Main Data Flow Part 2 Alignment, Starting | Motorola M68HC08

Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

Software Design

TIMER 2

BACK-EMF

T_CMT

Sp_Input

ACTUAL TIME

ZERO CROSSING

INPUT

Speed_Min_U8

Coef_Speed_Inp

V_TASC2

CORRECTIVE CALCULATION 1

PROCESS

OF COMMUTATION PARAMTERS

CORRECTIVE CALCULATION 2

DESIRED SPEED SETTING

PROCESS

OF COMMUTATION PARAMETERS

BACK-EMF

(ACCELERATION)

ZERO CROSSING SENSING

*Only when regular

feedback can not

be used

ICR_F

T_ZCros

FOK_F

Speed_Desired

COMMUTATION HAS BEEN

PIParamsScl_U8_Speed

PROCESS

PERFORMED — FLAG

COMUTATION TIMES

PC_F

CALCULATION

Per_Speed_MAX_Range

Per_ZCrosFlt

T2

PROCESS

TIMER 2

PRESET COMMUTATION

PROCESS

AND ZERO CROSSING

SPEED CONTROL

PWM MODULE

VIRTUAL

V_MUX

V_TASC2

TIMER 3

TIMER2

TIMEOUT,

PROCESS

ACTUAL TIME

PROCESS

SET COMMUTATION AND

ALIGNMENT CONTROL

ZERO CROSSING SELECTION

TIMER1

INIT

T_Cmt

PC_F

Curr

Curr_Align

BACK-EMF

PIParamsScl_S8_Curr

ZERO CROSSING

MULTIPLEXER

Figure 5-2. Main Data Flow — Part 2: Alignment, Starting,

Running Control

Designer Reference Manual

DRM028 — Rev 0

80

Software Design

MOTOROLA

For More Information On This Product,

Go to: www.freescale.com

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Motorola M68HC08 manual Main Data Flow Part 2 Alignment, Starting

Contents

M68HC08 Freescale Semiconductor, Inc For More Information On This Product Sensorless Bldc Motor Control Using MC68HC908MR32 Designer Reference Manual Rev Revision history List of Sections List of Sections Table of Contents Table of Contents List of Figures Title List of Figures List of Tables List of Tables Contents Benefits of the SolutionIntroduction Application Functionality Introduction System Description System Concept System Description System Specification Software Specification Software written in C language specifications are listedSoftware parameter tuning to a customer motor Software Specifications Hardware and Drive Specifications High-Voltage Hardware Set Specification High Voltage Hardware Set Specifications Motor -Brake Set Low-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 2 3-Phase Bldc Power Stage Why Sensorless Control? Power Stage Motor Topology Stator Winding Equations Indirect Back EMF Sensing Same expressions can also be found for phase a and B Phase Voltage Waveform Effect of Mutual Inductance Mutual Inductance Effect Effect of Mutual Phase Capacitance Detail of Mutual Inductance Effect Mutual 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 14. Commutation Control Stages Alignment 15. Alignment Running Freescale Semiconductor, Inc Running Commutation Time Calculation Commutation time calculation is shown in Figure Service of received back-EMF zero crossing 17. Bldc Commutation Time with Zero Crossing Sensing Where 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 Communication with PC Master Software Specifications PC Master Software Communication Commands PC Master Software API Variables Name Type Representing Description Range MotorStatusDef, FailureDef BIT6 Reserved BIT2 Reserved PerSpeedMAXRange and zero crossing period PerZCrosFltT2 SpeedRangeMaxRPM*PerSpeedMAXRange/PerZCrosFltT2 Freescale Semiconductor, Inc System Configuration and Documentation Hardware DesignMC68HC908MR32 Control Board For High-Voltage Hardware Set cofiguration For Low-Voltage Evaluation Motor Hardware Set configuration EVM Motor Board Phase Low Voltage EVM Bldc MotorLow-Voltage Hardware Set configuration Components will describe the individual boards High-Voltage Hardware Set Configuration High-Voltage Hardware System Configuration See References Described in MC68HC908MR32 Control Board User’sManual Motorola document order number Low-Voltage Evaluation Motor Hardware Set Configuration Low-Voltage Evaluation Motor Hardware System Configuration Low-Voltage Hardware Set Configuration System configuration for low-voltage hardware set is shown Low-Voltage Hardware System Configuration 1 MC68HC908MR32 Control Board All HW Sets ComponentsReferences 4shows a block diagram of the board’s circuitry Electrical characteristics in -1apply to operation at 25C High-Voltage Hardware Set Components Electrical Characteristics of Control Board1 3-Phase AC/BLDC High Voltage Power Stage Phase AC High Voltage Power Stage Electrical Characteristics of Power Stage Optoisolation Board Electrical Characteristics of the Optoisolation Board Electrical Characteristics EVM Motor Board 3 3-phase Bldc High Voltage Motor with Motor BrakeLow-Voltage Evaluation Motor Hardware Set Components 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 1 3-Ph AC/BLDC Low Voltage Power Stage Low-Voltage Hardware Set Components Block Diagram 2 3-phase Bldc Low Voltage Motor with Motor Brake Section Data Flow Main Software Flowchart State Diagram Software DesignIntroduction Data Flow Software Variables Software Variables and Defined ConstantsImportant system variables are listed in Table Process Measurement Start/Stop Switch Reading and Start/Stop DecisionSys3Def Main Data Flow Part1 Process Fault Control Fault Stop Process Back, EMF Zero Crossing Sensing Freescale Semiconductor, Inc Main Data Flow Part 2 Alignment, Starting Process Desired Speed Setting Closed Loop Control System Process Alignment Control Processes Commutation and Zero Crossing Preset and SetBldc Speed Control and Calculation Main Software Flowchart Bldc Commutation and Zero Crossing Selection Main Software Flowchart Freescale Semiconductor, Inc Main Software Flowchart Main Software Loop Freescale Semiconductor, Inc Freescale Semiconductor, Inc State Diagram Software Flowchart Interrupts Application State Transitions State diagram for this software is shown in Figure Initialize MCUInitialize Application Stand-By Freescale 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 12. Stop State Fault State Stop State Implementation Notes See FigureSoftware Files Software files and structure are described in section Set Bldc Commutation and Bemf Zero Crossing Selection Preset Bldc Commutation and Bemf Zero Crossing SelectionBldc Commutation and Zero Crossing Selection Bldc Speed Control and Calculation Desired Speed CalculationPWM Duty Cycle PWMValMax = DUTYPWMMAX*MCPWMMODULUS Timers Timer Function TIMACh3Int Designer Reference Manual DRM028 Rev 108 Software Design User Guide Application Suitability GuideMinimal Application Speed Motor’s nominal speed Motor 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 High-Voltage Hardware Set Configuration Low-Voltage Evaluation Motor Hardware Set Configuration Low-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 When the software is built, the S-record file Execute from Pre-programmed MCUBldczerocros08mr32MMDS.sx is generated Application Control Manual Operating Mode PC Master Software Remote 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 To have PC master software installed on your PC computer Start the PC master software parameters tuning application 11. PC Master Software Parameters Tuning Control Window Software Parameters Setting Follow-up Labels in the File const.h Software Customizing to Power Stage Parameters File Selection\bldczerocros08MR32\sources\constcustlv.h, definitions for Example of Software Customizing to Hardware Range 0,infinity Voltage Setting Hardware CustomizingCurrent Setting Hardware Customizing Example of Software Customizing to Hardware Modified maximal measurable voltage is 55 V, so set Software Customizing to Motor Voltage and Current Settings Maximal and Minimal Voltage Limits SettingDetailed description starts here Range 0,VOLTRANGEMAX Maximal and Minimal Current Limits Setting Range 0,CURRENTRANGEMAXA Range 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 Parameters Commutation time period to discharge coil current ∝s Start-up Constants and Maximal Commutation Period Range -128,127 Start-up PeriodMaximal commutation period limit ∝s Alignment Current and Current Regulator Setting 6.5.4.3 Constcustx.hConstcustx.h Set #define Percmtstartus in constcustx.h Ensure Percmtstartus =PERCMTMAXUS /2 #define Speedpiregigain Constcustx.h file 13. 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 and Current Sampling Period Setting For the PWM frequency setting, follow the labelPWM frequency setting is provided by PWM Frequency Current Sampling Period PWM Frequency SettingPWM period = Periodpwmus = SETPERPWM*2 EQ Conclusion Software Parameters Setting and Tuning CANCHANGEPERCURSAMPn in const.h filePERCST1US = Periodpwmus * Setpercs ∝s Current Sampling Instant User Guide 159 Designer Reference Manual DRM028 Rev 160 User Guide Appendix A. References Motor using MC68HC705MC4 document order number AN1627, Motorola Appendix B. Glossary SG40N 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