Fabricated Board Setup of DC Motor Drive using

TMS320F28335 eZDSP for education purpose

Satean Tunyasrirut, and Chakrapong charumit
Department of Instrumentation and Control Engineering, Faculty of Engineering,
Pathumwan Institute of Technology
833 Rama 1 Rd. Pathumwan Bangkok 10330 Telephone 66(0)2-104-9099 Ext. 3051

Abstract

This paper presents a fabricated board setup of the DC motor drive using TMS320F28335 eZDSP for education
purpose with MATLAB/Simulink. This fabricated Board consists of the several peripheral circuits for motor drive
application such as analog to digital, encoder, digital to analog and PWM input/output interface circuits. These
interface circuit can be used for both of DC and AC motor controls. For the control algorithm development, Code
Composer Studio (CCS) can be used together with target support TC2 of TMS320F28335 eZDSP in simulink blockset
with Real-Time Workshop (RTW) to generate C code targeted to the DSP board. To confirm the performance, this
fabricated board is tested with the permanent magnet DC motor, 250 Watt, 90 Volt. Experimental results demonstrate
the speed control design using frequency response method. The correctness of the fabricated board is verified by both
simulation and experimental results.
1. Introduction
In recent years, digital signal processing (DSP) has
important roles not only in education technology but also in
industry applications. Most of applications of DSP are
automation control systems such as robotic, vehicles and electric
drive technology. For DSP education purpose, TMS320F28335
eZDSP is used to develop an algorithm together with the
matlab/simulink software for motor drive applications. Benefits
of this propose are rapid prototyping and easy to develop an
algorithm by simulink blockset in target support package
libraries (TC2). After finish an algorithm development, the real
time workshop converts the simulink model to C code.
Subsequently, the C code is automatically compiled to the
assembly language and downloaded into F28335 DSP.
Furthermore, register parameters can be changed via the joint
test action group (JTAG) emulator.
This paper focuses on the simple speed control method of
DC motor drive for education purpose using TMS320F28335
DSP and empresses the PI controller design. The experimental
results are discussed in order to verify the correctness of the
proposed system.
2. TMS320F28335 eZDSP and fabricated board
In this section, TMS320F28335 eZDSP will be briefly
introduced. The TMS320F28335 consists of a 32-bit CPU and a
single-precision 32-bit floating-point. The 150MHz system
clock is provided by an on-chip oscillator. Fig. 1 shows the
application of TMS320F28335 DSP employed with digital
fabricated board. It consists of PWM interfaces for AC drive
system, I/O interfaces for DC drive system, digital to analog
converter (DAC), analog to digital converters (ADC) and
encoder for the rotor speed detection. The DSP fabricated board
is used for motor drives. Fabricated board has created the
necessary circuits in order to interface between the software and
hardware architecture as shown by Fig. 2. Peripheral analog
circuits of the fabricated board have following:
8 analog to digital (A/D Chanel A ) 10V
4 digital to analog (D/A)
8 ePWM outputs
1 eQEP for speed sensor
8 output interfaces

+5V

TMS320 F28335 DSP

Pull up

A
B
A
PWM-2
B
A
PWM-3
B
A
PWM-4
B

Buffer
circuit

A
B
A
PWM-6
B

Low
pass
filter

PWM-1
CPU
32 bit

1
2
3
4
5
6
7
8

ADC
12 bit

A
eQEP
B
Index

PWM-5

Break signal

+5V

SCI

Expansion
I/0

DAC-1
DAC-2
DAC-3
DAC-4
Pull up

Buffer
circuit

GPIO
GPIO

Fig. 1 the Architecture of fabricated board DSP

Fig. 2 Hardware of DSP fabricated board for motor drives

3.

Simulation and implementation of DC motor

In order to implement the DC motor speed control, the
first method is finding the equivalent DC motor parameters
as shown in Fig. 3. Transfer function of motor calculated
from the mathematical model can be expressed in (Eq. 1).
According to (1), this transfer function is reduced as
first order equation due to easy for calculation, and a
generic Bode plot of this open-loop transfer function in
term of its magnitude and phase angle is used to calculated
PI controller as shown in Fig. 4. For a satisfactory dynamic
response, the phase margin calculation of in this paper is 60
degree at zero gain margins, and crossover frequency is 10
rad/sec.
DC Motor

Ia

is

vs

Ra

Va

Ia

Ea

Ea

T3

T1

Tem

Va

La

JL

Loa
d
B

T4

T2

Bode plot of open-loop transfer function is plotted in Fig. 5.

Results of PI parameter calculation are kp and ki equal 4.8 and
5.52 respectively.
For implementation, algorithm of DC motor drive has
developed by target support TC2 included in Matlab/simulink
software as shown in Fig. 7. Speed response of DC motor is
shown on Fig. 6

La

Ra

TL

Fig. 3 DC motor equivalent and AC-DC rectifier circuit

GP s

m s
Va s

6560
s 460 s 1509
2

(1)

Fig. 4 open-loop transfer function

Fig. 7 Simulink blockset of DC motor drive

Fig. 5 Bode plot of open-loop transfer function

Desired speed

Actual speed

Rotor speed = 1000 rpm/Div

Conclusion
This paper has dealt with an implementation of DC motor
drive based on TMS320F28335 DSP employed with analog
fabricated board. An algorithm of DC drive is developed by
matlab/simulink software. The simulation and experimental
results of DC drive confirm the effectiveness and correctness of
the proposed. Furthermore, the proposed method is easy to study
which is suitable for education purpose.
Reference
[1] TMS320F28335, Data manual, Available online at
http://www.ti.com/lit/ds/sprs439m/sprs439m.pdf, 2007
[2] N. Mohand Electrical Drives an Integrative Approach,
Mnpere Minneapolis, 2001.
[3] Katsuhiko ogata Modern Control Engineering third
edition, Prentice Hall Intcvnaticnal, 1997

Fig.6 Actual and desired speed at 0-3000 rpm