motor control workbook

SILI

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May

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9

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SILICA | The Engineers of Distribution. SILICA | The Engineers of Distribution. www.silica.com

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Motor Control

WORKBOOK

LInECArD

3

Table of ConTenT

1. abstract 4

2. System level Problem 8

2.1 Motor Topologies and Drives 9

2.1.1 PMDC – Permanent Magnet DC Motor 10

2.1.2 DC Motor Driver 12

2.1.3 Asynchronous Motor 12

2.1.4 Synchronous Motor 13

2.1.5 BLDC – Brushless DC 14

2.1.6 SRM – Switched Reluctance Motor 15

2.1.7 Bi-Polar Stepper Motor 15

2.1.8 AC Motor Driver 18

2.2 Motor Selection Criteria 19

2.3 Applications Summary and Overview 20

3. Solutions 21

3.1 Analog Devices 21

3.2 Freescale Semiconductor 23

3.3 International Rectifier 48

3.4 Infineon Technologies 70

3.5 Maxim 80

3.6 Microchip Technology 84

3.7 ON Semiconductor 98

3.8 Renesas Technology 100

3.9 STMicroelectronics 110

3.10 Texas Instruments 118

4. Glossary 144

54

The Engineers of Distribution.

www.silica.com 54


1. abstract

Going back in time over 30 or 40 years, brush

motors were the typical motor use. Most of the

control electronics were analog components, SCR

rectifiers for the power stage, control amplifiers

were often built with discrete components and

transistor amplifiers. Then, variable speed drives

were built with standard electronic system blocks

combined with computer drives. As an example

linear amplifiers were often used rather than

switching amplifiers. Typical applications were

in areas where drives could be afforded, such as

industrial servo drives, machine tools and computer

disk drives; there were also a number of very high

power drive systems.

Then there were a number of improvements

that brought about the different power switches.

Bipolar transistors became available for power

switching and motors started to be available beyond

the standard brush DC motor. Permanent magnet

synchronous motors and AC induction motors

became available and on the power electronics

side IGBTs, high performance micro processors

and integrated amplifiers; the result was more

sophisticated control.

Nowadays there is a whole selection of motors as

well as a lot more control technology such as DSPs

and micros, ASICs, etc. A lot of the mathematical

models that were developed to simulate AC

machines 40-50 years ago all of a sudden become

relevant: the field oriented control is based on

theory that was developed long before anyone knew

how to build a control around it. Consequently,

electrical drives are currently used in a variety of

applications, as it had been pointed out in the 2005

IMS report The WW Market for AC & DC Motor

Drives1):

Obviously, the biggest portion of the business (42%)

can be assigned to HVAC2), Pumps & Pumping

as well as the Food & Beverages Industries, so

traditional industrial applications.

On the other hand, with the increase of potential

application fields and a general increase of energy

consumption world wide, the efficiency of electric

appliances such as motors become more and

more an issue. In 2007 the International Energy

Agency (IEA) issued an Energy Efficient Electrical

End-Use Equipment3) report where the general

electricity consumption worldwide was outlined in

the following way:

1) http://www.aceee.org/conf/mt05/i4_offi.pdf2) HVAC - Heating, Ventilating and Air Conditioning3) http://www.iea.org/Textbase/work/2007/ia/Motors.pdf

3%

3%1 – Cranes & Hoists2 – Textiles3 – Pulp and Paper4 – Rubber & Plastics5 – Metals & Mining6 – Packaging7 – Utilities8 – Petro-chem9 – Food & Beverage10 – Pumps & Pumping11 – Other12 – HVAC

Estimated 2004 Motor Units/Industry

3%

3%

4%

7%

8%

9%

10%11%

18%

21%1 2 3

45

6

7

8

910

11

12

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Unit Value

Electricity production global (2006) PWh/a 18.6

Electricity production from fossil energy PWh/a (%) 12.4 (67%)

Electricity for industrial motors (not included household appliances, consumer electronics, office equipment, vehicles)

PWh/a (%) 7.4 (40%)

Capacity for electric motors (peak) TWe 1.6...2.3

Motor electricity, greenhouse gas emissions G t CO2/a 4.3

Motor system energy efficiency improvement potential (average within life cycle 10...20 years) minmax

20%30%

Electricity savings potential (industry and buildings)

Greenhouse gas emission reductions potential

Average electricity price (industrial end-users)

PWh/aminmaxG t CO2/aminmaxEuro/kWh

1.52.2

0.91.40.05

Electricity cost saveings potential (industry end-users) Billion Euro/aminmax

75110

As above breakdown points out, the energy

improvement potential in 2007 for electric drives

was being considered to be between 20...30%

(or in absolute values 1.5 – 2.2 PWh/a)4). One of the

reasons that forced the change up in mind in the

way to deal with available energy was probably the

significant increase of energy prices, especially

during the last couple of months.

Broken down into geographical regions, the

same report points out the following distribution

characteristic:

Population GDP Electricity

Mio % cumul Mio US $ % cumul TWh/a % cumul

1 China 1’322 20.0% 2229 5.0% 2475 13.6% MEPS

2 India 1’130 37.1% 785 6.8% 679 17.3%

3 United States of America 301 41.7% 12455 34.9% 4239 40.7% MEPS

4 Indonesia 235 45.3% 287 35.5% 123 41.3%

5 Brazil 190 48.1% 794 37.3% 405 43.6% MEPS

6 Pakistan 165 50.6% 111 37.5% 96 44.1%

7 Bangladesh 150 52.9% 60 37.7% 23 44.2%

8 Russia 141 55.0% 581 39.0% 952 49.5%

9 Japan 127 57.0% 4506 49.1% 1134 55.7%

10 Mexico 109 58.6% 768 50.9% 233 57.0% MEPS

11 Germany 82 59.9% 2782 57.1% 619 60.4%

12 Thailand 65 60.9% 176 57.5% 575 63.5%

13 France 64 61.8% 2193 62.5% 399 65.7%

14 United Kingdom 61 62.7% 2193 67.4% 399 67.9%

15 Italy 58 63.6% 1723 71.3% 301 69.6%

16 Korea, South 49 64.4% 788 73.1% 395 71.8% MEPS

17 South Africa 44 65.0% 240 73.6% 245 73.1%

18 Spain 40 65.6% 1124 76.1% 292 74.7%

19 Australia 20 66.0% 701 77.7% 243 76.0% MEPS

20 Canada 33 66.5% 1115 80.2% 594 79.3% MEPS

Total 4’388 35’610 14’422

4) 1 PWh/a = 105 Wh/a

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www.silica.com 76


Above table shows that countries like the US with

a population of 301 Million people (5% of the ww

population) but a total energy consumption of

4.239 PWh/a represent almost 23% of the total

energy consumption worldwide, while on the other

hand a country like China with 1300 Million citizens

(representing 21% of the total global population)

consumes a bit more then half the amount of the

energy the US are currently needing (13.3%). If

China’s productivity was to be the same like the

US’ (annual energy consumption per population →

18.67 PWh/a !!!) one can see that a 20 – 30% world

wide electrical efficiency improvement (hence 1.5 –

2.2 PWh/a in absolute values) are probably just an

initial step to the right direction with much bigger

problems to be expected in the future.

Although China’s productivity may be far away from

above mentioned scenario a 20 – 30% world wide

efficiency improvement may sound pointless if we

take into consideration the consumption growth

rate of some countries over time. As an example

we can take an official report issued in 2002 by

U.S. Department of Energy5) where the expected

Midrange Savings where lined out to be 14.8%

(as compared to 20 – 30% setup in 2006); yet the

total power consumption for 2002 only represented

1.085 PWh/a, hence 31.39% of the consumption of

2007, meaning that the US national energy demand

almost tripled within a period of time of 5 years.

Measure Potential energy Savings GWh/Year Midrange Savings as Percent of

low** Midrange** High** Total Motor System GWh System-Specific GWh

Motor efficiency Upgrade*

Upgrade all integral AC motors to EPAct Levels*** 13,043 2.3%

Upgrade all integral AC motors to CEE Levels*** 6,756 1.2%

Improve Rewind Practices 4,778 0.8%

Total Motor efficiency Upgrade 24,577 4.3%

System level efficiency Measures

Correct motor oversizing 6,786 6,786 6,786 1.2%

Pump Systems: System Efficiency Improvements 8,975 13,698 19,106 2.4% 9.6%

Pump Systems: Speed Controls 6,421 14,982 19,263 2.6% 10.5%

Pump Systems: Total 15,396 28,681 38,369 5.0% 20.1%

Fan Systems: System Efficiency Improvements 1,378 2,755 3,897 0.5% 3.5%

Fan Systems: Speed Controls 787 1,575 2,362 0.3% 2.0%

Fan Systems: Total 2,165 4,330 6,259 0.8% 5.5%

Compressed Air Systems: System Eff. Improvements 8,559 13,248 16,343 2.3% 14.6%

Compressed Air Systems: Speed Controls 1,366 2,276 3,642 0.4% 2.5%

Compressed Air Systems: Total 9,924 15,524 19,985 2.7% 17.1%

Specialised Systems: Total 2,630 5,259 7,889 0.9% 2.0%

Total System Improvements 36,901 60,579 79,288 10.5%

Total Potential Savings 61,478 85,157 103,865 14.8%

* Potential savings for Motor Efficiency Upgrades calculated directly by applying engineering formulas to Inventory data.** High, Medium and Low savings estimates for system efficiency impriovements reflect the range of expert opinion on potential savings.*** Includes savings from upgrades of motors over 200 HP not covered EPAct standards.

5) http://www1.eere.energy.gov/industry/bestpractices/pdfs/mtrmkt.pdf

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Therefore, some of the market trends predicted

for the next couple of years become obvious by

now: the demand for higher Reliability as well as

Power Density are continuously increasing as a

result of price vs. demand shift, hence cost/unit as

well as cost/kW are steadily decreasing. A variety

of standards like the European CE or the National

Electric Code are addressing specific issues like

EMC filtering or thermal protection solutions.

Consequently, there is a great many of other costs

on top of the typical initial costs (purchase, parts,

etc.) which need to be taken into account when it

comes to the selection of a specific motor type.

As an example we can take a standard pumping

application, with the following cost breakdown6):

LCC = CIC + CIN + CE + CO + CM + CS + CENV + CD

C = cost element

IC = initial cost, purchase price (pump, system,

pipes, auxiliaries)

IN = installation and comissioning

E = energy costs

O = operating cost (labor cost of normal

system supervision)

M = maintenance cost (parts, man-hours)

S = downtime, loss of production

ENV = environmental costs

D = Decommissioning

In above equation LCC stays for the total Life Cycle

Cost; on percentage level, the relationship between

all above mentioned parameters can be weighted

through the following high-level diagram:

Maintenance and Energy Costs (→ electrical

efficiency) seem to be - besides performance

specific requirements - the driving factors with

respect to technology improvements and finally

when it comes to the selection of a motor.

The objective of this workbook will therefore be to

point out the main selection criteria for the most

usual motor types, point out the principles of

operation, provide an overview about the typical

applications where a given motor is traditionally

seen nowadays and finalize it with a set of selected

best fitting SILICA system solutions.

Axel Kleinitz, PhD

Poing, 20-Apr-09

Maintenancecosts

Initial costs

Energy costs

Other costs

6) http://www1.eere.energy.gov/industry/bestpractices/pdfs/variable_speed_pumping.pdf

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2. System level Problem7)

In general terms, electric drives an motors

are appliances used to convert electrical into

mechanical (kinetic) energy. The power ranges

start at a couple of mW and can go up to a several

hundreds of MW per unit, meaning therefore a

variety of potential applications. However, although

the power ranges may significantly change from

motor to motor the principles of operation seem to

be always the same.

Within the context the typical block diagram of such

an energy conversion system (electric → mechanic/

kinetic) could be drawn in the following way:

Although the complexity of above system block

may vary with the application, a motor drive system

will always require some sort of power conversion

stage (which will be depending upon the available

power source), combined with an open – and in

case of more complex systems – a closed loop

control unit.

Since neither the motor itself nor the energy

buffer system are intended to be a main matter of

discussion of the workbook, the focus will therefore

primarily be the Power Conversion stage and –

up to a certain extent – the Closed Loop Control

circuitry in the context of a given motor topology.

(Closed Loop)Control

Control Quantity&

Signals

Measurement Parameters

Energy Buffer

(Elect.)Power Source

Converter Motor ProcessingMachine

7) FAE Training – Elektrische Maschinen, Labor für Leistungselektronik, Maschinen und Antriebe, Dr.-Ing. Johannes Teigelkötter

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2.1 Motor Topologies and Drives

Depending upon the principles of operations, following types of motors can be classified8):

Of course, each motor type can be combined with

another one mentioned in above table, significantly

blowing up this overview; however, the most

common once used nowadays would probably be

those highlighted in red. Out of those the most

commonly used DC motor is the mechanically

commutated permanent magnet “PMDC”9),

predominantly due to the relative low initial costs.

Yet, electrical efficiency as well as maintenance

costs seem to be relatively high as compared

to AC synchronous and asynchronous motors.

These two last once are rather cheap as far as the

The Complete Family of Electric Motors

AC

Asynchronous

Induction BLDC Sine Hysterisis Step Reluctance PMDC Wound Field

Shunt

Compound

SRM

SynchronousReluctance

PSMSingle Phase

CapacitorStart Cast Rotor

CapacitorRun

ShadedPole

InsertedRotor

WoundRotor

PolyPhase

Wound Field

Series

PermanentMagnet

Hybrid

VariableReluctance

Universal

Synchronous Commutator Homopolar

DC

initial costs are concerned, however with a much

better performance (efficiency) and almost no

maintenance costs. However, the complexity of the

electrical control is significantly higher then in case

of a DC motor.

In the following comparison some of the key

selection parameters for those red highlighted

motors have been put together providing an

overview of the most typical applications where

they can be seen today.

8) Motor, Drive and Control Basics, International Rectifier Corp. by Eric Persson & Michael Mankel9) PMDC - Permanent Magnet DC Motor

1110


www.silica.com 1110


2.1.1 PMDC – Permanent Magnet DC Motor10)

The DC motor is a rotating electric

machine designed to operate from source of direct

voltage. The basic type is a permanent magnet DC

motor. The stator of a permanent magnet DC motor

is composed of two or more permanent magnet

pole pieces. The rotor is composed of windings

that are connected to a mechanical commutator.

The opposite polarities of the energized winding

and the stator magnet attract and the rotor will

rotate until it is aligned with the stator. Just as the

rotor reaches alignment, the brushes move across

the commutator contacts and energize the next

winding.

In order to understand the principles of operation,

we will start with a permanent magnet, mechanically

commutated DC motor and use the terminology

used in following block diagram11):

The main windings rotate (rotor) while the

magnetic field is fixed, usually through a

permanent magnet. DC voltages and currents

are provided though brushes. With N wires per

coil and multiple commutator bars, following

mathematical relationships are know to be valid:

T = 2NBrlI0 = KT · I0 (1)

and

e = 2NBrlω = Ke · ω (2)

Communication of a Single-loop DC Machine

www.silica.com

10) http://www.freescale.com/webapp/sps/site/homepage.jsp?nodeId=02nQXG11) Motor, Drive and Control Basics, International Rectifier Corp. by Eric Persson & Michael Mankel

1110


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with

KT: Torque Constant

T: Magnetic Torque

Ke: emf Constant

e: “emf” Induced Voltage (“electromotive force”)

B: Constant Magnetic Field, generated by the

permanent magnet

The relationship between Torque and rpm “n” leads

to following mathematical expression12):

n = n0 - M (3)

kM = cϕ (4)

M = T - MR (5)

with

M: Torque

n0: Idle Speed

R: Total Resistance (rotor and brushes)

c: Engine’s Constant

ϕ: Magnetic Flux, constant in case B is constant

(permanent magnet!)

MR: Friction Losses

R

2π · kM2

Two other types of DC motors are series wound

and shunt wound DC motors. These motors also

use a similar rotor with brushes and a commutator.

However, the stator uses windings instead of

permanent magnets. The basic principle is still

the same. A series wound DC motor has the stator

windings in series with the rotor. A shunt wound DC

motor has the stator windings in parallel with the

rotor winding. A series wound motor is also called

a universal motor. It is universal in the sense that

it will run equally well using either an AC or a DC

voltage source.

12) Handbuch Elektrische Antriebe, Hans-Dieter Stölting & Eberhard Kallenbach

1312


www.silica.com 1312


For obvious reasons, the H-bridge driver requires 4

switches, hence 2 less then the traditional 3-pahes

driver. The current flow – and therefore the torque,

see equation (1) – can be driven in either direction.

The control strategy can be designed for 4-quadrant

operation modes: 1 forward and 2 reverse motoring

as well as 3 forward and 4 reverse braking using

the “emf” induced voltage as a breaking effect.

These last two once may require shunt regulator for

braking (regeneration). With respect to modulation

there are a variety of strategies available, with PWM

as the most usual one.

2.1.3. asynchronous Motor14)

In an induction motor (asynchronous)

the stator (3 phase) windings are fixed while the

magnetic field rotates. AC voltages and currents

are provided to the stator while the AC currents

on rotor experience a slip at frequency; the

speed is always a little less than the synchronous

speed and speed drops with increasing load

(~5% max.).

The AC induction motor is a rotating electric

machine designed to operate from a three-phase

source of alternating voltage. The stator is a classic

three phase stator with the winding displaced by

120°. The most common type of induction motor

has a squirrel cage rotor in which aluminum

2.1.2. DC Motor Driver

The traditional way to control the sense of rotation

would be by changing the polarity of the DC

commutator voltage; the speed itself through a

PWM duty cycle, using a classic H-bridge circuit.

With this approach 4 different operational modes

can be defined13):

H-bridge Motor Drive (be-directional)

www.silica.com

13) Motor, Drive and Control Basics, International Rectifier Corp. by Eric Persson & Michael Mankel14) http://www.freescale.com/webapp/sps/site/homepage.jsp?nodeId=02nQXG

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conductors or bars are shorted together at both

ends of the rotor by cast aluminum end rings. When

three currents flow through the three symmetrically

placed windings, a sinusoidally distributed air gap

flux generating the rotor current is produced. The

interaction of the sinusoidally distributed air gap

flux and induced rotor currents produces a torque

on the rotor. The mechanical angular velocity of the

rotor is lower then the angular velocity of the flux

wave by so called slip velocity.

The valid block diagram looks as follows15):

The slip, hence the difference between the rotor-

speed and the rotational-speed of the rotating-

field is been expressed through the following

relationship:

s = (6)

and

nS = (7)

representing the synchronous speed as a

relationship between ƒ1, the stator current and p,

the number of pole-pairs. Therefore the relationship

between Torque, synchronous speed and rotor

speed is been expressed through the following

equation:

M = = (8)

with

P: Output Power

Pδ: Rotor Loss

In adjustable speed applications, AC motors are

powered by inverters. The inverter converts DC

power to AC power at the required frequency and

amplitude. The inverter consists of three half-

bridge units where the upper and lower switches are

controlled complimentarily. As the power device’s

turn-off time is longer than its turn-on time, some

dead-time must be inserted between the turn-off

of one transistor of the half-bridge and turn-on of

its complementary device. The output voltage is

mostly created by a pulse width modulation (PWM)

technique. The 3-phase voltage waves are shifted

120° to each other and thus a 3-phase motor can

be supplied.

2.1.4. Synchronous Motor16)

In a synchronous motor the speed

is synchronised to the stator voltage frequency;

speed is therefore directly proportional to stator

frequency. Since ns = n, s = 0.

Starconnection Deltaconnection

nS - nnS

P2πn

Pδ

2πnS

ƒ1

p

15) Handbuch Elektrische Antriebe, Hans-Dieter Stölting & Eberhard Kallenbach16) http://www.freescale.com/webapp/sps/site/homepage.jsp?nodeId=02nQXG

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The PM Synchronous motor is a rotating electric

machine where the stator is a classic three phase

stator like that of an induction motor and the rotor

has surface-mounted permanent magnets. In this

respect, the PM Synchronous motor is equivalent

to an induction motor where the air gap magnetic

field is produced by a permanent magnet. The use

of a permanent magnet to generate a substantial

air gap magnetic flux makes it possible to design

highly efficient PM motors. A PM Synchronous

motor is driven by sine wave voltage coupled with

the given rotor position. The generated stator flux

together with the rotor flux, which is generated by

a rotor magnet, defines the torque, and thus, speed

of the motor. The sine wave voltage output have to

be applied to the 3-phase winding system in a way

that angle between the stator flux and the rotor flux

is kept close to 90° to get the maximum generated

torque. To meet this criterion, the motor requires

electronic control for proper operation.

The relationship between Torque and Rotor Speed

can be expressed through following term:

M - ML = J (9)

ω = p · Ω (10)

with

ML: Load torque

J: Total Moment of Inertia

Ω: Mechanical Radial Frequency

For a common 3-phase PM Synchronous motor,

a standard 3-phase power stage is used. The

same power stage is used for AC induction and

BLDC motors. The power stage utilizes six power

transistors with independent switching. The power

transistors are switched in the complementary

mode. The sine wave output is generated using a

PWM technique.

2.1.5. blDC – brushless DC17)

A brushless DC (BLDC)

motor is a rotating electric

machine where the stator is a classic three-phase

stator like that of an induction motor and the rotor

has surface-mounted permanent magnets. In this

respect, the BLDC motor is equivalent to a reversed

DC commutator motor, in which the magnet rotates

while the conductors remain stationary. In the DC

commutator motor, the current polarity is altered

by the commutator and brushes. On the contrary,

in the brushless DC motor, the polarity reversal

is performed by power transistors switching in

synchronization with the rotor position. Therefore,

BLDC motors often incorporate either internal or

external position sensors to sense the actual rotor

position or the position can be detected without

sensors.

The BLDC motor is driven by rectangular voltage

strokes coupled with the given rotor position. The

generated stator flux interacts with the rotor fluxes,

which is generated by a rotor magnet, defines the

torque and thus speed of the motor. The voltage

strokes must be properly applied to the two phases

of the three-phase winding system so that the angle

between the stator flux and the rotor flux is kept

1 δωp δt

www.silica.com

17) http://www.freescale.com/webapp/sps/site/homepage.jsp?nodeId=02nQXG

1514


1514


close to 90° to get the maximum generated torque.

Due to this fact, the motor requires electronic

control for proper operation.

2.1.6. SRM – Switched Reluctance Motor18)

A Switched Reluctance Motor is a rotating electric

machine where both stator and rotor have salient

poles. The stator winding is comprised of a set

of coils, each of which is wound on one pole. SR

motors differ in the number of phases wound on

the stator. Each of them has a certain number of

suitable combinations of stator and rotor poles.

The motor is excited by a sequence of current

pulses applied at each phase. The individual

phases are consequently excited, forcing the motor

to rotate. The current pulses need to be applied

to the respective phase at the exact rotor position

relative to the excited phase. The inductance profile

of SR motors is triangular shaped, with maximum

inductance when it is in an aligned position and

minimum inductance when unaligned. When the

voltage is applied to the stator phase, the motor

creates torque in the direction of increasing

inductance. When the phase is energized in its

minimum inductance position the rotor moves to

the forth coming position of maximal inductance.

The profile of the phase current together with

the magnetization characteristics defines the

generated torque and thus the speed of the motor.

The SR motor requires control electronic for its

operation. Several power stage topologies are

being implemented, according to the number of

motor phases and the desired control algorithm. A

power stage with two independent power switches

per motor phase is the most used topology. This

particular topology of SR power stage is fault

tolerant - in contrast to power stages of AC induction

motors - because it eliminates the possibility of

a rail-to-rail short circuit. The SR motor requires

position feedback for motor phase commutation. In

many cases, this requirement is addressed by using

position sensors, like encoders, Hall sensors, etc.

The result is that the implementation of mechanical

sensors increases costs and decreases system

reliability. Traditionally, developers of motion

control products have attempted to lower system

costs by reducing the number of sensors. A variety

of algorithms for sensorless control have been

developed, most of which involve evaluation of the

variation of magnetic circuit parameters that are

dependent on the rotor position.

2.1.7. bi-Polar Stepper Motor

In a bi-polar stepper motor, the stator poles change

polarity by varying current through each of the two

coils. The rotor’s magnetic poles, however, fixed

relative to the rotor itself. By definition, the bi-

polar stepper motor has one phase per stator pole

which requires advanced circuitry such as a driver

and H-bridge circuit to cause rotation and torque

by switching the poles by alternately changing the

current direction in each phase. The resolution of

a stepper motor is determined by arrangement of

the “teeth”.

18) http://www.freescale.com/webapp/sps/site/homepage.jsp?nodeId=02nQXG

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www.silica.com 1716


Step 1 – Phase 1 energized with positive current

Phase 2 not energized

Step 2 – Phase 1 is de-energized while

Phase 2 is energized with positive current

Rotor rotates 90 degrees to align with

north

Step 3 – Phase 1 energized with negative current

Phase 2 not energized


north

Step 4 – Phase 1 is de-energized while

Phase 2 is energized with negative current


north

n

S

Sn

Rotor

Stator – Phase 1

Stator – Phase 1

Stator – Phase 2 Stator – Phase 2

nS Sn

Stator – Phase 1

Stator – Phase 1


n SS n

Stator – Phase 1

Stator – Phase 1


n

S

Sn

Stator – Phase 1

Stator – Phase 1


www.silica.com

1716


1716


As a simplified example of how a stepper motor

operates, one can imagine a stepper motor with only

four teeth or two phases each controlling two poles

(Figure 1). When such a stepper motor is in full-step

mode, the rotor rotates 90-degrees by sequentially

changing the current in each phase. For example,

in Step 1 of Figure 1, Phase 1 is energised with a

‘positive’ current which causes the permanent

south pole of the roor to align with the north pole

of the phase 1 stator pole. If phase 1 is then de-

energised and a ‘positive’ current is then applied

to phase 2, the position of the north pole changes

causing the rotor to align its south pole, therefore

rotating 90-degrees clockwise in this example

(Step 2 of Figure 1). In order to get the rotor to

continue in a clockwise motion, phase 1 is then

energised with a ‘negative current’ which switches

the north and south poles from Step 1 causing the

rotor to align itself and turn 90-degrees clockwise

(Step 3, Figure 1). Phase 1 is then de-energised

and phase 2 is energised with a ‘negative’ current,

once again rotating the rotor one quarter turn. The

cycle then starts over by de-energising phase 2 and

energising phase 1 with a positive current, which

puts the motor back to Step 1. This simple example

represents a stepper motor with 90-degree re-

solution, which for practical purposes is not typical.

The resolution of a stepper motor is determined

by the number of teeth and alignment and a

1.8-degree step provides motion with much less

vibration caused by the overshoot than our fictional

90-degree motor example above. However, the

vibration experienced in a stepper motor with only

1.8-degree incremental steps, or full-steps, can

be even further reduced by utilising stepper motor

drivers capable of micro-stepping.

Step 1 – Both phases 1 and 2 energised with

positive current resulting in the rotor

aligning between full-steps

Very simply, micro-stepping is accomplished by

partially energising both phases allowing the rotor

to stop between steps as shown in Figure 2. By

energizing both phases using the same current

magnitude, the rotor is equally attracted to both

north poles which causes it to stop in-between the

two and resulting in a half-step, or as referred to in

most literature, a one-half microstep. By applying

currents to both phases in different ratios, advanced

stepper motor drivers can further reduce micro-

stepping increments to ¼, 1/8, 1/16, 1/32 and even

1/64 microsteps. For the designer, this means that a

stepper motor specified to be capable of 1.8-degree

steps, or 200 steps per rotation, is now capable of

stepping in increments of 0.028-degrees or 12,800

steps per rotation. Not only does this allow finer

resolution in stepping, it also drastically reduces

vibration. Although the increased resolution

nS Sn

Stator – Phase 1

Stator – Phase 1


n

S

Rotor

1918


www.silica.com 1918


typically comes at a cost of 10% to 20% of torque,

the increase resolution has many applications

when the trade-offs are considered.

2.1.8 aC Motor Driver

Since AC motors require three AC phases to be

independently driven, the solution would be to

control – both, synchronous and asynchronous

motors – through a 3-Phase-Bridge-Driver like the

one represented in the following illustration19):

Depending upon the application, above 3-Phase-

Bridge can be realized with IGBTs like in above

example or with power MOSFETs. Performance

criteria mainly like power and heat dissipation

will determine which solution to go for. Yet, due

to the system, topology and circuitry architecture

peculiarities a further detailed discussion will be

performed in the context of specific solutions.

AC-DC

ACin

ACout

Motor

DC link DC-AC

www.silica.com

19) Motor Control Basics, International Rectifier Corp. by Aengus Murray

1918


1918


2.2. Motor Selection Criteria

When it comes to the selection of a specific motor

for a given application, the criteria based upon the

decision will have to be founded on, may significantly

complicate the decision process.

At a first stage the designer has to understand the

load requirements, meaning those parameters like

speed range, continuous and peak torque as well

as starting requirements, which will provide a first

decision base to deal with.

Besides that it is fundamental to understand those

performance requirements like efficiency, dynamic

performance, speed accuracy, torque and speed

ripple, acoustic noise, hence those parameters

that will have a direct impact on the application’s

performance quality.

At a next step these needs will have to be put in line

with important Supply Considerations (AC or DC,

Voltage and current, connections, EMI/RFI) which

in many cases narrow down the applicability of a

potential candidate.

Once above criteria had been carefully taken into

consideration, the designer will have to determine

Mechanical and Environmental Issues like size

& weight, temperature, reliability, explosion

proof, integration of drive and control and safety

issues, hence those kind of parameters that may

significantly limit the usage of a selected solution

depending upon their importance in a given

application.

Finally, logistics and costs will be an issue that will

require a dedicated focus, especially if we remember

the analysis in the introduction. In specific those

criteria like annual usage and unit cost target will

have to be carefully considered. Within this context

the question about making or buying the complete

system (or part of it) will be depending on risk

factors like availability of suppliers, time to market,

development cost and technology risk.

Due to the complexity of this approach, the selection

of a specific motor for a given application may

become more sophisticated then initially expected;

taking into consideration all above mentioned

parameters, the overview presented on page 10

reflects a selection of those motor commonly used

for specific applications at the moment. Although

meant to be used as a guidance, it will still require

individual adaption to a given problem.

2120


www.silica.com 2120


2.3 applications Summary and overview – electric Motor Topologies

Type

Func

tion

alP

rinc

iple

Mat

hem

atic

alR

elat

ions

hip

Cha

ract

eris

tics

Cos

t (C

IC)

Mot

or

Effi

cien

cy

Mot

orTe

chno

logy

Stag

e of

Dev

elop

men

t

Mai

nten

ance

Cos

ts (C

m)

Com

plex

ity

Elec

tron

icC

ircu

it

Volt

age

Ran

ges

Spee

d R

ange

s[r

pm]

Typi

cal

App

licat

ions

Pag

e

PM

DC

–P

erm

anen

tM

agne

t DC

DC

–C

omm

utat

orlo

wlo

whi

ghye

slo

w10

0 ...1

03 V20

.000

8, 9

6 ff

10, 1

6,

26, 8

4,

102,

118

12, 2

4,

67, 9

7,

109

16, 3

0,

66, 9

6,

106

13, 3

3,

66, 1

06

Han

d To

ols,

Was

hers

&D

ryer

s, S

tart

ers,

Wip

ers,

Pow

er W

indo

ws

Cas

t Mot

or –

Squi

rrel

Cag

eR

otor

AC –

Asy

nchr

onou

s

AC –

Sync

hron

ous

low

good

high

nohi

gh22

0...4

40 V

20.0

00P

umps

, Fan

s, H

VAC

,W

hite

Goo

ds, H

eavy

Trac

tion

Mac

hine

ry

BLD

C –

Bru

shle

ss D

Cm

oder

ate

very

goo

dm

iddl

eno

high

4...2

40 V

50.0

00

Was

hing

Mac

hine

s,El

ectr

ical

Pow

er

Stee

ring

, Ele

ctri

cal

vehi

cle

trac

tion

driv

e, R

efri

gera

tors

, AC

, PC

-Fan

, Cei

ling

Fan,

Blo

wer

s

PSM

–P

erm

anen

tM

agne

tSy

nchr

onou

sM

otor

high

good

mid

dle

yes

high

110.

..240

V10

.000

Serv

o D

rive

s,El

ectr

onic

Pow

erSt

eeri

ng

SRM

– S

wit

ched

Rel

ucta

nce

Mot

orlo

wve

ry g

ood

low

nom

oder

ate

Indu

stri

al: 1

10...

240

VA

utom

otiv

e: 1

2...2

4 V

100.

000

Fans

, App

lianc

es,

Emer

ing

Aut

omot

ive

App

licat

ions

M =

P

2n

2n S

P=

n =

n 0 -

RM

2· k

M2

M -

ML =

J 1 p

t

www.silica.com

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3. Solutions

3.1 analog Devices

The aDM3251e in Motion Control applications

Introduction

For many years, communications in Motion Control

Systems has typically been implemented via an

RS-232 interface. The RS-232 bus standard has

proven itself to be a robust communication protocol,

particularly suited to noisy environments. Recent

enhancements in serial communication design

include the isolation of the RS-232 port from the

motion controller itself. The ADM3251E offers the

latest level of innovation, by combining both power

and data isolation in a single package.

A basic architecture of a motion control system is

depicted in Figure 1. To improve system reliability

within a noisy environment and protect against

voltage spikes and ground loops, isolation is

required between the RS-232 cable network and

the systems connected to it. Analog Devices Inc.

have developed the ADM3251E integrated isolated

RS-232 transceiver to solve these problems. Until

recently, transferring power across an isolation

barrier required either a separate dc-to-dc

converter, which is relatively large, expensive, and

has insufficient isolation, or a custom discrete

approach, which is not only bulky but also difficult

to design.

The ADM3251E combines iCoupler technology

with isoPower, which results in a complete

isolation solution within a single package. Not only

does the ADM3251E offer state of the art digital

signal isolation, having substantial advantage

over optocouplers in terms of power, size and

performance, but it also eliminates the need for

a separate isolated power supply. The ADM3251E

provides functional integration that can dramatically

reduce the complexity, size and total cost of an

isolated system.

RS-232 Port

Motion Controller

AMP/Drive

MOTOR MECHANICAL

FeedbackDevice

Figure 1. Block Diagram of a Typical Motion Control Application

2322


www.silica.com 2322


ADM3251E Features

The ADM3251E is a high speed, 2.5 kV fully isolated,

singlechannel RS-232 transceiver device that

operates from a single 5V power supply. Due to the

high ESD protection on the RIN and TOUT pins the

device is ideally suited for operation in electrically

harsh environments or where RS-232 cables are

frequently being plugged and unplugged.

Complete isolation of both signal and power is

achieved using iCoupler technology. iCoupler

technology is based on chipscale transformers

0738

8-00

1

DECODE

RECT REG

V–

C40.1µF16V

VOLTAGEDOUBLER

C1+ C1– V+ VISO C2+ C2–

R

T

VOLTAGEINVERTER

VCC

ROUT

TIN

GND GNDISO

RIN*

TOUT

ADM3251E

OSC

ENCODE

ENCODE

DECODE

*5kΩ PULL-DOWN RESISTOR ON THE RS-232 INPUT.

0.1µF

C30.1µF10V

C20.1µF16V0.1µF

C10.1µF16V

Figure 3. ADM3251E Functional Block Diagram

rather than the LEDs and photodiodes used in

optocouplers. By fabricating the transformers

directly on chip using wafer level processing

iCoupler channels can be integrated with other

semiconductor functions as low cost. Transfer

of the digital signal is realised through the

transmission of short pulses approximately routed

to the primary side of a given transformer. These

pulses couple from one transformer coil to another

and are detected by the circuitry on the secondary

side of the transformer. The circuitry then recreates

the input digital signal.

Another novel feature of iCoupler technology is

that the transformer coils that are used to isolate

data signals may also be used as the transformers

in an isolated DC-DC converter, this extension of

iCoupler technology is termed isoPower. The result

is a total isolation solution.

For further information, please visit:

www.analog.com/ADM3251E

Figure 2.

2322


2322


3.2 freescale Semiconductor

freescale Solutions for Motor Control

Technologies

Comprehensive 8-, 16- and 32-bit systems with

advanced sensor and analog/mixed signal devices

Freescale offers complete solutions for every motor

control application. Our superior portfolio and

breadth of devices includes:

• 8-bit microcontrollers (MCUs)

• 16-bit digital signal controllers (DSCs)

• 32-bit embedded controllers

• Acceleration and pressure sensors

• Analog and mixed signal devices

Freescale delivers solutions that have wide ranging

banks of flash and RAM memories, configurable

timer options, pulse width modulators (PWMs),

and some even offer an enhanced Time Processing

Unit (eTPU). Freescale supports these devices with

motor control-related application notes, hardware/

software tools, drivers, algorithms and helpful

Web links including our motor control Web site at

www.freescale.com/motorcontrol.

Freescale Motor Control Solutions A full range of products, technology, services and tools

2524


www.silica.com 2524


Expertise Application Notes Analog and Sensors

Demos Development Tools

Software and Drivers

Online Training

Technical SupportWebsite

Reference Designs

MCUs, MPUs and DSCs

Freescale'sComplete MotorControl Solution

We are dedicated to providing comprehensive

system solutions that not only improve motor

efficiency but also minimise system updates,

development time and maintenance costs.

Freescale provides microcontrollers and develop-

ment tool solutions for all of your motor control

needs.

2524


2524


control for an incredible variety of applications.

The product roadmaps demonstrate that new

feature integration and software compatibility will

continue to drive future generations of embedded

motor control solutions. Freescale provides

microcontrollers and development tool solutions

for all of your motor control needs.

a Roadmap for Your future Design needs

Intelligent solutions driving new generations of

motor control applications

Freescale MCUs, MPUs and DSCs, when coupled

with analog/mixed-signal and power integrated

circuits, are designed to provide system solutions

for motor control, motion control and static load

32-bit MCU/MPU

16-bit DSC

16-bit MCU

8-bit MCU

Sens

ors

Ana

log

Port

folio

2726


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Recommended Devices

8-bit MCU: 908JK/JL, 908MR, 908QT/QY,

908QB, 908QC, 908GP, 908GR,

9S08AW, 9S08GB, 9S08GT, 9S08QG,

9S08QD

16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx

32-bit MCU: MCF51AC, MCF521x, MCF523x,

MPC56x, MPC55xx

Analog/Mixed-Signal Power ICs

Power Supply: MC34702, MC34717, MC33730

Motor Driver: MC33932, MC34920, MC34921,

MC34923, MPC17533, MC33887,

MC33899, MC33926, MC33931,

MPC17529, MPC17531, MM908E626

Stepper Motors

General purpose stepper motor control

Advantages

• Precise position control

Applications

• Industrial machines

• Health care scanners

• Computers

• Office equipment

• Toys

MCU/DSC

PW

M

PWM1A

PWM2A

PWM1B

PWM2B

Coil A

Coil B

V+

V+

la lb

Application Notes

32-bit AN2353 The Essentials of the

Enhanced Time Processing

Unit

AN2848 Programming the eTPU

AN2869 Using the Stepper Motor (SM)

eTPU Function

2726


2726


Application Notes

32-bit AN2955 DC Motor with Speed and Current

Closed Loops, Driven by eTPU on

MCF523x AN2955SW

AN2958 Using the DC Motor Control eTPU

Function Set (Set 3)

AN3008 DC Motor with Speed and Current

Closed Loops, Driven by eTPU on

MPC5554 AN3008SW

brushed DC Motor

Dual feedback loop control

Advantages

• Cost-effective control topology

• High-precision speed, torque control and

position loop can be added

Recommended Devices

8-bit MCU: 908MR, 9S08GB, 9S08AC

16-bit DSC: MC56F80x, MC56F80xx,

MC56F83xx

16-bit MCU: S12XE


MPC56x, MPC55xx


Power Supply: MC34702, MC34717, MC33730,

MC34923

Motor Driver: MPC17510, MPC17529,

MPC17531, MPC17533, MC34920,

MC34921, MC33926, MC33887,

MC33899, MC33931, MC33932

Applications

• Robots

• Traction control

• Servo systems

• Automotive


• Toys


VCC

VCORE

VREG2

VREG1

Interface

HBDriver

CurrentSensing Encoder

DCMotor

Analog Power ASIC

SpeedCommand Speed

ControllerCurrent

Controller

PWM ADC QuadratureDecoder

MCU or DSC

2928


www.silica.com 2928


Applications

• Robots

• Traction control

• Servo systems


• Sewing machines

• Fitness machines/treadmills

• Toys


brushless DC Motor (blDC)

Encoder

Advantages

• Enables bi-directional operation with fast torque

response, low noise and high efficiency

• High precision speed

• Torque control

• Position loop can be added

Power Stage Driver

+

+Motor

-Encoder

SpeedController

MCU/DSC

CurrentController

SpeedReference

Actual Speed

++

-

-

GPIO and Serial Interface PWMADC ADC Quadrature Decoder

Zero CrossingPeriod and

Position RecognitionCommuntation

Control

SpeedCalculation

PWM Duty Cycle

Phase Communication

1Φ or 3Φ

Over Current

Recommended Devices

8-bit MCU: 908MR, 9S08AC, 9S08GB


16-bit MCU: S12XE


MPC56x, MPC55xx



Motor Driver: MPC17533, MC34923, MC33937,

MC33927

Application Notes

8-bit AN2356 Sensorless BLDC Motor Control on

MC68HC908MR32 Software Porting

to Customer Motor

AN2355 Sensorless BLDC Motor Control on

MC68HC908MR32 Software

AN1858 Sensorless Brushless DC Motor

Using the MC68HC908MR32

Embedded Motion Control

AN1853 Embedding Microcontrollers in

Domestic Refrigeration Appliances

AN2396 Servo Motor Control Application on

a Local Area Interconnect Network

(LIN)

2928


2928


DRM086 Sensorless BLDC Motor Control

Using MC9S08AW60

Development System 16-bit

AN1913 3-Phase BLDC Motor Control

with Sensorless Back-EMF ADC

Zero Crossing Detection Using

DSP56F80x


with Sensorless Back EMF

Zero Crossing Detection Using

DSP56F80x


with Quadrature Encoder Using

56F800/E

DRM078 3-Phase BLDC Drive Using Variable

DC Link Six-Step Inverter

DRM070 3-Phase BLDC Motor Sensorless

Control Using MC56F8013/23

32-bit MCU

AN2892 3-Phase BLDC Motor with Speed

Closed Loop, Driven by eTPU on

MCF523x AN2892SW

AN2948 Three 3-Phase BLDC Motors with

Speed Closed Loop, Driven by eTPU

on MCF523x AN2948SW

AN2954 BLDC Motor with Speed Closed

Loop and DC-Bus Break Controller,

Driven by eTPU on MCF523x

AN2954SW

AN2957 BLDC Motor with Quadrature

Encoder and Speed Closed Loop,

Driven by eTPU on MCF523x

AN2957SW

AN3005 BLDC Motor with Quadrature

Encoder and Speed Closed Loop,

Driven by eTPU on MPC5554

AN3005SW

AN3006 BLDC Motor with Hall Sensors and

Speed Closed Loop, Driven by eTPU

on MPC5554 AN3006SW

AN3007 BLDC Motor with Speed Closed

Loop and DC-Bus Break Controller,

Driven by eTPU on MPC5554

AN3007SW

Reference Designs

RDDSP56F8BLDCE 3-Phase BLDC Motor Control

with Encoder Using 56F80X

or 56F8300 Digital Signal

Controllers

3130


www.silica.com 3130


Applications

• Large appliances

• HVAC

• Blowers, fans

• Pumps

• Lifts, cranes, elevators

• Conveyors

• Frequency inverters

• Industrial controls

• Treadmills

• Industrial compressors

• Universal inverters

aC Induction Motors (aCIM)

3-phase ACIM with V/Hz open-loop control

with PFC

Advantages

• Enables bi-directional operation with fast torque

response

• Simple cost-effective control topology

• Controls both motor and PFC by single MCU

• Targeted for modest applications accepting

low-precision speed control

• High efficiency

• Precise speed control

• Enables indirect torque control

• Tolerant of motor parameters fluctuation

Motor

Over Current

Power Stage Driver

PWM

3-PhaseSine PWMGeneration

MCU or DSC

DC-Bus VoltageCompensation

Slip Speed Calculation

V/HZ

VoltageBoost

SpeedReference

GPIO and Serial Interface ADC ADC

SineFrequency

Amplitude

1or3

3130


3130


Recommended Devices

8-bit MCU: 908MR, 9S08AC, 9S08GB


16-bit MCU: S12XE


MPC56x, MPC55xx



Motor Driver: MPC17533, MC34923, MC33937,

MC33927

Application Notes

8-bit AN2154 Cost-Effective, 3-Phase, AC Motor

Control System with Power Factor

Correction

Based on MC68HC908MR32

AN1857 3-Phase, AC Motor Control System

with Power Factor Correction


AN1664 Cost-Effective 3-Phase AC

Motor Control System Based on

MC68HC908MR32

AN1590 High-Voltage Medium Power Board

for 3-Phase Motors

AN2149 Compressor Induction Motor Stall

and Rotation Detection Using

Microcontrollers



16-bit AN1918 Indirect Power Factor Correction

for 3-Phase AC Motor Control with

V/Hz Speed

Open Loop Application

AN1930 3-Phase AC Induction Motor Vector

Control

AN1958 3-Phase AC Motor Control with V/

Hz Speed Closed Loop Using the

56F800/E

AN1942 DSP56F80x Resolver Driver and

Hardware Interface

DRM092 3-Phase AC Induction Vector

Control Drive with Single-Shunt

Current Sensing

AN3234 Washing Machine Three-Phase AC

Induction Motor Drive

3332


www.silica.com 3332


aC Induction Motors (aCIM)

3-phase ACIM with sensorless field oriented

control

Advantages

• High-precision speed/torque control

• Suitable for drives with high dynamic

requirements

• Removal of speed sensor

Power Stage Driver

SVM/PWM

DC-Bus RippleCompensation

Over Current

ADCPWMADCADC

FluxController

Driver

GPIO and Serial Interface

SpeedReference

SpeedController

TorqueController

GPIOBreak Control

Multrs

Flux andSpeed

EstimatorSlip

FrequencyEstimatorDSC/MCU

2

3

ddt its

itm

ia

ib

isq

uts

ums

e-jq

ejq

y r

Te

wy

ws

wr

qy

1or3

ua

ub

Applications


• Industrial compressors

• Water pumps

• Construction machinery

• Universal inverters

• HVAC

Recommended Devices


32-bit MCU: MCF521x, MCF523x, MPC56x,

MPC55xx

Application Note

8-bit AN2154 Cost-Effective, 3-Phase, AC

Motor Control System with Power

Factor Correction Based on

MC68HC908MR32

AN1857 3-Phase, AC Motor Control System

with Power Factor Correction


3332


3332


AN1664 Cost-Effective 3-Phase AC

Motor Control System Based on

MC68HC908MR32

AN1590 High-Voltage Medium Power Board

for 3-Phase Motors



Microcontrollers



16-bit AN1918 Indirect Power Factor Correction

for 3-Phase AC Motor Control with

V/Hz Speed Open Loop Application

AN1930 3-Phase AC Induction Motor Vector

Control

AN1958 3-Phase AC Motor Control with V/

Hz Speed Closed Loop Using the

56F800/E


Hardware Interface

DRM092 3-Phase AC Induction Vector

Control Drive with Single-Shunt

Current Sensing

AN3234 Washing Machine Three-Phase AC

Induction Motor Drive

Reference Designs

RD56F801XACIM Design of an ACIM Vector

Control Drive Using the

56F801X

3534


www.silica.com 3534


Permanent Magnet Synchronous Motors (PMSM)

Sensored field oriented control

Advantages

• Exceptionally low noise operation

• Outstanding drive efficiency

• Precise speed/torque control

U_DC bus

BreakControl

Line

AC AC

DC

PMSMLoad

QuadratureEncoder

Isa Isb Isc

Temperature

PWM

Quad TimerADCPWM

Sector

DC-Bus

TorqueCurrent

Controller

TorqueCurrent

Controller

Is_a Is_b Is_c

GPIO

U_dcb

PWM

Fault Protection

Faults

GPIO and Serial Interface

SpeedReference

ActualSpeed

MCU/DSC

DC-BusRipple

Compensation

Ua Ub

Usa

Usb

q

ejq

isa

isb

Is_a_comp Is_b_comp Is_c_comp

TorqueCurrent

Controller

FluxCurrent

Controller

Us_q Us_d e-jq

wr

SpeedController

Is_d*

w

Dec

oupl

ing

(Bac

k-EM

F Fe

edfo

rwar

d)

Applications

• Robotics

• Elevators

• Servo drivers

• Traction systems

• Industrial motion control

• Automotive

Recommended Devices



MPC55xx

Application Notes

8-bit AN2357 Sine Voltage Powered 3-Phase

Permanent Magnet Motor with Hall

Sensor



Microcontrollers


3534


3534





(LIN)

DRM036 Sine Voltage Powered 3-Phase

Permanent Magnet Synchronous

Motor with Hall Sensors

16-bit AN1931 3-Phase PM Synchronous Motor

Vector Control


Hardware Interface

DRM102 PMSM Vector Control with Single-

Shunt Current-Sensing Using

MC56F8013/23

DRM099 Sensorless PMSM Vector Control

with a Sliding Mode Observer for

Compressors Using MC56F8013

Reference Designs

RD56F8300EMB Electro-Mechanical Braking

Using 56F8300 Digital Signal

Contollers

RD56F8300EPAS Electronic Power Assisted

Steering (EPAS) with 56F8300

Digital Signal Controllers

RD56F8300FRBBW FlexRay Brake-By-Wire

Using 56F8300 Digital Signal

Controllers

RDDSP56F8PMSDE 3-Phase PM Synchronous

Motor Control with Quadrature

Encoder Using 56F80X Digital

Signal Controllers

RDDSP56F8SMTVC 3-Phase PM Synchronous

Motor Torque Vector Control

Using 56F80X or 56F8300

Digital Signal Controllers

3736


www.silica.com 3736


Permanent Magnet Synchronous Motors (PMSM)

Sensorless sinusoidal field oriented control

with zero speed torque capability

Advantages

• Low-noise operation

• High drive efficiency

• Suitable for drives with high dynamic

requirements

SpeedReference

TorqueControllerPI PI

estim

idq*

idq_estim_filt

BSF

estim

udqcomp

estim

ud_hfuhf(t)=Um*sin( hft)

dq

ABC

dq

ABC

dq

ABC

PI PITorqueController

BSF

estimPosition estimationSpeed estimation estim

IPMSMSensorlessAlgorithms

CurrentReconstruction

Algorithm

PWMGeneration

AC Mains

IPMSM

ADC

iABC

SoftwarePortion

HardwarePortion

3-ph Converter

• High-precison speed/torque control

• Removal of speed sensor

Applications

• Appliances

• HVAC

• Compressors

• Blowers

• Industrial motion controls

Recommended Devices



MPC55xx

Analog/Mixed Signal Power ICs

Motor Driver: MC33927, MC33937

Application Notes

8-bit AN2357 Sine Voltage Powered 3-Phase

Permanent Magnet Motor with Hall

Sensor



Microcontrollers





(LIN)

DRM036 Sine Voltage Powered 3-Phase

Permanent Magnet Synchronous

Motor with Hall Sensors

16-bit AN1931 3-Phase PM Synchronous Motor

Vector Control


Hardware Interface

DRM102 PMSM Vector Control with Single-

Shunt Current-Sensing Using

MC56F8013/23

DRM099 Sensorless PMSM Vector Control

with a Sliding Mode Observer for

Compressors Using MC56F8013

3736


3736


Switch Reluctance Motor Drive

Sensorless

Advantages

• Reliable electronics

• High starting torque

• Removal of position sensor

3-Phase SR Power Stage

SRM

PWMLoad

DC-Bus VoltagePhase CurrentTemperature

AC

DC

1or3

Commutation

Comparator

FaultProtectionPWM

GenerationCurrent

ControllerSpeed

ControllerSpeedRamp

Req.Speed

DesiredSpeed

SpeedError

DC-BusVoltage

ActualSpeed

MCU/DSC

SpeedCalculation

MUX

Commutation

CommutationAngle

ActualCurrent

DC-BusVoltage

CommutationAngle

CommutationAngle

Calculation

Estim.Flux

Refer.Flux

ReferenceFlux LinkageCalculation

Flux Linkageand

ResistanceEstimation

DesiredCurrent

CurrentError

DutyCycle

StartStop

Down

Up

Free MasterSCI

Applications


• Medical scanners

• Computers, office equipment

• Toys

• Food processors

• Vacuum cleaners

• Machine tools


Recommended Devices


16-bit MCU: S12XE

Analog/Mixed Signal Power ICs

Motor Driver: MC33927, MC33937

Application Notes

16-bit AN1912 3-Phase Switched Reluctance (SR)

Motor Control with Hall Sensors

AN1932 3-Phase Switched Reluctance (SR)

Sensorless Motor Control

DRM100 Sensorless High-Speed SR Motor

Drive for Vacuum Cleaners Using

an MC56F8013

Reference Designs

RDDSP56F8SRDE 3-Phase Switched Reluctance

Motor Control with Encoder

Using 56F80X Digital Signal

Controllers

RDDSP56F8SRDHS 3-Phase Switched Reluctance

Motor Control with Hall

Sensor Reference Design for

56F80X or 56F8300 Digital

Signal Controllers

RDDSP56F8SRDS 3-Phase Switched Reluctance

Motor Sensorless Control

Reference Design Using

56F80X or 56F8300 Digital

Signal Controllers

3938


www.silica.com 3938


Power ICs for Motor Control Products

Analog/mixed-signal integrated circuits as part of

robust, highly integrated system solutions

Freescale offers the following analog evaluation

boards and modules:

Device P/N Evaluation Boards and Modules

MC33399 KIT33399DEVB

MC33661 KIT33661DEVB

MC33689 KIT33689DWBEVB

MC33742 KIT33742DWEVB

MC33800 KIT33800EKEVME

MC33810 KIE33810EKEVME


MC33887 KIT33887DWBEVB/KIT33887PNBEVB


MC33926 KIT33926PNBEVBE

MC33927 KIT33927EKEVBE

MC33972 KIT33972AEWEVBE

Power Supply

Management

Inter-ModuleCommunication

System Input

Conditioning

Feedback

Conditioning

Rotor Position(optional)

SPI or ParallelControl

Power Actuation

Motor

MechAssy

MCUDSP

ASSPController

Inter-ModuleCommunication

ProductsMC33390MC33399MC33661MC33790MC33897MC33990MC33910MC33911MC33912

ConditioningProducts

MC33287MC33811MC33884MC33972MC33975MC33993

Management Products

MC33689MC33742MC33889

MC33/34910MC33/34911MC33/34912

MC33989MC34701MC34702

MC34712MC34713MC34716MC34717MC34921MC33910MC33911MC33912

Power Products

MC33580MC33800MC33810MC33874MC33879MC33880MC33882MC33886MC33887MC33899MC33976MC33977MC33926MC33927MC33981

MC33982MC33984MC33991MC33996MC33999MC33920MC33923MC17510MC17511MC17529MC17533

MC908E624MC908E625MC908E626

Device P/N Evaluation Boards and Modules

MC33975 KIT33975AEWEVBE

MC33984 KIT33984PNAEVB


MC33996 KIT33996EKEVB

MC33999 KIT33999EKEVB



MC34712 KIT34712EPEVBE




MPC17C724 KIT17C724EPEVBE

Please visit www.freescale.com/analog for more

details.

3938


3938


8-bit Microcontroller Motor Control Products

Feature-rich portfolio that meets all of your 8-bit

needs

Freescale’s 8-bit portfolio includes several low-

end devices that provide cost-effective solutions

for motor control applications. From flash to ROM,

8-bit Product Summary

Device Flash RAMADC Timers

5V IO Analog Comparator Communications Packages

Channels Bits GPT ESCI SPI I2C ACMP

MC3PHAC — — 4 10 — — 6 Output N/A — Y — UART 1, 13, 22

MC9S08AC 128 KB 2 KB 16 102 x 2-ch. x 16-bit/

6-ch. x 16-bit — See GPT N — Y — UART, SPI, I2C 1, 2, 3, 4, 5

MC9S08DZ 128 KB 8 KB 24 122-ch. x 16-bit/ 8-ch. x 16-bit — See GPT N — Y 2 UART, CAN, SPI, I2C 1, 4, 18, 19

MC9S08GB 60 KB 4 KB 8 10 3-ch. x 16-bit/ 5-ch. x 16-bit

— See GPT N — — — UART, SPI, I2C 4, 5

MC9RS08KA 8 KB 0.25 KB 12 10 2 x 8-bit/2-ch. x 8-bit — See GPT N — Y 1 I2C 6, 7, 8, 9

MC908MR 32 KB 0.75 KB 10 104-ch. x 16-bit/ 2-ch. x 16-bit — 6-ch. x

12-bit Y — Y — UART, SPI 5, 23

MC9S08QD 4 KB 0.25 KB 4 102-ch. x 16-bit/ 1-ch. x 16-bit — See GPT N — Y — — 16, 17

MC9S08QG 8 KB 0.5 KB 8 102-ch. x 16-bit/

1 x 8-bit — See GPT N — — 1 UART, SPI, I2C 15, 6, 11, 20, 21

MC9S08SH 32 KB 1 KB 16 102 x 2-ch. x 16-bit/

1 x 8-bit — See GPT N — Y 1 UART, SPI, I2C11, 12, 13, 14, 15, 16

** HDI = Hardware Deadtime Insertion

8 Bit Development Tool Summary—HCS08/RS08

Family Part NumbersStarter Kit Advanced Development

Demo Board Software Evaluation Board Kit Software

AC

MC9S08AC128/96 DEMOACKIT

CWX-HXX-SE*Compiles up

to 32k of object code

DEMOACKIT + DEMOACEX

Options starting at $395. More options

and information at www.freescale.com/

codewarrior

MC9S08AC60/48/32 DEMO9S08AC60E DEMO9S08AC60KIT

MC9S08AC16/8 DEMO9S08AC60E DEMO9S08AC16KIT

DZ MC9S08DZ128/ 96/60/32/16 DEMO9S08DZ60 EVB9S08DZ60

GB MC9S08GB60/32 M68DEMO908GB60E M68EVB908GB60E

KA

MC9RS08KA2/1DEMO9RS08KA2USBSPYDER08

EVB9S08DZ60MC9RS08KA8/4

DEMO9RS08KA8USBSPYDER08

MR MC908MR32/16/8 USBSPYDER08

QD MC9S08QD4/2DEMO9S08QD4USBSPYDER08

QG MC9S08QG8/4 DEMO9S08QG8

SHMC9S08SH8/4 DEMO9S08SH8

—MC9S08SH32/16 DEMO9S08SH32

* Codewarrior Development Studio for HC(S)08 Special Edition is complimentary and is supplied with all Freescale development tools. Upgrade available to support expanded memory sizes with part number CWP-PRO-NL/FL.

Package InformationNumber Type Size (mm) Pitch (mm)

1 32 LQFP 7 x 7 0.82 44 LQFP 10 x 10 0.83 48 QFN 7 x 7 0.54 64 LQFP 10 x 10 0.55 64 QFP 14 x 14 0.86 16 LD PDIP 19 x 6.5 2.547 16 LD SOIC 10.3 x 7.5 1.278 20 PDIP 24.5 x 7.25 2.549 20 LD SOIC 12.8 x 7.5 1.27

10 80 LQFP 14 x 14 0.6511 16 TSSOP 5 x 4.4 0.6512 20 TSSOP 6.5 x 4.4 0.65

13 28 SOIC 18 x 7.5 1.2714 28 TSSOP 9.7 x 4.4 0.6515 24 QFN 4 x 4 0.5016 8 NB SOIC 5 x 4 1.2717 8 PDIP 10 x 6.35 2.5418 48 LQFP 7 x 7 0.5019 100 LQFP 14 x 14 0.5020 16 QFN 5 x 5 0.8021 8 DFN 4 x 4 0.8022 28 DIP 37 x 14 2.5423 56 SDIP 52 x 14 1.77

from 1 KB to 60 KB of memory and from tiny 8-pin

QFN to 64-pin quad flat packages, the HCS08 and

RS08 families are designed to meet all of your 8-bit

needs. They feature peripherals, such as 10-bit A/D

convertors and multi-channel timers, which make

them ideal candidates for low-end motor control

applications.

4140


www.silica.com 4140


16-bit MCU and Digital Signal Controller Motor

Control Products

Specialising in automotive and DSP processing

applications, the S12X and DSCs offer superior

functionality in a 16-bit package

16-bit digital signal controller (DSC) products – The

56800 core-based family of DSCs combines the




Channels Bits GPT PIT PWM HDI** TPU

MC56F801x 16 KB 4 KB 2 x 4-ch. 12 4 x 16-bit See GPT 6-ch. x 15-bit Y — Y — UART, SPI, I2C 5

MC56F802x 32 KB 4 KB 2 x 8-ch. 12 2 x 4-ch. x 16-bit 3 x 16-bit 6-ch. x

15-bit Y — Y 2 UART, SPI, CAN, I2C 6

MC56F803x 64 KB 8 KB 2 x 8-ch. 12 2 x 4-ch. x 16-bit 3 x 16-bit 6-ch. x

15-bit Y — Y 2 UART, SPI, CAN, I2C 6

MC56F8123/8122 32 KB 8 KB 2 x 4-ch. 12 2 x 4-ch. x 16-bit — 6-ch. x

15-bit Y — Y — UART, SPI 6

MC56F8135 64 KB 8 KB 4 x 4-ch. 12 2 x 4-ch. x 16-bit — 6-ch. x

15-bit Y — Y — UART, SPI, CAN, Quad Decoder 7

MC56F8147/8146/8145 128 KB 8 KB 4 x 4-ch. 12 2 x 4-ch. x 16-bit — 6-ch. x

15-bit Y — Y — UART, SPI, Quad Decoder 8





MC56F8323/8322 32 KB 8 KB 2 x 4-ch. 12 2 x 4-ch. x 16-bit — 6-ch. x


MC56F8335 64 KB 8 KB 4 x 4-ch. 12 4 x 4-ch. x 16-bit — 2 x 6-ch. x


MC56F8347/8346/8345 128 KB 8 KB 4 x 4-ch. 12 4 x 4-ch. x 16-bit — 2 x 6-ch. x

15-bit Y — Y — UART, SPI, CAN, Quad Decoder 8, 9





MC9S12XE 1024 KB 64 KB 2 x 16-ch. 12 8-ch. x 16-bit 8-ch. x 16-bit

8/4-ch. x 8/16-bit Xgate — Y — UART, CAN, SPI, I2C 1, 2, 3, 4

** HDI = Hardware Deadtime Insertion

DSC Development Tool Summary



56F8000

MC56F8011 DEMO56F8014-EE

CWX-568-SE*Compiles up

to 32k of object code

—



codewarrior

MC56F8013 DEMO56F8013-EEMC56F8014 DEMO56F8014-EE

MC56F802x/3x — 56F8037EVM

56F8100

MC56F8123/8122

—

MC56F8367EVMEMC56F8135

MC56F8367EVMEMC56F8147/8146/8145MC56F8157/8156/8155MC56F8167/8166/8165

56F8300

MC56F8323/8322 MC56F8323EVMEMC56F8335

MC56F8367EVMEMC56F8347/8346/8345MC56F8357/8356/8355MC56F8367/8366/8365

S12X Development Tool Summary



XE

MC9S12XEP768/100

DEMO9S12XEP100

CWX-HXX-SE*Compiles

up to 32k of object code

EVB9S12XEP100



codewarrior

MC9S12XEQ512/384MC9S12XET256MC9S12XEG128

* CodeWarrior Development Studio for S12X Special Edition is complimentary and is supplied with all Freescale S12X development tools. Upgrade available to support expanded memory sizes with part number CWP-PRO-NL/FL.


1 80 LQFP 14 x 14 0.652 112 LQFP 20 x 20 0.653 144 LQFP 20 x 20 0.54 208 MAPBGA 17 x 17 1.05 32 LQFP 7 x 7 0.86 64 LQFP 12 x 12 0.57 128 LQFP 20 x 14 0.58 160 LQFP 24 x 24 0.59 160 MAPBGA 15 x 15 1.0

* CodeWarrior Development Studio for 56800 Special Edition is complimentary and is supplied with all Freescale 56800 development tools. Upgrade available to support expanded memory sizes with part number CWP-PRO-NL/FL.

processing power of a DSP and the functionality of

a microcontroller, with a flexible set of peripherals

on a single chip. This creates an extremely cost-

effective motor control solution. MC9S12XE

family will deliver 32-bit performance with all the

advantages and efficiencies of a 16-bit MCU.

4140


4140



High performance for complex, real-time motor

control applications

These 32-bit embedded microcontrollers combine

higher performance with increased on-chip

functionality to address complex real-time control

applications that require more system throughput.

Both the ColdFire® family and MPC500 and MPC5500

families built on Power Architecture® technology

are capable of fulfilling the most demanding motor

control requirements in a wide range of operating

environments.




Channels Bits GPT PIT PWM HDI** TPU

MCF51AC 256 KB 32 KB 24 12 6 — 2 Y — Y 2 I2C, SPI, CAN 1, 8

MCF521x 256 KB 32 KB 8 12 4-ch. x 32-bit 2 x 16-bit 8/4-ch. x 8/16-bit N — — — UART, I2C, SPI, CAN 1, 2, 3, 4

MCF521xx 128 KB 16 KB 8 12 4-ch. x 32-bit 2 x16-bit 8/4-ch. x 8/16-bit N — — — UART, I2C, SPI, CAN 1, 2, 3, 4

MCF5221x 128 KB 16 KB 8 12 4-ch. x 32-bit 2 x16-bit 8/4-ch. x 8/16-bit N — — — UART, I2C, SPI, CAN,

USB 1, 2, 3, 4


USB 1, 2, 3, 4


Ethernet 8, 9, 10

MCF523x — 64 KB — — 4-ch. x 32-bit 4 x 16-bit See TPU eTPU 32-ch. eTPU — — UART, CAN, I2C, SPI, Ethernet 5, 6, 7

MCF5282 512 KB 64 KB 8 10 4-ch. x 16-bit 4 x 16-bit 1 x 16-bit N — Y — UART, CAN, I2C, SPI, Ethernet, USB 7

MPC561/2 — 32 KB 32 10 6 x 16-bit 1 x 16-bit 6 x 16-bit TPU 2 x 16-ch. Y — UART, CAN, SPI 11

MPC563/4 512 KB 32 KB 32 10 6 x 16-bit 1 x 16-bit 6 x 16-bit TPU 2 x 16-ch. Y — UART, CAN, SPI 11

MPC565/6 1024 KB 36 KB 40 10 6 x 16-bit 1 x 16-bit 6 x 16-bit TPU 3 x 16-ch. Y — UART, CAN, SPI 11

MPC5534 1024 KB 64 KB 2 x 40 12 24-ch. x 24-bit Part of GPT — eMIOS/eTPU 32-ch. eTPU Y — UART, CAN, SPI 12, 13

MPC5553 1536 KB 64 KB 2 x 40 12 24-ch. x 24-bit Part of GPT — eMIOS/eTPU 32-ch. eTPU Y — UART, CAN, SPI 12, 13, 14

MPC5554 2048 KB 64 KB 2 x 40 12 24-ch. x 24-bit Part of GPT — eMIOS/eTPU

2 x 32-ch. eTPU Y — UART, CAN, SPI,

Ethernet 12, 13, 14

MPC5565 2048 KB 80 KB 2 x 40 12 24-ch. x 24-bit Part of GPT — eMIOS/eTPU 32-ch. eTPU Y — UART, CAN, SPI 13

MPC5566 3072 KB 128 KB 2 x 40 12 24-ch. x 24-bit Part of GPT — eMIOS/eTPU

2 x 32-ch. eTPU Y — UART, CAN, SPI,

Ethernet 14 * listed are for the superset device in each family. Memory sizes, peripherals and communication options vary by device. Please see appropriate data sheet for further information. ** HDI = Hardware Deadtime Insertion

ColdFire Development Tool Summary



MCF51ACxxx MCF51AC256/128 DEMOACKIT CWX-HXX-SE* DEMOACKIT/DEMOACEX



codewarrior

MCF521xMCF5213/2/1 M5211DEMO

CWX-MCF-SE*

M5213EVBEMCF5216/4 M5282LITEKIT M5282EVBE

MCF521xx MCF52110/52100 M52210DEMO M52211EVB

MCF522xxMCF52211/52210 M52210DEMO M52211EVB

MCF52223/1 — M52223EVBMCF5223x MCF52235/4/3/1/0 M52233DEMO M52235EVBMCF523x MCF5235/4/3/2 M5235BCCKIT M523XEVBEMCF528x MCF5282/1/0 M5282LITEKIT M5282EVBE

MPC Development Tool Summary



MPC55xx

MPC5553

—

CWS-MPC-5500-SE*

Compiles up to 128 k of

object code

MPC5553EVBE Options starting at $395. More options


codewarriorMPC5554 MPC5554EVBE

CodeWarrior Development Studio Special Edition for all MPC devices is complimentary, and is supplied with all MPC55xx evaluationBoards. This version of CodeWarrior supports object code sizes up to 128 KB. Upgrade available to support expanded memory sizes.For information on these upgrade options, visit www.freescale.com/codewarrior .


1 64 LQFP 10 x 10 0.52 64 QFN 9 x 9 0.53 81 MAPBGA 10 x 10 1.04 100 LQFP 14 x 14 0.55 160 QFP 28 x 28 0.656 196 MAPBGA 15 x 15 1.07 256 MAPBGA 17 x 17 1.08 80 LQFP 12 x 12 0.59 112 LQFP 20 x 20 0.65

10 121 MAPBGA 12 x 12 1.011 388 MAPBGA 27 x 27 1.012 208 MAPBGA 17 x 17 1.013 324 PBGA 23 x 23 1.014 416 PGBA 27 x 27 1.0

4342


www.silica.com 4342



Enhanced time processing unit (eTPU) on the

MCF523x and MPC55xx families

The eTPU is a programmable I/O and control module

with its own core and memory system dedicated

to performing complex timing, control and I/O

management functions independently of the main

The eTPU is software programmable and can be congured to control a series of motors simultaneously.

Freescale provides an entire set of pre-written eTPU functions strictly dedicated to DC and AC motor control.

The following page has the full list of motor control functions/drivers for the eTPU.

eTPU Functions Library

General Timing and Measurement

General Input-

Output (GPIO)

Pulse Width Modulation

Input Capture

Output Compare

Frequency and Period

Measurement

Queued Output Match

Synchronized Pulse Width Modulation

Communications Serial Periperal Interface (SPI) UART UART with

Flow Control

DC Motors Motor Speed DC Bus Break Control

Quadrature Decode

Hall Sensor Decode Analog Sensing Motor Control

PWM Current ControlQuadrature

DecoderHall Sensor

Decoder

AC Motors Motor Speed DC Bus Break Control

Quadrature Decode

Hall Sensor Decode Analolg Sensing Motor Control

PWM ACIM Vector ACIM V/Hz Control

PMSM Vector Control

Electronic Motors and Controls Supported

CD Open Loop

DC Speed Loop with QD

DC Speed Loop with HD

DC Speed Loop and

Current Loop

BLDC with HD Open Loop

BLDC with HD Speed

Loop

BLDC with HD Speed and

Current Loop

BLDC with QD Open

Loop

BLDC with QD Speed

Loop

BLDC with QD

Speed and Current

Loop

ACIM V/Hz Open Loop with Sine

ACIM V/Hz Open Loop with SVM

ACIM V/Hz Speed Loop

with Sine Wave Drive

ACIM V/Hz Speed Loop

with SVM

ACIM Torque Vector Control

ACIM Vector Control with Speed Loop

PMSM Torque Vector Control

PMSM Vector

Control with Speed Loop

Freescale provides a free library of eTPU function including C source code, Host C API and detailed application notes. See it all at www.freescale.com/eTPU .

Users may customise library functions and/or develop custom functions using the Byte Craft C Compiler and ASH WARE Simulator.

processor. The eTPU is essentially a microcontroller

itself, used in a variety of applications, including

general timing functions, serial communications,

motor control, custom logic replacement and

engine control. With some applications requiring

more than 70 percent of the CPU bandwidth, the

eTPU on the MCF523x and MPC55xx is an ideal

solution.

4342


4342


Motor Control Products

Algorithms and drivers provided by Processor Expert™

Microcontroller Drivers and Algorithms—Available in Processor Expert Motor Type Available Drivers and Algorithms

Standard Drivers

Timer PWM I/O ports

Flash SCI CAN (DSP only)

ADC SPI Position Sensing Encoder (DSP only)

AC Induction

Power factor Brake control Board identication

3-phase waveform generation V/Hz and PFC SCI communication routine

Space vector modulation PI/PID controllers Lookup table

Ramp Velocity calculation and estimation

Switch/push button Position calculation and estimation

Brushless DC

BLDC commutation handler with sensor BLDC with sensors Switch control

BLDC commutation handler, sensorless Ramp board identication SCI communication routine

PI/PID controllers Switch/push button

Position calculation and estimation Velocity calculation and estimation

BLDC with zero crossing Brake control

Switched Reluctance

SR commutation handler Switch/push button Brake control

SR commutation angle calculation PI/PID controllers Switch control

SR with sensors Velocity calculation and estimation Board identication

SCI communication routine Position calculation and estimation

Ramp Look-up table

16-bit Digital Signal Controller Drivers and Algorithms—Available in Processor Expert

Standard Drivers

ADC DAC Quadrature Decoder

MSCAN Analog Comparator PIT

Flash GPIO Interrupt Controller

PLL PWM Quad Timer

Serial/SCI (also with LIN) SPI Posix Timer

SIM SSI TOD

FlexCAN

Drivers for o-Chip Peripherals

I2C Terminal Button

BLDC LED Brake

Codec EEPROM/Flash (SPI Bus Serial) Switch

ToolsPC Master File I/O JTAG Flash Loader

FreeMaster RTOS Support MicroC/OS-II

MiscelaneousSerial Boot Loader Data Structures (FIFO) Cycle Count

Stack Check Test

Motor Control Algorithms

3-Phase Sine Wave Generation Clarke/Park Transformation Space Vector Modulation

Ramp D-Q System (2-Phase) FOC Decoupling

BLDC Commutation Handler w/Sensors BLDC Commutation Handler Sensorless-Zero CrossSR Commutation Handler

PI/PID Controllers Velocity Calculation and Estimation Look-up Table

Brake Control Switch Control Flux Model

Brushless DC w/Encoder AC Induction Motors V/Hz Closed Loop Digital Power Factor Correction

Wave Generate Phase Flux Estimation

Brushless DC Motors w/Hall Sensor

4544


www.silica.com 4544


additional Motor Control application notes

and Reference Designs

Application Notes

AN1976 Migrating from SDK to Processor Expert

AN1920 DSP56800 Hardware Interface Techniques

AN1926 Production Flash Programming 56F80x, 56F826 and 56F827

AN1933 Synchronization of On-Chip Analog to Digital Converter

AN1935 Programming On-Chip Flash Memories of DSP56F80x DSPs Using the JTAG/OnCE Interface

AN1947 DSP56800 ADC

AN1948 Real-Time Development of MC Applications PC Master Software Visualization Tool

AN1952 Using Program Memory as Data Memory

AN1965 Design of Indirect Power Factor Correction

AN1973 Production Flash Programming

AN1974 56F8300 and 56F8100 ADC

AN1975 Multiple Target Features Using Processor Expert and CodeWarrior

AN3118 Production Flash Programming for the 56F8000 Family

AN3103 56F8000 Clock Generation Guidelines to Ensure Correct Functionality

AN3102 Unique Features of the 56F801x Family of Devices

AN2395 PC Master Software Usage

AN2263 PC Master Software: Creation of Advanced Control Pages

AN2095 Porting and Optimizing DSP56800 Applications to DSP56800E

AN1999 56F8300 Hybrid Controller Used in Control of Electro-Mechanical Brake

AN1994 Start-Up Considerations for 56F8300 and 56F8100 Family Devices

AN1991 Controlling Power Consumption in 56F8300 and 56F8100 Family Devices

AN1983 Software Compatibility Considerations for HCS12, HC16 and 56800/E Devices

AN1980 Using the 56F83xx Temperature Sensor

AN1734 Pulse Width Modulation Using the 16-bit Timer

Reference Designs RDHC08ACIM PWM Control of the Single-Phase AC Induction Motor Using the

MC68HC908QT4 MCU

RDDSC56F8xxxPFC Direct PFC Using the MC56F8013

RD68HC908ACIMDTC 3-Phase AC Induction Motor Drive with Dead Time Distortion Correction Using the MC68HC908MR32

RD68HC908ACIMVHD 3-Phase AC Induction Motor Drive with Tachogenerator Using MC68HC908MR32

RDDSP56F8ACIMVHD 3-Phase ACIM Volt Per Hertz Motor Control Using 56F80X or 56F8300 Digital Signal Controllers

RDMC3PHAC General-Purpose 3-Phase AC Industrial Motor Controller Reference Design

RD68HC908SVPMD Sine Voltage Powered 3-Phase Permanent Magnet Synchronous Motor with Hall Sensors

4544


4544


Software library Set for MC56f80XX and

MCf51aC families

Software libraries GFLIB, MCLIB, GDFLIB

used to build digital control systems

The software libraries for MC56F80XX and

MCF51AC families are designed to construct digital

control systems for different motor types. The

libraries contain software modules implemented

in optimised assembly form and having C-callable

function interface.

General Function Library (GFLIB) contains math,

trigonometric, look-up table and control functions.

These software modules are basic building blocks.

Motor Control Library (MCLIB) contains vector

modulation, transformation and specific motor

related functions to build digitally controlled motor

drives.

User Application SW

Doc

umen

tatio

n

FMaster*Support

External Appl.*Support

*optional ExternalConnections

System Infrastructure

On-Chip Driversefficient reflecting the chip features

Freescale Library Set

GFLIBGeneral

Functions

GDFLIBDigital

Filtering

ACLI

BAd

vanc

ed C

ontr

ol

MC

LIB

Mot

or C

ontr

ol

Application

MCU

External Hardware

On-ChipPeripherals

On-ChipDriver

Libraries

Application SW

4746


www.silica.com 4746


General Digital Filter Library (GDFLIB) contains

filter functions for signal conditioning. Upcoming

Advanced Control Library (ACLIB) will contain

functions to enable building the variable speed

AC motor drive systems with field oriented control

techniques without a position or speed transducer.

Individual libraries are delivered in library modules

and are intended for use in small data memory

model projects. The interfaces to the algorithms

included in these libraries have been combined into

a single public interface file. This is done to simplify

the number of files required for inclusion by

application programs. Refer to the specific algorithm

sections of user document for details on the

software Application Programming Interface (API).

Motor Control LibrariesGeneral Function Library (GFLIB)

Motor Control Library (MCLIB)

Digital Filter Library GDFLIB

Sine, cosine, tangent Inverse sine, cosine, tangent* Two-argument inverse tangent* Signum* 1D look-up table* Hysteresis* Square root Ramp, dynamic ramp Limitation on input signal Proportional-integral (PI)

controller of parallel form* Proportional-integral (PI)

controller of recurrent form

Clark, inverse clark Park, inverse park Vector limitation DC bus voltage ripple elimination Space vector modulation

techniques PM motor decoupling ACIM model Angle tracking observer Back EMF observer for PM motor Saliency tracking observer

1st order IIR 2nd order IIR Moving Simplied

averageMA

* Indicates library is available only for MC56F80xx devices.

For more information on these libraries, please contact your Freescale sales represenative.

4746


4746


Design Resources – Quick Start

Freescale offers easily accessible products, tools

and services to help you speed your product to

market

Freescale Fast Track

The companies that win the race to market with

new product designs often become market leaders

in their industries. Freescale Fast Track helps you

win that race, accelerating the development cycle

by providing immediate services at every step of

the design process. Fast Track opens the door to

assistance programs that not only will help you be

the first to market but also be the best in market.

Below are just a few of our Fast Track services.

Embedded Learning Center provides a wealth of

online technical training courses and Webcasts

– 24 hours a day, 7 days a week – that can bring

you up to speed on our latest products, tools and

technologies. DevToolDirect is an easy way to order

Freescale development tools, software and third-

party design tools directly online for shipment

anywhere in the world. Online Samples Program is

simple and straightforward, starting with an ‘Order

Sample’ button next to a selected product that

begins an easy three-step request process.

Technical Support is available online by our

worldwide team of specialists. Your personal

data is protected by an e-mail-ID/password

combination, and each service request is assigned

a number to enable easy follow-up communication.

To access Freescale’s Fast Track services, visit

www.freescale.com/fasttrack.

Web Links

Freescale Motor Control Solutions

www.freescale.com/motorcontrol

Freescale 8-bit Microcontrollers

www.freescale.com/8bit

Freescale 16-bit DSC

www.freescale.com/dsc

Freescale 16-bit Microcontrollers

www.freescale.com/16bit

Freescale 32-bit ColdFire Microcontrollers

www.freescale.com/coldfire

Freescale Power Architecture Homepage

www.freescale.com/powerarchitecture

Freescale eTPU

www.freescale.com/etpu

Freescale Analog Products

www.freescale.com/analog

Freescale Sensor Products

www.freescale.com/sensors

Freescale Design Tools Search

www.freescale.com/tools

Freescale CodeWarrior Software Development Tools

www.freescale.com/codewarrior

4948


www.silica.com 4948


3.3 International Rectifier

IRS233(0,2)(D)(S&J)

High-Voltage 3-Phase Bridge Driver ICt

Summary

Topology 3-Phase

VOFFSET 600 V max.

VOUT 10...20 V [233(0,2)(D)]

IO± (typ) 200/420 mA

tON/OFF (typ) 500ns

Deadtime (typ) 2.5 μs [IRS2330(D)]

0.8 μs [IRS2332(D)]

Package 28-lead SOIC; 44-lead

PLCC w/o 12 leads

Features

• Floating channel designed for bootstrap operation

• Fully operational to +600 V

• Tolerant to negative transient voltage –

dV/dt immune

• Gate drive supply range from 10V to 20V

• Under-voltage lockout for all channels

• Over-current shutdown turns off all six drivers

• Independent half-bridge drivers

• Matched propagation delay for all channels

• 3.3 V logic compatible

• Outputs out of phase with inputs

• Cross-conduction prevention logic

• Integrated bootstrap diode function

• Ground referenced operational amplifier

Typical Applications

• Motor control

• Air conditioners/washing machines

• General purpose inverters

• Micro/mini inverter drives

Typical Connection Diagram

Higher Efficiency

Modern washers, fans, air conditioners and

pump manufacturers require state-of-the- art

electronic components to deliver more and more

features to the end user. The aim is to create an

energy-efficient appliance, in less time – without

increasing the overall system cost. The IRS233(0,2)

(D) from International Rectifier is a high-voltage,

high speed power MOSFET and IGBT driver with

three independent high- and low-side referenced

output channels for three-phase applications. The

bootstrap diode functionality has been integrated

into this device to reduce the component count and

PCB size. A current trip function which terminates

all six outputs can be derived from an external

current sense resistor. A ground-referenced

operational amplifier is available to provide analog

feedback of the bridge current via an external

current sense resistor.

VCC

HIN 1,2,3

LIN 1,2,3

FAULT

GND

VCC

HIN 1,2,3

ITRIP

CAOCAO

CA-

VSS

VSO

LO 1,2,3

VS1,2,3

VB1,2,3

Up to 600 V

ToLoad

HO1,2,3LIN 1,2,3

FAULT

4948


4948


Increased Reliability

The IRS233(0,2)(D) from International Rectifier is

part of the latest family of gate drivers designed to

be the most rugged in the market for hard switching

environments such as motion control circuits. The

typical problem in voltage source inverters with

inductive loads (as in the motion control domain) is

that the hard switching generates negative voltage

spikes whose amplitude and duration depend on the

switches and on the layout of the application PCB.

Each of these spikes occurs at PWM frequency, so

in some operating conditions, they can occur 16000

times per second. In the IRS233(0,2)(D) datasheet,

the Safe Operating Area for these HVICs under

these conditions is specified.

Overall Benefits

• Reduced component count because the

highvoltage clamping diodes used in other

solutions are no longer necessary

• Fewer field returns because the robust IR HVIC

does not fail in an unpredictable manner unlike

other solutions

Input filters have been re-designed to prevent

small pulse commands reaching the gates of

the switches in the inverter. This is one of the

sources of problems in the field and usually it is

difficult to find. The typical effect is that sometime

inverters return from the field damaged with one

destroyed leg without an apparent root cause.

The IRS233(0,2) (D) embeds filters that solve this

issue. In addition to improved filtering techniques,

the IR233(0,2) (D) also guarantees outstanding

matching in propagation time on all channels as

well as dead-time automatically inserted when

external dead-time is lower than a minimum safe

limit.

Cost-effectiveness

While including all features in the design of

the new rugged family of motion gate drivers,

International Rectifier considered the overall

system cost requirements of its customers, so the

IRS233(0,2) (D) includes many features that are

required in the latest generation applications while

keeping external component count to a minimum.

An example is the ground referenced operational

amplifier. With fewer components and field returns,

the overall system cost is kept low compared to

other solutions.

0 100 200 300 400 500 600 700 800 900 10000

-10

-20

-30

-40

-50

-60

-70

-80

-90

Time (ns)

V I (V

)

Tested safe operating areaIRS233x

IRS233xD Safe Operating Area under repetitive negative spikes

HO

LOCOM

Load Return

Control IC

To Load

t

VS Undershoot

VS -COM

LS2

LS1

Q1

Q2

LD1

LD2

VS

-VS

+VBUS

VBUS

Tolerant to Negative Transient Voltage

5150


www.silica.com 5150


Latch

UVDetector

Latch

UVDetector

Latch

UVDetector

PulseGeneratorLevel Shifter

Set

Set

Set

Reset

Reset

Reset

Input Signal Generator



FaultLogic

ClearLogic

HIN1H1

L1

H2

L2

H3

L3

HIN2

HIN3

LIN1

LIN2

LIN3

FAULT

VCC

VSS

VSO

ITRIP

CAO

LO3

LO2

LO1

VS3

VB3

VS2

VB2

VS1

VB1

LO3

LO2

LO1

CA-

Under VoltageDetectorCurrent

Comparator

CurrentAmp

0.5 V

+–



IntegratedBS Diode

IntegratedBS Diode

IntegratedBS Diode

Driver

Driver

Driver

Driver

Driver

Driver

Advanced Input Filtering in IRS233(0,2)(D)

IRS233(0,2)(D) Additional Feature

EXAM

PLE

1

IN

OUT

EXAM

PLE

2

IN

OUT

tFIL,IN tFIL,IN

IN

OUT

IN

OUT

tFIL,IN tFIL,IN

Small pulses to the gate of theswitches may cause inverter damage

COMPETITOR’S HVIC IRS233(0,2)(D) HVIC

Symbol Definition Max. Test Conditions

MDTDT matching – IRS2330(D) 400 ns

VIN = 0 V & 5 V without external deadtimeDT matching – IRS2332(D) 140 ns

MT Delay matching time (tON, tOFF) 50 ns VIN = 0 V & 5 V with external deadtime larger than deadtime

PM Pulse width distortion 75 ns PW input = 10 μs

Outstanding deadtime and delay matching in IRS233(0,2)(D) along with low pulse width distortion

5150


5150


To High-SidePower Switches (x3)

Low-SideOutput (x3)

COM

High-SideOutput (x3)

BootFETVB: High-SidePower Supply (x3)

High-Side Input (x3)

Low-Side Input (x3)

FAULT

VCC

VSS

ITRIP

VS: High-SideReturn (x3)

To Low-SidePower Switches (x3)

Delay

Logic

HV LevelShifters

BootstrapLogic

HV Drive Stage

HV Well

600 V 3-Phase Gate Drive ICwith UVLO Protection

Integrated BootstrapFunctionality

Schmitt-Trigger Inputs, Noise Filter & Shoot-through Protection

LV Drive Stage

General PurposeComparatorInput and Filter

OperationalAmplifier

IC detects overcurrentand performs shutdown

+

–

InputVoltage

ToLoad

Control Inputs and FAULT

VCC

DCBUS < 600 V

IRS233(0,2)(D)(S&J)PbF

IRS233(0,2)(D) Typical Application Connection

IRS233(0,2)(D) Functional Block Diagram

5352


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IRS2336(4)(D)

High-Voltage 3-Phase Gate Driver IC

Summary

Topology 3-Phase

VOFFSET ≤600 V

VOUT 10...20 V (IRS2336D)

11.5V - 20V (IRS23364D)

IO± (typ) 180 mA & 330 mA

tON/OFF (typ) 530 ns & 530 ns

Deadtime (typ) 300 ns

Package 28-lead SOIC; 28-lead

PDIP; 34-lead MLPQ;

44-lead PLCC w/o 12 leads

Features

• Drives up to six IGBT/MOSFET power devices

• Gate drive supplies up to 20 V per channel

• Integrated bootstrap functionality

• Over-current protection

• Over-temperature shutdown input

• Advanced input fi lter

• Integrated deadtime protection

• Shoot-through (cross-conduction) protection

• Under-voltage lockout for VCC and VBS

• Enable/disable input and fault reporting

• Adjustable fault clear timing

• Separate logic and power grounds

• 3.3 V input logic compatible

• Tolerant to negative transient voltage

• Designed for use with bootstrap power supplies

• Matched propagation delays for all channels

• -40...125 °C operating range

• RoHS compliant


• Appliance motor drives

• Servo drives

• Micro inverter drives

• General purpose three phase inverters


Higher Efficiency

Modern washers, fans, air conditioners and pump

manufacturers require state-of-the-art electronic

components to deliver more and more features

to the end user. The aim is to create an energy-

efficient appliance, in less time – without increasing

the overall system cost.

The IRS2336(4)(D) from International Rectifier is

a high-voltage, high speed power MOSFET and

IGBT driver with three independent high- and low-

side referenced output channels for three-phase

applications. The bootstrap diode functionality

has been integrated into this device to reduce the

component count and PCB size. A current trip

function which terminates all six outputs can be

derived from an external current sense resistor.

DC + BUS

IRS2336xD

ToLoad

DC – BUS

VS3

VS2VS1

VSS

VCC

RCIN

ITRIP

HIN orHIN (x3)

VB (x3)

VS (x3)

HO (x3)

LO (x3)

COM

LIN orLIN (x3)

EN

FAULT

5352


5352



The IRS2336(4)(D) from International Rectifier is

part of the latest family of gate drivers designed to

be the most rugged in the market for hard switching

environments such as motion control circuits. The

typical problem in voltage source inverters with

inductive loads (as in the motor control domain) is

that the hard switching generates negative voltage

spikes whose amplitude and duration depend on the

switches and on the layout of the application PCB.

Each of these spikes occurs at PWM frequency, so

in some operating conditions, they can occur 16000

times per second. In the IRS2336(4)(D) datasheet,

the Safe Operating Area for these HVICs under

these conditions are specified.

Overall Benefits

• Reduced component count because the

highvoltage clamping diodes used in other

solutions are no longer necessary



other solutions

Input filters have been re-designed to prevent

small pulse commands reaching the gates of the

switches in the inverter. This is one of the sources

of problems in the field and usually it is difficult

to find. The typical effect is that sometimes



The IRS2336(4) (D) embeds filters that solve this


the IRS2336(4) (D) also guarantees outstanding


well as deadtime automatically inserted when

external deadtime is lower than a minimum safe

limit.

Cost-effectiveness

While including all features in the design of

their new rugged family of motion gate drivers,

International Rectifier considered the overall

system cost requirements of its customers, so

the IRS2336(4) (D) includes many features that are

required in the latest generation applications while

keeping external component count to a minimum.

With fewer components and field returns, the

overall system cost is kept low compared to other

solutions.

0 100 200 300 400 500 600 700 800 900 10000

-10

-20

-30

-40

-50

-60

-70

-80

-90

Time (ns)

V I (V

)

Tested safe operating areaIRS2336(4)(D)

IRS2336(4)(D) Safe Operating Area under repetitive negative spikes

HO

LOCOM

Load Return

Control IC

To Load

t

VS Undershoot

VS -COM

LS2

LS1

Q1

Q2

LD1

LD2

VS

-VS

+VBUS

VBUS


5554


www.silica.com 5554


+

–

InputVoltage

ToLoad

Control Inputs, EN and FAULT

VCC

DCBUS < 600 V

IRS2336(4)(D)

Advanced Input Filtering in IRS2336(4)(D)

IRS2336(4)(D) Typical Application Connection

EXAM

PLE

1

IN

OUT

EXAM

PLE

2

IN

OUT

tFIL,IN tFIL,IN

IN

OUT

IN

OUT

tFIL,IN tFIL,IN


CIVH )D()4(6332SRICIVH S’ROTITEPMOC


MDT DT matching 60 ns VIN = 0 V & 5 V without external deadtime

MT Delay matching time (tON, tOFF) 50 ns VIN = 0 V & 5 V with external deadtime larger than DT

PM Pulse width distortion 75 ns PW input = 10 μs

Outstanding deadtime and delay matching in IRS2336(4)(D) along with low pulse width distortion

5554


5554


IRS2336(4)(D) Functional Block Diagram


Low-SideOutput (x3)

COM




Low-Side Input (x3)

EN

FAULT

VCC

RCIN

VSS

ITRIP



Delay

Logic

HV LevelShifters

BootstrapLogic

HV Drive Stage

HV Well



Schmitt-Trigger Inputs, Noise Filter & Shoot-through Protection

LV Drive Stage

General PurposeComparator Input & Filter

IC detects overcurrent

IRS2336(4)(D) Functional Block Diagram

5756


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IRS26302DJPbf

Fully Protected Three-Phase Gate Driver IC

Featuring Extra Channel

Summary

Topology 3-Phase + 1 Low-side

VOFFSET ≤600 V

VOUT 10...20 V

IO+ & IO- (typ) 3-Phase 200 mA & 350 mA

1 Low-side 250 mA & 430 mA

Deadtime (typ) 290 ns

Package 44-lead PLCC w/out 12 leads

Features

• Floating channel designed for bootstrap

operation, fully operational to +600 V

• Tolerant to negative transient voltage – dV/dt

immune

• Full 3-phase gate driver plus one low-side driver

• Under-voltage lockout for all channels

• Cross-conduction prevention logic

• Power-on reset

• Integrated bootstrap diode for fl oating channel

supply

• Over-current protection on: DC- (Itrip), DC+

(Ground fault ) and PFCtrip/BRtrip (PFC/Brake

protection).

• Single pin fault diagnostic function

• Diagnostic protocol to address fault register

• Self biasing for ground fault detection high-

voltage circuit

• 3.3 V logic compatible

• Lower di/dt gate drive for better noise immunity

• Externally programmable delay for automatic

fault clear

• RoHS compliant


• Air conditioner inverters

• Micro/mini inverter drives

• General purpose inverters

• Motor control

Target Application: Air Conditioners

The need to deliver energy-efficient products

with more and more functions amidst tightening

safety norms around the world has driven modern

appliance manufacturers to employ state-of-the-

art electronics. Concerns of escalating system

complexity and reliability are being addressed

by pursuing a strategy of high-level integration

and component count reduction. The IRS26302DJ

high-voltage IC (HVIC) offering from International

Rectifier is well suited to today’s needs as it

integrates all system gate drive requirements in

a single package, while boosting system safety

through a host of protection features and system

intelligence through enhanced communication with

the microcontroller.

Simplified Solution

The IRS26302DJ is a high-voltage, high speed

power MOSFET and IGBT gate driver with three

independent high- and low-side referenced output

channels for threephase applications and an

additional low-side channel that can be employed

for either PFC or brake IGBT driving operation.

Reduction in system component count and

complexity as a result of the additional low-side

gate driver and integrated bootstrap functionality

translates into improved reliability, reduced returns

from the field and ultimately lower overall system

cost for the appliance manufacturer.

5756


5756


With the IRS26302DJ, International Rectifier has set

a new benchmark in system over-current protection

standards by way of three independent current

monitors that detect excess current in three shunt

resistors – one each on DC+ bus, DC- bus and either

PFC or brake circuitry to provide a comprehensive

current protection scheme for appliance inverter

applications. Advanced input filters on all current

monitors effectively prevent nuisance trips due to

noise in the system’s environment.

DC+ current Monitor Circuitry

• Unique DC+ current monitor offers the only

means to detect phase-earth shorts inside the

motor (insulation break-down etc)

• DC+ current monitor circuit is completely

self-biasing, requiring no external supply

An enable function is available to terminate all

outputs simultaneously and is provided through a

bidirectional pin combined with an open-drain FAULT

pin. Fault signal is provided to indicate that an over-

current or VCC UVLO under-voltage shutdown has

occurred. Over-current fault conditions are cleared

automatically after an externally programmed delay

via an RC network connected to the RCIN input.

The IRS26302DJ also features enhanced input

filters that avoid small pulse commands which can

potentially reach the gates of the switches in the

inverter. This is one of the sources of problems in

the field and usually it is difficult to find. The typical

effect is that sometimes inverters return from the

field damaged with one destroyed leg without an

apparent root cause. In addition to improved filtering

techniques, the IRS26302DJ also guarantees

outstanding matching in propagation time on

all channels as well as dead-time automatically

inserted when external deadtime is lower than a

minimum safe limit.

DC+ BUS

DC- BUS

VCCVDC VSDCGF

HIN (x3)LIN (x3)FLT / EN

PFCIN/BRIN

RCIN

ITRIP

VSS

VB(x3)

VS(x3) VS1

VS2

VS3

ToLoad

HO (x3)

LO (x3)

COM

PFCOUT/BROUT

PFCTRIP/BRTRIP

IRS6302D

DC+ shunt current monitor

DC- shunt current monitor

3rd shunt current monitor

Comprehensive over-current protection offered through three different current monitors in the IRS26302D


MDT DT matching 50 ns VIN = 0 V and 5 V without external deadtime

MT Delay matching time (tON, tOFF) 60 ns VIN = 0 V and 5 V with external deadtime larger than DT

PM Pulse width distortion 75 ns PW input - 10 μs

Outstanding deadtime and delay matching in IRS233(0,2)(D) along with low pulse width distortion

5958


www.silica.com 5958


Enhanced System Intelligence

Enhanced communication with the microcontroller

after occurrence of a fault condition is realised

by a fault diagnostic reporting protocol in the

IRS26302DJ. After each fault event, a diagnostic

feature, when enabled, can communicate to the

controller which fault happened in the system

(UVCC, ITRIP, GF, PCFtrip). If diagnostic is enabled

by forcing all HIN = High and LIN = High, the

HVIC enters into a handshake mode during which

all outputs remain off, the automatic fault clear

function is disabled and FLT/EN is in HZ (refer to

DC+

DC- ITRIP Shunt

GF Shunt

GFHIN 1,2,3

HIN 1,2,3LIN 1,2,3

LO 1,2,3

FLT / EN

COM

VDCVCC VSDC

VB1,2,3

VS1,2,3

VSS

RCIN

PFCIN/BRIN

PFCOUT/BROUT

PFCTRIP/BRTRIP

ITRIP


Hand Shake Mode

Set LIN1 = L, LIN2,3 = H; HINx = HWait tDIAGIN




Fault Query Start

FLT / EN = 0

FLT / EN = 0

FLT / EN = 0

FLT / EN = 0

YES

YES

YES

YES

NO

NO

NO

NO

Exit Fault Query

ITRIP Fault

PFCTRIP Fault

UVCC Fault

GF Fault

Fault reporting protocol in IRS26302DJ

UV_VCCHO = LO = 0

PFCOUT/BROUT = 0FLT / EN = 0

PFCFLT/BRFLT = 0RCIN = HZ

GFITRIPITRIP

PFCTRIP /BR TRIP

Start UpHO = LO= 0

PFCOUT/BROUT = 0

Normal Operations

PFCIN HIN/LIN

HIN# = LIN# =1

HIN# = LIN# =1

HIN# = HLIN# = X

HIN# = 0LIN# = 1

PFC/BR = 0

PFC/BR = 1 HO/LO = 1

HO/LO = 0

Over-CurentHO = LO= 0

PFCOUT/BROUT = 0FLT / EN = 0

RCIN = 0

Hand ShakeHO = LO= 0

PFCOUT/BROUT = 0RCIN = 0FLT = Hz

Dial StateHO = LO= 0

PFCOUT/BROUT = 0RCIN = 0

FLT = DIAG

UV–VBSHO = 0 LO = LIN

FLT = HZRCIN = HZ VBS

VBS

VCCVCC

VCC

RCIN

HZ = High ImpedanceEnhanced System intelligence through comprehensive fault diagnostic reporting

Figure). The HVIC fault register is now ready for

queries from the microcontroller for true fault

reporting. This feature offers superior intelligence

to the system that is especially useful for safety

considerations during re-start.

5958


5958


Benchmark safety standard established through total system over-current protection and

enhanced input fi ltering

To High-SidePower Switches(x3)

Low-SideOutput (x4)

COM




APD diode

Logic

Low-Side Input (x4)

FAULT/EN

VCC

PFCTRIP

VDC VSDCGF

RCIN

VSS

ITRIP


To Low-SidePower Switches(x4)

Delay

Logic

HV LevelShifters

BootstrapLogic

HV Drive Stage

HV Well



PFC ComparatorInput and Filter

Schmitt-Trigger Inputs,Noise Filter and Shoot-through Protection

LV Drive Stage



Logic

InverterDC+bus

1 Gate Driver IC= 7 Channels

Ground Fault ComparatorInput and Filter

6160


www.silica.com 6160


IRS26310DJPbf

High-Voltage 3-Phase Gate Driver IC with DC Bus

Over-Voltage Protection

Summary

Topology 3-Phase

VOFFSET ≤600 V

VOUT 12...20 V

IO+ & IO- (typical) 200 mA & 350 mA

tON & tOFF (typical) 530 ns & 530 ns

Deadtime (typical) 290 ns

Package 44-lead PLCC

Features

• Drives up to six IGBT/MOSFET power devices

• Gate drive supplies up to 20 V per channel

• Integrated bootstrap functionality

• DC bus sensing with over-voltage protection

• Over-current protection

• Over-temperature shutdown input

• Advanced input fi lter

• Integrated deadtime protection

• Shoot-through (cross-conduction) protection

• Under-voltage lockout for VCC and VBS

• Enable/disable input and fault reporting

• Adjustable fault clear timing

• Separate logic and power grounds

• 3.3 V input logic compatible

• Tolerant to negative transient voltage

• Designed for use with bootstrap power supplies

• Matched propagation delays for all channels

• -40...+125 °C operating range

• RoHS compliant


• Permanent magnet motor drives for appliances

• Industrial drives

• Micro inverter drives


Higher Efficiency

Modern washer manufacturers require state-of-

the-art electronic components to deliver more

sophisticated features to the end user. The aim is to

create a machine that can wash almost all types of

fabric with minimum energy, in less time and using

less detergent than previous models – without

increasing the overall system cost. Furthermore,

government regulations are becoming more and

more stringent in terms of efficiency and safety.

In the near future, a new energy labeling scheme

may be introduced in Europe – and the only way

to achieve the highest class label will be to equip

the washer with a three-phase permanent magnet

(PM) motor. The IRS26310DJPbF from International

Rectifier is a high-voltage, high speed power

MOSFET and IGBT driver with three independent

high- and low-side referenced output channels

for three-phase applications. The bootstrap diode

functionality has been integrated into this device to

reduce the component count and PCB size. The new

IRS26310DJPbF

VCC

HIN1, 2, 3LIN1, 2, 3

FAULT/EN

GND

up to 600 V

toLoad

VCC

HIN1, 2, 3LIN1, 2, 3FAULT/EN

RCINITRIPVSS

VB1, 2, 3

1, 2, 3

VS1, 2, 3

DCBus Sense

VSS

6160


6160


device has been designed for three-phase inverters

and is well suited to the requirements of PM motors

in washers as it enables high torque at low speed

(during washing) and reaches high speed with

low torque demand (during spinning). This highly

accurate torque and speed control delivers an effi

cient washing cycle while reducing the motor flux

to enable a high spinning speed that helps deliver

a more efficient drying function in compliance with

safety regulations.

Greater Safety

Safety regulations enforced by law require that

every appliance must meet precise international

Low Voltage

Two extreme point controlDrum Torque

Spin: Low torque high speed

Field weakening operation(Reduce flux to keep from saturation)

Was

h cy

cle:

Hig

h to

rque

low

spe

ed

Front PanelControl

Motor Control&

I/O Control

PMSpeed1800 rpm

30 Nm

5 Nm

rules. Every appliance must include safety

protection circuits either in hardware or in software

that avoid hazards to the end user in case of failure

of any of the components in the machine. By law,

every circuit that implements a protective function

must be certifi ed by an internationally recognized

institute. Washers equipped with PM motors

present a new challenge to washer manufacturers

because, while in spinning mode, the motor itself

can become dangerous in the event that control

is lost. To reach the necessary high speed during

spinning, the motor must be de-fluxed in real-time

fashion. This artificial de-fluxing prevents the motor

from generating a significant voltage.

Problems arise if, in the event of controller failure,

the motor is left rotating without controlling the

applied voltage to it. The motor will then act as a

dynamo, generating a high voltage (above 1000 V)

that can create a fire hazard in the electronics.

The IRS26310DJPbF from International Rectifier

has been designed with a specific hardware safety

function that can override the controller commands

and brake the PM motor (by shorting its terminals)

until a safe low speed is reached, thus avoiding

OFF

ON ON ON

OFF OFF

VBUS > VTH, BUS

DC + BUS

DC – BUS

RSHUNT

VS3VS2VS1VS

VSS

VCC

DCBUSSense

RG, LO

RG, HO

CBS

ITRIP

VB

HO

LO

COM

(x3)

(x3)

(x3)

(x3)

DC Bus over-voltage protection scheme in IRS2631DJ

6362


www.silica.com 6362


high voltage generation. The IRS26310DJPbF

continuously senses the DC Bus through an

external resistor divider and, if a critical voltage is

reached, the IRS26310DJPbF successfully brakes

the motor by shorting the terminal through low-

side switches.

A generic HVIC three-phase gate driver would

require an added external cicuit to perform the

same function as IRS26310DJPbF. This function

is mandatory because it is required for safety

purposes. The IRS26310DJPbF also embeds

all other important protection that are used for

safety reasons: anti-shoot through, over-current

protection, under-voltage lockout and thermal

shutdown input.


The IRS26310DJPbF from International Rectifier is

part of the company’s latest family of gate drivers

designed to be the most rugged in the market

for hard switching environments such as motor

control circuits. A typical problem in voltage source

inverters with inductive loads (as in the motor

control domain) is that the hard switching generates

negative voltage spikes whose amplitude and

duration depend on the switches and on the layout

of the application PCB. Each of these spikes occurs

at PWM frequency, so in some operating conditions,

they can occur 16000 times per second. In the

IRS26310DJPbF datasheet the Safe Operating Area

for this HVIC under these conditions is specified.

Control is lost: DCBUSvoltage rises quickly due to voltage regeneration.

Phase Current

IRS26310DJPbF brakes the motor by shorting the motor terminal and avoiding excessive over-voltage

HO

LOCOM

Load Return

Control IC

To Load

t

VS Undershoot

VS -COM

LS2

LS1

Q1

Q2

LD1

LD2

VS

-VS

+VBUS

VBUS

Tolerant to negative transient voltage

Overall Benefits

• Reduced component count because the high-

voltage clamping diodes used in other solutions

are no longer necessary



other solutions

Input filters have been re-designed to avoid

small pulse commands reaching the gates of the

switches in the inverter. This is one of the sources

of problems in the field and usually it is difficult

6362


6362


MT tON, tOFF matching time (on all six channels) 50 ns max.

MDT DT matching (HIN ->LO & LO->HIN on all channels) 60 ns max.

PM Pulse width distortion 75 ns max.

Outstanding deadtime and delay matching in IRS2631DJ along with low pulse width distortion

0 100 200 300 400 500 600 700 800 900 10000

-10

-20

-30

-40

-50

-60

-70

-80

-90

Time (ns)

V I (V

)

Tested, guaranteed safe operating areaIRS26310DJPbF

IRS26310DJPbF Safe Operating Area under repetitive negative spikes

to detect. The typical effect is that sometimes



The IRS26310DJPbF embeds filters that solve this


the IRS26310DJPbF also guarantees outstanding


well as dead-time automatically inserted when

external dead-time is lower than a minimum safe

limit.

Cost-effectiveness

While including all features in the design of the new

rugged family of motion gate drivers, International

Rectifi er considered the overall system cost

requirements of its customers. Therefore, the

EXAM

PLE

1

IN

OUT

EXAM

PLE

2

IN

OUT

tFIL,IN tFIL,IN

IN

OUT

IN

OUT

tFIL,IN tFIL,IN


Competitor's HVIC IRS26310DJPbF HVIC

IRS26310DJPbF includes many features that are

required in modern applications while keeping

external component count at minimum. With fewer

components and fi eld returns, the overall system

cost is lower.

Advanced Input Filtering in IRS26321DJ

6564


www.silica.com 6564


IRS26310D Functional Block Diagram

IRS26310D typical application connection


Low-SideOutput (x3)

COM


VS: High-SidePower Supply (x3)


DCbusSense

DC+ bus

Low-Side Input (x3)

FAULT/EN

VCC

VSS

RCIN

VSS

ITRIP



Delay

Logic

Logic

HV LevelShifters

HV Drive Stage

HV Well


DC Bus SenseComparator Input and FilterSchmitt-Trigger Inputs,

Noise Filter andShoot-through Protection

LV Drive Stage



+

–

InputVoltage

ToLoad

Control Inputs, EN

DCBUSSense

VCC

DCBUS

DCBUS Sense

IRS26310DJPbF

6564


6564


IR’s Rugged HVICs

Improved Performance and Application-Specific

Features Simplify Motor Control Design

Leveraging years of experience as a leading

supplier of high-voltage ICs (HVICs) in a wide

spectrum of high-voltage switching applications,

IR has introduced two families of high-voltage gate

drivers for motor control applications using either

IGBTs or power MOSFETs.

The newly developed IR gate driver families for

motor control feature

• Ruggedness – capable of operating with large

negative transient, without failing even under

extreme stresses such as hard short circuit of

the inverter outputs

• Micro power consumption on high-side floating

driver

• Enhanced integrated bootstrap diode to

significantly ease power supply design

• Fully controlled timings – propagation delays

and channel-to-channel matching so tight that

pulse width compensation is not required

From the simplest half bridge gate drivers

(IRS260xD family) to application-specific devices

(IRS263xD), motor control designers can now select

from a wide range of IR’s HVICs to best suit their

design needs.

Rugged Gate Drivers by Design

In a typical motor control application design,

problems arise when undertaking prototype

validation tests. When checking for waveforms

and voltages, unexpected large negative voltage

transients can typically appear. This situation is

HO

LOCOM

Load Return

Control IC

To Load

t

VS Undershoot

VS -COM

LS2

LS1

Q1

Q2

LD1

LD2

VS

-VS

+VBUS

VBUS


even worse when trying short circuits tests that

often result in an inverter catastrophic failure. The

key challenge is to design the HVIC in a way that

these negative transients are managed properly

and that the driver can cope with them safely.

International Rectifier has introduced:

• A solid method to characterise and specify

the HVIC

• A reliable and methodical solution to design

negative VS rugged gate drivers

6766


www.silica.com 6766


Negative VS Ruggedness Specifications in IR HVIC Product Datasheets

For proper operation, the device should be used within the recommended conditions. All voltage parameters are absolute voltage referenced to VSO. The offset rating is tested with all suplies biased at 15 V differential.

Symbol Definiton Min. Max. Units

VB1,2,3 High-side floating supply voltage VS 1,2,3 + 10 VS 1,2,3 + 20 V

VS1,2,3 Static high-side floating offset voltage VSO-8 (Note1) 600

VSt1,2,3 Transient high-side floating offset voltage -50 (Note2) 600

VHO1,2,3 High-side floating outpt voltage VS 1,2,3 VB 1,2,3

VCC Low-side and logic fixed supply voltage 10 20

VSS Logic ground -5 5

VLO1,2,3 Low-side output voltage 0 VCC

VIN Logic input voltage (HIN 1,2,3; LIN 1,2,3 and ITRIP) VSS VSS +5

VFLT Fault output voltage VSS VCC

VCAO Operational amplifier output voltage VSS VSS +5

VCA- Operational amplifier inverting input voltage VSS VSS +5

TA Ambient temperature -40 125 °C

Note 1: Logic operational for VS of (VSO -8 V) to (VSO +600 V). Logic state held for VS of (VSO -8 V) to (VSO – VBS)Note 2: Operational for transient negative VS of VSS - 50 V with a 50 ns pulse width.Note 3: CAO input pin is internally clamped with a 5.2 V zener diode.

• In the DC operating condition (Table 1, Note 1) when the negative voltage is excessive and a transmission failure occurs, the IR gate driver is designed such that the last information to be transmitted will be a reset (reset dominance). This guarantees the high-side will hold the off state, thereby protecting the system against catastrophic failures.

• IR gate drivers are 100% tested at wafer and final test level for the minimum Vs DC biasing condition as well as reset dominance functionality.

• In transient operating conditions (Table 1, Note 2), in either normal or hard switching conditions, the capability for the driver to sustain the large negative spikes occurring at each switching event is specified.

Negative Transient Safe Operating Area

IR has introduced a comprehensive and unique

method for characterising and specifying gate driver

capability to manage negative transient by using

the concept of Negative Transient Safe Operating

Area (NTSOA). The NTSOA is a region defined by a

locus of points for the negative pulse’s pulse-width

and amplitude that can be safely managed by the

driver.

Negative VS Transient SOA for IR gate drivers

(@ VBS = 15 V)

IR’s gate drivers are characterised to withstand

the NTSOA limits by means of dedicated test

equipment. The gate driver works properly for any

negative pulse whose amplitude and pulse-width

falls within the white area indicated in Figure 2.

Pulses whose amplitude are large enough to fall

in the gray area might result in the gate driver not

working properly.

Boosting Short Circuit Immunity

In addition to NTSOA, each new part is tested in an

inverter assembly and stressed under inverter short

circuit operation. The inverter PCB is designed

to replicate the worst case parasitic conditions of

a real inverter assembly and the driver is tested

for inverter output to ground short circuit using

6766


6766


a wide range of IGBT types and rated current.

This represents the worst case configuration to

generate severe negative transients on VS nodes.

The new IR gate drivers are found to be highly

robust against short circuits even when a negative

transient extends well below the limits defined by

NTSOA. Passing both NTSOA and short circuit tests

is a requirement for IR’s new motor control gate

drivers.

More Rugged, More Reliable

In competitor comparison tests, IR’s gate drivers

were found to be the most rugged and reliable

and the only gate driver capable of withstanding

the inverter’s hard short circuit test. Figure 4 plots

the negative VS voltage at which the gate driver

IC destructively fails when subjected to negative

VS events of varying duration. During a 300 nsec

duration negative VS event, while competing gate

driver ICs will fail at a voltage of -21 V (Competitor

A) and -26 V (competitor B), IRS2607D will fail

only at -50 V, thus exhibiting nearly 2x or higher

negative VS capability. Competing parts typically

require additional protection components (such

as clamping diode) to be added to limit the extent

of negative transient on VS pins resulting in higher

cost, increased complexity and possibly impacting

the switching performance of the inverter itself.

Enhanced Integrated Bootstrap Functionality

Along with under-voltage lockout functionality

provided by almost all IR gate drivers, the new

motor control-specific HVIC families feature a

very low quiescent current which enables using

a bootstrap power supply for even the most

demanding applications such as trapezoidal or six-

step as well as other PWM modulation techniques

requiring one inverter leg to keep a high level for

long periods. In addition, to reduce the component

count and make the design easier and more

reliable, the new family of motor control gate

drivers feature integrated bootstrap functionality

implemented by means of an internal high-voltage

MOSFET whose biasing conditions are properly

managed to deliver current to the high-side circuit

through the low-side supply network, emulating

0 100 200 300 400 500 600 700 800 900 10000

-10

-20

-30

-40

-50

-60

-70

-80

-90

Time (ns)

V I (V

)

Tested safe operating areaNTSOA

Fig 2: Negative Transient Safe Operating Area

HIN is pulsedLIN is inactive

6 inch wire to shortoutput to negative bus

Bootstrap diodeonly when required

+

HIN

C2

100 uC1

R1

HV1

IGBTQ2

IGBTQ1

R2

HINHO

LO

COM

LIN LIN

VCC

VCCRB DB

CB

VSS

VB

VS

Fig 3: Short circuit test setup

0

-10

-20

-30

-40

-50

-60

-70

-80

-90

0 100 200 300 400 500 600 700Time (nsec)

Volt

age

-21

Bad-26

Good

Bad

-50

Competitor ACompetitor BIRS2607D

Fig 4: Negative vs transient event point of failure test comparison

6968


www.silica.com 6968


the external high voltage bootstrap diode. In

particular, the IRS2607D’s bootstrap function has

been designed to accommodate the more complex

trapezoidal modulation scheme, where the long-

off-times of the low-side switch and extended tri-

state conditions renders bootstrap circuit design

generally difficult.

High Fidelity in Power Motor Control

The new family of motor control-specific gate

drivers from IR offer full compatibility to 3.3 V

CMOS standards and integrate a new low distortion

input filter that guarantees precise pulse width

transmission even at the extremes of the filtering

time while guaranteeing that too short pulses do

not reach the power section as they would not be

long enough for the inverter output to change state.

Three-phase gate drivers are also designed to

accurately match propagation delays among all six

channels and are tested to guarantee the input to

output pulse width distortion (defined as difference

between input pulse-width and output pulse-width)

to be lower than 75 ns.

Application-Specific Features

The new IR HVIC families include gate driver ICs

that have been tailored to the final application. In

addition to ruggedness and extreme fidelity, new

features have been included to create even more

compact and robust inverters. The IRS26302D, for

example, is the first HVIC that includes all type

of over-current protection required in a modern

brake+inverter system or in a modern PFC+inverter

system. The IRS26310D includes a special zero

vector braking function that can be extremely

important when assessing the safety level of a

system with certification agencies. Whenever a

Permanent Magnet (PM) motor is driven in field

weakening, protection must already be integrated

in the IRS26310D.

EXAM

PLE

1EX

AMP

LE 2

IN

OUT

IN

OUT

tFIL,IN tFIL,IN

IN

OUT

IN

OUT

tFIL,IN tFIL,IN


COMPETITOR’S HVIC INTERNATIONAL RECTIFIER HVIC

Advanced Input Filtering

6968


6968


Three-Phase Single-Phase

IRS2336 IRS2330IRS2332 IRS2336D IRS2330D

IRS2332D IRS26302D IRS26310D IRS26320 IRS2607D IRS2608(4)D IRS2609(4)D

Driving Channels 6 6 6 6 6 +1 6 6 2 H & L 2 HB 2 HB

Product-SpecificFunction

• GND shunt over-current protection

• VCC & VBS UVLO


• VCC & VBS UVLO

• Op-Amp for GND shunt


• VCC & VBS UVLO

• Integrated bootstrap


• VCC & VBS UVLO


• Op-Amp for GND shunt

• GND/PFC/ DC+ Shunt over-current protection

• VCC & VBS UVLO


• Integrated fault diagnostic protocol 1


• VCC & VBS UVLO

• Integrated Bootstrap

• DC bus over-voltage protection2


• VCC & VBS UVLO

• VCC short protection3

• Independent high- and low- side inputs

• Complementary inputs (programmable deadtime)

• Single input (programmable deadtime)

Improvement vs G2 Family

• No-short-pulse input filter• Turn-on/turn-off delay and deadtime matching between channels• VS headroom 4

• Reset dominance 5

• Power on reset of all internal latched logic

Product-SpecificImprovement

• GND shunt overcurrent protection• Redundant reset 5

• GND/PFC/ DC+ Shunt over-current protection

• Redundant reset5

• Integrated bootstrap suitable for Trapezoidal and Sinusoidal modulation

• Integrated bootstrap suitable for sinusoidal modulation

Robustness Improvement

• Negative VS no-flip-glitch compared with state-of-the-art gate driver IC• Negative Transient Safe Operating Area datasheet specification

• Negative VS no-flip-glitch compared with state-of-the-art gate driver IC• Negative Transient Safe Operating Area datasheet specification• Negative VS IQCC latch-up

robustness compared to competitors, G2 and G5-D version

Package QFN, MLP available

MLP available

1. Integrated logic for fault dignostic (GND/PFC/DC Bus shunt over-current and VCC UVLO faults)

2. DC Bus over-voltage detection and protection through zero vector insertion

3. Low voltage supply short failure detection and protection through zero vector insertion

4. Minimum VS voltage allowing full functionality

5. Redundacy in the number of reset pulses transmitted to the high-side

7170


www.silica.com 7170


3.4 Infineon Technologies

Solutions for Motor Control and Drive

applications

Infineon Technologies offers products and solutions

for motor control and drive applications for the

Industrial, Consumer and Automotive Market.

Infineon’s key products for motor control solutions

are Microcontrollers, Gate Drivers, Mosfets, IGBTs,

Integrated Driver ICs, Voltage Regulators and

Sensors.

Target Markets

Automotive

Industrial

Consumer

Stepper Motors

DC Brush Motors

PMSM Motors

Brushless DC

Induction Motors

Switched Reluctance

Motor Types Key Products

Microcontrollers8 bit16 bit

Gate DriversEicedriversH-Bridge drivers3 Phase Drivers

MOSFETsLV MosfetsHV Mosfets

IGBTsTrenchstopTrenchstop 2

Integrated Driver ICs/ Modules

CiposTrilithICsNovalithICs

Voltage RegulatorsLinearDC/DC

SensorsLinear Hall SensorsHall SwitchesOverview about Key Products and

Motor Types

M

Central Control Unit

Driver Stage

Power Management

User Interface &

Communication

AF Discretes Sense & Monitor

Linear Voltage Regulator

TLE42xxx, ...

DC/DC Converter

TLE6389, TLE8366, TLE7388...

Gate Drivers

EiceDRIVER

1ED020I12x, 2ED020I12X,6ED003L06x

3-Phase Bridge Drivers

TLE7183x, TLE7184x, TLE7185x, TLE7189x

Power Stage

IGBTs

HV Mosfets (500 V -900 V)

IPxxxx

LV Mosfets (20 V – 300 V)

IPxxxx, IGxxxxxx

Microcontroller

8-bit

XC866, XC886,

XC888, XC878

16-bit

XE164, XE167

Transceivers

CAN Transceiver

TLE625xxx

LIN Transceiver

TLE725xx

Sensors

Hall Switches

TLE49xxx, TLI49xxx,

Linear Hall Sensors

TLE49xxx

Integrated DriverIC / Modules

CIPOS

IKCSxxFxxxx

NovalithICs

BTN79xx

high voltage applications

low voltage applications

high and low voltage applications

Block Diagram of a BLDC Motor with Suitable Infineon Products

7170


7170


Using Infineon’s broad portfolio of power products

and Microcontrollers efficient and robust control

units for Stepper Motors, DC Brush, PMSM, BLDC,

Induction and Switched Reluctance Motors can be

designed. Infineon offers products and solutions for

the main blocks of a motor drive in low voltage and

high voltage applications.

Infineon Drive Kits – evalution Kits for efficient

and Successful Designs of Motor Control

applications

For efficient and successful designs Infineon offers

Drive and Evaluation Kits for different motor control

applications. The Drive Kits allow very fast and easy

evaluation of the hardware and software for driving

motors and shorten the time for the development

of the application.

There are Drive Kits available for low voltage and

high voltage applications (see overview below).

Dave Drive application Kit for PMSM and

blDC Motor Control with Infineon’s 8-bit

Microcontroller and low Voltage Inverter

DAvE Drive is a GUI based software

tool that allows application

developers to configure XC886/

XC888 software for control of

brushless synchronous 3-phase

motors in a very efficient way. With DAvE Drive,

the developer is only a few mouse clicks away

from customized code reflecting choice of motor,

motor speed, type of control and various other

options. DAvE Drive uses the full power of Infineon’s

microcontroller, e.g. it generates optimized FOC

code for XC886 using Vector Computer which

usually requires expert knowledge in both motor

control and assembler programming.

DAvE Drive is an application centric add-on to DAvE,

Infineon’s Digital Application Virtual Engineer. DAvE

provides initialization, configuration and driver

code to ease programming for beginners as well as

experts. This tool generates complete algorithms in

source code, ready to be compiled and debugged by

popular tools, as Keil compiler or Tasking compiler.

Key Features of DAvE Drive Application Kit

• XC886 with vector computer

• PWM unit

• Fast ADC with <200 ns sample time

• Power Board 23...56 V, 7.5 A

• 15 W PMSM Motor and plug in power supply 24 V

• Using Infineon 6ED003L06 gate driver,

BSC196N10 MOSFETs, CoolSET ICE3B0565

power supply and TLE4264 LDO

12 V

230 V

BLDC XC866

20 A

DAvEDrive

XC8867.5 A

LIN StepperXC866200 mA

FOC Motor DriveXC878XE164

7.5 A

3phase Drive

XC8863 A

Dual FOC + PFC Motor Drive

XC878/XE1647.8 A + 0.8 A

48 V

White Goods Air conditioner

Industrial Drives, Pumps, Fans, Valves and Power Tools

Pump/BlowerGauges

Field Oriented Control

Block Commutation

XC800 FOCXC886

1.2 A24 V

Valves, Gear Motor

Overview Infineon Drive Applications Kits

7372


www.silica.com 7372


• DAvE Drive Auto code generator

(fully functional application code) for

• Block commutation with hall sensors and

sensorless

• Sensorless FOC of PMSM

• Free toolchain integrated in DAvE Drive

• Flexibly generates optimized code and is not

based on static libraries

• Configures Infineon’s powerful and flexible

motor control peripherals

• Compresses a detailed user manual into a few

mouse clicks

• Helps designers to quickly and easily

implement advanced motor control techniques

on low-cost components

• Digital isolated real time monitoring tool (USB

to JTAG and CAN bridge)

• Suitable for Windows 98/2000/XP

Applications

• Industrial motor control

• Transportation systems

• Consumer Motor Control

• Appliance Motor Control

Hardware Description of Low Voltage Inverter

The Low Voltage Inverter is designed to provide a

robust power inverter including feedback signals

for 24 V and 48 V motors. The Inverter offers a

seamless fit to the DriveCards offered by Infineon.

• 3 phase full bridge inverter with n-channel

MOSFETs 19.6 m, 100 V

• Integrated driver with bootstrap technology

6ED003L06-F

• On Board power supply

• Switch mode power supply (15 V) for MOSFET

driver ICE3B0565JG

• Low drop voltage regulator (5 V) for MCU

TLE4264-2

• Voltage range: 23...56 V

• Maximum DClink current: 7.5 A

• Seamless connection of Infineon Technologies

DriveCards, Microcontroller boards, dedicated

for motor control

VDClink

SMPS

LDO

5 V

15 V

Gain: 34

Back-EMFfeedback signals

3-phase motor

100 µF/50 V

20 mΩ

VCC

HINxLINx

ENFO

GND ITRIP

5 VU_H/U_LV_H/V_L

W_H/W_LEnable

IDClink

GND

V_U/V_V/V_W

U VW

Block Diagram of Low Voltage Inverter

7372


7372


Pluggable PMSM Motor Board

A PMSM motor board is available in addition to the

low voltage inverter

• Easy to use with 24 VDC plug-in power supply

• Additional filter capacitor (100 µF, 50 V) on board

• Motor connections fed via jumpers for easy

current measurement

• Small PMSM motor on board (24 V, 15 W)

(Maxon EC flat 32)

Product Highlight of Dave Drive application Kit

eiceDRIVeR™ - IGbT/MoSfeT Gate Driver ICs

Description 6ED003L06-F

Integrated 3 Phase Gate Driver

The gate driver 6ED003L06-F is a full bridge driver

to control power devices like MOS-transistors

or IGBTs in 3-phase systems with a maximum

blocking voltage of +600 V. Based on the used SOI-

technology there is an excellent ruggedness on

transient voltages. No parasitic thyristor structures

are present in the device. Hence,no parasitic latch

up may occur at all temperature and voltage

conditions.

The six independent drivers are controlled at the

low-side using CMOS resp. LSTTL compatible

signals, down to 3.3 V logic. The device includes

an under-voltage detection unit with hysterese

characteristic and an over-current detection. The

over-current level is adjusted by choosing the

resistor value and the threshold level at pin ITRIP.

Both error conditions (under-voltage and over-

current) lead to a definite shut-down off all six

switches. An error signal is provided at the FAULT

open drain output pin. The blocking time after

overcurrent can be adjusted with an RC-network at

pin RCIN. The input RCIN owns an internal current

source of 2.8 μA. Therefore, the resistor RRCIN

is optional. The minimum output current can be

given with 120 mA for pull-up and 250 mA for pull-

down. Because of system safety reasons a 380 ns

interlocking time has been realised.

The function of input EN can optionally be extended

with an over-temperature detection, using an

external NTC-resistor (see Fig.1). There are

parasitic diode structures between pins VCC and VBx

due to the monolithic setup of the IC, but external

bootstrap diodes are still mandatory.

Low Voltage Inverter with PMSM Motor

7574


www.silica.com 7574


Features

• Insensitivity of the bridge output to negative

transient voltages down to -50 V as a result

of SOI technology

• Power supply of the high-side drivers

via bootstrap

• CMOS- and LSTTL-compatible input

(inverted logic)

• Signal interlocking of every phase to prevent

cross-conduction

• Overcurrent protection

• Undervoltage lockout

• ‘Shutdown’ of all switches during error

conditions

• Programmable restart after overcurrent

detection

• RohS-compliant PG-DSO-28 package


• Washing machines

• Air conditioners

• Controlled fans

• Refrigerators

• Freezers

• Sewing machines

• Dishwashers

Benefits

• High system reliability

• Industry-standard footprint

• Safe operation

• Reduced component count

Input NoiseFilter

Input NoiseFilter

Input NoiseFilter

Input NoiseFilter

Input NoiseFilter

Input NoiseFilter

Input NoiseFilter

Input NoiseFilter

SetDominant

Latch

UV-Detect

BIAS Network/VDD2

Deadtime &Shoot-Through

Prevention


Prevention


Prevention

BIAS Network-VB1

BIAS Network-VB2

BIAS Network-VB3

HV Level-Shifter+ Reserve-Diode



Compa-rator

Compa-rator

Compa-rator

Delay

Delay

DelayVSS/COMLevel-Shifter

VSS/COMLevel-Shifter

VSS/COMLevel-Shifter

Latch

UV-Detect

Latch

UV-Detect

Latch

UV-Detect

Gate-Drive

Gate-Drive

Gate-Drive

Gate-Drive

Gate-Drive

Gate-Drive

HIN1

LIN1

HIN2

LIN2

HIN3

LIN3

EN

ITRIP

RCIN

FAULT

VB1

HO1

VS1

VB2

HO2

VS2

VB3

HO3

VS3

VCC

LO1

LO2

LO3

COM

VSS

S Q

R

>1

Block Diagram of EiceDRIVER™

7574


7574


Product Highlight of Dave Drive application Kit

XC886/888ClM Microcontroller Series

High Performance 8-bit Microcontroller with

On-Chip Flash Memory and CAN

The XC886/888CLM enhances the XC800 family of

8-bit μCs with a new member providing advanced

networking capabilities by integrating both a CAN

controller (V2.0B active) and LIN support on a single

chip. The on-chip CAN module reduces the CPU

load by performing most of the functions required

by the networking protocol (masking, filtering and

buffering of CAN frames).

Additional key features include up to 32 KByte of

embedded Flash memory, an intelligent PWM unit,

a highly accurate 10-bit ADC with fast conversion

speed, a CORDIC and a Multiplication Division Unit

(MDU) for fast mathematical computations. The

flexibility offered by the XC886/888CLM embedded

Flash products is also expanded to include a

family of compatible ROM versions for further cost

saving potential in high volume production. The

XC886/888CLM offers an optimised fit to a wide

range of CAN networking applications including

automotive body, control for industrial and

agricultural equipments, building control for lifts/

escalators, intelligent sensors, distributed I/O

modules and industrial automation.

Feature Set

• 24/32 kByte Flash (incl. 8 kByte data flash),

• 83...166 ns instruction cycle time@ 24 MHz

• On-chip ROM with Bootloader & Flash routines

• 256 Byte RAM, 1536 Byte XRAM

• MultiCAN (2 nodes, 32 Message objects)

• Multiplication/Division Unit (MDU)

• CORDIC (High speed computation of

trigonometric and hyperbolic functions)

• On-chip debugging interface (JTAG)

• 4 general purpose 16-bit timers

• CAPCOM 6E for multifunctional motor control

• 8 channel 10-bit A/D converter

• Brown out detection

• 2xUART (full duplex), LIN support

• LIN BSL support

• Synchronous Serial Channel (SPI comp.)

• On-chip OSC and PLL for clock generation

• Power saving modes

• General-purpose I/O Ports (34/48)

• Package: PG-TQFP-48 (green), PG-TQFP-64

(green)

• Temperature ranges:

• -40...+85°C

• -40...+125°C

• 3.3 V or 5 V (core supply over internal VR)

• High performance XC800 Core

• compatible to standard 8051 Core

• two clocks per machine cycle architecture

• 24/32 kByte Flash Memory for Program and

Data

• CAN

• MDU

• On-chip debug support (JTAG)

5 V/3.3 VDC-Bus

To Load

VCC

HIN 1, 2, 3LIN 1, 2, 3

FAULT

EN

VSS

RNTC

RRCIN

CRCIN

VCC

HIN 1, 2, 3LIN 1, 2, 3FAULTEN

RCIN

ITRIP

VSS

VB 1, 2, 3

HO 1, 2, 3

VS 1, 2, 3

LO 1, 2, 3

COM

Application Circuit with 6ED003L06-F

7776


www.silica.com 7776


3-Phase Drive application Kit

The 3-phase motor drive application kit shortens

time-to-market for energy efficient motor control

designs targeting excellent speed control, reduced

noise and high system reliability. The kit is built

around the 8-bit XC886 MCU capable of running field

oriented control (FOC) and CIPOS™ - an intelligent

power module (IPM), which provides a high level of

system integration.

Key Features of the 3 Phase Drive Kit

• XC886 with vector computer

• PWM unit

• Fast ADC with <200 ns sample time

• Power Board 110...230 VAC, 3 A

• Inverter with 375...750 W

• Using Infineon IKCS12F60 CIPOS 12A, CoolSET

ICE3B0565 power supply and TLE4264 LDO

• Software package including source code

• Sensorless FOC of PMSM

• V/f control of ACIM for quick evaluation

• Free toolchain including compiler and debugger

• Digital isolated real time monitoring tool

(USB to JTAG and CAN bridge)

• DAvE compatible software packages

• DAvE Drive ready

• Suitable for Windows 98/2000/XP

Applications

• Home appliances


• Dish washers

• Industrial motor control

• Pumps

• Fans

12 KBBoot ROM1)

24/32 KB Flash2)

256 Byte RAM +64 Byte Monitor RAM

1.5 KByte XRAM

XC800 Core

UART T0/T1

CORDIC

MDU

Ports

System Control Unit

EVR, POR,Brownout

OSC & PLL

SSC

UART1

Timer2

Timer21

CCU6

ADC

MultiCAN

Watchdor Timer

Debug & JTAG

Interrupt Controller

1) Includes 1 KB of Monitor ROM2) Includes up to 8 KB for Data Flash

Block Diagram XC866/886

7776


7776


Technical Parameters of the Evaluation Board

Power Board of 3 Phase Application Kit

EMCFilter

GND

+15 V

L

N

PE

– +

Evaluation Board

BuckConverter

+5 V V+ +1.5 V

V+

Protection& Drive

~

~

3~M

U

VB1

V

VB2

W

VB3

V+

VSS

VRWVRVVRU

VDDITRIPEN/LIN3/LIN2/LIN1/HIN3/HIN2/HIN1

IKC

S12F

60AA

Microcontroller

GN

D

+5 V

/EN /F

O

DC

Bus

IW IV IU

/WL

/VL

/UL

/WH

/VH

/UHIsen

se

Tsen

se

Block Diagram of the 3-phase Evaluation Board

Input Voltage Range 85 ~ 265 VAC See the general safety instruction!

Maximum Input Current 6 A POUT = 750 W, VIN = 195 VAC

Nominal Input Current 3.5 A POUT = 500 W, VIN = 230 VAC

Maximum Output Power 750 W Durable Operation up to 10 min.

Nominal Output Power 500 W

Maximum Switching Frequency 20 KHz

Maximum Ambient Temperature @ POUT = 750 W 40 °C VIN = 230 VAC, IU, V, W = 3.5 A, fp = 20 KHz

Maximum Ambient Temperature @ POUT = 500 W 65 °C VIN = 230 VAC, IU, V, W = 2,5 A, fp = 20 KHz

Efficiency 93% POUT = 750 W, VIN = 230 VAC, fp = 15 KHz

7978


www.silica.com 7978


Product Highlight of 3 Phase evaluation Kit

CIPOS™ - Integrated Power Module

The energy-efficient Infineon module family with

its latest updates integrates various power and

control components to increase reliability, and to

optimize PCB size and system costs. This simplifies

the power design and reduces significantly the time

to market. This SIL IPM is designed to control AC

motors in variable speed drives for applications

(from 8 A to up 22 A) such as air conditioning, washing

machines, vacuum cleaners and compressors up

to 3 kW. The package concept is specially adapted

to power applications that need extremely good

thermal conduction and electrical isolation, but

also EMI-safe control, innovative FAULT indication

and overload protection. The features of Infineon

TrenchStop™ IGBTs (VCE(sat) = 1.8 V) and anti-

parallel diodes (VF = 1.6 V) are combined with a

new optimized Infineon SOI gate driver for excellent

electrical performance – a concerted inverter

module for drives from one source.

System Configuration

• 3 halfbridges with TrenchStop® IGBT &

FWEmCon™ diodes

• 3Φ SOI gate driver

• Bootstrap diodes for high side supply

• Integrated 100 nF bootstrap capacitance

• Temperature sensor, passive components for

adaptions

• Isolated heatsink

• Creepage distance typ. 3.2 mm

Applications

• Compressors/Air conditioning

• Fans/blowers

• Pumps

• General purpose drives

• Drives for textile machines


• Refrigerators

Features

• Fully isolated Single In-Line molded module

• TrenchStop® IGBTs with lowest VCE(sat)

• Optimal adapted antiparallel diode for low EMI

• Integrated bootstrap diode and capacitor

• Rugged SOI gate driver technology with stability

against transient and negative voltage

• Temperature monitor and over temperature

shutdown

• Overcurrent shutdown

• Undervoltage lockout at all channels

• Matched propagation delay for all channels

• Low side emitter pins accessible for all phase

current monitoring (open emitter)

• Cross-conduction prevention

• Lead-free terminal plating; RoHS compliant

• Qualified according to JEDEC1

(high temperature stress tests for 1000 h)

for target applications

7978


7978


For further information please visit the Infineon webpage www.infineon.com or

www.infineon.com/cms/en/product/applications/industrial/Motor_Drives

Disclaimer:The information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, Infineon Technologies hereby disclaims any and all warranties and liabilities of any kind, including without limitation, warranties of non-infringement of intellectual property rights of any third party.

TR1, U-HSD1

TR3, V-HSD3

TR5, W-HSD5

TR2, U-LSD2

TR4, V-LSD4

TR6, W-LSD6

RH1 RL1 RH2 RL2 RH3 RL3

CbsH1 CbsH2 CbsH3

HO

1

LO1

VB1

VS1

HO

2

LO2

VB2

VS2

HO

3

LO3

VB3

VS3

VCC/HIN1/HIN2/HIN3/LIN1/LIN2/LIN3 R

CIN

EN ITR

IP

/FAU

LT

V SS Com

Driver-IC

C1 C2

R RTS

Rbs

Dbs1-Dbs3

For integratedcomponents see

Table

V+ (10)

VRU (12)VRV (13)

VRW (14)

U, VS1 (8)V, VS2 (5)

W, VS3 (2)

VB3 (1)VB2 (4)VB1 (7)

VDD (22)/HIN1 (15)/HIN2 (16)/HIN3 (17)/LIN1 (18)/LIN2 (19)/LIN3 (20)

ITRIP (21)

EN (24)

VSS (23)Block Diagram of CIPOSTM

8180


www.silica.com 8180


3.5 Maxim

automatic fan Control Techniques: Trends in

Cooling High-Speed Chips

Abstract: Cooling fans are an important part

of thermal management for high-power chips

(such as CPUs, FPGAs, and GPUs) and systems.

Unfortunately, their use can sometimes raise a

system’s acoustic noise level to the point where

it is objectionable to the user. By measuring

temperature and adjusting fan speed accordingly,

the fan’s speed (and noise level) can be minimised

when temperature is low, but increased under

worst-case conditions to prevent damage. This

article describes two techniques for automatically

controlling a cooling fan’s speed.

High-speed chips tend to run hot. As they get faster,

they get hotter. New generation high-speed digital

chips use smaller processes that allow the supply

voltage to be reduced, which helps somewhat, but

the number of transistors increases faster than the

supply voltage decreases. Power levels, therefore,

continue to rise. As chip temperature increases,

performance can suffer. Parameters shift, maximum

operating frequencies decrease, and timing can fall

out of specification. From the user’s point of view,

the product is no longer operating properly when

this occurs. The first reason for cooling high-speed

chips, therefore, is to maintain good performance

for the longest possible operating time and over

the widest possible range of environmental

conditions. The maximum allowable temperature

for a highspeed chip to meet its parametric

specifications depends on the process and how the

chip is designed (how ‘close to the edge’ the chip is

operating), among other factors. Typical maximum

die temperature values range from 90...130 °C.

Beyond the point where performance degradation

begins, excessive die temperature causes

catastrophic damage to chips. The maximum die

temperature limit is usually well over +120 °C

and depends on such factors as process, package,

and duration of high-temperature conditions.

High-speed chips are, therefore, cooled to avoid

reaching a temperature that could both degrade

performance and cause irreparable damage. A

single cooling technique is rarely used with high-

speed chips. Instead, combinations of techniques

are generally necessary to ensure high performance

and continued reliability. Heat sinks, heat pipes,

fans, and clock throttling are commonly employed

to cool highspeed chips. The last two, fans and

clock throttling, can help solve the heat problem,

but introduce problems of their own.

Fans can dramatically reduce the temperature of

a highspeed chip, but they also generate a great

deal of acoustic noise. The noise from a full-

speed cooling fan is annoying to some consumers

and is also becoming a target of government

agencies concerned about the longterm effects of

noise in the workplace. Fan noise can be reduced

significantly by varying the fan’s speed based on

temperature; the fan can turn slowly (and very

quietly) when temperature is low, and can speed up

as temperature increases.

Clock throttling – reducing clock speed to reduce

power dissipation – works by reducing system

8180


8180


performance. When throttling the clock, the system

continues to function, but at a reduced speed.

Clearly, in highperformance systems, throttling

should be done only when it is absolutely necessary

– that is, when the temperature reaches the point

where functionality is about to be lost.

Controlling fan speed or clock throttling based on

temperature requires that the temperature of the

highspeed chip is measured first. This can be done

by placing a temperature sensor close to the target

chip – either directly next to it or, in some cases,

under it or on the heat sink. The temperature

measured this way corresponds to that of the high-

speed chip, but can be significantly lower (up to

around 30 °C) and the difference between measured

temperature and die temperature increases as

the power dissipation increases. Therefore, the

temperature of the circuit board or heat sink must

be correlated to the die temperature of the high-

speed chip.

A better alternative is possible with a number

of highspeed chips. Many CPUs, graphics chips,

FPGAs, and other high-speed ICs include a ‘thermal

diode’, which is actually a diode-connected bipolar

transistor, on the die. Using a remote-diode

temperature sensor connected to this thermal

diode, the temperature of the high-speed IC’s die

can be measured directly with excellent accuracy.

This not only eliminates the large temperature

gradients involved in measuring temperature

outside the target IC’s package, but it also

eliminates the long thermal time constants, from

several seconds to minutes, that cause delays in

responding to die temperature changes.

The need for fan control forces the designer to make

several key choices. The first choice is the method

of adjusting the fan’s speed. A common method

of adjusting the speed of a brushless DC fan is to

regulate the power-supply voltage of the fan. This

approach works well for power-supply voltages as

low as about 40% of the nominal value. There is

a drawback. If the power-supply voltage is varied

using a linear pass device, the efficiency is poor.

Better efficiency can be obtained using a switch-

mode power supply for the fan, but this increases

cost and component count.

Another popular fan-speed control technique is to

power the fan with a low-frequency PWM signal,

usually in the range of about 30 Hz, whose duty

cycle is varied to adjust the fan’s speed. This is

inexpensive because a single, small pass transistor

can be used. It is efficient because the pass

transistor is used as a switch. A disadvantage of

this approach, however, is that it can make the fan

somewhat noisier because of the pulsed nature of

the power supply. The PWM waveform’s fast edges

cause the fan’s mechanical structure to move

(somewhat like a badly designed loudspeaker),

which can easily be audible. Another fan-control

design choice is whether the fan’s speed is

measured as part of the control scheme. In addition

to power and ground, many fans are available with

a third wire that provides a ‘tachometer’ signal to

the fan-control circuitry. The tachometer output

produces a specified number of pulses (two pulses,

for example) for each revolution of the fan. Some

fan-control circuits use this tachometer waveform

as a feedback signal that allows the fan’s voltage

or PWM duty cycle to be adjusted to give a desired

8382


www.silica.com 8382


RPM. A simpler approach ignores any tachometer

signal and simply adjusts the fan’s drive to speed

up or slow down with no speed feedback. Speed

control using this method is less precise, but cost

is lower and at least one feedback loop is removed,

simplifying the control system.

In some systems, it is important to limit the change

rate of the fan speed. This is most critical when

the system is in close proximity to users. Simply

switching a fan on and off or changing speed

immediately as temperature changes is acceptable

in some environments. When users are nearby,

however, sudden changes in fan noise are apparent

and annoying. Limiting the rate of change of the

fan’s drive signal to an acceptable value (e.g., 1%

per second) ensures that the acoustic effects of fan

control are minimised. The fan speed still changes,

but it does so without attracting attention. The fan-

control profile is another important design variable.

Typically, the fan is off below a specific threshold

temperature and then begins to spin at a slow rate

(for example, 40% of full speed) once the threshold

is exceeded. As temperature increases, the fan’s

drive increases linearly with temperature until it

reaches 100% drive. The best slope depends on

system requirements. A more rapid slope results in

somewhat more consistent chip temperature, but

fan speed has more variation as power dissipation

changes from one moment to the next. If highest

performance is the goal, the starting temperature

and the slope should be chosen so that the fan

reaches full speed before the die temperature is

high enough to initiate clock throttling.

Implementing fan-control circuitry can be done

in several ways. A variety of remote temperature

sensors with up to five sensing channels is available

that can detect the die temperature of the high-

speed chip and transmit temperature data to a

microcontroller. Fan-speed regulators with multiple

channels of fantachometer monitoring can provide

reliable control of fan RPM or supply voltage based

on commands from an external microcontroller.

For low cost and simple implementation, ICs are

available with temperature sensing and automatic

fan control included in a single package. Sensor/

controllers also normally include overtemperature

detection for clock throttling and system shutdown,

thereby protecting the high-speed chips from

catastrophic failure due to overheating.

Examples of two such ICs, one with DC drive and

one with PWM drive, are shown in Figures 1 and 2.

The IC in Figure 1 senses remote temperature and

controls fan speed based on that temperature. It

produces a DC supply voltage for the fan through

an internal power transistor. Figure 2 shows an IC

that performs a similar function, but drives the fan

with a PWM waveform through an external pass

transistor. Both include complete thermal fault

monitoring with overtemperature outputs, which

can be used to shut down the system if the high-

speed chip gets too hot.

Application Note 3173:

http://www.maxim-ic.com/an3173

More Information

For technical questions and support:

http://www.maxim-ic.com/support

For samples: http://www.maxim-ic.com/samples

Other questions and comments:

http://www.maxim-ic.com/contact

8382


8382


Related Parts

MAX6653:

QuickView – Full (PDF) Data Sheet – Free Samples

MAX6660:

QuickView – Full (PDF) Data Sheet – Free Samples

On-ChipPN Junction

High-Speed Chip

2200 pF

1 µF

+12 V

+3.3 V5 kO

10 kO 10 kO 10 kOTACH IN

FANDXP

DXN

MAX6660

VCC

GND

ADD0ADD1

SMBCLKSMBDATA

ALERTOVERT

SMBusTM SERIALINTERFACE(TOSMBus MASTER)

TO SYSTEM SHUTDOWN

High-Speed Chip

1 µF+3.3 V

5 kO

+3.3 V

+3.3 V

2200 pF

+3.3 V

TO CLOCKTHROTTLE

TO SYSTEM SHUTDOWN

SDR SDL PWM TACHOUT IN

FAN FAIL

SMBCLK

MBDATA

ALERT

THERMCRIT1 CRIT0

DXP

DXN

TOSMBus

MASTER MAX6653

Figure 1. Linear (DC-output) temperature sensor and automatic fan-speed controller. Fan speed is controlled automatically based on the temperature of the high-speed chip. Tachometer feedback from the fan allows the fan controller to regulate fan speed directly. System shutdown output prevents the high-speed chip from reaching destructive temperatures.

Figure 2. PWM-output temperature sensor and automatic fan-speed controller. Fan speed is controlled automatically based on temperature. Clock throttle and system shutdown outputs prevent a high-speed chip from reaching destructive temperatures. CRIT0 and CRIT1 pins can be strapped to supply or ground to select default shutdown-temperature thresholds, ensuring protection even when system software hangs.

AN3173, AN 3173, APP3173, Appnote3173,

Appnote 3173

Copyright © by Maxim Integrated Products

Additional legal notices:

http://www.maxim-ic.com/legal

8584


www.silica.com 8584


3.6 Microchip Technology

Motor Control Design Solutions

Discover Microchip’s Comprehensive Motor

Control Solutions

Why chose Microchip for your next motor control

design? Our 8-bit Microcontrollers and 16-bit

Digital Signal Controllers contain innovative on-chip

peripherals designed specifically for motor control.

With motor control devices from 8 to 100 pins, we

have the perfect part for every application.

Got a tight schedule? We provide free motor control

software with application notes and schematics

for most motor control algorithms to shorten your

development cycle. Our development tools are

specifically designed for motor control to promote

rapid prototyping of custom applications. We offer

technical training classes, web seminars to quickly

familiarise engineers with our devices and the

latest motor control algorithms.

Microchip can provide these products and resources

for motor control applications:

• 8 and 16-bit microcontrollers and digital

signal controllers

• MOSFET gate drivers

• Analog and Interface products

• Motor control development tools and reference

design hardware

• Motor control algorithms and software

• Motor control training and technical support

Microchip provides everything a motor control

design engineer needs: low-risk product

development, lower total system cost, faster time

to market, outstanding technical support and

dependable delivery and quality.

Mixed-Signal Power

Input Motor

Feedback

Torque

Speed

Direction

Position

Sensors

Dri

ver

®

Microcontroller

®

Signal

Don’t see what you need? Please ask! Just because

you don’t see it here doesn’t mean that it is not

available. As a leader in motor control, Microchip is

continuously designing new motor control devices

and creating new types of motor control support

software.

8584


8584


Whole Product Solution

Which MCU or DSC Should You Choose?

Microchip provides many devices that can be used

in motor control applications.

Microchip makes many families of MCUs and DSCs,

including 8-, 16- and 32-bit solutions. All of these

can be used in motor control applications. However,

some families contain special motor control

peripherals and features as described below. With

all of these families, the motor control designer can

choose the level of functionality and performance

that is required for the application.

PIC10F Microcontroller Family

The 6-pin products of the PIC10F family offer

the motor control designer an opportunity to

use microcontrollers in applications that have

historically been void of such devices. Whether it is

cost or space constraints, PIC10F microcontrollers

address these concerns by providing a pricing

structure that makes them nearly disposable with

form factors that can easily be implemented into

the most space constrained designs. The ADC,

comparator and timer peripherals found in the

PIC10F device family can be used to provide a user

interface for basic on/off control, speed control

and other intelligent motor functions. The PIC10F

features include:

• Up to 2 MIPS execution speed

• 2x3 DFN or 6-pin SOT-23 package

• Internal oscillator

• Comparator

• 8-bit ADC

8786


www.silica.com 8786


PIC12F and PIC16F Microcontroller Product

Family

The PIC12F and PIC16F product families have

an 8-bit CPU that can operate at speeds up to

5 MIPS. Device variants in the PIC12F family have

8 pins, while PIC16F variants are offered in 14-pin

through 64-pin packages. Some variants in the

PIC16F family have one or more Enhanced Capture

Compare PWM Peripheral (ECCP) modules. The

ECCP module is optimised for controlling ½ bridge

or H bridge motor drive circuits. It can also be used

to steer PWM control signals among 4 output pins

for BLDC motor commutation or stepper motor

control. The PIC12F and PIC16F device families

have these features for low-cost motor control

applications:

• Up to 5 MIPS execution speed

• One or more Enhanced Capture Compare PWM

(ECCP) modules

• Comparator with input multiplexer

• 8-bit or 10-bit ADC

• Internal RC Oscillator

• Internal 5 V Shunt Regulator

PIC18F Microcontroller Product Family

The PIC18F product family also has an 8-bit

CPU and offers extended performance over the

PIC16F device family. The PIC18F device family

can operate at speeds up to 12 MIPS and has a

hardware multiplier for faster calculation of control

algorithms. There are variants in the PIC18F

family with specialised motor control peripherals,

including a 3-phase motor control PWM peripheral

and a quadrature encoder interface (QEI). Other

PIC18F variants have the ECCP module found on the

PIC16F device family. Source code developed for the

PIC16F device family can be easily migrated to the

PIC18F family. Devices with the motor control PWM

module are well suited for variable speed 3-phase

motor applications, while devices with the ECCP

module are useful for brush DC and stepper motor

applications. The PIC18F family has these features

useful for 8-bit motor control applications:

• Up to 12 MIPS execution speed with hardware

multiplier

• Motor Control PWM Module with up to 8 Outputs

• Motion Control Feedback Module for Quadrature

Encoders

• One or more Enhanced Capture Compare PWM

(ECCP) modules

• 10-bit ADC with up to 200 ksps sample rate

• Up to 3 Internal Comparators

16-bit Product family with advanced Peripherals

Advanced Motor Control often does not require DSP

but benefi ts greatly from the DSP resources found

on the dsPIC® Digital Signal Controllers (DSCs).

For example, our sensorless fi eld-oriented control

algorithm makes use of the single cycle MAC with

data saturation, zero overhead looping and barrel

shifting to achieve stunning performance.

dsPIC® 16-bit Digital Signal Controller

Product Family

• Large family of code and pin-compatible Flash

devices

• The dsPIC30F device family offers 5 V or 3.3 V

operation and are available in 28, 40, 64 and

80-pin packages

• The dsPIC33F device family provides 3.3 V

operation and are available in 20, 28, 44, 64, 80

and 100-pin packages

8786


8786


• Easy to migrate between family members

• Facilitates low-end to high-end product

strategy

• Flash program memory for faster development

cycles and lower inventory cost

• High Speed 16-bit CPU with Complier-efficient

architecture

• 40 MIPS operation dsPIC33F (30 MIPS

operation on dsPIC30F)

• Modified Harvard architecture for

simultaneous data and program access

• 16 x 16-bit general purpose registers for

efficient software operations

• Optimised for C code by design with industry-

leading efficiency

• Built-in DSP engine enables high speed and

precision PID control loops

• Full featured DSP engine with two 40-bit

accumulators for multi-loop PID control

• Dual data fetches for single-cycle MAC

instruction support

• Hardware barrel shifter and single-cycle

multiplier

• Saturation support, rounding modes, circular

buffer and modulo addressing modes for

shorter control loops

• Direct-Memory Access (DMA)

(many dsPIC33F devices)

• Peripherals automatically store/retrieve data

from RAM without stealing cycles from the

CPU

• Single supply voltage rails eliminate extra

voltage regulator circuits

• Precision High Speed Internal Oscillator

eliminate external crystal

• Comprehensive System Integration Features

• Up to 4 Kbytes of Data EEPROM (dsPIC30F) for

non-volatile data storage

• High current sink/source I/O pins:

25/25 mA (dsPIC30F), 4/4 mA (dsPIC33F)

• Flexible Watchdog Timer (WDT) with on-chip

low-power RC oscillator for reliable operation

• Power-on Reset (POR), Power-up Timer

(PWRT) and Oscillator Start-up Timer (OST)

• Fail-Safe clock monitor operation detects

clock failure and switches to on-chip low

power RC oscillator

• Programmable code protection

• In-Circuit Serial Programming™ (ICSP™)

• Selectable Power-Saving modes – Sleep,

Idle and Alternate Clock modes; Doze mode

(dsPIC33F)

• Programmable Low-Voltage Detection (PLVD)

(dsPIC30F)

• Programmable Brown-out Reset (BOR)

• Industrial and extended temperature ranges

• Codeguard™ Security helps eliminate loss

of IP

Advanced On-chip Peripherals

Microchip’s 16-bit dsPIC Digital Signal Controllers

(DSC’s) provide on-chip peripherals to design high-

performance, precision motor control systems that

are more energy efficient, quieter in operation, have

greater range and an extended life.

• Motor Control PWM Module (MCPWM)

• Dedicated time base with up to 8 PWM outputs

• Up to 4 complementary pairs for 3-phase

control

• Independent output mode for BLDC Control

• Edge and Center-aligned Modes for quieter

operation

8988


www.silica.com 8988


• Programmable Dead-Time Insertion with

separate turn-on and turn-off times

• Programmable A/D trigger for precise sample

timing

• Up to 2 fault inputs to shutdown PWMs

• Multiple time bases (i.e., supports motor

control and PFC)

• High-speed analog-to-digital converter (ADC)

• Up to 16 channels, 10-bit resolution, 1.1 Msps

(1 μs) high speed conversion rate

• Up to 4 sample and hold circuits for

simultaneous sampling capability for all

3 phases

• Flexible sampling and conversion modes with

16 result registers

• Monotonic with no missing codes

• Up to 2 Quadrature Encoder Interfaces (QEI)

for shaft encoder inputs

• Programmable digital noise filters on input

pins for robustness against noise

• Full encoder interface support: A, B, Index

and Up/Down

• Up to 2 Comparators

• 20 ns response time for rapid response

• Programmable voltage reference

• 12-bit A/D converter (up to 0.5 Msps operation)

• Up to eight Input Capture, Output Compare,

Standard PWM channels

• Communication peripherals including UART,

SPI, I2C™ and CAN

advanced Motor Control applications

Are you considering moving to brushless motors

or sinusoidal control, eliminating costly sensors

or adding PFC?

Let Microchip show you how to save energy, reduce

noise and cost, improve torque response and

reliability.

FOC Sensorless PMSM or ACIM

Are you looking for top of the line dynamic torque

response and effi ciency, and the lowest system cost

motor control solution? Take a look at Microchip’s

dsPIC sensorless Field Oriented Control (FOC)

AN1078 (PMSM) and AN1162 (ACIM) application

notes. The dsPIC DSC provides a very cost effective

solution to this complex algorithm. The dsPIC DSC’s

10-bit A/D module samples the motor voltage

and currents. Clarke and Park transformations

transform the A/D information to feed two PI loops

controlling torque and fl ux. Motor speed and position

are determined by an estimator which models the

motor. The outputs of the PI loops are transformed

using Space Vector Modulation to control the Motor

Control PWM Module’s PWM outputs. Sinusoidal

(180º) outputs provide smoother, quieter motor

operation.

PI

Σ

θ

PI PI

-

NREF IQ REF

ID REF

-

V Q

V D

IQ

ID

V

VSVM

I

I

D,Q

,

Position

Speed

-

A,B,C

,

V

V

Motor

3 PhaseBridge

Ia

Ib

Position andSpeed

Estimator

D,Q

,

Σ

Σ

8988


8988


BLDC Sensorless

Want to eliminate your Hall-Effect sensors and

cabling cost by going sensorless? Take a look at

Microchip’s PIC18F MCU or dsPIC DSC sensorless

BLDC solutions. Application notes AN970/AN991/

AN992 (Sensorless BEMF), AN1083 (Sensorless

Filtered BEMF) and AN1160 (Sensorless Filtered

BEMF with Majority Detect) provide details. FIR

Filtering of the BEMF and/or using Majority Detect

can help with high-speed motors or motors with

distorted BEMF signals. The PIC18 MCU’s or dsPIC

DSC’s A/D samples the motor phase voltages. From

the voltages, the CPU determines the rotor position

and drives the motor control PWM module to

generate trapezoidal output signals for the 3-phase

inverter circuit.

Brushless Fan Control

Need a highly integrated fan controller with a

customisable speed/temperature profile? Take a

look at Microchip’s PIC12HV and PIC16HV devices.

The PIC12HV and PIC16HV devices have a built-in

5 V regulator and on-chip comparator to save

system cost. The rotor position is determined by

a Hall-Effect sensor connected to the on-chip

comparator. The Enhanced Capture Compare PWM

(ECCP) Module uses this feedback information

to drive the motor by steering the PWM signal to

the appropriate motor phase. Temperature sensor

inputs can be used to create a unique fan speed

profi le and the application can provide digital status

information to a host device.

3-phInverter

IBUS

BLDC

Demand

FaultVDC

PIC18F MCU ordsPIC® DSC

Phase Terminal Voltage Feedback

PWM3HPWM3LPWM2HPWM2LPWM1HPWM1L

FLTAAN0AN1AN2

AN12AN13AN14

ECCP

N

S

Hall SensorPIC12HV615

12 VDC

A

B

Temperature

PWMCommand

I2C™

Commutation& Speed

5 V Reg

Comp

9190


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Motor Control Application Notes by Motor Type

Motor Type/Algorithm Versus MCU FamilyylimaF CSD ®CIPsdylimaF 81CIPylimaF 61CIPmhtiroglAepyT rotoM

Stepper Motor

Full and Half-Stepping 609NA 709NA 228NA gnippetS-orciM

Brushed DC Motor

509NAlanoitceridinU 398NAlanoitcerid-iB 696NA696NArotoM ovreS

BLDC and PMSM

SensoredAN857 AN899 AN957

588NA7101NA ladiosuniS derosneS

Sensorless BEMF AN1175 AN970 AN901

299NA 3801NA FMEB deretliF sselrosneS0611NA tceteD ytirojaM htiw FMEB deretliF sselrosneS8701NA COF tnuhS-lauD sselrosneS8021NA CFP htiw COF tnuhS-lauD sselrosneS

AC Induction Motor

Open Loop V/F

AN887 AN900 AN984 AN889 AN843

559NA 769NA

809NA lortnoC rotceV pooL desolC2611NA COF tnuhS-lauD sselrosneS6021NA gninekaeW dleiF htiw tnuhS-lauD sselrosneS

Other6011NA CFP9221NA B ssalC ecnailppA

Motor Type App. Note Description

Stepper MotorAN822 Stepper Motor Micro-stepping with PIC18C452AN906 Stepper Motor Control Using the PIC16F684AN907 Stepper Motor Fundamentals

Brushed DC MotorAN696 PIC18CXXX/PIC16CXXX DC Servomotor ApplicationsAN893 Low-Cost Bi-directional Brushed DC Motor Control Using the PIC16F684AN905 Brushed DC Motor Fundamentals

BLDC and PMSM

AN857 Brushless DC Motor Control Made EasyAN885 Brushless DC (BLDC) Motor FundamentalsAN899 Brushless DC Motor Control Using PIC18FXX31 MCU’sAN901 Sensorless Control of BLDC Motor Using dsPIC30F6010AN992 Sensorless Control of BLDC Motor Using dsPIC30F2010AN957 Sensored Control of BLDC Motor Using dsPIC30F2010AN970 Using the PIC18F2431 for Sensorless BLDC Motor Control

AN1017 Sinusoidal Control of PMSM Motors with dsPIC30FAN1083 Sensorless Control of BLDC with Back-EMF FilteringAN1078 Dual Shunt Sensorless FOC for PMSMAN1160 Sensorless BLDC Control with Back-EMF Filtering Using a Majority FunctionAN1175 Sensorless Brushless DC Motor Control with PIC16AN1208 Integrated Power Factor Correction and Sensorless Field-Oriented Control System

AC Induction Motor

AN843 Speed-Control of 3-Phase Induction Motor Using PIC18 MicrocontrollersAN887 AC Induction Motor FundamentalsAN889 VF Control of 3-Phase Induction Motors Using PIC16F7X7 MicrocontrollersAN900 Controlling 3-Phase AC Induction Motors Using the PIC18F4431AN908 Using the dsPIC30F for Vector Control of an ACIMAN955 VF Control of 3-Phase Induction Motor Using Space Vector ModulationAN967 Bidirectional VF Control of Single and 3-Phase Induction Motor Using Space Vector ModulationAN984 Introduction to ACIM Control Using the dsPIC30F

AN1162 Sensorless Field Oriented Control (FOC) of an ACIMAN1206 Sensorless Field Oriented Control (FOC) of an ACIM Using Field Weakening

OtherAN1106 Power Factor Correction on dsPIC® DSCAN1229 Meeting IEC 60730 Class B Compliance with dsPIC® DSC

ylimaF CSD ®CIPsdylimaF 81CIPylimaF 61CIPmhtiroglAepyT rotoM

Stepper Motor

Full and Half-Stepping 609NA 709NA 228NA gnippetS-orciM

Brushed DC Motor

509NAlanoitceridinU 398NAlanoitcerid-iB 696NA696NArotoM ovreS

BLDC and PMSM

SensoredAN857 AN899 AN957

588NA7101NA ladiosuniS derosneS

Sensorless BEMF AN1175 AN970 AN901

299NA 3801NA FMEB deretliF sselrosneS0611NA tceteD ytirojaM htiw FMEB deretliF sselrosneS8701NA COF tnuhS-lauD sselrosneS8021NA CFP htiw COF tnuhS-lauD sselrosneS

AC Induction Motor

Open Loop V/F

AN887 AN900 AN984 AN889 AN843

559NA 769NA

809NA lortnoC rotceV pooL desolC2611NA COF tnuhS-lauD sselrosneS6021NA gninekaeW dleiF htiw tnuhS-lauD sselrosneS

Other6011NA CFP9221NA B ssalC ecnailppA

Motor Type App. Note Description

Stepper MotorAN822 Stepper Motor Micro-stepping with PIC18C452AN906 Stepper Motor Control Using the PIC16F684AN907 Stepper Motor Fundamentals

Brushed DC MotorAN696 PIC18CXXX/PIC16CXXX DC Servomotor ApplicationsAN893 Low-Cost Bi-directional Brushed DC Motor Control Using the PIC16F684AN905 Brushed DC Motor Fundamentals

BLDC and PMSM

AN857 Brushless DC Motor Control Made EasyAN885 Brushless DC (BLDC) Motor FundamentalsAN899 Brushless DC Motor Control Using PIC18FXX31 MCU’sAN901 Sensorless Control of BLDC Motor Using dsPIC30F6010AN992 Sensorless Control of BLDC Motor Using dsPIC30F2010AN957 Sensored Control of BLDC Motor Using dsPIC30F2010AN970 Using the PIC18F2431 for Sensorless BLDC Motor Control

AN1017 Sinusoidal Control of PMSM Motors with dsPIC30FAN1083 Sensorless Control of BLDC with Back-EMF FilteringAN1078 Dual Shunt Sensorless FOC for PMSMAN1160 Sensorless BLDC Control with Back-EMF Filtering Using a Majority FunctionAN1175 Sensorless Brushless DC Motor Control with PIC16AN1208 Integrated Power Factor Correction and Sensorless Field-Oriented Control System

AC Induction Motor

AN843 Speed-Control of 3-Phase Induction Motor Using PIC18 MicrocontrollersAN887 AC Induction Motor FundamentalsAN889 VF Control of 3-Phase Induction Motors Using PIC16F7X7 MicrocontrollersAN900 Controlling 3-Phase AC Induction Motors Using the PIC18F4431AN908 Using the dsPIC30F for Vector Control of an ACIMAN955 VF Control of 3-Phase Induction Motor Using Space Vector ModulationAN967 Bidirectional VF Control of Single and 3-Phase Induction Motor Using Space Vector ModulationAN984 Introduction to ACIM Control Using the dsPIC30F

AN1162 Sensorless Field Oriented Control (FOC) of an ACIMAN1206 Sensorless Field Oriented Control (FOC) of an ACIM Using Field Weakening

OtherAN1106 Power Factor Correction on dsPIC® DSCAN1229 Meeting IEC 60730 Class B Compliance with dsPIC® DSC

9190


9190


Product Tables

Op Amps for Motor Control Applications*

Device Op Amps Per Package

GBWP (MHz)

Operating Voltage Range (V) Rail-to-Rail Mid-Supply VREF Shutdown Pin

MCP6021/22/23/24 1, 2 or 4 10 2.5-5.5 In/Out MCP6021 MCP6023 MCP6023

MOSFET Drivers for Motor Control Applications*Device Configuration Peak Output Current (A) Output Resistance (Ohms) Maximum Supply Voltage (V)MCP1401/02 Single 0.5 5/8 18TC1410/11/12/13 Single 0.5...3.0 15/15-2.5/2.5 16TC4431/2 Single 1.5 10/10 30TC4451/22 Single 12 2.2 18TC4467/68/69 qUAD 1.2 15/15 18

8-bit PIC® Microcontrollers for Motor Control Applications*

Device Pins Flash KB SRAMBytes

EE Bytes

Timer8/16-Bit Comp CCP/

ECCPMotor ControlPWM

A/D10-Bit

QuadEnc UART SPI/

I²C™PIC16F616/PIC16HV616(1) 14 3.5 128 - 2/1 2 0/1 - 8 ch No - -

PIC16F684 14 3.5 128 256 2/1 2 0/1 - 8 ch No - -PIC16F737 28 7 368 - 2/1 2 3 - 11 ch No 1 1PIC16F747 40/44 7 368 - 2/1 2 3 - 14 ch No 1 1PIC16F767 28 14 368 - 2/1 2 3 - 11 ch No 1 1PIC16F777 40/44 14 368 - 2/1 2 3 - 14 ch No 1 1PIC18F1230 18/20 4 256 128 0/2 3 - 6 4 ch No 1 -PIC18F1330 18/20 8 256 128 0/2 3 - 6 4 ch No 1 -PIC18F2331 28 8 768 256 1/3 - 2 6 5 ch Yes 1 1PIC18F2431 28 16 768 256 1/3 - 2 6 5 ch Yes 1 1PIC18F4331 40/44 8 768 256 1/3 - 2 8 9 ch Yes 1 1PIC18F4431 40/44 16 768 256 1/3 - 2 8 9 ch Yes 1 1

Note 1: HV device has on-chip shunt regulator.

Fan Managers for Motor Control Applications*

Device Description TypicalAccuracy (°C)

Maximum Accuracy@ 25 °C (°C)

Maximum TemperatureRange (°C) VCC Range (V) Maximum Supply

Current (μA)TC642 Fan Manager Note 1 Note 1 -40...+85 3.0...5.5 1,000TC647B Fan Manager Note 1 Note 1 -40...+85 3.0...5.5 400TC670 Predictive Fan Fault Detector N/A N/A -40...+85 3.0...5.5 150

Note 1: These devices use an external temperature sensor. Accuracy of the total solution is a function of the accuracy of the external sensor.

dsPIC30F Motor Control and Power Conversion Family

Device PinsFlashMemoryKbytes

RAMBytes

EEPROMBytes

Timer16-bit

InputCapture

OutputCompare/StandardPWM

MotorControlPWM

Quad-ratureEncoder

ADC10-bit1 Msps

Code-Guard™SecuritySegments U

AR

T

SPI

PC

™

CA

N

PackageCode

dsPIC30F2010 28 12 512 1024 3 4 2 6 ch Yes 6 ch, 4 S/H 1 1 1 1 - SP, SO, MM

dsPIC30F3010 28/44 24 1024 1024 5 4 2 6 ch Yes 6 ch, 4 S/H 1 1 1 1 -SP, SO, 44-pin ML

dsPIC30F4012 28/44 48 2048 1024 5 4 2 6 ch Yes 6 ch, 4 S/H 1 1 1 1 1SP, SO, 44-pin ML

dsPIC30F3011 40/44 24 1024 1024 5 4 4 6 ch Yes 9 ch, 4 S/H 1 2 1 1 - P, PT, MLdsPIC30F4011 40/44 48 2048 1024 5 4 4 6 ch Yes 9 ch, 4 S/H 1 2 1 1 1 P, PT, MLdsPIC30F5015 64 66 2048 1024 5 4 4 8 ch Yes 16 ch, 4 S/H 1 1 2 1 1 PTdsPIC30F6015 64 144 8192 4096 5 8 8 8 ch Yes 16 ch, 4 S/H 3 2 2 1 1 PTdsPIC30F5016 80 66 2048 1024 5 4 4 8 ch Yes 16 ch, 4 S/H 1 1 2 1 1 PTdsPIC30F6010A 80 144 8192 4096 5 8 8 8 ch Yes 16 ch, 4 S/H 3 2 2 1 2 PF, PT

* These tables represents a sampling of device solutions recommended for motor control design. Microchip’s broad portfolio of 8-bit microcontrollers, 16-bit digital signal controllers, analog and interface products, serial EEPROMs and related development systems contains hundreds of products that could potentially be used for motor control design, depending upon the application requirements.

9392


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dsPIC33F Motor Control and Power Conversion Family

Device Pins Flash KB

RAM KB

DMA # Ch

Timer 16-bit

Input Capture

Output Compare/ Standard PWM

MC PWM QEI

ADC 10-/12-bit* 1.1/0.5 Msps

16-bit DAC

Analog Compa-rators

Code-Guard™ Security Segments U

ART

SPI

I²C™

PMP

RTCC

CAN

Pkg Code

dsPIC33FJ12MC201 20 12 1 – 3 4 2 4+2 ch 1 1 ADC, 4 ch – – 2 1 1 1 – – 0 SO, P, SS

dsPIC33FJ12MC202 28 12 1 – 3 4 2 6+2 ch 1 1 ADC, 6 ch – – 2 1 1 1 – – 0SO, SP, ML

dsPIC33FJ32MC202 28 32 2 – 3 4 2 6+2 ch 1 1 ADC, 6 ch – – 2 1 1 1 – – 0SO, SP, MM

dsPIC33FJ32MC302 28 32 4 8 5 4 4 6+2 ch 2 1 ADC 6 ch – 2 – 2 2 1 1 1 –SO, SP, MM


dsPIC33FJ64MC802 28 64 16 8 5 4 4 6+2 ch 2 1 ADC 9 ch – 2 – 2 2 1 1 1 1SO, SP, MM


dsPIC33FJ128MC802 28 128 16 8 5 4 4 6+2 ch 2 1 ADC 6 ch – 2 – 2 2 1 1 1 1SO, SP, MM

dsPIC33FJ16MC304 44 16 2 – 3 4 2 6+2 ch 1 1 ADC, 9 ch – – 2 1 1 1 – – 0 PT, ML

dsPIC33FJ32MC204 44 32 2 – 3 4 2 6+2 ch 1 1 ADC, 9 ch – – 2 1 1 1 – – 0 PT, ML

dsPIC33FJ32MC304 44 32 4 8 5 4 4 6+2 ch 2 1 ADC 9 ch – 2 – 2 2 1 1 1 – PT, ML


dsPIC33FJ64MC804 44 64 16 8 5 4 4 6+2 ch 2 1 ADC 9 ch 2 ch 2 – 2 2 1 1 1 1 PT, ML


dsPIC33FJ128MC804 44 128 16 8 5 4 4 6+2 ch 2 1 ADC 9 ch 2 ch 2 – 2 2 1 1 1 1 PT, ML

dsPIC33FJ64MC506 64 64 8 8 9 8 8 8 ch 1 1 ADC, 16 ch – – 3 2 2 2 – – 1 PT






dsPIC33FJ64MC510 100 64 8 8 9 8 8 8 ch 1 1 ADC, 24 ch – – 3 2 2 2 – – 1 PT, PF






*dsPIC33 devices feature one or two user-selectable 1.1 Msps 10-bit ADC (4 S&H) or 500 ksps 12-bit ADC (1 S&H)

9392


9392


Development Systems

Microchip offers a number of development boards

and advanced development tools that demonstrate

the capabilities of its motor control silicon solutions.

These tools work with Microchip’s MPLAB® ICD

2 In-Circuit Debugger (DV164005) to download,

program and debug application software. Our

systems make it easy to customise the software for

specific motors.

PICDEM™ MCLV Development Board (DM183021)

The PICDEM MCLV

development board

is intended for low-

voltage (up to 48 V),

Brushless DC (BLDC)

applications. The

board provides a low-cost method for users to

evaluate and develop motor control applications

using Microchip’s 28-pin PIC18FXX31 and dsPIC30F

motor control products. A 18-pin translator

board (AC162078) is also available and allows the

PIC18F1330 to be installed on the PICDEM MCLV

board.

dsPICDEM™ MCLV Development Board

(DM330021)

The dsPICDEM

MCLV development

board is intended

for low-voltage

BLDC applications

up to 48 volts at 10

amps. It provides a low-cost method for users to

evaluate and develop motor control applications

using dsPIC33F motor control products via a Plug

In Module (PIM) or 28-pin SOIC socket. Serial

interfaces include: RS-232C, CAN, LIN and USB

(for RTDM). Feedback support includes: Hall-Effect

Sensors, Shaft Encoder and three shunt resistors.

advanced Development Tools

This high-performance modular system provides

a method for quick prototyping and validation of

various motor types. The tools give you the flexibility

to select the appropriate control board and power

modules to meet your needs.

Based on the Microchip MCU family that you want to

design with, select one of the control board options

from the table below:

A 3-phase High VoltagePower Module andMC1 Motor ControlDevelopment Boardare shown.

A 3-phase Low VoltagePower Module withExplorer 16 Board,Motor Control InterfaceBoard and a Hurst Motorare shown.

dsPICDEM™ Motor Control Development System Control Board Options

dsPIC30F Design

dsPICDEM MC1 Motor Control Development Board (DM300020)

dsPIC33F Design

Explorer 16 Development Board (DM240001) dsPIC33FJ256MC710 Plug-In-Module (MA330013) Motor Control Interface PICtail™ Plus Daughter Board (AC164128)

9594


www.silica.com 9594


Next, select a power module based on the voltage

and power requirements of the motor you want to

control.

Motors for Development

You can provide your own motor for application

development work or purchase one of these:

• AC300020 – 24 V brushless DC motor

• AC300021 – 208 V, ¹/³ HP 3-phase AC induction

motor

Motor Control Tuning GUIs

These software plug-in tools included with

MPLAB®IDE assist with the development of motor

control applications:

• AN901 BLDC Tuning Interface – Provides

a graphical method to configure the motor

parameters associated with the AN901

application.

• AN908 ACIM Tuning Interface – Provides

a graphical method to adjust the control

loop parameters associated with the AN908

application.

dsPICDEM™ Motor Control Development System Power Module Options

Line Powered Application up to 240 V AC, 800 W

dsPICDEM MC1H 3 Phase High Voltage Power Module (DM300021)

DC Powered Application up to 48 V DC, 600 W

dsPICDEM MC1L 3 Phase Low Voltage Power Module (DM300022)

Visitwww.microchipdirect.com

to order any of thedevelopment systems

shown here.

• Data Monitor and Control Interface (DMCI) –

Provides a graphical method to input and adjust

software motor parameters. Plots can be used to

show a time history of control variables so that the

motor dynamic response can by analysed. This

tool is useful for tweaking software parameters

and visualising historical data during debug

sessions.

• Real-Time Data Monitor (RTDM) – Make a change

to a software parameter and see the effect

immediately without stopping the motor. A serial

USB or UART cable supports bi-directional data

transfers between the host PC and the MCU/

DSC.

DMCI Graphical Data Display

Other Development Tools

Take advantage of Microchip’s world-class

development tools for 8-bit PIC microcontrollers

and 16-bit dsPIC digital signal controllers, including

programmers, emulators, debuggers and additional

evaluation kits. Operating under the free MPLAB

Integrated Development Environment, Microchip’s

development systems are easy to use and help

9594


9594


reduce design time. Software library support that

enables motor control applications is available in

Microchip’s C Compiler tool suites. In addition to

peripheral drivers, algorithms are available for

Proportional-Interface-Derivative (PID) control and

digital filtering.

DMCI Data Input Sliders and Variable Assignment

DMCI Data Input Page and Variable Assignment

9796


www.silica.com 9796


Training Solutions

Microchip provides a variety of ways to come up to

speed quickly on our 8-bit MCU’s and 16-bit dsPIC

DSC’s, as well as learn how to use them to spin a motor.

Pressed for time? Log on to www.microchip.com/

webseminars and download a web seminar on your

own schedule. These training modules are just the

right size to fit into your busy schedule.

Want to learn from an expert?

Log on to www.microchip.com/RTC and sign up for

a formal class taught by a Microchip engineer. Many

of these classes include hands on motor control

development work, so you can learn the theory

and then put it into practice. Additional classes

are available that cover the device programming

and peripheral usage, C language and control

techniques that are not specific to motor control.

need Design assistance?

Visit www.microchip.com/partners for a directory

of third party consultants and designers that can

help with your motor control application.

Get Started now!

Microchip makes it easy to add electronic motor

control functionality to your embedded design.

For access to Microchip’s complete motor control

design resources, visit the Motor Control Design

Center at www.microchip.com/ motor. Whether

you are a motor control expert or a beginner, this

dedicated site provides you with everything you need

to complete your motor control design, including:

• Applications by Motor Type: This on-line table

captures numerous end applications and

their typical motor types for the industrial,

automotive, consumer and appliance market

segments. Users are guided to the appropriate

products and software solutions for each type of

motor.

• Technical Documentation: Microchip offers a

variety of motor control-related application

notes, reference designs and other technical

documentation to help speed design time.

This technical library provides both theory and

operation considerations for a variety of motor

types.

Class Hours Type Abstract

MCT3201: BLDC Control Techniques

7 Hands On

This workshop class provides a detailed overview of BLDC motor theory and control algorithms. The class also provides an introduction to the dsPIC architecture, and motor control peripherals, along with an in-depth look at Microchip’s BLDC Motor Control firmware and Motor Control Graphical User Interface.

MCT7301: Field Oriented Control of Permanent Magnet Synchronous Motors

7 Hands On

This workshop class provides a detailed overview of PMSM motor theory and control algorithms. The class also provides an introduction to the dsPIC architecture, and motor control peripherals, along with an in-depth look at Microchip’s PMSM Motor Control firmware and Motor Control Graphical User Interface.

MCT4301: Field Oriented Control of AC Induction Motor

7 Hands On

This workshop class provides a detailed overview of ACIM motor theory and control algorithms. The class also provides an introduction to the dsPIC architecture, and motor control peripherals, along with an in-depth look at Microchip’s ACIM Motor Control firmware and Motor Control Graphical User Interface.

9796


9796


Support

Microchip is committed to supporting its customers

in developing products faster and more efficiently.

We maintain a worldwide network of field

applications engineers and technical support

ready to provide product and system assistance. In

addition, the following service areas are available at

www.microchip.com:

• Support link provides a way to get questions

answered fast: http://support.microchip.com

• Sample link offers free evaluation samples of

any Microchip device: http://sample.microchip.

com

• Training link offers webinars, registration for

local seminars/workshops and information on

annual MASTERs events held throughout the

world: www.microchip.com/training

• Forum link provides access to knowledge base

and peer help: http://forum.microchip.com

Purchase

microchipDIRECT is a web-based purchasing site

that gives you 24-hour-a-day access to all Microchip

devices and tools, including pricing, ordering,

inventory and support. You can buy the products you

need on an easily opened Microchip line of credit.

9998


www.silica.com 9998


3.7 on Semiconductor

AMIS305xx family

Stepper Motor Driver/Controller Products

The AMIS-305xx is a family of micro-stepping

stepper motor driver for bipolar stepper motors.

The ICs can be interfaced via I/O pins and the SPI

bus to an external microcontroller.

As one member of the family, the AMIS-30522

contains a current translation table and takes the

next micro-step on every rising (or falling) edge of

the signal on the NXT input pin. The DIR register

or input pin defines the direction of rotation. The

IC provides a speed and load angle output signal.

This in turn enables running on the external

microcontroller stall detection algorithms and

control loops based on load angle, and to adjust

torque and speed accordingly. AMIS-30522 uses

a proprietary PWM algorithm for reliable current

control. Additionally, the AMIS-30522 has an on-

chip voltage regulator, reset output and watchdog

reset.

The AMIS-30522 is implemented in AMIS I2T100

technology, combining both high-voltage analog

circuitry and digital functionality on the same IC.

Key Features

• Drivers and PWM current regulator

• Dual H-Bridge for 2 phase stepper motors

• Programmable peak-current up to 1,6 A using

a 5-bit current DAC

• Fully integrated current-sense

• PWM current control with automatic selection

of fast and slow decay

• Low EMC PWM with selectable voltage slopes

• Active fly-back diodes

• Interface

• SPI interface to external micro or DSP

• Speed and Load Information Output enables

sensor-less detection of stall or rotor position

and several very advanced applications

• Next step input

• Full output protection and diagnosis

• Thermal warning and shut-down

• Compatible with 5 V and 3.3 V microcontrollers

• Stepper

• 7 step modes from full-step up to

32 micro-steps

• Controller

• On-chip current translator

• Voltage Regulator

• Integrated 5V Regulator to supply external

microcontroller

• Integrated Reset Function to reset external

microcontroller

• Integrated Watchdog Function

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Applications

• Intelligent Positioning and Dynamic Motion of

Surveillance Cameras and Spotlights

• Dose Pumps

• Vending Machines

• Pick-and-Place Machines

• Dynamic Motion of Weaving and Sewing

Equipment

• Flap/valve Control in Climate Control Facilities

Motion Control ProductsSPI Stepper Motor DriversAMIS30511 SOIC24 400 mA, 1/32 Micro-stepAMIS30512 SOIC24 400 mA, 1/32 Micro-step, VREG

AMIS30521 NQFP32 800 mA, 1/32 Micro-stepAMIS30522 NQFP32 800 mA, 1/32 Micro-step, VREG

Evaluation KitsEVK-3052x Evaluation Kit for AMIS3052x

101100


www.silica.com 101100


3.8 Renesas Technology

Introduction - Challenges

According to most motor & appliances

manufacturers, improving the efficiency and

the safety of appliances & embedded systems

are now the key goals. Electronically controlled

variable-speed drives are now replacing the less

reliable solutions employed in older motor control

generation. These so called ‘classic’ solutions

such as universal motors or single phase induction

motors used up to now present several limitations

in terms of efficiency, safety and reliability.

Depending on the end application and its functional

requirements, either 3 phase induction motors

(asynchronous motors) or permanent magnet

synchronous motors will provide reliable operation

with excellent dynamic control. With efficiencies

up to 85% at high speed and 70% at low speed,

these inverter drives based solutions can provide

significant energy savings over standard PMDC.

The key challenges are now to offer advanced

algorithms to increase the ratio performances

versus costs of the complete solution. Finally the

new software techniques & new MCUs solutions

are offering flexible solutions, easy to up-grade and

easy to integrate.

Renesas Reference Platforms to address new

Challenges

To address the increase of energy efficiency,

Renesas is offering ‘Off the shelf’ solutions featuring

sensorless Field Oriented Control algorithms. Each

of the Motor Control Platforms is delivered with:

• Boards schematics (MCU & power stage)

• Bill Of Material, boards layout & Gerber files

• Software project source code running on HEW1)

• Specific PC GUI for serial user interface to drive

the platform

• User’s Manual & calibration manual

Renesas approach is to offer very flexible Reference

Platforms (e.g. MCRPs2)), where any engineers may

evaluate the performance of the algorithms, add his

own source code, adapt his own motor and optimise

the complete system. As an example, the GUI PC

interface below is used to calibrate any PSM motor

(e.g. Permanent Magnet AC Synchronous, BLAC):

Thanks to such PC interface, it becomes easy to

adapt any specific or custom motors developed for

a specific applications where the number of poles,

the intrinsic rotor and stator parameters, etc.

1) High-performance Embedded Workshop: Renesas GUI to develop/debug/simulate any software.2) Motor Control Reference Platforms

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1) High-performance Embedded Workshop: Renesas GUI to develop/debug/simulate any software.2) Motor Control Reference Platforms

Renesas developed four main platforms in Europe

to control the four types of motor presented above:

PMDC, BLDC, PSM and Cast Motor. To adapt such

platform to custom motors, Renesas is offering

motor tuning & calibration services to speed-

up any evaluation of the software algorithm &

MCU capabilities. Please find below the Renesas

Reference Designs overview & positioning

The current reference designs are fully free of charge and presented in details below.

103102




PMDC Reference Platform: MCRP04

The Motor Control Reference Platform (MCRP04)

integrates simple and low-cost electronics to

efficiently drive any universal DC motors up to a

power of 350 W. The method employed for driving

the motor is a phase angle drive system running on

the highly integrated R8C/13 microcontrollers.

The platform is able to drive any high-voltage PMDC

motors thanks to an isolated user interface. The

user is able to adjust the motor speed by using an

encoder and real time information is displayed on a

simple LCD. Any tachometer can also be connected

to enable speed feedback. A specific demonstration

is available to simulate a washing machine program.

It includes features such as a control relay for the

door lock, drain pump and heater.

The user interface is used to control the platform

and select a specific ‘Appliance mode’ to simulate a

simple appliance including several steps activating

actuators, reading temperature, etc.

The phase angle control technique is used to adjust

the voltage applied to the load in order to achieve

the desired speed.

On the picture below the platform is Voltage:

230...240 VAC motor up to 17,500 RPM for a maximum

current of 1.6 A and a power up to 350 W.

Conclusion

Motor Type Universal DC Motor

Control Method Triac controlled

Waveform Type Trapezoidal (120°)

Rotor Position Detection Tachometer

CPU Used R8C/13 , R8C/26

Resources Used 10% CPU, 4KB flash, 400 B RAM

Key ApplicationsLow-end washer, Mixer, Air extractor, small appliances, Fan, etc.

220/110 VACMain Supply

Universal Motor Speed

Sensor

User InterfaceBoard

220/110 VACInput,

55 VACOutput50/60 Hztransformer

Power Stage

Board

CPUBoard(R8Cx)

I/O Simulation

RS232 SerialInterface

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blDC Reference Platform: MCRP03

The MCRP03 is based on R8C microcontroller. It

is design to offer low cost solutions to drive any

Brushless DC motors with or without sensors.

The driving technique use is the 120-degree block

commutation.

The serial U/I is used to select the rotation-speed

command. The MCU outputs the pattern accordingly

to the state of hall-sensors signal. The PWM duty

cycle is calculated by comparing the current speed

of rotation with the reference rotation speed via a

PI algorithm PWM signals are controlling only the

high side IGBTs.

The PWM duty cycle is clamped to limit the motor

current to its rated value. The switching of the output

pattern is made every edge of the hall-sensors

signal (6 times every electrical time period).

Conclusion

Motor Type High & low voltage BLDC

Control Method Block commutation (6 steps)

Waveform type Trapezoidal (120°)

Rotor Position Detection

Sensorless (BEMF) or Hall sensors

CPU Used R8C/13 – R8C/25

Resources Used

20% CPU, 4 KB flash, 400 B RAM

Switching Frequency From 3...20 KHz

Key Applications

Water pumps (dishwasher), Air extractor, Washer, industrial drives, compressors, fan, Robotics, fork lift, door control, air conditioning, Central Heating Pump, etc.

24 Volt DCPower Supply

BLDC MotorHALL Sensors User

InterfaceBoard

Sensor/SensorlessBoard

CPU BoardInterfaceBoard

Power StageBoard

BEMF – Detection Lines

Serial Interface(RS232)

105104




PSM (PMaC) Reference Platform: MCRP05

This MCRP05 based on SH7125 or SH7085 MCUs

controls any sensorless 3-phase Brushless

Sinusoidal Synchronous motor inverter by using

advanced Field Oriented Control algorithm (FOC).

The motor used is a Brushless motor PSM also

called Permanent Magnet motor (PMAC) or BLAC.

The system is in closed loop as the current detection

is done via a single shunt (three shunts is optional)

which offers a very low cost solution and avoid any

expensive encoder or current sensor.

The main focus applications are compressors, air

conditioning, fans, industrial drives, washer, etc.

The platform is flexible enough to develop any

application using Brushless motors.

The MCRP05 is mainly divided into three parts:

a CPU board, a Power stage & a low voltage demo

system PSM motor. The user interface is a PC based

GUI presented above.

Sensorless vector control algorithm using shunt current detection

Please, find below the FOC sensorless algorithm block diagram. The only different between the three shunts

and the single shunt configurations is in the ‘Current Detection’ block, the rest of the algorithm remains the

same.

W[Speed Set]

0 [Id Set] +

++

Id PI

Iq PIVq

Vd

Iq

Id

Vq

Vu

Vw

Iu

Iv

Iw

V

V

I

I

d, q --> , , --> U, V, W MODULATIONIPM

inverter

Single shunt(3 shunts optional)

CurrentdetectionU, V, W --> , , --> d, q

Flux phaseestimation

Z[-1] Z[-1] Z[-1] Z[-1]

0 [Phase]

Speed Estimation

Z[-1]

W [Estimated Speed]

Speed PI

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Finally the key benefits of the MCRP05 are that the

software is fully configurable to drive any low &

high voltage PSM motors. The ‘customise-h’ file in

the project source code is a very useful and flexible

file used to adapt the software without entering into

the code itself.

#define SINGLESHUNTSelect one shunt or three shunts for current detection

//#define THREESHUNTS

#define PWM_FREQ_CUSTOM 20000 PWM frequency modulation: between 3 KHz and 20 KHz

#define POSCURR Selects sign of the current read through the shunt and the related amplifier stage

#define EEPROM_USED Enable the use of the external E²PROM

#define DISPLAY_USED Enable display usage

#define MCRP05_SCI0_CONNECTION Enable SCIO for external connection

#define SAMPLE_FREQ_CUSTOM 10000 Control loop time in Hz between 2500 Hz up to 10 KHz

#define STARTUP_RAMPTIME_CUSTOM 800 Startup ramp time in ms

#define RPM_MIN_CUSTOM 600#define RPM_MAX_CUSTOM 4500#define R_ACC_CUSTOM 1000#define C_POLI_CUSTOM 2#define ID_NOM_CUSTOM 0#define IQ_NOM_CUSTOM 30#define R_STA_CUSTOM 7#define KP_CUR_CUSTOM 150#define KI_CUR_CUSTOM 100#define KP_VEL_CUSTOM 30#define KI_VEL_CUSTOM 20

min speed in RPMmax speed in RPMacceleration ramp in RPM/secpolar pairs numberflux currentmax torque current in Arms/10stator phase resistance in Ω/10K prop. current controlK integ. current controlK prop. speed controlK integ. speed control

#define DEADTIM_CUSTOM 2.0 Dead-time value in μs @40 MHz

#define RSHUNT_CUSTOM 100.0#define RSGAIN_CUSTOM 5000.0#define AVCC_CUSTOM 5000.0

Shunt value in mΩCircuit gain x1000A/D Range in mV

#define RVBUS1_CUSTOM 400000.0#define RVBUS2_CUSTOM 4700.0

Split resistor 1 in ΩSplit resistor 2 in Ω

#define VIGBTV_CUSTOM 800.0#define VDIODOV_CUSTOM 1400.0

VCESAT of the IGBT in mVFree-wheel diode forward voltage in mV

#define FIRST_FLUX_LOWPASS_TIME_CUSTOM 10#define DERIVATIVE_TIME_CUSTOM 1#define LAST_FLUX_LOWPASS_TIME_CUSTOM 10

Flux phase estimation is made through following steps: 1) first low pass filter, 2) derivative, 3) last low pass filter

#define FIRST_SPEED_LOWPASS_TIME_CUSTOM 5#define SECOND_SPEED_LOWPASS_TIME_CUSTOM 4#define THIRD_SPEED_LOWPASS_TIME_CUSTOM 3

Filters parameters

Conclusion

Motor Type High & low voltage PSM (e.g. Brushless AC)

Control Method Field Oriented Control

Waveform Type Sinusoidal (180°)

Rotor Position Detection Sensorless (option to connect hall sensors or encoder)

Motor Current Measurement Single shunt (option to use three shunts)

CPU Used SH7125 or SH7085

Resources Used 50% CPU, 8 KB flash, 1 KB RAM

Switching Frequency From 3...20 KHz

Key Applications Water pumps (dishwasher), Air extractor, Washer, industrial drives, compressors, fan, Robotics, fork lift, door control, air conditioning, etc.

107106




There are mainly two ways to drive 3-phase cast

motors:

V/f Control Field Oriented Control (FOC)

Simple to implement (HW & SW) More difficult to implement

Simple motor tuning procedure Motor tuning required

Speed control with speed sensor is possible -

Speed control with speed sensor is possible Sensorless speed control is possible

Separated Torque/Flux control is not possible

Separated Torque/Flux control is possible

Renesas chose the FOC approach because of the

following benefits:

• Better dynamic behavior, if load variations are

significant

• Much higher efficiency (due to flux control)

• Much higher speed reachable

The performances of the sensorless systems are

very good:

• Full starting torque

• Slip compensation (±3% over the full torque

range of speed accuracy)

• Wide speed range (from 6 Hz till over 600 Hz)

• High dynamic performances

• Current limits with speed reduction if maximum

values are exceeded

• Less than 50% of CPU time is required for the

SH7125

• Easy to customize to obtain the right

compromise between required resources and

obtained performances

Finally, the software parameters linked to the

motor and the application are fully customisable,

please find below the list of parameters that can

Cast Motor (aC asynchronous) Reference

Platform: MCRP04

Renesas developed a fully vector controlled

sensorless platform to drive any low and high

voltages 3-phase cast motors. The MCRP06 is

based on two boards: the CPU board is based on

the 32-bit RISC SH7125 and the power board is

featuring high voltage IPM (Integrated Power

Module) and three shunts for the current detection.

The Reference design is fully customisable: e.g. any

serial communication, any encoder or hall sensor

can be used.

Finally, the MCRP06 is also offered with the SH7286

MCU board featuring USB and CAN connections.

The key benefits of a cast motor over PMDC motor

are the following ones:

• Less acoustic noise

• The motor itself is much cheaper

• No brushes, so more reliability

• Long lifetime

• Wider speed range

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be easily adjusted via the User Interface. The board

schematics, the layout and the software are fully

available on the Renesas website.

Conclusion

Motor Type High & low voltage, Cast Motor (e.g. AC Asynchronous motors)

Control Method Field Oriented Control

Waveform Type Sinusoidal (180°)

Rotor Position Detection

Sensorless (option to connect hall sensors or encoder)

Motor Vurrent Measurement Three shunts

CPU Used SH7125 or SH7286

Resources Used 20% CPU, 8KB flash, 1KB RAM

Switching Frequency From 3KHz to 20KHz

Key Applications

Water pumps (dishwasher), Air extractor, Washer, industrial drives, compressors, fan, Robotics, fork lift, door control, air conditioning, etc.

Microcontrollers Roadmap for Motor Control

The low-end 16-bit MCU dedicated for Motor Control

is based on the R8C Family perfectly designed

to drive any PMDC motors and BLDC motor

sensorless. On the other end, the SH Family is the

high-end 32-bit RISC MCU specifically developed to

control any PSM and Cast Motors using advanced

vector controlled sensorless algorithms. Please

find below the MCU overview for each motor type

including the control methods.

109108




The common MCU features are the following:

• High performance 16/32-bit CISC and RISC

Engine provides processing power for real time

control

• Optional Floating Point Unit (FPU) and

DSP capable CPU cores.

• Embedded Memory: max 1 MB flash,

max. 40 KB RAM

• Integrated Multifunctional Timer Units targeted

for Motor Control Applications

• Automatic Dead-time insertion & compensation.

• Up to 12-bit High Speed Multi Channel A/D and

D/A Converters

• On-Chip Peripherals allow ease of interface

to peripheral memory, LSI & host PC

• Low Power Consumption modes for energy

saving applications

• On Chip Debug Modes facilitate ease of

development and quick turnaround

• Self-test CPU software routines to address

IEC60730-1 safety

Renesas MCU’s offer the right balance between

performance and cost to meet the challenges

imposed on motor control for a multitude of

applications.

Motor Control applications

The current applications already mentioned above

are now moving from single phase motor or PMDC

motor to three-phase motor technologies. The

key reasons are the gain of efficiency, safety and

reliability. Please find below some example for

each Renesas references designs:

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109108


Conclusion

Renesas is offering state of the art software

and reference designs to drive any advanced

motors. Please find below the summary of the key

differentiators:

111110




3.9 STMicroelectronics

Motor control with STM32

32-bit aRM®-based MCU

For 3-phase brushless motor vector drives

Vector Control Made Simple

STMicroelectronics’ STM32 offers the performance

of the industry-standard Cortex™-M3 core at

the service of vector (or field-oriented) control

algorithms. Vector-control algorithms are widely

used in high-performance drives. They provide

precise and responsive torque and speed control,

and guarantee optimised efficiency during

transient operations. Practically, they also have

the advantage of using the same framework to

control an asynchronous or synchronous motor.

This is interesting for development teams that

have to deal with various applications and motor

types. Finally, the sensorless algorithms for rotor

speed and position detection are also of interest

when trying to reduce the cost of the drive. The

benefits of the ARM™ architecture combined with

motor-control dedicated peripherals makes the

STM32 Performance line MCU family ideally suited

to optimise the overall performance of execution

while reducing the overall system cost.

Applications • Appliances

• Washing machines• Dishwasher pumps• Refrigerators• Air conditioners

• Industrial• Electric vehicles• Low-end and medium-range

industrial drives• Office automation• HVAC actuators and fans• Pumps• Blowers• Vending and cash machines

Nested vectored IT controller

Cortex-M3 CPU

36/72 MHz

JTAG/SW debug

1 x SysTick timer

6 x 16-bit PWM synchronized AC timer

DMA 7 channels

Up to 16 external ITs

26/36/51/80 I/Os

1 x SPI

1 x USART/LIN smartcard/IrDAmodem control

ARM Lite high-speed bus matrix/

arbiter (max.

72 MHz)

Bridge

AR

M p

erip

hera

l bus

(max

. 72

MH

z)

Flash I/F

32 KB-128 KB Flash memory

6 KB-16/20 KB SRAM

20 B backup registers

Clock control

1 or 2 x 12-bit ADC16 channels/1 Msps

Temperature sensor

Power supply Regulated 1.8 V POR/PDR/PVD

XTAL oscillators32 kHz + 4~16 MHz

Internal RC oscillators40 kHz + 8 MHz

PLL

RTC/AWU

2 x USART/LIN smartcard/

IrDA modem control

1 x SPI

2 x I2C

ARM peripheral bus

(max. 36 MHz)Bridge

®

3 x 16-bit timer

2 x watchdog (independent and

window)

DMA: Direct memory accessRTC: Real-time clockAWU: Auto wake-up capability with RTC alarm

POR: Power-on resetPDR: Power-down resetPVD: Programmable voltage detector

1 x USB 2.0FS

1 x CAN 2.0B

111110


111110


The STM32 family benefits from the Cortex-M3

architectural enhancements (including the

Thumb-2® instruction set). It delivers improved

performance with better code density, has a tightly

coupled nested vectored interrupt controller that

significantly speeds response to interrupts, and

features industry-leading power consumption.

STM32 Key Benefits

The STM32 is the latest series of super-integrated

single-chip 32-bit ARM Cortex-M3-based MCUs.

The STM32 is an optimal choice to support many

applications with the same platform:

• From reduced memory and pin requirements

to larger needs

• From simple cost-sensitive to complex

high-value

The high level of pin-to-pin, peripheral and software

compatibility across the family gives you full

flexibility. You can upgrade to a higher or downgrade

to a lower memory size, or use different packages

without changing your initial layout or software. The

Performance line, STM32F103, operates at 72 MHz,

with more on-chip RAM and peripherals.

STM32F10x portfolioFlash size

(bytes)

512 KB

256 KB

128 KB

64 KB

32 KB

0 KB

STM32F103T8STM32F101T8

STM32F103T6STM32F101T6

STM32F103C8STM32F101C8

STM32F103C6STM32F101C6

STM32F103CBSTM32F101CB

36 pinsQFN

48 pinsLQFP

64 pinsLQFP

100 pinsLQFP/BGA

Under development

Available now

Performance lineAccess line

STM32F103R8STM32F101R8

STM32F103RBSTM32F101RB

STM32F103R6STM32F101R6

STM32F103V8STM32F101V8

STM32F103VBSTM32F101VB

144 pinsLQFP/BGA

Leading-Edge Architecture with Cortex-M3 Core

• Harvard architecture

• 1.25 DMIPS/MHz and 0.19 mW/MHz

• Thumb-2 instruction set brings 32-bit

performance with 16-bit code density

• Single cycle multiply and hardware division

• Embedded, fast interrupt controller is now

inside the core allowing:

• Excellent real-time behavior

• Low latency down to six CPU cycles

inter-interrupt

• Six CPU cycles wake-up time from

low-power mode

• Up to 35% faster and up to 45% less code

than ARM7TDMI®

High Level of Integration

• Built-in supervisor reduces need for external

components:

• Power-on reset, low-voltage detect, brown-out

detect, watchdog timer with independent clock

• One main crystal drives entire system:

• Inexpensive 4...16 MHz crystal drives CPU,

USB and all peripherals

• Embedded PLL generates multiple

frequencies

Cor

e pe

rfor

man

ce D

MIP

S

Drysthone

Cortex-M3 performance versus ARM7TDMI

rating

100

80

60

40

20

00 10 20 30 40 50 60 70 fCPU (MHz)

Cortex-M3 (Thumb-2)

ARM7TDMI (ARM)

ARM7TDMI (Thumb)

113112




• Optional 32 kHz crystal for RTC

• Embedded factory trimmed 8 MHz RC can be

used as main clock

• Additional low-frequency RC for RTC or

watchdog

• Only 7 external passive components required

for base system on LQFP100 package

Motor Control

The STM32 Performance line embeds timers and

ADC features that are perfectly suited to three-

phase brushless motor control. The advanced

control PWM timer offers:

• Six outputs

• Dead-time generation

• Edge-aligned and center-aligned waveforms

• Emergency stop and synchronisation capability

with the dual ADC

The dual ADC architecture allows simultaneous

sample and hold with 12-bit resolution, 1 μs

conversion time.

This dedicated set of peripherals combined with

the high performance of the Cortex-M3 core allows

your software to shorten the total vector control

loop to 24 μs (sensorless mode, three-phase PM

synchronous motor) allowing the STM32 to perform

other tasks than motor control in the application.

Field-Orientation in Sensorless Torque Control – PMSM

Vabc

iabc siaß s

Vaß s

Vqs

Vds

iqs

ids

iqs*

ids*Reverse park

and circle limitation

Park Clarke

Sensorlessrotor position

observer

3-phase inverter PMSM motor

CALCSVPWM

PID

PID

3-shuntcurrentreading

r el

r el

113112


113112


Vector Control Drive

• Theory

• Changing reference coordinates from fixed

stator coils to the moving rotor frame greatly

simplifies the equation describing the motor

• Method

• Clark and Park transformations convert

variables with fixed 3-axis, 120º shifted

coordinates into 2-axis orthogonal rotating

coordinates

• These last variables are DC, or slowly varying

values, which can be regulated by means of

simple PID controllers and then transformed

back to the fixed stator windings frame using

reverse transforms, as shown in the diagram

above

• Requirements

• Intensive math computations (trigonometric

functions, multiple PID regulators, speed

calculation)

• Minimum resolution of 16 bits for the main

control variables, with a need for 32-bit

intermediate results, such as integral terms

• Free CPU load must be kept for the remaining

applicative tasks, such as communication and

user interface

STM32 Safety Features for Greater

Control Robustness

Features

• Safety critical registers can be locked to prevent

power stage damage (software runaway)

• Deadtime, PWM output polarity, emergency

input enable

• All target registers are read/write until lock

activation (and then read-only if protected)

• Once the two lock bits are written, they cannot

be modified until next MCU reset

(write-once bits)

• If main clock fails, an internal RC oscillator

(FREEOSC, ~5 MHz average frequency) starts

immediately

• Interrupt can be generated for shut-down or

safe restart sequences

• Dual watchdog architecture with independent

clock sources

• Embedded reset circuitry (power-on reset,

power-down reset, programmable voltage

detector)

• Emergency stop dedicated input pin with

programmable state

Benefits

• Strengthens control algorithm to protect motor

operation from external disturbance

• Protects safety-critical registers in case of

system hang

• Quick error diagnosis and fault management

• Hardware protection of power stage whatever

the status of MCU oscillator

• Safety hardware features to comply with

IEC60335-1 norm

115114




STM32 MCU Family

STM32 dedicated peripherals for 3-phase

brushless motor control

PWM timer features

• Motor control timer clock

• Maximum input clock is 72 MHz to provide

13.9 ns edge resolution (12-bit @ 16 kHz

edge-aligned PWM)

• Double-update mode

• No loss of resolution in center-aligned mode

• Done thanks to an additional interrupt per

PWM cycle or DMA transfers

• Burst mode

• Possibility to update several registers of the

peripheral using a single DMA stream

• Programmable reload rate

• Versatile PWM output management

• Individually selectable polarities

• Redirection circuitry for 6-step drives

• Programmable hardware deadtime generation

• 8-bit register with 13.9 ns resolution at 72 MHz

Dual ADC features

• Dual ADC with simultaneous conversion mode

• 12-bit resolution

• Down to 1 µs conversion time

• Up to 16 channels, plus internal temperature

sensor and Vref

• External and internal trigger

(including PWM timer)

• Versatile channel sequencer

Inverter

Vα

Vβ

Iα

6x PWM

Fault

α,β

a,b

Ia

Ib

Vbus

10-bit 3 µsA/D

converter

SVPWM

Ia

Speed/positionfeedback timer

α,β

d,q

α,β

d,q

Va

Vb

Vc

IbIβ

PWM timer

s

m

From block diagram to implementation

Total execution time of the field-oriented control in sensorless mode for PMSM motor is 24 µs – total CPU load at 10 kHz sampling time is below 25 % – code size is less than 14 Kbytes.

• Software • Hardware

STM32

r

r

r

r

Sensorless estimation

r

MotorT

E

HT: TachogeneratorE: EncoderH: Hall sensors

6-channel

115114


115114


• DMA capable

• Programmable sampling rate

Benefits

• Suitable for three-phase brushless PMSM or AC

induction motors

• Sensor and sensorless configurations

Speed feedback

• Handled by the general-purpose timers

• Encoder and Hall sensors can be handled by

general-purpose timers

STM3210B-MCKIT

Run your motor in just a few steps

In just a few minutes, you can run the kit’s PM

synchronous motor with the standalone demo,

in torque-control or speed-control mode, using

the LCD and the joystick on the STM3210B-EVAL

control board.

You can then fine tune or change many parameters

using the LCD user interface and run the PM

synchronous motor, or an induction motor:

• Real-time tuning of torque, flux and speed PIDs

• B-EMFs observer gains tuning (for sensorless

control)

• Variation of target speed (speed control) or

target torque and flux (torque control)

• Bus-voltage and power-stage temperature

monitoring

• Selection of variables to put on output for DAC

functionality implementation

You can apply changes to real-time settings to tune

the drive parameters on-the-fly and get feedback

values from the changed settings. Once familiar

with the demo, you will be able to explore our motor

control library that supports FOC (field-oriented

control) drive of PMSM and induction motors. The

library sources are free upon request, and help

speed up development of motor control applications.

With the free 32 Kbyte evaluation version of IAR’s

EWARM, you just open the libraries, develop the

application, fine tune the code and parameters

and compile. You can fine tune the application

while running the motor thanks to the real-time

debugging capability of the Segger J-Link.

Application-Specific Requirements

Using the same hardware and firmware platform,

you may incorporate application-specific

requirements by taking advantage of the STM3210B-

EVAL control board and the inverter board extension

features (USART/LIN port, standalone operation

potentiometer, wrapping area).

Class B Compliancy – How Do We Help?

Two key features help compliance with the EN/

IEC60335-1 norm: the dual watchdog architecture

and the internal clock circuitry. In order to make

certification even simpler with the STM32, a set of

self-test routines has been developed to fulfill most

of table H11.12.7 requirements. These routines have

been certified by the VDE, a worldwide recognised

test institute, and do not need to be re-evaluated if

left unchanged.

117116




S T M 3 2 M o t o r C o n t r o lPMSM F O C v e r 1 . 0

Sensorless DemoS p e e d c o n t r o l m o d e

T a r g e t M e a s u r e d

0 1 5 0 0 ( r p m ) 0 1 5 1 2

M o v e C h a n g e

Start LCD menu – speed control demo

Speed control can be modified during run-time

using joystick


Sensorless DemoT o r q u e c o n t r o l m o d e

Target MeasuredI q 0 4 5 0 0 0 0 0 0 0I d 0 0 0 0 0 0 0 0 0 0S p e e d ( r p m ) 0 0 0 0 0

M o v e C h a n g e


T o r q u eD

0 8 0 0 0 0 1 0 0 0 0 3 0 0 0

0 4 5 0 0 (Iq) M e a s u r e d 0 0 0 0 0 (Iq)

M o v e C h a n g e

Torque control demo – Iq and Id parameters

can be adjusted

PID regulators can be adjusted during run-time


Sensorless DemoS p e e d c o n t r o l m o d e

T a r g e t M e a s u r e d

0 1 5 0 0 ( r p m ) 0 0 0 0 0

M o v e C h a n g e

P I

STM32 MCU Family

117116


117116


Key Benefits

• Ready to run within minutes

(requires a power supply for the motor)

• Same hardware and firmware platform for

PMSM and induction three-phase motors

• Allows real-time control and monitoring

through a colour LCD and on-board push

buttons and joystick

• Segger/IAR JLink (included) Flash

programming and real-time debug capability

allows same hardware and firmware platform

to be used from evaluation to an advanced

development stage

• Bypass connector for external inverter

power-stage connection

Device summary

Motor Control Development Tools

Description Sales Type or Item

STM3210B MC libraryOptimised, documented C firmware libraries for control of 3-phase PMSM or AC induction brushless motors. In torque or speed control with STM32, sensor mode, sensorless for PMSM. These are the standalone libraries of the STM3210B-MCKIT.

AI-JTAG/OPTO-1

The isolation board included in the STM3210B-MCKITcan also be ordered separately. It provides galvanic isolation between the J-Link from Segger and any high-voltage target board. The isolation board has two JTAG connectors (in/out). Available from distributors and ST sales offices.

STM3210B-MCKIT

Demonstration, evaluation and development kit for STM32 includes firmware, LCD user interface, STM3210B-EVAL board (control board), 7 A three-phase inverter board, isolation board (AI-JTAG/OPTO-1), Segger J-Link debugger/programmer and 24 VDC Shinano PMSM motor. Available from distributors and ST sales offices.

ST7MC-MOT/IND240 V/800 W Selni 3-phase induction motor for use with STM3210B-MCKIT, the STR750-MCKIT or with the ST7MC-KIT using induction motor default values (for evaluation purposes).

STM32-library

Optimised and documented C firmware libraries

for control of both PMSM (sensor and sensorless

mode) and AC induction (sensor mode) brushless

motors are available upon request.

These modular libraries support both types of

motor in standalone mode using the hardware of

the STM3210B-MCKIT. The source files are provided

free of charge upon request. These libraries offer:

• Different current sensing methodologies

• Isolated current sensing

• Three shunt resistors with dual sample and hold

utilisation and advanced methodology for better

bus voltage exploitation

• Different rotor-position feedback

• Encoder (PMSM motor)

• Tachometer (AC motor)

• Hall sensors (60° and 120° placement)

• Sensorless (PMSM motor only)

119118




3.10 Texas Instruments

Texas Instruments – C2000TM Real-Time

Microcontrollers

The world is changing. Devices are getting smarter,

modern technology is spreading throughout the

globe, and advances are allowing us to reach new

heights like never before – all with an increased

focus on green energy and efficiency. But, that

doesn’t have to mean increased costs or longer

development cycles. With a 32-bit architecture,

advanced peripherals, analog integration, and

package sizes from 32 to 256 pins, the C2000™

MCU family enables real-time control in a variety

of applications. The C28x™ 32-bit core features a

single-cycle 32x32-bit hardware multiplier and

single-cycle atomic instruction execution. The

controlCARD-based tools and software libraries help

to dramatically shorten development time. Explore

our wide range of products and configurations to

find the perfect solution for your designs.

Texas Instruments Motor Control Solutions

TI provides a broad range of analog products,

digital controllers and software to precisely control

the position, velocity and torque of mechanical

drives. This guide provides motor control and drive

solutions for small drives including solenoids, DC

or brushless DC and steppers; and for larger drives

such as AC-open loop (inverters) and closed loop

(servo) systems that utilise much higher voltages,

typically hundreds of volts.

In addition to high-performance analog and

mixed-signal devices for a variety of motor control

applications, TI also offers high performance and

ultra-low-power microcontrollers to meet every

design challenge. TI’s C2000 microcontroller family

combines high-performance, real-time control

with the integration and ease of use of a MCU to

give you a powerful, single-chip solution for many

embedded applications including motor control.

C2000™ MCU Real-time Controller

As motor systems evolve with advanced features like

sensorless alternating current (AC) induction vector

control, ‘current-shaped’ switched-reluctance

control, and permanent magnet synchronous

motor (PMSM) field oriented control, motor control

designers are relying more and more on TI’s

TMS320C2000™ digital signal controllers and the

extensive suite of motor-control focused hardware

and software solutions to help them get their designs

to market faster with more customized features,

better performance and lower cost for virtually

any type of motor. C2000 controllers reduce the

overall cost of motor-control systems by providing

the integration and performance necessary to

implement advanced control techniques such as

sensorless vector control of three-phase motors.

Using the more processor-intensive vector control,

for example, allows developers to reduce the size

and cost of the motors and power electronics. With

C2000 controllers, developers can now capitalise

on the latest advancements in motor designs and

control techniques.

119118


119118


BenefitHigh Energy Efficiency via advanced Control

Overall System Performance Optimisation

Quicker Return on Investment

Easy System Interfacing

Feature

128-512 KBFlash

52-68 KBRAM

BootROM

Memory Bus

Interrupt Management

C28xTM 32-bit CPU32 x 32-bitMultiplier

32-bitTimers (3)

Real TimeJTAG

R-M-WAtomic

ALU

OptionalFloating

Point Unit

ePWM

eQEP

eCAP

Timers

ADC

Wachdog

GPIO

Up to 4 x SPI

Up to 2 x SCI

I2CUp to

Dual CAN

Peri

pher

al B

usTMS320F283xx, TMS320F2802xx

2

C2834x

2803 x

F2802 x

F2833 x

F281 x

F280 x

F2832 x

121120




Piccolo™ 32-Bit Microcontrollers:

Small Package, Big Performance

The new TMS320F2802x/F2803x Piccolo family of

C2000 MCUs provides a low-cost, high-integration

solution to help drive processor intensive real-

time control into cost sensitive applications. Initial

F2802x/F2803x devices will include 40...60 MHz

variations and up to 128 KB of flash memory

along with a host of integrated modules such

as a powerful ADC, dedicated high-resolution

PWMs, high-precision on-chip oscillators, analog

comparators, power-on reset, and brown-out

protection. A floating-point Control Law Accelerator

(CLA) can run control loops independent of the core.

Available in multiple package options starting at 38

pins, the Piccolo family is the ultimate combination

of performance, integration, size and low cost.

www.ti.com/piccolo

• Analog integration reduces system cost and

simplifies design Piccolo has integrated on-chip

VREG, BOR/POR, and analog comparators

• Enhanced control peripherals

• ADC with JIT sampling support

• Enhanced PWM with peak-to-peak current

control and cycle-by-cycle protection

• High-res PWM for high-frequency PFC or

auxiliary P/S control

• Performance and resources for execution of

multiple tasks on Piccolo B

• Motor control + PFC + system supervisory tasks

• Motor control + vibration noise reduction +

system supervisory tasks

• Multiple motor control + system supervisory

tasks

• Dual on-chip oscillator supports IEC60730

compliance without requiring external clock

source

High-performanceC28x CPU• Up to 60 MHz performance• Single cycle 32-bit MAC• Fast interrupt response and minimal latency

C28x 32-bitCPU60 MHz

32 x 32-bit MultiplierRMW Atomic ALU

Memory64...128 KB Flash

20 KB ROM

Boot ROM

Debug

Real-Time JTAG

Power & Clocking

Dual OSC10 MHz

Power onReset

Single3.3 V

Supply

Brown OutReset

EnhancedArchitecture• High accuracy on-chip oscillators (10 MHz)• Single 3.3 V supply with BOR/POR supervision

Intelligent Peripherals• 150 ps resolution on PWM frequency & duty cycle• 12-bit ratio-metric ADC with individual channel triggers• Up to 3 x analog comparators with 10-bit reference

Peripheral Bus

PeripheralsAnalog Modules Timer Modules

Serial InterfacesSPIx 2 SCI

CAN

LIN

I2C

12-bit, 13/16-chUp to 4.6 MSPS

ADC

ComparatorsUp to 3 x

ePWM x 7(5 HR PWM+ 9 PWM)

eQEP x 1

eCAP x 1

*Available on „Piccolo“ F2803x seriesNote: ee detailed block diagram for device variations

Piccolo™ – Unique combination of performance and integration for real-time control

121120


121120


The Control Law Accelerator (Piccolo B) ‘Turbo-

Charge’ performance leveraging significantly

reduced Sample-To-Output Delay & Jitter.

Delfino™ Microcontrollers: Floating-Point

Development at Your Finger Tips

With the Delfino microcontroller, TI offers two

flavors of floating-point MCUs with unparalleled

performance. F2833x devices operate at 150 MHz

with 300 MFLOPS of performance. The F283xx

MCUs offer a 50 percent performance boost,

on average, over current C2000 MCUs while

operating at the same 150-MHz clock rate. Built

on the standard C28x MCU architecture, they are

100 percent software compatible with all current

F28xx MCUs. The new C2834x Delfino MCUs push

the limits even further, offering 600 MFLOPS of

performance. The C2834x platform allows up to

52 percent code reduction and 70 percent reduction

in memory access time over current C2000 MCUs.

Additionally, the high-resolution PWM offers 65-ps

resolution. New speeds enable greater intelligence

and efficiency in high-end real-time control

applications. www.ti.com/delfino

Overview of digital motor control system

for Brushless DC and Permanent Magnet

Synchronous Motor

Texas instruments offer a wide variety of

Microcontrollers and analog components to

implement a digital motor control system. Our

portfolio of microcontrollers offers devices that can

meet different performance points at competitive

pricing and allows the customers to scale up or

down on their design while maintaining the software

compatibility among the devices.

This article covers the fundamentals of

implementing a digital motor system for

synchronous motors, which are usually called

Brushless DC Motors (BLDC) but can also be called

Permanent Magnet Synchronous Motors (PMSM),

depending of their construction and control

technique used. The feature distinguishing PMSM

motors from BLDC motors is the shape of the back-

emf waveform generated by spinning the rotor.

Synchronous motors, both BLDC and PMSM, have

no commutators. With none of the problems linked

to commutators, these motors are durable, robust

efficient and quiet. They are also very efficient,

delivering high torque even at zero speed. On the

other hand there are some limitations at high-

speeds. With sinusoidal control, smooth and very

efficient operation is achieved. With sinusoidal

control, smooth and very efficient operation is

achieved by using a much more complex control

scheme than for DC motors.

Some of the features of the BLDC motors are:

• No brush noise, fast, efficient, durable, robust,

easy to cool

• Synchronous

• High efficiency

• Linear current/torque

• More reliable than DC Motor (‘inside out’ design)

• Good for combustible environment

Typical applications for BLDC motors are:

• PC fans

• Automotive Fans

• Small motors

• Servo Drives

123122




• Automotive applications

(e.g. electrical power steering)

• Fuel pumps

• Air conditioning (HVAC)

• Compressors

Similar to DC motors, regulating a synchronous

motor usually means maintaining a torque, a speed

and/or a position. However, the control scheme is

different as we need a three phase inverter driven

by 6 PMW signals. The control feedback is typically

a hall-effect sensor, absolute encoder or resolver

in order to get position information. Sensorless

control is possible, based upon Back-emf

information for trapezoidal control and measured

terminal currents/voltages for sinusoidal control.

Synchronous Motor Examples

Magnetic circuits of the synchronous machines

with permanent magnets differ from one type

of motor to another depending largely upon the

mechanical construction. The physical disposition

of the magnets is determined by the performance

and other design goals.

Among the numerous solutions which exist, we find

most often:

• Non-salient rotor poles: in this case magnets

are attached such that the magnets are flux with

the cylindrical surface of the rotor. The magnetic

field is radial in this case.

• Salient rotor poles: In this case the magnets

are placed in the slots inside the rotor, and this

type of construction is found in so-called flux

concentration machine, owing to the nature of

the flux generated.

The figure below shows the construction of different

type of synchronous motor.

BLDC versus PMSM

Permanent magnet synchronous motors can

be classified in many ways, one of these that is

of particular interest to us is that depending on

back-emf profiles: Brushless Direct Current Motor

(BLDC) and Permanent Magnet Synchronous Motor

(PMSM). This terminology defines the shape of the

back-emf of the synchronous motor. Both BLDC

and PMSM motors have permanent magnets on the

rotor but differ in the flux distributions and back-

emf profiles. To get the best performance out of the

synchronous motor, it is important to identify the

type of motor in order to apply the most appropriate

type of control.

The figure below shows the back emf pattern for

BLDC and PMSM motors.

NΩ

N

a) b)

c)

a) non-salient rotor pole (p = 1)b) non-salient rotor pole (p = 2)c) salient roto pole (p = 2)

N S

S N

Ω

NΩ

S

S S

Synchronous Motor Rotation Construction

123122


123122


In summary both BLDC and PMSM motors are

synchronous machines.

• The only difference between them is the shape

of the induced voltage, resulting from two

different manners of wiring the stator coils. The

back-emf is trapezoidal in the BLDC motor case,

and sinusoidal in the PMSM motor case.

• BLDC machines could be driven with sinusoidal

currents and PMSM with direct currents, but

for better performance, PMSM motors should

be excited by sinusoidal currents and BLDC

machines by direct currents.

• The control structure (hardware and software)

of a sinusoidal motor required several current

sensors and sinusoidal phase currents were

hard to achieve with analog techniques.

Therefore many motors (sinusoidal like

trapezoidal) were driven with direct current

for cost and simplicity reasons (low resolution

position sensors and single low cost current

sensor), compromising efficiency and dynamic

behavior.

• Digital techniques addressed by the C2000

family of MCUs make it possible to choose the

right control technique for each motor type:

Processing power is used to extract the best

performance wfrom the machine and reduce

system costs. Possible options are using

sensorless techniques to reduce the sensor

cost, or even eliminate it, and also complex

algorithms can help simplify the mechanical

drive train design, lowering the system cost.

Types of Motor Control

The two types of motor control are scalar control

and vector control.

Scalar control is the most simple control approach

for asynchronous induction machines. This control

strategy is very popular, easy to implement and

A

B

C

AB

C F

F

N

S

Phase A

Hall A

Phase B

Hall B

Phase C

Hall C

0° 30° 60° 90° 120° 150° 180° 210°240° 270°300°330°360°30° 60° 90°

e

e

e

E?

Back EMF of BLDC Motor

1.50

1.00

0.50

0.00

-0.50

-1.00

-1.50

24 47 70 93 116 130 162 185 208 231 254 277 300 323 348

• Both (typically) have permanent-magnet rotor and a wound stator

• BLDC (Brushless DC) motor is a permanent-magnet brushless motor with trapezoidal back EMF

• PMSM (Permanent-magnet synchronous motor) is a permanent-magnet brushless motor with sinusoidal back EMF

Back EMF of PMSM

Synchronous machine classification:BLDC and PMSM

125124




well suited for very low cost and low performance

applications. In this case the command law is

very basic: we simply try to follow a speed profile

maintaining the ratio voltage versus frequency

constant (V/Hz = const). This control can either be

closed loop or open loop.

With open loop control, we assume that the load is

well known and that there are either no transients

that are significant, or that their effect can be

ignored. Obviously accuracy is limited with open

loop control. If the performance and accuracy are

important a speed sensor is used to sense the

speed and correct for any variations. However, due

to limitations on the motor response the controller

must necessarily be slow, and this technique leads

to a quite poor dynamic performance, which may

not meet design goals.

Vector Control

Vector control, also called Field Oriented Control,

allows designers to fulfill all the “ideal” control

requirements. Having information on all the

system parameters, such as phase current and

bus voltage, allows us to deliver the appropriate

power at the right moment made possible by the

real-time control and high MIPS available on TI

microcontrollers.

3-PhaseInverter

PWMCommand

V/f profile

V

fSpeed scaler

PI

Speed calculator

PWM1PWM2PWM3PWM4PWM5PWM6

+ –

x

+ Simple to implement: All you need is three sine waves feeding the motor+ Position information not required (optional)– Doesn't deliver good dynamic performance– Torque delivery not optimised for all speeds

Scalar Control Scheme Limitations

Synchronous Motor Operation: Theory

• Synchronous motor construction: Permanent

magnets are rigidly fixed to the rotating axis

to create a constant rotor flux. This rotor flux

usually has a constant magnitude. The stator

windings when energised create a rotating

electromagnetic field. To control the rotating

magnetic field, it is necessary to control the

stator currents.

125124


125124


• The actual structure of the rotor varies

depending on the power range and rated

speed of the machine. Permanent magnets are

suitable for synchronous machines ranging up-

to a few Kilowatts. For higher power ratings the

rotor usually consists of windings in which a DC

current circulates. The mechanical structure

of the rotor is designed for number of poles

desired, and the desired flux gradients desired.

• The interaction between the stator and rotor

fluxes produces a torque. Since the stator is

firmly mounted to the frame, and the rotor is

free to rotate, the rotor will rotate, producing a

useful mechanical output.

• The angle between the rotor magnetic field

and stator field must be carefully controlled

to produce maximum torque and achieve high

electromechanical conversion efficiency.

• The rotating stator field must rotate at the same

frequency as the rotor permanent magnetic

field; otherwise the rotor will experience

rapidly alternating positive and negative torque.

This will result in less than optimal torque

production, and excessive mechanical vibration,

noise, and mechanical stresses on the machine

parts. In addition, if the rotor inertia prevents

the rotor from being able to respond to these

oscillations, the rotor will stop rotating at the

synchronous frequency, and respond to the

average torque as seen by the stationary rotor:

Zero. This means that the machine experiences

a phenomenon known as ‘pull-out’. This is also

the reason why the synchronous machine is not

self starting.

• The angle between the rotor field and the stator

field must be equal to 90º to obtain the highest

mutual torque production. This synchronization

requires knowing the rotor position in order to

generate the right stator field.

• The stator magnetic field can be made to have

any direction and magnitude by combining

the contribution of different stator phases to

produce the resulting stator flux.

A

B

C

AB

CN

S

F

F S

NRotor field

Stator field

• Rotor is carrying a constant magnetic field created either by permanent magnets or current fed coils.• The interaction between the rotating stator flux, and the rotor flux produces a torque which will cause the motor to rotate.

• The rotation of the rotor in this case will be at the same exact frquency as the applied exitation to the rotor.• This is synchronous operation.

Rotor speed (rad/s): Ω = p gives 60 f p (rpm)

f: AC supply frequency (Hz)p: motor poles pair per phase

• Example: a 2 poles pair synchronous motor will run at 1500 rpm for a 50 Hz AC supply frequency

Synchronous motor operation: theory

127126




• Wound rotor synchronous machines: in the

above explanation the rotor magnetic field is

produced by permanent magnets. For cost and/

or mechanical power density reasons, the rotor

magnetic flux can be produced by energising

electrical coils mounted on the rotor (replacing

the permanent magnets) thanks to a separate

current source connected to the rotor via slip

rings - which are a brush arrangement.

• The wound rotor synchronous machine can also

be started as an induction machine, such that an

external starting mechanism is not needed.

Torque production condition

As seen previously in the three-phase winding

system, these three windings carry three currents

as described in the equations below:

The instantaneous electromagnetic power can be

defined as follows :

The average value of this instantaneous power and

also of the electromagnetic torque is different from

zero only if the following condition is true:

This equation captures the essence of the fact that

this machine can only produce a useful torque

output, if the rotor speed equals the speed of the

rotating magnetic field. (Ignoring of course, the

high frequency alternating torque, produced at the

synchronous frequency, which is largely damped

out by the inertia of the machine itself.) In order

to study and to build a model of the synchronous

motor, we use a simplified equivalent electrical

scheme for a single winding. The same model can

then be applied to the other phases.

The figure below shows the electromechanical

parameters for a synchronous motor.

estatoruL

i

v IuL

ES

V

• Simplified equivalent electrical scheme of a widing of a three phases synchronous motor

Note: stator resistance neglected

em =3 VI cos

Ω

em: electromechanical torque (Nm)V: phase voltage (V)I: phase current (I)Ω: motor rotation speed (rad/S)

Synchronous motor electromechanical parameters

127126


127126


Brushless DC Motor: Trapezoidal Control

In the case of a BLDC trapezoidal control, two

phases are always ON at the same time. The goal of

the BLDC control is to inject DC current into the two

phases for which the back-emf can be considered

as constant. This back-emf depends on the rotor

position compared to the stator windings. For a

complete electrical revolution, (360 degrees) we

distinguish six areas corresponding to 6 different

combinations of back-emf. A change from one

energising zone to another determines a switching

instant, meaning a moment when we need to

commutate from one pair of energised phases

to another. This determines the power switches

that need to be driven and therefore the PWM

command.

In order to determine the pair of power switches

(called IGBT’s for the rest of the discussion) that

needs to be active, one of the requirements is to

have the commutation trigger information. In the

case of a sensored BLDC control, this information

can be extracted using simple Hall Effect sensors.

These sensors also give us speed information to

implement the speed regulation loop. To control

the torque delivered by the motor, we need to

sense the current information to regulate the PWM

duty-cycle: the higher it is be the more energy we

transfer to the motor.

Therefore, for such control, we distinguish two

regulation loops:

• One speed loop

• One current loop

A

B

C

ia

ib

VCNN

Phase A

Phase B

Phase C

0° 30° 60° 90° 120° 150° 180° 210°240° 270°300°330°360°30° 60° 90°

e

e

e

VWM

AB AC BC BA CA CB AB

1 2 3 4 5 6 1

3 phases BLDCstar connection with

central point N

Two of the three phases are always energised,while the third phase is turned off.Switching instant are linked to rotor position need for precise position sensing/evaluation of30°, 90°, 150°, 210°, positions

BLDC control strategy

129128




The typical HW structure of the BLDC sensored control can be depicted as following:

Sensored BLDC System Block Diagram

Timersand PWMCompare

Units

Capture Units

ADC


CAP1 CAP2 CAP3

ADCIN0

Three-phaseBLDC machinePWM1

PWM2

PWM3

PWM4

PWM5

PWM6

SignalCondotioning

DC Shunt

VDO

CAP1CAP2CAP3

0/120/240°position information(e.g. Hall sensors)

–

+ DC Bus

TMS320F/C2000 DSP

AB

C

As two phases are conducting at the same time, we

can simply sense the line-current delivered at the

output of the DC-bus capacitor. Using a shunt or a

simple resistor with some signal conditioning, we

implement a signal conversion chain connected to

one input of the on-chip Analog to Digital converter,

the capture input being used for the hall-effect

sensor information. The PWM status of the 6 PWM

outputs used to drive the legs of the power bridge

will change according to the position feedback

information.

Sensorless Motor Control System

In order to reduce the total system cost, it is

possible to implement sensorless BLDC control

suppressing the need for Hall Effect position

sensors. In a true ‘sensor less’ control scheme,

the shaft sensor is removed and the control of the

motor accomplished solely by monitoring individual

phase voltages. In this scheme, position of the

rotor shaft is not measured – it must be estimated

indirectly by the measurement of terminal voltages.

We measure the back-emf of the ‘off’ phase and we

detect the zero crossing of this back-emf. Since the

zero crossing of the back-emf occurs 30° before

the phase switching it is easy to deduce the next

switching instant.

The speed is estimated from the zero crossing

information (we know the time elapsed during

Sensored BLDC Motor Control System Block Diagram

129128


129128


two back-emf zero crossings and we know the

mechanical angle difference from a given pole

pairs). Again a lot of documentation is available in

addition to easy to use software. The System block

diagram for sensor-less control can now be shown

as follows:

The single current shunt provides the DC-bus

current feedback for the current loop. For the

position and speed loop we use three shunts to

measure the phase voltages. There are other

issues that need to be addressed, such as the start-

up procedure (is an open loop procedure needed

or not), first commutations instants, computation

phase of phase imbalances and so on. The sample

software implementation and documentation can

be found on the TI Digital Motor Control Library web

page, under the name ‘PMSM3_1’.

Timersand PWMCompare

Units

Capture Units

ADC


CAP1 CAP2 CAP3

Three-phaseBLDC machinePWM1

PWM2

PWM3

PWM4

PWM5

PWM6

SignalCondotioning

DC Shunt

VDO

–

+ DC Bus

TMS320F/C2000 DSP

ADCIN1-3

ADCIN0

ADCIN0

AB

C

Field Oriented Control Theory

In order to understand the Field Oriented Control

technique (FOC), let us start with an overview of the

separately excited direct current (DC) Motor.

In this type of motor, the excitation for the stator and

rotor is independently controlled. Electrical study of

the DC motor shows that the produced torque and

the flux can be independently tuned. The strength

of the field excitation (i.e. the magnitude of the

field excitation current) sets the value of the flux.

The current through the rotor windings determines

how much torque is produced.The commutator on

the rotor plays an interesting part in the torque

production. The commutator is in contact with

the brushes, and the mechanical construction is

designed to switch into the circuit the windings

that are mechanically aligned to produce the

Sensorless Trapezoidal BLDC Motor Control System Block Diagram

131130




maximum torque. This arrangement then means

that the torque production of the machine is fairly

near optimal all the time. The key point is that the

windings are managed to keep the flux produced

by the rotor windings orthogonal to the stator field.

On the synchronous machine, the rotor excitation is

given by the permanent magnets mounted onto the

shaft. On the asynchronous motor, the only source

of power and magnetic field is the stator phase

voltage.

Field Oriented Control Approach on

Three-Phase Motors

The goal of the Field Oriented Control (also called

Vector control) on synchronous (PMSM type) and

asynchronous machine is to be able to separately

control the torque producing and magnetizing flux

components. The control technique goal is to (in a

sense), imitate the DC motor’s operation.

According to the electromagnetic laws depicted

in the second chapter, the torque produced in the

synchronous machine is equal to vector cross

product of the two existing magnetic fields:

A

B

C

AB

C F

F

N

S

q = 90°

Back EMF (v)

Stator Current (ls)

T = constant

t

t

t

+ Reduced torque ripple+ Better dynamic response– Need rotor position info

Maintain the’load angle’ at 90°!

T = Bs . Br . sin (θ), where T is the torque, Bs is

stator flux and Br is rotor flux.

This expression shows that the torque is maximum

when stator and rotor magnetic fields are orthogonal

meaning if we are to maintain the load at 90 degrees.

If we are able to ensure this condition all the time,

if we are able to orient the flux correctly, we reduce

the torque ripple and we ensure a better dynamic

response. However, the constraint is to know the

rotor position: this can be achieved with an absolute

encoder for instance, or an encoder that gives us

at least one pulse for every mechanical revolution.

For low-cost application where the rotor is not

accessible, we can apply different rotor position

observer strategies.

Why Vector Control?

FOC control will allow us to get around these

limitations, by decoupling the effect of the torque

and the magnetising flux. With decoupled control

of the magnetisation, the torque producing

component of the stator flux can now be thought

of as independent torque control. Now, decoupled

control, at low speeds, the magnetisation can be

maintained at the proper level, and the torque can

be controlled to regulate the speed.

To decouple the torque and flux, it is necessary

to engage several mathematical transforms, and

this is where the DSP adds the most value. The

processing capability provided by the DSP can

enables these mathematical transformations to

be carried out very quickly. This in turn means that

the entire algorithm controlling the motor in this

manner can be executed at a high rate, enabling

Vector Control Concepts

131130


131130


high dynamic performance. In addition to the

decoupling, a dynamic model of the motor is now

used for the computation of many quantities such

as rotor flux angle and rotor speed. This means that

their effect is accounted for, and the overall quality

of control is higher.

To summarise, FOC control enables direct control

of the torque magnitude, which enables better

dynamic performance.

FOC control scheme for a PMSM

The figure above presents a typical field oriented

control regulation scheme for PMSM.

Compared to the V/Hz control, we can see that a few

new modules are added: we have a forward loop

sending PWM commands to the inverter, a feedback

current control loop based on sensing phase

currents and a speed loop control built around a

speed sensor. The key mathematical components

that allow us to build the FOC scheme are the ‘Park’

transformation, and the ‘Clark’ transformation.

Park T Clarke T

3-phaseInverter

SpaceVectorPWM

D,Q

d,q

D,Q

d,q

Park T-1

Field WeakeningController

SpeedCalculator

PI PI

PI

†: ic calculated, ia +ib + ir = 0

qr

ic†

ia

ib

id

iq

qr

IQ

ID

d,q

a,b,c

+ –

r

+ –

+ –


VQx

VDx

IQx

IDx

x Vqx

Vdx

Some key mathematical components are required!

Park Transform

The PARK transform is a simple rotational

transform. Obviously this transformation needs a

significant number of mathematical calculations

involving sines, multiplications, and additions.

Due to the availability of new control processor

technologies it becomes now possible to use this

transformation in a real-time control application,

running at a high rate.

The figure below shows the key components of

Park transform.

(VS) =

VS1

VS2

VS3

• (VS): voltage vector applied to motor stator (index s)

• Park transformation is a referential change

VS1

VS2

VS3

coss

coss

coss

23

43

– )

– )

-sins

-sins

-sins

23

43

– )

– )

1

1

1

=

Vsd

Vsg

Vso

Vs1

Vs2

Vs3

Vsd

Vsg

Vso

Vsd

Vsg

Vso

Vs1

Vs2

Vs3

P(s)= = P(s)and =-1

Vso = 0

Vs2

Vsg

VsdVs3

s = s1

Vs1

Vso = 0

Vs2

Vsg

VsdVs3

s = s1

Vs1

Vs1 + Vs2 + Vs3 = 0 (tri-phases balanced system)

Vsd- Vsq = O

Vsd - Vso = 0

Vsq - Vso = 0

• (Vsd, Vsq, Vso, ) are calles the Park coordinates• Vsd: direct Park component• Vsq: squaring Park component• Vso: homopolar Park component• Vso is null for a three-phases balanced system• Each pair of vomponent is perpendicular to each other

FOC Control Scheme for a PMSM

PARK Transform (1929): General Theory

PARK Transform Key Components

133132




PARK coordinates will play an important role in the

FOC control from a regulation point of view.

The diagram below shows the application of Park

transform on three phase sinusoidal volatage.

Clarke Transform

The normalised PARK can be seen as the result of

the combination of the CLARKE transform combined

with a rotation. Literature sometimes refers to

PARK in this way: this is the case of the TI Digital

Motor Control library. This gives an intermediate

step that helps to build the regulation scheme.

23

Vs1

Vs2

Vs3

P(s)=(V) = =

V cos (st +

V cos (st - +

V cos (st - +43

;

Vsd

Vsq

Vso

Vs1

Vs2

Vs3

Vsd = √ V cos Vsq = √ V sin Vso = 0

(s = st)

3232

• In a steady sinusoidal rating, Park coorinates are constant when we take stator angle as synchronous angle• We move from rotating to stationary domain

• We apply Park to the particular case of a steady sinusoidal rating

Vso = 0

V3

Vq

Vd

s = st

V1 = V

V2

VClarkeV = V1

V = 2V2 + V1

√3

cos(s)

-sin(s)

Vd

Vq

=sin(s)

cos(s)

.V

V

+

Rotation

• General PARK transform is usually split in CLARKE transform and one rotation• CLARKE converts balanced three phase quantities into balanced two phase orthogonal quantities

PARK TRANSFORM

We start from a three-phase balanced system

that we first transform in a two-phase balanced

system: this is the role of the CLARKE transform

that defines a two-phase stationary frame (α, β)

that fixes at the stator. As demonstrated in the

chapter 3, ACI machine equation used to build the

ACI equivalent model handles variables all pulsing

at ωS. If we ‘seat’ on the rotating frame (d, q) then

we see stationary variables. This is the role of the

θS angle rotation that allows us to move from the

rotating domain to the stationary domain = PARK

Transform.

In the next equation, PARK transform will be used

in ‘one-piece’ already including the

CLARKE transform effect.

Combining the CLARKE and PARK transforms

as defined above, we move from the three phase

rotating domain to the stationary domain: we just

need to control DC quantities in real-time.

V1

V2

V3

V

V

Vd

Vq

ParkClarke

Three phase rotating domain

Two phase rotating domain

Stationary domain

iso = 0

d

s = st

is1

is3

is2

qisq

is

isd

• Stator phase current example: Is is moving at s and its PARK coordinates are constant (d,q) rotating frame

• Can be applied on any three- phase balanced variables (flux...)

PARK on sinusoidal voltage steady distribution for ACI machine

Practical vector PARK representation on three-phases sinusoidal distribution

PARK transform effect summary

133132


133132


Using these results, we will now apply the PARK

transform on the asynchronous machine electrical

equivalent circuit in order to reach the FOC goal,

which is to decouple flux and torque, by using the

rotor flux angle in PARK transformation.

PMSM FOC Control Strategy

As discussed earlier the FOC control is applicable

to both synchronous and asynchronous machines.

The study that we did on the asynchronous machine

is also valid for the synchronous machine meaning

that starting from the equivalent electrical model,

we can apply the PARK transform in order to find

the new decoupled equation that we need. As a

result the FOC regulation scheme for PMSM is

fairly similar to the asynchronous machine one. As

the rotor is always aligned with the excited poles

on the stator, we have no slip and we do not need a

current _model block.

The goal is to maintain the rotor and stator flux in

quadrature: the goal is to align the stator flux with

the q axis of the rotor flux, i.e. orthogonal to the

rotor flux. To do this the stator current component

in quadrature with the rotor flux is controlled to

generate the commanded torque, and the direct

component is set to zero. The direct component of

the stator current, can be used in some cases for

field weakening, which has the effect of opposing

the rotor flux and reducing the back-emf, which

allows for operation at higher speeds.

The figure below shows the flow for a FOC control

of PMSM motor.

For the control of the synchronous machine, it is

critical to know the rotor position at any time.

This is achieved either by using sensors, that give

position information, or it is also possible to run

observers that will predict the rotor position, based

on terminal voltages and currents.

Space Vector PWM

In all of the control schemes we have looked at,

the stimulus or the means of influencing the

motor currents in each case is voltage applied to

the motor terminals. These voltages deliver the

required voltage and frequency to run the motor, as

per the controller commands. This is accomplished

in most cases by having a pulse width modulated

amplifier, commonly called a PWM inverter.

A

B

C

AB

C F

F

N

S

q = 90°

+ Rotor flux aligned on d axis+ Isd is forced equal to 0

Maintain the’load angle’ at 90°!

R and S are othogonal formaximum torque

iso = 0

Vq

d

s = st

is

is3

is2

q isq is

R

PMSM FOC control strategy PMSM FOC control overview

135134




This PWM inverter shown in the figure above must

be commanded to generate the required three-

phase sinusoidal waveform in the fundamental

frequency. This is done by comparing the three-

phase sinusoidal waveform with a triangular

carrier. In the digital world, on the DSP processor,

we compute a sinusoidal command and apply it

to the PWM units that generate the appropriate

PWM signal outputs usually connected to gate

drivers of the IGBT’s from the inverter. Basically

we are ‘chopping’ a DC voltage, in order to build

the appropriate fundamental frequency voltage

to the stator phases with the goal of maximising

efficiency. This then introduces other concerns

such as switching noise and harmonics.

The PWM signal generation is shown is the figure

below.

Upper & lowerdevices can notbe turned onsimultaneously(dead band)

Threev phaseoutputs whichgo to the motorterminals

PowerSwitchingDevices

DC buscapacitor

PWM signal isapplied betweengate and source

• Traditional way: comparing three-phase sinusoidal waveforms with a triangular carrier• Van = V.sin (t) (Van phase-neutral voltage)

V120 (010) V80 (011)

V0 (100)

V270 (101)V240 (100)

V180 (110)

Zero Vectors (000) & (111)

d

q

S3

S2

S4

S5

S6

Van

S10 (111) 0 (000)

A

B

C

Cmp Value 1Cmp Value 2Cmp Value 3

0(000)V0 V60 0(111) 0(111) V60 V0 0(000)

• We build the required voltage vector as a combination of one of the six basic switches configuration

• Third harmonic injection• Line to line voltage still sinusoidal• PWM technique• DSP hardware implemented• Increase the maximum inverter output voltage of 15%• Reduce transistor commutations

Van = V .sin(t)+ .sin(3t)1

6

Motor

A

A_

B

B_

C

C_

Va Vb Vc

Space Vector PWM Principle

Voltage source inverter components

PWM signal generation

Space Vector PWM Principle

135134


135134


As stated above, Pulse Width Modulation technique

is used to generate the required voltage and

frequency to run the motor. This method is

increasingly used for AC drives with the condition

that the harmonic current is as small as possible

and the maximum output voltage is as large as

possible. Generally, the PWM schemes generate

the switching position patterns by comparing three-

phase sinusoidal waveforms with a triangular

carrier.

Space vector theory is used with improvement for

both the output crest voltage and the harmonic

copper loss. The maximum output voltage based

on the space vector theory is 15% higher than

the maximum with the conventional sinusoidal

modulation. It makes it possible to feed the motor

with a higher voltage than the more obvious sine-

wave modulation method. This modulator enables

higher torque at high speeds.

SVPWM Characteristics

Typical characteristic of this PWM command

strategy: the envelope of the generated signal is

carrying the first and the third harmonics. We can

see that as a consequence of the PWM command

scheme applied to the inverter. Literature also

talks about the third harmonic injection to boost

out the performance we get out of the DC bus

capacitor. This third-harmonic exists in the phase

to neutral voltage but disappear in the phase to

phase voltage.

Sensored PMSM FOC Control

PWM1

PWM2

PWM3

PWM4

PWM5

PWM6

Vds+

Vqs+

Space Vector

PWM

Driver

R

C

• Filtering by a low-pass filter the PWM output, we find the first and third harmonics

Space Vector PWM Characteristics

Sesored PMSM FOC Control

137136




indicates the zero position of the rotor. This

pulse gives a reference indicating the exact rotor

position. Once the physical position of the rotor is

known, then the magnetic position can be simply

computed by adding a known offset, based on the

mechanical design specification of the motor.

• Resolver: The resolver generates two signals,

a modulated sine and cosine signal which

are sensed by means of two ADC inputs. The

rotor angle information is then extracted by

demodulation, followed by an arc-tangent

computation. The excitation frequency for the

resolver can be generated by the processor

as well.

As pointed out earlier, in order to implement a

FOC control, the control algorithm needs phase

current and rotor position information. The position

information is essential to maintain the orthogonal

alignment of the stator flux with the rotor magnetic

flux.

Several types of sensors can measure this rotor

position:

• Quadrature Optical encoder: This provides two

encoder signals which are in quadrature, which

are connected to the two Quadrature Encoder

Pulse pins of the processor, this sensor also

typically provides an index pulse This index pulse

Park T Clarke T

3-phaseInverter

SpaceVectorPWM

D,Q

d,q

D,Q

d,q

Park T-1

Field WeakeningController

SpeedCalculator

PI PI

PI

†: ic calculated, ia +ib + ir = 0

ic†

ia

ib

id

iq

qr

IQ

ID

d,q

a,b,c

+ –

r

+ –

+ –


VQx

VDx

IQx

IDx

x Vqx

Vdx

RotorAngle

Etimator(SMO)

Sensorless PMSM FOC Control

Sensorless Field Oriented Control for PMSM

137136


137136


Research literature has described a variety of

sensorless solutions for PMSMs, based on several

different observers. The regulation scheme shown

above is based on an angle estimator called

the Sliding Mode Observer (SMO). Software and

documentation can be found inside the PMSM3_2

system documentation from the TI Digital Motor

Control library.

From a hardware point of view, the position and

speed feedback hardware can now be eliminated,

with immediate cost savings. Overall there is

the same topology for sensored and sensorless

controls. Two phase currents are sampled. This

current information as well as the applied voltage

and motor parameters, is used by the estimator

model to estimate the position angle of the motor.

Sliding Mode state observer

Bc

Ac

K

Cc

Based on indirectBemf measurement

Estimated Bemf- Filtered Bemf

No position sensor

Several techniques exist toremove a speed sensor,working at low speed orat high speed.

Rotor observer:The rotor position is calculated by means of anestimation of the Bemf ina sliding mode observer,using instantaneous valuesof the motor (current).

Not working at very lowspeed, an open loop startup procedure is used untilthe observer delivers agood estimation.

The back-emf information contains the rotor position

information and the SMO computes the back-emf

based on which the rotor angle is extracted: This

assumes that the back-emf is large enough. This

usually leads to an open-loop start up, with a ‘forced

commutation’ i.e. operation assuming that the rotor

will follow the applied magnetic field closely. This

then allows the observer to start up, and allows the

detection of the position information.

C2000™ Motor Control Software Foundation

TI has developed a number of powerful software

modules designed specifically for the C2000™

platform of digital signal controllers. These modules

are typically used in computationally intensive real-

time applications where optimal execution speed

is critical. By using these routines, designers can

achieve execution speeds considerably faster

than equivalent code written in standard ANSI

Sensored vs. Sensorless Control

139138




C language. In addition to providing ready-to-use DSP functions, TI’s modular approach can significantly

shorten your application development time.

Aplication Specific Systems ACI, PMSM...

Aplication Specific Systems DMC, DPS...

IQMath Library

Peripheral Driver PWM ADC QEP

Real-Time JTAG, RTDX, DSP/BIOSTM

C28xTM

Har

dwar

e To

ols

Cod

e C

ompo

ser

Stud

ioTM

3rd T

ools

(Sim

ulin

k, V

isSi

m)

••

TI's C2000 IQmath Library:A mathematical approach and a set of supporting math libraries that enable:• Reduced Implementation/Porting/Debugging Time of Math Algorthms in C/C++• Increased Numerical Resolution of Algorithms from 16-bits to 32/64 -bits

Typical: IQmathUsers typically start with a floating point algorithm,...

float Y, M, X, B;Y = M*X + B

and then spend many hours converting to a fixed-point algorithm which is not easy to read

IQmath reduces this effort dramaticallyand the code is easier to read and looks ’natural’

int Y, M, X, B; //Q1 to Q15Y = ((M*X) + B << Q) <<Q);

// Using IQmath in C:_iq Y, M, X, B; //Q1 toQ30Y = _IQmpy(M, X) + B// Using IQmath in C++:iq Y, M, X, B; //Q1 to Q30Y = M*B + B;

IQmath™ can be termed as ‘virtual floating-point’

in that it looks like floating-point math, but is

implemented using fixed-point techniques. The

IQmath approach enables the seamless portability

of code between fixed and floating-point devices.

Various functions like Multiply, Divide, Multiply with

Rounding and Saturation, Square Root Root and

Sine and Cosine are available.

C2000™ Digital Motor Control Software Foundation

C2000™ IQMath Library

139138


139138


TI also offers a wide variety of motor-control-

specific software modules for Vector Control of

AC induction and PMSM drives as well as for

BLDC drives, like inverse Clarke/Park transforms,

extended-precision PID Controllers, leg current

measurement drivers, BLDC-Specific PWM Drivers

BLDC Commutation Triggers up ACI and PMSM

speed and rotor position estimators.

TMS320C2000™ Microcontroller Digital Motor

Control Libraries

The TMS320C2000 Digital Motor Control Software

Libraries are available for engineers developing

solutions using digital motor control on a C2000

microprocessor. TI provides several different

motor control libraries designed to fit most motor

control applications. The libraries are composed of

independent software modules created in optimised

C and come fully documented. Below is the list of

currently available software.

Motor-Specific Software Solutionswww.ti.com/c2000appsw

System Motor Type Sensored Sensor-less Description C28x™

Controller

ACI1_1 1 ph AC Induction • Tacho I/PVHz/SinePWM/Closed Loop (CL) Speed PID

ACI3_1 3 ph AC Induction • Tacho I/PVHz/SinePWM/CL Speed PID •

ACI3_2 3 ph AC Induction • MRAS (Speed Estimator)VHz/SinePWM/CL Speed PID

ACI3_3 3 ph AC Induction •Tacho I/PFOC/SinePWM/CL Current PID for D, Q/CL Speed PID

•

ACI3_4 3 ph AC Induction •Direct Flux Estimator + Speed EstimatorFOC/SinePWM/CL Current PID for D, Q/CL Speed PID

•

PMSM3_1 3 ph Permanent Magnet Synch •QEPFOC/SinePWM/CL Current PID for D, Q/CL Speed PID

•

PMSM3_2 3 ph Permanent Magnet Synch •

Sliding Mode Observer (SMO) Position Es-timatorFOC/SinePWM/CL Current PID for D, Q/CL Speed PID

•

PMSM3_3 3 ph Permanent Magnet Synch • Resolver/FOC/CL Current PID for D, Q/CL Speed PID •

PMSM3_4 3 ph Permanent Magnet Synch • QEP/FOC/Position Control •

BLDC3_1 3 ph Trapezoidal Brushless DC •3 Hall Effect I/PTrapezoidal/CL Loop Current PID/CL Speed PID

•

BLDC3_2 3 ph Trapezoidal Brushless DC •BEMF/Zero Crossing DetectionTrapezoidal/CL Loop Current PID/CL Speed PID

•

DCMOTOR Bruched DC • Speed & Position/QEP without Index •

Digital Motor Control Library All Motor Types • • Component Modules for Motor-Specific Ap-

plication •

141140




Piccolo – Dual-Axis PMSM Motor Control

Developer’s Kit

The Piccolo Dual-Axis Motor Control Demo is a

low voltage, low power platform targeted mainly

for software and algorithm development on PMSM

motors and PFC. Even though this platform is low

voltage it still reflects same methods, principles

and algorithms found on larger 110 V and 230 V

systems. Moreover, software is scalable to high

voltage / high power systems by simply changing

constants and scale-factors. This approach takes

away the hazards and extreme caution needed

when working and debugging high voltage systems

and allows the developer to focus more on software

techniques / methods.

PWM-1

F28xxx

I2CUARTCAN

CPU32-bit

A

B

PWM-2 A

B

PWM-3 A

B

PWM-4 A

B

CAP-1

PWM-1A

PWM-1B

PWM-2A

ADC

12-bit

VREF

1

2

3

4

5

16

2H

3H

2L

3L

2H 3H

2L 3L

1

2

3

1H

1L

DRV8402 -IPM

4H

4LPWM-2B

4

4H

4L

DC-Bus

spare

3 PhasePMSM

PWM-3A

PWM-3B

PWM-4A

2H

3H

2L

3L

2H 3H

2L 3L

1

2

3

1H

1L

DRV8402 -IPM

4H

4LPWM-4B

4

4H

4L

DC-Bus

spare

3 PhasePMSM

Current feedback

Voltage feedback

Inc.Encoder

QEP3

HallEffect

CAP1

12 V

12 V

QEP3

HOST

Filter+

VAC

PFC-2PhIL

PWM-5B

PWM-5A

PWM-5 A

B

141140


141140


Features

• Single Controller for PFC stage + Dual Axis

Motor Inverter stages

• PFC – 2 phase Interleaved front end (12~24 VAC

input)

• Leg Current sense for PFC current loop control

• 50 W (approx) total system power (1 x 50 W or

2 x 25 W motors)

• 2 x 3-phase Inverter power stages, based on TI’s

DRV8402 Integrated power stages

• Up to 50 V DC bus supported by DRV8402

• Cycle-by-Cycle current limit (by DRV8402 or by

Piccolo’s internal Comparator and trip logic)

• PMSM type motor support now, and BLDC in

future

• Hall effect and QEP sensor inputs provided for

speed/position feedback

• Current sense measurement via leg shunt

resistors on each phase

• Voltage measurements on Phase outputs

• Main-board accepts F28xxx control cards,

including latest with Piccolo

• Stand-alone operation with serial comms

(UART, I2C, CAN-bus) from Host

• On-board Isotaled USB-to-JTAG emulation

support for code development and debug

Tools

Texas Instruments offers a wide variety of hardware

and software tools that allow developers to evaluate

the microcontrollers. A control stick with a USB

interface and a control card are available for the

Piccolo™ family of devices. The control cards are

pin compatible which gives the freedom to evaluate

multiple devices using the same development

board. TI also offers a range a of software libraries

to implement a motor control system.

More information and more development kits

available at www.ti.com/f28xkits

The table on the next side shows the different

hardware offering from TI.

143142




Kit Part Number Description Price

“Piccolo” F28027 TMDXCNCD28027 F28027 controlCARD $49.00

“Delfino” F28335 TMDSCNCD28335 F28335 controlCARD $69.00

“Delfino” C28343 TMDXCNCD28343 C28343 controlCARD $109.00

“Piccolo” F28027

TMDXDOCK28027

Compatible with the controlSTICK example projects.

F28027 Piccolo controlCARD,USB docking station ,CCS V3.3 ,USB cable

$79.00

“Delfino” F28335 TMDSDOCK28335

F28335 Delfino controlCARD, USB docking station, CCS V3.3, USB cable

$99.00

“Delfino” C28343

TMDXDOCK28343

Included DIM100 controlCARD compatible with C2000 application tools!

C28343 DIM 100 controlCARD, Docking station, CCS V3.3, 5 V power supply

$159.00

F28335 TMDSPREX28335

F28335 peripheral explorer kit. Includes power supply, CCS, controlCARD and peripheral explorer baseboard

$179.00

Piccolo – Dual-Axis PMSM Motor Control Developer’s Kit

TMDS2MTRPFCKITSingle piccolo controller for PFC stage + dual axis motor inverter stages

tbd

143142


143142


Safety Standards

The microcontroller offerings from TI can meet

the safety requirements of IEC60730 and other

standards. The IEC60730 standard is classified as:

• Class A: Thermostats, lighting control, humidity

control etc.

• Class B: These prevents unsafe operation

• Class C: These prevents special hazards

• Appliance products, HVAC systems usually fall

under Class B

Customers have the freedom to choose their

implementation depending on the type of end

equipment and safety aspects of end equipment.

The safety tests can be implemented as:

• Single channel with functional tests; which

mainly covers tests performed prior to shipment

of the device

• Single channel with periodic self test; which

are periodic self tests performed during actual

operation of the appliance

• Dual channel with lock step: where two CPUs

performing same tasks or performing vital

functions independently

The IEC 60730 support becomes more flexible

with Piccolo devices as the following features are

implemented on the device:

• Independent Dual on chip 10 MHz oscillator with

3% accuracy:

• Possibility to calibrate accuracy to <1% using

on-chip temp sensor

• Independent clocking of CPU, Watch Dog &

32-bit Timers

• Robust clock failure detection mechanism

• On board analog comparators with

asynchronous trip actions

Summary

C2000 microcontrollers reduce the overall cost of

motor control systems by providing the integration

and performance necessary to implement advanced

control techniques such as sensorless vector

control of three-phase motors. Using the more

processor-intensive vector control, for example,

allows developers to reduce the size and cost of

the motors and power electronics. With C2000

microcontrollers, developers can now capitalise

on the latest advancements in motor designs and

control techniques.

• TI offers a wide portfolio of MCUs and analog

components to design a digital motor control

system

• SW and HW tools are available to reduce the

development cycle time

• The MCUs have built in HW features that in

conjunction with SW can meet the IEC safety

requirements

144144


www.silica.com

4. Glossary

MCU Microcontroller unit

MDU Multipicate device unit

MOSFET Metal oxide semiconductor field effect

transistor

OP-AMP Operational amplifier

PCB Printed circuit board

PFC Power factor correction

PID Packet ID

PLC Power line conditioner

PLD Programmable logic device

PLL Phase locked loop

P(M)SM Permanent magnet synchronous

motors

PWM Pulse width modulation

RAM Random access memory

RISC Reduced instruction set computer

ROM Read only memory

SAR Specific absorption rate

successive approximation register

SCI Serial communication interface

SMD Surface mounted devices

SOI Silicon-on-insulator

SPI System programming interface

SPM Smart power module

SR Switched reluctance

SSC Synchronous serial channels

TTL Transistor-transistor logic

UART Universal asynchronous receiver/

transmitter

USB Universal serial bus

USIC Universal serial interface controller

VHDL VHSIC hardware description language

AC Alternating current

ADC Analog-to-digital converter

ASIC Application-specific IC

ARM Computer processor architecture

BICMOS Bipolar complementary metal oxide

semiconductor

BLAC Brushless alternating current

BLDC Brushless direct current

CAN Serial bus system made up of a twisted

pair of conductors

CMR Common mode rejection

DAC Digital analog converter

DC Direct current

DMC Differential mode coupling

DSC Digital signal controller

DSP Digital signal processor

EMC Electromagnetic compatibility

EMI Electromagnetic interference

ESD Electrostatic discharge

FADC Fast analog-to-digital converter

FOC Field oriented control

FPGA Field programmable gate array

GPTA General-purpose timer array

IC Integrated circuit

IEC International Electrotechnical

Commission

IGBT Insulated gate bipolar transistors

IM Induction motor

IPC In-plant point of coupling

IPM Intelligent power module

JTAG Joint Test Action Group

MAC Media access controller

LInECArD

SILI

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May

200

9

SILICA OFFICES

SILICA | The Engineers of Distribution. SILICA | The Engineers of Distribution. www.silica.com

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Motor Control

WORKBOOK

motor control workbook

Documents

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