page. The motor parameters are listed in Table 2.
Table 2. Teknic M-2310P motor parameters
Characteristic Symbol Value Units
Rated voltage Vt 40 V
Rated speed - 6000 RPM
Rated torque T 0.247 Nm
Rated power P 170 W
Continuous current Ics 7.1 A
Number of pole-pairs pp 4 -
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Figure 3. Teknic M-2310P permanent magnet synchronous motor
For the sensorless control mode, you need only the power input wires. If used with the hall or encoder sensors, connect also the
sensor wires to the NXP Freedom power stage.
Figure 4. Teknic motor connector type 1
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Figure 5. Teknic motor connector type 2
2.3 Linix 45ZWN24-40 motor
The Linix 45ZWN24-40 motor is a low-voltage 3-phase permanent-magnet motor with hall sensor used in PMSM applications. The
motor parameters are listed in Table 3.
Table 3. Linix 45ZWN24-40 motor parameters
Characteristic Symbol Value Units
Rated voltage Vt 24 V
Rated speed - 4000 RPM
Rated torque T 0.0924 Nm
Rated power P 40 W
Continuous current Ics 2.34 A
Number of pole-pairs pp 2 -
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Figure 6. Linix 45ZWN24-40 permanent magnet synchronous motor
The motor has two types of connectors (cables). The first cable has three wires and is designated to power the motor. The second
cable has five wires and is designated for the hall sensors’ signal sensing. For the PMSM sensorless application, only the power
input wires are needed.
2.4 i.MX RT1010 Evaluation Kit
The MIMXRT1010-EVK is a two-layer low-cost through-hole USB-powered PCB. At its heart lies the i.MX RT1010 crossover MCU
in an 80LQFP package, featuring NXP’s advanced implementation of the Arm® Cortex®-M7 core. This core operates at speeds
of up to 500 MHz to provide high CPU performance and excellent real-time response. (Quick Start Guide)
Table 4. MIMXRT1010-EVK jumper settings
Jumper Setting Jumper Setting Jumper Setting
J1 1-2 J22 open J37 1-2
J3 1-2 J27 2-3 J54 open
J4 1-2 J30 open J61 1-2
J5 1-2 J31 1-2 J62 1-2
J6 1-2 J32 1-2 J63 1-2
J8 1-2 J35 open J64 1-2
J21 1-2 J36 open
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Figure 7. MIMXRT1010-EVK board with highlighted jumper settings
The motor-control application requires the PWM and ADC signals to be connected from the MCU to the power stage. For a correct
connection, solder the R794, R793, R796, R795, R798, R797 resistors for PWMs and R1849, R1850, R1852, R1853, R1854
resistors for ADCs. These resistors are located on the both sides of the EVK board. For more details, see the schematic.
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Figure 8. Resistor needed for proper operation on the top side of the EVK board
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