TM
July 19, 2013
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, CWare, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor
Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are
trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack,
CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC
Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are trademarks of
Freescale Semiconductor, Inc. All other product or service names are the property of their
respective owners. © 2013 Freescale Semiconductor, Inc.
Brush
Brushless
PM
DC
DC Motor
BLDC
Universal
Synchronous
PMSM
AC
Induction
Stepper
Switched Reluctance
TM
SRM
2
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
DC Motor 구동
Source: http://hyperphysics.phy-astr.gsu.edu/hbase/magnetic/motdc.html#c1
TM
3
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
DC Motor 구동
Source: http://hyperphysics.phy-astr.gsu.edu/hbase/magnetic/motdc.html#c1
TM
4
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
장점
• 제어가 용이
• 관성(inertia) 낮게 설계 가능
• 기본 운전을 하기 위한 전체
시스템 가격이 낮음
• 기동토크가 큼
단점
• 브러쉬 마모로 인해
유지보수가 필요
• 기계적인 Commutation(브러
쉬)로 인해 노이즈 및 열손실
발생
5
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
DC Motor 제어
2 & 4 quadrant operation
Single quadrant operation
TM
6
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
7
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
S08MP: 8-bit MCU, 16K Flash, low-cost, dedicated motor...
S08AC: 8-bit MCU, 16-128K Flash, low-cost, dedicated...
S08SF: 8-bit MCU, 4K Flash, precise, quiet and safe...
MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance...
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F834X-814X: 60MHz DSC, 128K Flash, 8KB RAM, interface...
56F836X-816X: 60MHz DSC, 512K Flash, 32KB RAM
MC56F84xx: 100MHz/100MIPS, 256KB Flash, 320ps PWM,...
Kinetis L : cortex-M0+
Kinetis E : 5[V], cortex-M0+ & M4
S12ZVM(MagniV) : S12Z, 32~128kFlash, FET driver(for high&low side), using
BEMF, NVM…
TM
8
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
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MC33926: 5.0A Throttle control H-bridge driver with...
MC33931: 5.0A Throttle control H-bridge driver (0.12...
MC33932: Dual 5.0A Throttle control H-bridge driver...
MC33981: Single 2.0A high side switch (4.0mΩ)
MPC17510: H-bridge driver (0.45Ω)
MPC17529: Dual H-bridge driver (0.7Ω)
MPC17533: Dual H-bridge driver (0.8Ω)
TM
9
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
10
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
11
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Sensor
Sensorless
TM
• 위치 센서(홀 센서, 엔코더)를 사용
• 센서가 부착 되어야 함으로 모터
및 시스템 전체 가격 증가
• 센서를 통하여 정확한 모니터링이
됨으로 안정성 및 정밀도 증가
• 위치센서 없이 모터 구동
• 위치센서가 없으므로 시스템 가격
이 낮아짐
• 센서 타입 보다는 시스템 안정성
저하
12
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
일반적인 BLDC 구동 개략도
BLDC
Power
Switch
1
Controller
2
R
S
b
3
a
4
T
c
5
MCU
6
1
1
0
Hall
Sensor
Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure
TM
13
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Hall a
1
Hall b
0
Hall c
0
PWM A_Up
PWM B_Up
On
PWM C_Up
PWM A_Down
On
PWM B_Down
PWM C_Down
0
60
120
180
240
300
360
Rotor Electrical Position (Degrees)
TM
14
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Example of commutation table
TM
15
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
Six Step BLDC Motor Control
−
Voltage applied on two phases only
Phases voltage
TM
16
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
17
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
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MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
MCF523X: Integrated ColdFire V2 processor with eTPU...
MPC560xP: 32-bit e200z0H MCU, 512K Flash, 40K RAM with...
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance...
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F834X-814X: 60MHz DSC, 128K Flash, 8KB RAM, interface...
56F836X-816X: 60MHz DSC, 512K Flash, 32KB RAM,...
Kinetis L : cortex-M0+
Kinetis E : 5[V], cortex-M0+ & M4
Kinetis K : cortex-M4
S12ZVM(MagniV) : S12Z, 32~128kFlash, FET driver(for high&low side), using
BEMF, NVM…
TM
18
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
MC33937: For 40 VDC, 3ph FET pre-driver
TM
19
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
PWM duty와 동기 되어
비교기 결과 값 혹은
ADC 결과 값을 구함
COMP. Monitor Mode
ADC H/W Trigger
-> PDB/XBAR등
TM
20
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
PWM ON
신호와 동기
Back EMF 파형
기준 파형(1/2 DC_link)
일반적인
출력 파형
FSL MCU
출력 파형
TM
21
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
3 Phase BLDC Power Stage
3 Phase Inverter
DC Bus Voltage & Current
Sensing
3 Phase
BLDC
Motor
Power Line
3 Phase Back EMF Sensing
ADC / COMP. Module
Back EMF
Voltages
Timer 1 Module
DC Bus
Voltage
Zero Crossing Period
& Position Recognition
Comm.
sequence
Commutation
Control
Duty cycle
DC Bus
Current
-
Superior
system
SCI
Module
1/T
Required torque
Torque
PI Controller
BDM
On Board Programming
FreeMaster
Limitations
Actual speed
Start / Stop
Speed/Torque Up / Down
Other purposes
GPIO
Module
Ramp
Generation
Required speed + -
Speed
PI Controller
Application Diagram
TM
22
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
23
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
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S08AW: 8-bit MCU, 16-60K Flash with motor control...
S08AC: 8-bit MCU, 16-128K Flash, low-cost, dedicated...
S08MP: 8-bit MCU, 16K Flash, low-cost, dedicated motor...
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance...
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F834X-814X: 60MHz DSC, 128K Flash, 8KB RAM, interface...
56F836X-816X: 60MHz DSC, 512K Flash, 32KB RAM,...
MC56F84xx: 100MHz/100MIPS, 256KB Flash, 320ps PWM,...
MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
MCF523X: Integrated ColdFire V2 processor with eTPU...
MPC560xP: 32-bit e200z0H MCU, 512K Flash, 40K RAM with...
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Kinetis L : cortex-M0+
Kinetis E : 5[V], cortex-M0+ & M4
Kinetis K : cortex-M4, 32k~1Mbytes Flash, 50MHz~150MHz(FPU)
•
S12ZVM(MagniV) : S12Z, 32~128kFlash, FET driver(for high&low side), using BEMF, NVM…
•
TM
24
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
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MC33937: For 40 VDC, 3ph FET pre-driver
TM
25
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Sensor
Sensorless
TM
• 위치 센서(홀 센서, 엔코더)를 사용
• 센서가 부착 되어야 함으로 모터 및 시스
템 전체 가격 증가
• 센서를 통하여 정확한 모니터링이 됨으로
안정성 및 정밀도 증가
• 벡터제어(FOC)를 기본적으로 구현
• 위치센서 없이 모터 구동
• 위치센서가 없으므로 시스템 가격이 낮음
• 센서 타입 보다는 시스템 안정성 저하
• 구현이 어려움
26
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
27
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
The Hi-RES PWM
structure is
configurable, up to 4
sub-modules (shown)
Structure of Hi-RES PWM Module
TM
28
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Master
: 3상 전동기 가능
PWMX
: 1. 일반 PWM 사용
2. 입력으로 사용>데드타임 보상
Hi-RES
Dead Time
: 16+5=21bit분해능
Fault
: IPM등 Output연결
Hi-RES PWM Sub-Module Detail
TM
29
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
VAL5
VAL3
($0000)
VAL4
VAL2
CH0a
CH0b
Phase-shifted Mode : One Shunt 사용 시 반드시 필요한 기능 제공
TM
30
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
MCU 기능
설명
적용 MCU
PGA
Analog 신호를 증폭 시켜 ADC로 입력
(증폭용 OP-amp 대응)
DSC, Kinetis, MPC
ADC
12bit / 16bit
Limit checking & zero crossing detect
DSC(Nevis 12/16bits),
Kinetis, MPC
FlexMemory
Data Flash
EEPRom 대응 (over 10 Million cycles)
Bootloader
DSC(Nevis)
Kinetis
MPC
Analog
Comparator
Back EMF 측정
과전류, 과전압등 감지
DSC, Kinetis, MPC
ADC Trigger Delay 스케쥴
DSC, Kinetis, MPC
신호를 MCU 내부에서 Trigger 로 사용 가능
DSC, MPC
10개 이상의 모드
Encoder Interface 가능
DSC, Kinetis, MPC
PDB
Xbar
(Cross Bar)
Timer
TM
31
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
*전기기기제어론, 브레인 코리아, 설승기 저
TM
32
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
•
•
•
•
•
•
•
•
•
•
•
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F824X_825X: 16-bit DSC 64K Flash with eFlexPWM
56F834X-814X: 60MHz DSC, 128K Flash, 8KB RAM, interface...
56F836X-816X: 60MHz DSC, 512K Flash, 32KB RAM,...
MC56F84xx: 100MHz/100MIPS, 256KB Flash, 320ps PWM,...
MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
MPC5510: 32-bit MCU, exceeds 100 Dhrystone MIPS (DMIPS)...
MPC560xP: 32bit e200z0H MCU, 512K Flash, 40K RAM with...
MPC564xL: 32-bit MCU dual-core safety MC platform,...
•
Kinetis L : cortex-M0+
Kinetis E : 5[V], cortex-M0+ & M4
Kinetis K : cortex-M4, 32k~1Mbytes Flash, 50MHz~15MHz(FPU)
Kinetis X : cortex-M4, 1~4Mbytes Flash, FPU(200MHz)
•
S12ZVM(MagniV) : S12Z, 32~128kFlash, FET driver(for high&low side), using BEMF, NVM…
•
•
TM
33
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
A
B
Gate
Driver
with Isolation
C
Current
Feedback
Speed/Torque
Command
PWM
Generation
Motor
Speed/Position
Feedback
Feedback Processing
Control Algorithm
MCU
TM
34
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
PWM
generation
Speed control loop
Current control loop
Position estimation
Speed estimation
Software Portion
TM
35
Hardware Portion
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
*전기기기제어론, 브레인 코리아, 설승기 저
TM
36
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F824X_825X: 16-bit DSC 64K Flash with eFlexPWM
56F834X-814X: 60MHz DSC, 128K Flash, 8KB RAM, interface...
56F836X-816X: 60MHz DSC, 512K Flash, 32KB RAM,...
MC56F84xx: 100MHz/100MIPS, 256KB Flash, 320ps PWM,...
MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
MPC5510: 32-bit MCU, exceeds 100 Dhrystone MIPS (DMIPS)...
MPC560xP: 32bit e200z0H MCU, 512K Flash, 40K RAM with...
MPC564xL: 32-bit MCU dual-core safety MC platform,...
Kinetis E : 5[V], cortex-M0+ & M4
Kinetis K : cortex-M4, 32k~1Mbytes Flash, 50MHz~15MHz(FPU)
Kinetis X : cortex-M4, 1~4Mbytes Flash, FPU(200MHz)
S12ZVM(MagniV) : S12Z, 32~128kFlash, FET driver(for high&low side), using BEMF,
NVM…
TM
37
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
38
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
V/F
Vector
(FOC)
TM
• VVVF 제어로 가변 전압 가변 주파
수 방식의 스카라 제어 방식
• 손 쉽게 구현이 가능함
• 평균 토크를 제어 하기 때문에
Vector 제어보다는 성능이 떨어짐
• 매 순간의 토크(자속)를 제어 함
• V/F 보다는 연산이 복잡함
39
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
• V/F 제어는 Scalar Control제어 중 가장 많이 사용 되는 방법
• Open-loop V/F제어는 저가 & 낮은 성능의 induction motor 구동 방법
• Volts-per-Hertz ramp is designed
for nominal motor / load conditions.
• For not nominal condition,
efficiency and performance is low
• Constant Slip Control eliminates
this drawback
TM
40
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
제어 출력 값
→ 새로운 PWM 발생
a, b
속도제어를 함
Speed
setting
Speed
Control
+
a,b,c
f
V/Hz
v
DC-Bus v’
Ripple
Two phase
controlled
oscillator
Space
Vector
Modulation
Vdc
V (V)
Drive
Protections
Volt/Hertz Ramp
Max
voltage
~
PWM
ADC
=
AC
ia
ib
vdc
Load
Boost
voltage
M
Boost
frequency
Max
frequency
f (Hz)
 Rotor Speed
E
q
Speed
Calculation
CPU
Quadrature
Decoder
m
Position
Encoder
a,b
Index
엔코더 처리 블록을 이용
모터 속도를 구함
TM
41
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
42
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
•
•
•
•
•
•
•
S08MP: 8-bit MCU, 16K Flash, low-cost, dedicated motor...
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance...
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F8335_8135: 60MHz DSC, 64K Flash, 8KB RAM for...
MC56F84xx: 100MHz/100MIPS, 256KB Flash, 320ps PWM,...
MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
MPC5643L: Dual Core for functional safety
•
Kinetis L : cortex-M0+
• Kinetis E : 5[V], cortex-M0+ & M4
• Kinetis K : cortex-M4, 32k~1Mbytes Flash, 50MHz~15MHz(FPU)
• Kinetis X : cortex-M4, 1~4Mbytes Flash, FPU(200MHz)
TM
43
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
44
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
The Hi-RES PWM
structure is
configurable, up to
4 sub-modules
(shown)
Structure of Hi-RES PWM Module
TM
45
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Master
: 3상 전동기 가능
PWMX
: 1. 일반 PWM 사용
2. 입력으로 사용>데드타임 보상
Hi-RES
Dead Time
: 16+5=21bit분해능
Fault
: IPM등 Output연결
Hi-RES PWM Sub-Module Detail
TM
46
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
VAL5
VAL3
($0000)
VAL4
VAL2
CH0a
CH0b
Phase-shifted Mode : One Shunt 사용 시 반드시 필요한 기능 제공
TM
47
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
MCU 기능
설명
적용 MCU
PGA
Analog 신호를 증폭 시켜 ADC로 입력
(증폭용 OP-amp 대응)
DSC, Kinetis, PX
ADC
12bit / 16bit
Limit checking & zero crossing detect
DSC(Nevis 12/16bits),
Kinetis, PX
FlexMemory
Data Flash
EEPRom 대응 (over 10 Million cycles)
Bootloader
DSC(Nevis)
Kinetis
PX
Analog
Comparator
Back EMF 측정
과전류, 과전압등 감지
DSC, Kinetis, PX
ADC Trigger Delay 스케쥴
DSC, Kinetis, PX
신호를 MCU 내부에서 Trigger 로 사용 가능
DSC, PX
10개 이상의 모드
Encoder Interface 가능
DSC, Kinetis, PX
PDB
Xbar
(Cross Bar)
Timer
TM
48
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
약계자 제어
Umax
49
Isdmax
Decoupling
f-stator
Field-Weakening
Control
Isd_req
+
+
+
PI controller
-
Ud
PWM
Output
d,q
SVM PWM
PWM
Speed
reference
+
-
PID controller
Isq_req
+
Isq
Correction
Ud
Uq
PI controller
Uq
+
+
a,b
Isd
Rotor Flux
Estimator
DC-Bus Voltage
3-phase Current
Reconstruction
Adaptive
Circuit
Measured Speed
DC-Bus Current
Captured Tacho
Generator Signal
Speed Calculator
slow control loop
fast control loop
Outer (Slow) Speed Loop
several ~ msec
TM
Idcb
ADC
Quad
Timer
Udcb
Tacho
Voltage
Inner (Fast) Current Loop
running at several ~ 100 sec
49
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
50
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
•
•
•
•
•
•
•
•
•
•
S08MP: 8-bit MCU, 16K Flash, low-cost, dedicated motor...
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance...
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F8335_8135: 60MHz DSC, 64K Flash, 8KB RAM for...
MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
MC56F84xx: 100MHz/100MIPS, 256KB Flash, 320ps PWM,...
Kinetis L : cortex-M0+
Kinetis E : 5[V], cortex-M0+ & M4
Kinetis K : cortex-M4, 32k~1Mbytes Flash, 50MHz~15MHz(FPU)
Kinetis X : cortex-M4, 1~4Mbytes Flash, FPU(200MHz)
TM
51
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
52
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
53
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
RS08KA: Ultra-low-end 8-bit MCU, 8K Flash, ultra-small...
•
S08AC: 8-bit MCU, 16-128K Flash, low-cost, dedicated...
•
S08MP: 8-bit MCU, 16K Flash, low-cost, dedicated motor...
•
S08QD: 8-bit MCU, 4K Flash, ideal for low-end motor...
•
S08SF: 8-bit MCU, 4K Flash, precise, quiet and safe...
•
S08SH: 8-bit MCU, 8-32K Flash, strong analog...
•
56F824X_825X: 16-bit DSC 64K Flash with eFlexPWM
TM
54
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
55
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
•
•
•
•
•
•
•
•
•
•
•
•
RS08KA: Ultra-low-end 8-bit MCU, 8K Flash, ultra-small...
S08AC: 8-bit MCU, 16-128K Flash, low-cost, dedicated...
S08MP: 8-bit MCU, 16K Flash, low-cost, dedicated motor...
S08QD: 8-bit MCU, 4K Flash, ideal for low-end motor...
S08SF: 8-bit MCU, 4K Flash, precise, quiet and safe...
S08SH: 8-bit MCU, 8-32K Flash, strong analog...
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance...
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for...
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
56F824X_825X: 16-bit DSC 64K Flash with eFlexPWM
MCF51AC: Flexis 32-bit MCU, 256K Flash, pin compatible...
Kinetis L : cortex-M0+
Kinetis E : 5[V], cortex-M0+ & M4
TM
56
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
MC33931: 5.0A Throttle Control H-Bridge Driver
•
MC33932: 5.0A Throttle Control H-Bridge Driver
•
MC33887: Integrated H-Bridge Driver
•
MC33899: Programmable H-Bridge Driver
•
MC33926: Throttle Control H-Bridge Driver
•
MC34933: Dual H-Bridge Driver with Charge Pump
•
MPC17529: Dual H-Bridge Driver (0.7Ω)
•
MPC17533: Dual H-Bridge Driver (0.7Ω)
•
MM908E626: Driver with Embedded MCU and LIN
TM
57
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
장점
• 전체 시스템의 저가 구현 가능
• 높은 신뢰성
• 고속 운전 가능
• 소음, 진동
단점
TM
58
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
DC Voltage
T1
PWM_T 1
+
D1
Phase A
T3
PWM_T 3
D1
Phase B
T5
PWM_T 5
D1
Phase C
Cap
D2
D2
T2
PWM_T 2
D2
T4
PWM_T 4
T6
PWM_T 6
GND
TM
59
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
LA, LB , LC
- idealized inductance of phase A (triangular profile)
qon_phA
- turn–on angle of phase A
qoff_phA
- turn–off angle of phase A
qdwell
- dwell angle of phase A
Aligned
Unaligned
Aligned
Stator Phase A
Rotor
LC
iphA
LB
LA
position / time
qdwell
phase A
energizing
qon_phA
TM
60
qoff_phA
position / time
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
Patent No. US6448736 B1
Start-to-overlap
Unalligned
Alligned
stator
rotor
− Current
peak and minimum
are detected
− While
the current start to rise
the commutation is executed
idealised
inductance
− This
method provides
reliable start-up
− Suitable
phase
current
rise
phase
current
rise
without
turn off
for low-cost MCU
phase
current
phase
current
peak
turn on
TM
61
phase
current
saddle
turn off
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
62
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
MC56F800x: 32MHz DSC, 16K Flash, 2KB RAM for appliance
•
56F801X: 32MHz DSC, 16K Flash, 4KB RAM for appliance...
•
56F802X: 32MHz DSC, 16K Flash, 4KB RAM for...
•
56F803X: 32Mhz DSC, 64K Flash, 8KB RAM for industrial...
•
56F8335_8135: 60MHz DSC, 64K Flash, 8KB RAM for...
•
56F824X_825X: 16-bit DSC 64K Flash with eFlexPWM
TM
63
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
MC33937: For 40 VDC, 3ph FET pre-driver
TM
64
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
FreeMASTER : MCU의 SCI를 이용한 모니터링 툴( Global 변수의 읽기 쓰기 가능)
Scope, Recorder, Trigger 기능 / HTML를 이용한 GUI 구성 가능
FreeMASTER html
based control page
TM
FreeMASTER recorder
for fast monitoring
65
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
CodeWarrior(CW) is :
− Project
manager
− Graphical
user interface
− Compilers
− Linkers
− Debugger
− Source-code
browser
− Editing
TM
66
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Hosts: Windows, Linux
ASM
C/C++
CodeWarrior IDE Environment
Compilers, Linkers, Libraries, Debuggers, Emulators, Instrumentation Tools
Multi-Language, Multi-Host, Multi-Target
Value-Add Extensions
RTOS, Drivers, Stacks, Third-party IP,
Professional Services, Hardware Design Services
HC(S)08/
RS08
DSP
568xx
HCS12(X)
68K
ColdFire
®
MPC
5XXX
Power
Architecture
TM
StarCore
Kinetis
CodeWarrior supports the full range of Freescale microcontrollers/microprocessors
TM
67
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
GUI를 이용하여 코드 생성
초기화, IP운용, 모터제어 알고리즘, DSP연산 등을 지원
TM
68
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Memory Manager
• Dynamic allocation
Modem Libraries
• V.8bis, V.21, V.22bis,
V.42bis
Feature Phone Library
• CallerID type 1&2,
CallerID Parser,
Generic Echo Cancellor
Security Libraries
• RSA, DES, 3DES,
DSP Library
• FIR, IIR, FFT, Auto
Correlation, Bit
Reversal
Telephony Libraries
• AEC, AGC, Caller ID,
• CAS, CPT, CTG, DTMF
• G165, G168, G711
• G723, G726, G729
TM
Motor Control
• BLDC, ACIM, SR motor
specific algorithms
• General purpose
algorithms
Math Libraries
• Matrix, Fractional, Vector
• Trigonometric
Tools Library
• Cycle Count, FIFO,
FileIO, Test
69
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
• Three-Phase AC Induction Motor Vector
Control
• MC56F8013_23_25 Controller Board
TM
• Three-Phase AC Induction Motor Scale
Control with PFC
• MC9S08MP16 Controller Board
70
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
• Low Cost BLDC Demo Board
• Sensorless / Sensor
• by DSC(TWR도 지원 가능)
• PMSM Sensorless Vector Control
• MC56F8025 Controller Board
TM
71
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
•
TM
TWR 용 모터 드라이버 보드
Kinetis(RTOS도 가능) / DSC 지원
72
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
73
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Motor Control
Libraries
FreeMASTER
Modular, expandable
and cost-effective
development platform
Allows control of an
application remotely from a
graphical environment
running on a PC
Comprehensive IDE that provides
a highly visual, automated
framework to accelerate
development of some of the most
complex embedded applications
Market-focused software
components increasing
ease of use and helping
decrease time to market
Connectivity
Processor
Expert
QE Design
Reference
Designs
USB
Freescale
MQX
File
Syste
m
BSP &
Drivers
Complimentary filtering tool
ideal for designing FIR and
IIR filters
TM
Rapid application design tool
that combines easy-to-use
component-based application
creation with an expert
knowledge system
Complimentary gerbers,
code and schematics for:
• PMSM/BLDC motor control
• LLC resonant converter
• Solar power conversion
74
Accelerate design success
with complimentary RTOS
that is simple to fine-tune
for custom applications and
scalable to fit requirements
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
BLDC
http://www.freescale.com/webapp/sps/site/application.jsp?nodeId=02nQXG7C9C&code=APLB
DCM&tab=Training_Support_Tab&aspll=1#ref_designs
3 PHASE AC Induction
http://www.freescale.com/webapp/sps/site/application.jsp?code=APLINDMOT&fasp=1&tab=Trai
ning_Support_Tab
1 PHASE AC Induction
http://www.freescale.com/webapp/sps/site/application.jsp?code=APLPHACIND&fasp=1&tab=Tr
aining_Support_Tab
PMSM
http://www.freescale.com/webapp/sps/site/application.jsp?code=APLPMSYNCMO&fasp=1&tab
=Training_Support_Tab
STEP
http://www.freescale.com/webapp/sps/site/application.jsp?code=APLSTEMOT&fasp=1&tab=Tra
ining_Support_Tab
SRM
http://www.freescale.com/webapp/sps/site/application.jsp?code=APLSWRMOT&fasp=1&tab=Tr
aining_Support_Tab
TM
75
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
Freescale has a longstanding track record of
providing long-term production support for
our products
•
Freescale is pleased to offer a formal product
longevity program for the market segments we
serve
•
−
For the automotive and medical segments,
Freescale will make a broad range of program
devices available for a minimum of 15 years
−
For all other market segments in which Freescale
participates, Freescale will make a broad range of
devices available for a minimum of 10 years
−
Life cycles begin at the time of launch
For terms and conditions and a list of
participating Freescale products visit:
www.freescale.com/productlongevity
TM
76
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.
Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM