Introduction to Microcontroller Programming for Power Electronics Control Applications: Coding with MATLAB and Simulink

by Francesco Castelli Dezza, Marco Mauri, Mattia Rossi, Nicola Toscani

Length: 452 pages
Edition: 1
Language: English
Publisher: CRC Press
Publication Date: 2021-09-29
ISBN-10: 0367709856
ISBN-13: 9780367709853
Sales Rank: #6116626 (See Top 100 Books)

Microcontroller programming is not a trivial task. Indeed, it is necessary to set correctly the required peripherals by using programming languages like C, C++ or directly machine code. Nevertheless, MathWorks® developed a model-based workflow linked with an automatic code generation tool able to translate Simulink® schemes into an executable file. This rapid prototyping procedure can be applied to many microcontroller boards available on the market. Among them, this introductory book focuses on the LaunchPad^TM F28069M board from Texas Instruments^TM to provide the reader some basic programming strategies specified to the field of power electronics-based control applications. Starting from simple examples such as turning on/off on-board leds or how to manage a Pulse-Width-Modulation peripheral, the reader is guided through the settings of all these dedicated Simulink® blocks enabled for code translation. Then, the book proposes several control problems in terms of power management of RL and RLC loads (e.g. DC-DC converters) and closed-loop control of DC motors. The control schemes are investigated as well as the working principles of power converter topologies needed to drive the systems under investigation. Finally, a couple of exercises are proposed to check the reader’s understanding while presenting a processor-in-the loop (PIL) technique to emulate the dynamics of complex systems.

Thus, this book is oriented to graduate students of electrical and automation and control engineering pursuing a curriculum in power electronics and drives, as well as to engineers and researchers who want to deepen their knowledge and acquire new competences in the design and implementations of control schemes aimed to the aforementioned application fields. Indeed, it is assumed that the reader is well acquainted with fundamentals of electrical machines and power electronics, as well as with continuous-time modeling strategies and linear control techniques. In addition, familiarity with sampled-data, discrete-time system analysis and embedded design topics is a plus.

However, even if these competences are helpful, they are not essential, since this book provides some basic knowledge even to whom is approaching these topics for the first time. Key concepts are developed from scratches, including a brief review of control theory and modeling strategies for power electronic-based systems.

Cover
Half Title
Title Page
Copyright Page
Dedication
Contents
Foreword
Preface
Acknowledgments
Biographies
1. Advances in Firmware Design for Power Electronics Control Platforms
	1.1. Embedded Control System
	1.2. Selecting a Development Board
		1.2.1. Key elements of a microcontroller
		1.2.2. Programming microcontrollers
	1.3. The C2000™ Family of MCU from Texas Instruments™
	1.4. Scheme of a Power Electronics Control Problem
I. Embedded Development: Hardware Kits and Coding
	2. Automatic Code Generation through MATLAB®
		2.1. Model-Based Design and Rapid Prototyping
		2.2. Workflow for Automatic Code Generation
		2.3. Generate Code for C2000™ Microcontrollers
		2.4. TI C2000™ Processors Block-set
	3. Texas Instruments™ Development Kit
		3.1. TI C2000™ LaunchPad™ : F28069M Piccolo
			3.1.1. Features
			3.1.2. Pin muxing
			3.1.3. Power connectivity
			3.1.4. Serial connectivity
			3.1.5. Boot options
		3.2. TI BOOSTXL-DRV8301. BoosterPack
			3.2.1. BoosterPack PWM signals
			3.2.2. BoosterPack GPIO signals
			3.2.3. DC bus and phase voltage sense
			3.2.4. Low-side shunt-based current sense
	4. Software Installation
		4.1. TI Support Packages: Code Composer™ Studio and ControlSUITE™
		4.2. MATLAB® Support Package: Embedded Coder for Texas Instruments C2000. Processors
		4.3. Installation Procedure
II. Review of Control Theory: Closing the Loop
	Introduction
	5. Designing a Closed-Loop Control System
		5.1. Dynamical Systems
			5.1.1. Mathematical laws
			5.1.2. Dynamical systems in electrical applications
		5.2. Design a PI Controller in Continuous-Time Domain
			5.2.1. Serial/parallel form
			5.2.2. Characterization of the closed-loop dynamics F(s)
		5.3. Derive a PI Controller in Discrete-Time Domain
			5.3.1. General properties of the discretization process
			5.3.2. Characterization of the closed-loop dynamics F(z)
	6. Design Example: PI-Based Current Control of an RL Load
		6.1. Simulink® Simulation
			6.1.1. Use of standard blocks (continuous/discrete)
			6.1.2. Use of Simscape™ (specialized power systems)
			6.1.3. Controller performances
		6.2. Derive an Anti-Windup PI Controller Scheme
		6.3. Design Summary
	7. Manipulate the Variables Format: Data Types
		7.1. Fixed Point vs Floating Point Representation
		7.2. Single vs Double Precision
		7.3. Use of Scaling in Fixed Point Representation
		7.4. Converting from Decimal Representation to Single
		7.5. Processing the Data: Implementation Hints
III. Real-Time Control in Power Electronics: Peripherals Settings
	Introduction
	8. Basic Settings: Serial Communication COM and Hardware Target
		8.1. Virtual Serial Communication through COM port
	9. Simulink® Configuration
		9.1. Simulink® Environments: Firmware vs Testing
			9.1.1. Overview
			9.1.2. Execution in Simulink®
		9.2. MCUs and Real-Time Control with Simulink®
	10. Serial Communication Interface (SCI) Peripheral
		10.1. Hardware Details
		10.2. Firmware Environment: Send and Receive Data through Serial Communication
			10.2.1. C2806x SCI receive
			10.2.2. C2806x SCI transmit
		10.3. Testing Environment: Send/Receive Data through Serial Communication
			10.3.1. Serial configuration
			10.3.2. Serial send
			10.3.3. Serial receive
		10.4. Time Variable Settings (Sample Rates)
		10.5. Examples on Serial Communication
	11. GPIO Peripheral—Digital Input/Output
		11.1. Hardware Details
		11.2. Firmware Environment: GPIO Peripherals
			11.2.1. C2806x GPIO digital input (GPIO DI)
			11.2.2. C2806x digital output (GPIO DO)
		11.3. Examples with GPIO blocks
	12. Analog to Digital Converter Peripheral
		12.1. Operating Principle
			12.1.1. Sample & hold
			12.1.2. Analog to digital converter
		12.2. Hardware Details
			12.2.1. Difference between acquisition window and sample time
		12.3. Firmware Environment: ADC Peripheral
			12.3.1. C2806x ADC
		12.4. Example with ADC block
		12.5. Synchronization between ADC modules
	13. Pulse Width Modulator Peripheral
		13.1. Operating Principle
		13.2. Hardware Details
			13.2.1. ePWM sub-modules
		13.3. Generation of PWM signals
			13.3.1. Counting modes
			13.3.2. ePWMxA and ePWMxB sub-modules
			13.3.3. Setting dead bands
		13.4. Firmware Environment: ePWM Peripheral
			13.4.1. C2806x ePWM
		13.5. Example with ePWM block
		13.6. DAC Peripheral—Filtered PWM
		13.7. Examples with DAC Peripherals
		13.8. Synchronization between Multiple ePWM Modules
		13.9. Synchronization between ADC and ePWM Modules: Average Measurements
		13.10. Events Execution within Sample Time
	14. Encoder Peripheral
		14.1. Operating Principle of Incremental Encoders
		14.2. Hardware Details
		14.3. Optical Rotary Encoder LPD3806
		14.4. Speed Computation
		14.5. Firmware Environment: eQEP Peripheral
			14.5.1. C2806x eQEP
		14.6. Example with eQEP block
IV. Real-Time Control in Power Electronics: Applications
	15. Open Loop Control of a Permanent Magnet DC Motor
		15.1. Required Hardware
		15.2. Linear Model of a PMDC Motor
		15.3. System Simulations
		15.4. Half-Bridge Configuration
			15.4.1. Control implementation
		15.5. Full-Bridge Configuration
			15.5.1. Modulation strategies
			15.5.2. Unipolar voltage switching
			15.5.3. Bipolar voltage switching
			15.5.4. Control implementation
	16. Low-Side Shunt Current Sensing
		16.1. Sensor Characterization: Theoretical Approach
		16.2. Locked Rotor Test
		16.3. Sensor Characterization: Experimental Approach
	17. Current Control of an RL Load
		17.1. Required Hardware
		17.2. Linear Average Model and Controller Design
		17.3. System Simulations
			17.3.1. Detailed modeling of the actuation variables
		17.4. Half-Bridge Configuration
			17.4.1. Control implementation
		17.5. Variation of Load Parameters
			17.5.1. Effects on the transient response
			17.5.2. Parameters estimation
	18. Voltage Control of an RLC load
		18.1. Required Hardware
		18.2. Guidelines for the Hardware Design of a RLC Load
		18.3. General State-Space Average Modeling Method
			18.3.1. Linear average model and controller design
		18.4. System Simulations
		18.5. Half-Bridge Configuration
			18.5.1. Control implementation
		18.6. Variations of LC Filter Parameters
	19. Cascade Speed Control of a Permanent Magnet DC Motor
		19.1. Required Hardware
		19.2. Linear Model of a PMDC Motor
		19.3. Cascade Control Architecture and Design
		19.4. System Simulations
		19.5. Full-Bridge Configuration
			19.5.1. Model reference adaptive system (MRAS) observer
		19.6. Single Motor Configuration
			19.6.1. Parameter identification
			19.6.2. Control implementation
		19.7. Back-to-Back (B2B) Configuration
			19.7.1. Parameter identification
			19.7.2. Control implementation
V. Real-Time Control in Power Electronics: Load Emulation
	20. Debugging Tools and Firmware Profiling
		20.1. Processor-in-the-loop with Simulink®
			20.1.1. PMDC motor control implementation through PIL
		20.2. External Mode Execution with Simulink®
			20.2.1. Simulink® setup for external mode execution
	21. Electric Propulsion Case Studies
		21.1. Urban Tramway
		21.2. Electric Racing Car
A. Appendix A: Basics of C
	A.1. Operations between numbers
		A.1.1. Sum and differences
		A.1.2. Shift operation
		A.1.3. Multiplication
		A.1.4. Division
	A.2. Structure of a C program
B. Appendix B: Custom Expansion Boards and Hardware Kits
Bibliography
Index