The Automotive Math and Motor Control

Library (AMMCLib) set is a collection of

production-ready and easy-to-use software

libraries for rapid development of motor control

and other real-time embedded systems.

OVERVIEW

The AMMCLib set provides essential building blocks for

rapid development of automotive embedded applications

with high-performance arithmetic, trigonometric, and digital

signal processing math functions.

A significant portion of the library supports both sensor-

based and sensorless motor control application strategies,

while advanced motor control functions expand the speed

range of a permanent magnet synchronous motor (PMSM)

and allow on-the-fly startup of a sensorless control loop.

KEY BENEFITS

• Enables rapid development of a wide range of sensor-

based and sensorless motor control applications

• Goes beyond standard motor control—on-the-fly startup,

seamless PMSM field weakening

• Saves development cost and time—years of research and

expert knowledge packed in one off-the-shelf, easy-to-use

software package

• Offers long-term support of new and old MCUs—new

features regularly released for all supported platforms and

an active NXP community forum

• Supports many NXP automotive MCU families, easy

migration between platforms

• Provides common interface and CPU-specific internal

optimizations for maximum performance: SPE, LSP, Arm

Neon™, Arm DSP for Cortex

-M

• Offers detailed user documentation providing usage

guide and code examples

• Supported by application notes, motor control

development kits, tuning and debugging tools, and free

and premium compilers

AMMCLIB FEATURES

• L

ayered architecture supporting fixed-point fractional 16-/32-bit

and single-precision floating-point arithmetic

• Production-ready, pre-compiled o

bject code, and source code

variants

• Developed according to SPICE Level 3, ISO 9001/TS 16949

• Quality packs available for inclusion into automotive

processes

• Supports free and premium compilers

• Independent of target platform peripherals

• MATLAB

Simulink

models for all functions

• Model-based code generation w/ Simulink Embedded Coder

• Integrates with NXP tools:

- S32 Design Studio (S32DS)

- Model-Based Design Toolbox (MBDT)

- Motor Control Application Tuning (MCAT) tool

AUTOMOTIVE MATH AND MOTOR

CONTROL LIBRARY (AMMCLib) SET

FACT SHEET

AMMCLib

www.nxp.com 2

GENERAL MOTOR CONTROL

FUNCTIONS (GMCLIB)

• 2D vector coordinate transforms,

scale, and rotation

• Beta projection

• Clark transformation

• DQ decoupling for PMSM motors

• Duty cycle calculation

•

Elimination of DC ripples

• Park transformation

• PWM spectrum spreading

• 6-phase space vector modulation

• 6-phase Clarke/Park transforms

• Single shunt current

reconstruction

GENERAL TRIGONOMETRIC AND

CONTROLLER FUNCTIONS (GFLIB)

ADVANCED MOTOR CONTROL

FUNCTIONS (AMCLIB)

• Cholesky decomposition + line

solver

• Dot product

• Element-wise vector selector

• Fast Fourier transform (FFT)

• Generalized matrix/vector multiply-

accumulate

• Linear Kalman filter

• Radial basis function interpolation

• Third-octave filter bank

• Vector copy

• Vector windowing

GENERAL DIGITAL FILTERS

FUNCTIONS (GDFLIB)

• Base-10 logarithm: scalar + vector

• Hysteresis function

•

Limitation functions

• Linear interpolation

• PI/PID controllers

• Sign function

• Signal integration function

• Signal ramp function

• Trigonometric functions

• Vector minimum

ADVANCED DIGITAL FILTERS

FUNCTIONS (ADFLIB)

• Exponential moving average filter

• Finite impulse filter

•

First order infinite impulse filter

• Second order infinite impulse filter

ATURATED ARITHMETIC AND

TWISE FUNCTIONS (MLIB)

• 2D dot product

• Absolute value

• Bitwise shifts

• Fixed-point normalization

• Format conversions

• Fused multiply-add/subtract

• Rounding

• Saturated and modulo arithmetic

• Vector scale

∫

GMCLIB

GFLIB GDFLIB

General Motor Control Library

Advanced Motor Control Library

• Park/Clark transformation

• Inverse Park/Clark

• Space vector modulation

• DC bus ripple elimination

• PMSM decoupling

• BackEMF observer

• Tracking observer

Advanced Digital

Filter Library

• Vector/Matrix multiplication

• Kalman filter

• FFT

• Linear system solver

• Cholesky decomposition

• RBF interpolation

General Function Library

General Digital Filters Library

 Sine, cosine, tangent

 Inverse sine, cosine, tangent

 Hysteresis

 LUT, ramp, limitations

 First, second order IIR filter

MLIB

Mathematical Library

 Absolute value

 Addition, subtraction

 Multiplication, division

 Right/Left shift

 Type conversion

|X||X>>N|

F32toFloat (a*b)+(c*d)

AMCLIB ADFLIB

∑

AUTOMOTIVE MATH AND MOTOR CONTROL LIBRARY SET

AMMCLib HIERARCHY

• BEMF observer

• Tracking observer

• FOC current

loop controllers

• FOC speed loop controllers with

PMSM field weakening

• Active windmilling:

PMSM speed/position detection

• PMSM electrical parameters

estimator