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TABLE OF CONTENTS
Chapter 1 Introduction
1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Chapter 5 Design Concept of a PMSM Vector Control Drive and BLDC Control Drive
5.1 5.2 5.3 5.4 5.5 5.6 PMSM Vector Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure for Sliding Mode Observer (SMO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Forward and Inverse Clarke Transformation (a,b,c to , and backwards) . . . . . . . . . Forward and Inverse Park Transformation (, to d-q and backwards) . . . . . . . . . . . Rotor Speed Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5-4 5-5 5-6 5-6 5-7
5.7 PFC Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7 5.7.1 Inductor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8 5.7.2 Output Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 5.7.3 Main Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 5.7.4 Output Diode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 5.7.5 Inductor Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 ii Freescale Semiconductor Preliminary
Chapter 9 Operation
9.1 9.2 9.3 9.4 Switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . During Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Switch-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 9-1 9-1 9-1
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 iv Freescale Semiconductor Preliminary
LIST OF FIGURES
3-1 3-2 4-1 4-2 5-1 5-2 5-3 5-4 5-5 5-6 6-1 6-2 6-3 6-4 6-5 6-6 6-7 6-8 6-9 6-10 6-11 6-12 7-1 7-2 7-3 7-4 7-5 7-6 7-7 7-8 8-1 8-2 8-3 8-4 8-5 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 IRAMS10UP60A Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 PMSM System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 Stator Reference Voltage, Vref . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 BLDC Sensorless Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Clarke Transformation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 Park Transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6 PFC Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8 Demonstration System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Hierarchy Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 Motor Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 DCBus Sampling Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 Bus Link Current Sample Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 Methods to Detect Phase Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 Protection Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6 Main PFC Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6 PFC Drive Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7 PFC Sampling Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7 PMSM Jumper Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8 BLDC Jumper Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 PMSM Block Diagram (Part 1 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 PMSM Block Diagram (Part 2 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 PMSM Block Diagram (Part 3 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 BLDC Block Diagram (Part 1 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5 BLDC Block Diagram (Part 2 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 BLDC Block Diagram (Part 3 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7 Simple PFC Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 Discrete Voltage Loop Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 Communication Boards Frame Figure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 System Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 Connections for JTAG Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 CodeWarrior Development Tool Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 SCI Communication Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 vi Freescale Semiconductor Preliminary
LIST OF TABLES
6-1 Configuration of the 56F8013s Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 viii Freescale Semiconductor Preliminary
Audience
This manual targets design engineers interested in developing a PMSM vector control and BLDC control drive application.
Organization
This Users Manual consists of the following sections: Chapter 1, Introduction, explains how a PMSM, a BLDC and a 56F8013 device facilitate a vector control drive design. Chapter 2, Benefits and Features of the 56F8013 Controller, highlights the advantages in using a 56F8013 controller. Chapter 3, Motor Drive System, details the features and design of a motor drive system. Chapter 4, PMSM Theory, describes software, control and configuration of an Permanent Magnet Synchronous Motor. Chapter 5, Design Concept of a PMSM Vector Control Drive and BLDC Control Drive, details the design concept of PMSM and BLDC drives. Chapter 6, Hardware Implementation, describes how to set up the hardware needed for the PMSM and BLDC demonstration application. Chapter 7, Software Design, explains the software system design. Chapter 8, JTAG Simulation and SCI Communication, describes the applications debugging and communications functions. Chapter 9, Operation, explains how to use the application. Appendix A, Schematics, contains schematics for the PMSM and BLDC demonstration application. Appendix B, PMSM and BLDC Demonstration Bill of Materials, lists all parts used in the application.
Conventions
This document uses the following notational conventions:
Typeface, Symbol or Term
Courier Monospaced Type Italic
Meaning
Code examples
Examples
//Process command for line flash
Directory names, project names, calls, functions, statements, procedures, routines, arguments, file names, applications, variables, directives, code snippets in text
...and contains these core directories: applications contains applications software... ...CodeWarrior project, 3des.mcp is... ...the pConfig argument.... ...defined in the C header file, aec.h....
Bold
Reference sources, paths, emphasis Linkable on-line Any number is considered a positive value, unless preceded by a minus symbol to signify a negative value # defines/ defined constants Function keys Returned messages
...refer to the Targeting DSP56F83xx Platform manual.... ...see: C:\Program Files\Freescale\help\tutorials ...refer to Chapter 7, License.... 3V -10 DES-1 # define INCLUDE_STACK_CHECK ...by pressing function key [F7] ...the message, Test Passed is displayed.... ...if unsuccessful for any reason, it will return NULL...
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 x Freescale Semiconductor Preliminary
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 xii Freescale Semiconductor Preliminary
Introduction
Chapter 1 Introduction
1.1 Introduction
This manual describes the design of a 3-phase Permanent Magnet Synchronous Motor (PMSM) sensorless vector control drive and a Brushless DC (BLDC) Motor drive without postiion encoder coupled to the motor shaft. It uses a Freescale 56F8013 with Processor ExpertTM (PE) software support. A PMSM consists of a magnetic rotor and wound stator construction. Its wound stators can rapidly dissipate heat to the motor housing and environment. In contrast, a brush motor traps the heat under a non-conductive air gap, resulting in greater efficiency and power density for the PMSM design and providing high torque-to-inertia ratios. A PMSM motor generates magnetic flux using permanent magnets in the rotors, which are driven by the stators applying a synchronous rotational field. On the other hand, the flux that is applied by the stators (the armature-reaction flux) generates torque most effectively when it is perpendicular to flux generated by the rotors. To maintain near-perpendicularity between stator flux and rotor flux, two control methods with position-speed feedback loop are popularly used for controlling a PMSM: Field-Oriented Control and Brushless DC Control. A PMSM abandons the excitation winding and the rotor turns at the same speed as the stator field. The PMSMs design eliminates the rotor copper losses, giving very high peak efficiency compared with a traditional induction motor. The power-to-weight ratio of a PMSM is also higher than induction machines. Progress in the field of power electronics and microelectronics enables the application of PMSMs for high-performance drives, where, traditionally, only DC motors were applied. Thanks to sophisticated control methods, a PMSM offers the same control capabilities as high performance four-quadrant DC drives. A PMSM/BLDC is a excellent alternative in an appliance application. This application will employ sensorless Field-Oriented Control (FOC) to control a PMSM and a sensorless algorithm to control BLDC, using the 56F8013 device, which can accommodate the complicated sensorless FOC algorithm. The PMSM/BLDC drive system will meet the air conditioning and compressor requirements while it runs. The system demonstrates the features of the 56F8013 in motor control. The flexible Human Machine Interface (HMI) communicates between the control board and a PC and its simplified form, using the push buttons on the processor board, make the system easy to use. This drive application allows sensorless vector control of the PMSM and BLDC running in a dual closed-loop control without the speed/position sensor coupled to the shaft. This document describes the Freescale 56F8013 controllers features, basic PMSM and BLDC theory, the system design concept, and hardware implementation and software design, including the PC master software visualization tool.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 1-2 Freescale Semiconductor Preliminary
Features
2.1 Features
Some of the 56F8000 devices benefits include: High-performance 56800E Core Superior 16-bit, fixed-point signal processing performance provided by the bus architecture and the controller core Excellent control and protocol processing capability and code density Superior MCU control performance Performance-leading Flash Memory Unbeatable, field-proven reliability in the harshest environments Features that enable emulation of EEPROM Flexible, full in-circuit Flash programmability Performance-enhancing interfacing and bus structure, enabling the superior signal processing capability from Flash Flash security protection features for IP protection Voltage Regulator and Power Supervisor The chips come equipped with an on-board voltage regulator and power supervisor. When supplied with a 3.3V voltage, the chip creates all required internal voltages. Includes features such as Power-On Reset (POR) and low-voltage detection, eliminating external components and saving system costs On-chip Relaxation Oscillator Some 56F8000 devices are equipped with a precision on-chip, factory-trimmed oscillator (0.25% of 8MHz), enabling the elimination of an external crystal and providing system cost savings On-Chip Clock Synthesis (OCCS) 56F8000 digital signal controllers are capable of using an external clock input The OCCS capability includes a flexible, programmable Phase-Locked Loop (PLL), enabling selection of an exact operating frequency The OCCS also includes unique loss-of-lock detection, allowing the detection of a cut crystal and the proper safety-critical shut down
Benefits and Features of the 56F8013 Controller, Rev. 0 Freescale Semiconductor Preliminary 2-1
16-bit Timer 56F8000 devices are equipped with powerful timer modules. Each timer module has four independent 16-bit timers that can be: Cascaded Used for input capture Used to generate output waveforms Used to trigger the ADC Used to generate auxiliary PWM waveforms Used as a Digital-to-Analog Converter (DAC) when utilized in conjunction with an external low-pass filter Optionally synchronized together with a common start signal Operated at rates up to 96Mhz
3-Phase PWM Module The high-performance 15-bit PWMs can be used in edge-aligned and center-aligned modes, as well as in complementary and independent modes, and have programable dead time generation Excellent resolution, with a clock rate of up to 96Mhz These PWM modules have a sophisticated set of programmable fault lines that do not require a system clock for proper operation These and other features make these PWM modules industry leaders in safety, reliability, and performance Enhanced features to support digital power conversion, power factor correction, lighting, and motor control Hardware support for advanced phase-shifting PWM techniques
Analog-to-Digital Converter (ADC) Module Each high-performance 12-bit ADC has two sample and hold circuits, enabling simultaneous or sequential conversion at a rate of up to 1.125s per conversion ADCs can be used in single-ended or differential modes and have a sophisticated set of unique features, including: Superior absolute accuracy High/low and zero-crossing detection Offset ADCs can be triggered through variety of methods, including PWM synchronization ADCs have a sophisticated set of standby and power down modes for improved low-power performance The ADCs two sample-and-holds circuits can be configured separately to enable two independent sampling rates or start triggers
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 2-2 Freescale Semiconductor Preliminary
Features
Inter-Integrated Circuit (I2C) Serial Bus Interface Compatible with I2C Bus standard Features include: Multi-master operation Software programmable for one of 256 different serial clock frequencies Arbitration-lost interrupt with automatic mode switching from master to slave Calling-address identification interrupt
Serial Communication Interface (SCI) This module operates as a full-duplex Universal Asynchronous Receiver Transmitter (UART) Fully interrupt driven and programmable, providing a multitude of operating modes and baud rates
Serial Peripheral Interface (SPI) This synchronous serial interface is double buffered Operates in wide variety of modes, rates, and bit lengths, enabling the glueless connection to external peripherals and other processors at rates up to 16Mbps
General Purpose Input/Output (GPIO) All digital and analog signal pins for the on-board peripherals can also be individually assigned to be GPIO and individually assigned a direction In addition to I/O capability, the GPIO can also generate interrupts Each GPIO has programmable pull-ups The GPIO also has a push-pull mode to efficiently implement a keypad interface
Computer Operating Properly (COP) Assists software recovery from runaway code The COP is a free-running down counter which, once enabled, is designed to generate a reset when reaching zero Software must periodically service the COP to clear the counter and prevent a reset The COP enhances end-system reliability and safety
JTAG/EOnCETM This enhanced on-board emulation module enables true full-rate emulation without the need for expensive hardware emulators To perform powerful, non-intrusive, real-time debugging, simply attach to the processor with the industry-standard JTAG interface
Benefits and Features of the 56F8013 Controller, Rev. 0 Freescale Semiconductor Preliminary 2-3
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 2-4 Freescale Semiconductor Preliminary
The PMSM motor control algorithm employs sensorless, indirect FOC; the power stage switches are controlled by Space Vector Pulse Width Modulation (SVPWM) BLDC motor control employs dual-loop feedback control with an inner current feedback loop and an outer speed feedback loop. The rotor position and speed are determined by back-EMF. The feedback hardware elements are limited to the DCBus currents, the DCBus voltage, phase back-EMF and phase voltage. Motor control has a speed range of 300rpm to 4500rpm. Software includes a speed start-up profile The motor control boards LEDs indicate status The system implements an HMI using a Windows PC and an electrically isolated serial RS-232 communication to the 56F8013 device. A simplified HMI capability is implemented via the push button on a 56F8013 Demonstration Board, enabling simple operation without the need for a Windows PC. Basic information displayed on the HMI includes speed, current, voltage, and direction of rotation. The system uses a standard Freescale 56F8013 Demonstration Board as the processor, JTAG interface, button and LED interface requirements. The power stage board has an interface to the 56F8013 Demonstration Boards standard connector.
Power Features: 50/60Hz input frequency range 110VAC or 220VAC operating voltage range Maximum output power is 500W
Motor control demonstrates superior efficiency at both low speeds and high speeds.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 3-2 Freescale Semiconductor Preliminary
L1
D1
VT3
VT5
PMSM
LOAD
VT2
VT4
VT6
Vdc
i B
r*
Oscilloscope power DA
JTAG
HMI
3.3.1.2 56F8013
The PMSMs performance and accurate control demands require sophisticated and computationally complex software, delivered by a powerful DSC like the 56F8013. The controller board includes: Control system circuit CPU circuit ADC circuit Power supply circuit SCI interface Parallel JTAG interface LED display circuit Signals output interface
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 3-4 Freescale Semiconductor Preliminary
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 3-6 Freescale Semiconductor Preliminary
PMSM Model
uC = RsiC + pC
Stator and rotor flux linkages:
uB = RsiB + p B
uA = RsiA + p A
fC = f cos( + 2 / 3)
Where:
UA, UB, UC iA, iB, iC A, B, C fA, fB, fC LAA, LBB, LCC LAB, LBC, LCA, LBA, LCB, LAC Stator voltage vector Stator current vector Stator flux vector Rotor flux vector Stator equivalent inductance Mutual equivalent inductance
VT3
VT5
PMSM
LOAD
VT2
VT4
VT6
Vdc
i B
r*
Oscilloscope power DA
The inverter consists of three half-bridge units in which the upper and lower switches are controlled complimentarily, meaning when the upper switch is turned on, the lower switch must be turned off, and vice versa. As the power device's turn-off time is longer than its turn-on time, some dead time must be inserted between the time one transistor of the half-bridge is turned off and its complementary device is turned on. The output voltage is created by a Pulse Width Modulation (PWM) technique, where an isosceles triangle carrier wave is compared with a fundamental-frequency sine-modulating wave. The
PWSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 4-2 Freescale Semiconductor Preliminary
JTAG
HMI
natural points of intersection determine the switching points of the power devices of a half-bridge inverter. This technique is shown in Figure 4-2. The 3-phase voltage waves are shifted 120 to one another and thus a 3-phase motor can be supplied.
Figure 4-2. Pulse Width Modulation The most popular power devices for motor control applications are Power MOSFETs and IGBTs. A Power MOSFET is a voltage-controlled transistor. It is designed for high-frequency operation and has a low-voltage drop, so it has low power losses. An Insulated-Gate Bipolar Transistor (IGBT) is controlled by a MOSFET on its base. The IGBT requires low drive current, has fast switching time, and is suitable for high switching frequencies. Incorporated in this application, an Integrated Power Module (IPM) is widely used in today's household appliances. A built-in temperature monitor and overtemperature/overcurrent protection, along with the short circuit-rated IGBTs and integrated undervoltage lockout function, make the IPM more convenient for an engineer to develop his systems.
PWSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 4-4 Freescale Semiconductor Preliminary
Chapter 5 Design Concept of a PMSM Vector Control Drive and BLDC Control Drive
5.1 PMSM Vector Control
Field-oriented control is commonly called vector control. This control method will maintain near-perpendicular stator flux and rotor flux by keeping the sum of stator fluxes constant. When the control axis is coincident with the stator flux, the stator flux in the load angle can be calculated from the stator current and the motor constants. When attempts are made to control this calculated stator flux at the same magnitude as the permanent magnet flux, the error in the flux can be calculated from the stator flux and the load angle. This makes it possible to construct a control system by feeding back the flux phase current calculation to the stator voltages for the various axes of the Permanent Magnet Synchronous Motor (PMSM), with the control axis coincident with the stator flux, producing a control voltage command. This voltage command is applied to the PMSM at the described frequency. Although the vector control method can achieve high performance and efficiency, it is based on the accuracy of the motor constants values. The variation of motor internal resistance and inductance by temperature can decrease the systems performance and efficiency. To compensate for parameter variations, complex parameter observation and control algorithms are needed to correct those errors. On other hand, the field-oriented control method is often applied to PMSM motors with a sinusoidal back-EMF waveform shape to achieve high torque performance and efficiency. Figure 5-1 shows a sensorless PMSM vector control system. The field-oriented controller is based on a current-controlled voltage source inverter structure. The current control loops are arranged in the 2-phase synchronously rotating reference frame d-q aligned with rotor flux, while the rotor position and speed detection operates in the 2-phase stationary reference frame . During normal operations, the output of the speed regulator represents the q axis reference current, iq, while the d axis reference current, id, is set to zero in order to maximize the torque-to-current ratio of the PMSM. The outputs of the current regulators represent the reference voltages in the rotating reference frame. A d-q to transformation then yields the reference voltage values in the stator reference frame, which are the inputs of a Space Vector Pulse Width Modulator (SVPWM). Current feedback is obtained by measuring the 3-phase currents and the successive transformations to the stator and rotor components, respectively. The stator current components are used inside the observer, while the rotor current components are needed for current regulation. Standard PI controllers, with limitation, are used for all regulators. The combined Sliding Mode Observer (SMO) and low-pass filter provide the rotor position used for the field orientation and the rotor speed feedback used for the speed control loop. Based on the analysis, the control scheme can be obtained as shown in Figure 5-1.
Design Concept of a PMSM Vector Control Drive and BLDC Control Drive, Rev. 0 Freescale Semiconductor Preliminary 5-1
rectifier
Speed regulation
iq
iq id
Id regulation Iq regulation
vq
v*
IPARK SVPWM
id* =0
vd*
v *
i
PARK
ia
CLARKE
ib
SMO
v*,v * i , i
PMSM
q
uqs
Vref
uds
Figure 5-2. Stator Reference Voltage, Vref Brushless DC (BLDC) systems combine the positive attributes of AC and DC systems. In contrast to a brush DC motor, motors conventionally used for a BLDC system are a type of permanent magnet AC synchronous motors with a trapezoidal back-EMF waveform shape and electronic commutation replaces the mechanical brushes in the DC motor. Although this control method will generate torque glitches during phase commutation, it satisfies most applications in which rotor speed is the control target. PMSM motors with a sinusoidal back-EMF waveform shape can also be used in a BLDC system. But the phasor angle between stator flux and rotor flux are maintained between 60 electrical and 120 electrical. Torque ripples will occur during operation, but average torque will remain constant, meeting the requirements of most low-end applications.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 5-2 Freescale Semiconductor Preliminary
PMSM
Idc ADC0
Current Controller Speed & Commutation Calculation 56F8013 ADC2 ADC3 ADC4
Speed
Speed Controller
Figure 5-3. BLDC Sensorless Control System The information from back-EMF zero crossing can be used to determine the rotor position for proper commutation and to determine which power transistors to turn on to obtain maximum motor torque. The cheapest and the most reliable method to sample back-EMF zero crossing information is to feed the resistor network samples back-EMF signal into ADC inputs or GPIOs. In sensored control structure, phases are commutated once every 60 electrical rotation of the rotor. This implies that only six commutation signals are sufficient to drive a BLDC motor. Furthermore, efficient control implies a synchronization between the phase Bemf and the phase supply so that the Bemf crosses zero once during the non-fed 60 sector. As only two currents flow in the stator windings at any one time, two phase currents are opposite and the third phase is equal to zero. Knowing that the sum of the three stator currents is equal to zero (star-wound stator), the anticipated instantaneous Bemf waveforms can be calculated. The sum of the three stator terminal voltages is equal to three times the neutral point voltage (Vn). Each of the Bemfs crosses zero twice per mechanical revolution, and as the Bemfs are numerically easy to compute, thanks to the signal processing capability of the 56F8013, it is possible to get the six required items of information regarding the commutation.
Design Concept of a PMSM Vector Control Drive and BLDC Control Drive, Rev. 0 Freescale Semiconductor Preliminary 5-3
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 5-4 Freescale Semiconductor Preliminary
is = isa
Eqn. 5-1
is =
1 2 isa + isb 3 3
Eqn. 5-2
The inverse Clarke transformation transforms from a 2-phase (, ) to a 3-phase (isa, isb, isc) system.
isa = is
Eqn. 5-3
1 3 isb = is + is 2 2
1 3 isc = is is 2 2
Eqn. 5-4
Eqn. 5-5
Design Concept of a PMSM Vector Control Drive and BLDC Control Drive, Rev. 0 Freescale Semiconductor Preliminary 5-5
d o
v
s
v s
Figure 5-5. Park Transformation The quantity in the stationary frame is transformed into synchronous frame by:
v v isd = is cos s + is sin s v v isq = is sin s + is cos s
Eqn. 5-10
The theta () can be obtained from the SMO; time can be calculated from the counter of the PWM interrupt.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 5-6 Freescale Semiconductor Preliminary
PFC Design
en = spd * spd in = X (n 1) + k p en if
elseif
Eqn. 5-11 Eqn. 5-12 Eqn. 5-13 Eqn. 5-14 Eqn. 5-15 Eqn. 5-16 Eqn. 5-17
in > imax
in < imin
iref = imax
iref = imin
Design Concept of a PMSM Vector Control Drive and BLDC Control Drive, Rev. 0 Freescale Semiconductor Preliminary 5-7
D Q C2 C1 C3 R1 R2
3. 3 VP
P WM 1 RX TX G RX TX
ADCIN0
Eqn. 5-18 B. Ripple current: Eqn. 5-19 C. Determine the duty factor at Ipk, where Vin(peak) is the peak of the rectified line voltage.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 5-8 Freescale Semiconductor Preliminary
PFC Design
C=
Po = 500W Vo(min) = 380 (1-10%) = 342V Vo(max) = 380(1+10%) = 418V t= 50ms
2 PO t V VO2(min)
2 O (max)
Eqn. 5-22
According to Equation 5-21, C = 866H. Select the output capacitor to be C = 940H. Two 470H/450V electrolytic capacitors connected in parallel are chosen.
Vin(min)
2 Po
Eqn. 5-24
Select main switch Q400Q401 to be the MOSFET IRFPC60LC. Parameters are described as follows: VDSS = 600V ID = 16A RDS(on)tye = 0.4 TO-247AC Package
Vin(min)
2 Po
Eqn. 5-26
Design Concept of a PMSM Vector Control Drive and BLDC Control Drive, Rev. 0 Freescale Semiconductor Preliminary 5-9
Select output diode D400D402 to be FRED DSEP60-06A. Parameters are described as follows: VRRM = 600V IFAVM = 60A trr = 35nS TO-247AD Package
N=
Select N = 38.The gap is:
LI L (max) Ae Bm
=38.2
Eqn. 5-27
o N 2 Ae
L
Eqn. 5-28
When work frequency of inductance is 100kHz, the penetrate depth of copper lead is:
= 2 1 = = 0.209mm 3 2f s 3.14 100 10 1.25 10 6 58 10 6
Eqn. 5-29
Where: is the electric conductive ratio of lead is magnetical conductive ratio of lead A copper lead with a smaller diameter than 0.42mm can be selected. In this case, select high intensity lead with a diameter of 0.33mm and an effective area of 0.0855mm2. 3.84 = 1.1mm2 . By selecting circuit density to be J = 3.5A/mm2, the area of leads is S = 3.5 Thirteen leads with a diameter of 0.33mm must be used.
Kc =
Eqn. 5-30
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 5-10 Freescale Semiconductor Preliminary
56F8013
6.1 56F8013
The demonstration system is illustrated in Figure 6-1 and the hierarchy diagram is depicted in Figure 6-2. it clearly shows that the 56F8013 is the core of the system, highlighted atop the mother board. Figure 6-3 shows the motor control system configuration.
PMSM Motor DSC Controller Board J1 on DSC Controller Board RS-232 Connector Motherboard
Left Side
RS-232
Right Side
Aeration holes
POWER OFF
Input Power
POWER ON
Front Side
Figure 6-2. Hierarchy Diagram The 56F8013 is the drives brain. All algorithms are carried out in this single smart chip, which reads the input commands, processes the routine, and generates the PWM to govern the power switches driving the motor and the PFC to make the input current sinusoidal.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 6-2 Freescale Semiconductor Preliminary
Motherboard
Bus Voltage
110V-220V ACINPUT
3phase PMSM
LOAD
56F8013EVM
Speed setup
Its maxium IGBT block voltage is 600V; phase current is 10A at 25C and 5A at 100C, making it suitable for this appliance.
2 R6003 8.2K-0.1% D+5V 8 C6000 0.1uF 2 1 1 R6001 10K-0.1% U6001A MC33172 1 U6001B MC33172 7
I_Sense_DCB1 PGND
3 2
5 6
I_Sense_DCB
I_Sense_DCB
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 6-4 Freescale Semiconductor Preliminary
Protection Circuit
V3(010)
V2(110)
PhaseC
PhaseA
PhaseB
T 1 IV VI
V1(100)
Induction Motor
V5(001)
V6(101)
(a) SVPWM
D+5V
RV6002 10K
2 3
U6002A MC33172 1
C I_Sense_DCB
D+5V R6008 620 2 R6009 1.2K C6004 0.01uF D+5V C6030 0.01uF R6010 220K C6033 0.01uF D+5V 0.1uF
R6016 6.8K
IPMLOCK
IPMLOCK
RV6003 10K
6 5
V_Sense_DCB
R6012 620
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 6-8 Freescale Semiconductor Preliminary
Figure 6-12. BLDC Jumper Configuration Table 6-1 details the configurations of the 56F8013 resources used in the system and the corresponding variables used in the software.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 6-10 Freescale Semiconductor Preliminary
Block Diagram
PWM ISR
Start
ISR Start
Initilaization
Time Delay
Under-voltage Protection
PFC = 1? Yes
No
Close-loop Control
No
No End Time count++ sensebit = 1 Yes No Read start angle Yes Read end angle Yes Calculate angle increment Set runbit = 1 smobit = 0 PWM Output Disable No Read start angle smobit = 2 No sensebit = 0 Start AD
smobit++
Set spdreg = 1
ISR end
sensebit++
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 7-2 Freescale Semiconductor Preliminary
Block Diagram
Run
PWMoutput
Close-loop
Main start
Run start
PWMoutput start
Close-loop start
No
Close-loop decision
Calculate activeTime
Calculate V V
Clear runbit
Read Vbus
Output PWM
No
Read Ia Ib
value correction
Sector decision
Run end
Call Idreg
Close-loop end
SMO
Idreg
SVPWM
spdreg
SMO start
Idreg start
SVPWM start
spdreg start
Calculate Is Is
Calculate Ierr
Calculate K
Calculate Spderr
Calculate Z Z
P regulation
K correction
P regulation
Calculate E E
Calculate Uout
SVPWM end
Calculate Iqout
estimation
I regulation
I regulation
SMO end
spdreg end
Call SVPWM
Idreg end
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 7-4 Freescale Semiconductor Preliminary
Block Diagram
PWM ISR
Start
ISR Start
Time delay
Initialization
Under-voltage Protection
PFC = 1? Yes
No
P-flag=1? Yes
No
No
No
Count_Spdreg++ Count_Idreg++
End
No
End
For subroutine
BemfZC
Variable Initialization
Start
Start
Start
No
Direction Judgement
No
No
ZC_temp++
Clear ZC_temp
ZC_temp > 3?
End
Start Timer
End
Clear AD_sta
End
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 7-6 Freescale Semiconductor Preliminary
Block Diagram
PWM output
Spdcal
Spdreg
Curreg
Start
Start
Start
Start
Direction Judgement
Calculate SpeedAverage
Calculate Spderr
Calculate Iderr
End
PI Regulation
Calculate Duty
Set PWMVAL
Idref Correction
Duty Correction
Set Output Channel Timer ISR Set Current SWAP Bits Start PWM Output Call PWM Output Segment Determine Timer & Timer Interrupt Disable End Set Register
End
Calculate PWMVAL
PWMVAL Correction
End
End
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 7-8 Freescale Semiconductor Preliminary
These assumptions simplify analysis: Input current follows reference perfectly, which is proportional to the input voltage There is no additional power depletion in the circuit; power efficiency is 1 Output power is constant
Figure 7-7. Simple PFC Mode The function for output voltage:
Uv(n) = K 0v Ev(n) + Iv(n 1) Iv(n) = Iv(n 1) + K1v Ev(n) + Kcorrv Epiv Epiv = Usv Uv(n) Uvmax Usv = Uvmin Uv(n) whenUv(n) Uvmax whenUv(n) Uvmin else
= = = = = = = = =
the result of PI unit input error integral unit proportional constant integral constant resistant saturation constant result of voltage loop after limit maximum of voltage loop minimum of voltage loop
Vo* -
G ( Z)
vo
K
Figure 7-8. Discrete Voltage Loop Structure
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 7-10 Freescale Semiconductor Preliminary
JTAG Simulation and SCI Communication, Rev. 0 Freescale Semiconductor Preliminary 8-1
Figure 8-3. Connections for JTAG Simulation As shown in Figure 8-3, the JTAG flat cable is connected to the 56F8013s J1. A parallel cable links the JTAG to PCs parallel port.
CAUTION
Disconnect J5000 in the Power Board before debugging or refreshing the control program. Otherwise, damage to or invalidation of the demo, or even electrical shock, can occur. Debugging or refreshing the control program should only be done by experienced personnel.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 8-2 Freescale Semiconductor Preliminary
Figure 8-4. CodeWarrior Development Tool Interface CodeWarrior IDE is necessary to debug software and refresh the program; version 7.0 or later is recommended. Figure 8-4 shows the software interface. Details about installation and use can be found in the CodeWarrior documentation.
JTAG Simulation and SCI Communication, Rev. 0 Freescale Semiconductor Preliminary 8-3
Figure 8-5. SCI Communication Connections The PC master software tool can be used for development and control of the application. Details about installation and use of PC master software can be found in the CodeWarrior tool.
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 8-4 Freescale Semiconductor Preliminary
Cautions
Chapter 9 Operation
This section offers brief instructions on operating the PMSM application.
9.1 Switch-on
Follow these steps to start the PMSM application: 1. Make sure the power switch is on the POWEROFF state, then put the plug in a wall socket 2. Switch the appliance on by pressing down the POWERON button. The 56F8013 starts the main power, and the PMSM begins to work
9.3 Switch-off
To turn the application off, follow these steps: 1. Switch off the POWERON Button The 56F8013 cuts off the main power and the bus voltage is decreased 2. Unplug the power line. The controller is powered off, and system is switched off
9.4 Cautions
To ensure safety, take care when: 1. Pressing the POWERON Button down after the power line is plugged in during the switch-on process 2. Pressing the POWERON Button up before the power line is unplugged during the switch-off process 3. Debugging Before beginning the debug process, cut off power to the main power circuit by disconnecting the J5000 connector on the Power Board
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 9-2 Freescale Semiconductor Preliminary
Appendix A Schematics
D2005 MUR420 L2002 3.3uH C2015 330uF/35V 9 C2016 220UF/25V 9 D2006 MUR420 P+15V C2022 0.1uF F2000 2A250VAC 1 2 4 C2005 0.1uF/250VAC PGND C2007 0.1uF D5022 1N4007 D2003 1N4148 U2001 A E L2004 3.3uH PGND PGND U2000 TOP223YAI 1 2 3 C2028 1.6nF/450VAC PGND PGND PGND C2009 47uF R2000 6.2 C2008 0.1uF U2002 TL431 K NEC2501 C2027 0.1uF R2001 2K APC TRANSFORMER D2001 BYV26C C2006 47uF/400V C2021 220UF/25V C2020 330uF/35V D2002 KBP10 L2003 3.3uH PFC_AP VR2000 P6KE200 TR2001
R2002 200/0.5W
Appendix A-2
TE5022 PGND Q5001 PSS8050 JP5020 PGND Plug for PFC Debug AC_RELAY D5001 DSEP60-06A BUS+ BUS+ J5002 R5023 120/3W D5021 1N4007 PGND C5020 220UF/25V U5020 1 VCC 0.1uF PFCdrive1 IN ERR VS 5 C5026 10nF HO CS R5020 1K C5023 10pF 4 COM IR2125 PFCdrive1 2 3 7 6 CS C5021 0.1uF VB 8 R5021 6.8/0.5W PFCdrive2 PGND C5024 PFC_AP P+15V R5007 470K/2W R5003 30K 1N4001 D5020 C5000 D5000 470nF/275V IR25XB08H PowerJumper Q5000 IXTH30N50 PFCdrive00C5003 330uF C5004 330uF CS R5008 0.02 K C A C5002 680pF/2K R5006 470K/2W R5002 10/3W 4 3 2 1 P+15V PGND PGND PFCdrive00 PGND C5025 0.1uF R5022 AC_RELAY 1K U5021 RELAY L5001 220uH F5000 250V/20A D5023 1N4004 1 5 PGND JP5003 P+15V C50280.1uF PGND VDD INPUT OUTPUT NC GND TC4420 GND 5 OUTPUT 6 7 VDD PFCdrive1 2 3 4 1 8 C5027 0.1uF U13 PFCdrive3 PFCdrive00 PFCdrive2 PFC DRIVER JUMPER PGND R5024 6.8/0.5W PFCdrive3 PGND PGND Q2000 7805 2 C2017 0.1uF PGND C2018 220UF/25V D+5V C2019 1uF DGND D+5V DGND P+15V JP2001 P+15V 4 PGND 3 D+5V 2 DGND 1 POWER PLUG 2 RV2000 100K D+5V R2004 300 1 LED2002 RED DISPLAY P+15V R2003 10K R2005 900 1 LED2001 RED DISPLAY PGND
P+15V
P+15V
C5001 0.1uF
+ C5036 47uF/10V
PGND
PGND P+15V
AC_IN1
J5000 AC INPUT
AC_IN2
AC_IN11
J2000 AC INPUT
AC_IN22
DGND
PFC & AP
V2.0
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0
12
D+5V 9 8 6 DIG.4 DIG.4 a f b g e d dp c c dp U4003 FYQ-3641A 9 8 6 f e d c dp DIG.3 DIG.3 a b g f e d c dp f DIG.4 DIG.4 a b g e d c dp DIG.2 DIG.2 a b g
U4002 FYQ-3641A
LEDDATA A B
14 1 2
Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
3 4 5 6 10 11 12 13 100 100 100 100 100 100 100 100 R4007 R4006 R4005 R4004 R4003 R4002 R4001 R4000 DIG.1 a DIG.1 a b c f g b d e e d c f dp g dp
U4004 D+5V V+ ISET DIN DOUT CLK LOAD GND GND MAX7219 18 LEDDATA 1 24 LEDCLK 13 /LEDEN 12 + C4000 47uF/10V DIG0 DIG1 DIG2 DIG3 DIG4 DIG5 DIG6 DIG7 R4010 10K 19 2 11 6 7 3 10 5 8 DIG1 DIG2 DIG3 DIG4 DIG5 DIG6 DIG7 DIG8
D+5V
D+5V
9 4
14 16 20 23 21 15 17 22
C4001 0.1uF
C4002 0.1uF
12
D+5V DGND
Schematics, Rev. 0
74LS164(4001)
74LS164(U4000)
LED DISPLAY
V2.0
Appendix A-3
+5V_SCI1 NC 1 1 1 + D+3.3V C3008 GND_PC1 0.1uF R3000 R3001 800 800 R3002 800 +5V_SCI1 +5V_SCI1 4 1 RXD1 U3003 C NEC2501 GND_PC1 R2O R2I R1O R1I T2I T2O T1I T1O A 9 12 10 11 8 13 7 14 U3001 R3003 800 + D3001 BAV99 D3002 BAV99 D3003 BAV99 0.1uF D3004 1N4733 C3007 10uF/10V C3009 D3000 BAV99 V+ TC7660
RXD1
TXD1
TXD1
DGND D+3.3V
DGND
D+3.3V
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0
U3000 5 VOUT CAPLV OSC C3006 1 10uF/10V GND_PC1 CAP+ 2 GND 3 GND_PC1 6 7 1 8 5 9 4 8 3 7 2 6 1 4 J3001 5 9 4 8 3 7 2 6 1 DB9 +5V_SCI1 C3005 10uF/10V + C3000 0.1uF GND_PC1 C3001 5 0.1uF 4 3 C3002 1 0.1uF C2- GND 15 C2+ VCC 16 C1- V- 6 C1+ V+ 2 MAX202CSE C3003 0.1uF ISOLATED SCI V2.0
Appendix A-4
1 2 3 4 R6021 1
C6036 0.1uF REF196 C6037 10uF/16V U6010 MC33172 8 VCC 1 1.65VREF C6007 0.1uF C6009 0.01uF (SAMPLE OF DC BUS+, FOR PROJECT OF PMSM AND ACIM) C6040 0.1uF DGND D+5V C6012 0.1uF U6007 MC33172 D+5V 7 R6044 160 C6034 0.01uF 1 U1 R6025 7.25M-0.1% 8 R6029 160 C6014 0.01uF U6004 VCCMC33172 OUT GND 4 D6004 1N4733 D6009 1N4733 R6022 51K-0.1% R6023 51K-0.1% + C6038 0.1uF C6010 0.01uF R6020 7.25M-0.1% R6050 10K D+5V 4
C6039 0.1uF
PGND
OUT GND
R6024 160 7
FOR BLDC
R6043 1M-0.1%PMSM (SAMPLE OF PHASE CURRENT, FOR PMSM) D6002 D6006 1N4733 1N4733 C6011 0.01uF R6027 51K-0.1% C6013 0.01uF C6041 0.1uF D+5V R6028 51K-0.1% 1.65VREF R6047 1M-0.1%PMSM C6031 0.01uF D+5V 1 U6008 MC33172 7 RV6002 10K 2 R6049 160 C6035 0.01uF V1 R6030 7.25M-0.1% VN C6005 D+5V 1 0.1uF R6048 1M-0.1%PMSM 1 D6000 1N4148 R6046 200K-0.1%PMSM R6011 330 4 OUT GND I_Sense_V D+5V 8 C6032 0.01uF VCC R6045 V 200K-0.1%PMSM U6008 8 MC33172 U UN V VN R6026 7.25M-0.1%
I_Sense_DCB1
OUT
U6002 LM293
I_Sense_DCB1
R6031 7.25M-0.1% 4
LM293 Reference Voltage Jumper(1.65V for PMSM and DGN D for ACIM) LED6002 OverBusVo l 1 R6001 8 10K-0.1%ACIM/200K-0.1%PMSM U6001 VCCMC33172 7 R6005 160 C6003 0.01uF U6001 MC33172
V_Sense_DCB PGND
4 I_Sense_DCB R6002 10K-0.1%ACIM/200K-0.1%PMSM R6004 8.2K-0.1%ACIM/1M-0.1%PMSM (PROTEC OF DCBUS CURRENT & DCBUS VOLTAGE, FOR PROJECT OF ACIM AND PMSM) (SAMPLE OF DC BUS CURRENT, FOR ACIM) OUT GND
R6013
R6014
R6017 300
I_Sense_DCB1
R6036 7.25M-0.1% R6037 51K-0.1% C6019 0.01uF D6005 1N4733 D6008 1N4733 4
R6039 160 1 OUT GND C6022 0.01uF R6038 51K-0.1% C6021 0.01uF
BUS+ 7.25M-0.1%
OUT GND
D+5V
R6042 1M-0.1%PMSM
PGND I_Sense_U
I_Sense_DCB 1
BUS+ U UN V VN
U6004 MC33172
V_Sense_U
V_Sense_U
D+5V
I_Sense_V
U6005 MC33172
LED6001 OverCur R6008 620 R6009 1.2K 220K D+5V C6033 0.01uF D+5V C6030 0.01uF R6015 330 VREF JP6000 D6001 1N4148 R6003 8.2K-0.1%ACIM/1M-0.1%PMSM D+5V C6000 0.1uF 1.65VREF VREF DGND RV600 3 10K 2 U6002 C6004 0.01uF R6016 300 R6010
V_Sense_V
V_Sense_V
I_Sense_DCB IPMLOCK
IPMLOCK C6015 0.01uF
Schematics, Rev. 0
D6007 1N4733 C6016 0.01uF C6020 0.1uF D+5V
I_Sense_DCB1 I_Sense_DCB
R6012 620
W1
R6035 7.25M-0.1%
U6006 VCCMC33172
U6006 MC33172
V_Sense_W
V_Sense_W
V2.0
Appendix A-5
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 Appendix A-6 Freescale Semiconductor Preliminary
0.1 F
RAD-0.1
38
2.2 F / 25 V 0.1 F / 630V CBB 0.1 mF / 25V 1 nF 0.1 uF / 250VAC 47 F / 400V 47 F 330 F / 35V 220 F / 25V 1 F 1.6 nF / 450VAC 10 F / 10V 47 F / 10V 470 nF / 275V 650 pF / 2K 330 F 10 pF 10 nF
RB2.5/5 RAD15/18/6 RB2.5/6 RAD-0.1 RAD15/18/6 RB10/22.4 RB2.5/5 RB5/10 RB3/8 RAD-0.2 RAD-0.4 RB2.5/5 RB2.5/5 RAD22/26/9 RAD-0.2 RB10/30 RAD-0.1 RAD-0.1
2 2 1 6 1 1 1 2 4 1 1 3 2 1 1 2 1 1
PMSM and BLDC Demonstration Bill of Materials, Rev. 0 Freescale Semiconductor Preliminary Appendix B-1
Designator C6037 D1000, D1001 D2001 D2002 D2003 D2005, D2006 D3000, D3001, D3002, D3003 D3004 D5000 D5001 D5020 D5021, D5022 D5023 D6000, D6001 D6002, D6003, D6004, D6005, D6006, D6006, D6008, D6009 F2000 F5000 J2000, J5000 J3001 J5002 JP1000 JP1001 JP1002
Description 10 F / 16V IN4148 BYV26C KBP10 IN4148 MUR420 BAV99 IN4733 IR25XB08H DSEP60-06A IN4001 IN4007 IN4004 IN4148 IN4733
Footprint RB2.5/5 DIODE-0.4 DIODE-0.4 KBP19 DIODE-0.4 DIODE-0.5 SOT-23 DIODE-0.4 IR25XB TO247AD IN4007 IN4007 IN4004 DIODE-0.4 DIODE-0.4
Quantity 1 2 1 1 1 2 4 1 1 1 1 2 1 2 8
Fuse 2A 250 VAC Fuse 250V / 20A AC INPUT Connectors DB9 Connector Power Jumper Jumper HEAD Jumper UVW_OUTPUT Jumper LEM (For Debug Purpose) ADC Channel Jumper Jumper Rotor Speed Jumper SCI ADC Channel Jumper
1 1 2 1 1 1 1 1
2 1 1 1
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 Appendix B-2 Freescale Semiconductor Preliminary
Description ADC Channel Jumper DSC Demo Board Connector Jumper for Push Button Jumper PhaseU_up Jumper PhaseU_down Jumper PhaseV_up Jumper PhaseV_down Jumper PowerPlug LED and DA PFC Driver Jumper Jumper Plug for PFC Debug Reference Voltage Jumper (1.65 for PMSM and DGND for ACIM) 3.3 H 3.3 H 220 H LED OverTemp RED LED DISPLAY LED OverCur LED OverBusVol PSS8050 IXTH30N50 1.2K Ohm 130K Ohm 6.8K Ohm 6.8K Ohm
Quantity 1 1
JP1011, JP1012, JP1013, JP1014 JP1015 JP1016 JP1017 JP1018 JP2001 JP4000 JP5003 JP5020
4 1 1 1 1 1 1 1 1
JP6000
HDR1X3
L2002, L2003 L2004 L5001 LED1001 LED2001, LED2002 LED6001 LED6002 Q1000, Q5001 Q5000 R1000, R1001 R1002 R1004 R1008
IND3.3u IND IND_PFC LEDA LEDA LEDA LEDA TO-92A TO247AC AXIAL-0.4 AXIAL-0.4 AXIAL-0.4 AXIAL-0.4
2 1 1 1 2 1 1 2 1 2 1 1 1
PMSM and BLDC Demonstration Bill of Materials, Rev. 0 Freescale Semiconductor Preliminary Appendix B-3
Designator R1009 R1010 R1011 R1012 R1013 R1014, R1015, R1016 R1017, R1018, R1019 R2000 R2001 R2002 R2003 R2004 R2005 R3000, R3001, R3002, R3003 R4000, R4001, R4002, R4003, R4004, R4005, R4006, R4007 R4008, R4009 R4010, R6050, R6051 R5002 R5003 R5006, R5007 R5008 R5020, R5022 R5021, R5024 R5023 R6001, R6002 10.2K
Description
Footprint AXIAL-0.4 AXIAL-0.4 AXIAL-0.4 VVR AXIAL-0.4 SHANT-0.5 SHANT-0.5 AXIAL-0.4 AXIAL-0.4 AXIAL-0.5 AXILA-0.4 AXIAL-0.4 AXIAL-0.4 AXIAL-0.4 AXIAL-0.4
Quantity 1 1 1 1 1 3 3 1 1 1 1 1 1 4 8
300 Ohm 4.7K Ohm 470V 1K Ohm 5.1K Ohm 2 Ohm (PMSM) 0.5 Ohm (ACIM) 6.2 Ohm 2K Ohm 200 Ohm / 0.5W 10K Ohm 300 Ohm 900 Ohm 800 Ohm 100 Ohm
5K Ohm 10K Ohm 10 Ohm / 3W 30K Ohm 470K Ohm / 2W 0.02 Ohm 1K Ohm 6.8 Ohm / 0.5W 120 Ohm / 3W 10K Ohm - 0.1% (ACIM) / 200K Ohm - 0.1% (PMSM) 8.2K Ohm -0.1% (ACIM) / 1M Ohm -0.1% (PMSM)
AXIAL-0.4 AXIAL-0.4 R2WV AXIAL-0.4 R2WV SHANT-0.2 AXIAL-0.4 AXIAL-0.5 RXWV AXIAL-0.4
2 3 1 1 2 1 2 2 1 2
R6003, R6004
AXIAL-0.4
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 Appendix B-4 Freescale Semiconductor Preliminary
Designator R6005, R6024, R6029, R6034, R6039, R6044, R6049 R6008 R6009, R6013 R6010, R6014 R6011, R6015 R6012 R6016, R6017 R6020, R6021, R6025, R6026, R6030, R6031, R6035, R6036 R6022, R6023, R6027, R6028, R6032, R6033, R6037, R6038 R6040, R6041, R6045, R6046 R6042, R6043, R6047, R6048 R6052 RP1000 RV1000, RV6002, RV6003 RV2000 S1000 S1001, S1002 S1003 TE10 TE11 TE12 TE13 TE14 TE15 TE5022 TR2001
Footprint AXIAL-0.4
Quantity 7
620 Ohm 1.2K Ohm 220K Ohm 330 Ohm 620 Ohm 300 Ohm 7.25M Ohm - 0.1%
1 2 2 2 1 2 8
AXIAL-04
200K Ohm - 0.1% (PMSM) 1M Ohm - 0.1% (PMSM) 4.7K Ohm Resistor Pack 8 X 5K Ohm 10K Ohm 100K Ohm Button Function1 Button Function2 Button Function3 Test point PWM0 Test point PWM1 Test point PWM2 Test point PWM3 Test point PWM4 Test point PWM5 PGND APC Transformer
AXIAL-04 AXIAL-04 AXIAL-04 SIP9 VRESLV VRESLV BUTTON BUTTON BUTTON SIP-1 SIP-1 SIP-1 SIP-1 SIP-1 SIP-1 SIP-1 TRAN-E133-2
4 4 1 1 3 1 1 2 1 1 1 1 1 1 1 1 1
PMSM and BLDC Demonstration Bill of Materials, Rev. 0 Freescale Semiconductor Preliminary Appendix B-5
Designator U13 U1000 U1001, U6002 U1002 U2000 U2001, U3001, U3002 U2002 U3000 U3003 U4000, U4001 U4002, U4003 U4004 U5020 U5021 U6001, U6003, U6004, U6005, U6006, U6007, U6008, U6010 U6009 VR2000
Description TC4420 MC74HC244 LM293 IRAMS10UP60A TOP223YAI NEC2501 TL431 TC7660 MAX202CSE 74HC164 FYQ-3641A MAX7219 IR2125 RELAY MC33172 DIP8 DIP8 DIP20 DIP8
Footprint
Quantity 2 1 2 1 1 3 1 1 1 2 2 1 1 1 8
IRAMS10UP60A-2 TO-220 DIP4 TL431 SO-8 DIP16 DIP14 LG3641AH DIP24 DIP8
REF196 P6KE200
DIP-8 DIODE-0.4
1 1
PMSM and BLDC Sensorless Motor Control using the 56F8013 Device, Rev. 0 Appendix B-6 Freescale Semiconductor Preliminary
INDEX
A
ACIM Preface-xi ADC Analog-to-Digital Conversion Preface-xi IPM Preface-xi Integrated Power Module Preface-xi ISR Preface-xi Interrupt Service Routine Preface-xi
L
LPF Preface-xi
B
BLDC Preface-xi Brushless DC Motor Preface-xi
P
PFC Preface-xi Power Factor Correction Preface-xi PI Proportional-Integral Preface-xi PLL Preface-xi Phase Locked Loop Preface-xi PMSM Preface-xi Permanent Magnet Syncrhonous Motor Preface-xi Proportional-Integral Preface-xi PWM Preface-xi Pulse Width Modulation or Modulator Preface-xi
C
COP Preface-xi Computer Operating Properly Preface-xi
D
DCM Preface-xi Discontinuous Current Mode Preface-xi
E
EMF Preface-xi Electron-Magnetic Force Preface-xi EVM Preface-xi Evaluation Module Preface-xi
R
RMS Preface-xi Root Mean Square Preface-xi
F
FOC Preface-xi Field-Oriented Control Preface-xi
S
SCI Serial Communication Interface SCI Preface-xi SMO Preface-xi Sliding Mode Observer Preface-xi SPI Preface-xi Serial Peripheral Interface Preface-xi SV Preface-xi Space Vector Preface-xi SVPWM Preface-xi Space Vector Pulse Width Modulation Preface-xi
G
GPIO Preface-xi General Purpose Input/Output Preface-xi
H
HMI Preface-xi Human Machine Interface Preface-xi
I
I2C Preface-xi Inter-Integrated Circuit Preface-xi IC Preface-xi Integrated Circuit Preface-xi IGBT Preface-xi Insulated-Gate Bipolar Transistor Preface-xi IM Preface-xi Induction Motor Preface-xi
V
VCE Preface-xi Collector to Emitter Voltage Preface-xi
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