3.22EjemploDRM007 Co..

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Software Design Considerations The desired time constant is 100 milliseconds for the closed loop system. That gives the following values for the controller parameters: Ki = 0.00995 Kp = 0.094609 In the microcontroller implementation of this controller, a scale factor is defined. It is better if the scale value is a power of two. So, 256 is our scale value. I_ Gain = 0.00995 • 256 = 2.54 ≈ 3 P_Gain = 0.094609 • 256 = 24.22 ≈ 24 Once the controller parameters are calculated, it is possible to implement them into the microcontroller. The PI controller implementation is shown in Figure 5-1. 5.4 Speed Control Algorithm The speed control algorithm consists of three main parts: the actual speed calculation, the speed regulator by a PI controller, and a motor stalled protection. This algorithm is executed by a timer overflow interrupt handler each millisecond. The flowchart of this interrupt handler is shown in Figure 5-2. DRM007 BLDC Motor Control Board for Industrial and Appliance Applications 76 Software Design Considerations MOTOROLA
Software Design Considerations Speed Control Algorithm PI_Controller ControlDifference = Reference_Speed - Speed NO ControlDifference >= 0 YES ControlDifference = - ControlDifference P_Portion = - ControlDifference * Kp P_Portion = ControlDifference * Kp I_Portion = - ControlDifference * Ki I_Portion = ControlDifference * Ki I_PortionK_1 > MAXINTEGRAL NO I_PortionK_1 < MININTEGRAL YES YES I_PortionK_1 = MAXINTEGRAL I_PortionK_1 = MININTEGRAL NO I_PortionK_1 = I_PortionK_1 + P_Portion Controller Output = I_PortionK_1 + P_Portion End Figure 5-1. PI Controller Flowchart BLDC Motor Control Board for Industrial and Appliance Applications DRM007 MOTOROLA Software Design Considerations 77
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BLDC Motor Control Board for Indust
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Revision History To provide the mos
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List of Sections DRM007 BLDC Motor
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Table of Contents Section 2. Operat
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Table of Contents 5.9.9 Signed Word
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List of Figures Figure Title Page 5
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List of Tables DRM007 BLDC Motor Co
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Introduction and Setup 1.2 Introduc
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Introduction and Setup M68HC08 CPU
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Introduction and Setup • Low-powe
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Introduction and Setup OR PRESCALER
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Introduction and Setup 1.4.3 PWM Co
Page 26 and 27: Introduction and Setup Brushless dc
Page 28 and 29: Introduction and Setup V BUS PWM1 P
Page 30 and 31: Introduction and Setup 1.6.6 Target
Page 32 and 33: Introduction and Setup The Hall sen
Page 34 and 35: Introduction and Setup To program t
Page 36 and 37: Introduction and Setup HALL EFFECT
Page 38 and 39: Operational Description 2.3 Electri
Page 40 and 41: Operational Description By pressing
Page 42 and 43: Operational Description 2.5.5 J5
Page 44 and 45: 44 Schematics and Bill of Materials
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Page 52 and 53: Schematics and Bill of Materials 4
Page 54 and 55: Schematics and Bill of Materials DR
Page 56 and 57: Hardware Design Considerations 4.2
Page 62 and 63: Hardware Design Considerations VCC
Page 64 and 65: Hardware Design Considerations As a
Page 66 and 67: Hardware Design Considerations This
Page 70 and 71: Hardware Design Considerations DRM0
Page 72 and 73: Software Design Considerations 5.9.
Page 74 and 75: Software Design Considerations Clos
Page 78 and 79: Software Design Considerations TIMA
Page 80 and 81: Software Design Considerations 5.5
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Page 88 and 89: Software Design Considerations 5.8
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Page 96 and 97: Software Design Considerations DRM0
Page 98 and 99: Practical Results Figure 6-2 shows
Page 100 and 101: Practical Results Taking the rectif
Page 102 and 103: Practical Results DRM007 BLDC Motor
Page 104 and 105: Source Code 7.2 Include Files 7.2.1
Page 106 and 107: Source Code #define SCS1 (*(volatil
Page 108 and 109: Source Code 7.2.2 START08.H ; /****
Page 110 and 111: Source Code #pragma DATA_SEG DEFAUL
Page 112 and 113: Source Code // Function Headers voi
Page 114 and 115: Source Code void CtrlLCD(UBYTE cont
Page 116 and 117: Source Code 7.3 Source Code Files 7
Page 118 and 119: Source Code ZeroOut: ; LDA _startup
Page 120 and 121: Source Code Loop1: finished: } } DB
Page 122 and 123: Source Code 7.3.2 MAIN.C ; /*******
Page 124 and 125: Source Code EnableInterrupts(); do
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Source Code } else { if((PORTB & OP
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Source Code #include "MR8IO.h" #inc
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Source Code #endif /* Initialize ti
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Source Code LDX #0x12 DIV LDHX #0x0
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Source Code */ SINT16 PIController
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Source Code /**********************
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Source Code { #ifdef MOS_3_COM PVAL
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Source Code #ifdef MOS_2_COM PVAL1
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Source Code PVAL3 = _newPWM; PVAL4
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Source Code TurnOffAllPWMOutputs();
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Source Code /**********************
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Source Code void MovCursorLCD(UBYTE
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Source Code /**********************
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