2012 Texas Instruments Motor Control Training Vth Dave

2012 Texas Instruments Motor Control Training -Vth Dave Wilson Team Lead, Motor Solutions Group

2012 Texas Instruments Motor Control Training In Today’s Exciting Episode… Motor Topologies and Operation Digital Control Techniques Power Modulation and Regeneration TI Motor Control Solutions

Control Partitioning 2012 Texas Instruments Motor Control Training Intelligence Feedback vs. Feedforward Digital Control PI(D) controllers Observers Field Oriented Control Sensorless FOC Power Conversion Motor Space Vector Modulation Power Regeneration Brushless DC ACIM PMSM Stepper

2012 Texas Instruments Motor Control Training A C B -Vth

Clockwise Torque in a BLDC Motor S Dave Wilson Counter-Clockwise Torque N TI Spins Motors…Smarter, Safer, Greener. 360°

Commutating a BLDC Motor A N S B C N C S B Current A B C A Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

V+ A C N Torque B 0° A B C C B Current S A B C A Dave Wilson 0° TI Spins Motors…Smarter, Safer, Greener.

Control of a Brushless D. C. Motor 1 Controller 2 A 12 zones in 360 degrees of mechanical rotation B s 3 4 C r t 5 6 1 1 0 Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure Dave Wilson 120 0 hall spacing is preferred over 60 0 spacing since unpowered or unconnected sensors produce 111 or 000 codes, which can be used for fault detection. TI Spins Motors…Smarter, Safer, Greener.

BLDC Commutation Q 1 Q 2 Q 3 Q 4 Q 5 Q 6 Hall A Hall B Hall C Fault input signal Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Commutation of a Brushless DC Motor C A N B B N A N S N B C S C A N B B S A S N N A C Dave Wilson C S N B A B S A B A N N B C B S A N A S A A S S S B B S C N S C C S C N N S N C A S S B S A N C N S N N N S B N N C N A A C A N N C A S B N C C S S S A B B A N N C B N C A N S N A S S N B S S C C A N S B C TI Spins Motors…Smarter, Safer, Greener. C N B N A

Brushless DC Motor Animation C A B S N N S B NS A N S N S S N C N S S NS N N S N A N S B C N S B S N A C Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Spoke Design BLDC Motor Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Disk Drive BLDC Motor Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

96% BLDC Motor Efficiency ≈ 100 W Using iron based amorphous core material, Japanese researchers at Tokai University break 96% efficiency barrier! Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Conditioning Controller BLDC Control Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Traditional Sensorless Commutation 0 60 Rotor Electrical Position (Degrees) 120 180 240 300 360 Phase A Phase B Phase C Zero crossings PWM 1 PWM 3 PWM 5 PWM 2 PWM 4 PWM 6 Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Introducing Insta. SPIN – BLDC! What is Insta. SPIN - BLDC? MCU ADC 0 ADC 1 ADC 2 PWM 0 PWM 1 PWM 2 PWM 3 PWM 4 PWM 5 Gate Drivers Power Inverter Insta. SPIN - BLDC Software Phase A Phase B Phase C Insta. SPIN - BLDC is a method to perform sensorless commutation on three-phase BLDC motors which enables quick commissioning, robust control (even at low speeds), and exceptional adaptation to velocity perturbations. Dave Wilson TI Spins Motors…Smarter, Safer, Greener. BLDC Motor

The Insta. SPIN Advantage Extremely robust! (Insta. SPIN has currently been tested on about 80 different motors. In each case, the motor was running in under 30 seconds, and suitably tuned in under two minutes. ) Extremely simple! Only one parameter needs to be adjusted to tune the commutation process. Commutation advance easily accomplished at high speed by dynamically lowering the threshold level. Back-EMF integration creates a less noisy signal for commutation control. This results in more reliable low speed operation. Insta. SPIN immediately adapts to acceleration changes (unlike the zero-cross timing technique). Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Insta. SPIN - BLDC…A Peek Under the Hood 0 60 Rotor Electrical Position (Degrees) 120 180 240 300 Phase A Phase B Phase C Vth -Vth Commutate Dave Wilson TI Spins Motors…Smarter, Safer, Greener. 360

Speed Invariant Performance 1/6 Amplitude Zero-crossing line Commutate Zero -Vth Start Integrating Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Phase Voltages A A B Inductive Flyback C Flux Waveform Vth C -Vth V+ A B North Pole Transistor ON B C Transistor OFF South Pole Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Current Mode Control Topology Kp Commanded current (torque) + + + - Ki PWM Value Commutation Engine ∫ Bus Current (from shunt resistor) Controls current only. Velocity is not controlled. Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Velocity Mode Control Topology Commanded Rotor Speed + Kp + PWM Value + - Ki Commutation Engine ∫ Commutation Times Rotor Speed Estimate Velocity Calculation Controls velocity only. Current is not controlled. Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

Cascade Mode Control Topology Commanded current (torque) Commanded Rotor Speed + Velocity Loop Limit Kp + Ki ∫ + + + - PWM Value Kp - Velocity Loop Limit Ki Commutation Engine ∫ Commutation Times Bus Current (from shunt resistor) Rotor Speed Estimate Velocity Calculation Controls both velocity and current. Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

DRV 8312 Board Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

DRV 8301 Board Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

User Interface Dave Wilson TI Spins Motors…Smarter, Safer, Greener.