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Motor Control
with
Age
nda
Basics of a BLDC Motor
Topology
BLDC Motor with Hall Sensors
BLDC Motor with Hardware
BEMF-Detection
BLDC Motor Sensor less
Control
AC
AC
Asynchronous
Asynchronous
DC
DC
Synchronous
Synchronous
Induction
Induction
PMSM
PMSM
Synchronous
Synchronous
Switched
SwitchedRel.
Rel.
Stepper
Stepper
BLDC
Basics
N
U
W
U
V
N = ( Ud - I R ) / (Ke )
While,
N stands for the motor rotational speed
Ud stands for the DC voltage applied to the motor windings
R is the pure resistance of the winding while I stands for the winding current
Ke is the magnet coefficient while stands for the motor magnetic flux
From the above formula, there are two methods to change the speed of DC motor: One is to change the DC
voltage of the motor windings (Ud), the other one is to change the magnetic flux of the motor (). As the BLDC
motor has permanent magnet rotor, only the first method can be used in practical application. The principal of
generating variable DC voltage is to use PWM for chopping: change the duty cycle of the PWM voltage,
proportionally change the DC voltage.
BLDC with
Hall Sensors
CC60
a c t. s p e e d
CC61
p h a s e d e la y
CC62
tim e o u t
H a r d w a r e N o is e
S u p p r e s s io n
c h 0 g e ts c a p tu re d
v a lu e f o r a c t . s p e e d
c h 1 c o m p a re
f o r p h a s e d e la y
c h 2 c o m p a re
fo r tim e o u t
C a p tu re
E vent
R e s e ts T 1 2
CCPO S0
CCPO S1
CCPO S2
CC6x
CO UT6y
0
1
1
CC60
a c t. s p e e d
CC61
p h a s e d e la y
CC62
tim e o u t
H a r d w a r e N o is e
S u p p r e s s io n
c h 0 g e ts c a p tu re d
v a lu e f o r a c t. s p e e d
c h 1 c o m p a re
f o r p h a s e d e la y
c h 2 c o m p a re
f o r tim e o u t
C a p tu re
E vent
R e s e ts T 1 2
CCPO S0
CCPO S1
CCPO S2
CC6x
C O UT6y
0
1
1
CC60
a c t. s p e e d
CC61
p h a s e d e la y
CC62
tim e o u t
H a r d w a r e N o is e
S u p p r e s s io n
c h 0 g e ts c a p tu re d
v a lu e f o r a c t . s p e e d
c h 1 c o m p a re
f o r p h a s e d e la y
c h 2 c o m p a re
fo r tim e o u t
C a p tu re
E vent
R e s e ts T 1 2
CCPO S0
CCPO S1
CCPO S2
CC6x
CO UT6y
0
1
1
CC60
a c t. s p e e d
CC61
p h a s e d e la y
CC62
tim e o u t
H a r d w a r e N o is e
S u p p r e s s io n
c h 0 g e ts c a p tu re d
v a lu e f o r a c t . s p e e d
c h 1 c o m p a re
f o r p h a s e d e la y
c h 2 c o m p a re
fo r tim e o u t
C a p tu re
E vent
R e s e ts T 1 2
CCPO S0
CCPO S1
CCPO S2
CC6x
CO UT6y
0
1
1
MCMOUTSH / MCMOUTSL
SW programmable state
machine
MCMOUTSH / MCMOUTSL
compare CCPOSx level
with programmed value
MCMOUTSH / MCMOUTSL
switch to next state on
valid edge by hardware
MCMOUTSH / MCMOUTSL
prepare next state by
software
Usage of CAPCOM6E
Modulation Control (some Choices)
Usage of CAPCOM6E
Generate the PWM Pattern for BLDC
Usage of CAPCOM6E
Generate the PWM Pattern for BLDC
Usage of CAPCOM6E
Generate the PWM Pattern for BLDC
Usage of CAPCOM6E
Generate the PWM Pattern for BLDC
Usage of CAPCOM6E
Generate the PWM Pattern for BLDC
Usage of CAPCOM6E
Generate the PWM Pattern for BLDC
Usage of CAPCOM6E
Modulation and Synchronization
Usage of CAPCOM6E
Modulation and Synchronization
Usage of CAPCOM6E
Modulation and Synchronization
Usage of CAPCOM6E
Modulation and Synchronization
BLDC
Sensor less
where
while
i = 0 and di/dt = 0:
UP = eP
by measuring UP
a position detection
is possible
Phase
Current
BEMF
Voltage
Phase
Current
BEMF
Voltage
Phase
Current
Modulation
ADC trigger
Phase delay
Software (for 60
sector)
Phase delay
Software (for 60
sector)
BEMF voltage
Phase current
Phase
Current
BEMF
Voltage
Features:
8-bit MCU: C868 with on-chip 8 kB SRAM, with 8bit ADC and powerful PWM module
CoolSet: TDA61831G instead of a transformer
for 12V supply
6 rugged IGBT DuoPacks
EEPROM: 8 kB to store program + stand alone
boot option
Optically Isolated Serial Interface to PC for SW
development + boot from PC option
Protection: shut down protection for over current
and over temperature
Extension for alternative MCU like XC164 or
TC1775
SW environment: Keil Compiler + Debugger or
Mini Debugger (free software)
Board can be used for current/torque or speed
control
Supports Hall-Effect sensors or sensor-less
control
Features:
8-bit MCU: C868 with on-chip 8 kB SRAM, with
8-bit ADC and powerful PWM module
3-Phase Bridge Driver: TLE6280G
6 OptiMOS MOSFETs
EEPROM: 8 kB to store program + stand alone
boot option
RS232: Interface to PC for SW development +
boot from PC option
Protection: shut down protection for over
current and over temperature
Extension for alternative MCU like XC164
SW environment: Keil Compiler + Debugger
or Mini Debugger (free software)
Board can be used for current/torque or speed
control
Supports Hall-Effect sensors or sensor-less
control