DRM036, Sine Voltage Powered 3
Contents
1. The application also contains PC master software which supports communication between the target microcontroller and PC via an RS232 serial interface This tool allows a real time access to any memory location of the target processor The user can debug or remotely control the application using a user friendly graphical interface Designer Reference Manual DRM036 D Rev 0 18 System Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc System Description Application Features 3 ph if 3ph Inverter A PMS Motor a Q AD PWM PWM m START STOP GE one 2 oltage ph Sine Wave 9 w4 Ripple Generator g Q Cancellation A mg ss nN x E 5 L a 2 SPEED POT DM Controller fe o lt gt Deceleration Q OY Control TA Period 0 Calculation 0 1 T Position fra Recognition Figure 2 1 System Concept DRM036 D Rev 0 Designer Reference Manual MOTOROLA System Description 19 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc System Description 2 3 Target Motor Theory Designer Reference Manual The PMS Permanent Magnet Synchronous motor is a rotating electric machine where the stator is a classic three phase stator like that of an induction motor and the rotor has surface mounted permanent magnets In this respect the PMS motor is equ2. 12 volt 4 amp surface mount power stage that is shipped with an MCG IB23810 H1 brushless dc motor In combination with one of the embedded motion control series control boards it provides a software development platform that allows algorithms to be written and tested without the need to design and build a power stage It supports algorithms that use Hall sensors encoder feedback and back EMF electromotive force signals for sensorless control The EVM motor board does not have overcurrent protection that is independent of the control board so some care in its setup and use is Designer Reference Manual DRM036 Rev 0 30 Hardware Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Hardware Design EVM Motor Board required if a lower impedance motor is used With the motor that is supplied in the kit the power output stage will withstand a full stall condition without the need for overcurrent protection Current measuring circuitry is set up for 4 amps full scale In a 25 C ambient operation at up to 6 amps continuous RMS output current is within the board s thermal limits Input connections are made via 40 pin ribbon cable connector J1 Power connections to the motor are made on output connector J2 Phase A phase B and phase C are labeled on the board Power requirements are met with a single external 12 Vdc 4 amp power supply Two connectors labeled J3 and J4
3. List of Tables Title Page Electrical Characteristics of Control Board 28 Electrical Characteristics of the 3 Ph BLDC Low Voltage Power Stage NA KAG EP KAKA 30 Electrical Characteristics of the EVM Motor Board 31 Characteristics of the BLDC motor 32 MCHC908MR32 Board Jumper Settings 49 Motor Application States eee eens 52 Designer Reference Manual MOTOROLA 9 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc List of Tables Designer Reference Manual DRM036 Rev 0 10 MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor DRM086 Rev 0 List of Figures Figure Title Page 2 1 System LOIDA ARKA DING dee eee eR EERE 19 2 2 Three Phase Permanent Magnet Motor Cross Section 20 2 3 Voltage is 90 Relative to Rotor Flux 22 2 4 Stator Current is 90 Relative to Rotor Flux 23 2 5 Voltage Vector in the Direction of the Current Vector 23 3 1 A System Configuration ioe eevee KA KAG Ba ries ee KARA AA 26 3 2 MC68HC908MR32 Control Board 27 o Block LAN ARKA AWARD KAKA GNA KA NAWALA 29 S Ma Data ale PP AA AA 36 4 2 Calculation of Hall Sensor Period 38 4 3 Difference betwee
4. me R5232 COM4 speed 9600 Scope Bad WA commands stimulators Figure 5 6 PC master software control window 5 5 2 Starting the Motor in Manual Mode Switch the START STOP switch to the START position and set the required speed by the SPEED potentiometers If successful the PMS motor will be spinning NOTE If the START STOP switch is set to the START position when the application starts toggle the START STOP switch between the STOP and START positions to enable motor spinning This is a protection feature preventing the motor from starting when the application is executed from CodeWarrior You should also see a lighted green LED indicating the application is running If the application is stopped the green LED will blink at a DRM086 Rev 0 Designer Reference Manual MOTOROLA Application Setup 55 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Application Setup frequency of 2 Hz If a fault occurs the green LED will blink at a frequency of 8 Hz NOTE In manual control mode the SW2 1 switch on the CPU board see Figure 5 5 determines close open loop close loop is at position On 5 5 3 Starting the Motor in Remote Control Mode using PC Master To set the PC master control perform the following steps 1 The RUN STOP switch must be in the STOP position Check the PC master mode on the PC master control page Start the motor by pressing the START PC Master Push B
5. Go to www freescale com Freescale Semiconductor Inc Hardware Design Designer Reference Manual DRM036 Rev 0 34 Hardware Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor Section 4 Software Design 41 Contents 4 2 Software DS 4 naa cacedbeadeedetddeasarseke kids 35 4 3 Software Data Flow cs AKA KNANG KNA BK EERE 35 4 4 Soltware Processes ua ciccceescssuaceuveseveciias ar 4 5 PC Master Software Remote Operating Mode 45 4 2 Software Design This section describes the design process of control algorithm and of the software blocks implemented in the drive 4 3 Software Data Flow The control algorithm of closed loop drive for the sine voltage powered 3 phase PMS motor with Hall sensors is described in Figure 4 1 The inputs to the algorithm are desired omega from speed pot Manual Control or from remote control interface SCI and Hall sensor signals Hall Sensors The output is a three phase PWM signal PWM Generation DRM086 Rev 0 Designer Reference Manual MOTOROLA Software Design 35 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design Manual Hall Sensor Edge Detection Period Calculation omega desired KANG ae omega required period hall sensor phase increment
6. all memory locations in a computer system microcontroller Microcontroller unit MCU A complete computer system including a CPU memory a clock oscillator and input output I O on a single integrated circuit modulo counter A counter that can be programmed to count to any number from zero to its maximum possible modulus Designer Reference Manual DRM036 Rev 0 60 Glossary MOTOROLA For More Information On This Product Go to www freescale com DRM086 Rev 0 Freescale Semiconductor Inc Glossary PI controller Proportional Integral controller peripheral A circuit not under direct CPU control phase locked loop PLL A clock generator circuit in which a voltage controlled oscillator produces an oscillation which is synchronized to a reference signal PM Permanent Magnet PMSM Permanent Magnet Synchronous Motor port A set of wires for communicating with off chip devices program A set of computer instructions that cause a computer to perform a desired operation or operations PWM Pulse Width Modulation PWM period The time required for one complete cycle of a PWM waveform read To copy the contents of a memory location to the accumulator register A circuit that stores a group of bits reset To force a device to a known condition RPM Revolutions per minute SCI See serial communication interface module SCI serial communications
7. are provided for the 12 volt power supply J3 and J4 are located on the front edge of the board Power is supplied to one or the other but not both The electrical characteristics in Table 3 3 apply to operation at 25 C and a 12 Vdc power supply voltage Table 3 3 Electrical Characteristics of the EVM Motor Board Characteristic ee Min Typ Max Units Power Supply Voltage Vdc 10 12 16 V Quiescent Current lcc 50 mA Min Logic 1 Input Voltage Vin 2 4 V Max Logic O Input Voltage VIL 0 8 V Input Resistance Rin 10 kQ Analog Output Range Vout 0 3 3 V Bus Current Sense Voltage Isense 412 mV A Bus Voltage Sense Voltage VBus 206 mV V o o a lao wa RMS Output Current Im 6 A Total Power Dissipation Puiss 5 W DRM086 Rev 0 Designer Reference Manual MOTOROLA Hardware Design 31 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Hardware Design The EVM Motor Board is shipped with an MCG IB23810 H1 brushless dc motor The motor characteristics in Table 3 4 apply to operation at 25 C Table 3 4 Characteristics of the BLDC motor Characteristic a Min Typ Max Units Terminal Voltage Vi 60 V Speed V 5000 RPM Torque Constant Ky 0 08 Nm A Voltage Constant Ke 8 4 Ha Winding Resistance Ri 2 8 Q Winding I
8. high efficient control of a motor using only one Hall sensor for position sensing 4 4 6 Speed Ramp The Speed ramp decreases the rate of required speed variation 4 4 7 Speed Calculation The speed EQ 4 3 is calculated every 5ms in the timer overflow interrupt Om ro EQ 4 3 h where e C is a constant representing the omega scale and the number of pole pairs e This the Hall sensor period 4 4 8 Speed Controller The scaled PI controller is used for the speed closed loop The controller is called every 5ms The controller constants were tuned experimentally The frequency of speed update depends on actual motor speed according to the rate of incoming edges for Hall sensors To achieve the best results the speed controller constants are recalculated according to the sensed speed The controller constants are calculated according to EQ 4 4 and EQ 4 5 The sensed speed can be updated only when the edge on the Hall sensor signal is detected The long Designer Reference Manual DRM036 Rev 0 40 Software Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design Software Processes period between the Hall sensor signal edges al low speed could cause speed fluctuations of the motor C C C On EQ 4 4 Cp CG C On EQ 4 5 where e Clis integral constant e CP is proportional constant e C1 C2 C3 C4 are constants tune
9. phase measured Speed Ramp Speed Calculation omega required RPM omega measured Speed Controller ield Weakening Calculation fieldWeakening Sine Wave Synchronization controller_out Ripple Cancellation v_phase_amplitude phase_actual Sine Wave Generation Figure 4 1 Main Data Flow Designer Reference Manual DRM036 Rev 0 36 Software Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design Software Processes 4 4 Software Processes 4 41 PC Master Process A small program is resident in the MR32 that communicates with the PC master software running on the PC It controls data exchange between the application and the Serial Communication Interface SCI The module enables read and write to the CPU RAM and reading the whole CPU memory It provides a remote control interface to the application For control actions provided see section 4 5 PC Master Software Remote Operating Mode 4 4 2 Sensor Edge Detection Each incoming edge on the signal from Hall sensors causes the saving of the actual timer value and setting of the capture flag The flag is recognized in the following PWM reload and it starts a task which is divided between two PWM reloads interrupts In the first interrupt the sine wave is synchronized and the period of the hall sensor signal is calculated In the following PWM reload interrupt the phase
10. soc cones cere tis an caves ewes Gawd 17 Target Motor Theory 6 toca en ee ok ed AA eels eae 2 20 Section 3 Hardware Design Tis ad bho AY 25 Hardware Configuration ove ee bei ERAP KG behead 25 MC68HC908MR32 Control Board 26 3 Phase BLDC Low Voltage Power Stage 28 EVM Motor Bodad AAP PARA RAAAA AA 30 Hardware Documentation n a aa AA PB KARERANG 32 Section 4 Software Design EE E N EE E E EREA EEE A EE E ean E EE EA ATE 35 Software Design APA PA AA 35 Software Data Flow 2 0 a 35 Designer Reference Manual MOTOROLA 7 For More Information On This Product Go to www freescale com Designer Reference Manual Freescale Semiconductor Inc Table of Contents 4 4 4 5 5 1 5 2 5 3 5 4 5 5 Software Processes 000 cece cece eee aeae 37 PC Master Software Remote Operating Mode 45 Section 5 Application Setup OU PP AA elie PAA 47 PONG hoot nk kA AWA PATOALEDLAREBE EN BARE 47 Hardware SGU os ssa Ba GWN hada WA ee bee ee eee 47 ROMs foie ce ne EDADA OL KG wr wana Dedman 50 Executing the Application Ja a na vache WADA KAG eee dda 51 Appendix A References Appendix B Glossary DRM086 Rev 0 8 MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor DRM086 Rev 0 Table 3 1 3 2
11. the motor with maximum efficiency In this case the angle of current is higher than 90 relative to the rotor magnetic flux but lower than in method 3 where the current has the same direction as the voltage The motor parameters have to be known or some experimental control strategy has to be used to achieve this criterion 2 3 1 Vector of Stator Voltage Is Placed 90 Relative to the Vector of Rotor Magnetic Flux The control strategy keeps the vector of stator voltage at 90 relative to the vector of rotor magnetic flux This control strategy is shown in Figure 2 3 The advantage of this strategy is a simplicity The only feedback signal needed for driving the motor is the rotor position The presented application is based on this control strategy with some enhancements to achieve the best efficiency of the motor j Ls ls Figure 2 3 Voltage is 90 Relative to Rotor Flux 2 3 2 Vector of Stator Current Is Kept 90 Relative to the Vector of Rotor Magnetic Flux This situation is shown in Figure 2 4 As can be seen from equation EQ 2 3 the optimal torque is generated when the vector of the stator Designer Reference Manual DRM036 D Rev 0 22 System Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc System Description Target Motor Theory current is placed 90 relative to the rotor magnetic flux space vector In this case the maximal utilization of t
12. BBH 40 2 Motorola sw1 O RESET HC908MR32 MC BOARD TO EMULATOR JPS Ba HARABBAB2FB2B739F87B 40 2 2 i o C22 swa TACHO 5 S e Oz a iu E 8 O a D Ka Pd ol E D P1 sw3 Figure 5 2 MC68HC908MR32 Jumper Reference NOTE The JP2 jumper must be connected Table 5 1 MCHC908MR32 Board Jumper Settings Jumper Group Comment Connections JP1 Tacho No connection JP2 Encoder Hall Sensor 1 2 JP3 BEMF z c No connection JP4 PFC_z_c No connection JP5 PFC_PWM No connection JP7 GND_Connection 1 2 DRM086 Rev 0 Designer Reference Manual Application Setup For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Application Setup 5 4 Software Setup 5 4 1 Required Software Tools The application requires then following software development tools e Metrowerks CodeWarrior 2 for MC68HCO8 microcontrollers version 1 2 or later e PC master software version 1 2 0 11 or later 5 4 2 Application Files The application files are distributed in compressed zip file 3ph pm sin 3hs sa zip Uncompress the files to the folder on you hard drive The PMS motor control application with Hall sensors is composed of the following files e 3ph_pm_sin_3hs_sa mcp application
13. Freescale Semiconductor Inc alo oye MATORA digital dna intelligence everywhere Sine Voltage Powered 3 Phase Permanent Magnet Synchronous Motor with Hall Sensors Designer Reference Manual M68HC08 Microcontrollers DRM036 D Rev 0 03 2003 MOTOROLA COM SEMICONDUCTORS For More Information On This Product Go to www freescale com Freescale Semiconductor Inc For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Sine Voltage Powered 3 Phase Permanent Magnet Synchronous Motor with Hall Sensors Designer Reference Manual Rev 0 by Jiri Ryba Motorola Czech Systems Laboratories Roznov pod Radhostem The Czech Republic DRM086 Rev 0 Designer Reference Manual MOTOROLA 3 For More Information On This Product o to www freescale com Freescale Semiconductor Inc Revision history To provide the most up to date information the revision of our documents on the World Wide Web will be the most current Your printed copy may be an earlier revision To verify you have the latest information available refer to http www motorola com semiconductors The following revision history table summarizes changes contained in this document For your convenience the page number designators have been linked to the appropriate location Revision history Revision mee Page Date Lavel Description Number s January a pad 2003 1 Initial rev
14. M Motor Board e 3ph PM synchronous motor with three Hall sensors DRM086 Rev 0 Designer Reference Manual MOTOROLA Hardware Design 25 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Hardware Design Hall sensor cable U1 68HC908MR32 MC Board U2 Low Voltage BLDC Power Stage or Evaluation Motor Board U3 68HC908MR32 Daughter Board M1 3 phase PM Motor Figure 3 1 H W System Configuration 3 3 MC68HC908MR32 Control Board Motorola s embedded motion control series MR32 motor control board is designed to provide control signals for 3 phase ac induction 3 phase brushless dc BLDC and 3 phase switched reluctance SR motors In combination with one of the embedded motion control series power stages and an optoisolation board it provides a software development platform that allows algorithms to be written and tested without the need to design and build hardware With software supplied on the CD ROM the control board supports a wide variety of algorithms for ac induction SR and BLDC motors User control inputs are accepted from START STOP FWD REV switches and a SPEED potentiometer located on the control board Alternately motor commands can be entered via a PC and transmitted over a serial cable to DB 9 connector Output connections and power stage feedback signals are grouped together on 40 pin ribbon cable connector Motor feedback signals can be connected t
15. and load of the motor The dependence of reactive power relative to control angle of motor used is shown in Figure 4 5 The measured reactive power is shown for three different torques T1 T2 T3 and two speeds w1 and 2 where T1 lt T2 lt T3 and w1 lt qm2 In the graph the is substituted by w In Figure 4 5 we can see that the optimal control angle depends on both the speed and the torque Figure 4 4 Control with Minimal Reactive Power The designed application has the control angle 6 calculated from speed EQ 4 7 and is suitable for applications where the torque depends on speed e g ventilators hate Cs KO EQ 4 7 Snax O Cs base EQ 4 8 Designer Reference Manual DRM036 Rev 0 42 Software Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design Software Processes where e is control angle angle between motor voltage and rotor magnetic flux e base is the control angle when speed is zero e max is the control angle when speed is maximal reactive power 90 100 110 120 130 control angle Figure 4 5 Measured Reactive Power for Different Torque and Speed Precise tuning of control angle to speed is not critical This is because the range of acceptable angles is comparable with the range of optimal angles over the whole torque and speed range Increasing the control angle
16. anual DRM036 Rev 0 58 References MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor DRM086 Rev 0 Appendix B Glossary AC Alternating current analogue to digital converter ADC The ADC module is an 10 channel multiplexed input successive approximation analog to digital converter brush A component transfering electrical power from non rotational terminals mounted on the stator to the rotor byte A set of eight bits central processor unit CPU The primary functioning unit of any computer system The CPU controls the execution of instructions clear To change a bit from logic 1 to logic 0 the opposite of set commutation A process providing the creation of a rotation field by switching of power transistor electronic replacement of brush and commutator commutator A mechanical device alternating DC current in DC commutator motor and providing rotation of DC commutator motor comparator A device that compares the magnitude of two inputs A digital comparator defines the equality or relative differences between two binary numbers computer operating properly module COP A counter module that resets the MCU if allowed to overflow COP Computer Operating Properly timer DC Direct Current DT see Dead Time DT Designer Re
17. d experimentally 4 4 9 Voltage Ripple Cancellation The voltage ripple cancellation recalculates the absolute required voltage into a relative voltage so that output voltage amplitude does not depend on the dc bus voltage Uel zi Treg EQ 4 6 Upc where e Ureg is absolute voltage required by speed controller V e Ure is relative voltage going to sine wave generator e Upc is de bus voltage V The purpose of the function is to ensure that a jump in dc bus voltage does not cause transient speed deviation 4 4 10 Field Weakening Calculation A field weakening of the motor may be required to extend the full speed range The PMS motor can be field weakened by increasing the angle DRM086 Rev 0 Designer Reference Manual MOTOROLA Software Design 41 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design between motor voltage and rotor flux The basic control keeps the angle at 90 as can be seen in Figure 2 3 Change of control angle is not only useful for field weakening but also for setting the optimal working point of a motor One goal of finding a working point where the motor has maximum efficiency can be simplified as a task of minimizing resistance losses In this case the reactive power has to be minimized by the correct control angle Figure 4 4 shows that the optimal angle is higher than in basic control The angle value depends on motor parameters
18. e Speed e DC Bus voltage e Drive status e Close Loop Open Loop operation status e Application mode manual remote control Project files for PC master software are located in PC master software file Npemastern3Jph pm sin 3hs pmp To start the PC master software s window application 3ph pm sin 3hs pmp If the PC master project pmp file is unable to control the application it is possible the wrong symbol file elf file has been selected The PC master software uses the elf file to determine addresses for global variables being monitored Once the PC master project has been launched this option may be selected in the PC master window under Project Select Symbol File To reload the symbol file select Project Reload Symbol File The PC master software control window is shown in Figure 5 6 DRM086 Rev 0 54 Application Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Freescale Semiconductor Inc Application Setup Executing the Application E 13ph pm sin 3hl pmp PCMaster File Edit View Explorer Item Project Help slus Halal esal 23 le aleea fir Eb 3 PMS Motor with Hall sensors Speed Scope 215 Designed By 2adh Czech Republic MOTOROLA 3 ph PMS Motor with Hall Sensors on 68HC08MRx MOTOROLA sk digital dna Speed ramp omega_de Name appFaultStatus 500 driveMessage 1000 omega_desired_PCM il 1000 a
19. epresentation in which the amplitude of a wave is plotted against time word A set of two bytes 16 bits write The transfer of a byte of data from the CPU to a memory location Designer Reference Manual DRM036 Rev 0 62 Glossary MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc For More Information On This Product Go to www freescale com Freescale Semiconductor Inc HOW TO REACH US USA EUROPE LOCATIONS NOT LISTED Motorola Literature Distribution P O Box 5405 Denver Colorado 80217 1 303 675 2140 or 1 800 441 2447 JAPAN Motorola Japan Ltd SPS Technical Information Center 3 20 1 Minami Azabu Minato ku Tokyo 106 8573 Japan 81 3 3440 3569 ASIA PACIFIC Motorola Semiconductors H K Ltd Silicon Harbour Centre 2 Dai King Street Tai Po Industrial Estate Tai Po N T Hong Kong 852 26668334 TECHNICAL INFORMATION CENTER 1 800 521 6274 HOME PAGE http motorola com semiconductors Information in this document is provided solely to enable system and software implementers to use Motorola products There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits or integrated circuits based on the information in this document Motorola reserves the right to make changes without further notice to any products herein Motorola makes no warranty representation or guarantee regardin
20. ev 0 Designer Reference Manual MOTOROLA Hardware Design 27 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Hardware Design Table 3 1 Electrical Characteristics of Control Board Characteristic Symbol Min Typ Max Units dc power supply voltage Vdc 10 8 12 16 5 V Quiescent current lcc 80 mA Min logic 1 input voltage V MR32 IH oe y Max logic O input voltage y _ MR32 IL Oe Ht Propagation delay t Hall sensor encoder input dly a NG Analog input range Vin 0 5 0 V RS 232 connection speed 9600 Baud PWM sink current IpK 20 mA 1 When operated and powered separately from other Embedded Motion Control tool set products 3 4 3 Phase BLDC Low Voltage Power Stage Motorola s embedded motion control series low voltage LV brushless DC BLDC power stage is designed to run 3 ph BLDC and PM Synchronous motors It operates from a nominal 12 volt motor supply and delivers up to 30 amps of rms motor current from a dc bus that can deliver peak currents up to 46 amps In combination with one of Motorola s embedded motion control series control boards it provides a software development platform that allows algorithms to be written and tested without the need to design and build a power stage It supports a wide variety of algorithms for controlling BLDC motors and PM Synchronous mot
21. ference Manual MOTOROLA Glossary 59 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Dead Time DT short time that must be inserted between the turning off of one transistor in the inverter half bridge and turning on of the complementary transistor due to the limited switching speed of the transistors duty cycle A ratio of the amount of time the signal is on versus the time it is off Duty cycle is usually represented by a percentage GPIO General Purpose Input Output Hall Sensors A position sensor giving six defined events each 60 electrical degrees per electrical revolution for 3 phase motor interrupt A temporary break in the sequential execution of a program to respond to signals from peripheral devices by executing a subroutine interrupt request A signal from a peripheral to the CPU intended to cause the CPU to execute a subroutine input output I O Input output interfaces between a computer system and the external world A CPU reads an input to sense the level of an external signal and writes to an output to change the level on an external signal LED Light Emitting Diode logic 1 A voltage level approximately equal to the input power voltage Voo logic 0 A voltage level approximately equal to the ground voltage Vss MCU Microcontroller unit See microcontroller memory map A pictorial representation of
22. g the suitability of its products for any particular purpose nor does Motorola assume any liability arising out of the application or use of any product or circuit and specifically disclaims any and all liability including without limitation consequential or incidental damages Typical parameters which may be provided in Motorola data sheets and or specifications can and do vary in different applications and actual performance may vary over time All operating parameters including Typicals must be validated for each customer application by customer s technical experts Motorola does not convey any license under its patent rights nor the rights of others Motorola products are not designed intended or authorized for use as components in systems intended for surgical implant into the body or other applications intended to support or sustain life or for any other application in which the failure of the Motorola product could create a situation where personal injury or death may occur Should Buyer purchase or use Motorola products for any such unintended or unauthorized application Buyer shall indemnify and hold Motorola and its officers employees subsidiaries affiliates and distributors harmless against all claims costs damages and expenses and reasonable attorney fees arising out of directly or indirectly any claim of personal injury or death associated with such unintended or unauthorized use even if such claim alleges that Mo
23. he motor s magnetic is obtained The control strategy requires current sensing jo Ls 15 Figure 2 4 Stator Current is 90 Relative to Rotor Flux 2 3 3 Vector of Stator Voltage Is Kept in the Direction of the Current Vector This situation is shown in Figure 2 5 This control strategy keeps the current vector in the direction of the voltage vector In this case the electrical losses are minimized Current sensing is also required Figure 2 5 Voltage Vector in the Direction of the Current Vector DRM086 D Rev O Designer Reference Manual MOTOROLA System Description 23 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc System Description Designer Reference Manual DRM036 D Rev 0 24 System Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor Section 3 Hardware Design 3 1 Contents 3 2 Hardware Configuration 3 pw n amd GG KGG BREAK ER cen 25 3 3 MC68HC908MR32 Control Board La na mka 26 3 4 3 Phase BLDC Low Voltage Power Stage 28 a EVM Motor RPG AA PAGA ADA WG 30 3 6 Hardware DOCUMENIION 3 xa na ka KAG KKK KEAWA NAG 32 3 2 Hardware Configuration The system configuration is shown in Figure 3 1 It consists of e 68HC908MR322 controller board e Power Stage 3 phase BLDC Low Voltage Power Stage or EV
24. increment is calculated 4 4 3 Period Calculation The principle of period calculation is shown in Figure 4 2 The motor used has two pole pairs and three Hall sensors To eliminate the difference between the Hall sensors the edges from same sensor are used for period calculation The period is calculated on each EOR signal edge but for period calculation the difference between six successive edges on EOR signal is taken DRM086 Rev 0 Designer Reference Manual MOTOROLA Software Design 37 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design EOR output signal period hall sensor lt Figure 4 2 Calculation of Hall Sensor Period 4 4 4 Phase Locked Loop The phase locked loop PLL provides synchronization of generated sine voltage with Hall sensor signals and maintains the generated voltage vector in proper position The frequency of the sine wave is given by phase increment The actual angle of sine wave is increased by this increment at each PWM reload The new phase increment is calculated from the difference between the Hall sensor signals and the sine wave period see Figure 4 3 The phase increment difference Aq is calculated as Ao aT 2 EQ 4 1 where e AT position difference sec e o phase increment deg e T phase period T 256 Designer Reference Manual DRM036 Rev 0 38 Software Desig
25. interface module SCI A module that supports asynchronous communication serial peripheral interface module SPI A module that supports synchronous communication set To change a bit from logic 0 to logic 1 opposite of clear software Instructions and data that control the operation of a microcontroller software interrupt SWI An instruction that causes an interrupt and its associated vector fetch Designer Reference Manual MOTOROLA Glossary 61 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc SPI See serial peripheral interface module SPI stack A portion of RAM reserved for storage of CPU register contents and subroutine return addresses subroutine A sequence of instructions to be used more than once in the course of a program The last instruction in a subroutine is a return from subroutine RTS instruction At each place in the main program where the subroutine instructions are needed a jump or branch to subroutine JSR or BSR instruction is used to call the subroutine The CPU leaves the flow of the main program to execute the instructions in the subroutine When the RTS instruction is executed the CPU returns to the main program where it left off timer A module used to relate events in a system to a point in time variable A value that changes during the course of program execution waveform A graphical r
26. ision N A Designer Reference Manual DRM086 Rev 0 4 MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor DRM086 Rev 0 List of Sections Section 1 Introduction 13 Section 2 System Description 17 Section 3 Hardware Design a 25 Section 4 Software Design 35 Section 5 Application Setup 0005 47 Appendix A References 2maa aaa 57 Appendix B Glossary 0000c cece ee eens 59 Designer Reference Manual MOTOROLA 5 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc List of Sections Designer Reference Manual DRM036 Rev 0 6 MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor DRM086 Rev 0 1 2 1 3 1 4 2 1 2g 2 3 3 1 3 2 3 3 3 4 3 5 3 6 4 1 4 2 4 3 Table of Contents Section 1 Introduction COMES man Baa eea DA E nea danas AE 13 kl AEE AA AA 13 PIE ID 64 562 06ebScadeewi LA RANG KAKBAB GANSA 13 68HC908MR32 Features 2 a a AG NAKAKA NG WA WANG 14 Section 2 System Description GG dees AA BA a yh ees hea ee Oe Sos 17 Application PSAs
27. ivalent to an induction motor where the air gap magnetic field is produced by a permanent magnet see Figure 2 2 The use of a permanent magnet to generate a substantial air gap magnetic flux makes it possible to design highly efficient PMS motors The PMS motors provide a range of advantages in the design of modern motion control systems such as high efficiency high torque per volume and low moment of inertia Stator Stator winding in slots Shaft Rotor Air gap Permanent magnets Figure 2 2 Three Phase Permanent Magnet Motor Cross Section A PMS motor is driven by sine wave voltage coupled with the given rotor position The generated stator flux together with the rotor flux which is generated by a rotor magnet defines the torque and thus speed of the motor The sine wave voltage output have to be applied to the 3 phase winding system in a way that angle between the stator flux and the rotor flux is kept close to 90 to get the maximum generated torque To meet this criterion the motor requires electronic control for proper operation To perform electronic control the rotor position has to be either sensed DRM036 D Rev 0 20 System Description MOTOROLA For More Information On This Product Go to www freescale com DRM036 D Rev 0 Freescale Semiconductor Inc System Description Target Motor Theory by position sensors or calculated by means of sensorless control algorithm The presented applica
28. n MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design Software Processes Generated Sine Wave Position Signal from Hall sensor AT position difference between expected and real position Figure 4 3 Difference between Motor Position and Generated Sine Wave The new phase increment is a expressed as a Cj Aa EQ 4 2 where C is integral constant of PLL Position calculation parameters e calculated position resolution 218 per period e position update 16 kHz e phase increment resolution 213 per period 4 4 5 Sine Wave Synchronization This algorithm calculates actual phase of the generated voltage vector its position The presented design uses three Hall sensors to get the rotor position Thus we obtain six positions per electrical revolution The control algorithm keeps the angle between generated voltage vector and rotor flux at 90 In instances between the two position readings the position of voltage vector is estimated When a new rotor position is read DRM086 Rev 0 Designer Reference Manual MOTOROLA Software Design For More Information On This Product Go to www freescale com 39 Freescale Semiconductor Inc Software Design from Hall sensors the position of the generated voltage vector is synchronized by means of PLL algorithm see 4 4 4 Phase Locked Loop The designed application is even able to perform
29. n Motor Position and Generated Sine Wave 0 0a 39 4 4 Control with Minimal Reactive Power 42 4 5 Measured Reactive Power for Different Torque and Speed 43 5 1 H W System COnnmguranais lt cecee KK KA KAG KARGA R KARA 48 5 2 MC68HC908MR32 Jumper Reference 49 5 3 Target Build Selection KAKANAN NA KAKA EPA GAGA 51 5 4 MC68HC908MR32 Board Control Elements 53 5 5 USER LEDs PWM LEDs and RESET 06sse00000085 53 5 6 PC master software control window 55 Designer Reference Manual MOTOROLA 11 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc List of Figures Designer Reference Manual DRM036 Rev 0 12 MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor 1 1 Contents 1 2 Overview Section 1 Introduction Wee Cok eb APA AA 13 1 3 Brief Description PAP 13 1 4 68HC908MR32 Features 3 kA AB KPA ERE NAG 14 This reference design describes the control of a 3 phase PMS Permanent Magnet Synchronous motor with Hall sensors powered by a sine voltage It is based on Motorola s 68HC908MR32 microcontroller dedicated for motor control applications This reference design includes a brief description of the Motorola 68HC908MR3 features basic motor theory s
30. nductance L 8 6 mH Continuous Current los 2 A Peak Current lps 5 9 A Inertia Ja 0 075 kgem Thermal Resistance 3 6 C W 3 6 Hardware Documentation All the system parts are supplied and documented according to the following references e U1 MC68HC908MR32 Control Board supplied as ECCTR908MR32 described in Motorola Embedded Motion Control MC68HC908MR32 Control Board User s Manual MEMCMR32CBUM D e U2 3 ph AC BLDC Low Voltage Power Stage described in Motorola Embedded Motion Control 3 Phase BLDC Low Voltage Power Stage User s Manual MEMC3PBLDCLVUM D Designer Reference Manual DRM036 Rev 0 32 Hardware Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Hardware Design Hardware Documentation e or Evaluation Motor Board described in Motorola Embedded Motion Control Evaluation Motor Board User s Manual Detailed descriptions of individual boards can be found in comprehensive User s Manuals belonging to each board The manuals are available on the Motorola web The User s Manual incorporates the schematic of the board description of individual function blocks and a bill of materials An individual board can be ordered from Motorola as a standard product DRM086 Rev 0 Designer Reference Manual MOTOROLA Hardware Design 33 For More Information On This Product
31. nics lab techniques are also advisable 5 3 Hardware Setup DRM086 Rev 0 The motor control system is designed to drive the 3 phase PMS motor in a speed closed loop using a 68HC908MR32 microcontroller The Designer Reference Manual MOTOROLA Application Setup 47 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Application Setup System configuration is shown in Figure 5 1 The system configuration consists of e Motorola MC68HC908MR3 control board e 3 phase BLDC low voltage power stage or EVM motor board e PMS motor with 3 Hall sensors e 12V DC Power supply e Serial cables to PC 40w flat ribbon cable Hall sensor cable U1 68HC908MR32 MC Board U2 Low Voltage BLDC Power Stage or Evaluation Motor Board U3 68HC908MR32 Daughter Board M1 3 phase PM Motor Figure 5 1 H W System Configuration 5 3 1 Controller Board Jumper Settings To execute the PMS motor control application with Hall sensors the MC68HC908MR32 control board requires the jumper settings shown in Figure 5 2 and Table 5 1 Designer Reference Manual DRM036 Rev 0 48 Application Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Application Setup Hardware Setup pila o on molo o g bE Jio o Jz 0 0 O a a aa g pa 39 sg aae KBHABHABRABHAHBHA
32. nit CPU08 and are available with a variety of modules memory sizes and types and package types Features of the MC68HC908MR93 2 include Designer Reference Manual High performance M68HC08 architecture Fully upward compatible object code with M6805 M146805 and M68HCO05 Families 8 MHz internal bus frequency 32Kbytes of on chip electrically erasable in circuit programmable Read Only Memory FLASH On chip programming firmware for use with host personal computer Flash data security 768 bytes of on chip Random Access Memory RAM 12 bit 6 channel center aligned or edge aligned pulse width modulator with optional independent and complementary mode Serial peripheral interface module SPI Serial communications interface module SCI 16 bit 4 channel timer interface module TIMA 16 bit 2 channel timer interface module TIMB Clock generator module CGM DRM086 Rev 0 14 Introduction MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Introduction 68HC908MR32 Features e Low voltage inhibit LVi module with software selectable trip points e 10 bit 10 channel analog to digital converter ADC with multiplexed inputs e Computer operating properly COP watchdog timer DRM086 Rev 0 Designer Reference Manual MOTOROLA Introduction 15 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Intr
33. o Hall sensor encoder connector Power is supplied Designer Reference Manual DRM036 Rev 0 26 Hardware Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Hardware Design MC68HC908MR3 2 Control Board through the 40 pin ribbon cable from the optoisolation board or low voltage power stage The control board is designed to run in two configurations It can be connected to an M68EM08MR32 emulator via an M68CBLO8A impedance matched ribbon cable or it can operate using the daughter board The M68EM08MR32 emulator board may be used in either an MMDS05 08 or MMEVS05 08 emulation system Figure 3 2 shows a block diagram of the board s circuitry FORWARD REVERSE SPEED a OPTOISOLATED SWITCH TACHOMETER RS 232 I F TERMINAL START STOP INPUT I F SWITCH NALL EFFECT INPUTS 3 RESET EMULATOR Sr dial PROCESSOR a CONNECTOR 8 2 2 OPTION SWITCHES REGULATED A 000000 de POWER POWER SUPPLY PWM LEDs 6 12 Vde OPTO POWER DRIVER O CONNECTOR Wa N 40 PIN RIBBON NNECTOR OVERCURRENT CURRENT TEMP BACK EMF CONNECTO OVERVOLTAGE SENSE INPUTS INPUTS INPUTS PWM 6 MISC POWER AND OUTPUTS CONTROL I O Figure 3 2 MC68HC908MR32 Control Board The electrical characteristics in Table 3 1 apply to operation at 25 C DRM086 R
34. oduction Designer Reference Manual DRM036 Rev 0 16 Introduction MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor 21 Contents 22 2 3 Section 2 System Description Application Features 4 a cece ens REPA ERE dees 17 Target Motor No cick ie KK GEAR KAN 20 2 2 Application Features The control strategy is designed to optimally utilize features of controller 68HC908MR32 The application provides following features DRM036 D Rev 0 sine voltage powered 3 phase PM synchronous motor position sensing using three Hall sensors low audible noise of motor closed or open speed loop operation high motor efficiency motor deceleration energy is returned to the dc bus DC Bus voltage ripple cancellation manual speed pot start stop switch PC master control RS 232 recognition of the spinning motor after CPU reset limitation of dc bus over voltage during deceleration over voltage protection over current protection dc bus voltage sensing PC master software Designer Reference Manual MOTOROLA System Description 17 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc System Description e memory requirements RAM 135 Bytes Flash 3485 Bytes The Figure 2 1 shows the system concept of the designed application The applicati
35. on was designed to control a PMS motor driving a ventilator Speed of the motor is controlled by the amplitude of the voltage vector The direction of the voltage vector depends on the rotor position The PLL is used to synchronize the calculated vector position with the actual one The calculated position is updated in PWM reload at 16kHz The position resolution is 21 points per period This application uses the Hall sensors to obtain the rotor position The Hall sensor consists of three sensors Sensor A Sensor B Sensor C The HC908MR3 2 control board contains EOR logic which reflect change of any sensor to the one output This output is connected to the Timer A channel 2 The example application which is a subject of this design uses three hall sensors however the control algorithm can be used to control a motor having only one Hall senor In this case the merits of this design are much more obvious The PI controller is used to control the speed of motor The output of the controller sets the desired value of the phase voltage amplitude The voltage ripple cancellation block recalculates the absolute voltage value to the value which is relative to the actual dc bus voltage level This minimizes the influence of the dc bus voltage changes ripples to the generated phase voltage The deceleration control algorithm controls the deceleration of the motor to avoid dc bus over voltage In this application the maximum voltage is kept at 16V
36. ors Input connections are made via 40 pin ribbon cable connector J13 Power connections to the motor are made with fast on connectors J16 J17 and J18 They are located along the back edge of the board and are labeled Phase A Phase B and Phase C Power requirements are met with a 12 volt power supply that has a 10 to 16 volt tolerance Designer Reference Manual DRM086 Rev 0 28 Hardware Design For More Information On This Product Go to www freescale com MOTOROLA Freescale Semiconductor Inc Hardware Design 3 Phase BLDC Low Voltage Power Stage Fast on connectors J19 and J20 are used for the power supply J19 is labeled 12V and is located on the back edge of the board J20 is labeled OV and is located along the front edge Current measuring circuitry is set up for 50 amps full scale Both bus and phase leg currents are measured A cycle by cycle overcurrent trip point is set at 46 amps The LV BLDC power stage has both a printed circuit board and a power substrate The printed circuit board contains MOSFET gate drive circuits analog signal conditioning low voltage power supplies and some of the large passive power components This board also has a 68HC705JJ7 microcontroller used for board configuration and identification All of the power electronics that need to dissipate heat are mounted on the power substrate This substrate includes the power MOSFETs brake resistors current sensing resistors bus capacito
37. project file e sources 3ph_pm_sin_3hs c main program e sources 3ph_pm_sin_3hs h main program header file e sources appconfig h application configuration file for static periphery configuration e prms hc908mr32 prm linker parameters file e pcmaster 3ph_pm_sin_3hs pmp PC master software file Besides the application specific files listed above the application is distributed with peripheral drivers and algorithms placed in following folders e config peripheral start up code e drivers and drivers highlevel peripheral and high level drivers 1 Metrowerks and the Metrowerks logo are registered trademarks of Metrowerks Inc a wholly owned subsidiary of Motorola Inc 2 CodeWarrior is a registered trademark of Metrowerks Inc a wholly owned subsidiary of Motorola Inc Designer Reference Manual DRM036 Rev 0 50 Application Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Application Setup Executing the Application e algorithms general motor control algorithms 5 4 3 Building the Application To build this application open the 3ph pm sin 3hs sa mcp project file and execute the Make command see Figure 5 3 This will build and link PMS motor control application with Hall sensors along with all needed Metrowerks libraries File Edit View Search Project Debug Processor Expert Window Help in r cg E g Add Sph_pm_sin_Shi c to Projec
38. rs and temperature sensing diodes Figure 3 3 shows a block diagram POWER INPUT gt BIAS gt POWER BRAKE MOSFET SIGNALS POWER MODULE TO FROM GATE CONTROL 7 DRIVERS MOTOR BOARD C PHASE CURRENT PHASE VOLTAGE Pa BUS CURRENT BUS VOLTAGE MONITOR BOARD ID BLOCK ZERO CROSS BACK EMF SENSE Figure 3 3 Block Diagram The electrical characteristics in Table 3 2 apply to operation at 25 C with a 12 Vdc supply voltage DRM086 Rev 0 Designer Reference Manual MOTOROLA Hardware Design 29 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Hardware Design Table 3 2 Electrical Characteristics of the 3 Ph BLDC Low Voltage Power Stage Characteristic Symbol Min Typ Max Units Motor Supply Voltage Vac 10 12 16 V Quiescent current lcc 175 mA Min logic 1 input voltage Vin 2 0 V Max logic O input voltage ViL 0 8 V Analog output range Vout 0 3 3 V Bus current sense voltage ISense 33 mV A Bus voltage sense voltage VBus 60 mV V ag current frie NN BE 46 A Continuous output current IRMS 30 A aaa dissipation Paga NN _ 50 W eae dissipation Pak pR a 100 w Total power dissipation Pdiss 85 W 3 5 EVM Motor Board Motorola s embedded motion control series EVM motor board is a
39. signals The voltage amplitude is estimated from the measured speed which helps to switch on PWM without torque surge CPU reset always switches the application to manual control even if the application before reset was controlled by PC master software The application source code includes also Torque Limitation algorithm This feature is disabled in this application If the limitation of motor torque is required it may be added to the user application The torque limitation constants used in the algorithm depend on particular motor parameters therefore the user has to define his motor specific parameters For more details on Torque Limitation algorithm see AN 2357 D Sine Voltage Powered 3 Phase Permanent Magnet Motor with Hall Sensor Motorola 2002 DRM086 Rev 0 44 Software Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design PC Master Software Remote Operating Mode 4 5 PC Master Software Remote Operating Mode DRM086 Rev 0 The drive is controlled remotely from a PC via an RS 232 physical interface The manual control is ignored and all required values are controlled from PC The actions controlled in PC master operating mode are e Start Stop control e Motor speed setpoint e Close Loop Open Loop operation PC master software displays the following information on a control page e Speed e DC Bus voltage e Dri
40. t Add Files Greate Target 6 MMDS Cro Batloueday Files Link Order Tar a Gma a Dependencies H algorithms H config H drivers z HE MW Sources Bring Up To Date Ctrl U BEC Sources AB appcontig h 3ph pm sin 1 M 3ph pm sin 1 Remove Object Code Ctrl Figure 5 3 Target Build Selection isassemble Ctr 5hift4 F7 5 5 Executing the Application To execute the PMS motor control application with Hall sensors select Project Debug in the CodeWarrior IDE followed by the Run command For more help with these commands refer to the CodeWarrior tutorial documentation in the following file located in the CodeWarrior installation directory lt gt info CodeWarrior IDE_User_Guide pdf If the MMDS target is selected CodeWarrior will automatically download the program to MMDS05 08 emulator DRM086 Rev 0 Designer Reference Manual MOTOROLA Application Setup 51 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Application Setup 5 5 1 Application Modes This PMS motor control application with Hall sensors can operate in two modes 1 Manual operating mode 2 PC master software remote operating mode 5 5 1 1 Manual Operating Mode Refer to MC68HC908MR3 2 control board shown in Figure 5 4 and Figure 5 5 for this description e START STOP switch SWS start stop of the motor e SPEED potentiometer P1 set motor speed e DIP s
41. tion uses the Hall sensors to sense actual position of the rotor The sensor output is read by the MCU and used for synchronizing the generated sine wave The PMS motor model is defined by the following equations 2d gt gt dy U ry j Lt dt EQ 2 1 gt gt gt Vs L I a Vr EQ 2 2 gt Jr gt gt a el eee ee gt 3 Te II lul sin ZL Y JIJ y sin Zlo Y EQ 2 3 where U Space vector of stator voltage e T Space vector of stator current e r Stator resistance e Space vector of magnetic flux Y Space vector of rotor magnetic flux evoked by the permanent magnet e T Electrical torque 2 gt e Ziy is angle between vectors of stator current and rotor magnetic flux The speed of the motor can be controlled by an amplitude of the voltage vector while the direction of the voltage vector depends on the rotor position Several methods can be used to control the voltage vector direction The three basic method are 1 vector of stator voltage is placed 90 relative to the vector of rotor magnetic flux Designer Reference Manual MOTOROLA System Description 21 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc System Description 2 vector of stator current is kept 90 relative to the vector of rotor magnetic flux 3 voltage vector is kept in the direction of the current vector It is desired to run
42. torola was negligent regarding the design or manufacture of the part MOTOROLA Motorola and the Stylized M Logo are registered in the U S Patent and Trademark Office digital dna is a trademark of Motorola Inc All other product or service names are the property of their respective owners Motorola Inc is an Equal Opportunity Affirmative Action Employer Motorola Inc 2003 DRM036 D For More Information On This Product Go to www freescale com
43. utton Set the speed with the bar graph Bh ode Sy Stop the motor by pressing the STOP PC Master Push Button Designer Reference Manual DRM036 Rev 0 56 Application Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor Appendix A References 1 Electronically Commutated Motors for Fan Applications A Lelkes PCIM 2002 2 Design of Brushless Permanent magnet Motors J R Hendershot and T J E Miller Magna Physics Publishing and Clarendon Press 1994 3 AN 2357 D Sine Voltage Powered 3 Phase Permanent Magnet Motor with Hall Sensor Motorola 2002 4 68HC908MR32 User s Manual Motorola Inc 2001 order MC68HC908MR32 D 5 Motorola Embedded Motion Control MC68HC908MR3 Control Board User s Manual Motorola 2000 order MEMCEVMBUM D 6 Motorola Embedded Motion Control 3 Phase BLDC Low Voltage Power Stage User s Manual Motorola 2000 order MEMC3PBLDCLVUM D 7 Motorola Embedded Motion Control Evaluation Motor Board User s Manual Motorola 2000 order MEMCEVMBUM D 8 AN 1917 D 3 Phase Synchronous PM Motor Control with Quadrature Encoder Using DSP56F80x Motorola 2002 DRM086 Rev 0 Designer Reference Manual MOTOROLA References 57 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc References Designer Reference M
44. ve status e Close Loop Open Loop operation status e Application mode manual remote control The other variables can be viewed in the variables section Designer Reference Manual MOTOROLA Software Design 45 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design Designer Reference Manual DRM036 Rev 0 46 Software Design MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Designer Reference Manual Sine Voltage Powered 3 ph PMS Motor 5 1 Contents 5 2 Warning Section 5 Application Setup na TI ch od BA PARANG AE PARA APAPAP 47 5 3 Hardware DENG cs LA debe ech KAKAW ee eee whee es 47 5 4 Software OU 4a oe hea Re ee eee Oe eee eee eR ELLOS 50 55 Executing the Application cence vccs dances ceeace vender 51 The application includes a rotating machine and power transistors Both can reach temperatures hot enough to cause burns To facilitate safe operation 12 volt input power should come from a dc laboratory power supply that is current limited The user should be aware that Before moving scope probes making connections etc it is generally advisable to power down the 12 volt supply Operation in lab setups that have grounded tables and or chairs should be avoided Wearing safety glasses avoiding ties and jewelry using shields and operation by personnel trained in power electro
45. witch SW2 functions 1 open closed loop operation ON closed loop on 2 NA e USER LED indicates status of the drive for detailed description see Table 5 2 Table 5 2 Motor Application States Designer Reference Manual Application Motor Green Yellow Red State State LED State LED State LED State Blinking at a stopped sloppen eea 2 Hz _ Hm Running Spinning On Blinking at a Faul stopped frequency of 8 Hz Hm Hm DRM086 Rev 0 52 Application Setup For More Information On This Product Go to www freescale com MOTOROLA DRM086 Rev 0 Freescale Semiconductor Inc Application Setup Executing the Application Speed Fault POT Forward Reverse Potentiometer Over Voltage Can Switch SW4 Fault POT Over Current Start Stop Switch SW3 a i pe Sa ee aer i RANA NT CT 5 HoFi J a Figure 5 5 USER LEDs PWM LEDs and RESET Designer Reference Manual MOTOROLA Application Setup 53 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Application Setup 5 5 1 2 PC Master Remote Operating Mode NOTE Designer Reference Manual The drive is controlled remotely from a PC via an RS 232 physical interface The actions controlled in PC master operating mode are e Start Stop control e Motor speed setpoint e Close Loop Open Loop operation The PC master software displays the following information
46. with speed allows a higher torque at maximum speed In the application the minimum and maximum control angles are max 122 DRM086 Rev 0 Designer Reference Manual MOTOROLA Software Design 43 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Software Design 4 4 11 Sine Wave Generation The sine wave generation is calculated each PWM reload interrupt which is every 64us The function sin3p3hPIxLUT UByte u phase amplitude SWord16 phase actual gets the sine of the actual phase for all three phases from the table and multiplies it by the voltage amplitude Resolution of the sine is 1024 points per period and 256 points per amplitude The function is written in assembly to minimize execution time The execution time is about 20us 4 4 12 Over Voltage Limitation Over voltage limitation protects the power stage during deceleration If the dc bus voltage exceeds maximum voltage limit the deceleration of the motor is interrupted The required speed is increased to keep the dc bus voltage under the limiting value When the dc bus voltage is stabilized the deceleration of motor continues 4 4 13 CPU Reset to Turning Motor NOTE Designer Reference Manual If the CPU is reset while the motor is running the initialization routine recognizes the running motor from the Hall sensor signals Then the speed of motor is calculated and PLL is synchronized with the Hall sensor
47. ystem design concept hardware implementation and software design including the PC Master visualization tool 1 3 Brief Description DRM086 Rev 0 The application demonstrates the control of a 3 phase permanent magnet synchronous drive with Hall sensors It is based on Motorola s MC68HC908MR32 microcontroller The application is designed to get the lowest possible audible noise level of the motor The motor is powered by a sinusiodal voltage The position of the rotor is sensed by means of Hall effect sensors The generated voltage waveform is synchronized with the rotor position by a phase locked loop algorithm PLL The motor speed is controlled by means of the voltage amplitude The voltage frequency is generated to match the actual speed of the motor It allows both closed and open loop Designer Reference Manual MOTOROLA Introduction 13 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Introduction speed control This PMS motor control application with Hall sensors operates in two modes 1 2 Manual operating mode PC master software remote operating mode 1 4 68HC908MR32 Features The MC68HC908MR32 is a member of the low cost high performance M68HC08 Family of 8 bit microcontroller units MCUs The M68HC08 Family is based on the customer specified integrated circuit CISC design strategy All MCUs in the family use the enhanced M68HC08 central processor u
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