Three-Phase BLDC Motor Sensorless Control Using …

1 Three-Phase BLDC Motor SensorlessControl Using MC56F8013/23 Design Reference ManualDevices Supported:56F801x56F802xDocument Number: DRM070 Rev. 208/2007 How to Reach Us:Home or Locations Not Listed:Freescale SemiconductorTechnical Information Center, CH3701300 N. Alma School RoadChandler, Arizona 85224+1-800-521-6274 or Middle East, and Africa:Freescale Halbleiter Deutschland GmbHTechnical Information CenterSchatzbogen 781829 Muenchen, Germany+44 1296 380 456 (English)+46 8 52200080 (English)+49 89 92103 559 (German)+33 1 69 35 48 48 Semiconductor Japan Tower 15F1-8-1, Shimo-Meguro, Meguro-ku,Tokyo 153-0064, Japan0120 191014 or +81 3 5437 Semiconductor Hong Kong Information Center2 Dai King StreetTai Po Industrial EstateTai Po, , Hong Kong+800 Literature Requests Only:Freescale Semiconductor Literature Distribution Box 5405 Denver, Colorado 802171-800-441-2447 or 303-675-2140 Fax: in this document is provided solely to enable system and software implementers to use Freescale Semiconductor products.

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4 The ARM POWERED logo is a registered trademark of ARM Limited. ARM7 TDMI-S is a trademark of ARM and all other Java-based marks are trademarks or registeredtrademarks of Sun Microsystems, Inc. in the and other PowerPC name is a trademark of IBM Corp. and is used under described product contains a PowerPC processor core. The PowerPC name is a trademark of IBM Corp. and used under license. The described product is a PowerPC microprocessor. The PowerPC name is a trademark of IBM Corp. and is used under license. The described product is a PowerPC microprocessor core. The PowerPC name is a trademark of IBM Corp. and is used under license. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2007. All rights 208/2007 Three-Phase BLDC Motor Sensorless Control Using MC56F8013/23, Rev. 2 Freescale Semiconductor-1 Chapter Introduction .. , Fan, and Compressor Applications .. Sensorless Control ? .. Freescale Digital Signal Controllers Advantages and Features.

5 Family Features .. Family Features .. Motor Control Specific Features of MC56F8000 Family .. 1-4 Chapter brushless DC Motor (BLDC Motor ) .. Power Stage .. Mathematical Description of brushless DC Motor .. Stage Motor System Model .. Model.. Sensing .. 1-7 Chapter Hardware Implementation .. Implementation with EVM33395 Evaluation Motor Board.. Implementation with Micro Power Board.. Component Descriptions .. Controller Board.. Stage Boards .. 1-9 Chapter System Specification .. Sensorless Drive Concept .. System Blocks Concept .. Voltage Generation for brushless DC Motor .. Converter Sampling Mechanism.. Zero Crossing Sensing .. Commutation Control .. 1-9 Chapter 5 Software Introduction .. 1-1 Three-Phase BLDC Motor Sensorless Control Using MC56F8013/23, Rev. 2 Freescale Main Software Flow Chart .. Data Flow .. Application State Machine .. Commutation Control .. A/D Converter Zero Crossing Checking.

6 Zero Crossing Offset Setting .. Speed PI Controller .. Alignment Current PI Controller.. Current Limitation PI Controller .. PWM Generation .. Fault Control .. 1-7 Chapter 6 Application Application Description .. Process .. Protection .. Interface .. Application Set-Up .. Controller Board Set-Up.. Projects Files .. Application Build and Execute .. 1-11 Chapter Introduction .. Classification .. Application Related Parameters .. Defined in .. Defined in (Masks) .. mode selection definition .. Power Stage Related Parameters .. Summary .. Motor Related Parameters .. Parameters .. Parameters .. Parameters.. Parameters .. 1-15 Three-Phase BLDC Motor Sensorless Control Using MC56F8013/23, Rev. 2 Freescale Parameters .. 1-16 Appendix AGlossaryThree-Phase BLDC Motor Sensorless Control Using MC56F8013/23, Rev. 2 Freescale Semiconductor-4 Three-Phase BLDC Motor Sensorless Control Using MC56F8013/23, Rev.

7 2 Freescale Semiconductor1-1 Chapter 1 document describes the design of a Three-Phase brushless DC Motor (BLDC Motor ) drive based on Freescale s MC56F8013 and MC56F8023 dedicated Motor Control device. brushless DC motors are popular in a wide application area. The lack of a commutator makes the brushless DC Motor more reliable than the DC Motor . The brushless DC Motor also has advantages when compared to an AC induction Motor . Because a brushless DC Motor achieves higher efficiency by generating the rotor magnetic flux with rotor magnets, it is used in high-end white goods (such as refrigerators, washing machines, dishwashers), high-end pumps, fans, and other appliances that require high reliability and concept of the application is a speed closed-loop, trapezoidal brushless DC drive Using a Back-EMF sensing Control technique. It serves as an example of a brushless DC Motor Control design Using a Freescale digital signal controllers (DSC).This reference design includes basic Motor theory, system design concept, hardware implementation, software design, and tuning considerations, including the FreeMASTER software visualization , Fan, and Compressor ApplicationsBrushless DC motors are widely used in pump, fan, and compressor applications because of their robust structure.

8 These applications do not usually require stand-still operation. Only speed information is needed and enough to perform Control . This allows BLDC motors to be used, without any comlex Control algorithm. Moreover, the Sensorless Control without any high complexity makes the brushless DC motors very ideal for pump, fan, and compressor applications. The aim of this reference manual is presenting an ideal solution with brushless DC Motor for these Sensorless Control ?In BLDC Motor , the rotor position must be known to energize the phase pair and Control phase voltage. If any sensors are used to detect rotor position, sensed information must be transferred to a Control BLDC Motor Sensorless Control Using MC56F8013/23, Rev. 21-2 Freescale SemiconductorFigure 1-1. Classical SystemTherefore, additional connections to the Motor are necessary. This may not be acceptable for some kind of applications. There are at least two reasons why you might want to eliminate the position sensors: impossible to make additional connections between position sensors and the Control unit cost of the position sensors and first reason might be solved by integration of the driver within the Motor body.

9 However, a significant number of applications requiring a Sensorless solution Digital Signal Controllers Advantages and Family FeaturesThe Freescale MC56F801x family is a member of 56F8000 product is ideal for digital Motor Control , combining the DSP s calculation capability with the MCU s controller features on a single chip. These digital signal controllers offer many dedicated peripherals, such as pulse width modulation (PWM) module(s), an analog-to-digital converter (A/D converter), timers, communication peripherals (SCI, SPI, I2C), on-board flash, and RAM. The MC56F801x family members provide the following peripheral blocks: One pulse width modulator module (although limited pin out on MC56F8014 and MC56F8011) with PWM outputs, fault inputs, fault tolerant design with dead-time insertion; supports center- and edge-aligned modes 12-bit A/D converters that support two simultaneous conversions; A/D converter and PWM modules can be synchronized One dedicated 16-bit general purpose quad timer module One serial peripheral interface (SPI) One serial communications interface (SCI) with LIN slave functionality One inter-integrated circuit (I2C) port On-board down to volt voltage regulator for powering internal logic and memories.

10 Integrated power-on-reset and low-voltage interrupt module Power Stage Control Unit = ~ Speed Setpoint AC Line Voltage Load Position Sensor Motor DRIVE M IntroductionThree-Phase BLDC Motor Sensorless Control Using MC56F8013/23, Rev. 2 Freescale Semiconductor1-3 All pins are muxed with GPIO Computer operating properly (COP) watchdog timer External reset input pin for hardware reset JTAG/On-Chip emulation (OnCE ) module for unobtrusive, processor speed-independent debugging Phase lock loop-based frequency synthesizer for the DSC core clock, with on-chip relaxation Family FeaturesThe MC56F802x family complements 56F8000 product series with a higher integration option maintaining its exceptionally cost-effective nature within Freesclae s digital signal controller portfolio. It provides more on-chip flash memory, enhanced PWM, QSPI, and QSCI peripheral module features over the MC56F801x family. It also brings new peripherals such as two digital-to-analog converters (DAC), two analog comparators (CMP), and one 16-bit programable interval timer (PIT).