June, 2008
Hands-on Workshop: Motor Control Part 4 Brushless DC Motors Made Easy
AZ114
Eduardo Viramontes
Applications Engineer
TM
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Agenda
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1
Motor Anatomy
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2
Motor Anatomy
Brushed DC
Rotor
Commutator
Stator
►The
•
first electric motor was the Brushed DC Motor
Basic idea is to repel rotor from stator
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3
Motor Fundamentals
N
S
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4
Motor Fundamentals
N
+
_
N
S
+
S
_
V
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5
Motor Fundamentals
N
+
_
N
S
+
S
_
V
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6
Motor Fundamentals
S
N
N
S
_
_
+
+
V
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7
Motor Fundamentals
S
+
S
N
N
_
+
_
V
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8
Electric Motor Type Classification
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9
Electric Motor Type Classification
ELECTRIC MOTORS
DC
AC
ASYNCHRONOUS
Induction
SYNCHRONOUS
Sinusoidal
VARIABLE RELUCTANCE
Brushless
Permanent Magnet
Surface PM
Interior PM
Wound Field
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SR
Stepper
Known as Universal DC
motors or Brushed DC Motors
•AC power Tools
•Washers, Dryers
•Garage Openers
•Blenders
•Vacuum Cleaners
•HVAC
•Toys
TM
10
Brushed DC Motors
•
Rotation due to
electromagnetic
force
•
Continues
rotation with
multiple coils
•
Undesirable
effects due to
friction and current
reversing
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11
Electric Motor Type Classification
ELECTRIC MOTORS
DC
AC
ASYNCHRONOUS
Induction
SYNCHRONOUS
Sinusoidal
Brushless
VARIABLE RELUCTANCE
Reluctance
Permanent Magnet
Surface PM
Interior PM
Wound Field
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SR
Stepper
•Robots
•Traction Control
•Servo Systems
•Hard Drives
•Fans
•Sewing Machines
•Treadmills
•Industrial Machines
TM
12
Brushless DC (BLDC) Motors
The confusion arises because a BLDC Motor does NOT directly
operate off a DC voltage source
•
Reverse design of
brushed motors:
•
Magnet is on the rotor
Inductors are on the
stator
Benefits vs. Brushed
No mechanical
commutator
(higher speeds)
Better torque/inertia
ration
(higher acceleration)
Easier to cool
(Higher specific outputs)
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13
Brushed and Brushless Motors Comparison
Feature
Brushed DC motor
BLDC Motor
Commutation
Brushed commutation
Electronic commutation based on Hall position
sensors
Maintenance
Periodic maintenance is required
Less required due to absence of brushless
Life
Shorter
Longer
Speed/Torque
Moderately Flat. Higher speeds produces higher
friction and this reduces torque.
Flat
Speed range
Lower – Mechanical limitations by the brushes
Higher – No mechanical limitation
Building Cost
Lower
Higher – Permanent magnets
Control
Simple
Complex and expensive
Control Requirements
A controller is required only when variable speed
is desired
A controller is always required
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14
Electric Motor Type Classification
ELECTRIC MOTORS
DC
AC
ASYNCHRONOUS
Induction
SYNCHRONOUS
Sinusoidal
Brushless
VARIABLE RELUCTANCE
Reluctance
Permanent Magnet
Surface PM
Interior PM
Wound Field
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SR
Stepper
•Washing Machines
•Vacuum Cleaners
•Machine tools
•Food Processors
•Fans
•Small Appliances
TM
15
Switched Reluctance
►Both
the rotor and stator have salient poles
►The
stator winding is comprised of a set
►of coils, each wound to the stator
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16
Electric Motor Type Classification
ELECTRIC MOTORS
DC
AC
ASYNCHRONOUS
Induction
SYNCHRONOUS
Sinusoidal
Brushless
VARIABLE RELUCTANCE
Reluctance
Permanent Magnet
Surface PM
Interior PM
Wound Field
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SR
Stepper
• Cruise Control
•Air Vents
•Medical Scanners
•Gauges
•Office Equipment
•Printers
•Instrumentation
TM
17
Stepper Motor
►These
motors turn as different voltages
►are applied to the different windings
►Field
rotates in one direction while rotor
►moves in opposite direction of field
►In
this example, field rotates 60°while rotor only moves 30°
►It
takes four complete cycles of the control system to rotate motor
through one cycle. This is because the Rotor has 4 poles
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18
Electric Motor Type Classification
ELECTRIC MOTORS
DC
AC
ASYNCHRONOUS
Induction
SYNCHRONOUS
Sinusoidal
Brushless
VARIABLE RELUCTANCE
Reluctance
SR
Stepper
Permanent Magnet
Surface PM
•Get name from sinusoidial
windings
Interior PM
Wound Field
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19
Brushless DC Motor Control
►BLDC
•
Motor versus PMSM Motor
Both motors have identical construction. The difference is in stator
winding only. The BLDC has distributed stator winding in order to have
trapezoidal Back-EMF. The PMSM motor has distributed stator winding
in order to have sinusoidal Back-EMF.
Phase A
A
Phase
Phase B
B
Phase
Phase C
C
Phase
Trapezoidal Back-EMF voltage
Sinusoidal winding distribution
Source: Hendershot J. R. Jr, Miller TJE: Design of brushless permanent-magnet motors
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20
Electric Motor Type Classification
ELECTRIC MOTORS
DC
AC
ASYNCHRONOUS
Induction
SYNCHRONOUS
Sinusoidal
Brushless
VARIABLE RELUCTANCE
Reluctance
Permanent Magnet
Surface PM
Interior PM
Wound Field
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SR
Stepper
•Large Appliances
•HVAC
•Blowers
•Fan Pumps
•Industrial Controls
•Lifts
•Inverters
TM
21
Induction Machines
Invented over a century ago by Nikola Tesla
• Stator same as BLDC
• Difference in rotor
construction
If properly controlled
• Provides constant torque
• Low torque ripple
No permanent magnets
Think of it as a rotating transformer.
•Stator is the primary
•Rotor is the secondary
Rotor current is “induced” from stator current
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22
AC Induction Motor Slip
►Basic Principle:
The stator is a classic three-phase
stator with the winding displaced by
120°
The rotor is a squirrel cage rotor in
which bars are shorted together at
both ends of the rotor by cast
aluminum end rings
The rotor currents are induced by
stator magnetic field.
rotating Field ( ωs)
Indu
ced
Torque
curr
ent
ωr
The motor torque is generated by an interaction between the
stator magnetic field and induced rotor magnetic field
NO BRUSHES, NO PERMANENT MAGNETS
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23
Electric Motor Type Classification
ELECTRIC MOTORS
DC
AC
ASYNCHRONOUS
Induction
SYNCHRONOUS
Sinusoidal
Brushless
VARIABLE RELUCTANCE
Reluctance
SR
Stepper
Permanent Magnet
Surface PM
•Unpractical for large motors
yet practical in small sizes
Interior PM
Wound Field
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24
Reluctance
►If
the rotating field of a motor is de-energized, it will still develop 10
or 15% of synchronous torque
►If
slots are cut into the conductor-less rotor of an induction motor,
corresponding to the stator slots, a synchronous reluctance motor
results
►Starts
like an induction motor but runs with a small amount of
synchronous torque
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25
Freescale Roadmap for Motor Control
TM
BLDC In Depth:
BLDC Motor Configurations
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27
Windings Electrical Connection - Star
A
A
+
A
-
B
C
B
B
C
C
Star connection
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28
Windings Electrical Connection - Delta
C
A
A
+
-
C
A
B
B
C
B
Delta connection
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29
BLDC motor configuration
4 pole pairs
N
N
S
H3
B
C
H2
S
S
A
A
C
B
N
N
H1
S
H1 H2 H3
1 0 1
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30
BLDC motor configuration
N
S
S
S
N
H2
H1
N
3 pole pairs
H3
9 coils
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31
External Rotor – Different Motor Configurations
4 pole pairs
2 pole pairs
1 pole pairs
S
H3
N
N
N
H1
H3
B
S
S
S
A
C
B
A
C
B
B
H1
C
H2
S
H2
A
S
N
H2
B
C
A
C
A
H1
S
N
H1 H2 H3
1 0 1
H1 H2 H3
1 0 1
H1 H2 H3
1 0 1
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N
N
H3
TM
32
Internal Rotor – Different Motor Configurations
1 pole pair
2 pole pairs
H3
B
H3
H1
A
A
C
N
C
S
S
N
N
H2
S
H2
S
S
H2
H1 H2 H3
1 0 1
N
H1
B
C
H3
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H1 H2 H3
1 0 1
S
H1 H2 H3
1 0 1
B
A
N
N
C
C
S
N
A
4 pole pairs
B
B
A
H1
TM
33
Six Step BLDC Motor Control
•
•
•
•
Voltage applied on two phases only
It creates 6 flux vectors
Phases are power based on rotor position
The process is called commutation
Phases voltage
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Power Stage
TM
34
Brushless DC Motor Control
►Commutation example
• Stator field is maintained 60°, 120°relative to rotor field
Before commutation
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After commutation
TM
35
Brushless DC Motor Control
►Six
Step BLDC Motor Control cont’d
1
Controller
2
R
S
b
3
4
T
a
c
5
6
1
1
0
Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure
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36
Brushless DC Motor Control
►Six
Step BLDC Motor Control cont’d
Hall a
Hall b
Hall c
PWM 1
PWM 3
PWM 5
PWM 2
PWM 4
PWM 6
0
60
120
180
240
300
360
Rotor Electrical Position (Degrees)
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37
Brushless DC Motor Control
►Example
of commutation table
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38
Brushless DC Motor Control
►Sinusoidal
BLDC motor control
iS
iSb
All three phases are powered by sinewave
shifted by 120°
iSa
iSc
We are able to generate stator field to
any position over 360°
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39
Brushless DC Motor Control Summary
►Six
step control versus sinusoidal control
Six step control
Sinusoidal control
+
Simple PWM generation
More complex PWM generation
(sinewave has to be generated)
Ripple in the torque
(stator flux jumps by 60°)
+
Smooth torque
(stator flux rotates fluently)
A little noise operation
(due to ripple in the torque)
+
Very quiet
+
Simple sensor
Requires sensor with high
resolution
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40
Sensor Example: Hall Effect Sensor
►Hall
effect sensor is a transducer that varies its output voltage in
response to changes in magnetic field
►Hall sensors are used for proximity switching, positioning, speed
detection and current sensing applications
►In this case, hall sensors are used in On/Off mode
Hall Sensor
Everytime a
magnetic field is
sensed, a change in
voltage can be
detected
Permanent
Magnet
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41
Putting All Together
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42
Lab1
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43
How to Set Up the Boards
AC16 board
6.
Jumper
J13
APMOTOR board
7. 8
LED
array
3
2
2. BDM
1
3.
BLDC
Motor
1. Power
Supply
(9V DC)
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J13
TM
44
Create a New CodeWarrior Project
1. Click on the Open
Icon
2. Select the
MC9S08AC16 MCU
3. Select P&E
Multilink/Cyclone Pro
4. Click next
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45
Name Your CodeWarrior Project
1. Set new name for
your project
2. Select Project Path
3. Click next
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46
Add Additional Files
1. Select
AC16DaugherCard.h
2. Add To Project Files
3. Click next
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47
Processor Expert
1. Click next
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48
C Options
1. Click next
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49
PC-Lint Options
1. Click Finish
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50
New Project Set Up
1. Click On Make
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51
Commutation Table & Knowing Position
with Hall Effect sensors
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52
Necessity of Knowing the Position
►To
•
•
•
Signal sequence diagram for the hall
sensors
spin 3-phase BLDC motor:
Detect position/commutation
Read commutation table
Mask and swap phases
60°
H1
H2
H3
It is important to
know the rotor
position in order to
maintain the rotating
magnetic field
120°
180°
240°
300°
360°
1
0
1
0
1
0
Supplied motor voltage
+
A-B
_
+
B-C
_
+
C-A
_
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53
3-Phase Inverter
Vb
Q1
Q2
Q3
A
B
With the 3-phase
inverter, you can
control which
phases need to be
fed in order to
turn the motor
C
Q4
Q5
Q6
0v
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Q1, Q2 and Q3 is
where the current goes in
the motor and Q4, Q5
and Q6 is where the
current goes out
of the motor
TM
54
Control of 3-Phase Inverter Determined on the Hall Sensor
Position
A
C
N
S
B’
A’
C’
A
B
BLDC
Motor
C
B
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55
Control of 3-Phase Inverter Determined on the Hall Sensor
Position
A
C
A
C’
N
S
B’
B
BLDC
Motor
C
B
A’
H1
H2
H3
Phase
A
Phase
B
Phase
C
1
0
1
+VDCB
-VDCB
NC
1
0
0
+VDCB
NC
-VDCB
1
1
0
NC
+VDCB
-VDCB
0
1
0
-VDCB
+VDCB
NC
0
1
1
-VDCB
NC
+VDCB
0
0
1
NC
-VDCB
+VDCB
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56
Control of 3-Phase Inverter Determined on the Hall Sensor
Position
A
C’
B
N
B’
S
A
C
BLDC
Motor
C
B
A’
H1
H2
H3
Phase
A
Phase
B
Phase
C
1
0
1
+VDCB
-VDCB
NC
1
0
0
+VDCB
NC
-VDCB
1
1
0
NC
+VDCB
-VDCB
0
1
0
-VDCB
+VDCB
NC
0
1
1
-VDCB
NC
+VDCB
0
0
1
NC
-VDCB
+VDCB
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TM
57
Control of 3-Phase Inverter Determined on the Hall Sensor
Position
A
A
C’
B
N
S
B’
C
BLDC
Motor
C
B
A’
H1
H2
H3
Phase
A
Phase
B
Phase
C
1
0
1
+VDCB
-VDCB
NC
1
0
0
+VDCB
NC
-VDCB
1
1
0
NC
+VDCB
-VDCB
0
1
0
-VDCB
+VDCB
NC
0
1
1
-VDCB
NC
+VDCB
0
0
1
NC
-VDCB
+VDCB
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TM
58
Control of 3-Phase Inverter Determined on the Hall Sensor
Position
A
B’
C
A
C’
N
S
B
BLDC
Motor
C
B
A’
H1
H2
H3
Phase
A
Phase
B
Phase
C
1
0
1
+VDCB
-VDCB
NC
1
0
0
+VDCB
NC
-VDCB
1
1
0
NC
+VDCB
-VDCB
0
1
0
-VDCB
+VDCB
NC
0
1
1
-VDCB
NC
+VDCB
0
0
1
NC
-VDCB
+VDCB
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TM
59
Control of 3-Phase Inverter Determined on the Hall Sensor
Position
A
B’
A
C’
N
B
S
C
BLDC
Motor
C
B
A’
H1
H2
H3
Phase
A
Phase
B
Phase
C
1
0
1
+VDCB
-VDCB
NC
1
0
0
+VDCB
NC
-VDCB
1
1
0
NC
+VDCB
-VDCB
0
1
0
-VDCB
+VDCB
NC
0
1
1
-VDCB
NC
+VDCB
0
0
1
NC
-VDCB
+VDCB
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TM
60
Control of 3-Phase Inverter Determined on the Hall Sensor
Position
A
C
N
S
B’
A
C’
B
BLDC
Motor
C
B
A’
H1
H2
H3
Phase
A
Phase
B
Phase
C
1
0
1
+VDCB
-VDCB
NC
1
0
0
+VDCB
NC
-VDCB
1
1
0
NC
+VDCB
-VDCB
0
1
0
-VDCB
+VDCB
NC
0
1
1
-VDCB
NC
+VDCB
0
0
1
NC
-VDCB
+VDCB
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TM
61
Lab 1
►Make a program that
• On/Off transistors
moves the motor in the clockwise direction
TO DO:
•Enable
Switch1 to enable
commutations
•Enable 3-Phase Inverter
•LEDs will still reflect HALL Effect
sensors
•Each time Switch1 is pressed, we
will advance one step in the
commutation table
•Commutation table will tell us
which transistors to turn on
•When Switch1 is not pressed, turn
OFF transistors
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TM
62
Import Table Add Variables, Enable Switch1, Enable
Inverter
extern unsigned char table_rotate[8];
unsigned char value;
unsigned char commutation;
void main(void) {
EnableInterrupts; /* enable interrupts */
/* include your code here */
ENABLESWITCH(1);
ENABLELED(1);
ENABLELED(2);
ENABLELED(3);
ENABLE3PHASEINVERTER();
for(;;) {
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TM
63
Wait for Switch1 to be Pressed
for(;;) {
__RESET_WATCHDOG(); /* feeds the dog */
LED1_PIN = HALL_1;
LED2_PIN = HALL_2;
LED3_PIN = HALL_3;
if(!SW1_PIN)
{
}
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TM
64
Once Pressed, Advance Counter, Commutate
for(;;) {
__RESET_WATCHDOG(); /* feeds the dog */
LED1_PIN = HALL_1;
LED2_PIN = HALL_2;
LED3_PIN = HALL_3;
if(!SW1_PIN)
{
value++;
if(value>=7) value = 1;
commutation = table_rotate[value];
if(commutation & Q1_MASK) Q1 = 1;
if(commutation & Q4_MASK) Q4 = 1;
if(commutation & Q2_MASK) Q2 = 1;
if(commutation & Q5_MASK) Q5 = 1;
if(commutation & Q3_MASK) Q3 = 1;
if(commutation & Q6_MASK) Q6 = 1;
}
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TM
65
Wait for Switch to be Released
if(commutation & Q3_MASK) Q3 = 1;
if(commutation & Q6_MASK) Q6 = 1;
while(!SW1_PIN)
{
__RESET_WATCHDOG();
LED1_PIN = HALL_1;
LED2_PIN = HALL_2;
LED3_PIN = HALL_3;
} }
TURNOFFTRANSISTORS();
IT IS IMPORTANT TO
TURN OFF
TRANSISTORS!
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TM
66
Download and Run Code
1. Click On Run
4. Click On Run
2. Click On Connect
on the Debugger
3. Click On Yes To
Reprogram the MCU
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TM
67
Lab2
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TM
68
Lab 2
►Make a program that
• On/Off transistors
move the motor in clockwise direction
TO DO:
Enable Switch5 to enable
commutations
• Check Hall Effect sensors to
evaluate which commutation state
motor is in
• When Hall Effect sensors
changes state, transistors will
commutate
•
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TM
69
Add Variables, Enable Switch5
unsigned char pasthallsensors;
unsigned char hallsensors;
void main(void) {
EnableInterrupts; /* enable interrupts */
/* include your code here */
ENABLESWITCH(5);
ENABLESWITCH(1);
ENABLELED(1);
ENABLELED(2);
ENABLELED(3);
ENABLE3PHASEINVERTER();
for(;;) {
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70
Wait for Switch5 to be On
for(;;) {
__RESET_WATCHDOG(); /* feeds the dog */
LED1_PIN = HALL_1;
LED2_PIN = HALL_2;
LED3_PIN = HALL_3;
while(SW5_PIN)
{
}
TURNOFFTRANSISTORS();
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71
Once On, Display and Check Hall Effect Sensors
while(SW5_PIN)
{
__RESET_WATCHDOG(); /* feeds the dog */
LED1_PIN = HALL_1;
LED2_PIN = HALL_2;
LED3_PIN = HALL_3;
hallsensors = 0;
if(HALL_1) hallsensors |= 0x04;
if(HALL_2) hallsensors |= 0x02;
if(HALL_3) hallsensors |= 0x01;
if(pasthallsensors != hallsensors)
{
/* Do something */
}
}
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TM
72
Once On, Display and Check Hall Effect Sensors
if(pasthallhensors != hallsensors)
{
pasthallsensors = hallsensors;
value++;
if(value>=7) value = 1;
commutation = table_rotate[value]; IT IS IMPORTANT TO
TURNOFFTRANSISTORS(); TURN OFF
if(commutation & Q1_MASK) Q1 = 1; TRANSISTORS!
if(commutation
if(commutation
if(commutation
if(commutation
if(commutation
&
&
&
&
&
Q4_MASK)
Q2_MASK)
Q5_MASK)
Q3_MASK)
Q6_MASK)
Q4
Q2
Q5
Q3
Q6
=
=
=
=
=
1;
1;
1;
1;
1;
}
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TM
73
Download and Run Code
1. Click On Run
4. Click On Run
2. Click On Connect
on the Debugger
3. Click On Yes To
Reprogram the MCU
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TM
74
Sensorless Sensing
►Sensors
are expensive and take up space
►Several techniques can be used to determine the motor
position/speed without an external device
►These techniques are based on the electrical characteristics of
motors, mainly on their inductance characteristics:
►Based on BEMF
• Speed range from 5-10% up to
100% of nominal speed
The BEMF must be high enough
►Based
on Motor Inductance
Saliency
•
Speed range from standstill to
about 20% of nominal speed
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TM
75
BEMF
-
-
BEMF is just an acronym for Back Electromagnetic Force
Back electromagnetic force is a fancy term for the generator
characteristics of a motor
As has been shown not all phases of the motor are on at the
same time
BEMF voltage can be measured on the inactive phases of the
motor
The characteristics of the voltage curve generated by BEMF
can tell the position/speed of the motor
The method that will be exposed is the zero crossing method.
When BEMF voltage equals zero, the motor is in a specific
position
By measuring the zero crosses against time, the speed of the
motor can be determined
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TM
76
BLDC Motor Back-EMF Shape
Phase A-B Voltage
Phase B-C Voltage
Phase A
Phase C-A Voltage
Phase B
Phase C
A
CH4
0V
C
B
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TM
77
Sensorless BLDC Motor Control with BEMF Zero-Crossing
Detection
Appropriate Phase
Comparator Output
selected
Zero Crossing event
detected
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TM
78
Sensorless Commutation and BEMF
0
60
120
180
240
300
360
Rotor Electrical Position (Degrees)
Phase R
Phase S
Phase T
Zero
crossings
PWM 1
PWM 3
PWM 5
PWM 2
PWM 4
PWM 6
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TM
79
BLDC Central Point is Not Accessible
►3-phase
inverter and DC bus current measurement
Inverter Stage
Udcbus
Rshunt
HB2
V0
Idcbus
B
A
HB1
BLDC
Motor
C
HB3
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80
Zero Crossing Sensing Reference
HB1
•
A
V0
B
HB2
HB3
HB3
+
-
C
+
-
HB3
HB1
+
-
+
-
C
+
-
•
HB2
B
+
-
+
-
V0
+
-
Udcb
A
A
HB1
V0
HB2
B
+
-
½ UDCB reference
•
GND reference
Virtual CP reference
Udcbus
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HB1
HB3
V0
Idcbus
HB2
A
Rshunt
C
Motor
central point is
not accessible
B
►BLDC
BLDC
Motor
TM
81
Zero Crossing Sensing using ADC
½ UDCB reference
HB1
ADC2
ADC3
ADC3
ADC4
C
ADC2
HB3
GND reference
HB1
Udcb
ADC1
A
HB2
B
HB2
B
B
HB2
HB1
ADC1
V0
A
ADC1
•
A
•
V0
Virtual CP reference
ADC2
HB3
ADC3
C
•
principle is the same as the HW topology, but more flexible
V0
►The
HB3
ADC4
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82
Application Details
►ADC
Measurement – Back-EMF evaluation
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TM
83
Back-EMF Detection Window
0
30
60
90
120
150
180
210
240
270
300
330
360
390
uVA
uSa
- “visible” Back-EMF
detectable zero crossing
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84
Lab3
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TM
85
Sensorless BLDC Motor Control using MC9S08AC
►Application
AC
microcontroller
PH A,B,C
6
3-phase inverter
6 PWM
4 ADC inputs
3
3.3V
3 inputs
BDM
3
DC current sensing
Zero-cross detection
circuit
3 outputs
Diagram
Power supply
Fault LED
Direction LED
Run/Stop status
3
BLDC
motor
APMOTOR board
9 Vdc
PB_A
PB_B
SW
Freemaster on PC
Read/set variables
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TM
86
Sensorless BLDC Motor Control using MC9S08AC
►MC9S08AC
•
Timer 1
•
6 channels: PWM modulation for BLDC motor (complementary bipolar)
Timer 2
•
Peripheral Utilization
Time base for commutation period measurement
Channel 0: commutation
Channel 1: timing of application
A/D Converter
DC bus current, phase voltages (zero-cross detection)
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87
PI Control
►Proportional
•
•
Control
Error multiplied by constant
Deals with present behavior
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88
PI Control
►Integral
•
•
•
Control
Ads long-term precision
Takes longer to settle, but provides better precision
Deals with past behavior
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89
PI controller on AC MCU
These variables are used
To tune the system
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This is the control
Algorithm inplemented
In AC16 MCU for
Motor control
TM
90
PWM and manual dead time insertion
►PWM
Generation
► TIMER
set to center aligned mode
(TPM1SC:CPWMS=1)
►
Example:
•
•
•
•
•
•
PWM0: switching (duty cycle (50 - 100%) + dead
time), negative polarity (TMP1CxSC:ELSnB
=x,TMP1CxSC:ELSnA =1)
PWM1: switching (duty cycle (50 - 100%) - dead
time), positive polarity (TMP1CxSC:ELSnB
=1,TMP1CxSC:ELSnA =0)
PWM2: switching (duty cycle (50 - 100%) - dead
time), positive polarity (TMP1CxSC:ELSnB
=1,TMP1CxSC:ELSnA =0)
PWM3: switching (duty cycle (50 - 100%) + dead
time), negative polarity (TMP1CxSC:ELSnB
=x,TMP1CxSC:ELSnA =1)
PWM4: OFF
PWM5: OFF
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TM
91
Dead Time
Q1
Q4
a) Center aligned PWM, Q1 and Q4 change in
the same instant, it can short circuit between
Vb and GND
Q1
Q4
b) Center aligned PWM, Q1 and Q4
triggered with different PWM duty cycle
avoiding that both transistors turn on at
the same time.
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92
Application Details
►ADC
•
•
•
•
Measurement
DC bus current, Back-EMF voltage
Single result register only
3.5 us conversion time
ADC measurement has to be synchronized with PWM
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93
Application Details
►ADC
Measurement – PWM -> ADC Synchronization
Overflow interrupt is
used for PWM->ADC
synchronization
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94
Application Details
►ADC
Measurement – Back-EMF evaluation
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TM
95
FlexTimer in the MCF51AC
This part pending because dev board was delivered on April 29
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TM
96
FlexTimer advantages
►
Supports up to 8 channels which can be synchronized in pairs for
complementary signal generation.
►
Dead time insertion supported by software.
►
FTM can trigger ADC conversions automatically.
►
Fault input supported by hardware (automatically turns of PWM pin
outputs).
►
Synchronized reloading of PWM duty cycle from several sources (ADC,
analog comparator, software).
►
Polarity for PWM output can be configured.
►
Edge and center alligned PWM generation.
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97
Dead time insertion
►
Used to avoid to power devices to
be turned on at the same time.
•
•
No CPU load generated to make
dead time insertion.
To configure simply enable dead time
insertion bit and configure the
number of timer counts of dead time,
the rest is done by timer module.
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98
ADC Synchronization
►
Reduces CPU load by saving time needed to start conversions (to
detect zero-crossings or instantaneous current.
►
When doing back-EMF sensing measurements need to be made in
certain timing windows. If measurements are always taken at the
same times, control algorithm is more precise.
Timer Channel ISR
Timer Channel ISR
t1
1
Manual start of ADC conversion
Automatic start of ADC conversion
t2
t1
ADC conversion
ADC conversion
ADC Channel ISR
ADC Channel ISR
t3
1 Process ADC data
► Without hardware
► T = t1 + t2 + t3
trigger
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t3
Process ADC data
With hardware trigger
T = t1 + t3
TM
99
Related Session Resources
Sessions (Please limit to 3)
Session ID
Title
AZ131
Motor Control Part 1 – Fundamentals and Freescale Solutions
AZ121
Motor Control Part 2 – Solutions for Large Appliances and HVAC
AZ120
Motor Control Part 3 – Solutions for Small Appliances and Health Care Applications
Demos (Please limit to 3)
Meet the FSL Experts (Please limit to 3)
Pedestal ID
Title
Demo Title
312
Large Appliance Demo
214
3-Phase PMSM Vector Control demo with Encoder
706
Air Hockey Demonstration featuring the Flexis AC
Products
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