Freescale Semiconductor, Inc | Motorola M68HC08 instruction

Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

M68HC08

Microcontrollers

Sensorless BLDC

Motor Control

Using the

MC68HC908MR32

Designer Reference Manual

DRM028/D

Rev. 0, 03/2003

MOTOROLA.COM/SEMICONDUCTORS

For More Information On This Product, Go to: www.freescale.com

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Motorola M68HC08 manual Freescale Semiconductor, Inc

Contents

Freescale Semiconductor, Inc M68HC08 For More Information On This Product Designer Reference Manual Rev Sensorless Bldc Motor Control Using MC68HC908MR32 Revision history List of Sections List of Sections Table of Contents Table of Contents Title List of Figures List of Figures List of Tables List of Tables Benefits of the Solution ContentsIntroduction Application Functionality Introduction System Concept System Description System Description System Specification Software written in C language specifications are listed Software SpecificationSoftware parameter tuning to a customer motor Software Specifications High-Voltage Hardware Set Specification Hardware and Drive Specifications Motor -Brake Set High Voltage Hardware Set Specifications Low Voltage Evaluation Hardware Set Specifications Low-Voltage Evaluation Hardware Set SpecificationLow-Voltage Hardware Set Specification Low Voltage Hardware Set Specifications Brushless DC Motor Control Theory Bldc Motor ControlBldc Motor Targeted by This Application 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 Stage Power Stage Motor Topology Indirect Back EMF Sensing Stator Winding Equations Same expressions can also be found for phase a and B Effect of Mutual Inductance Phase Voltage Waveform Mutual Inductance Effect Detail of Mutual Inductance Effect Effect of Mutual Phase Capacitance Mutual Capacitance Model 10. Distributed Back-EMF by Unbalanced Capacity Coupling 11. Balanced Capacity Coupling Back-EMF Sensing Circuit Inc Sensorless Commutation Control Used Control TechniqueAlignment Starting Back-EMF Acquisition Running Alignment 14. Commutation Control Stages Running 15. Alignment Freescale Semiconductor, Inc Commutation time calculation is shown in Figure Running Commutation Time Calculation 17. Bldc Commutation Time with Zero Crossing Sensing Service of received back-EMF zero crossing Where Starting Back-EMF Acquisition Freescale Semiconductor, Inc 18. Vectors of Magnetic Fields 19. Back-EMF at Start Up Running Commutation Time Calculation, but the following Starting Commutation Time CalculationComputation coefficients are different Speed Control Application ControlPC Master Software PC Master Software Communication Commands Communication with PC Master Software Specifications Name Type Representing Description Range PC Master Software API Variables BIT6 Reserved MotorStatusDef, FailureDef BIT2 Reserved SpeedRangeMaxRPM*PerSpeedMAXRange/PerZCrosFltT2 PerSpeedMAXRange and zero crossing period PerZCrosFltT2 Freescale Semiconductor, Inc Hardware Design System Configuration and DocumentationMC68HC908MR32 Control Board For High-Voltage Hardware Set cofiguration EVM Motor Board Phase Low Voltage EVM Bldc Motor For Low-Voltage Evaluation Motor Hardware Set configurationLow-Voltage Hardware Set configuration Components will describe the individual boards High-Voltage Hardware System Configuration High-Voltage Hardware Set Configuration Manual Motorola document order number Described in MC68HC908MR32 Control Board User’sSee References Low-Voltage Evaluation Motor Hardware System Configuration Low-Voltage Evaluation Motor Hardware Set Configuration System configuration for low-voltage hardware set is shown Low-Voltage Hardware Set Configuration Low-Voltage Hardware System Configuration References All HW Sets Components1 MC68HC908MR32 Control Board Electrical characteristics in -1apply to operation at 25C 4shows a block diagram of the board’s circuitry 1 3-Phase AC/BLDC High Voltage Power Stage Electrical Characteristics of Control BoardHigh-Voltage Hardware Set Components Phase AC High Voltage Power Stage Optoisolation Board Electrical Characteristics of Power Stage Electrical Characteristics Electrical Characteristics of the Optoisolation Board Low-Voltage Evaluation Motor Hardware Set Components 3 3-phase Bldc High Voltage Motor with Motor BrakeEVM Motor Board Electrical Characteristics of the EVM Motor Board Electrical Characteristics of the EVM Motor Board2 3-phase Low Voltage EVM Bldc Motor Characteristics of the Bldc motor Low-Voltage Hardware Set Components 1 3-Ph AC/BLDC Low Voltage Power Stage Block Diagram Section 2 3-phase Bldc Low Voltage Motor with Motor Brake Software Design Data Flow Main Software Flowchart State DiagramIntroduction Data Flow Important system variables are listed in Table Software Variables and Defined ConstantsSoftware Variables Sys3Def Start/Stop Switch Reading and Start/Stop DecisionProcess Measurement Process Back, EMF Zero Crossing Sensing Main Data Flow Part1 Process Fault Control Fault Stop Freescale Semiconductor, Inc Main Data Flow Part 2 Alignment, Starting Closed Loop Control System Process Desired Speed Setting Bldc Speed Control and Calculation Processes Commutation and Zero Crossing Preset and SetProcess Alignment Control Bldc Commutation and Zero Crossing Selection Main Software Flowchart Main Software Flowchart Freescale Semiconductor, Inc Main Software Flowchart Main Software Loop Freescale Semiconductor, Inc Freescale Semiconductor, Inc Software Flowchart Interrupts State Diagram Application State Transitions Initialize MCU State diagram for this software is shown in FigureInitialize Application Stand-By Freescale Semiconductor, Inc Stand-by State Align State Starting Commutation Time Calculation Freescale Semiconductor, Inc 10. Back-EMF Acquisition Set Service of CommutationCommutation Time Calculation Running State Service of Received Back-EMF Zero CrossingExplained in 5.5.5 Back-EMF Acquisition State Over Current 11. Running State Stop State 12. Stop State Fault State See Figure Implementation NotesSoftware Files Software files and structure are described in section Bldc Commutation and Zero Crossing Selection Preset Bldc Commutation and Bemf Zero Crossing SelectionSet Bldc Commutation and Bemf Zero Crossing Selection Desired Speed Calculation Bldc Speed Control and CalculationPWM Duty Cycle PWMValMax = DUTYPWMMAX*MCPWMMODULUS Timer Timers Function TIMACh3Int Designer Reference Manual DRM028 Rev 108 Software Design Application Suitability Guide User GuideMinimal Application Speed Motor’s nominal speed Voltage Closed Loop Maximal Application SpeedMotor Suitability Mutual Inductance Designer Reference Manual DRM028 Rev 112 User Guide Hardware Configuration Application Hardware and Software ConfigurationHardware setups are shown in -1, -2, Low-Voltage Evaluation Motor Hardware Set Configuration High-Voltage Hardware Set Configuration Low-Voltage Hardware Set Configuration Controller Board Settings EVM board settings are the same for all hardware platforms EVM Board SettingsSoftware Setup Application HC08 Software Files \bldczerocros08MR32\sources\bldc08.c, main program Application PC Master Software Control Files Build Software ExecutionExecute from Evaluation Board Execute from Pre-programmed MCU When the software is built, the S-record fileBldczerocros08mr32MMDS.sx is generated Application Control PC Master Software Remote Operating Mode Manual Operating Mode PC 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 computer 11. PC Master Software Parameters Tuning Control Window Software Parameters Setting Follow-up Labels in the File const.h Parameters File Selection Software Customizing to Power Stage\bldczerocros08MR32\sources\constcustlv.h, definitions for Example of Software Customizing to Hardware Current Setting Hardware Customizing Voltage Setting Hardware CustomizingRange 0,infinity Modified maximal measurable voltage is 55 V, so set Example of Software Customizing to Hardware Maximal and Minimal Voltage Limits Setting Software Customizing to Motor Voltage and Current SettingsDetailed description starts here Range 0,VOLTRANGEMAX Range 0,CURRENTRANGEMAXA Maximal and Minimal Current Limits Setting Current during alignment state before motor starts Α Alignment Current and Current Regulator SettingRange 0,8 Set constcustx.h Parameters Tuning with PC Master Software Project FileFrom Evaluation Board 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 Parameters Start-up Constants and Maximal Commutation Period Maximal commutation period limit ∝s Start-up PeriodRange -128,127 Constcustx.h Alignment Current and Current Regulator Setting 6.5.4.3Constcustx.h Set #define Percmtstartus in constcustx.h Ensure Percmtstartus =PERCMTMAXUS /2 Constcustx.h file #define Speedpiregigain 13. PC Master Software Start Parameters Tuning Window Number of commutations per motor revolution Software Customizing to Motor Speed Control SettingRange 0,255 Minimal speed of the drive rpm Maximal speed range rpmRange 0,SPEEDRANGEMAXRPM Speedminrpm = 0.07 to 0.5SPEEDMAXRPM User Guide 153 Execute from Evaluation Board Remote Operating Mode Set PC master software control mode and start motor seeStart motor see Application Control and PC Master Software For the PWM frequency setting, follow the label PWM Frequency and Current Sampling Period SettingPWM frequency setting is provided by PWM Frequency PWM period = Periodpwmus = SETPERPWM*2 EQ PWM Frequency SettingCurrent Sampling Period CANCHANGEPERCURSAMPn in const.h file Conclusion Software Parameters Setting and TuningPERCST1US = Periodpwmus * Setpercs ∝s Current Sampling Instant User Guide 159 Designer Reference Manual DRM028 Rev 160 User Guide Appendix A. References AN1627, Motorola Motor using MC68HC705MC4 document order number SG40N Appendix B. Glossary Glossary 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