3.22EjemploDRM007 Co..

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Software Design Considerations 5.5 Commutation Algorithm The commutation algorithm provides the generation of a rotational field according to rotor position. This algorithm uses the Hall sensors to obtain the rotor position. Outputs from the Hall sensors are connected to three independent input-capture channels through an analog filter. The timers are set to catch each input signal edge and call an interrupt routine, which provides the commutation algorithm. The Hall sensor consists of three sensors (sensor A, sensor B, and sensor C). These sensors comprise six states (001, 010, 011, 100, 101, and 110). Each state determines which motor phase the 3-phase inverter should power. The interrupt routine reads the state of the Hall sensors from the MCU port. This value is used as pointer to the commutation table (see Table 5-1 and Table 5-2), which includes information about the power MOSFETs gating. Figure 5-4 shows the resultant voltage which is applied to a BLDC motor per one electrical revolution. Table 5-1. Commutation Sequence for Clockwise Rotation Hall Sensor Inputs Two MOSFET Scheme Three MOSFET Scheme Hall Sensor A Hall Sensor B Hall Sensor C Phase A Phase B Phase C Phase A Phase B Phase C 1 1 0 +Vdc NC –Vdc +Vdc –Vdc –Vdc 1 0 0 +Vdc –Vdc NC +Vdc –Vdc +Vdc 1 0 1 NC –Vdc +Vdc –Vdc –Vdc +Vdc 0 0 1 –Vdc NC +Vdc –Vdc +Vdc +Vdc 0 1 1 –Vdc +Vdc NC –Vdc +Vdc –Vdc 0 1 0 NC +Vdc –Vdc +Vdc +Vdc –Vdc DRM007 BLDC Motor Control Board for Industrial and Appliance Applications 80 Software Design Considerations MOTOROLA
Software Design Considerations Commutation Algorithm Table 5-2. Commutation Sequence for Counterclockwise Rotation Hall Sensor Inputs Two MOSFET Scheme Three MOSFET Scheme Hall Sensor A Hall Sensor B Hall Sensor C Phase A Phase B Phase C Phase A Phase B Phase C 1 0 1 NC +Vdc –Vdc –Vdc +Vdc –Vdc 1 0 0 –Vdc +Vdc NC –Vdc +Vdc +Vdc 1 1 0 –Vdc NC +Vdc –Vdc –Vdc +Vdc 0 1 0 NC –Vdc +Vdc +Vdc –Vdc +Vdc 0 1 1 +Vdc –Vdc NC +Vdc –Vdc –Vdc 0 0 1 +Vdc NC –Vdc +Vdc +Vdc –Vdc Phase A Phase B Phase C 0° 60° 120° 180° 240° 300° Note: Use black area for three MOSFET commutation scheme. Figure 5-4. 3-Phase Voltage System Applies to BLDC Motor The generation of the PWM voltage waveforms is done by the complementary mode when using a three MOSFET commutation scheme, and by loading 0 to the corresponding phases and configuring the microcontroller to have a TOPNEG PWM when using a two MOSFET commutation scheme. This is done because the M68HC908MRx microcontrollers don’t have the PWM MASK option, so BLDC Motor Control Board for Industrial and Appliance Applications DRM007 MOTOROLA Software Design Considerations 81
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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
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Introduction and Setup Brushless dc
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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
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Page 72 and 73: Software Design Considerations 5.9.
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Page 78 and 79: Software Design Considerations TIMA
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Page 88 and 89: Software Design Considerations 5.8
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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
Page 126 and 127: Source Code } else { if((PORTB & OP
Page 128 and 129: 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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