3-Phase BLDC Motor Sensorless Control Using MC56F8013

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Software Designpolarity of the error signal corresponds to the difference between the actual and desired speed. Based onthe speed error, the PI controller generates the corrected motor voltage to compensate for the error.• The speed PI controller works with a constant execution (sampling) period. This is achieved bycalling from a periodic interrupt. The constant PER_SPEED_SAMPLE_S is defining the callingperiod of the speed controller• The speed PI controller proportional and integral constants were set experimentally.• The speed PI controller’s output is limited by another controller, the current limitation PI controller.5.3.6 Alignment Current PI Controller ProcessThe process is similar to the speed controller. The I_Dc_Bus current is controlled based on theU_Dc_Bus_Desired reference current. The current controller is processed only during the alignmentstate, to keep the stator flux constant.• The alignment current PI controller works with the constant execution (sampling) period of theIsrSpeedCurrentControl interrupt service routine.• The alignment current PI controller proportional and integral constants were set experimentally.• The alignment current PI controller’s output is limited by another controller, current limitation PIcontroller.5.3.7 Current Limitation PI Controller ProcessThis PI controller is used to limit DC-bus current by software. During the alignment state the output of thealignment current PI controller and during the running state the output of the speed PI controller is limitedby this PI controller.• The current limitation PI controller works with the same constant execution (sampling) period of thespeed PI controller or the alignment current PI controller, depending on the commutation state.• The current limitation PI controller proportional and integral constants were set experimentally.5.3.8 PWM Generation ProcessThe PWM generation process creates the following:• BLDC motor commutation pattern as described in 2.1 The Brushless DC Motor• Required duty cycle5.3.9 Fault Control ProcessThe fault control process is used for drive protection. DriveFaultStatus is passed to the PWM generationprocess and to the application state machine process to disable the PWMs and to control the applicationaccordingly.3-Phase BLDC Motor Sensorless Control using MC56F8013, Rev. 058 Freescale Semiconductor
Chapter 6Application Setup6.1 Application DescriptionAs described earlier, the BLDC sensorless application, which is targeted at the MC56F8013, can run ontwo power stages and two motors. For setting up the application, only the combination with one powerstage and one motor is given. All other setup combinations are similar. See Chapter 7 Tuning.The concept of the BLDC sensorless drive incorporates the following hardware components:• MC56F8013 EVB• Micro power stage board• IB23811 motor setTable 6-1. Application SpecificationsMotor typeSpeed rangeMaximum electrical powerMaximum phase voltageMaximum phase currentSpeed rangeInput voltageMaximum DC-bus voltageMaximum DC-bus currentControl algorithmSwitching frequencyMotor Characteristics4-pole, 3-phase, star connected, BLDC motor6000 RPM (at 170 VDC)150 W3 * 170 V1.8 ADrive Characteristics< 2000 RPM12 VDC16 VDC4 AClosed-loop speed control20 kHzThe following quantities are measured by the application:• DC-bus voltage• DC-bus current• Phase voltages (back-EMF voltages)• Rotor speed (measured by back-EMF sensing, without sensor)The following faults and alarms are used to protect the drive:• DC over-voltage (by ADC high limit detection; stops drive)• DC under-voltage (by ADC low limit detection; stops drive)• DC over-current (by external comparator; stops drive)• DC current limiting (by DC-bus current measurement)3-Phase BLDC Motor Sensorless Control using MC56F8013, Rev. 0Freescale Semiconductor 59
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3-Phase BLDC Motor SensorlessContro
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3-Phase BLDC Motor Sensorless Contr
Page 7 and 8: Appendix B.Glossary3-Phase BLDC Mot
Page 9: Chapter 1Introduction1.1 Introducti
Page 12 and 13: Introduction• Ability to sequenti
Page 14 and 15: Control TheoryVoltage120120Phase AP
Page 16 and 17: Control Theory2.2 Power StageThe vo
Page 18 and 19: Control Theory2.3.2 Mathematical Mo
Page 20 and 21: Control TheoryFigure 2-6 shows that
Page 22 and 23: Control Theory2.3.3.2 Effect of Mut
Page 24 and 25: Control TheoryChannel 1 in Figure 2
Page 27 and 28: Sensorless Drive Conceptcontroller.
Page 29 and 30: System Blocks Conceptcommutation co
Page 31 and 32: System Blocks ConceptThe Freescale
Page 33 and 34: System Blocks ConceptStart MotorAli
Page 35 and 36: System Blocks ConceptAfter several
Page 37 and 38: System Blocks ConceptPhase Back-EMF
Page 43 and 44: System Blocks Concept• Zero cross
Page 45 and 46: Chapter 4Hardware4.1 Hardware Imple
Page 47 and 48: Component Descriptions4.1.2 Hardwar
Page 49 and 50: Component DescriptionsThe SMOS eval
Page 51 and 52: Component DescriptionsMotorConnecto
Page 53 and 54: Chapter 5Software Design5.1 Introdu
Page 55 and 56: Main Software Flow ChartMain LoopIs
Page 57: 5.3.1 Application State Machine Pro
Page 61 and 62: Application Descriptionfault signal
Page 63 and 64: The FreeMaster software supports th
Page 65 and 66: Application Setup6.2.1 MC56F8013 EV
Page 67 and 68: Projects FilesIn this application,
Page 69 and 70: Chapter 7Tuning7.1 IntroductionThe
Page 71 and 72: 7.3.1.2 UDCBUS_FILT_INDEXFiltering
Page 73 and 74: Application Related ParametersOutpu
Page 75 and 76: Application Related Parameterscommu
Page 77 and 78: Motor Related ParametersThis parame
Page 79 and 80: Motor Related Parameters0: A top, B
Page 81 and 82: Motor Related ParametersFor a detai
Page 83 and 84: Motor Related ParametersCommutation
Page 85 and 86: Motor Related ParametersWhere;T_Cmt
Page 87 and 88: Motor Related Parameters7.5.5.1 Par
Page 89 and 90: Motor Related ParametersThe integra
Page 91 and 92: Appendix A.References1. Design of B
Page 93 and 94: Appendix B.GlossaryAC — alternati
Page 96: How to Reach Us:Home Page:www.frees
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3-Phase BLDC Motor Sensorless Control Using MC56F8013

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