Simulink Controller Models

Warning

The AD-FMCMOTCON1-EBZ is a legacy product and is no longer actively supported. This documentation is provided for reference only.

The Vivado HDL design is provided with an integrated FOC and speed & torque controller generated from a Simulink model provided by MathWorks. The controller is designed in Simulink and the corresponding HDL code is generated using the MathWorks HDL Coder.

Field Oriented Controller (FOC)

The FOC controller model is provided by MathWorks and is integrated in the HDL design as a standalone IP core. Below is a top-level diagram of the controller’s Simulink model. For more information about the model, check the MathWorks website.

Figure 1 FOC Simulink model — top level diagram

The controller model is packaged into an IP core using the Simulink Workflow Advisor. It exposes a set of AXI-Lite registers that can be used to control the IP’s operation, as well as a set of interface signals for encoder input, current measurement data, inverter control, and internal operations monitoring. All monitoring signals connect to an ADI IP which allows these signals to be monitored from the Linux IIO Scope application. The AXI-Lite registers exposed by the controller IP core can be directly accessed through a UIO driver present in the ADI Linux distribution for Zynq.

The table below lists the exposed AXI-Lite registers.

Register name	Address	Data format	Type	Description
axi_controller_mode	0x100	2-bit word	W	Sets the controller’s operation mode: 3 = open loop, 2 = closed loop, 1 = standby.
axi_command	0x104	Signed fixed point 18.8	W	Motor reference speed in rad/s.
axi_velocity_p_gain	0x108	Signed fixed point 18.16	W	Proportional gain of the velocity PI controller.
axi_velocity_i_gain	0x10C	Signed fixed point 18.15	W	Integral gain of the velocity PI controller.
axi_current_p_gain	0x110	Signed fixed point 18.10	W	Proportional gain of the current PI controller.
axi_current_i_gain	0x114	Signed fixed point 18.12	W	Integral gain of the current PI controller.
axi_open_loop_bias	0x118	Signed fixed point 18.14	W	Open loop control command bias.
axi_open_loop_scalar	0x11C	Signed fixed point 18.16	W	Open loop control command gain.
axi_encoder_zero_offset	0x120	Signed fixed point 18.14	W	Encoder offset.
axi_electrical_pos_err	0x124	Signed fixed point 19.14	R	Error between actual electrical position and encoder position.

Execute the following steps:

• Set the FOC controller in open loop mode and wait for the user to start the motor by clicking the Run checkbox in IIO Scope.

• Calibrate the encoder readings to remove the offset between the motor’s actual electrical position and the position read from the encoder.

• Set the motor’s reference speed.

• Start the FOC controller in closed loop mode.

The IP core exposes a set of signals for interfacing with the rest of the system. The table below lists the exposed interface signals.

Signal name	Dir.	Width	Data format	Description
adc_current1	I	18	Signed fixed point 18.17	Phase A current measurement
adc_current2	I	18	Signed fixed point 18.17	Phase B current measurement
encoder_a	I	1	Boolean	Encoder channel A
encoder_b	I	1	Boolean	Encoder channel B
encoder_index	I	1	Boolean	Encoder index
pwm_a	O	1	Boolean	Phase A PWM control signal
pwm_b	O	1	Boolean	Phase B PWM control signal
pwm_c	O	1	Boolean	Phase C PWM control signal
mon_phase_voltage_a	O	32	Signed fixed point 32.12	Phase A voltage in Volts
mon_phase_voltage_b	O	32	Signed fixed point 32.12	Phase B voltage in Volts
mon_phase_current_a	O	32	Signed fixed point 32.15	Phase A current in Amps
mon_phase_current_b	O	32	Signed fixed point 32.15	Phase B current in Amps
mon_rotor_position	O	32	Signed fixed point 32.14	Rotor mechanical position in radians
mon_electrical_position	O	32	Signed fixed point 32.14	Rotor electrical position in radians
mon_rotor_velocity	O	32	Signed fixed point 32.8	Rotor velocity in rad/s
mon_d_current	O	32	Signed fixed point 32.15	d current in Amps
mon_q_current	O	32	Signed fixed point 32.15	q current in Amps

Below is a picture containing the output of the script, the IIO Scope settings, and a controller monitored signals plot.

Figure 2 IIO Scope with FOC controller active