Motor Control Workbook

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SILIC A – Mot or Contr ol W orkbook May 2009

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eliability of any inf

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2. System level Problem

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2.1 Motor Topologies and Drives 9

2.1.1 PMDC – Permanent Magnet DC Motor 10

2.1.2 DC Motor Driver 12

2.1.3 Asynchronous Motor 12

2.1.4 Synchronous Motor 13

2.1.5 BLDC – Brushless DC 14

2.1.6 SRM – Switched Reluctance Motor 15

2.1.7 Bi-Polar Stepper Motor 15

2.1.8 AC Motor Driver 18

2.2 Motor Selection Criteria 19

2.3 Applications Summary and Overview 20

3. Solutions

21 3.1 Analog Devices 21 3.2 Freescale Semiconductor 23 3.3 International Rectifier 48 3.4 Infineon Technologies 70 3.5 Maxim 80 3.6 Microchip Technology 84 3.7 ON Semiconductor 98 3.8 Renesas Technology 100 3.9 STMicroelectronics 110 3.10 Texas Instruments 118

4. Glossary

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1. abstract

Going back in time over 30 or 40 years, brush motors were the typical motor use. Most of the control electronics were analog components, SCR rectifiers for the power stage, control amplifiers were often built with discrete components and transistor amplifiers. Then, variable speed drives were built with standard electronic system blocks combined with computer drives. As an example linear amplifiers were often used rather than switching amplifiers. Typical applications were in areas where drives could be afforded, such as industrial servo drives, machine tools and computer disk drives; there were also a number of very high power drive systems.

Then there were a number of improvements that brought about the different power switches. Bipolar transistors became available for power switching and motors started to be available beyond the standard brush DC motor. Permanent magnet synchronous motors and AC induction motors became available and on the power electronics side IGBTs, high performance micro processors and integrated amplifiers; the result was more sophisticated control.

Nowadays there is a whole selection of motors as well as a lot more control technology such as DSPs and micros, ASICs, etc. A lot of the mathematical models that were developed to simulate AC machines 40-50 years ago all of a sudden become relevant: the field oriented control is based on

theory that was developed long before anyone knew how to build a control around it. Consequently, electrical drives are currently used in a variety of applications, as it had been pointed out in the 2005 IMS report The WW Market for AC & DC Motor

Drives1)_:

Obviously, the biggest portion of the business (42%)

can be assigned to HVAC2)_{, Pumps & Pumping}

as well as the Food & Beverages Industries, so traditional industrial applications.

On the other hand, with the increase of potential application fields and a general increase of energy consumption world wide, the efficiency of electric appliances such as motors become more and more an issue. In 2007 the International Energy Agency (IEA) issued an Energy Efficient Electrical

End-Use Equipment3)_{report where the general}

electricity consumption worldwide was outlined in the following way:

1)_{http://www.aceee.org/conf/mt05/i4_offi.pdf} 2)_{HVAC - Heating, Ventilating and Air Conditioning} 3)_{http://www.iea.org/Textbase/work/2007/ia/Motors.pdf}

3% 3%

1 – Cranes & Hoists 2 – Textiles 3 – Pulp and Paper 4 – Rubber & Plastics 5 – Metals & Mining 6 – Packaging 7 – Utilities 8 – Petro-chem 9 – Food & Beverage 10 – Pumps & Pumping 11 – Other 12 – HVAC

Estimated 2004 Motor Units/Industry

3% 3% 4% 7% 8% 9% 10% 11% 18% 21% 12₃ 4 5 6 7 8 9 10 11 12

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Unit Value

Electricity production global (2006) PWh/a 18.6

Electricity production from fossil energy PWh/a (%) 12.4 (67%)

Electricity for industrial motors (not included household appliances, consumer electronics, office equipment,

vehicles) PWh/a (%) 7.4 (40%)

Capacity for electric motors (peak) TWe 1.6...2.3

Motor electricity, greenhouse gas emissions G t CO2/a 4.3

Motor system energy efficiency improvement potential (average within life cycle 10...20 years) min

max 20%30%

Electricity savings potential (industry and buildings) Greenhouse gas emission reductions potential Average electricity price (industrial end-users)

PWh/a min max G t CO2/a min max Euro/kWh 1.5 2.2 0.9 1.4 0.05

Electricity cost saveings potential (industry end-users) Billion Euro/a

min

max 75110

As above breakdown points out, the energy improvement potential in 2007 for electric drives was being considered to be between 20...30%

(or in absolute values 1.5 – 2.2 PWh/a)4)_{. One of the}

reasons that forced the change up in mind in the way to deal with available energy was probably the

significant increase of energy prices, especially during the last couple of months.

Broken down into geographical regions, the same report points out the following distribution characteristic:

Population GDP Electricity

Mio % cumul Mio US $ % cumul TWh/a % cumul

1 China 1’322 20.0% 2229 5.0% 2475 13.6% MEPS

2 India 1’130 37.1% 785 6.8% 679 17.3%

3 United States of America 301 41.7% 12455 34.9% 4239 40.7% MEPS

4 Indonesia 235 45.3% 287 35.5% 123 41.3% 5 Brazil 190 48.1% 794 37.3% 405 43.6% MEPS 6 Pakistan 165 50.6% 111 37.5% 96 44.1% 7 Bangladesh 150 52.9% 60 37.7% 23 44.2% 8 Russia 141 55.0% 581 39.0% 952 49.5% 9 Japan 127 57.0% 4506 49.1% 1134 55.7% 10 Mexico 109 58.6% 768 50.9% 233 57.0% MEPS 11 Germany 82 59.9% 2782 57.1% 619 60.4% 12 Thailand 65 60.9% 176 57.5% 575 63.5% 13 France 64 61.8% 2193 62.5% 399 65.7% 14 United Kingdom 61 62.7% 2193 67.4% 399 67.9% 15 Italy 58 63.6% 1723 71.3% 301 69.6%

16 Korea, South 49 64.4% 788 73.1% 395 71.8% MEPS

17 South Africa 44 65.0% 240 73.6% 245 73.1% 18 Spain 40 65.6% 1124 76.1% 292 74.7% 19 Australia 20 66.0% 701 77.7% 243 76.0% MEPS 20 Canada 33 66.5% 1115 80.2% 594 79.3% MEPS Total 4’388 35’610 14’422 4)_{1 PWh/a = 105 Wh/a}

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Above table shows that countries like the US with a population of 301 Million people (5% of the ww population) but a total energy consumption of 4.239 PWh/a represent almost 23% of the total energy consumption worldwide, while on the other hand a country like China with 1300 Million citizens (representing 21% of the total global population) consumes a bit more then half the amount of the energy the US are currently needing (13.3%). If China’s productivity was to be the same like the US’ (annual energy consumption per population → 18.67 PWh/a !!!) one can see that a 20 – 30% world wide electrical efficiency improvement (hence 1.5 – 2.2 PWh/a in absolute values) are probably just an initial step to the right direction with much bigger problems to be expected in the future.

Although China’s productivity may be far away from above mentioned scenario a 20 – 30% world wide efficiency improvement may sound pointless if we take into consideration the consumption growth rate of some countries over time. As an example we can take an official report issued in 2002 by

U.S. Department of Energy5)_{where the expected}

Midrange Savings where lined out to be 14.8% (as compared to 20 – 30% setup in 2006); yet the total power consumption for 2002 only represented 1.085 PWh/a, hence 31.39% of the consumption of 2007, meaning that the US national energy demand almost tripled within a period of time of 5 years.

Measure Potential energy Savings GWh/Year Midrange Savings as Percent of

low** Midrange** High** Total Motor System GWh System-Specific GWh Motor efficiency Upgrade*

Upgrade all integral AC motors to EPAct Levels*** 13,043 2.3%

Upgrade all integral AC motors to CEE Levels*** 6,756 1.2%

Improve Rewind Practices 4,778 0.8%

Total Motor efficiency Upgrade 24,577 4.3% System level efficiency Measures

Correct motor oversizing 6,786 6,786 6,786 1.2%

Pump Systems: System Efficiency Improvements 8,975 13,698 19,106 2.4% 9.6%

Pump Systems: Speed Controls 6,421 14,982 19,263 2.6% 10.5%

Pump Systems: Total 15,396 28,681 38,369 5.0% 20.1%

Fan Systems: System Efficiency Improvements 1,378 2,755 3,897 0.5% 3.5%

Fan Systems: Speed Controls 787 1,575 2,362 0.3% 2.0%

Fan Systems: Total 2,165 4,330 6,259 0.8% 5.5%

Compressed Air Systems: System Eff. Improvements 8,559 13,248 16,343 2.3% 14.6%

Compressed Air Systems: Speed Controls 1,366 2,276 3,642 0.4% 2.5%

Compressed Air Systems: Total 9,924 15,524 19,985 2.7% 17.1%

Specialised Systems: Total 2,630 5,259 7,889 0.9% 2.0%

Total System Improvements 36,901 60,579 79,288 10.5% Total Potential Savings 61,478 85,157 103,865 14.8%

* Potential savings for Motor Efficiency Upgrades calculated directly by applying engineering formulas to Inventory data.

** High, Medium and Low savings estimates for system efficiency impriovements reflect the range of expert opinion on potential savings. *** Includes savings from upgrades of motors over 200 HP not covered EPAct standards.

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Therefore, some of the market trends predicted for the next couple of years become obvious by now: the demand for higher Reliability as well as Power Density are continuously increasing as a result of price vs. demand shift, hence cost/unit as well as cost/kW are steadily decreasing. A variety of standards like the European CE or the National Electric Code are addressing specific issues like EMC filtering or thermal protection solutions. Consequently, there is a great many of other costs on top of the typical initial costs (purchase, parts, etc.) which need to be taken into account when it comes to the selection of a specific motor type. As an example we can take a standard pumping

application, with the following cost breakdown6)_:

LCC = CIC + CIN + CE + CO + CM + CS + CENV + CD

C = cost element

IC = initial cost, purchase price (pump, system, pipes, auxiliaries)

IN = installation and comissioning E = energy costs

O = operating cost (labor cost of normal system supervision)

M = maintenance cost (parts, man-hours) S = downtime, loss of production ENV = environmental costs D = Decommissioning

In above equation LCC stays for the total Life Cycle Cost; on percentage level, the relationship between all above mentioned parameters can be weighted through the following high-level diagram:

Maintenance and Energy Costs (→ electrical efficiency) seem to be - besides performance specific requirements - the driving factors with respect to technology improvements and finally when it comes to the selection of a motor.

The objective of this workbook will therefore be to point out the main selection criteria for the most usual motor types, point out the principles of operation, provide an overview about the typical applications where a given motor is traditionally seen nowadays and finalize it with a set of selected best fitting SILICA system solutions.

Axel Kleinitz, PhD Poing, 20-Apr-09 Maintenance costs Initial costs Energy costs Other costs 6)_{http://www1.eere.energy.gov/industry/bestpractices/pdfs/variable_speed_pumping.pdf}

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2. System level Problem

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In general terms, electric drives an motors are appliances used to convert electrical into mechanical (kinetic) energy. The power ranges start at a couple of mW and can go up to a several hundreds of MW per unit, meaning therefore a variety of potential applications. However, although the power ranges may significantly change from motor to motor the principles of operation seem to be always the same.

Within the context the typical block diagram of such an energy conversion system (electric → mechanic/ kinetic) could be drawn in the following way:

Although the complexity of above system block may vary with the application, a motor drive system will always require some sort of power conversion stage (which will be depending upon the available power source), combined with an open – and in case of more complex systems – a closed loop control unit.

Since neither the motor itself nor the energy buffer system are intended to be a main matter of discussion of the workbook, the focus will therefore primarily be the Power Conversion stage and – up to a certain extent – the Closed Loop Control circuitry in the context of a given motor topology.

(Closed Loop) Control Control Quantity & Signals Measurement Parameters Energy Buffer (Elect.)

Power Source Converter Motor ProcessingMachine

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2.1 Motor Topologies and Drives

Depending upon the principles of operations, following types of motors can be classified8)_:

Of course, each motor type can be combined with another one mentioned in above table, significantly blowing up this overview; however, the most common once used nowadays would probably be those highlighted in red. Out of those the most commonly used DC motor is the mechanically

commutated permanent magnet “PMDC”9)_,

predominantly due to the relative low initial costs. Yet, electrical efficiency as well as maintenance costs seem to be relatively high as compared to AC synchronous and asynchronous motors. These two last once are rather cheap as far as the

The Complete Family of Electric Motors

AC

Asynchronous

Induction BLDC Sine Hysterisis Step Reluctance PMDC Wound _Field

Shunt Compound SRM Synchronous Reluctance PSM Single Phase Capacitor

Start Cast Rotor Capacitor Run Shaded Pole Inserted Rotor Wound Rotor Poly Phase Wound Field Series Permanent Magnet Hybrid Variable Reluctance Universal

Synchronous Commutator Homopolar

DC

initial costs are concerned, however with a much better performance (efficiency) and almost no maintenance costs. However, the complexity of the electrical control is significantly higher then in case of a DC motor.

In the following comparison some of the key selection parameters for those red highlighted motors have been put together providing an overview of the most typical applications where they can be seen today.

8)_{Motor, Drive and Control Basics, International Rectifier Corp. by Eric Persson & Michael Mankel} 9)_{PMDC - Permanent Magnet DC Motor}

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2.1.1 PMDC – Permanent

Magnet DC Motor

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The DC motor is a rotating electric

machine designed to operate from source of direct voltage. The basic type is a permanent magnet DC motor. The stator of a permanent magnet DC motor is composed of two or more permanent magnet pole pieces. The rotor is composed of windings that are connected to a mechanical commutator.

The opposite polarities of the energized winding and the stator magnet attract and the rotor will rotate until it is aligned with the stator. Just as the rotor reaches alignment, the brushes move across the commutator contacts and energize the next winding.

In order to understand the principles of operation, we will start with a permanent magnet, mechanically commutated DC motor and use the terminology

used in following block diagram11)_:

The main windings rotate (rotor) while the magnetic field is fixed, usually through a permanent magnet. DC voltages and currents are provided though brushes. With N wires per coil and multiple commutator bars, following mathematical relationships are know to be valid:

T = 2NBrlI0 = KT · I0 (1)

and

e = 2NBrlω = Ke · ω (2)

Communication of a Single-loop DC Machine

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11 10 11 10 with KT: Torque Constant T: Magnetic Torque Ke: emf Constant

e: “emf” Induced Voltage (“electromotive force”) B: Constant Magnetic Field, generated by the

permanent magnet

The relationship between Torque and rpm “n” leads

to following mathematical expression12)_:

n = n0 - M (3) kM = cϕ (4) M = T - MR (5) with M: Torque n0: Idle Speed

R: Total Resistance (rotor and brushes) c: Engine’s Constant

ϕ: Magnetic Flux, constant in case B is constant (permanent magnet!)

MR: Friction Losses

R

2π · kM2

Two other types of DC motors are series wound and shunt wound DC motors. These motors also use a similar rotor with brushes and a commutator. However, the stator uses windings instead of permanent magnets. The basic principle is still the same. A series wound DC motor has the stator windings in series with the rotor. A shunt wound DC motor has the stator windings in parallel with the rotor winding. A series wound motor is also called a universal motor. It is universal in the sense that it will run equally well using either an AC or a DC voltage source.

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For obvious reasons, the H-bridge driver requires 4 switches, hence 2 less then the traditional 3-pahes driver. The current flow – and therefore the torque, see equation (1) – can be driven in either direction. The control strategy can be designed for 4-quadrant operation modes: 1 forward and 2 reverse motoring as well as 3 forward and 4 reverse braking using the “emf” induced voltage as a breaking effect. These last two once may require shunt regulator for braking (regeneration). With respect to modulation there are a variety of strategies available, with PWM as the most usual one.

2.1.3. asynchronous

Motor

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In an induction motor (asynchronous)

the stator (3 phase) windings are fixed while the magnetic field rotates. AC voltages and currents are provided to the stator while the AC currents on rotor experience a slip at frequency; the speed is always a little less than the synchronous speed and speed drops with increasing load (~5% max.).

The AC induction motor is a rotating electric machine designed to operate from a three-phase source of alternating voltage. The stator is a classic three phase stator with the winding displaced by 120°. The most common type of induction motor has a squirrel cage rotor in which aluminum

2.1.2. DC Motor Driver

The traditional way to control the sense of rotation would be by changing the polarity of the DC

commutator voltage; the speed itself through a PWM duty cycle, using a classic H-bridge circuit. With this approach 4 different operational modes

can be defined13)_:

H-bridge Motor Drive (be-directional)

www.silica.com 13)_{Motor, Drive and Control Basics, International Rectifier Corp. by Eric Persson & Michael Mankel}

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conductors or bars are shorted together at both ends of the rotor by cast aluminum end rings. When three currents flow through the three symmetrically placed windings, a sinusoidally distributed air gap flux generating the rotor current is produced. The interaction of the sinusoidally distributed air gap flux and induced rotor currents produces a torque on the rotor. The mechanical angular velocity of the rotor is lower then the angular velocity of the flux wave by so called slip velocity.

The valid block diagram looks as follows15)_:

The slip, hence the difference between the rotor-speed and the rotational-rotor-speed of the rotating-field is been expressed through the following relationship:

s = (6)

and

nS = (7)

representing the synchronous speed as a

relationship between ƒ1, the stator current and p,

the number of pole-pairs. Therefore the relationship

between Torque, synchronous speed and rotor speed is been expressed through the following equation:

M = = (8)

with

P: Output Power

P_δ: Rotor Loss

In adjustable speed applications, AC motors are powered by inverters. The inverter converts DC power to AC power at the required frequency and amplitude. The inverter consists of three half-bridge units where the upper and lower switches are controlled complimentarily. As the power device’s turn-off time is longer than its turn-on time, some dead-time must be inserted between the turn-off of one transistor of the half-bridge and turn-on of its complementary device. The output voltage is mostly created by a pulse width modulation (PWM) technique. The 3-phase voltage waves are shifted 120° to each other and thus a 3-phase motor can be supplied.

2.1.4. Synchronous

Motor

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In a synchronous motor the speed

is synchronised to the stator voltage frequency; speed is therefore directly proportional to stator frequency. Since ns = n, s = 0. Starconnection Deltaconnection nS - n nS P 2πn P_δ 2πnS ƒ1 p

15)_{Handbuch Elektrische Antriebe, Hans-Dieter Stölting & Eberhard Kallenbach} 16)_{http://www.freescale.com/webapp/sps/site/homepage.jsp?nodeId=02nQXG}

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The PM Synchronous motor is a rotating electric machine where the stator is a classic three phase stator like that of an induction motor and the rotor has surface-mounted permanent magnets. In this respect, the PM Synchronous motor is equivalent to an induction motor where the air gap magnetic field is produced by a permanent magnet. The use of a permanent magnet to generate a substantial air gap magnetic flux makes it possible to design highly efficient PM motors. A PM Synchronous motor is driven by sine wave voltage coupled with the given rotor position. The generated stator flux together with the rotor flux, which is generated by a rotor magnet, defines the torque, and thus, speed of the motor. The sine wave voltage output have to be applied to the 3-phase winding system in a way that angle between the stator flux and the rotor flux is kept close to 90° to get the maximum generated torque. To meet this criterion, the motor requires electronic control for proper operation.

The relationship between Torque and Rotor Speed can be expressed through following term:

M - ML = J (9)

ω = p · Ω (10)

with

ML: Load torque

J: Total Moment of Inertia Ω: Mechanical Radial Frequency

For a common 3-phase PM Synchronous motor, a standard 3-phase power stage is used. The same power stage is used for AC induction and

BLDC motors. The power stage utilizes six power transistors with independent switching. The power transistors are switched in the complementary mode. The sine wave output is generated using a PWM technique.

2.1.5. blDC –

brushless DC

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A brushless DC (BLDC) motor is a rotating electric

machine where the stator is a classic three-phase stator like that of an induction motor and the rotor has surface-mounted permanent magnets. In this respect, the BLDC motor is equivalent to a reversed DC commutator motor, in which the magnet rotates while the conductors remain stationary. In the DC commutator motor, the current polarity is altered by the commutator and brushes. On the contrary, in the brushless DC motor, the polarity reversal is performed by power transistors switching in synchronization with the rotor position. Therefore, BLDC motors often incorporate either internal or external position sensors to sense the actual rotor position or the position can be detected without sensors.

The BLDC motor is driven by rectangular voltage strokes coupled with the given rotor position. The generated stator flux interacts with the rotor fluxes, which is generated by a rotor magnet, defines the torque and thus speed of the motor. The voltage strokes must be properly applied to the two phases of the three-phase winding system so that the angle between the stator flux and the rotor flux is kept 1 δω

p δt

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close to 90° to get the maximum generated torque. Due to this fact, the motor requires electronic control for proper operation.

2.1.6. SRM –

Switched Reluctance

Motor

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A Switched Reluctance Motor is a rotating electric machine where both stator and rotor have salient poles. The stator winding is comprised of a set of coils, each of which is wound on one pole. SR motors differ in the number of phases wound on the stator. Each of them has a certain number of suitable combinations of stator and rotor poles. The motor is excited by a sequence of current pulses applied at each phase. The individual phases are consequently excited, forcing the motor to rotate. The current pulses need to be applied to the respective phase at the exact rotor position relative to the excited phase. The inductance profile of SR motors is triangular shaped, with maximum inductance when it is in an aligned position and minimum inductance when unaligned. When the voltage is applied to the stator phase, the motor creates torque in the direction of increasing inductance. When the phase is energized in its minimum inductance position the rotor moves to the forth coming position of maximal inductance. The profile of the phase current together with the magnetization characteristics defines the generated torque and thus the speed of the motor. The SR motor requires control electronic for its operation. Several power stage topologies are

being implemented, according to the number of motor phases and the desired control algorithm. A power stage with two independent power switches per motor phase is the most used topology. This particular topology of SR power stage is fault tolerant - in contrast to power stages of AC induction motors - because it eliminates the possibility of a rail-to-rail short circuit. The SR motor requires position feedback for motor phase commutation. In many cases, this requirement is addressed by using position sensors, like encoders, Hall sensors, etc. The result is that the implementation of mechanical sensors increases costs and decreases system reliability. Traditionally, developers of motion control products have attempted to lower system costs by reducing the number of sensors. A variety of algorithms for sensorless control have been developed, most of which involve evaluation of the variation of magnetic circuit parameters that are dependent on the rotor position.

2.1.7. bi-Polar Stepper Motor

In a bi-polar stepper motor, the stator poles change polarity by varying current through each of the two coils. The rotor’s magnetic poles, however, fixed relative to the rotor itself. By definition, the bi-polar stepper motor has one phase per stator pole which requires advanced circuitry such as a driver and H-bridge circuit to cause rotation and torque by switching the poles by alternately changing the current direction in each phase. The resolution of a stepper motor is determined by arrangement of the “teeth”.

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Step 1 – Phase 1 energized with positive current Phase 2 not energized

Step 2 – Phase 1 is de-energized while

Phase 2 is energized with positive current Rotor rotates 90 degrees to align with north

Step 3 – Phase 1 energized with negative current Phase 2 not energized

Rotor rotates 90 degrees to align with north

Step 4 – Phase 1 is de-energized while

Phase 2 is energized with negative current Rotor rotates 90 degrees to align with north

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Rotor Stator – Phase 1 Stator – Phase 1

Stator – Phase 2 Stator – Phase 2

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As a simplified example of how a stepper motor operates, one can imagine a stepper motor with only four teeth or two phases each controlling two poles (Figure 1). When such a stepper motor is in full-step mode, the rotor rotates 90-degrees by sequentially changing the current in each phase. For example, in Step 1 of Figure 1, Phase 1 is energised with a ‘positive’ current which causes the permanent south pole of the roor to align with the north pole of the phase 1 stator pole. If phase 1 is then de-energised and a ‘positive’ current is then applied to phase 2, the position of the north pole changes causing the rotor to align its south pole, therefore rotating 90-degrees clockwise in this example (Step 2 of Figure 1). In order to get the rotor to continue in a clockwise motion, phase 1 is then energised with a ‘negative current’ which switches the north and south poles from Step 1 causing the rotor to align itself and turn 90-degrees clockwise (Step 3, Figure 1). Phase 1 is then de-energised and phase 2 is energised with a ‘negative’ current, once again rotating the rotor one quarter turn. The cycle then starts over by de-energising phase 2 and energising phase 1 with a positive current, which puts the motor back to Step 1. This simple example represents a stepper motor with 90-degree re-solution, which for practical purposes is not typical. The resolution of a stepper motor is determined by the number of teeth and alignment and a 1.8-degree step provides motion with much less vibration caused by the overshoot than our fictional 90-degree motor example above. However, the vibration experienced in a stepper motor with only 1.8-degree incremental steps, or full-steps, can be even further reduced by utilising stepper motor drivers capable of micro-stepping.

Step 1 – Both phases 1 and 2 energised with positive current resulting in the rotor aligning between full-steps

Very simply, micro-stepping is accomplished by partially energising both phases allowing the rotor to stop between steps as shown in Figure 2. By energizing both phases using the same current magnitude, the rotor is equally attracted to both north poles which causes it to stop in-between the two and resulting in a half-step, or as referred to in most literature, a one-half microstep. By applying currents to both phases in different ratios, advanced stepper motor drivers can further reduce micro-stepping increments to ¼, 1/8, 1/16, 1/32 and even 1/64 microsteps. For the designer, this means that a stepper motor specified to be capable of 1.8-degree steps, or 200 steps per rotation, is now capable of stepping in increments of 0.028-degrees or 12,800 steps per rotation. Not only does this allow finer resolution in stepping, it also drastically reduces vibration. Although the increased resolution

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typically comes at a cost of 10% to 20% of torque, the increase resolution has many applications when the trade-offs are considered.

2.1.8 aC Motor Driver

Since AC motors require three AC phases to be independently driven, the solution would be to control – both, synchronous and asynchronous motors – through a 3-Phase-Bridge-Driver like the

one represented in the following illustration19)_:

Depending upon the application, above 3-Phase-Bridge can be realized with IGBTs like in above example or with power MOSFETs. Performance criteria mainly like power and heat dissipation will determine which solution to go for. Yet, due to the system, topology and circuitry architecture peculiarities a further detailed discussion will be performed in the context of specific solutions.

AC-DC

AC

in

AC

out

Motor

DC link

DC-AC

www.silica.com 19)_{Motor Control Basics, International Rectifier Corp. by Aengus Murray}

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2.2. Motor Selection Criteria

When it comes to the selection of a specific motor for a given application, the criteria based upon the decision will have to be founded on, may significantly complicate the decision process.

At a first stage the designer has to understand the load requirements, meaning those parameters like speed range, continuous and peak torque as well as starting requirements, which will provide a first decision base to deal with.

Besides that it is fundamental to understand those performance requirements like efficiency, dynamic performance, speed accuracy, torque and speed ripple, acoustic noise, hence those parameters that will have a direct impact on the application’s performance quality.

At a next step these needs will have to be put in line with important Supply Considerations (AC or DC, Voltage and current, connections, EMI/RFI) which in many cases narrow down the applicability of a potential candidate.

Once above criteria had been carefully taken into consideration, the designer will have to determine Mechanical and Environmental Issues like size & weight, temperature, reliability, explosion proof, integration of drive and control and safety issues, hence those kind of parameters that may significantly limit the usage of a selected solution depending upon their importance in a given application.

Finally, logistics and costs will be an issue that will require a dedicated focus, especially if we remember the analysis in the introduction. In specific those criteria like annual usage and unit cost target will have to be carefully considered. Within this context the question about making or buying the complete system (or part of it) will be depending on risk factors like availability of suppliers, time to market, development cost and technology risk.

Due to the complexity of this approach, the selection of a specific motor for a given application may become more sophisticated then initially expected; taking into consideration all above mentioned parameters, the overview presented on page 10 reflects a selection of those motor commonly used for specific applications at the moment. Although meant to be used as a guidance, it will still require individual adaption to a given problem.

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2.3 applications Summary and overview – electric Motor Topologies

Type Functional Principl e Mathematic al Relationship Char act eris tics Cos t ( CIC ) Mot or Efficiency Mot or Technol ogy St age of De vel opment Maint enanc e Cos ts (C m ) Compl exity El ectr onic Cir cuit Volt age Ranges Speed Ranges [rpm] Typic al Applic ations P age PMDC – Permanent Magnet DC DC – Commut at or lo w lo w high yes lo w 10 0...10 3 V 20.000 8, 96 ff _{10, 16, 26, 84, 102, 118} 12, 24, 67, 97, 109 16, 30, 66, 96, 106 13, 33, 66, 106 Hand T ools, W asher s & Dry er s, St art er s, Wiper s, P ow er Windo ws Cas t Mot or – Squirr el Cage Rot or AC – Asynchr onous AC – Synchr onous lo w good high no high 220...440 V 20.000 Pumps, F ans, HV AC, Whit e Goods, Heavy Tr action Machinery BLDC – Brushl es s DC moder at e very good middl e no high 4...240 V 50.000 W

ashing Machines, Electric

al P ow er St eering, El ectric al vehicl e tr action driv e, Refriger at or s, AC, PC-F an, Ceiling F an, Bl ow er s PSM – P ermanent Magnet Synchr onous Mot or high good middl e yes high 110...240 V 10.000 Serv o Driv es, El ectr onic P ow er St eering SRM – Swit ched Reluct anc e Mot or lo w very good lo w no moder at e Indus trial: 110...240 V Aut omotiv e: 12...24 V 100.000 Fans, Applianc es, Emering Aut omotiv e Applic ations M = P _2Ãn 2Ã nS P· = n = n 0 - R M 2Ã · k M 2 M - M L = J 1 p · t ·Ì www.silica.com

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3. Solutions

3.1 analog Devices

The aDM3251e in Motion Control applications

Introduction

For many years, communications in Motion Control Systems has typically been implemented via an RS-232 interface. The RS-232 bus standard has proven itself to be a robust communication protocol, particularly suited to noisy environments. Recent enhancements in serial communication design include the isolation of the RS-232 port from the motion controller itself. The ADM3251E offers the latest level of innovation, by combining both power and data isolation in a single package.

A basic architecture of a motion control system is depicted in Figure 1. To improve system reliability within a noisy environment and protect against voltage spikes and ground loops, isolation is required between the RS-232 cable network and the systems connected to it. Analog Devices Inc. have developed the ADM3251E integrated isolated RS-232 transceiver to solve these problems. Until recently, transferring power across an isolation barrier required either a separate dc-to-dc converter, which is relatively large, expensive, and has insufficient isolation, or a custom discrete approach, which is not only bulky but also difficult to design.

The ADM3251E combines iCoupler technology with isoPower, which results in a complete isolation solution within a single package. Not only does the ADM3251E offer state of the art digital signal isolation, having substantial advantage over optocouplers in terms of power, size and performance, but it also eliminates the need for a separate isolated power supply. The ADM3251E provides functional integration that can dramatically reduce the complexity, size and total cost of an isolated system.

RS-232 Port

Motion

Controller AMP/Drive MOTOR MECHANICAL

Feedback Device

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ADM3251E Features

The ADM3251E is a high speed, 2.5 kV fully isolated, singlechannel RS-232 transceiver device that operates from a single 5V power supply. Due to the

high ESD protection on the RIN and TOUT pins the

device is ideally suited for operation in electrically harsh environments or where RS-232 cables are frequently being plugged and unplugged.

Complete isolation of both signal and power is achieved using iCoupler technology. iCoupler technology is based on chipscale transformers

07 38 8-00 1 DECODE RECT REG V– C4 0.1µF 16V VOLTAGE DOUBLER C1+ C1– V+ VISO C2+ C2– R T VOLTAGE INVERTER VCC ROUT TIN GND GNDISO RIN* TOUT ADM3251E OSC ENCODE ENCODE DECODE

*5kΩ PULL-DOWN RESISTOR ON THE RS-232 INPUT. 0.1µF C3 0.1µF 10V C2 0.1µF 16V 0.1µF C1 0.1µF 16V

Figure 3. ADM3251E Functional Block Diagram

rather than the LEDs and photodiodes used in optocouplers. By fabricating the transformers directly on chip using wafer level processing iCoupler channels can be integrated with other semiconductor functions as low cost. Transfer of the digital signal is realised through the transmission of short pulses approximately routed to the primary side of a given transformer. These pulses couple from one transformer coil to another and are detected by the circuitry on the secondary side of the transformer. The circuitry then recreates the input digital signal.

Another novel feature of iCoupler technology is that the transformer coils that are used to isolate data signals may also be used as the transformers in an isolated DC-DC converter, this extension of iCoupler technology is termed isoPower. The result is a total isolation solution.

For further information, please visit: www.analog.com/ADM3251E

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3.2 freescale Semiconductor

freescale Solutions for Motor Control Technologies

Comprehensive 8-, 16- and 32-bit systems with advanced sensor and analog/mixed signal devices Freescale offers complete solutions for every motor control application. Our superior portfolio and breadth of devices includes:

• 8-bit microcontrollers (MCUs) • 16-bit digital signal controllers (DSCs) • 32-bit embedded controllers

• Acceleration and pressure sensors • Analog and mixed signal devices

Freescale delivers solutions that have wide ranging banks of flash and RAM memories, configurable timer options, pulse width modulators (PWMs), and some even offer an enhanced Time Processing Unit (eTPU). Freescale supports these devices with motor control-related application notes, hardware/ software tools, drivers, algorithms and helpful Web links including our motor control Web site at www.freescale.com/motorcontrol.

Freescale Motor Control Solutions

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Expertise Application Notes Analog and Sensors

Demos Development Tools

Software and Drivers Online Training Technical Support

Website Reference Designs

MCUs, MPUs and DSCs

Freescale's Complete Motor Control Solution

We are dedicated to providing comprehensive system solutions that not only improve motor efficiency but also minimise system updates, development time and maintenance costs.

Freescale provides microcontrollers and develop-ment tool solutions for all of your motor control needs.

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control for an incredible variety of applications. The product roadmaps demonstrate that new feature integration and software compatibility will continue to drive future generations of embedded motor control solutions. Freescale provides microcontrollers and development tool solutions for all of your motor control needs.

a Roadmap for Your future Design needs

Intelligent solutions driving new generations of motor control applications

Freescale MCUs, MPUs and DSCs, when coupled with analog/mixed-signal and power integrated circuits, are designed to provide system solutions for motor control, motion control and static load

32-bit MCU/MPU ~3dP[0gXbETRcâ2^]ca^[ ~Câ`dT2^]ca^[ ~ETRcâ2^]ca^[P]S bT]bâ[TbbETRcâ2^]ca^[ 16-bit DSC ~ETRcâ2^]ca^[P]S bT]bâ[TbbETRcâ2^]ca^[ 16-bit MCU ~>_T]P]S2[^bT;^^_ E7IP]S"?W BT]bâ[Tbb 028<1;32BA 8-bit MCU ~?F<?WPbT0]V[T 2^]ca^[ 0ePX[PQ[T=^f!( 2^\_[ TgXch Sensor s ;^ fV0R RT[ Ta ^\Tc Ta b?a Tb bda T45XT[S?a ^gX\Xch Anal og P ortf olio TGca T\TBfXc RW<^cX^]2^]ca ^[? ^f Ta<P]PVT\T]c @D822bd__[ h8>4g_P]bX^] <?2$%gg <2$%5'ggg <2$%5'ggg <2(B !G4 <2(B'02 <2(B'@4 <2(B'3I <2(B'B7 <2(B'@3 <2(AB':0 <2(B'@6 <2(B'61 <2"?702 <2('<A 3B?$%5'g 3B?$%5'!g <2$%5' gg <2$%5'"gg 3B?$%'$g <2$%5'"g <2$%5'!g <25$ 02 <25$! gg <25$!! g <?2$$"g <?2$$$# <?2$$%g <?2$%g <25$! g <25$!!!g <25$!!"g <?2$$$" <25$!"g <?2$%g <25$!'g <2$%5' g <2(B'gg

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Recommended Devices

8-bit MCU: 908JK/JL, 908MR, 908QT/QY,

908QB, 908QC, 908GP, 908GR, 9S08AW, 9S08GB, 9S08GT, 9S08QG, 9S08QD

16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx 32-bit MCU: MCF51AC, MCF521x, MCF523x,

MPC56x, MPC55xx Analog/Mixed-Signal Power ICs

Power Supply: MC34702, MC34717, MC33730 Motor Driver: MC33932, MC34920, MC34921, MC34923, MPC17533, MC33887, MC33899, MC33926, MC33931, MPC17529, MPC17531, MM908E626 Stepper Motors

General purpose stepper motor control Advantages

• Precise position control Applications

• Industrial machines • Health care scanners • Computers • Office equipment • Toys MCU/DSC PWM PWM1A PWM2A PWM1B PWM2B Coil A Coil B V+ V+ la lb Application Notes

32-bit AN2353 The Essentials of the

Enhanced Time Processing Unit

AN2848 Programming the eTPU

AN2869 Using the Stepper Motor (SM)

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Application Notes

32-bit AN2955 DC Motor with Speed and Current Closed Loops, Driven by eTPU on MCF523x AN2955SW

AN2958 Using the DC Motor Control eTPU

Function Set (Set 3)

AN3008 DC Motor with Speed and Current

Closed Loops, Driven by eTPU on MPC5554 AN3008SW

brushed DC Motor

Dual feedback loop control Advantages

• Cost-effective control topology

• High-precision speed, torque control and position loop can be added

Recommended Devices

8-bit MCU: 908MR, 9S08GB, 9S08AC

16-bit DSC: MC56F80x, MC56F80xx,

MC56F83xx

16-bit MCU: S12XE

32-bit MCU: MCF51AC, MCF521x, MCF523x,

MPC56x, MPC55xx Analog/Mixed-Signal Power ICs

Power Supply: MC34702, MC34717, MC33730, MC34923 Motor Driver: MPC17510, MPC17529, MPC17531, MPC17533, MC34920, MC34921, MC33926, MC33887, MC33899, MC33931, MC33932 Applications • Robots • Traction control • Servo systems • Automotive • Office equipment • Toys • Industrial machines V_CC VCORE VREG2 VREG1 Interface HB Driver Current Sensing Encoder DC Motor Analog Power ASIC

Speed

Command Speed

Controller ControllerCurrent

PWM ADC Quadrature Decoder

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29 28 www.silica.com 29 28 Applications • Robots • Traction control • Servo systems • Office equipment • Sewing machines • Fitness machines/treadmills • Toys • Industrial machines brushless DC Motor (blDC) Encoder Advantages

• Enables bi-directional operation with fast torque response, low noise and high efficiency

• High precision speed • Torque control

• Position loop can be added

Power Stage Driver

+ + _Motor -Encoder Speed Controller MCU/DSC Current Controller Speed Reference Actual Speed + +

-GPIO and Serial Interface ADC ADC PWM Quadrature Decoder

Zero Crossing Period and Position Recognition Communtation Control Speed Calculation PWM

Duty Cycle CommunicationPhase

1Φ or 3Φ

Over Current

Recommended Devices

8-bit MCU: 908MR, 9S08AC, 9S08GB

16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx

16-bit MCU: S12XE

32-bit MCU: MCF51AC, MCF521x, MCF523x, MPC56x, MPC55xx

Analog/Mixed-Signal Power ICs

Power Supply: MC34702, MC34717, MC33730 Motor Driver: MPC17533, MC34923, MC33937,

MC33927

Application Notes

8-bit AN2356 Sensorless BLDC Motor Control on MC68HC908MR32 Software Porting to Customer Motor

AN2355 Sensorless BLDC Motor Control on MC68HC908MR32 Software AN1858 Sensorless Brushless DC Motor

Using the MC68HC908MR32 Embedded Motion Control AN1853 Embedding Microcontrollers in

Domestic Refrigeration Appliances AN2396 Servo Motor Control Application on

a Local Area Interconnect Network (LIN)

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DRM086 Sensorless BLDC Motor Control Using MC9S08AW60

Development System 16-bit

AN1913 3-Phase BLDC Motor Control with Sensorless Back-EMF ADC Zero Crossing Detection Using DSP56F80x

AN1914 3-Phase BLDC Motor Control with Sensorless Back EMF Zero Crossing Detection Using DSP56F80x

AN1961 3-Phase BLDC Motor Control with Quadrature Encoder Using 56F800/E

DRM078 3-Phase BLDC Drive Using Variable DC Link Six-Step Inverter

DRM070 3-Phase BLDC Motor Sensorless Control Using MC56F8013/23 32-bit MCU

AN2892 3-Phase BLDC Motor with Speed Closed Loop, Driven by eTPU on MCF523x AN2892SW

AN2948 Three 3-Phase BLDC Motors with Speed Closed Loop, Driven by eTPU on MCF523x AN2948SW

AN2954 BLDC Motor with Speed Closed Loop and DC-Bus Break Controller, Driven by eTPU on MCF523x AN2954SW

AN2957 BLDC Motor with Quadrature Encoder and Speed Closed Loop, Driven by eTPU on MCF523x AN2957SW

AN3005 BLDC Motor with Quadrature Encoder and Speed Closed Loop, Driven by eTPU on MPC5554 AN3005SW

AN3006 BLDC Motor with Hall Sensors and Speed Closed Loop, Driven by eTPU on MPC5554 AN3006SW

AN3007 BLDC Motor with Speed Closed Loop and DC-Bus Break Controller, Driven by eTPU on MPC5554 AN3007SW

Reference Designs

RDDSP56F8BLDCE 3-Phase BLDC Motor Control with Encoder Using 56F80X or 56F8300 Digital Signal Controllers

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31 30 www.silica.com 31 30 Applications • Large appliances • HVAC • Blowers, fans • Pumps

• Lifts, cranes, elevators • Conveyors • Frequency inverters • Industrial controls • Treadmills • Industrial compressors • Universal inverters

aC Induction Motors (aCIM)

3-phase ACIM with V/Hz open-loop control with PFC

Advantages

• Enables bi-directional operation with fast torque response

• Simple cost-effective control topology • Controls both motor and PFC by single MCU • Targeted for modest applications accepting

low-precision speed control • High efficiency

• Precise speed control • Enables indirect torque control

• Tolerant of motor parameters fluctuation

Motor

Over Current

Power Stage Driver PWM 3-Phase Sine PWM Generation MCU or DSC DC-Bus Voltage Compensation Slip Speed Calculation

V/HZ Voltage

Boost Speed

Reference

GPIO and Serial Interface ADC ADC

Sine Frequency Amplitude 1 or 3

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Recommended Devices

8-bit MCU: 908MR, 9S08AC, 9S08GB

16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx 16-bit MCU: S12XE

32-bit MCU: MCF51AC, MCF521x, MCF523x, MPC56x, MPC55xx

Analog/Mixed-Signal Power ICs

Power Supply: MC34702, MC34717, MC33730 Motor Driver: MPC17533, MC34923, MC33937,

MC33927 Application Notes

8-bit AN2154 Cost-Effective, 3-Phase, AC Motor Control System with Power Factor Correction

Based on MC68HC908MR32 AN1857 3-Phase, AC Motor Control System

with Power Factor Correction Based on MC68HC908MR32 AN1664 Cost-Effective 3-Phase AC

Motor Control System Based on MC68HC908MR32

AN1590 High-Voltage Medium Power Board for 3-Phase Motors

AN2149 Compressor Induction Motor Stall and Rotation Detection Using Microcontrollers

AN1853 Embedding Microcontrollers in Domestic Refrigeration Appliances 16-bit AN1918 Indirect Power Factor Correction

for 3-Phase AC Motor Control with V/Hz Speed

Open Loop Application

AN1930 3-Phase AC Induction Motor Vector Control

AN1958 3-Phase AC Motor Control with V/ Hz Speed Closed Loop Using the 56F800/E

AN1942 DSP56F80x Resolver Driver and Hardware Interface

DRM092 3-Phase AC Induction Vector Control Drive with Single-Shunt Current Sensing

AN3234 Washing Machine Three-Phase AC Induction Motor Drive

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aC Induction Motors (aCIM)

3-phase ACIM with sensorless field oriented control

Advantages

• High-precision speed/torque control • Suitable for drives with high dynamic

requirements

• Removal of speed sensor

Power Stage Driver

SVM/PWM DC-Bus Ripple Compensation Over Current ADC PWM ADC ADC Flux Controller Driver

GPIO and Serial Interface

Speed Reference

Speed

Controller ControllerTorque

GPIO Break Control Mult rs Flux and Speed Estimator Slip Frequency Estimator DSC/MCU 2 3 d dt i_ts i_tm ia i_b i_sq u_ts ums e-jq ejq y r Te w_y w_s w_r qy 1 or 3 u_a u_b Applications • Large appliances • Industrial compressors • Water pumps • Construction machinery • Universal inverters • HVAC Recommended Devices 16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx 32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx Application Note

8-bit AN2154 Cost-Effective, 3-Phase, AC Motor Control System with Power Factor Correction Based on MC68HC908MR32

AN1857 3-Phase, AC Motor Control System with Power Factor Correction Based on MC68HC908MR32

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AN1664 Cost-Effective 3-Phase AC Motor Control System Based on MC68HC908MR32

AN1590 High-Voltage Medium Power Board for 3-Phase Motors

AN1853 Embedding Microcontrollers in Domestic Refrigeration Appliances 16-bit AN1918 Indirect Power Factor Correction

for 3-Phase AC Motor Control with V/Hz Speed Open Loop Application AN1930 3-Phase AC Induction Motor Vector

Control

AN1958 3-Phase AC Motor Control with V/ Hz Speed Closed Loop Using the 56F800/E

DRM092 3-Phase AC Induction Vector Control Drive with Single-Shunt Current Sensing

AN3234 Washing Machine Three-Phase AC Induction Motor Drive

Reference Designs

RD56F801XACIM Design of an ACIM Vector

Control Drive Using the 56F801X

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Permanent Magnet Synchronous Motors (PMSM)

Sensored field oriented control Advantages

• Exceptionally low noise operation • Outstanding drive efficiency • Precise speed/torque control

U_DC bus Break Control Line AC AC DC PMSM Load Quadrature Encoder Isa Isb Isc Temperature PWM Quad Timer ADC PWM Sector DC-Bus Torque Current Controller Torque Current Controller Is_a Is_b Is_c GPIO U_dcb PWM Fault Protection Faults

GPIO and Serial Interface

Speed Reference Actual Speed MCU/DSC DC-Bus Ripple Compensation Ua Ub Usa Usb q ejq isa isb Is_a_comp Is_b_comp Is_c_comp Torque Current Controller Flux Current Controller Us_q Us_d e-jq wr Speed Controller Is_d* w Decoupling (Back-EMF Feedforward) Applications • Robotics • Elevators • Servo drivers • Traction systems • Industrial motion control • Automotive Recommended Devices 16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx 32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx Application Notes

8-bit AN2357 Sine Voltage Powered 3-Phase Permanent Magnet Motor with Hall Sensor

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Domestic Refrigeration Appliances AN2396 Servo Motor Control Application on

a Local Area Interconnect Network (LIN)

DRM036 Sine Voltage Powered 3-Phase Permanent Magnet Synchronous Motor with Hall Sensors 16-bit AN1931 3-Phase PM Synchronous Motor

Vector Control

DRM102 PMSM Vector Control with Single-Shunt Current-Sensing Using MC56F8013/23

DRM099 Sensorless PMSM Vector Control with a Sliding Mode Observer for Compressors Using MC56F8013

Reference Designs

RD56F8300EMB Electro-Mechanical Braking

Using 56F8300 Digital Signal Contollers

RD56F8300EPAS Electronic Power Assisted

Steering (EPAS) with 56F8300 Digital Signal Controllers RD56F8300FRBBW FlexRay Brake-By-Wire

Using 56F8300 Digital Signal Controllers

RDDSP56F8PMSDE 3-Phase PM Synchronous Motor Control with Quadrature Encoder Using 56F80X Digital Signal Controllers

RDDSP56F8SMTVC 3-Phase PM Synchronous Motor Torque Vector Control Using 56F80X or 56F8300 Digital Signal Controllers

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Permanent Magnet Synchronous Motors (PMSM)

Sensorless sinusoidal field oriented control with zero speed torque capability

Advantages

• Low-noise operation • High drive efficiency

• Suitable for drives with high dynamic requirements Speed Reference Torque Controller PI PI estim idq* idq_estim_filt BSF estim udqcomp estim ud_hf uhf(t)=Um*sin( hft) dq ABC dq ABC dq ABC PI _ControllerTorque PI BSF estim Position estimation Speed estimation estim

IPMSM Sensorless Algorithms Current Reconstruction Algorithm PWM Generation AC Mains IPMSM ADC iABC Software Portion HardwarePortion

3-ph Converter

• High-precison speed/torque control • Removal of speed sensor

Applications • Appliances • HVAC • Compressors • Blowers

• Industrial motion controls

Recommended Devices

16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx

32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx

Analog/Mixed Signal Power ICs Motor Driver: MC33927, MC33937 Application Notes

8-bit AN2357 Sine Voltage Powered 3-Phase Permanent Magnet Motor with Hall Sensor

AN1853 Embedding Microcontrollers in Domestic Refrigeration Appliances

AN2396 Servo Motor Control Application on a Local Area Interconnect Network (LIN)

DRM036 Sine Voltage Powered 3-Phase Permanent Magnet Synchronous Motor with Hall Sensors 16-bit AN1931 3-Phase PM Synchronous Motor

Vector Control

DRM102 PMSM Vector Control with Single-Shunt Current-Sensing Using MC56F8013/23

DRM099 Sensorless PMSM Vector Control with a Sliding Mode Observer for Compressors Using MC56F8013

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Switch Reluctance Motor Drive

Sensorless Advantages

• Reliable electronics • High starting torque • Removal of position sensor

3-Phase SR Power Stage

SRM PWM Load DC-Bus Voltage Phase Current Temperature AC DC 1 or 3 Commutation Comparator Fault Protection PWM Generation Current Controller Speed Controller Speed Ramp Req.

Speed DesiredSpeed SpeedError

DC-Bus Voltage Actual Speed MCU/DSC Speed Calculation MUX Commutation Commutation Angle Actual Current DC-Bus Voltage Commutation Angle Commutation Angle Calculation Estim. Flux Refer.Flux

Reference Flux Linkage Calculation Flux Linkage and Resistance Estimation Desired

Current CurrentError CycleDuty Start Stop Down Up Free Master SCI Applications • Industrial machines • Medical scanners

• Computers, office equipment • Toys • Food processors • Vacuum cleaners • Machine tools • Large appliances Recommended Devices 16-bit DSC: MC56F80x, MC56F80xx, MC56F83xx

16-bit MCU: S12XE

Analog/Mixed Signal Power ICs Motor Driver: MC33927, MC33937 Application Notes

16-bit AN1912 3-Phase Switched Reluctance (SR) Motor Control with Hall Sensors AN1932 3-Phase Switched Reluctance (SR)

Sensorless Motor Control DRM100 Sensorless High-Speed SR Motor

Drive for Vacuum Cleaners Using an MC56F8013

Reference Designs

RDDSP56F8SRDE 3-Phase Switched Reluctance Motor Control with Encoder Using 56F80X Digital Signal Controllers

RDDSP56F8SRDHS 3-Phase Switched Reluctance Motor Control with Hall Sensor Reference Design for 56F80X or 56F8300 Digital Signal Controllers

RDDSP56F8SRDS 3-Phase Switched Reluctance Motor Sensorless Control Reference Design Using 56F80X or 56F8300 Digital Signal Controllers

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Power ICs for Motor Control Products

Analog/mixed-signal integrated circuits as part of robust, highly integrated system solutions Freescale offers the following analog evaluation boards and modules:

Device P/N Evaluation Boards and Modules

MC33399 KIT33399DEVB MC33661 KIT33661DEVB MC33689 KIT33689DWBEVB MC33742 KIT33742DWEVB MC33800 KIT33800EKEVME MC33810 KIE33810EKEVME MC33880 KIT33880DWBEVB MC33887 KIT33887DWBEVB/KIT33887PNBEVB MC33889 KIT33889DWEVB MC33926 KIT33926PNBEVBE MC33927 KIT33927EKEVBE MC33972 KIT33972AEWEVBE Power Supply Management Inter-Module Communication System Input Conditioning Feedback Conditioning Rotor Position (optional) SPI or Parallel Control _Power Actuation Motor Mech Assy MCU DSP ASSP Controller Inter-Module Communication Products MC33390 MC33399 MC33661 MC33790 MC33897 MC33990 MC33910 MC33911 MC33912 Conditioning Products MC33287 MC33811 MC33884 MC33972 MC33975 MC33993 Management Products MC33689 MC33742 MC33889 MC33/34910 MC33/34911 MC33/34912 MC33989 MC34701 MC34702 MC34712 MC34713 MC34716 MC34717 MC34921 MC33910 MC33911 MC33912 Power Products MC33580 MC33800 MC33810 MC33874 MC33879 MC33880 MC33882 MC33886 MC33887 MC33899 MC33976 MC33977 MC33926 MC33927 MC33981 MC33982 MC33984 MC33991 MC33996 MC33999 MC33920 MC33923 MC17510 MC17511 MC17529 MC17533 MC908E624 MC908E625 MC908E626

Device P/N Evaluation Boards and Modules

MC33975 KIT33975AEWEVBE MC33984 KIT33984PNAEVB MC33989 KIT33989DWEVB MC33996 KIT33996EKEVB MC33999 KIT33999EKEVB MC34701 KIT33701DWBEVB MC34702 KIT33702DWBEVB MC34712 KIT34712EPEVBE MC34713 KIT34713EPEVBE MC34716 KIT34716EPEVBE MC34717 KIT34717EPEVBE MPC17C724 KIT17C724EPEVBE

Please visit www.freescale.com/analog for more details.