ID 610C Carver Intro To Motor Control
ID 610C Carver Intro To Motor Control
Avnet
Jim Carver
Technical Director, Advanced Architectures
12 October 2010
Version 1.0
Microcontrollers
& Microprocessors
#1 Market share
worldwide *
ASIC, ASSP
& Memory
Advanced and
proven technologies
Solutions
for
Innovation
Analog and
Power Devices
#1 Market share
in low-voltage
MOSFET**
* MCU: 31% revenue
basis from Gartner
"Semiconductor
Applications Worldwide
Annual Market Share:
Database" 25
March 2010
** Power MOSFET: 17.1%
on unit basis from
Marketing Eye 2009
(17.1% on unit basis).
Microcontrollers
& Microprocessors
#1 Market share
worldwide *
Solutions
for
Innovation
ASIC, ASSP
& Memory
Advanced and
proven technologies
Analog and
Power Devices
#1 Market share
in low-voltage
MOSFET**
* MCU: 31% revenue
basis from Gartner
"Semiconductor
Applications Worldwide
Annual Market Share:
Database" 25
March 2010
** Power MOSFET: 17.1%
on unit basis from
Marketing Eye 2009
(17.1% on unit basis).
General Purpose
Up to 10 DMIPS, 130nm process
350 uA/MHz, 1uA standby
Capacitive touch
Embedded Security
General Purpose
Up to 10 DMIPS, 130nm process
350 uA/MHz, 1uA standby
Capacitive touch
Embedded Security
Agenda
Motor Types Overview
Six-Step Commutation
Sensorless Commutation with Back-EMF
Vector Motor Control basics
Closed-Loop Speed Control
Introduction to BLDC Motor Control Evaluation Kit
Summary
6
Motor Types
Transition to
AC, DC
and
Universal
Motors
As consumers demand
more energy efficient
products, more BLDC
motors are being used.
BLDC
Brushless DC Motors
Permanent magnet rotor within
stationary windings
Pros:
No brushes or commutator to wear out
No sparks and no extra friction
More efficient than DC motor
Higher speed than DC motor
Higher power density than DC motor
Cons:
Rotor sensor OR sensorless methods
needed to commutate
Requires six power transistors
10
Stator
windings
Permanent
Magnet
Rotor
Brushed DC Commutation
The windings in the
armature are switched to
the DC power by the
brushes and armature
+
Each winding sees a
positive voltage, then a
disconnect, then a negative
voltage
The field produced in the
armature interacts with the
stationary magnet,
producing torque and
rotation
+
U
11
DC Motor Bridge
The DC motor needs four
transistors to operate the DC
motor
The combination of transistor
is called an H-Bridge, due to
the obvious shape
Transistors are switched
diagonally to allow DC current
to flow in the motor in either
direction
The transistors can be Pulse
Width Modulated to reduce the
average voltage at the motor,
useful for controlling current
and speed
12
13
U
V
W
Six-step Commutation
STEP1
STEP2
STEP3
STEP4
U
V
W
14
STEP5
STEP6
STEP1
STEP2
STEP3
15
Hall Sensors
Hall Sensors detect magnetic fields, and
can be used to sense rotor angle
The output is a digital 1 or 0 for each
sensor, depending on the magnetic field
nearby
Each is mounted 120-degrees apart on
the back of the motor
As the rotor turns, the Hall sensors
output logic bits which indicate the angle
H1
H1
N
S
H2
H3
16
H3
H2
STEP1
H1
H2
H3
17
STEP2
STEP3
STEP4
STEP5
STEP6
STEP1
STEP2
STEP3
3-Phase PWM
UP
UN
VP
VN
WP
WN
18
Sensorless Commutation
Instead of using sensors like Halls, we can let the motor tell
us which phase should be energized
The Brushless DC motor acts as a generator when it rotates,
creating voltages
19
20
21
22
Sinusoidal Methods
Stepped commutation methods work well, but
The Back-EMF waveform is more sinusoidal than trapezoidal
If we can match the sinusoidal waveform, we can improve
performance
We will show two sinusoidal methods:
180-Degree Sinusoidal
Field Oriented or Vector control
23
Cons:
Complicated Algorithm
Needs powerful processor
DC Bus
iq
Speed Regulator
id 0
*
id
iq
iq PI
Regulator
Uq
d,q
to
id PI
Regulator
Ud
,
T 1 ( )
iq
PWM1~6
,
to
a, b, c
to
d,q
ia
i
T ( )
Voltage
Source
3-phase
Inverter
SIN
PWM
Motor Model
Based Flux and
Position Observer
id
25
a,b,c
to
Speed Estimation
ib
3-phase
PMSM
26
Pulse Width
Modulator
Transistors
Motor
Load
Closed-Loop Control
To get automatic speed control, feedback is needed
Feedback systems could be Hall Sensors, Encoders,
Resolvers, tachometers or other devices
The resolution and bandwidth of the feedback sensor limit
the resolution and bandwidth of the speed loop
Below is a block diagram of a simple control loop
Our Reference Command is the speed we desire, and the
Control Mechanism is our motor and motor control
Feedback
Reference
Command
27
Control
Mechanism
Sensor
Speed
Calculation
28
PWM
Generation
Hall
Sensors
Speed
Calculation
29
PWM
Generation
Hall
Sensors
R8C/25
30
31
CN-4
24v DC
Supply
Power Supply
&
Conditioning
TP-1
TP-5
BLDC
Motor
Speed
Control
R8C/25
MCU
6-PWM
International
Rectifier
(IPM)
CN-1
Shutdown
RS232
I/F
Comparators
( Back-EMF)
E8
Debug
I/F
TP-2
OP-AMP
(Signal Conditioning)
Jumper-1
Hall Sensor
Inputs
Shunt
Current
LCD Segment
Display
CN-3
32
CN-2
TP-3
TP-4
4-LED
PWM / PWR
Status
Push-Button
Switch
33
34
Commutation Options
Back-EMF detection
comparators
Jumper selection (no
soldering) between
Hall and BEMF
modes
Input connector for
Hall signals from
motor
35
Debugging Capabilities
36
Actual Speed
Stop
Motor
Current
System
Status
37
Project Navigator
Output Window
38
Summary
DC and BLDC motors were compared
BLDC motors were shown to offer better performance
A large number of applications are moving from other motor
types to BLDC motors
Electronic BLDC motor control can be as simple as six-step
or as complicated as Vector Control
Closed Loop Speed Control was explained
The Renesas BLDC Motor Control Evaluation Kit was
introduced as a way to help get started in BLDC motor
control development
39
Questions?
40
Appendix
41
50MHz
M16C
20MHz
32MHz
32-bit
32-bit
R32C
78K0R
100MHz
V850ES
32-bit
General
Purpose
20MHz
RX600
100MHz
200MHz
H8S/SX
8-bit
32-bit
V850ES
RX600
SH-3
78K0
8-bit
Ultra Low
Power
200MHz
32-bit
32-bit
SH-2A
200MHz
240MHz
32-bit
TFT LCD
Control
High-end
Connectivity
600MHz
SH-4
16-bit
32-bit
SH-2A
Application
Processor
16-bit
32-bit
SH-4A
32-bit
32-bit
R8C
50MHz
50MHz
10MHz
20MHz
42
Motor Control
SH, V850, RX,
78K0R, R8C
Capacitive
Touch
R8C
Industrial CAN
Lighting
R8C, R32C, SH
78K0
SPEED CONTROL
Torque Control (Limited)
Low-Range
43
Medical
Industrial, Washers,
Compressors
Motion Control
SPEED + TORQUE
CONTROL
Mid-Range
High-End
44
Universal
(Brushed) DC
3- ACIM
Algorithm
R8C
78K0R
RX
Y
Y
3- BLDC
V850
SH2/
SH2A
Y
Y
*: Under development