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1. float Motori Dead TimeUS 2 0 eplacement of the chip 7 se EE unsigned s Motorli Speed Max RPM unsigned E Motor Speed Min RPM 1000 7 unsigned ch Motori Rotor Direction 29 O 2013 Spansion Inc a Solution Development U Rich hardware reference Q Reference sample standara circuit IL Footprint Lib v0 1 0 J Current sampling amplifier ais circuit reference So M i cj Discret Component J Different chip pin resource allocation model ciam soc 4 The hardware circuit reference over current protection standards 4 Providing rich component encapsulation library LJ Standard Communicate Port Un standard Component 1 Lower the development difficulty and reduce the risk provide full set of hardware development d platform to quicken the development SPANSION 30 O 2013 Spansion Inc Solution Development LN Hardware Cost gt Support no Amplifier operations i e mmm mmm SS SS SS SS SS SS SS mmm mm UN mmm mmm um mm mo m 1 1 Reducing hardware cost and solution components to increase the solution advantage SPANSION 31 O 22. 0 1 E Ff ArminverterPlatform Debug ee A MBs 4 Current Sensor c y rient Time Ha _ Global Float Force Inc Speed Hz 0 1 4 cO DT Campensatian c ribat Mo oseLoop Speed Hz 4 0 1 02 Driver 4 Field_vveaken c d Seng Mod bro EE E I C1H03_ Module p float nwerse_Botor Brake Times 2 9 Filter c a i ed 71H04 Applicstion 7 moral as N A SR rc float Morh CloseLoop Jurrent T 28 sl Motor _Control c EI Le 9200285 DST Global 7 Motori Estimator c B oo Eoo a C150 Driver Motori Protect c d Paramters Hegulate information I 9503 Module Motori Startup c tre CRM 2 OA TOE 200 07 i Ha 1 504 _Applicaffan PID_Regulator c Le Motpt Qui 1 44 Ha 1505_User Fmsm_Takle c et de ES Output k single Shunt c 4227 Float Motori Skp 0 05 spee flat Motori Spesd Inc Acceleration Hz 3 0 j Calculate c 4 ioat 1 0 Put 5 User T d 2 QUE Fee ERR KEE E ori protection Parameters e e e e Chip_ Init ER e LE i 7 short Motori Max Dc Voltagev 4207 5 2 Short Motori Min Dc voltage 207 Provide complete new function Customer Interfa 1538 OJ unsigned char Motori Error Keep Times 10 dree regimine ee Project of custom and Rec Pena 2 Ha t Ector
3. SPANSION a nr 2 Spansion Motor Solution Oct 2014 Devin Zhang 2 DD D ne gt DI SPANSION O 2013 Spansion Inc a SPANSION a Background Introduction Background Introduction Motor structure Stator Core SPANSION 4 O 2013 Spansion Inc a Background Introduction Motor control algorithm Traditional six step control Traditional FOC control 1209 180 Improvement gt The BEMF converts into the form of a E sine wave fit 180 control The distribution of winding Adjust the air gap Change the shape of the permanent magnet Improve motor structure and control algorithm 1809 SPANSION 5 O 2013 Spansion Inc a Background introduction Control Solution Improvement gt x AC motor efficiency is low and the speed range is narrow gt cx For sensor motor the price is higher and the Hall is easily mangled gt V V Existing DC fan solution needs orientation in startup open loop startup causes more power loss performance of anti wind startup is not good enough gt rwv 3x yx The Spansion sensor less DC fan solution solves the above problems by providing the following functions realizing no orientation and no vibration startup providing higher efficiency and wider speed range realizing perfect anti wind startup and reducing hardware price and noise SPANSION 6 2013 Spansion Inc vw SPANSIO
4. of other solutions and provide the following features Don t need orientation no vibration Millisecond level startup time 1000rpm anti wind startup has a _ _ _ CH T _ OLA ki IA AI Irr A At A li KP f Y A V a i varia LL a s Ninas ist p i V nl ART wr TESI HMM Ud V NJ V AJ u 23 2013 Spansion Inc Performance Comparison Orientation Need orientation startup orientation Do not need orientation time about 45 current 0 7A bigger Orientation time OS current OA vibration and long start time startup no vibration Open loop startup Need open loop startup open loop Do not need Using pre close loop time about 0 4S current about 0 85A mode time maximum value about 0 25 maximum current about 0 2A Anti wind startup Anti wind startup is OK only under All anti wind startups are OK 300RPM When the value is 300RPM under 1000RPM 500 the startup may fail When the value is above 500HPM no startup can succeed otartup time startup time total 4 55 startup time total 0 25 Startup power loss Startup power loss about otartup power loss about 0 7A 0 7A 4S 0 85A 0 85A 0 4S R 2 0 2A 0 2A 0 2S R 2 0 004J 1 96 0 289 2 1 1245J only other solution power s 0 356 Startup type Startup without self adaption current Startup using self adaption and time are constant values method c
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6. 013 Spansion Inc a 32 Solution Resources 1 Resources include Chip hardware user manual Hardware user manual gt Software debugger manual gt Sensor less DC fan motor SPEC gt Development user manual gt Customer interface manual gt System designed SPEC gt Subsystem designed SPEC gt System test SPEC gt Protection test and mode SPEC gt Test report gt Firmware materials 2013 Spansion Inc BOM Sensor Less FM SOLU VO 2 1 ME FWLIB FM 1412 9AF132K V0 1 0 S i FWPLIB FM 1412 9AF132K V0 1 0 GERB Sensor Less FM ISOBoard VO0 2 0 d GERB Sensor Less FM ISOBoard V0 2 0 GERB Sensor Less FM SOLU VO 2 1 GERB Sensor Less FM SOLU VO 2 1 SCH Sensor Less FM ISOBoard V0 1 0 SCH Sensor Less FM SOLU VO 2 1 MCU UM 510112 E 20 Sensor Less FM Customerinterface MCU UM 510112 Z 20 Sensor Less FM Customerinterface MCU UM 510114 Z 11 Sensor Less FM EVB HW Spansion Sensor Less INV FanMotor Solution 90 Spansion TE e TI P Mas FA WI OLST Sensor Less FM FWHighLevel PositionDetect V1 0 0 CLST Sensor Less FM FWHighLevelDesign CurrentSense V1 0 0 91 SPEC Sensor Less FM FWHighLevel PositionDetect VI1 0 0 81 SPEC Sensor Less FM FWhHighLevelDesign Brake V1 0 0 EJ SPEC Sensor Less FM FWHighLevelDesign CurrentSense V1 0 0 92 SPEC Sensor Less FM FWHighLevelDesign DeadTimeCompensation V1 0 0 821 SPEC Sensor Less FM FWHighLevelDesi
7. N a Algorithm and Function Algorithm Structure Start Up Protection Parameters Identification Dead time Compensation VF VF diagnose U V 5 eS Speed PI 09 on Va gref A V Inverse Inverse Park Clarke Vol SVPWM Electrical V Va Brake Field Xx ELI weaken C Single Park le lg D estim Rotor position estimator SPANSION 8 O 2013 Spansion Inc a Algorithm Function L 1 Catch Spin function 11 Dead Time Compensation 2 ELE brake function 12 Field weaken function 3 ELE brake current control function 13 GUI debugger function 4 Anti wind startup function 14 Parameters Identification 5 Rotor direction detect function 15 Pulse speed feedback function 6 Self adapt startup function 16 Vsp speed control function 7 VF VF diagnosis function 17 NTC PTC speed limit function 8 Torque control function 18 Single shunt function Er HU DO 9 On line carrier frequency vary 19 Inner GR choose function O O O colo o O ai Na 1 M EE M CST em M PRAN 11 E UA we iC VE NARNIA IU 2 TUNNI NJ SPANSION a 9 O 2013 Spansion Inc Algorithm Function Coordinate Transformation Coordinate System b p q d a OL C Three axis stator coordinate system Two axis stator coordinate system Two axis rotate coordinate system SPANSION 10 O 2013 Spansion I
8. ansion Inc a Algorithm Function Position Estimate gt PLL _ Qila gt SMO Va Esta Esq d gt Ep Vg Ls DIG Park LPF COS bestim sin Oestim Eq m Eg COS Gestim Ea Sin Oestim fre ei ei esi mes e m et st i SPANSION a 17 O 2013 Spansion Inc Algorithm Function Position Estimate gt SMO gt PLL gt gt DTC Panan ET 8 8 8 iu m EEE NEE EEN SEE EEE EEE EEE Ka an nana ee ee ee ee ee ee ee jussmnuunuunumuunuum SPANSION 2013 Spansion Inc Algorithm Function _ICatch Spin Function gt From the rotor estimate speed you can judge the start mode If the speed is bigger than zero use the catch spin function Otherwise use other start mode gt Algorithm figure is shown as below Catch spin Pa S e 48 F1 m PU PU ahi a A Estimate speed Close loop Estimate Speed 0 atch Spin Functio SPANSION a Algorithm Function Ll Anti wind start From the rotor speed detection once the rotor reverse running is detected Anti wind start function will be started Adjust the startup current and brake time based on the reverse speed When the speed decreases to z
9. edusting gt Anti wind startup opecial feature No orientation stage No start swing Catch spin function v LJ special feature Low speed running Low vibration SPANSION a Supported Products DO Special feature High speed running gt Light current S SS SS SS SS S S S S mmm mm mm NES mmm NO DEN ms mmm s pm mm U Special feature gt Torque control 1 Fast startup Special feature gt gt Low voltage running SPANSION 36 O 2013 Spansion Inc Supported Products L Other product T j JAP S cw Na 4 UT ATE LI TERREA 2 ix ka igi ai Electric drill SPANSION 31 O 2013 Spansion Inc SPANSION a WWW Spansion com Spansion the Spansion logo MirrorBit MirrorBit Eclipse and combinations thereof are trademarks and registered trademarks of Spansion LLC in the United States and other countries Other names used are for informational purposes only and may be trademarks of their respective owners This document is for informational purposes only and subject to change without notice Spansion does not represent that itis complete accurate or up to date it is provided AS IS To the maximum extent permitted by law Spansion disclaims any liability for loss or damages arising from use of or reliance
10. ero the system enters the close loop running stage Algorithm figure is shown as below Anti wind startup Estimate speed and brake Close loop Close loop running Estimate speed 0 Anti wind startup SPANSION a Algorithm Function 4 Resting state start gt From the rotor speed detection If it is detected that the rotor speed equals to zero the Resting State Startup function will be started Adjust the startup current based on the target speed and load Then enter close loop running directly Resting state startup Algorithm figure is shown as below SES ee ee B5 5 met ee m is 5 9 ee grad pi Close Resting state startup loop running Estimate speed Close loop SPANSION a SPANSION a Solution Performance Feature Performance Comparison 1 Competitor s sensor less DC fan starts up with orientation and big open loop current which has below disadvantages Orientation causes more vibration and longer startup time Open loop needs bigger current gt The anti wind performance is bad and the startup speed is lower than 500rpm Startup time is long Speed up and down will cause current fluctuation LI Spansion DC fan solution using new startup algorithm can avoid disadvantages
11. gn DirectionDetect V1 0 0 81 SPEC Sensor Less FM FWHighLevelDesign DynamicAdjustPWM V1 0 0 SPEC Sensor Less FM FWHighLevelDesign LosePhaseProtection V1 0 0 wj SPEC Sensor Less FM FWHighLevelDesign SingleShunt V1 0 0 kj SPEC Sensor Less FM FWHighLevelDesign StartUp V1 0 0 921 SPEC Sensor Less FM FWHighLevelDesign SwitchDirectiomwithoutStop V1 0 0 e SPEC Sensor Less FM FWHighLevelDesign TargetSpeedSetting V1 0 0 911 SPEC Sensor Less FM FWSubSystemDesign V1 0 0 90 SPEC Sensor Less FM SystemDesign V1 0 0 SPANSION a Solution Development GUI debugger Project Data Hel loterias Kame Paleted Runtime Varubie sl Stop gs Drv Wim target control frequency E flu lu ADC Value Obs v lv ADC Value t Obs Vde Vide ADC Value Any Any Any sg Wave Obersivabon d Digita Ohersvetion E Any sonal Wave Obersivationi Digital Obersivation Name Unit PA field weaken 258 Droa compensation 259 Pathan Conntect Status Motor Status Operahon Status 33 O 2013 Spansion Inc SPANSION a vw SPANSION a Supported Products Supported Products Special feature 1 Standard interface 227 Fast increasing speed in d
12. nal Support CAN safety features Peripherals hene SPANSION a Spansion Resources Starterkits Extension Boards JTAG Adapters Application Notes Software Examples Hardware Manuals Datasheets Newsletter IDE Debugger Softune Workbench Reports PCB Reviews Microcontroller USB Motor Control EMI Low Leve Drivers Header Files Software Cores Standards HIS At tegar SPANSION a Qualification Data PPAP Field Failures 8D Reports 28 O 2013 Spansion Inc 28 Solution Development E EE e e NE Ium Evp define 6 L TAR Embedded Workbench IDE Fac define Refridge YE5L4H Fs derine Farm type tariran 502 Dryer T La E Drv_ADC c n sai Dre Clackc Modify the user interface file Completely open chip driver a Dre GPIO c directly direct replacement Dre FRT c the motor and configuration code to achieve quickly D Drv MET OCc _ switch and change of the chip 1 SETE parameters be set and 4 2 A AAA 1 7 Dr MET WFG c dino La Dr Lenz can modify the motor Div WOT O parameters online to debug NVIC the machine gy fm 15 4 Application Kreess aa e Dai es TV Ve Transforms c Open dep current AFS
13. nc Algorithm Function Coordinate Transformation Clarke Transform SPANSION 11 O 2013 Spansion Inc a Algorithm Function Coordinate Transformation Park Transform X COS Jx SIND X SIN Q JX COS SPANSION 12 O 2013 Spansion Inc Algorithm Function Coordinate Transformation Inverse Park Transform X COS Q x sin Y X X SIN Qt x COS Y SPANSION 13 O 2013 Spansion Inc a Algorithm Function UCoordinate Transformation Inverse Clarke Transform NG Ky E N 3X5 Ky 2 X X 3X5 Ka 2 SPANSION 14 O 2013 Spansion Inc a Algorithm Function Current control loop In current loop id controls the motor flux i gt flux for extending speed region and iq controls lt motor torque for increasing and decreasing l gt torque speed SPANSION a 15 O 2013 Spansion Inc Algorithm Function J PID Regulator Control Universal regulator for most of the control loops Mery accurate and fast otable control loop gt In the absence of knowledge of the underlying process a PID controller is the best controller solution 5 0 SPANSION 16 O 2013 Sp
14. urrent and time will be controlled to the minimum SFANSION 2013 Spansion Inc Solution Features 25 1 Using Spansion 32bit ARM Cortex M3 FMO chip MB9AF132K frequency 20MHz SE1A1 frequency 40MHz 1 MOSFET or IPM power module be chosen U VE VF Diagnosis Speed Torque control mode U No orientation and open loop startup J The online self adaptation function of 5IKHz 30KHz carrier frequency can meet the requirements of reducing noise 1 Support single shunt and dual shunt algorithm IJ Anti wind startup can reach 1000rpm U Unstop running function 1 Support PWM mode brake function U Catch spin function U Support flux decrease protection 1 Perfect protection function Meet the national energy consumption requirements of energy efficiency SPANSION 2013 Spansion Inc 5 51 a Spansion Solution Development Background Introduction Memory Fastest Flash Memory X Core among Wide supply High Quality gt ARM Cortex MO voltage range Flash M3 M4 2 1V 5 5V High 100k erase cycles families 1 65 V 3 6V Performance 20 years up to 144 MHz retention operation frequency SPANSIONI Sophisticated Motor Control Timer Long term Availability 10years A Support Independent N 12 bit ADCS Global Advanced Excellent Connectivity Technical At USB host function Many functio
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