Motorola M68HC08 Set PC master software control mode and start motor see, Remote Operating Mode

Page 155

Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

User Guide

Tuning for Customer Motor

9.	Set PC master software control mode and start motor (see
	Application Control and PC Master Software (Remote)
	Operating Mode)
10.	Set the speed to the middle of minimal and maximal speed
11.	Increase, step by step, the proportional gain
	SPEED_PIREG_P_GAIN with PC master software, until speed
	noise or oscillation appears, or up to 128
12.	If SPEED_PIREG_P_GAIN is set to 128, increase proportional
	gains in SPEED_PIREG_P_GAINSCALELEFT further with PC
	master software, steps 0, 1, 2 ... 8 otherwise leave
	SPEED_PIREG_P_GAINSCALELEFT as 0
13.	Increase, step by step, the integral gain SPEED_PIREG_I_GAIN
	with PC master software, up to current oscillation or noise, or up
	to 128
14.	If SPEED_PIREG_I_GAIN is set to 128, do further integral gain
	increases to SPEED_PIREG_I_GAINSCALELEFT with PC
	master software, steps 6, 5, 4...0; otherwise, leave
	SPEED_PIREG_I_GAINSCALELEFT as 7
15.	You can further evaluate the setting of the regulator parameters in
	order to get a smoother current waveform until the regulation
	seems to be performing well
16.	Open const_cust_x.h and modify the regulator parameters with
	the final variable values evaluated with PC master software
17.	Start motor (see Application Control and PC Master Software
	(Remote) Operating Mode)
18.	Set minimal desired speed
19.	If the displayed real speed is not able to go down to the desired
	minimal speed, it is necessary to decrease minimal PWM duty
	cycle DUTY_PWM_MIN in const_cust_x.h!
20.	Then, you can tune dynamic characteristics of speed regulators
	(steps 22. to 29.) or finish tuning the regulators
21.	Start motor (see Application Control and PC Master Software
	(Remote) Operating Mode)
DRM028 — Rev 0	Designer Reference Manual


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Contents Freescale Semiconductor, Inc M68HC08For More Information On This Product Designer Reference Manual Rev Sensorless Bldc Motor Control Using MC68HC908MR32Revision history List of Sections List of Sections Table of Contents Table of Contents Title List of FiguresList of Figures List of Tables List of Tables Application Functionality ContentsBenefits of the Solution IntroductionIntroduction System Concept System DescriptionSystem Description System Specification Software Specifications Software SpecificationSoftware written in C language specifications are listed Software parameter tuning to a customer motorHigh-Voltage Hardware Set Specification Hardware and Drive SpecificationsMotor -Brake Set High Voltage Hardware Set SpecificationsLow-Voltage Hardware Set Specification Low-Voltage Evaluation Hardware Set SpecificationLow Voltage Evaluation Hardware Set Specifications Low Voltage Hardware Set Specifications Bldc Motor Targeted by This Application Bldc Motor ControlBrushless DC Motor Control Theory Semiconductor, Inc Bldc Motor Control Brushless DC Motor Control Theory Bldc Motor Back EMF and Magnetic Flux Why Sensorless Control? 2 3-Phase Bldc Power StagePower Stage Motor Topology Indirect Back EMF Sensing Stator Winding EquationsSame expressions can also be found for phase a and B Effect of Mutual Inductance Phase Voltage WaveformMutual Inductance Effect Detail of Mutual Inductance Effect Effect of Mutual Phase CapacitanceMutual Capacitance Model 10. Distributed Back-EMF by Unbalanced Capacity Coupling 11. Balanced Capacity Coupling Back-EMF Sensing Circuit Inc Alignment Starting Back-EMF Acquisition Running Used Control TechniqueSensorless Commutation Control Alignment 14. Commutation Control StagesRunning 15. AlignmentFreescale Semiconductor, Inc Commutation time calculation is shown in Figure Running Commutation Time Calculation17. Bldc Commutation Time with Zero Crossing Sensing Service of received back-EMF zero crossingWhere Starting Back-EMF Acquisition Freescale Semiconductor, Inc 18. Vectors of Magnetic Fields 19. Back-EMF at Start Up Computation coefficients are different Starting Commutation Time CalculationRunning Commutation Time Calculation, but the following PC Master Software Application ControlSpeed Control PC Master Software Communication Commands Communication with PC Master Software SpecificationsName Type Representing Description Range PC Master Software API VariablesBIT6 Reserved MotorStatusDef, FailureDefBIT2 Reserved SpeedRangeMaxRPM*PerSpeedMAXRange/PerZCrosFltT2 PerSpeedMAXRange and zero crossing period PerZCrosFltT2Freescale Semiconductor, Inc For High-Voltage Hardware Set cofiguration System Configuration and DocumentationHardware Design MC68HC908MR32 Control BoardComponents will describe the individual boards For Low-Voltage Evaluation Motor Hardware Set configurationEVM Motor Board Phase Low Voltage EVM Bldc Motor Low-Voltage Hardware Set configurationHigh-Voltage Hardware System Configuration High-Voltage Hardware Set ConfigurationSee References Described in MC68HC908MR32 Control Board User’sManual Motorola document order number Low-Voltage Evaluation Motor Hardware System Configuration Low-Voltage Evaluation Motor Hardware Set ConfigurationSystem configuration for low-voltage hardware set is shown Low-Voltage Hardware Set ConfigurationLow-Voltage Hardware System Configuration 1 MC68HC908MR32 Control Board All HW Sets ComponentsReferences Electrical characteristics in -1apply to operation at 25C 4shows a block diagram of the board’s circuitryHigh-Voltage Hardware Set Components Electrical Characteristics of Control Board1 3-Phase AC/BLDC High Voltage Power Stage Phase AC High Voltage Power Stage Optoisolation Board Electrical Characteristics of Power StageElectrical Characteristics Electrical Characteristics of the Optoisolation BoardEVM Motor Board 3 3-phase Bldc High Voltage Motor with Motor BrakeLow-Voltage Evaluation Motor Hardware Set Components Characteristics of the Bldc motor Electrical Characteristics of the EVM Motor BoardElectrical Characteristics of the EVM Motor Board 2 3-phase Low Voltage EVM Bldc MotorLow-Voltage Hardware Set Components 1 3-Ph AC/BLDC Low Voltage Power StageBlock Diagram Section 2 3-phase Bldc Low Voltage Motor with Motor BrakeData Flow Data Flow Main Software Flowchart State DiagramSoftware Design IntroductionSoftware Variables Software Variables and Defined ConstantsImportant system variables are listed in Table Process Measurement Start/Stop Switch Reading and Start/Stop DecisionSys3Def Process Back, EMF Zero Crossing Sensing Main Data Flow Part1 Process Fault Control Fault StopFreescale Semiconductor, Inc Main Data Flow Part 2 Alignment, Starting Closed Loop Control System Process Desired Speed SettingProcess Alignment Control Processes Commutation and Zero Crossing Preset and SetBldc Speed Control and Calculation Bldc Commutation and Zero Crossing Selection Main Software FlowchartMain Software Flowchart Freescale Semiconductor, Inc Main Software Flowchart Main Software Loop Freescale Semiconductor, Inc Freescale Semiconductor, Inc Software Flowchart Interrupts State DiagramApplication State Transitions Stand-By State diagram for this software is shown in FigureInitialize MCU Initialize ApplicationFreescale Semiconductor, Inc Stand-by State Align State Starting Commutation Time Calculation Freescale Semiconductor, Inc 10. Back-EMF Acquisition Commutation Time Calculation Service of CommutationSet Explained in 5.5.5 Back-EMF Acquisition State Service of Received Back-EMF Zero CrossingRunning State Over Current 11. Running State Stop State 12. Stop State Fault StateSoftware files and structure are described in section Implementation NotesSee Figure Software FilesSet Bldc Commutation and Bemf Zero Crossing Selection Preset Bldc Commutation and Bemf Zero Crossing SelectionBldc Commutation and Zero Crossing Selection PWMValMax = DUTYPWMMAX*MCPWMMODULUS Bldc Speed Control and CalculationDesired Speed Calculation PWM Duty CycleTimer TimersFunction TIMACh3Int Designer Reference Manual DRM028 Rev 108 Software Design Motor’s nominal speed User GuideApplication Suitability Guide Minimal Application SpeedMotor Suitability Maximal Application SpeedVoltage Closed Loop Mutual Inductance Designer Reference Manual DRM028 Rev 112 User Guide Hardware setups are shown in -1, -2, Application Hardware and Software ConfigurationHardware Configuration Low-Voltage Evaluation Motor Hardware Set Configuration High-Voltage Hardware Set ConfigurationLow-Voltage Hardware Set Configuration Controller Board Settings Software Setup EVM Board SettingsEVM board settings are the same for all hardware platforms Application HC08 Software Files \bldczerocros08MR32\sources\bldc08.c, main program Application PC Master Software Control Files Execute from Evaluation Board Software ExecutionBuild Application Control When the software is built, the S-record fileExecute from Pre-programmed MCU Bldczerocros08mr32MMDS.sx is generatedPC Master Software Remote Operating Mode Manual Operating ModePC Master Software Control Window For More Information On This Product Tuning for Customer Motor User Guide Tuning for Customer Motor Follow-up for Software Customizing to Customer Motor Follow-up for Advanced Software Customizing Start the PC master software parameters tuning application To have PC master software installed on your PC computer11. PC Master Software Parameters Tuning Control Window Software Parameters Setting Follow-up Labels in the File const.h Example of Software Customizing to Hardware Software Customizing to Power StageParameters File Selection \bldczerocros08MR32\sources\constcustlv.h, definitions forRange 0,infinity Voltage Setting Hardware CustomizingCurrent Setting Hardware Customizing Modified maximal measurable voltage is 55 V, so set Example of Software Customizing to HardwareRange 0,VOLTRANGEMAX Software Customizing to Motor Voltage and Current SettingsMaximal and Minimal Voltage Limits Setting Detailed description starts hereRange 0,CURRENTRANGEMAXA Maximal and Minimal Current Limits SettingRange 0,8 Alignment Current and Current Regulator SettingCurrent during alignment state before motor starts Α From Evaluation Board Parameters Tuning with PC Master Software Project FileSet constcustx.h 12. PC Master Software Current Parameters Tuning Window Designer Reference Manual DRM028 Rev 142 User Guide MUSTCHANGEEXPERnn in file constcustx.h Commutation time period to discharge coil current ∝s Commutation ParametersStart-up Constants and Maximal Commutation Period Range -128,127 Start-up PeriodMaximal commutation period limit ∝s Ensure Percmtstartus =PERCMTMAXUS /2 Alignment Current and Current Regulator Setting 6.5.4.3Constcustx.h Constcustx.h Set #define Percmtstartus in constcustx.hConstcustx.h file #define Speedpiregigain13. PC Master Software Start Parameters Tuning Window Range 0,255 Software Customizing to Motor Speed Control SettingNumber of commutations per motor revolution Range 0,SPEEDRANGEMAXRPM Maximal speed range rpmMinimal speed of the drive rpm Speedminrpm = 0.07 to 0.5SPEEDMAXRPM User Guide 153 Execute from Evaluation Board Start motor see Application Control and PC Master Software Set PC master software control mode and start motor seeRemote Operating Mode PWM Frequency PWM Frequency and Current Sampling Period SettingFor the PWM frequency setting, follow the label PWM frequency setting is provided byCurrent Sampling Period PWM Frequency SettingPWM period = Periodpwmus = SETPERPWM*2 EQ Current Sampling Instant Conclusion Software Parameters Setting and TuningCANCHANGEPERCURSAMPn in const.h file PERCST1US = Periodpwmus * Setpercs ∝sUser Guide 159 Designer Reference Manual DRM028 Rev 160 User Guide Appendix A. References AN1627, Motorola Motor using MC68HC705MC4 document order numberSG40N Appendix B. GlossaryGlossary Serial communications interface module SCI a module that Designer Reference Manual DRM028 Rev 166 Glossary Freescale Semiconductor, Inc HOW to Reach US USA/EUROPE/LOCATIONS not Listed