ST电机控制及解决方案

Carl XU

Industrial Motor Control Competence Center

AP Region, STMicroelectronics

Agenda

1电机控制创新技术中心:使命, 组织架构, 实验室

2ST 用于电机控制的产品及架构

3 ST参考解决方案

2

电机控制创新技术中心使命

• 系统级研发• HW Reference Design, Application Boards

• FW Application Modules for the ST MC Library

• System Solutions

• 客户支持• Evaluation & Training with ST Tools

• ST Kit Product Selection (in cooperation with TM)

• Schematics; Layout review; Tuning (in cooperation with FAE)

• 伙伴关系• Overall Motor Control System expertise

• Partnership & new algorithms;

• Customer’s IP porting to ST platforms

• NPP, NSP, GAP• Products validation in-application: feedback to divisions

• New Product, New Solution Proposals: specification / roadmap

• Inter-divisional / strategic MKT / Joint Labs: information & technology alignment

创建和推广创新的, 便捷的以及成熟的电机控制系统解决方案;

设计和伙伴和当地的客户

增加工业应用的全部ST产品影响

提高细分市场的收入增长

电机控制创新技术中心关注焦点

4

家用电器空调

自动化伺服驱动器工业运输

电动 & 园林工具

消费类电机控制

电机控制

电机控制实验室

5深圳 上海 首尔

AUDIO ANALYZER

New FW IP, tuning,

debugging, validation

VIBRATION ANALYSIS

New FW IP, tuning,

debugging, validation

IR THERMOCAMERA

Device temperatures,

PCB design

DATA LOGGING

Data Logging

Data Analysis

APPLICATION

UNDER TESTING

MOTOR

~

ELECTRONIC LOAD

Pulsed load

variations,

additional loads

DYNAMOMETER

Energy efficiency, load

variations, Torque measPOWER SOURCE

AC distortions

AC inrush etc

POWER ANALYSIS

Energy

Efficiency

FFT, PF etc

电机控制实验室测试项目

6

Energy

EfficiencyAudio

Analysis

PF, THD

Measure

Thermal

Analysis

电机控制技术, 架构, 生态系统

7

Our extensive ecosystem for Motor Control targeting innovations

for higher efficiency and reliability

7

STM32 MC SDK

IGBT, HV SJ Power MOSFETs, Power Modules

STM32G4, STSPIN32F0, Microcontroller

Gate driver ICs, AC-DC converters, Power

Management, Signal conditioning and interface

Diodes and Protections, Thyristors

MEMS Sensors & Actuators, Time of Flight

Bluetooth LE and Sub-1GHz processors, chip

and modules

Large choice of STM32 with embedded Advanced Motor Control

PWM timers

STM32 电机控制组合 – 概览

8

Ultra-low-power

Mainstream

Cortex-M0

Cortex-M0+Cortex-M3 Cortex-M4 Cortex-M7

High-performance

Wireless

Cortex-M33

: STM32 series with Advanced PWM Motor Control timer(s)

STM32F2 STM32F4 STM32H7

STM32F0 STM32G0 STM32F1 STM32F3 STM32G4

STM32WB

STM32L0 STM32L1 STM32L5 STM32L4 STM32L4+

STM32F7

STM32 电机控制组合- 旗舰

916KB 64KB

64 MHz

(xx DMIPS)

Performance

Flash

32KB

STM32F0x/G0xCortex-M0/M0+

Motor Control Access

MCUs

2 MB512KB

170 MHz

(212 DMIPS)

480MHz

(1027 DMIPS)

STM32F30x/G4xxCortex-M4

Motor Control Analog Advanced MCUs

256KB

STM32H723/H745Cortex-M7 (Single/Dual core +M4)

Motor Control Hi-Performance MCUs

ST 电机控制驱动组合

Extra-Miniaturized

STSPIN2 Series

Below 10 W

High-performance

STSPIN8, L62 Series

Up to 100 W

High-Power / Voltage

PWD SiP Series

Up to 500 W

Motor drivers with embedded MCU: STSPIN32 Series

High-Current

L649 Series Galvanic Isolated

STGAP Series

Up to tens of kWUp to 1 kW

Motor Driver ICs 1.8V – 600 V Gate Driver ICs + MOS / IGBT / SiC / GaN 600V – 6KV

Half-Bridge

3-Phase Bridge

L638, L639 Series

Broad portfolio with > 130 products and > 1.5 Billion units sold

10

完整的功率模块

11

Home Appliances Motor Drive, E-MobilityEnergy Conversion &

Storage

Intelligent Power ModuleSLLIMM

(IGBT, Silicon MOSFET options)

Higher current scalability to cover a wider power range

30W 250kW3kW500W 5kW

Washing

Machine

Air

ConditioningFridge

Electric Motor,

Charging StationMotor Pump Solar Inverter

Power ModuleACEPACK

(Silicon MOSFET, IGBT, Silicon Carbide MOSFET option)

Adaptable Compact Easier Package

E-Mobility

Typ. Application Examples

Traction

150kW10kW 30kW

DC-DC, OBCRoller

shutter

12

STSPIN32(MCU + Gate Driver)

Solution 2“Intelligence

Integration”

STM8/32(MCU)

STSPIN / PWD-SPIN / SLLIMM

(Gate Drivers + IGBT/MOS)

Solution 3“Power

Integration”

STM8/32(MCU)

STDRIVE

(Gate Driver)

STPOWER(IGBT / MOS)

Solution 1“Discrete” + +

+ STPOWER(MOS / IGBT)

+

ST 电机控制解决方案

Helping motion control designers select the best solution for

their design

• High integration

• Up to 80% PCB space save

• Easier and faster PCB design

• MC-SDK Support

• Less flexible in terms of MCU

selection / change compared to

Solution 1

ST 电机控制解决方案– 定位

13

STSPIN32(MCU + Gate Driver)

Solution 2“Intelligence

Integration”

STM8/32(MCU)

STSPIN / PWD-SPIN

(Gate Drivers + MOSFET)

Solution 3“Power

Integration”

STM8/32(MCU)

STDRIVE

(Gate Driver)

STPOWER(MOS)

Solution 1“Discrete” + +

+ STPOWER(MOS / IGBT)

+

Pros Cons

• High Flexibility STM32 package-

memory-performance

• Entry level combinations – cost

sensitive

• Wide / scalable portfolio for

Stepper, Brushed DC and 3-ph

BLDC motors

• MC-SDK Support

• Less integrated and compact

than 2 and 3

• More PCB space required

• High integration

• Up to 60% PCB space save

• Easier and faster PCB design

• Optimized EMI performance

• Wide and scalable portfolio for

Stepper, brushed DC and 3-ph

BLDC motors

• MC-SDK Support

• Less flexible in terms of power

devices selection / change

compared to Solution 1

分立解决方案 vs STSPIN32主要区别

14

Items

“Discrete” solution

based on:

STM32F0x1Cx

“Intelligence

integration”

STSPIN32F0x

CPU Flash Size (KB) From 16k to 256k 32

# of GPIOs 39 Up to 20

# ADC / channels 1 / 9 1 / 9

# OP-AMP / Comp 0 Up to 4 / 1

3-phase Gate Driver External Integrated

3.3V DC-DC buck External Integrated

12V LDO External Integrated

VDD range (V) 2.0 - 3.6 2.0 - 3.6

Total Size (mm²) ≈1370 ≈300

灵活的架构高压应用

15

HS & LS 3ph gate drivers

6x IGBTs or MOSFETs

MCU

SL

LIM

M fa

mily

ST

M32

F3/G

4

OpAmps & Comparators 3x Half bridge gate drivers

6x discrete IGBTs or MOSFETs

STM32

F0

ST

SP

IN32

F06x

fam

ily

OpAmps & Comparators

TSV9x

MDmesh

DM2,K5

IGBT Trench

MCU

3x Half bridge gate drivers

6x IGBTs or MOSFETs

MCU

L639

x, S

TD

RIV

E60

1

OpAmps & Comparators

AC

EP

AC

K

STM32

OpAmps & Comparators

3x Half bridge gate drivers

6x discrete IGBTs or MOSFETs

MCU

TSV9x

L639x

STM32

MDmesh

DM2,K5

IGBT Trench

Flexibility through undisputed widest product portfolio

2002 2005 2008 2009 2011 2013 2014 2016 2018

ST9

ST7FMC

8/16-bit

MCU for

ACIM with

dedicated

library

8-bit MCU for

MC scalar and

6-step control

with MC HW &

SW kit

32-bit CM3

MCU &

sensor-less

FOC library

v1.0

8-bit MCU

& MC kit

for scalar

and 6-step

control

FOC SDK

v3.0 - dual

motor FOC

control

& MCWB

FOC SDK

v3.4 - new

analog &

HW

accelerator

FOC SDK

v4.0 - high

frequency

Injection,

MTPA, …

FOC SDK

v4.3 - Motor

Profiler, One

Touch

Tuning, Start-

up on the fly

FOC SDK v5.0 -

STM32Cube

compatible &

Simplified FW

architecture

18 年三相电机控制经验聚焦FOC 和 6-step

16

2019

PMSM FOC SDK 5.4Support STM32G4

2020

PMSM FOC SDK 5.4Support position control

STM32F3

STM32F4STM32F2

STM32F1

STM32F0

电机控制- 软件开发套件路线图简要

17

SDK

Product

support

FW

solutions (in SDK)

SW Tools

Latest key

featuresQ1 21 Q2 21 Q3 21 Beyond

SDK V5.4 SDK V6.0

New

Workbench

v2.0

Position Control

6-Step V1

(G4, STSPIN32F0)

Dual Drive G4

New Motor

Pilot (variable

monitoring)

Hardware

Solutions

New MC

Workbench +

New FW lib

architecture:

FOC &

6-STEP

STM32G4STM32H7

New FOC

Sensorless

final

SDK 6.1

Class B(G4)

Q4 21

SDK 6.x

SwR Motor

New MC

Profiler (inside MC FW)

STM32 new MCU

SDK V5.5

ACIM

(F3, G4)

FW

examples(outside SDK)

Discontinuous

PWM

Single shunt –

Phase shift

Over

modulation

alpha

3x MC-FOC

(G4)

Product Support

Core products

Cost efficient

High performance

Low Power

STM32F3 STM32G4

STSPIN32

STM32H7STM32F4/

F7

STM32L4

STM32F1 STM32G0

STM32F0

6-Step V2

ACIM

3xMC-FOC

Other SW IPs

STM32 电机控制– 生态系统

18

Motor Control SW Dev. Kit (SDK)

• Motor Control FW lib: full feature library

• Motor Control Workbench: Graphical

(GUI) configurator/monitor

• For STM32, STSPIN32 MCUs.

Motor Control Suite

• Online tool that provides easy access to motor-control

resources in the STMicroelectronics MCU ecosystem

• For STM32, STSPIN32 and STM8 MCUs.

Motor Control Profiler

• Automatic detection of key

parameters (Rs, Ls, Ke)

• Zero equipment required

• For STM32 MCUs.

STM32Cubexx

• Embedded software bricks

• For all STM32xx (flagship for Motor Control: STM32G4)

Visit the STM32 Motor control

dedicated web page:

www.st.com/content/st_com/en

/stm32-motor-control-

ecosystem.htmlHW boards

ST Portfolio (Power)Driver, MOSFet, IGBT, Protection Diods…

STM32 电机控制FOC固件库

19

Benefits of FOC:

• Best energy efficiency even during transient operation, due to optimal current angle

• Responsive speed control to load variations, due to direct and decoupled control of

electromagnetic torque and flux

• Precise position controldue to direct and decoupled control of electromagnetic torque

and flux;

• Acoustical noise reduction due to sinusoidal waveforms / optimized control

• STM32 MC SDK advantageAutomatic code generation, single/dual motor

sensorless, sensored, 1/3 shunt, position control, MTPA, etc.

STM32 Motor control Software Development Kit

Hardware Setup

MCSDK 工作流程

20

Motor Characterization

System Configuration

GUI

Motor Control Workbench

Project Configuration

CubeMX & IDE

Motor Drive Tuning GUI

Motor ControlWorkbench

Final Application

Development

电机控制SDK v5.4 特性列表

21

STM32 series F0 F1 F3 F4 F7 L4 G0 G4

• 1 Shunt

• 3 Shunt

• Hall sensors

• ICS

• Flux weakening

• MTPA

• Sensorless (PLL /

Cordic)

• Feed Forward

• Single FOC

• Dual FOC / /

• FreeRTOS

• Position Control

Full Integration / configuration in MC Workbench tools:

FW Examples / No configuration possible in MC Workbench tools:

STM32 seriesF0

STSpinF0B

F1 F3 F4 F7 L4 G0 G4 H7

• 6 Step

• PFC

• DUAL CORE H7 example

21

应用解决方案

Extreme Integration and Robustness, High Torque / High Speed

• Low-Voltage Design – STEVAL-PTOOL1V1for battery packs up to 36V (2S – 6S)

(STSPIN32F0B + 60V MOS STL180/220N6F7)

电动和园林工具(使用电池)基于STSPIN32F0家族

• High Voltage Design – STEVAL-PTOOL2V1for battery packs up to 60V (8S – 15S)

(STSPIN32F0252 + 80V MOS STL130N8F7 /

STL135N8F7AG)

FOC / 6STEP ; SENSORLESS / HALL / BEMF DETECTION

24

80 mm

58

mm

• Max operating ratings: 80V, 15ARMS

• Very low stand-by power consumption

• 6-Step single shunt with Hall sensors inputs

• Mounting options for:

• Field Oriented Control, sensorless/sensored

• BEMF detection circuitry

• Over Current Protection

• Trigger, direction and speed inputs available

• Speed control potentiometer available

• Heatsink (54x54x20 mm)

• Ready to use dedicated 6step FW

STSPIN32F0252250V integrated

3phase BLDC driver (1A)

STL130N8F780V, 3 mΩ MOSFET

(Bottom side)

STEVAL-PTOOL2V1

24

High voltage power tools reference design (8S – 15S)

机器人割草机

25

+16VDC~+20VDC2/3 shunt

Current

Sample

Ia,Ib,Ic

2 X STSPIN32F0A

Battery

Charge

12 X STL20N6F7

2 X Wheel motor

2/3 shunt

Current

Sample

Ia,Ib,Ic

STSPIN32F0A

6 X STL20N6F7

Blade Motor

ST Solution Feature

STSPIN32F0A (SOC)高集成度, PCB尺寸紧凑, 低系统成本

车轮电机控制无感矢量控制低成本解决方案,

大启动转矩,满足在全负荷中爬升的需求

刀片电机控制无感矢量控制低成本解决方案,

新刹车算法，可控母线电压的升幅

宽范围电池输入 6.7~45VDC

M

M

车轮电机控制

26

• 在无传感器FOC模式下,车轮电机的不同方向快速切换

• 启动时间小于300ms

• 不同方向切换的间隔时间小于330ms

• 额定负载下，车轮电机的最低转速可以达到300RPM

• 在空载和额定负载下，平稳启动，快速的速度指令，无过冲

• 大启动扭矩，重载快速启动，最大启动扭矩可达7N.m

White: Speed

Feedback

Red: Speed

Reference

Running @+-300rpm

刀片电机控制

27

• 快速响应 : Quick Startup to full speed based on Sensorless FOC control;

• 传统主动制动策略: Voltage surge of Vbus is out of Control, the max voltage surge will reach 35Volts when

motor braking from full speed; the braking time period from full speed to 300RPM is 440ms

• 电压跳变可控制动策略: the braking time period from full speed to 0RPM is 530ms, Controlled Voltage

surge of Vbus reachs 30Volts (it could be set by FW freely)

ENABLEDDISABLED

吸尘器参考设计

28

• HW is based on STSPIN32F0/A + 6x STD140N6F7 MOSFETs

(STEVAL-SPIN3201 is a good starting point; V supply = 8-45 V, I out = 15 Arms )

• FW is FOC sensorless in 2-shunt configuration; 1 extra optional shunt can be used for power measurement

HW configuration example

Complete HW + FW package tailored for suction motors in

vacuum cleaners

吸尘器参考设计

29

Motor running at 87K rpm

motor accelerates with closed air inlet (decreased

load)

100K rpm reached

when the load changes (air inlet is reopened), the motor keeps under

control

Can reach 100k – 130k rpm on single pole pair motors (tested),

constant power mode allows different air inlet conditions

Rivet gun

30

ST Solution Feature

STSPIN32F0A (SOC)

High integration, Compact

PCB Size, Low System

Cost

STL140N6F7 High efficiency MOS

Compact installment size,

Max current could reach

50Ampers in Rivet process

High speed 6 step current loop

control and Fast Braking

Big peak torque output,

Fast Rivet process ,braking

and rollback in the initial

position precisely

Wide Range of Battery Input Fit for 6.7~45VDC input

M

STM32F103VET6

STL140N6F7

STripFET F7 series

STSPIN32F0A

ARM Cortex™-M0

Rivet gun

• Working Flow of Rivet process：

Forward acceleration of motor → Fast braking on monitoring forward path of Draw Bar → Reward acceleration of motor → Fast braking on monitoring Reward path of Draw Bar

• Draw Bar path control: Keep draw bar in initial position when rivet process finished

• Period Time: Whole motor rivet process and return to initial position finish in 1.26 seconds

31

Rivet gun

Max speed of motor :21000RPMPeak Current reach 50Ampers in Rivet process

32

STSPIN32G4 dual motor platform

STSPIN32G4

STDRV101

Typical Application

One SOC to control dual motor

• No need communication

bus between two

individual controller of dual

motor

• More compact PCB size

and lower system cost

• Better synchronization

performance for dual

motor control

33

Traditional dual motor control topology

Signal conditioning

M

Power Switches- 12 X MOS

LDO

MOS

Drivers

MCU

DC/DC ConverterDC Source12VDC

3.3VDC

Dual Shunt/Vdson Detection

12VDC

MOS

Drivers

M

CAN ControllerSystem Bus

Key Features

• Discrete DC/DC

Converter for Driver

Supply and others

• Discrete LDO for MCU

supply and others

• Discrete CAN

Controller for System

Bus communication

• Big PCB Size and

Complicate PCB

routing

34

STSPIN32G4 dual motor control topology

Signal conditioning

M

Power Switches- 12 X STL110N10F7

LDOMOS

Drivers

MCU

DC/DC

Converter

DC Source

Dual Shunt/Vdson Detection

MOS

Drivers

M

CAN

Controller

System Bus

Key Features

• Embedded DC/DC

Converter for Driver

Supply and others

• Embedded LDO for

MCU supply and others

• Embedded CAN

Controller for System

Bus communication

• Small PCB Size and

Simple routing

STDRV101

STSPIN32G4

35

Very compact and straightforward design

STSPIN32G4 dual high speed motor controlevaluation

Dual Motor Control

Obstacles Detection

Posture Recognition

Intelligent !!!

Sensorless observer+FOC

Executing time~=7.4us

Current

Loop/PWM

Frequency

Electrical

Motor Speed

Sensorless

FOC

executing

time

CPU Load

Motor 1 35K 140KRPM 7.4us 26%

Motor 2 35K 140KRPM 7.4us 26%

Total 52%

36

Even while controlling dual high-speed motor with sensorless

FOC, CPU still has 46% capacity to handle other tasks

Urea pump

37

ST Solution Feature

STSPIN32F0A (SOC)High integration, Compact PCB

Size, Low System Cost

Motor Control Method

Low cost solution based on

Sensorless FOC control, Fast

hydraulic pressure establishing

and response, stable low speed

running in heavy load

Wide Range of ambient

temperature

-40~125

Wide Range of Battery Input Fit for 6.7~45VDC input

Ejector Urea Tank Diesel Tank

• Pump the urea to reduce nitrogen oxide from exhaust emission of Diesel vehicle

• Urea pump will drag up the left liquor from the tube , and pump back to Urea Tank when vehicle parking

China VI emission standard

Urea pump

38

+7V~32VDC

3 /1 shunt

Current

Sample

Ia,Ib,Ic

STSPIN32F0/

STSPIN32G4

STL36DN6F7 X 6

M

• STSPIN32F0 for Motor Control Module only

• STSPIN32G4 for Combination of Motor

Control Module + SCR control Module

System feature：

• Fast speed deceleration of motor

after startup for pump pressure

establishing, motor run stable in

low speed with heavy load

• Small Pressure ripple and constant

injection delivery in regular running

• High anti-pressure ability, Could

stable running under 15Bar liquid

pressure when tube clogged

System pressure increased quickly after tube blocked

Fast deceleration after system pressure established

Pressure ripple when ejector periodic working

* Blue waveform is changing curve of pump pressure

Security monitor

Motor Position Sensor

• Optical Encoder

• Magnetic Encoder

• Resolver

• Speed Control: The lowest controllable speed could reach 0.6RPM

• Position Control: Achieve the same position control performance as stepper motor , and get better

dynamic response than stepper motor , fit for big inertia system

• Trajectory Plan: For achieve a smooth movement , Calculate trajectory plan(a series combination of

target positions) from constant drag principle

Position Command

• Target Angle

• Interval Time

Trajectory

Calculation Acceleration

Speed

Angle

Position

Control

Immediate target Angle

Torque Command

3 x FOC

39

Security monitor

40

ST Solution Feature

STSPIN32F0A (SOC)

High integration, Compact

PCB Size, Low System

Cost

High precision Magnetic encoder

interface

Precisely decode absolute

position of motor

Position & Speed loop FOC

Control

Stable torque output, Small

camera shake ,

Controllable camera

position, high image quality

Wide Range of Battery Input Fit for 6.7~45VDC input

+12V

3 shunt Current

Sample

Ia,Ib,Ic

STSPIN32F0A

AC-DC power

module

3 X STL7DN6LF3（双NMOS）

M

Discovery k for ESC

STEVAL-CTM009V1• STM32 NucleoBoard

• STH310N10F7-6:

STripFETTM F7 (36x)

• L6491 gate driver

• STTH102AY;

STPS5L60SY;

STPS3L40SY:

rectifiers

• A7986: Buck Boost

regulator5kW high current LV

B-G431B-ESC1• STM32G4

mcu

• L6387ED

gate driver

• STL180N6F7

STripFET F7

• L7986TR,

LD39050PU

33R, BLDC servo kit LV

Power Tools,36V,60V

Vacuum Cleaner

Garden Tools, 6step

EVALKIT-ROBOT-1• STSPIN32F0A

sip

• STL7DN6LF3

Dual STripFET F7

• ST1S14PHR

• Modbus;

Position Control

STEVAL-PTool1v1

STEVAL-PTool2v1• STSPIN32F0A

• STSPIN32F0252

• TSV912

• LD1117S33CTR

STEVAL-SPIN3201• STSPIN32F0

sip

• STD140N6F7

STripFET F7

• 100k RPM

motors

STEVAL-ESC002V1• STSPIN32F0A

sip

• STL140N6F7

STripFET F7

• LMV321LILT

signal cond

NEW

*Part numbers just example; parts to be agreed with ST Marketing

**Architectures just example in the ST-EVAL; architecture to be defined with customer

低压应用

41

总结

42

• 基于创新技术的丰富电机控制生态系统

• 高效可靠的低压整体解决方案—优秀的产品和成熟的FOC算法

• ST的目标—电机控制的领导者.

4/29/2021 Presentation Title 43

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