UM0688 User manual
Contents
1. STEVAL IHM022V1 demonstration board supports up to three 3 phase brushless motor control via three 34 pins connectors named MC_Main MC_Sub1 MC_Sub2 each one providing all required control and feedback signals to and from a motor power driving board MC_Main and MC_Sub1 connectors include emergency stop motor speed feedback Tacho Encoder and or hall sensor motor currents DC bus voltage and heatsink temperature sensing 6 complementary PWM channels going to the motor driving circuit As far as the third motor control connector MC_Sub2 is concerned the 6 PWM channels can be derived either by using two general purpose timers working in synchronism or by using one GP timer plus additional external circuitry for complementary PWM signals generation An auxiliary connector MC_Sub2 Aux is present on the board for plugging a daughter board in for this aim MC_Main connector features additional sensing signals AC 50 60 Hz mains and rectified input current for managing a digital power factor control whose software executes in the same STM82 microcontroller used for multiple motor control 1 4 Connect STEVAL IHM022V1 to inverter power stage boards For simultaneous multiple motor operations STEVAL IHM022V1 has to be connected to three phases inverter power stages through the MC Main MC Sub1 and MC Sub2 34 pins connectors In our application demo dual motor control driving has been implemented and two power stages MB459 and STEVAL IHM011V2. iy UM0688 Sf i User manual Quick reference of the STEVAL IHM022V1 STM32 dual motor drive evaluation board and software demo application Introduction The STEVAL IHM022V1 demonstration board is designed as dual and triple motor control development platform for STMicroelectronic s ARM Cortex M3 core based STM32F103Z microcontroller It does include full speed USB2 0 CAN2 0A B compliant interface 2 channels I S 2 channels IC 5 channels USART 3 channels SPI 2 channels DAC internal 64 KB SRAM and 512KB Flash JTAG amp SWD debugging support The demonstration board is thought to implement multiple motor control three MC connectors are present and other than above listed peripherals support it offers an advanced user I O interface LCD QVGA display and joystick key Extension headers make it possible to easily connect a daughter board or wrapping board for your specific application Use STEVAL IHM022V1 as order code for ordering this demonstration board Features m Four 5 V power supply sources 2 way screw connector power jack USB connector or daughter board Boot from user flash or system memory 64 Mbit serial Flash included Two RS232 channels with RTS CTS handshake support on one channel USB2 0 full speed connection CAN2 0A B compliant connection Two motor control connectors full featured for field oriented control plus PFC support on one connector JTAG SWD and trace debug support 240x320 TFT color LCD Joystick
3. 2 channels 2 3 Memory size and CPU workload Dual motor control software is provided for demonstration purposes and it is not fully featured as the STM32 FOC motor control library v 2 0 from whose it has been derived In Section 3 the allowed configurations are described in more details Here follows some figures about memory size and CPU workload Table 1 Dual motor control firmware performances i 4 Flash memory CPU load Firmware configuration z z occupation extimation Standard dual motor control no UI sensorless mode 20 kB 45 Standard dual motor control no UI encoder sensing 18 5 kB N A 5 10 Software demonstrator UM0688 6 10 Table 1 Dual motor control firmware performances continued Firmware configuration Flash memory CPU load debug functionalities occupation extimation Advanced dual motor control a 22 5 kB N A no UI sensorless mode advanced motor driving techniques Full dual motor control UI sensorless mode advanced motor driving techniques 45 5 kB N A 1 All this configurations refer to single shunt mode and repetition counter 3 x UM0688 Demo configuration parameters 3 3 1 3 2 Demo configuration parameters FOC Drive parameters and configuration files The values listed in Table 1 have been calculated in the following conditions CPU clock 72 MHz Motor control PWM frequency 12 kHz Max mo
4. with 4 direction control and selector Reset wakeup tamper and user button 4 LEDs Extension connectors for daughter board or wrapping area board Figure 1 STEVAL IHM022V1 AM03551v1 25 March 2009 Rev 1 1 10 www st com Contents UM0688 Contents 1 Hardware features 02 3 1 1 Demonstration board architecture 0 00 eaaa 3 1 2 STM32 peripherals mapping on STEVAL IHMO022V1_ 3 1 3 Multiple motor control operations 00 e eee eee 4 1 4 Connect STEVAL IHM022V1 to inverter power stage boards 4 2 Software demonstrator 000 cece eee eee 5 2 1 General description 4 cece cee 5 2 2 Embedded user interface and debug mode 0 055 5 2 3 Memory size and CPU workload 0 000 eee eee eee 5 3 Demo configuration parameters 00 cee eee eee eee 7 3 1 FOC Drive parameters and configuration files 000 7 3 2 Demo scope and limitations 000 ee 7 4 References Eha tdi ei seceded eb eadaseeewews 8 5 Revision history RQ ww ee 9 2 10 ky UM0688 Hardware features 1 1 1 2 Hardware features Demonstration board architecture The STEVAL IHM022V1 demonstration board is designed around the STM32F103Z in 144 pin TQFP package A block diagram of the demonstration board is shown in Figure 2 it illustrates the connections between STM32 MCU and the supported
5. 1 available from STMicroelectronics have been connected to control stage They can be ordered via ST regional sales offices 4 10 ky UM0688 Software demonstrator 2 Software demonstrator 2 1 General description The demonstration firmware running on STEVAL IHM022V1 demonstration board is able to perform dual motor control operations in simultaneous mode Up to two motors can be driven in field oriented control FOC single shunt resistor and in sensorless mode no speed sensor needed Dual motor control firmware uses the FOC routines implemented on STM32 PMSM library ver 2 0 firmware package and hence shares same principles for configuring the motor drive with user parameters Moreover the architecture of the software has been extended to treat each motor drive as an independent element allowing to set the drive and motor parameters in a completely independent way 2 2 Embedded user interface and debug mode An embedded UI LCD TFT 320x240 display and 5 positions joystick allows the user to set a lot of motor control parameters in real time during motors operations Basically the UI is made of TFT LCD graphical display e Micro joystick key with five position One dedicated key for starting stopping the motors The user can set all relevant motor drive and control parameters by means a set of screen views shown on the LCD display Debug functionality allows selecting which motor control variables have to be sent via DAC outputs
6. IN WRITING BY AN AUTHORIZED ST REPRESENTATIVE ST PRODUCTS ARE NOT RECOMMENDED AUTHORIZED OR WARRANTED FOR USE IN MILITARY AIR CRAFT SPACE LIFE SAVING OR LIFE SUSTAINING APPLICATIONS NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY DEATH OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE ST PRODUCTS WHICH ARE NOT SPECIFIED AS AUTOMOTIVE GRADE MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER S OWN RISK Resale of ST products with provisions different from the statements and or technical features set forth in this document shall immediately void any warranty granted by ST for the ST product or service described herein and shall not create or extend in any manner whatsoever any liability of ST ST and the ST logo are trademarks or registered trademarks of ST in various countries Information in this document supersedes and replaces all information previously supplied The ST logo is a registered trademark of STMicroelectronics All other names are the property of their respective owners 2009 STMicroelectronics All rights reserved STMicroelectronics group of companies Australia Belgium Brazil Canada China Czech Republic Finland France Germany Hong Kong India Israel Italy Japan Malaysia Malta Morocco Singapore Spain Sweden Switzerland United Kingdom United States of America www st com 4 10 10
7. connectors Figure 2 Hardware block diagram DC2 DC1 USB USART1 USART2 MC Sub2 MC_Sub2 Aux 4 E a 5 S 12C Ext AM03552v1 In particular it can be noticed 3 motor control connectors for supporting up to three 3 phase motor control operations 2xUSART CAN I C USB connectors for external interfacing e JTAG SWD and Trace connectors for debugging and developing applications e Embedded user interface constituted by an LCD TFT display and 5 ways joystick key plus one additional user defined key STM32 peripherals mapping on STEVAL IHM022V1 The block diagram in Figure 3 illustrates the connection between STM32F103Z peripherals and the connectors present in the demonstration board 3 10 Hardware features UM0688 Figure 3 MCU peripherals mapping LEDs Keys amp Joystick 3 3V regulator 64Mbit or Extension 128Mbit connectors for Serial Flash PIO JTAG MC MAIN Motor Control Connector Trace S 32103Z USB type B MC SUB1 connector Motor Control Connector Potentiometer MC SUB2 Motor Control Connector transceiver DB9 connector USART 2 12C GPIO USART 2 transceiver DB9 connector Connector RS232 USART 1 transceiver DB9 connector USART 1 AM03553v1 1 3 Multiple motor control operations
8. dulation index 96 Current control loop speed 6 kHz repetition counter 3 Speed loop sampling time 500 Hz e Each motor current sensed over 1 single shunt resistor All these settings together with other ones are provided through parameters configuration files the one that in its filename have the suffix _param Demo scope and limitations As stated in this document the software program provided with the dual MC board is only for demo purposes and it is tuned to run a particular model of low voltage motor This limitation must be taken into account when the user will try to modify all operating parameters listed in Section 3 1 We strongly suggest to refer to UM0492 STM32F103xx permanent magnet synchronous motor FOC software library V2 0 or to UM0683 for having full knowledge on this subject before performing any customization in this software 7 10 References UM0688 4 8 10 References Detailed information on STEVAL IHM022V1 demonstration board and software demo provided with this hardware can be retrieved in the following documents downloadable from www st com UMO686 user manual UM0683 user manual UM0688 Revision history 5 Revision history Table 2 Document revision history Date Revision Changes 25 Mar 2009 1 Initial release 9 10 UM0688 Please Read Carefully Information in this document is provided solely in connection with ST products STMicroe
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