Iman Pid Control

dsPIC30F Motor Control PWM Module
DS
Digital Signal Controller
dsPIC30F Motor Control PWM

Module
2005 Microchip Technology Incorporated. All Rights Reserved.
Welcome to the dsPIC30F Motor Control PWM Module web seminar.
Microchip Technology Inc.
Page 1
Session Agenda
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MC Peripheral Overview
PWM Time Base and Period Setting
Duty Cycle Programming
Dead Band Generators
Output Override
Fault pins
A/D Converter Syncronization
MC PWM in Power Safe Modes
Here is the agenda for todays seminar.

We will talk about the general structure of the peripheral and then we will have
some details on the period generator and the duty cycle generators. The
different drive capabilities of the output pins will be targeted and we will see
how dead bands help in preventing damages or even the destruction of the
external power stages. The fault pins can help us in this as well.
The A/D syncronization capability permits us to select the exact timing for
starting the conversion.
At the end we will see how the peripheral behaves in the idle and sleep modes,
that is in the power save modes.
Page 2
MCPWM Features
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Dedicated time base with TCY/2 edge resolution
Complementary or independent outputs
Hardware dead time generators
Output pin polarity set with configuration bits
Multiple output modes
Manual override
Fault pins
Special event trigger for A/D conversion
The peripheral uses a dedicated timer for the generation of the PWM
frequency. Its maximum input frequency is the instruction cycle frequency Fcy,
but the duty cycle edge resolution can be enhanced half an instruction cycle for
improved performances.
The peripheral pins can be coupled to give complementary outputs or used as
single ended pins. In both cases the polarity (active high or active low) can be
set as part of the configuration bits.
The implementation of external bridge power circuits requires that the
peripheral should be capable of adding dead times between the commutations
of the two complementary outputs in order to avoid short circuits through the
power transistors. An added safety feature are the fault pins that are capable of
disabling in a very short time the PWM outputs so that fault conditions in the
power section of the board are not destructive to the circuitry.
In many motor control applications, like BLDC motors, it is required that the
firmware be able to replace the PWM output with a constant low or high output
signal: the manual override function is what helps in these situations.
For sensorless control of BLDC motors, the necessity of synchronizing the
PWM output to the A/D converter arises. This allows the designer to select the
correct timing for sampling the back emf to determine the run-time position of
the rotor.
Page 3
MC PWM Block Diagram

16-bit Time-base
PWM4H
Duty Cycle
Generator #4
Dead Time Unit

PWM4L
Duty Cycle
Generator #3
PWM3H
Dead Time Unit
PWM Override
Logic
Duty Cycle
Generator #2
Four PWM output

pairs with output
polarity control
PWM2H
Dead Time Unit
PWM2L
PWM1H
Duty Cycle
Generator #1
PWM3L
Dead Time Unit
A/D Conversion
Trigger
PWM1L
Fault A
Fault B
Two fault pins w/

programmable fault
states
The high level block diagram of the Motor Control PWM module is shown.
We can see the PWM period generator at the top left, the 16-bit Time Base.
The dsPIC is capable of generating up to four output PWM signals, with the
same period but different duty cycles. There are four such units in devices with
64 or more pins.
The Duty cycle generators are followed by the dead time units. The outputs
from these units go through the PWM Override Logic and finally to the output
pins. The output pins are grouped in pairs, to facilitate driving the low side and
high side of a power half-bridge.
The safety fault feature is directly connected to the output stages of the
peripheral in order to have the smallest possible response time.
At the bottom left we can also find the A/D Conversion trigger block.
Page 4
MC-PWM Timebase
O
Dedicated 15-bit time-base, period register

O Up count (edge align), up/down count (center align)
PWM resolution : Tcy/2
For Example:
O At 20 MIPS: 19.5 KHz @ 11 bit
i.e. 11 bit resolution above audible frequencies
O PWM interrupt every 1-16 periods
1:1, 1:4, 1:16, or 1:64 prescaler options
PTCON Register
PTEN
bit15
14
PTSIDL
13
12
11
10
bit8
PTMOD1
PTMOD0
bit0
PTOPS3
PTOPS2
PTOPS1
PTOPS0
bit7
PTCKPS1 PTCKPS0
3
The time base is generated by a 15 bit timer called PTMR with a prescaler
which divides the timebase frequency by 1, 4, 16 or 64. Bit 15 of the PTMR
register indicates the count direction: 0 indicates an upward count and 1
indicates a downward count. This feature allows the unit to generate edge
aligned and center aligned PWM waveforms, as we will see shortly.
The timer content is continuosly compared with the value of the preset period
register. When a period match occurs, an interrupt to the CPU is generated.
The module can be configured to generate an interrupt after up to 16 period
match events. This feature reduces the CPU overhead, since in many
applications the duty cyle value need not be changed one every PWM cycle.
Though the clock to the time base timer is Tcy, the duty cycle resolution is
Tcy/2; this feature can be utlized to obtain finer PWM resolution at lower device
operating speeds, e.g., 11 bits of resolution at 19.5 Khz using a 20 MHz clock.
The PTCON register is used to switch the timer on and off, to halt it in IDLE
mode, to set the prescaler and postscaler value and to select one of the four
operating modes of the peripheral: free running mode, single event mode,
continuos up/down mode, countinuos up/down with double PWM update. We
will discuss these modes in the following foils.
Page 5
Edge Aligned PWM

DUTY CYCLE
UPDATE
PTPER
PDC1
PTMR COUNT
PDC2
Time
PWM1H
PWM2H
INTERRUPTS
PERIOD REGISTER
RELOAD
The edge aligned PWM is generated when the time base is operating in Free
Running mode
At the beginning of each period the outputs are driven active (high in this
example). As soon as the timer value, while counting up, matches the value in
any duty cycle register (PDC1, PDC2, and so on), the output is driven inactive
(low here).
The duty cycle registers are updated when the timer register is reset to zero
and start counting up again. The application software can update the duty cycle
value at any time during the period.
Duty cycles from 0% to 100% are allowed.
An interrupt is generated, if enabled, when the timer resets, due to a match with
the PTPER register.
In order to avoid glitches the duty cycle registers are double buffered.
In the figure only two out of four duty cycle registers and outputs are shown.
Page 6
Single Event PWM
PTPER
PDC1
PDC2
Time
PWM1H
PWM2H
INTERRUPT
The Single Event feature alllows to generate a single output pulse. Setting the
PTEN enable bit in the PTCON register the timer starts counting up; the bit will
be automatically reset when the timer resets and stops counting.
An interrupt is generated, if enabled, when the timers resets.
When the PTEN bit is set, the I/O pins are driven to their active state: they will
be driven to the inactive state again when a match with a duty cycle register
occurs.
Page 7
Center Aligned PWM

DUTY CYCLE UPDATE
PTPER
PDC1
PDC2
Time
PWM1H
PWM2H
INTERRUPTS
PERIOD
REGISTER
RELOAD
In the center aligned mode, the time base is an up-down counter: it starts from
zero, counts up to the value in the period register and then counts down to zero
and so on. Bit 15 in the timer register indicates the counting direction. In this
mode, the PWM period is twice the time base period.
The duty cycle buffers are updated when the timer is reset to zero; the interrupt
flag is set at the same time.
As you can see from the figure, the PWM waveform is centered around the
instant in time when the timer reaches its maximum value and start counting
back: from this the name center aligned.
Although the PWM frequency is half the edge aligned PWM, this mode is very
useful because it avoids the simultaneous switching of all the PWM outputs at
the same time. This is not a problem for the device itself, but since power
switches are connected to these outputs, the switching current can be quite
high and may require an oversized power supply.
Page 8
Center Aligned PWM with

Double Update
DUTY CYCLE
UPDATE
PTPER
PDC1
PDC2
Time
PWM1H
PWM2H
INTERRUPTS
PERIOD
REGISTER
RELOAD
This mode is quite similar to the previous one. The time base operates in a
continuous up/down count mode.The main difference is that the duty cycle
buffer update is done twice per period: when the timer reaches zero and when it
counts to the upper limit.
The advantage is that the output PWM waveform is no more symmetrical.
Again the interrupt flags are set when the timer reaches zero.
Page 9
Dead Time Control

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Applies only to pin pairs in complementary mode

Two programmable dead times
One dead time per pair for multiple inverters OR
Two dead times per pair for distortion optimization
Tcy minimum resolution with four pre-scale options
Dead Time A
Dead Time B
PWM1H
PWM1H
PWM1L
PWM1L
10
The dead time unit immediately follows the duty cycle generators and applies
only in complementary mode. Since power switches in the high and low sides
usually have different on and off times, if both were operated at the same time it
is possible that the two transistors in a complementary pin-pair are switched on
simultaneously for a short duration: this causes a short circuit betweeen the
supply rails and a huge amount of current flows through the devices, potentially
causing damage to the system.
The solution is to delay the switching of the two transistors by adding a small
amount of time between the falling edge of one pin and the rising edge of the
other.
You can select one or two different dead times; the devices with 6 output pins
provide one dead time whereas those with 8 outputs have two. Having 2 dead
time units is useful in 2 ways. First, to compensate for the difference in the
switching times of the 2 transistors in the same complementary pair. Second, to
enable control of different motor drive circuits using different complementary
pin-pairs.
Page 10
Dead Time Registers

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DTCON1 selects dead time value for A and B
DTBPS1
DTBPS0
DTB<5:0>
14
bit15
DTAPS1
DTAPS0
bit7
13
12
11
10
bit8
bit0
DTA<5:0>
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DTCON2 selects which dead time value is assigned

to the active(A) or inactive(I) edge of each generator
-
bit15
14
13
12
11
10
bit8
DTS4A
DTS4I
DTS3A
DTS3I
DTS2A
DTS2I
DTS1A
DTS1I
bit7
bit0
11
Two registers are used to enable and program the dead band generator. It is
based on a 6 bit down counter with a maximum clock frequency of Fcy
optionally divided by a 1:2, 1:4 or 1:8 prescaler.
Register DTCON1 selects the period match value and the prescaler for both
dead time generators, called A and B.
Register DTCON2 allows selection of the dead time unit (A or B) for each
output pin (low and high) and for each edge (rising an falling). Thus, the
designer has full control over dead time insertion.
Page 11
Complementary Outputs
+V
1H
2H
3H
1L
2L
3L
3 Phase
BLDC or
ACIM
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Each output pin pair can be programmed in the independent mode or in the
complementary mode.
In the independent mode the dead time generators are disabled and there is no
restriction in the state of the pins for any output pin pair.
The complementary mode is very useful in driving loads such as the inverter in
this figure, that could be used for any three phase load, for example: Brushless
DC Motors and Induction Motors. As we have seen, dead time insertion helps
preventing short circuits between the two rails through each couple of
transistors.
Through device configuration bits, the reset-state polarity of the output pins can
be selected.
The HPOL bits in the BOR/POR configuration register determines whether the
high-side output pins must have an active high or low output polarity. The LPOL
bits in the same register set the low-side active high or low polarity.
Moreover, at reset the peripheral output pins can be controlled by PORT
registers, that is, they are normal input-output pins initilized as inputs, or they
can be directly controlled by the Motor Control PWM module as output pins.
Page 12
Independent Outputs
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O
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Independent mode is used for switched reluctance

motors
Special inverter circuit to control current in SR motors
Independent mode enables both devices to turn on
+V
PWM1H
PWM2H
PWM1L
PWM3H
PWM2L
PWM4H
PWM3L
PWM4L
13
This is an example where all the four PWM outputs are used in independent
mode to drive a Switched Reluctance motor, where each pair of outputs drives
one phase of the stator.
Page 13
Output Override
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Used for motor commutation

Drive PWM or Drive active or inactive
POVD bits decide if I/O pin is controlled manually
POUT bits set state of I/O pin under manual control
Dead time requirements are always satisfied in
complementary mode
OVDCON Register
POVD4H
bit15
POVD4L
14
POVD3H
POVD3L
13
12
POVD2H
11
POVD2L
POVD1H
POVD1L
10
bit8
POUT4H
POUT4L
POUT3H
POUT3L
POUT2H
POUT2L
POUT1H
POUT1L
bit7
bit0
14
The manual override control bits allow the user to implement motor
commutation. Through the control bits, a particular output pin may be
programmed to receive the PWM signal from the duty cycle generator, driven
active, or driven inactive. There is a POVD control bit for each PWM output
pin. If this bit is cleared, the pin will output a PWM signal. If the POVD bit is
set, the pin will be controlled manually. There is a POUT bit for each PWM pin
that sets the state of the pin when the output is manually controlled.
Restrictions for complementary outputs cannot be violated through manual
PWM control. When the module is operating in the complementary mode, the
signals on each high-side ouput pin will take priority and the proper dead time
will always be inserted.
Page 14
Output Override
O
Using PWM for 6-step modulation

O Energize BLDC motor coils based on
measured rotor position
O PWM override register used to control active
transistors -- duty cycle sets current
1
PWM1H
+V
1H
2H
3H
3 Phase
BLDC
PWM1L
PWM2H
PWM2L
1L
2L
3L
PWM3H
PWM3L
15
This is a typical application of the override capability. In order to be able to

control the rotor speed, the PWM is output on the high side transistors: its duty
cycle will determine the medium voltage applied to the motor and hence its
speed. The required software overhead is really minimum.
Page 15
Fault Pins
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Two programmable fault pins: Fault A, Fault B

Fault pins can be assigned to each output pair
Fault pin asynchronously over-rides PWM output
Fault state for each output is programmable
Automatic or latched fault protection
Interrupt vector for each fault input
FLTACON Register
FAOV4H
FAOV4L
bit15
14
FLTAM
bit7
FAOV3H
FAOV3L
13
12
FAOV2H
FAOV1H
FAOV1L
10
bit8
FAEN4
FAEN3
FAEN2
FAEN1
bit0
11
FAOV2L
16
The fault pins are safety features: if asserted, they will drive the PWM I/O pins
to a defined state. The action takes place without software intervention, thus
allowing fast and safe response to system failures.
In the smallest devices you can find one fault pin (FLTA), the bigger ones have
them all (FLTA and FLTB). They are active low inputs so that you can easily
wire-OR many different sources.
The FAEN bits allows you to select if any output pin-pair will be controlled by
the fault pins when a fault occurs.
If the functionality is enabled, as soon any fault pin is asserted, the PWM output
pins will go active or inactive according to the content of the upper part of the
FLTACON (or FLTBCON) register.
Each fault pin has its own interrupt vector, flag and interrupt priority register.
There are two different operating modes. In the latched mode as soon as the
fault pin is asserted, the PWM output will get the value defined in the FLTxCON
register. The outputs will remain in this state until the fault pin is deasserted and
the corresponding interrupt flag is cleared.
In the automatic mode, the outputs will keep the fault value as long as the fault
pin is asserted. When released, at the beginning of the following PWM period,
the output will return to normal PWM operation.
Page 16
A/D Synchonization
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SEVTCMP register sets A/D

conversion start time
SEVTDIR bit sets direction of
PTMR
Ensure A/D properly captures
shunt current
Minimize control loop update
delay
To A/D
17
The PWM module has a special trigger that allows the A/D converter to be
synchronized to the PWM time base. This trigger will start the conversion phase
of the A/D block, in order to minimize the delay between getting the A/D
conversion result and updating the duty cycle value.
The Special Event Compare Register is loaded with a number which is
compared to the content of the time base timer, while this one is counting up or
down. The counting direction is set by the Special Event Direction bit. As soon
as there is a match between the two registers, the trigger is generated and the
A/D conversion is started.
This feature is very useful for synchronizing with the phase drive signals the
reading of the shunt currents or the reading of the back emf in a sensorless
BLDC motor control.
Page 17
MC PWM in Power Save Modes

O
In SLEEP mode all PWM output pins are frozen to

the value prior to entering sleep
Fault pins are active
Fault event wakes the device from sleep
In IDLE mode the PWM can optionally continue to

operate
Time base interupt wakes the devise from IDLE
18
Finally, let us study the oepration of the peripheral in device power save modes.
In sleep mode the PWM output pins will retain the value that they had when entering sleep. It is
your responsability to put the output pins in a known state before entering power save: this can
be very important for some kind of loads.
During sleep the fault pins, if enabled, will continue to control the outputs, so that if any fault
input is asserted the output PWM pins will be driven to the state programmed into the Fault
Control register. If the fault interrupt enable pin is set, the device will be waken up from sleep
when the fault pin is asserted. If the interrupt priority is higher than the current CPU priority the
ISR will be served, otherwise the code execution will continue from the next instruction following
the PWRSAV instruction.
In IDLE mode the PWM peripheral can be completely functional, according to the value of the
PWM Time Base Stop in IDLE Mode Bit. If reset, the unit will operate normally. The time base
interrupt, if enabled, will wake the unit. Code execution will continue with the ISR if the priority is
higher than the CPU priority or with the next instruction after the PWRSAV instruction.
A last feature is worth mentioning, which is extremely useful during code debugging. The PWM
pins can be optionally tri-stated when the emulator or the debugger is halted. You should install
pull-up or pull-down resistor in order to ensure that the PWM outputs are diven to the correct
state so that external hardware is not damaged.
Page 18
Key Support Documents

Device Selection Reference
Document #
General Purpose and Sensor Family Data Sheet
DS70083
Motor Control and Power Conv. Data Sheet
DS70082
dsPIC30F Family Overview
DS70043
Base Design Reference
Document #
dsPIC30F Family Reference Manual
DS70046
dsPIC30F Programmers Reference Manual
DS70030
MPLAB MPLAB C30 C Compiler User Users Guide
DS51284
MPLAB ASM30, LINK30 & Utilities User
DS51317
dsPIC Language Tools Libraries
DS51456
19
For more information, here are references to some important documents that
contain a lot of information about the dsPIC30F family of devices.
The Family Reference Manual contains detailed information about the
architecture and peripherals, whereas the Programmers Reference Manual
contains a thorough description of the instruction set.
Page 19
Key Support Documents

Device Specific Reference
Document #
dsPIC30F2010 Data Sheet
DS70118
dsPIC30F3010/3011 Data Sheet
DS70141
dsPIC30F4011/4012 Data Sheet
DS70135
dsPIC30F6010 Data Sheet
DS70119
Microchip Web Site: www.microchip.com
20
For device-specific information such as pinout diagrams, packaging and

electrical characteristics, the device datasheets listed here are the best
source of information.
Page 20
Related Material
O
Apps Notes on Motor Control

AN901 Using the dsPIC30F for Sensorless BLDC Control
AN908 Using the dsPIC30F for Vector Control of an ACIM
AN957 Sensored BLDC Motor Control Using dsPIC30F2010
21
We also have some application notes on motor control, in which the peripheral
is extensively used.
All these documents can be obtained from the Microchip web site, by clicking
on the dsPIC Digital Signal Controllers or Technical Documentation link.
This wraps up the seminar on dsPIC30F Motor Control Peripheral. Thank you
for your interest in the dsPIC30F Family of Digital Signal Controllers.
Page 21

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dsPIC30F Motor Control PWM Module

dsPIC30F Motor Control PWM

2005 Microchip Technology Incorporated. All Rights Reserved.

dsPIC30F Motor Control PWM Module

Welcome to the dsPIC30F Motor Control PWM Module web seminar.

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

2005 Microchip Technology Incorporated. All Rights Reserved.

dsPIC30F Motor Control PWM Module

Here is the agenda for todays seminar.

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Dedicated time base with TCY/2 edge resolution

Complementary or independent outputs

Hardware dead time generators

Output pin polarity set with configuration bits

Multiple output modes

Special event trigger for A/D conversion

2005 Microchip Technology Incorporated. All Rights Reserved.

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

MC PWM Block Diagram

Dead Time Unit

Four PWM output

Dead Time Unit

2005 Microchip Technology Incorporated. All Rights Reserved.

Two fault pins w/

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Dedicated 15-bit time-base, period register

2005 Microchip Technology Incorporated. All Rights Reserved.

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Edge Aligned PWM

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Single Event PWM

2005 Microchip Technology Incorporated. All Rights Reserved.

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Center Aligned PWM

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Center Aligned PWM with

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Dead Time Control

Applies only to pin pairs in complementary mode

2005 Microchip Technology Incorporated. All Rights Reserved.

dsPIC30F Motor Control PWM Module

Microchip Technology Inc.

dsPIC30F Motor Control PWM Module

Dead Time Registers

DTCON1 selects dead time value for A and B

DTCON2 selects which dead time value is assigned

2005 Microchip Technology Incorporated. All Rights Reserved.