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You are on page 1of 24

SPEED/POSITION CONTROL SYSTEM

The L290, L291 and L292 together form a complete microprocessor-controlled DC motor servopositioning

system that is both fast and accurate. This design guide presents a description of the system, detailed func-

tion descriptions of each device and application information.

The L290, L291 and L292 are primarily intended for L291 generates a voltage control signal to drive the

use with a DC motor and optical encoder in the con- L292switchmode driver which powers themotor. An

figuration shown schematically in figure 1. This sys- optical encoder on the motor shaft provides signals

tem is controlled by a microprocessor, or which are processed by the L290 tachometer con-

microcomputer, which determines the optimum verter to produce tacho voltage feedback and posi-

speed profile for each movementand passes appro- tion feedback signals for the L291 plus

priate commands to the L291, which contains the distance/direction feedback signals for the control

system’s D/A converter and error amplifiers. the micro.

Figure 1 : The L290, L291 and L292 form a complete DC Motor servopositioning System that connects

directly to Microcomputer Chips.

AN242/1088 1/24

APPLICATION NOTE

The system operates in two modes to achieve high As the motor acceleratesthe tachovoltage rises and

speed and accuracy : closed loop speed control and the system operates in closed loop speed mode,

closed loop position control. The combination of moving rapidly forwards the target position. The mi-

these two modes allows the system to travel rapidly crocomputer, which is monitoring the optical en-

towards the target position then stop precisely with- coder signals (squared by the L290), reduces the

out ringing. speed demand word gradually when the target po-

Initially the system operates in speed control mode. sition is close. Each time the speed demand word

A movement begins when the microcomputer ap- is reduced the motor is braked by the speed control

plies a speed demand word to the L291, typically loop.

calling for maximum speed. At this instant the motor Finally, when the speed code is zero and the target

speed is zero so there is no tacho feedback and the position extremely close, the micro commands the

system operates effectivelyin open loop mode (see system to switch to position mode. The motor then

figure 2). In this condition a high current peak - up stops rapidly at the desired position and is held in an

to 2A – acceleratesthe motor rapidly to ensure afast electronic detent.

start.

Figure 2 : The System operates in two Modes to achieve High Speed and Accurary. Tachometer

Feedback regulates the Speed during a Run and brakes the Motor towards the End. Position

Feedback allows a Precise Final Positioning.

2/24

APPLICATION NOTE

The optical encoder used in this system is shown tion. An example of this type is the Sensor Technol-

schematically in figure 3. It consist of a rotating slot- ogy STRE 1601, which has 200 tracks. Similar types

ted disk and a fixed partial disk, also slotted. are availablefrom a numberof manufactures includ-

ing Sharp and Eleprint.

Light sources and sensors are mounted so that the

encoder generates two quasi-sinusoidal signals This encoder generates a third signal, FTF, which

with a phase difference of ± 90°. These signals are consistsof one pulse per rotation. FTF is used to find

referred to as FTA and FTB. The frequency of these the absolute position at initialization.

signals indicates the speed of rotation and the rela

Figure 3 : The System operates with an Optical Encoder of the Type shown schematically here.

It generates two Signals 90 ° out of Phase plus a one Pulse–per–rotation Signal.

The sign ( or ) is provided by the

TheL290 tachometerconverterprocesses the three |FTA| |FTB|

optical encoder signals FTA, FTB, FTF to generate

a tachometer voltage, a position signal and feed- comparators CS1 and CS2. Finally, the multiplier

back signals for the microprocessor. It also gener- outputs are summed by A3 to give the tacho signal.

ates a reference voltage for the system’s D/A Figure 5 shows the waveforms for this process.

converter. This seemingly complex approach has three impor-

Analytically, the tacho generation function can be tant advantages.First, since the peaks and nulls of

expressed as : CSA and CSB tend to cancel out, the ripple is very

dVAB FTA dVAA FTB small. Secondly, the ripple frequency is the fourth

TACHO = . – . harmonic of the fundamental so it can be filtered

dt |FTA| dt |FTB| easily without limiting the bandwidth of the speed

loop. Finally, it is possible to acquire tacho informa-

In the L290 (block diagram, figure 4) this function is tion much more rapidly, giving a good responsetime

implemented by amplifying FTA and FTB in A1 and and transient response.

A2 to produce VAA and VAB. VAA and VAB are differ- Feedbacksignals for the microprocessor, STA, STB

entiated by external RC networks to give the signals and STF, are generated by squaring FTA, FTB and

VMA and VMB which are phase shifted and propor- FTF. STA and STB are used by the micro to keep

tional in amplitude to the speed of rotation. VMA and track of position and STF is used at initialization to

VMB are passed to multipliers, the second inputs of find the absolute position.

which are the sign of the other signal before differ-

entiation.

3/24

APPLICATION NOTE

Position feedback for the L291 is obtained simply Since the tachovoltage is also derived from VAA and

from the output of A1. VAB it follows that the system is self compensating

The L290 also generatesa reference voltage for the and can tolerate variations in input levels, tempera-

L291’s D/A converter. Thisreference is derived from ture changes and component ageing wifh no dete-

VAA and VAB with the function : rioration of performance.

Vref ≡ |VAA | + |VAB |

Figure 4 : The L290 processes the Encoder Signals, generating a Tacho Voltage and Position Signal for

the L291 plus Feedback Signals for the Microprocessor. Additionally, it generates a Reference

Voltage for the L291’s D/A Converter.

4/24

APPLICATION NOTE

Figure 5 : These Waveforms illustrate the Generation of the Tacho Voltage in the L290. Note that the

Ripple is fourth Harmonic. The Amplitude of TACHO is proportional to the Speed of Rotation.

Figure 6 : The L291 Links the System to the Microprocessor. It contains the system DA converter, main

error amplifier and position amplifier.

5/24

APPLICATION NOTE

THE L291 D/A CONVERTER AND AMPLIFI- External sense resistors monitor the load current,

ERS feeding back motor current information to the error

The L291, shown in figure 6, links the system to the amplifier via the current sensing amplifier.

micro and contains thesystem’s main error amplifier The L292 incorporates its own voltage reference

plus a position amplifier which allows independent and all the functions required for closed loop current

adjustment of the characteristics of the position control of the motor. Further, it features two enable

loop. inputs, one of which is useful to implement a power

It contains a five bit D/A converter with switchable on inhibit function.

polarity that takes its reference from the L290. The The L292’soutput stage is a bridge configurationca-

polarity, which controls the motor direction, is con- pable of handlingup to 2A at 36V. A full bridge stage

trolled by the micro using the SIGN input. was chosenbecauseit allowsa supplyvoltageto the

The main error amplifier sums the D/A converter motor effectively twice the voltage allowed if a half

output and the tacho signal to produce the motor bridge is used. A single supply was chosen to avoid

drive signal ERRV. The position amplifier is pro- problems associated with pump-back energy.

vided to allow independent adjustment of the posi- In a double supply configuration, such as the exam-

tion loop gain characteristics and is switched in/out ple in figure 8 a, current flows for most of the time

of circuit to select the mode. The final position mode through D1 and Q1. A certain amount of power is

is actually ’speed plus position’ but since the tacho thus taken from one supply and pumped back into

voltage is almost zero when position mode is se- the other. Capacitor C1 is charged and its voltage

lected the effect of the speed loop is negligible.

can rise excessively, risking damage to the associa-

ted electronics.

THE L292 SWITCHMODE MOTOR DRIVER By contrast, in a single supply configuration like fig-

The L292 can be considered as a power transcon- ure 8b the single supply capacitor participates in

ductance amplifier - it delivers a motor current pro- both the conduction and recirculation phases. The

portional to the control voltage (ERRV) from the average current is such that power is always taken

L291. It drives the motor efficiently in switchmode from the supply and the problem of an uncontrolled

and incorporates an internal current feedback loop increase in capacitor voltage does not arise.

to ensure that the motor current is always propor- A problem associated with the system used in the

tional to the input control signal. L292 is the danger of simultaneous conduction in

The input control signal (see block diagram, fig- both legs of the output bridge which could destroy

ure 7) is first shifted to produce a unipolar signal (the the device. To overcome this problem the compara-

L292 has a single supply) and passed to the error tor which drives the final stage consists of two se-

amplifier where it is summed with the current feed- parate comparators (figure 9). Both receive the

back signal. The resulting error signal is used to same Vt, the triangular wave from the oscillator, si-

modulate the switching pulses that drive the output gnal but on opposite inputs.

stage.

6/24

APPLICATION NOTE

Figure 7 : The L292 Switchmode Driver receives a Control Voltage from the L291 and delivers a

switchmode regulated Current to the Motor.

Figure 8 : A Simple Push Pull Output (a) needs a Split Supply and the Device can be damaged by the

Voltage Built up on C1. The L292 has a Bridge Output to avoid these Problems. Only one

Supply is needed and the Voltage across the Single Capacitor never rises excessively.

Moreover, the Motor can be supplied with a Voltage up to twice the Voltage allowed with

a Half Bridge.

7/24

APPLICATION NOTE

Theother two inputs are driven by VTH, theerror am- SOFTWARE AND INTERFACING TO THE

plifier output, shifted by plus or minus RτI’. This volt- MICRO

age shift, when compared with Vt, results in a delay In a typical system the L290/1/2 system is con-

in switching from one comparator to the other. nected to the control microcomputer throughten I/O

Figure 9 : The L292’s final Comparator actually lines : seven outputs and three inputs.

consists of two Comparators. This Confi- The outputs are all connected to the L291 D/A con-

guration introduces a Delay to prevent verter and consist of the five bit speed demand

simultaneous Conduction of two Legs. word, SIGN (which sets the direction) and the

speed/position mode select line. Position feedback

for the micro comes from the L290 tacho converter

and consists of the signals STA, STB (the squared

encoder outputs) plus the one-pulse-per rotation

signal, STF (figure 11).

Figure 11 : In a typical system the L290/L291/

L292 combination is linked to the micro

through seven output lines, two inputs

and an interrupt input.

switching off one leg of the bridge and switching on

the other. The delay τ is a function of the integrated

resistor Rτ (1.5kΩ) and an external capacitor C17

connected to pin 10 which also fixes the oscillator

frequency. The delay is given by : To follow the motor position the micro counts the

STA pulses to measure the distance travelled and

τ = Rτ C17 compares the phase of STA and STB to sense the

In multiple L292 configurations (in a typewriter, for direction. The most convenient way to do this is to

example, there may be two systems) it is desirable connect the STA line to an interrupt input. An inter-

to synchronise the switching frequenciesto avoid in- rupt service routine will then sample STB and incre-

termodulation. This can be done using the configu- ment or decrement the position count dependingon

ration shown in figure 10. the relative phase difference : + 90° if STB is high ;

-90°if STB is low.

Figure 10 : Ground Plane switching Noise and

Modulation Phenomena are avoided in It could be argued that the micro doesn’t need to

Multi–L292 Systems by synchronizing sense the direction of the rotation because it con-

the Chopper Rate with this RC Network. trols the direction. In practice, however, it is better

to sense the direction to allow for the possibility that

the motor may be moved by externally applied for-

ces.

For each movement the micro calculates the distan-

ce to be travelled and determines the correct direc-

tion. It then sets the L291 to velocity feedbackmode,

sets the director appropriately and sets the speed

demand word for maximum speed (possibly less if

the move is very short).

By means of the STA interrupt service routine it fol-

lows the changing position, reducing the speed de-

8/24

APPLICATION NOTE

mand word to brake the motor when the target po- Where the optical encoder rotates more than once

sition is veryclose. Finally, the micro orders the L291 the ’one-pulse-per-rotation’ signal is not sufficient.

to switch to position loop control for the final precise An example of this is the carriage positioning servo

positioning. of a computer printer. In this case the simplest so-

When the system is powered up the mechanical lution is to fit a microswitch on one of the endstops.

subsystem may be in any position so the first step First the motor is run backwards slowly until the car-

is to initialize it. In applications where the optical en- riage hits the endstop. Then it moves forward until

coder never rotates more than one revolution – the the STF signal is detected. The beauty of this solu-

daisy wheel of a typewriter, forexample – this is sim- tion is that the endstop microswitch does not need

ply done by rotating the motor slowly until the STF to be positioned accurately.

signal (one-pulse-per-rotation) is detected.

Figure 12 : Complete Application Circuit of the System.

trr ≤ 200ns

9/24

APPLICATION NOTE

Figure 14.

Comp onent Reco mmended Purpose Larger than Smaller than

Valu e Reco mmend ed Value Reco mmend ed Value

R1, R2, R3 1 kΩ To filter the noise on the Offset voltage increase

encoder signals. (VAA, VAB).

R4, R5 820 Ω Differentiator Network Tacho offset and tacho Tacho offset increase.

signal increase. Tacho signal decrease.

R6, R7 4.7 kΩ To set the D/A input D/A input current D/A input current

current. decrease. increase.

R8 4.7 kΩ To set the motor speed. Motor speed increase. Motor speed decrease.

R9 5 kΩ To adjust the motor Danger of Oscillation

speed. R9 ≤ R13/10

R11 22 kΩ To set the position loop – Position loop gain – Position loop gain

gain. decrease. increase.

– Danger of oscillation of

the motor shaft.

R12 100 kΩ To set the position loop – Position loop gain – Position loop gain

gain. decrease. increase.

– Danger of oscillation of

the motor shaft.

R13 120 kΩ To set the speed loop – Speed loop gain – Speed loop gain

gain. increase. decrease.

R14 15 kΩ To set the position loop – Position loop gain – Position loop gain

gain. increase. decrease.

– Danger of oscillation of

the motor

R15, R16 510 Ω To filter the feedback Danger of output

current. saturation of the current

sensing amplifier

R15 + R16 ≤ 3.3 kΩ.

10/24

APPLICATION NOTE

Comp onent Reco mmended Purpose Larger than Smaller than

Valu e Reco mmend ed Value Reco mmend ed Value

R17 22 kΩ To set the gain of the err. Increase of the gain at Danger of Oscillations

amplifier. high frequencies. R17 > 5.6 kΩ

R18, R19 0.2 Ω To set the Transconductance Transconductance

transconductance decrease increase.

value of the L292. (R18 , R15). Im ≤ 0.44 V.

R20 15 kΩ To set the oscillator Oscillator frequency Oscillator frequency

frequency. decrease. increase. R20 ≥ 8.2 kΩ

R 21 33 Ω Compensation Network Increase of the peak

current in the output

transistors during

the communications.

C1, C2, C3 100 pF To filter the noise on the Bandwidth reduction of Bandwidth increment of

encoder signals. the low pass filter. the low pass filter.

C4, C6 15 nF Differentiator Network Tacho signal increase. Tacho signal Decrease.

C5 2.2 µF By-pass Capacitor Larger set-up time after Reduced by-pass effect

power on. at low frequencies.

C7 0.1 µF Low-pass filter for the Increase of the current

D/A input current. ripple at low speed.

C8 0.22 µ – Low pass filter for the Bandwidth reduction of Low filtering at low speed,

tacho signal. the speed loop. causing noise on the

– To determine the motor.

dominant pole of the

speed loop.

C10, C11 0.1 µF Supply By-pass Capacitor Danger of Oscillations.

C12 47 nF To filter the feedback – Lower value of the – Higher value of

current damping factor. dumping factor.

– Danger of Oscillations

C13 47 nF To set the gain of the

error amplifier

C13 - R17 = LM/RM

C15 0.1 µF Supply By-pass Capacitor Danger of Oscillations

C16 470 µF Supply By-pass Capacitor Ripple increment on the

supply voltage.

C17 1.5 nF To set the oscillator – Oscillation Frequency – Oscillation Frequency

frequency and the dead Reduction Increment

time of the output – Dead time increment. – Dead time reduction.

transistors.

C18 1 nF Compensation Network Danger of Oscillations

D1, D2, 1A Recirculation Diodes

D3, D4 Fast Diodes

11/24

APPLICATION NOTE

Thecomplete circuit is shown in figure 12 ; a suitable stage in place of the L292 because the L292’s cur-

layout for evaluation is given in figure 13. Compo- rent control loop is very useful.

nent values indicated are for a typical system using Figure 15 shows how four transistors are added to

a Sensor Techonology STRE1601 encoder and a increase the current to 4, 6 or 8A, depending on the

motor with a winding resistance of 5Ω and an induc- choice of transistor. When coupled to the L290 and

tance of 5mH (this motor is described fully in figure L291 this configuration appears to the system as an

17). How to calculate values for other motors is ex- L292.

plained further on. The average motor current, Im , is found from :

Figure 14 explains what each component does and Vi 0.044

what happens if is varied. Maximum and minimum Im =

values are also indicated where appropriate. Rx

Where Vi is the input voltage and Rx is the value of

ADDING DISCRETE TRANSISTORS FOR the sense and resistors R7 and R8.

HIGHER POWER Suitable transistors for this configuration are indi-

In the basic application, the L292 driver delivers 2 A cated below :

to the motor at 36V. This is fairly impressive for an I(A) V i (V) R x (mΩ) Q1, Q 2 Q3, Q 4 D1 - D4

integrated circuit but not enough for some applica- 4 9.1 100 BD708 BD707 2A Fast Diodes

tions - robots, machine tools etc. The basic system 6 9.1 65 BD908 BD907 3A Fast Diodes

can be expanded to accomodate these applications 8 9.1 50 BDW52A BDW51A 4A Fast Diodes

by adding external power transistors to the L292.

Figure 15 : For higher power external transistors are added to the L292. This circuit delivers up to 4A,

if 2 BDW51A and 2 BDW52A are used it can deliver 8A.

S–4866/1

12/24

APPLICATION NOTE

The circuit shown in figure 16 is suitable for motor This gives a range of transconductance values

currents up to 50A at voltages to 150V. Two suplies (Im/vin) from 3.0A/V (R = 390 Ω ) to 8.6A/V

are used ; 24V for the L292 and LS141 and 150V (R = 860Ω).

for the external transistorsand motor. This circuit too In this circuit the L292 drives two transformers

behaves just like an L292, except for the higher whose secondaries drive the powertransistors. The

power, and connectsto the L290 and L291 as usual. coil ratio of the transformersis 1 : 20. To limit the duty

The motor current is given by : cycle at which the transformers operate from 15%

Vin x 120 x 10-6 R to 85%, two zener diodes are inserted between pin

Im = 7 and pin 9 of the L292. The LS141 op amp supplies

RS current feedback from the transistor bridge to the

where Rs = Rs1 = Rs2 = 12 x 10-3 Ω L292.

and 390 Ω < R < 860Ω

Figure 16 : For higher voltages and currents–up to 150V at 50A, this circuit can be used. It connects to

the L290 and L291, behaving just like and L292.

13/24

APPLICATION NOTE

DESIGN CONSIDERATIONS It follows that for a given motor type and control loop

The application circuit of figure 12 will have to be the accelerationcan onlybe increasedby increasing

adapted in most cases to suit the desired perform- the motor current, Im.

ance, motor characteristics, mechanical system The characteristicsof a typical motor are givenin fig-

characteristics and encoder characteristics. Essen- ure 17. From this table we can see that :

tially this adaptation consists of choosing appropri- KT = 4.3N cm/A (6.07 oz. in/A)

ate values for the ten or so components that 2

determine the characteristics of the L290, L291 and Jm = 65g . cm (0.92 x 10-3 oz. in s2)

L292. We also know that the maximum current suppliedby

.

The calculations include :

Calculation of maximum speed and accelera-

tion ; useful both for defining the control algorithm

the L292 is 2 A and that the moment of inertia of the

STRE 1601 optical encoder, Joe, is 0.3 x 10-4 oz. in.

s2.

Calculation of R8 and R9 to set maximum speed.

Laplace analysis of system to set C8, R11, R12,

The moment of inertia of the load JL, is unknown but

assume, for example, that Joe + JL ≅ 2 Jm . Therefore

the maximum angular acceleration is :

Laplace analysis of L292 loop to set the sensing a=

6.07 x 2

= 6597.8rad/s2

Calculation of values for C4 and C6 to set max

2 x 0.92 x 10 -3

Calculation of values for R6 and R7 to set D/A ref-

Figure 17: The characteristics of a typical DC motor

.

Mo tor - Parameter Value

erence current. UBB (Vs) 18 V

Calculation of R20 to set desired switching fre- C. emf. KE 4.5 mV/min

–1

quency. No (without load) 3800 rpm

Iom (without load) 190 mA

MAXIMUM ACCELERATION Tf (friction torque) 0.7 N cm

KT (motor constant) 4.3 N cm/A

For a permanent magnet DC motor the acceleration Amature Moment of Inertia 65 g. cm.

2

torque is related to the motor current by the expres- RM of the Motor 5.4 Ω

sion : LM of the Motor 5.5 mH

Ta + Tf = KT Im

where :

Im is the motor current

MAXIMUM SPEED

KT is the motor torque constant

The maximum speed can be found from :

Ta is the acceleration torque

VS min = 2 VCEsat + RS Im + Ke Ω + Rm Im

Tf is the total system friction torque

where :

The acceleration torque is related to angular accel-

E= Ke Ω is the internally generated voltage

eration and system inertia by :

(EMF)

Ta = (Jm + Joe + JL) a

Ke is the motor voltage constant

where :

Ω is the rotation speed of the motor.

Jm is the moment of inertia of the motor

For example, if Vs min = 20V

Joe is the moment of inertia of the encoder

2 VCEsat + Rs Im = 5V (from L292 datasheet)

JL is the moment of inertia of the load

Rm Im = 10.8V (Rm = 5.4 Ω )

a is the angular acceleration

we obtain :

In a system of this type the friction torque Tf is nor-

Ke Ω (E) = 4.2V

mally very small and can be neglected. Therefore,

combing these two expressions we can find the an- and

gular acceleration from : 4.2 V

KT Ω= = 933.3rpm =

4.5 mV/min-1

a=

Jm + Joe + JL Im

.

= 97.74rad/s

14/24

APPLICATION NOTE

The STRE1601 encoder has 200 tracks so this variations we can now check that the variation of Iref

speed corresponds to : in the worst case is acceptable.

200 Vref min

V=Ω = 3111.1 tracks/s. Iref min = = 0.46mA

60 (R6 + R7) max

The time taken to reach maximum speed from a Vref (typ)

standing start can be found from Iref typ = = 0.53mA

4.7 k + 4.7 k

Ω 97.74 rad/s Vref max

∆ t= = = 14.8ms Iref max =

(R6 + R7) min

= 0.62mA

a 6597.8 rad/s2

These values are within the 0.3mA to 1.2mA limits.

We can also express the acceleration in terms of

tracks/s2 : Now that the reference current is defined we can

calculate values for R8 and R9 which define the

V 3111.1 tracks/s2 tacho current at the summing point.

K= = =

∆t 14.8 ms The full scale output current of pin 12 of the L291

(the D/A converter output) is :

= 210209.5 tracks/s2 Io = 1.937 Iref

Therefore the number of tracks necessary to reach which is typically 1.02mA.

the maximum system speed for our example is :

The worst case output current is when I ref is at a

V2 maximum (0.62mA) and the Iout error is maximum

p= = 23 tracks

2K (+ 2 %) :

This information is particularly useful for the pro- Io = 0.62 x 1.937 x 1.02 = 1.22mA

grammer who writes the control software.

This less than the 1.4 mA maximum value for Iout

specified in the L291 datasheet.

SETTING THE MAXIMUM SPEED

Assuming that the maximum DC voltage at the

The chosen maximum speed is obtained by setting

the values of R6, R7, R8, R9, C4 and C6 (all shown TACHO output of the L290 (pin 4) is 7V (this is the

tacho voltage generated at the maximum system

on the application circuit, figure 12). This is how it’s

done : speed), we can find the sum of R8 and R9 ;

The first step is to calculate R6 and R7, which define Vtacho DC 7

the DAC current reference. From the L291 datasheet R8 + R9 = = = 6.85kΩ

we know that Iref, the DA converter current reference, Io typ 1.02

must be in the range 0.3mA to 1.2mA.

Therefore we choose R8 = 4.7kΩ and a 5kΩ trim-

Choosing an Iref of roughly0.5mA, and knowing that mer for R9. R9 is used to adjust the maximum

Vref (the L290sreference output)is typically5V, it fol- speed.

lows that :

We can now calculate the ripple voltage and maxi-

Vref mum tacho voltage :

R6 + R7 = = 10kΩ

Iref π

Vripple pp = (√ 2 - 1) Vtacho DC ≅ 2.3 Vpp

Therefore we can choose R6 = R7 = 4.7kΩ (5% tol- 4

erance).

Substituting the minimum and maximum values of π

Vtacho max = √ 2 Vtacho DC ≅ 7.8 Vp

Vref (from the L290 datasheet) and the resistance 4

15/24

APPLICATION NOTE

This value is within the voltage swing of the tacho Figure 18 : C4 and C6 value versus rotation

amplifier (± 9V) ; that means the choice of speed for various maximum tacho

Vtacho DC = 7V is correct. voltage values.

At this point we know the values of R6, R7, R8 and

R9. The maximum speed can now be set by choos-

ing values for C4 and C6 which form the differentia-

tion networkson the L290. These values dependon

the number of tracks of the optical encoder. For the

STRE1601 encoder the capacitor values can be

found from figure 18. These curves show how the

capacitor values is related to frequency (encoderro-

tation speed) for different tacho voltages and maxi-

mum speed. The example values are Vtacho DC = 7V

and maximum speed = 3111 tracks/sec therefore

the value for C4 and C6 is 15nF.

The values of R4 and R5 must be 820Ω to minimize

the offsets.

Figure 19.

s : Laplace variable θ : Angular position

KT : Motor torque constant Ksp : Conversion factor that links the motor rotation speed

Ta : Acceleration torque and the TACHO signal.

Tf : Total system friction torque KT : Conversion factor that links the motor position and the

J : Total moment of inertia (J = Joe + J m + J L). Vpos signal.

16/24

APPLICATION NOTE

i

table values for the components R11, R12, R13, in figure 7 (L292 internal block diagram)

R14 and C8 can be found from a Laplace analysis 0.044

of the system. Figure 19 shows a simplified block Rs = Vi = 0.2 Ω

Im

diagram of the system which will be useful for the

analysis. b) R17, R15, R16, C12, C13

The analysis is based on the angular speed Ω and 2 Vs

on the motor position θ. The motor is represented, Gmo =

Rm VR

to a first approximation, by the current Im and by the

acceleration torque, Ta, which drives an inertial Vs = L292 supply voltage

load J. Rm = motor resistance

There are two conversion factors, Ksp and Kθ. VR = L292 reference voltage

They link the mechanical parameters (position and and

speed) with the equivalent feedback signals for

the two loops. The values of Ksp and Kθ are de- R4C13

ξ=

termined by the encoder characteristics and the 4R15 C12 Gmo Rs

gain parameters of the integrated circuits. The

openloop and closed-loop gains are fixed by four R4 = L292 internal resistor (400Ω)

..

external resistors :

Rref – fixes the reference current (R6 + R7)

Rs = R18 = R19

A good choice for ξ is 1/ √2. Substituting this value,

..Rspeed – fixes the speed loop gain (R8 + R9)

Rpos – controls the position loop gain (R12)

Rerr – controls the system loop gain (R13).

Gmo and the values of R4 and RS :

ξ2 =

1

=

400 C13

The stability both of the speed loop and of the 2 4R15 C12 x 0.2

speed-positionloop are defined by external compo-

nents. 1000 C13

⇒ =1

The fundamental characteristics of the speed con- R15 C12

trol system can thus be determined by the designer.

0.9

τsp is the time constant that determines the domi- Also fT =

nant pole of the speedloop andis determinedby C8, 2 π R15 C12

R8 and R9 Assuming that fT is3kHz, anotherrecommended va-

R8 R9 lue :

τsp = C8 R15 C12 ≡ 47 x 10-6s

R8 + R9.

Therefore we can find C13 :

SETTING THE L292 COMPONENTS 1000 C13 ≅ 47 x 10-6

The sensing resistor and feedback loop component ⇒ C13 = 47nF

values for the L292 can be calculated easily using Since

the following formulae. A detailed Laplace analysis

Lm

of this block is given on the L292 datasheet. = R17 C13

Rm

a) Sense resistors. Rs = R18 = R19

Im R2 R4 I Lm

R17 =

Vi

=

R1 R3

. Rs

C13 Rm

For the example motor Lm = 5mH, Rm = 5.4Ω the-

R2 R4 Vi refore :

⇒ RS =

Im R1 R3 Lm

R17 = = 22kΩ

(These resistors are all inside the L292). C13 Rm

where : From R15 C12 ≅ 47 x 10-6 s, choosing a value of

Im is the motor current R15 ; 510Ω , we have :

Vi is the input voltage corresponding to Im. C12 = 82nF

Also, R16 = R15 = 510Ω.

17/24

APPLICATION NOTE

C17 sets the switching delay of the L292 which pro- Neglectingthe losses due to switching times and the

tects against simultaneous conduction. The delay dissipation due to the motor current, the efficiency

is : of the L292’s bridge can be found from :

τ = Rτ C17 ∆ t1 Vsat ∆ t1 Vover

and Rτ is an internal 1.5k resistor. The suggested η =I - . – .

∆ t1 - ∆ t2 Vs ∆ t - ∆ t2 Vs

1.5nFvalue gives a switching delay of about 2.25µs.

This is more than adequate because the transistors where :

have a switch off delay of only 0.5µs. Vover ≅ 2V (2VBE + Rs Im)

The switching frequency is set by C17 and R20 : ∆ t1 = transistor conduction period

I ∆ t2 = diode conduction period.

fosc =

2 R20 C17 If ∆ t1 ≥ ∆ t2 and Vs = 20V we obtain :

R20 must be at least 8.2kΩ and is varied to set the 4

η=I– = 80%

frequency : the value of C17 is imposed by dead 20

time requirements. Typically the frequency will be

15-20kHz. In practice the efficiency will be slightly lower as a

results of dissipation in the signal processing circuit

It should be outside the audio band to reduce noise (about 1W at 20V) and the finite switching times

but not to high or efficiency will be impaired. The (about 1W).

maximum recommended value is 30kHz.

If the power transferred to the motor is 40W, the

CURRENT RIPPLE 80% efficiency implies 10W dissipated in the bridge

and a total dissipation of 12W. This gives an actual

To reduce dissipation in the motor and the peak out- efficiency of 77%. Since the L292’s Multiwatt packa-

put current the ripple, ∆ Im,should be less than 10% ge can dissipate up to 20W it is possible to handle

of the maximum current. continuous powers in excess of 60W.

Since

Vs T POSITION ACCURACY

∆ Im = . The main feature of the system L290, L291, L292 is

Lm 2

T the accurate positioning of the motor. In this section

( = half period oscillator) we will analyse the influence of the offsets of the

2

three ICs on the positioning precision.

and When the system is working in position mode, the

∆ Im = 0.1 Im max signal FTA coming from the optical encoder, after

VS suitable amplification, is sent to the summing point

0.1 Im max = of the error amplifier (L291). If there were no offset

2 f LM min and no friction, the motor would stop in a position

5 VS corresponding to the zero crossing of the signal

LM min = FTA, and then at the exact position required. With a

f Im max real system the motor stops in a position where FTA

Therefore thereis a minimum inductancefor the mo- has such a value to compensate the offsets and the

tor which may not always be satisfied. If this is the friction ; as a consequence there is a certain impre-

case, a series inductor should be added and the cision in the positionning.The block diagram, fig. 20,

value is found from : shows the parts of the 3 ICs involved in the offsets.

First we will calculate the amount of the offsets at the

5 Vs

Lseries = – LM input of the IC L292 (point A of fig. 20).

f Im max

18/24

APPLICATION NOTE

Figure 20.

L290 R13

VI1A ± I1 ⋅ R14

The offset of the TACHO signal, V2, is the main R12

cause of the imprecision of the positioning. Another V12A = I2 ⋅ R13

offset in L290 is V1, the output offset voltage of A1.

The contribution at point A is :

R14 R13 R13

V1A = V1 . . V4A = V4 1 +

R12 / / R89

R11 R12

R13

V2A = V2 . L292

R89

Referring to this IC we must consider the input offset

L291 voltage V5. Moreover, we call V6 the input voltage

that must be applied to the L292 to keep the motor

In this IC there are the following offsets :

in rotation, i.e. to compensate the dynamic friction.

V3 = input offset voltage of the position amplifier V6 is not an offset voltage, but has the same effects,

I1 = input bias current of the postion amplifier and for this reason we have to put it together with

the offsets.

I2 = output offset current of the D/A converter plus

ER. AMP bias current Io

V5A = V5 = Transconductanceof L292

V4 = input offset voltage of the error amplifier. Vi

Their contribution at point A is: I6

V6A = V6 =

Io

R14 R13 [ V ]

V3A = V3 ⋅ ( 1 + )⋅ i

R11 R12

19/24

APPLICATION NOTE

namic friction V1A = 55.10-3 . . = 45mV

22 100

The total offset voltage referred to point A is given 120

by the sum of all the precedent terms : .

V2A = 80 10 -3 . = 1.6V

VA = V1A + V2A + V3A + VI1A + VI2A V4A + V5A + V6A. 6

The amplitude of the signal FTA necessary to com- 15 120

pensate the offset VA is : V3A = 4.5 . 10-3 ( 1 + ). = 9.1mV

22 100

R12 R11 1

VFTA= VA ⋅ . .

R13 R14 A1 120

VI1A = 0.3 . 10-6 . 15 . 103 = 5.4mV

Calling VM the maximum value of the signal FTA, the 100

phase error of the system is :

VFTA VI2A = 0.4 . 10-6 . 120 . 103 = 48mV

α = sin-1 120

VM

V4A = 2 . 10-3 . ( 1 + ) = 44.9mV

If αc is the phase between two consecutive charac- 5.6

ters, (it may be equal 360°or multiple of it) the per- V5A = 350mV

centage error in the character positioning is :

50

α V6A = = 244mV

ε= . 100 205

αc

VA = 2.346V

In these calculations we have not considered how

the precision of the signal FTA, coming from the op- 100 22 1

tical encoder, influences the positioning error. The VFTA = 2.329 .120 . 15

.

12.6

= 0.228V

percentage value of the pitch accuracy must be

added to ε to have the total percentage error in the 0.226

α = sin-1 ≅ 35°

character positioning. Any DC offset of the mean 0.4

value of the signal FTA must be multiplied by A1 and

added to V1 to obtain its effect on the error. If we consider an optical encoderwith 200 tracks/turn

and a daisy wheel with 100 characters, the phase be-

tween two consecutive characters is ac = 720°, and

NUMERICAL EXAMPLE

then the maximum percentage error we can have is.

In this numerical example we will calculated the pre-

35

cision of the positioning in the worst case, i.e. with ε= . 100 ≅ 4.8%

all the offsets at the max value. The values of the ex- 720

ternal components are taken from the application

circuit. (fig. 12). From this numerical example we can see that the main

R11 = 22K R12 = 100K R13 = 120K R14 = 15K contributionto the positioningerror is givenby the offset

R89 = R8 + R9 = 6K of the TACHO signal (V2A) , other big contributions are

given by the input offset voltage of L292 (V5A) and by

From the data sheets of the three ICs we can find : the voltagenecessary to compensatethe dynamic fric-

V1 = 55mV V2 = 80mV V3 = 4.5mV tion of the moto (V6A). This last term is only determined

V4 = 2mV V5 = 350mV by the motor and can also have greatervalues.

I1 = 0.3µA I2 = 0.4µA The error we have calculated is the maximum pos-

sible and it happens when all the offsets have the

A1 min = 22dB = 12.6 max value with the same sign, i.e. with a probability

Io mA given by the product of the single probabilities. Con-

Vi min = 205 V sideringas anexample every offset has a probability

of 1% to assume the max value, the probability the

VMmin = 0.4 V

error assumes the max value is :

For I6 we will consider the value I6 = 50mA P = ( 10 -2 ) 7 = 10 -14

20/24

APPLICATION NOTE

SPEED ACCURACY The phase angle between VMA and VAA should be

If we consider the complete system with L290-L291- 90°and then ϕ = 0, in our case ϕ increases with the

L292 driving a DC MOTOR with optical encoder, we frequency according to the equation ϕ = tg-1 w

can note the speed of the motor is not a linear func- R5C6, and inflences the amplitude of the output sig-

tion of the speed digital code appied to L291. The nal TACHO. In fig. 23 are shown the waveforms that

diagram of fig. 21 shows this function and it is evi- contribute to generate the TACHO signal. A and B

dent that the speed increases more than a linear are the signals VAA and VAB in phase with the input

function, i.e. if the speed code doubles, the speed signals FTA and FTB. C and D are the signals VMA

of the motor becomes more than the double. The and VMB : the continue line indicate the ideal case,

cause of this non linearity is the differentiator net- in fact the phase between VMA and VAA is 90°; the

work R4 C4 and R5 C6 (see fig. 22) that has not an dotted line is referred to the real case in which the

ideal behaviour at every frequency. phase is lower than 90°. By adding the two signals

shown in E we obtain the TACHO signal, whose ex-

Figure 22. pression is :

Figure 24.

ϕ = tg-1 ω R5 C6 ω =2 πf VTACHO = VMB . sign VAA - VMA . sign VAB.

2) VMA = VAA sin tg-1 ω R5 C6 The signals in E are reffered to the ideal case, the

f = frequency of the signal FTA ones in F to the real case. It is possible to demon-

strate the mean value of the TACHO signal in the

This last relation gives the amplitude of the signal real case is lower than the one we could have with

VMA ; it is evident there is not a linear function be- an ideal differentiatornetwork and this explains why

tween VMA and ω, like VMA =Kω and the difference in fig. 21 the speedof the motor increases more than

is greater if the product ω R5 C6 doesn’t respect the a linear funciton. The mean value of the wave-

disequation ω R5 C6 << 1., i.e. at high frequencies. forms F is (fig. 24).

21/24

APPLICATION NOTE

3) Vm = ∫ – ϕ K1 sin α d α = π cos ϕ

mean value is

2 K1

4) V’m = π

a TACHO signal lower than the theoretical one, both

due to differentiator network :

a) the amplitude of the signal VMA is lower than VMA

= Kω and we can call ε1 the relative percentage er-

ror.

The value of the output current of the DAC Io de-

sin tg-1 ω R5 C6 – ω R5 C6

ε1 = . 100 pends on Iref and on the digital code defined by the

ω R5 C6 inputs SC1-SC5, while its direction depends on the

value of the SIGN input, the max theoretical value

b) the mean value of the signals VMA . sign VAB and of Io, obtained with SC1-SC5 low is :

VMB . sign VAA is lower than the theoretical one be-

cause there is a shift in the phase of the signals VMA 31

IOM = ± I

and VMB. The relative percentage error only due to 16 ref

the shift of the phase is

The motor will run at a speed corresponding to the

ε2 = (cos ϕ – 1) . 100 ϕ = tg-1 ω R5 C6 following value of the TACHO signal :

The total percentage decrease of the TACHO signal 31

is given with a good approximation by the sum of ε1 VTACHO = - IOM . R89 = ± Iref . R89

and ε2. 16

Example : This last relation is true if we don’t consider the mo-

Consider : tor friction and the offsets. Consider now the possi-

ble friction and the offsets. Consider now the

f = 3000Hz corresponding to

3000 possible spreads we can have in the motor speed

n=

200

. 60 = 900rpm of the motor if due to the DAC. If we call IOM1 the value of the max

200 are the tracks/turn output current Io corresponding to the SIGN LOW

of the encoder and IOM2 the one corresponding to the SIGN HIGH,

ε1 ≅ – 2.6% withR5 = 820Ω the percentageerror we have in the max speed from

C6 = 15nF the positive to the negative value is :

ε2 ≅ – 2.6% IOM1 + IOM2

ε 4= . 100

ε3 ≅ ε1 + ε2 ≅ – 5.2% IOM

From the diagram of fig. 21 we note that at a speed Note that we have consider the sum of IOM1 and IOM2

of 900 rpm corresponds a theoretical speed of becausethey have opposite signs. This kind oferror

855rpm with a percentagedifference of about 5.2%. is principally due to a different gain of the DAC be-

tween the two conditions of the SIGN LOW and

SPEED ACCURACY DUE TO THE D/A HIGH. An equaldifference of IOM1 andIOM2, fromIOM

CONVERTER (IOM1 - IOM = IOM2 - IOM ) doesn’t consti-

To analyse the influence of the DAC precision on the tute a speed error because this shift from the theo-

speed accuracy we will refer to the following retical value can be compensated by adjusting the

(fig. 25). resistor R89 that is formed by a fixed resistor in se-

ries with a potentiometer.

22/24

APPLICATION NOTE

With the guaranteed values on the L291 data sheet ACCURACY DUE TO THE ENCODER

we can calculate for ε4 the max value : The amplitude of the signals FTA and FTB deter-

21 µA mines the value of the TACHO signal. This ampli-

ε 4= . 100 = 1.5 % tude must be constant on the whole range of the

1.4 mA frequency, otherwise it is not possible to have a lin-

ear function between the TACHO signal and the fre-

Another characteristic of a D/AC is the linearity, that quency. The spread of the amplitudes of the two

in our case is better than ± 1/2 LSB. This value is suf- signals FTA and FTB between several encoder can

ficient to guarantee the monotonicity of Io, and then be compensated by adjusting the potentiometer R9

of the speed of the motor, as a function of the input (see fig. 12). The phase between the two signals

digital code. The precision of ± 1/2 LSB implies a should be 90° . If there is a constant difference from

spread of the speed at every configuration of the in- this value, a constant factor reduction of the TACHO

put codeof ± 1.61%referred to the maximum speed. signal results that can be compensated with the po-

The max percentage error we can have is then tentiometer R9. If the difference from 90°is random,

greater at low level speed (± 50% at min speed) also the reduction of the TACHO signal is random

and has its minimum value at the maximum speed in the same way, and by means of R9 it is possible

(1.61%). to compensate only the mean value of that reduc-

tion.

23/24

APPLICATION NOTE

Information furnished is believed to be accurate and reliable. However, SGS-THOMSON Microelectronics assumes no responsibility

for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result

from its use. No license is granted by implication or otherwise under any patent or patent rights of SGS-THOMSON Microelectron-

ics. Specifications mentioned in this publication are subject to change without notice. This publication supersedes and replaces all

information previously supplied. SGS-THOMSON Microelectronics products are not authorized for use as critical components in life

support devices or systems without express written approval of SGS-THOMSON Microelectronics.

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