Motor Control

1253 IMC
Overview of Intelligent Motor Control Solutions

2008 Microchip Technology Incorporated. All Rights Reserved. Class Title Slide 1
Class Objectives
O
When you finish this class you will know:

O O
What electric motors are, and how they operate How to select the best motor for your application based on the characteristics, and features of the most common electric motor types How to control these electric motors, and the resources available to assist you
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2008 Microchip Technology Incorporated. All Rights Reserved.
Slide
Agenda
O O
Basic Motor Theory Overview of common motor types and applications

O O O O O O
DC Brush Motor DC Brushless Motor Permanent Magnet Synchronous Motor AC Induction Stepper Motor Switched Reluctance Motor
Motor control algorithms and resources

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Slide
Basic Motor Theory
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Basic Motor Theory

O
What is a Motor?
A Motor Converts Electrical Energy to Mechanical
How? Force is developed when charge moves through a magnetic field
F=IxB
2008 Microchip Technology Incorporated. All Rights Reserved. 1253 IMC
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Left Hand Rule

F=IxB B I N
S F I F
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Motor Torque
Torque production
Taking direction of F into account T=Fr sin
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Motor Torque
Summary
O
Torque = Force * Distance

O O O O O
F=IxB T=(IxB)*D When B and D are constant T = K * I A When field is wound B = K * I F In wound DC motors Torque and Flux B can be controlled independently
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Motor Torque
F D B N B S I F F
T=F x D
B
Slide 9
Common Motor Types and Applications
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10
Motor Classification
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11
Topics of Discussion:
O O O
O O O
DC Brush Motor DC Brushless Motor Permanent Magnet Synchronous Motor AC Induction Motor Stepper Motor Switched Reluctance Motor
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12
DC Brush Motor
O
Operating Principle:
O O O O
Rotor/Armature comprised of wire wound conductive laminates Stator has permanent magnets (or wound field) Commutation is performed through mechanical Stator contact (brushes) Synchronous, internal commutation Good controllability Permanent O On/Off, Proportional Magnet Linear torque/current curve Speed proportionate to voltage applied Requires maintenance Low overloading capability Windings Low heat dissipation
Brushes
Characteristics:
O O O O O O
Rotor
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13
DC Brush Motor
O
Application examples:
O O O O O O O O
Permanent Laminate Brushes Wipers Magnet Core Door locks Window lifts Antenna retractor Stator Windings Commutator Seat adjust Anti-lock Braking System Cordless hand drill Electric lawnmower
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14
DC Brushless Motor
O
Stator
O O O O
Permanent Magnet
Rotor comprised of permanent magnets Stator has windings Commutation is performed electronically Operates as an inside-out DC motor No sparks -> safer in explosive environments Cleaner, faster, more efficient Less noisy, more reliable Linear current/torque relationship -> smoother acceleration Good overloading capability
Windings Rotor
Characteristics:
O O O O O
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15
DC Brushless Motor
O
O O O O O
Anti-lock Braking System Disk Drive Servo Throttle control Fuel pump Rotor magnets Oil pump
Hall sensors
Stator winding
Bearings
Slide
16
Brushed & Brushless DC Motor Construction

PERMANENT MAGNET BRUSHED DC MOTOR Permanent Brushes Magnet Stator PERMANENT MAGNET BRUSHLESS DC MOTOR Permanent Magnet Stator
Windings
Rotor
Windings
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Rotor
Slide 17
BLDC vs. BDC Motor

Feature Commutation Maintenance Life Speed/Torque Characteristics Efficiency Output Power/ Frame Size BLDC Motor Electronic commutation based on Hall position sensors Less required due to absence of brushes Longer Flat - Enables operation on all speeds with rated load High - No voltage drop across brushes High - Reduced size due to superior thermal characteristics. Because BLDC has the windings on the stator, which is connected to the case, the heat dissipation is better Low, because it has permanent magnets on the rotor. This improves the dynamic response. Higher - No mechanical limitation imposed by brushes/commutator Low, because it has permanent magnets on the rotor. This improves the dynamic response. Moderate - Since it has permanent magnets, building cost may be higher. However, steel & copper prices are up
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Brushed DC Motor Brushed commutation Periodic maintenance is required Shorter Moderately flat - At higher speeds, brush friction increases, thus reducing useful torque Moderate Moderate/Low - The heat produced by the armature is dissipated in the air gap, thus increasing the temperature in the air gap and limiting specs on the output power/frame size Higher rotor inertia which limits the dynamic characteristics Lower - Mechanical limitations be the brushes
Rotor Inertia Speed Range Electric Noise Generation Cost of Building
Arcs in the brushes will generate noise causing EMI in the equipment nearby Moderate - Due to increases in steel & copper. ( with wound field stator)
Slide 18
Permanent Magnet Synchronous Motor Permanent

O
Stator
O O O O
Magnet
Rotor comprised of permanent magnets Stator has windings Commutation is performed electronically Sinusoidal Back EMF No sparks -> safer in explosive environments Windings Cleaner, faster, more efficient Less noisy, more reliable High Efficiency & Reliability Designed for high-performance Servo Applications Runs with/without Position Encoders More compact, efficient and lighter than ACIM Coupled with FOC control produces optimal torque Smooth low and high speed performance Low Audible Noise & EMI
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Characteristics:
O O O O O O O O O O
Rotor
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19
PMSM Applications
O O O O O O
Air Conditioner & Refrigerator (AC) compressors Direct-drive washing machines Automotive Electrical power steering Machining Tools Stator windings Traction control Data Storage
Rotor Permanent magnets
Hall sensors
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20
PMSM Construction
O
O O O O
PMSM is an AC synchronous motor whose field excitation is provided by PMs Similar to the BLDC but BEMF is sinusoidal The Back EMF ideally contains no harmonics Leads to a reduction in audible noise Better efficiency
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21
AC Induction Motor
O
O O O O
Reverse of an alternator (generator) Rotor and stator carry alternating current Constructed in either 1- to 3- phase Asynchronous motor
Characteristics:
O O O O O
Synchronous = 120 * frequency Poles Speed
Low Cost to manufacture Simple, low-cost design for fixed-speed applications Lower efficiency than other motor types Speed proportionate to line frequency (50 or 60 Hz) Complex control for variable speed and torque
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22
ACIM Applications
O O
O O O O O
Larger horsepower motors Air Conditioner & Refrigerator compressors AC Induction motor 90% White good machines Bearings Squirrel Cage Pumps Rotor Blowers Automation Power Tools
Stator windings
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Other motors
Slide
23
BLDC vs. AC Motor

Features
Speed/Torque Characteristics
BLDC/PMSM Motors
Flat - Enables operation at all speeds with rated load High - Since it has permanent magnets on the rotor, smaller size can be achieved for a given output power. Low - Better dynamic characteristics Rated - No special starter circuit required
AC Induction Motors
Nonlinear - Lower torque at lower speeds
Output Power/ Frame Size Rotor Inertia Starting Current Control Requirements
Moderate - Since both stator and rotor have windings, the output power to size is lower than BLDC High - Poor dynamic characteristics Approximately up to seven times rated - Starter circuit rating should be carefully selected. Normally uses a Star-Delta starter No Controller is required for fixed speed; a controller is required for variable speed
A controller is always required to keep the motor running. The same controller can be used for variable speed control
Slip
No slip is experienced between stator and rotor frequencies
The rotor runs at a lower frequency than the stator by slip frequency and slip increases with the load on the motor
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24
Stepper Motor
Permanent Magnets N/S Poles
Stator
O
Rotor consists of permanent magnets with many poles Stator has two pairs of windings. Easy to position moves in steps based on pulses supplied to the stator windings Direction of rotation is changed by reversing the pulse sequence Speed control is by the frequency of pulses or pulse rate
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Characteristics:
O
Windings Rotor
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25
Stepper Motor
O
O O O O O O O O
Idle speed adjust Exhaust gas re-circulation Duct airflow vanes Rotor magnets Mirror control Telescopes Antennas Bearings Toys Stator windings Many others!
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26
Switched Reluctance Motor

Stator
O O O O
No permanent magnets Rotor consists of iron laminates Stator similar to brushless DC motor Torque produced as a result of attraction between electromagnet and iron rotor Motor construction is simple and cheap Needs MCU control to reduce torque ripple and audible noise
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Rotor
Characteristics:
O
Windings
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27
Switched Reluctance Motor

Stator
O O O O O O O O O
Fuel pump Throttle control Oil pump ABS Vacuum cleaner Lawnmower Windings Washing machine Automatic Doors in buildings and vehicles Fans
Rotor
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Motor Drives
Motor Drives
O O O O
Direct on line starter Relay Drive Thyristor drive Motor Soft Starter Electronic speed control
O O O
Adjustable-speed drive Variable-frequency drive Torque and speed control
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30
Variable Speed/Frequency Drives
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31
Need for Variable Speed Drives (VSD)

O O
Electric motors consume 1/3 power in US Motorized Equipment oversized

O
Exceed maximum torque requirements To meet equipment requirements
Motors oversized
O
Motor usually in continuous, full-speed operation
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32
Electrical Motor Drive Advantages

O
Variable motor frequency Energy efficient

O O
Many applications (fan, pumps) follow affinity law 20% reduction in speed ~ 50% reduction in power Application specific V/f curves Torque and slip control Noise control Reduced starting current Protection against supply disturbances Reduced Volume and Weight ie: Lower Price Fault detection and display Networked solution Standards compatible product
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Better performance
O O O
Increased motor life span

O O
Other benefits
O O O O
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33
Motor and Drive Application Requirement

O
Constant Torque
O
Mixers, screw feeders, extruders and positive displacement pumps High torque is required at low speed Low torque at high speed Machine tools, tractions Low torque is required at a low speed Higher torque at high speed Centrifugal loads such as fans, pumps and blowers Most energy savings from variable frequency drive
Constant Power
O O O
Variable Torque
O O O O
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34
Control Technique Types

O
Vector/Field Oriented Control

O
Indirect control variables are Flux and Torque Voltage Amplitude

O O O
Scalar Control (V/F control)

O
Sine PWM SVM PWM Six Step PWM
Rotational Frequency Direct control variables are Flux and Torque

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Direct Torque Control

O
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35
Electrical Motor Drive Block Diagram

Active PFC VSI
MOSFET Driver
SMPS
PIC Microcontroller
3-Phase Bridge Driver
Motor
Feedback Devices
Rectifier 115/230VAC 50/60Hz

IRE IF
Display and Control Panel
Computer
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36
Electrical Motor Drive Input Output
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Electrical Motor Drive Input Output
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Motor Control Algorithms
Brush DC Motor
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DC Motor
O O O
Red is North Polarization Blue is South Polarization Opposite Polarities attract Rotor will rotate until North is aligned with South Just before alignment commutator contacts and energizes next winding Spark is generated when the commutator changes windings
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41
Closed Loop Control
Desired Speed +-
Speed Error
Voltage
PID
Motor
Measured Speed
Speed Calculation
Hall Sensor Period
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42
Low Side Drive Configuration for DC Brushed Motor

Desired PIC MCU or dsPIC DSC Features
O
O O
CCP, ECCP, MCPWM, SR Latch 10 Bit High Speed ADC Internal Comparator Internal TMRs
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43
High Side Drive Configuration for DC Brushed Motor

O
O O
CCP, ECCP, MCPWM, SR Latch 10 Bit High Speed ADC Internal Comparator Internal TMRs
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44
H-Bridge Configuration for DC Brushed Motor

O O
O O O O
ECCP, MCPWM 10 Bit High Speed ADC Internal Comparator Change Notification Quaduature Encoder Internal TMRs
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45
Brushed DC Motor Design Flow Chart

Variable Speed Motor? Yes No, On/Off Control Only 1 I/O Pin Unidirectional Unidirectional or Bi-directional Control? Bi-directional Any PIC MCU 1 H/W PWM or Firmware 1 H/W PWM or Firmware (plus 1-4 I/O Pins)
Open Loop
Open Loop or Closed Loop Control?
Closed Loop Control
Position Control?
No Yes
Torque Control?
Yes, Fault Shut Down Only
No
Quadrature Encoder Speed Control? Yes
MCU or Discrete Solution?
External Logic
Potentiometer ADC Input
Yes
1 Shunt Resistor with OpAmp Circuits, or 1 Hall Effect Transducers 1 ADC
Yes
Tachometer ADC Input or Interrupt
QEI Module
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Brushed DC Application Resources

Brushed DC
AN905 Brushed DC Motor Fundamentals Start here if you would like to learn more about basic brush motor theory. AN893 Low-cost Bi-directional Brushed DC Motor Control Using PIC16F684 The PIC16F684 has the Enhanced Capture Compare PWM (ECCP) peripheral for driving a H bridge inverter. This makes the device an excellent choice for low-cost control of a brushed DC motor. AN696 PIC18CXXX/PIC16CXXX DC Servomotor This app note provides C code for a position servomotor application. Two versions of the code are provided for the PIC16F877 device and PIC18C452, respectively. Position information is obtained from the motor using an incremental quadrature encoder and external decoding logic.
DS41233
The DC Motor Control Tips n Tricks document has lots of information about driving brush DC motors.
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Brushless DC Motor
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What is Commutation?
O O
Revolving Electrical Field Generation This Rotating Field is synchronized to the rotor magnet to generate torque Continuous Torque generation keeps the motor moving
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49
Six Step for BLDC

O O O O O
Commutation six steps per electrical rev. Phase currents rectangular Less processing power required Produces more Torque than PMSM Creates more torque ripple
O
Rotor position unknown between commutation
Position Information Required

Hall sensors indicate commutation point O Back EMF zero cross for sensorless
O
O Starting
ramp tuning for BEMF signal

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50
Six Step BLDC Control

HALL A Red Winding 60o
HALL B Green Winding HALL C
Q1 Q4
Q2
R
Q3
G B
Q5
Q6
Blue Winding
+TORQUE FIRING Sector Hall State
Q3,Q5 Q1,Q5 Q1,Q6 Q2,Q6 Q2,Q4 Q3,Q4 Q3,Q5 Q1,Q5 Q1,Q6
5 5
0 4
1 6
2 2
3 3
4 1
5 5
0 4
1 6
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Brushless DC Motor Energization

100
R
R
com
101
110
N
com b
N
b
S S
001
B r com g
010 B G
011
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Brushless DC Drive
O O O
O O O O
MCPWM Fault Shutdown 10 Bit High Speed ADC Internal Comparator Change Notification Quaduature Encoder Internal TMRs
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BLDC Application Resources

BLDC
AN885 Brushless DC Motor Fundamentals If you are not familiar with how a brushless DC motor works, this is a good place to start. AN857 Brushless DC Motor Control Made Easy This application note provides a good overview of brushless DC motor characteristics and presents software solutions for the PIC16Fxxx family of devices. Low Cost BLDC Control Solutions AN1175 Sensorless Brushless DC Motor Control with PIC16 This application note presents a software solution that can be implemented using a low-cost 8-bit microcontroller. The software provides sensorless motor commutation and open-loop speed control. AN899 Brushless DC Motor Control Using PIC18FXX31 This application note provides a basic solution for driving a BLDC motor with 3 hall sensors. AN970 Using the PIC18F2431 for Sensorless BLDC Motor Control This application note describes a sensorless BLDC application using the BEMF detection method. Masters Class 1255 TPM 3-Phase Brushless Motor Control With Low Cost PIC16 Microcontrollers In this class we discuss how a 3-phase brushless motor operates, the drive circuitry required to commutate the motor, and methods for determining the motor position before it starts and as it rotates. Emphasis is on controlling the motor with a low cost PIC16Fxxx Mid-range microcontroller. Code development for motor startup, acceleration, and steady state operation is covered as are techniques for reducing torque ripple and regenerative breaking. Exciting live motor demonstrations are performed.
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Sensorless BLDC
O O
Eliminate Hall-Effect sensors and cabling cost by going sensorless
FIR Filtering of the BEMF and or using Majority Detect can help with high-speed motors or motors with distorted BEMF signals
O O
ADC (or comparators) supports the sampling of the motor phase BEMF voltages
From the voltages, the CPU determines the rotor position and drives the motor control PWM module
Phase R
Phase B
Phase G
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BLDC Motor Design Flow Chart

2 Phase or 3 Phase Motor? 3-Phase Open Loop Speed Control Open or Closed Loop? 6 I/O Pins 2-3 ADC Inputs PWM, Motor Control PWM,
Firmware Commutation 2 I/O Pins Any PIC MCU or Integrated Fan Controler
Closed Loop Control
PWM or Motor Control PWM, ADC Inputs, I/O Pins
Sensored or Sensorless Control?
Sensorless Measure Back EMF
Analog or Digital Feedback?
Digital Timer, Input Capture, or Interrupt
Sensored Analog Yes, Fault Shut Down Only Torque Control? Opamps Comparitors, I/O Interrupts Yes 3 Shunt Resistors with OpAmp Circuits, or 3 Hall Effect Transducers & ADC Comparators, High Speed ADC, Filters
No
No
Speed or Position Control?
Yes Quadrature Encoder
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Advanced BLDC Application Resources

Advanced BLDC Control Solutions
AN957
Sensored BLDC Motor Control Using dsPIC30F2010 This application note describes a BLDC application using hall effect sensors for motor position feedback. The application source code is written in C and optimized for the dsPIC30F2010 and other 28-pin dsPIC DSC variants.
AN901
Using the dsPIC30F for Sensorless BLDC Control This application note describes a sensorless BLDC control application using the BEMF detection method. The dsPIC DSC ADC is used to detect the BEMF voltage. The application is written in C language for a dsPIC30F6010 or a dsPIC30F6010A device. The source code has parameters to adjust the open loop startup sequence and also the closed loop operation of the motor. A GUI is available in the MPLAB IDE to help set the parameters. See GS005 for more information about the GUI.
AN992
Sensorless BLDC Code for 28-Pin dsPIC30F Devices For a version of this same application that is optimized for the 28-pin dsPIC30F2010 device, see AN992. This code would also work well with other 28-pin and 40-pin dsPIC30F motor control device variants.
AN1083
Sensorless BLDC Control With Back-EMF Filtering This application note uses the dsPIC to operate a 3-phase BLDC motor without position sensors. The application samples the BEMF signals using the high-speed ADC converter and uses DSP filtering to pre-process the signals. This filtering minimizes external components. This application is optimized for high speed motor operation.
AN1160
Sensorless BLDC Control with Back-EMF Filtering Using a Majority Function This application note describes a sensorless BLDC motor control algorithm, implemented using the dsPIC Digital Signal Controller (DSC). The algorithm works by the use of a majority function for digitally filtering the back-Electromotive Force (BEMF). Each phase of the motor is filtered to determine when to commutate the motor drive voltages. This control technique excludes the need for discrete, low-pass filtering hardware and off-chip comparators.
Masters Class
1256 MCW
dsPIC Digital Signal Controllers (DSC) Motor Control Workshop This updated workshop class provides a detailed overview of BLDC motor theory and control algorithms. The class also provides an introduction to the dsPIC30F/33F architecture, and motor control peripherals, along with an in depth look at the newest Microchips sensorless BLDC Motor Control application (AN1160) and Motor Control Graphical User Interface.
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Permanent Magnet Synchronous Motor
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Sine PWM
O O O O O
VSI output is Sine modulated PWM Motor acts as a low pass filter Motor integrates PWM voltage to produce sine current Output voltage is proportional to frequency, maintaining constant V/f Space Vector Modulation allows for 100% line to line modulation
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Six Step Sine Control

HALL A Red Winding
60
o
HALL B Green Winding HALL C Blue Winding Sine Phase Sector Hall States 0 5 5 60 0 4 120 1 6 180 2 2 240 3 3 300 4 1 5 5 0 60 0 4 120 1 6
Q1 Q4
Q2
R
Q3
G B
Q5
Q6
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FOC for PMSM

O O O O
V/F Sinusoidal drive produces smooth control at low speed but is inefficient at high speeds FOC provides smooth control at low speeds as well as efficient control at high speeds FOC provides the best of both worlds Field Weakening
O O O O
What happens when the Back EMF approaches the supply voltage? To enable more speed the rotor field must be weakened The stator d axis current is set to a negative value Torque reduces and speed increases with field weakening
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61
PMSM Operation
Without FOC
S
With FOC
S
S
N
S S
N
90
S
N N N
N N N
BEMF (V)
BEMF (V)
Current (I)
Current (I)
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PMS Motor Energization

100
R
101
com
Red Winding 110
N
com b G b
Blue Winding
001
B
Sg
com
010 Green Winding
011
Sine Phase
60 1 6
120 2 2
180 3 3
240 300 4 1 5 5
0 5 5
60 0 4
120 1 6
Sector 0 Hall States 4
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PMSM Characteristics
Torque/Current Demagnetization limit VSI current/Torque limit
Short time operation T0
I vo VS e li ltag ne
Continuous operation 0 r Speed max
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Permanent Magnet Synchronous Motor Driver

O O O
O O O O O
MCPWM Fault Shutdown 10 Bit High Speed ADC Internal Comparator Change Notification Quaduature Encoder Internal TMRs High Speed Math
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FOC Sensorless PMSM

O
O
Top of the line dynamic torque response and efficiency and the lowest system cost motor control solution
ADC supports sampling the motor voltage and currents O DSP supports Clark and Park transformations transform and two PI loops controlling torque and flux O DSP supports speed and position PI loops as determined by an estimator motor model rotor position output O The outputs of the PI loops are transformed using Space Vector Modulation to drive the MCPWM outputs to the motor
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PMSM Application Resources

PMSM
AN1017 Sinusoidal Control of PMSM Motors with dsPIC30F DSC This application note uses a 28-pin dsPIC30F device and the PICDEM MCLV Development Board to control a PMSM with hall effect sensors. The application also features a speed control loop that allows 4quadrant torque control. AN1078 Sensorless Field Oriented Control of Permanent Magnet Synchronous Motors This application is similar to AN1017, but eliminates the need for rotor position feedback sensors. An estimator algorithm calculates the position of the rotor from measured voltages and currents. AN1106 Power Factor Correction in Power Conversion Applications Using the dsPIC DSC Active power factor correction is often used in electronic motor control applications to improve conversion efficiency. This application note describes a software solution that is designed to operate on Microchips motor control development system (P/N DM300021). Masters Class 1258 FOC Sensorless FOC for PMSM with dsPIC Digital Signal Controller (DSC) New dsPIC DSC algorithm has been developed for Sensorless Field Oriented Control for Permanent Magnet Synchronous Motor (PMSM). This algorithm takes advantage of the processing power of the DSP engine present on dsPIC33F DSC.
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67
AC Induction Motor
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AC Induction Motor
O O O
Simple Control for Direct On Line or Thyrisistor drive Moderate control for Voltage/Frequency drive Field Oriented/Vector Control
O O O
Smooth control at low speeds Efficient control at high speeds Complex control for variable speed and torque
O O O
Must know rotor position (velocity) for slip and vector control Rotor position sensor is eliminated for sensorless vector control strategies Sensorless control does not work at low motor speeds
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69
ACIM Characteristics
,U o Torque Tmax
Voltage
Uo
Vrated
Field Weakening
0 Constant Torque Region

Speed r Constant Power Region

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max
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70
AC Induction Motor Drive

O O O
O O O O O
MCPWM Fault Shutdown 10 Bit High Speed ADC Internal Comparator Change Notification Quaduature Encoder Internal TMRs High Speed Math
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FOC Sensorless ACIM

O
O
Top of the line dynamic torque response and efficiency and the lowest system cost motor control solution
ADC supports sampling the motor voltage and currents O DSP supports Clark and Park transformations transform and two PI loops controlling torque and flux O DSP supports speed and position PI loops as determined by an estimator motor model rotor position output O The outputs of the PI loops are transformed using Space Vector Modulation to drive the MCPWM outputs to the motor
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AC Induction Motor Design Flow Chart
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73
ACIM Application Resources

ACIM
AN887 AC Induction Motor Fundamentals As the name suggests, this app note will teach you the basics of how AC induction motors work. AN967 Bi-directional VF Control of Single and 3-Phase Induction Motors Using the PIC16F72 The PIC16F72 provides a low cost solution for variable speed control of a single phase ACIM. AN889 VF Control of 3-Phase Induction Motors Using PIC16F7X7 Microcontrollers The PIC16F7x7 series of devices are a good choice for low cost 3-phase ACIM control since they have 3 PWM generators. AN900 VF Control of 3-Phase AC Induction Motors Using the PIC18F4431 This app note provides a control solution for a 3-phase ACIM using the PIC18Fxx31 series of microcontrollers. These are the preferred devices for ACIM control in the PIC18F family since they have a specialized motor control PWM peripheral that can drive a 3-phase inverter with a minimum amount of external hardware and minimal software overhead. AN955 VF Control of 3-Phase Induction Motor Using Space Vector Modulation Space Vector Modulation is a special PWM control technique that allows a higher peak voltage to be delivered to the motor from the inverter while producing sinusoidal motor currents. AN955 describes the theory of Space Vector Modulation and presents an assembly code example for the PIC18F architecture. AN984 An Introduction to AC Induction Motor Control Using the dsPIC30F MCU This is an introductory level document to teach the reader about variable speed ACIM control. It also provides simple assembly code example for the dsPIC DSC that will control a single phase or 3-phase ACIM.
Slide
74
ACIM Application Resources (Continued)

ACIM
AN908 Using the dsPIC30F for Vector Control of an AC Induction Motor This app note shows a high-performance control solution for an ACIM. Motor current and velocity are sensed and regulated using a closed-loop control system. AN1162A Sensorless Field Oriented Control (FOC) of an AC Induction Motor This application note presents a solution for sensorless Field Oriented Control (FOC) of induction motors using a dsPIC Digital Signal Controller (DSC). Position and speed of the motor are estimated using software PLL. AN1106 Power Factor Correction in Power Conversion Applications Using the dsPIC DSC Active power factor correction is often used in electronic motor control applications to improve conversion efficiency. This application note describes a software solution that is designed to operate on Microchips motor control development system (P/N DM300021). Masters Class 1257 ACI Sensorless FOC for ACIM with dsPIC Digital Signal Controller (DSC) The dsPIC DSC family of devices offers DSP performance and peripherals that are well matched for advanced motor control algorithms. This class starts with an introduction to the characteristics of the AC induction motor. An overview of electronic control methods is provided from a historical perspective. Finally, the theory and benefits of Sensorless Field Oriented Control (FOC) are explained. A demo of the Sensorless FOC algorithm will be shown in the class. Hands-on exercises will allow you to experiment with the basic and advanced control methods described in this class.
Slide
75
Motor Control Algorithms

Motor 3-phase ACIM 3-phase ACIM Control Technique Open Loop (V/F) with variable speed Closed Loop - Sensored (QEI) - Sensorless FOC (Vector Control/180) with single/dual shunts Sensored (Hall Effect) (Trapezoidal/120) - High speed operation (5 to 20K RPM) - Rapid load changes requiring fast torque response - Fast or high accuracy on a servo position response Sensored (Hall Effect) (Sinusoidal/180) Sensorless (requires moderate tuning) (Trapezoidal/120) - Back EMF with A/D - FIR filtered BEMF with A/D - FIR filtered BEMF with A/D and Majority Detect function Sensorless (requires advanced tuning) - FOC with single or dual shunt circuits Benefits Low Cost Better Control
BLDC
Better Torque Control
BLDC/PMSM BLDC
Lower Noise Lower Cost
PMSM
Highest Efficiency Best Torque Control

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MCU Requirements
Algorithm Type Relative Performance Relative Cost Sensing Requirements PIC18 MIPS dsPIC DSC MIPS dsPIC DSC resources ACIM Motors Volts/Frequency* Slip Limit (V/F) Slip Optimization Slip Frequency Control Vector Control* Sensorless Vector Control Low Low Low-Medium Medium High Medium-High Low Low LowMedium High High Medium None Speed (QEI) Speed (QEI) Bus Current (ADC) Speed (QEI) 2-Phase Currents (ADC) Speed (QEI) 2-Phase Currents (ADC) 2-Phase Currents (ADC) 3-Phase Voltages (ADC) BLDC Motors Commutation with Hall Effect Sensors Sensorless Commutation Sensorless Commutation optional
current or speed loops
3 4.5 7.5 10
2 3 5 6 9 25
<2 K Bytes Flash 32 Bytes SRAM**
7.25 K Bytes FLASH 244 Bytes SRAM*
Low Medium-High Medium-High
Medium LowMedium Low
3-Positions (Input Capture) Back EMF (with external comparators) Back EMF (ADC)
1.5-2 6 9
0.5 2 515***
10K Bytes FLASH 256 Bytes RAM
* dsPIC30F Application Notes or demo code available ** ACIM Sinewave tables stored in program Flash memory ***Depends on motor speed and A/D sampling speed 2008 Microchip Technology Incorporated. All Rights Reserved. 1253 IMC
Slide
77
Stepper Motor
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Slide
78
Stepping the Motor

O
Different step modes produce different step angles
Full Step
Half Step
Microstep
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79
Microstepping
O
Increases Step Resolution

O
Divides a Full Step into sub-steps Limits noise Reduces anti-resonance problems Low step rates High step rates
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Smoother transitions between steps

O O
Maximum torque
O O
Slide
80
Microsteps vs. Step Rate

O
Increasing microsteps will require an increase in step rate

O
To produce same RPM as Full Step

Number of Microsteps Full Step/ 4 Full Step/ 8 Full Step/16 Full Step/32 Step Rate Factor for Equivalent Full Step RPM Step Rate x 4 Step Rate x 8 Step Rate x 16 Step Rate x 32
Number of microsteps can be > 32 Practically stepper performance isnt improved

Slide
81
Microstep Look-Up Table

Microstep 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Winding A (current) +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 Winding B (current) +Sin 5.6 +Sin 11.25 +Sin 16.8 +Sin 22.5 +Sin 28 +Sin 33.75 +Sin 39 +Sin 45 +Sin 50.6 +Sin 56.25 +Sin 61.8 +Sin 67.5 +Sin 73.1 +Sin 78.75 +Sin 84.35 +Sin 90 PWM1 DC 100% 100% 100% 100% 100% 100% 100% 100% 100% 100% 100% 100% 100% 100% 100% PWM2 DC 9.8% 20% 29% 38% 47% 56% 63% 71% 77% 83% 88% 93% 95.6% 98% 99.5%
Slide 82
90/16 Steps = 5.625/Step Sin 5.6= 0.098 or 9.8% Duty Cycle
100% 100% 1253 IMC
Microstepping Summary
O O O O O
Gradual current change from one winding to another Implemented using variable DC PWM Requires more processing power Code utilizes a LUT based on Sine function Significantly reduces anti-resonances
1253 IMC
Slide
83
Stepper Motor Driver

O O
O O O O
CCP, ECCP,MCPWM 10 Bit High Speed ADC Internal Comparator Change Notification Quaduature Encoder Internal TMRs
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Slide
84
Stepper Motor Design Flow Chart

1 Phase (Uni-polar) Motor Phases? 2 Phase (Bi-polar)
Micro-Stepping (Half Stepping)
No Full Stepping 1 or 2 I/O Pins/Phase
Any PIC MCU or dsPIC DSC
No Full Stepping Micro-Stepping (Half-Stepping) 8 I/O Pins Any PIC MCU or dsPIC DSC
Yes
Commutation 1 PWM/Phase or Firmware 1 0r 2 N-FET Driver/Phase
Yes
Commutation 2 PWMs or Firmware 2 H Bridges
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85
Stepper Application Resources

Stepper
AN906 Stepper Motor Control using the PIC16F684 This application note describes how to drive a bipolar stepping motor with the PIC16F684. The Enhanced Capture Compare PWM (ECCP) module is used to implement a microstepping technique known as hightorque microstepping. AN907 Stepping Motor Fundamentals If you are not familiar with how a Stepper motor works, this is a good place to start. This application note covers different types of stepping motors: variable reluctance, permanent magnet and hybrid. Single-stepping, halfstepping, microstepping and current limiting. AN822 Stepper Motor Microstepping with PIC18C452 Microstepping a stepper motor increases stepping accuracy and reduces resonance in the motor. The two PWMs in the PIC18C452 can be used to control the voltage to the windings of a bipolar stepper motor. Masters Class 1254 STM Stepping Into Stepper Motors This class is an introduction into stepper motors, how they work, and how to use them in your designs. The anatomy and functional characteristics of the stepper motor will be discussed, along with common drive topologies, basic control circuits and some basic current limiting configurations. In addition, resonant and anti resonant behavior, its root cause, and techniques for dealing with it, will also be discussed. Demonstrations will be used to reinforce topics covered
Slide
86
Motor Control Development Tools
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87
Low-Cost BLDC/PMSM Hardware Development Tools

The PICDEM dsPIC30F MCLV development board (DM183021) is intended for low-voltage (up to 48V), BLDC applications up to 48 Volts at 1 Amp. It provides a low-cost method for users to evaluate and develop motor control applications using 28-pin dsPIC30F motor control products.
The PICDEM dsPIC33F MCLV development board (DM330021) is intended for low-voltage BLDC applications up to 48 Volts at 10 Amps. It provides a low-cost method for users to evaluate and develop motor control applications using dsPIC30F or dsPIC33F motor control products via a PIM or 28-pin SOIC socket. Serial interfaces include: RS232C, CAN, LIN and USB (for RTDM). Feedback support includes: Hall-Effect Sensors, Shaft Encoder and 3 shunt resistors.
Slide
88
Advanced Motor Control Development System

Our advanced motor control development systems use a modular approach. Start with either the dsPIC30F MC1 development board or the dsPIC33F Explorer 16 development board with PICtail Plus Motor Control Interface board. Then add either the High- or Low-Voltage Power Module and optionally a BLDC or ACIM motor. Shown here is the system for dsPIC33F based development, using the Explorer16, the PICtail Plus Motor Control Interface Board, the Low-Voltage Power Module and a BLDC motor (Part #AC300020)
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89
Data Monitor and Control Interface
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90
Summary
O
Today we covered:
O
The characteristics, features and, applications of the most popular electric motor types including:
O O O O O O
DC Brush Motor DC Brushless Motor Permanent Magnet Synchronous AC Induction Motor Stepper Motor Switched Reluctance Motor
The control algorithms and resources available

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91
Microchip Improves Motor Efficiency

Need
Energy Savings
Method
Add Power Factor Correction Incorporate Field-Oriented Control
Microchip has the solution!

PWM with 2 Time bases Free Software Free Software Free Software, 4 S&H ADC PWM with 2 Time bases 6 x 6 mm small packages Optimized Feature Set 1% Internal Oscillator Free Software Multiple S&H ADC Free Software DSP Resource On-Chip
Noise Reduction
Incorporate Sinusoidal Control Remove Expensive Sensors Integrate PFC + Motor Control
Cost Reduction
Integrate controller on motor Easily Migrate to other DSCs in Portfolio Remove Crystal
Better Torque Control
Incorporate Field Oriented Control Better Loop Response
Improve Reliability
Migrate from Brushed to Brushless Motors Noise Profile Diagnostics
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92
Resources
For resources and information for motor-control applications,
visit Microchips Motor Control Design Center at: www.microchip.com/motor Microchip Application Notes for Motor-Control Applications:
Using the dsPIC30F for Sensorless BLDC Control Using the dsPIC30F for Vector Control of an ACIM Sensored BLDC Motor Control Using dsPIC30F2010 An Introduction to ACIM Control Using the dsPIC30F Using the dsPIC30F2010 for Sensorless BLDC Control Sinusoidal Control of PMSM Motors with dsPIC30F Sensorless FOC for PMSM using dsPIC Sensorless BLDC using BEMF IIR Filtering Sensorless BLDC Control with Back-EMF Filtering Using a Majority Function Getting Started with the BLDC Motors and dsPIC30F Measuring Speed and Position with the QEI Module Driving ACIM with the dsPIC DSC MCPWM Module Using the dsPIC30F Sensorless Motor Tuning Interface
AN901 AN908 AN957 AN984 AN992 AN1017 AN1078 AN1083 AN1160 GS001 GS002 GS004 GS005
Slide 93
Microchip Motor Control Web Site

For more information,
check out the Microchip Motor Control web site at http://www.microchip.c om/motors
Investigate applications by motor type Download a web seminar Sign up for a training class Get answers to technical questions
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Slide
94
References
O O O O O O
Fitzgerald, Kingley, Kusko, Electric Machinery, 1971, McGraw Hill R. Krishnan, Electric Motor Drives, 2001, Prentice Hall DC Motors, Speed Controls, and Servo Systems, 1980 Electrocraft Corporation Novotny, Lipo, Vector Control and Dynamics of AC Drives, 2003, Oxford Press Bose, Modern Power Electronics and AC Drives, 2002, Prentice Hall Hanselman, Duane C., Brushless PermanentMagnet Motor Design, 1994, McGraw-Hill
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95
Thank You for Attending!
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96
1253 IMC
Appendix
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Motor Interface/Driver
Position Sensing
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Slide
99
Sensing Position of a BLDC

Rotor Angular Position
Resolver
O
360
Higher Resolution. 180 (i.e. 1024 Different States per Rev) 0 A/D Module + Processing Power Resolver Externally Mounted (More Sine Expensive) Provides Absolute position feedback Cosine
1253 IMC
Resolver Output
Slide
100

Optical Encoder
O
360 High Resolution. (i.e. 500 Interrupts 180 per Rev) Special QEI Module + Some 0 Math Optical Encoder Externally QEA Mounted (Expensive) QEB Useful for servo INDEX applications due to resolution
Optical Encoder Output
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Slide
101

Hall Effect
O

360 180 0
Low Resolution (i.e. 30 Interrupts per Rev) Simple External Interrupt I/Os 1 to 3 Hall effect sensors (Less Expensive) Standard position sensing for low-cost applications
Hall Effect Sensors

Hall A Hall B Hall C
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Slide
102
Position Sensing Interface

O O
QEI Module senses motor speed and position Three Input Quadrature Encoder
O O O
120 - 240 VAC

IBUS VBUS
Rectifier
PIC MCU or dsPIC DSC
Phase A Phase B INDEX signals
AN1 AN7 PWM3H PWM3L PWM2H PWM2L PWM1H PWM1L FLTA AN6 AN0 QEA QEB INDEX
BLDC Motor
O O O
16-bit position counter Change Notification Input Capture
3-ph Inverter
Fault
Incremental Encoder
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Slide
103
Sensorless Position Detection

O O O O O O
Reliability especially aerospace, military Physical space restrictions axial length Issues surrounding sealing of connections Applications where rotor runs flooded Manufacturability alignment and duty cycle tolerance Cost especially on low power systems
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Slide
104
What is BEMF?
O
L
BEMF
Motor
O O
When a DC motor spins, the PM rotor, moving past the stator coils induces a electrical potential in the coils called Back EMF BEMF is directly proportional to speed BEMF = RPM/Kv In order to sense BEMF we have to spin the motor
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Slide
105
BEMF Motor Speed Sensing
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Slide
106
BLDC Motor Back EMF

O
DC+ A
Back EMF B
O
DC- C
Phase A and C are energized Inactive Phase B has induced Back EMF Normally the phase which is not energized, is monitored for Back EMF Important: Motor has to be spinning
Slide 107
Comparing the BEMF Voltage to Half the DC Bus Voltage
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Slide
108
Comparator Module
O O O
O O O
Dual comparators with fast 20 ns response time Each comparator has 3 selectable inputs (Cx+, Cxand voltage reference) for its two pins Programmable voltage reference (16 stage resistor ladder network and dual voltage ranges) Programmable output polarity Optional output pin and interrupt on change Optional wake up from Sleep Mode
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Slide
109
Current Sensing
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Slide
110
Resistive Low Side Current Sensing
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Slide
111
Resistive High Side Current Sensing
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Slide
112
Magnetic Current Sensing
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Slide
113
ADC Module
O O
O O O O
O O
Up to 16 analog inputs (up to 32 on dsPIC33E) 10-bit Resolution with < +1 LSB/ > -1 LSB DNL error (dsPIC30E) 10-bit/12-bit Resolution with < +1 LSB/ > -1 LSB DNL error (dsPIC33F/33E) Sample time - 154 nS 1 us conversion time (1.1 Msps) 10-bit mode 2 us conversion time (500 ksps) 12-bit mode 4 Sample and Hold circuits 10-bit mode (1 S&H in 12-bit mode) External VREF+ and VREFProgrammable sampling sequence
O O O
120 - 240 VAC

IBUS VBUS
Rectifier
BLDC Motor
3-ph Inverter
16-sample, dual-ported result buffer Scan mode Alternate sample mode
Fault
O O O
Multiple conversion trigger sources Selectable result formats Conversions in Sleep and Idle
Incremental Encoder
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Slide
114
Motor Driver or Inverter
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Slide
115
PWM with Inverter

O O
High Frequency Carrier Duty Cycle Varied Over Time to Generate a Lower Frequency Signal
+V
PWM1H PWM2H PWM3H
3 Phase BLDC
PWM1L
PWM2L
PWM3L
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116
Motor Control PWM Module

O PWM
Module drives motor O Up to Four PWM generators O Several options allow PWM to drive many circuit types
O O O
120 - 240 VAC

IBUS VBUS
Rectifier
BLDC Motor
AC Motors DC motors Power supplies
3-ph Inverter
O High
frequency @ more bits = better control of motor operation O Fault detection for safe operation
Fault
Incremental Encoder
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Slide
117
Transistor Considerations
Vsupply
Winding
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118
Vsupply
Winding
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119
Vsupply
Winding
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Slide
120
Vsupply
Winding
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121
Vsupply
P-Channel
Winding
N-Channel
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122
Vsupply
N-Channel
Winding
N-Channel
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123
Other Considerations
O
Choosing a Power Switching Element:

O O
Based on application Motor specifications

O O O
Voltage Current Power ratings
Current limiting required if driving the motor at higher than rated voltages
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Slide
124
Selecting The Inverter Switch Element

MOSFET IGBT
N-Channel PLOSS = Irms * 2 * RDS-ON where: RDS-ON = drain-to-source on-state resistance Irms = drain-to-source rms current
N-Channel PLOSS = Iave * VCE-SAT Where: VCE-SAT = collector-to-emitter saturation voltage Iave = collector-to-emitter average current
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125
Gate Charge
on Rdrv V drv CGS off
VDS 0 VGS 0 Vth turn-on t1 t3 t2 Vpl VDR turn-off t3 t2 t1
The gate drive current must not only overcome the Ciss=Cgs+Cds, but also the energy injected into the gate from the Crss = Cds.
IG 0
PDRIVE - f SW Ciss(VDR) [ 2
Crss(VDS(t)- VDS(t-1)) 2 2
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Slide
126
MOSFET or IGBT
O
MOSFETs for application voltages < 250V

O
The selection of IGBTs with rated voltages below 600V is very small.
IGBTs for application voltages > 1000V

O
As the voltage rating of the MOSFET increases, so does the RDS-ON and size of the device. Above 1000V, the RDS-ON of the MOSFET can no longer compete with the saturated junction of the IGBT.
Application-specific between the 250V and 1000V

O
Factors power dissipation, switching frequency and cost of the device.
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Slide
127
Hints for Design and De-rating

O
Voltage rating of the device is de-rated to 80% of its value The maximum junction temperature of the device should not exceed 120C at maximum load and maximum ambient Minimize trace inductance going to the leads of the motor from the drive circuitry The current rating for the switching element must also be able to withstand short circuit and start-up conditions
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Slide
128
Gate Driver Functions

O O O O O O
Minimizes turn-on and off times Provides power to keep the power switch on Provides reverse bias in order to ensure the switching device remains in the off-state Amplifies the control signal Provides protection from over current
O
Feedback would be required
O O
Provides a large current for initiating turn-on, then large gate voltage at low current levels for the duration of the turn-on period May provide electrical isolation where required May provide deadtime (blanking time)
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Slide
129
High Voltage Floating MOS Gate Driver

Block Diagram
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Slide
130
Gate Drive Requirements Of High-side Devices

O O
Gate voltage must be 10 V to 15 V higher than the drain voltage The gate voltage must be controllable from the logic, which is normally referenced to ground The power absorbed by the gate drive circuitry should not significantly affect the overall efficiency
1253 IMC
Slide
131
Power Dissipation in a HVIC

O
Low voltage static losses (PD,q(LV)) are due to the quiescent currents from the low voltage supplies
O
(e.g., VDD, VCC and VSS). In a typical 15 V application these losses amount to approximately 3.5 mW at 25C and increase to approximately 5 mW at TJ = 125C
Low voltage dynamic losses (PD,SW(LV)) on the VCC supply are due to
O
Capacitor is charging or discharging through a resistor, half of the energy that goes into charging the capacitance is dissipated in the resistor Dynamic losses associated with the switching of the internal CMOS circuitry
O O
High voltage static losses (PD,Q(HV)) are mainly due to the leakage currents in the level shifting stage. High voltage switching losses (PD,SW(HV))
O O
Due to the level shifting circuit Due to the charging and discharging of the capacitance of the highside p-well
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Slide
132
High Voltage Integrated Circuits
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Slide
133
High Voltage Integrated Motor Drivers

Vendor Fairchild Semiconductor International Rectifier Model FSB50250 and FSB50450 MotionSmart Power Modules IR3103 motor drive IC Applications BLDC motors in home appliances (below 100 W) Two- and three-phase half-bridge inverter motor drives for ac induction and BLDC motors Features Modules combine six fastrecovery MOSFETs and three half-bridge, high-voltage ICs Half-bridge FredFET with gate driver Needs no heatsink for motor drives up to 180 W 1200-V IGBT gate driver ICs protect against ground faults, shoot-through, and short to supply rails 1200-V rating on current-sensing ICs 64-lead MQFP,16-lead SOIC, and 24lead SSOP Package 29 mm 12 mm, 23-lead Tiny-DIP 11-pin mini SIP
International Rectifier
IR22381Q /2277S/22771S/
AC induction motor drives up to 15 hp
2214SS/22141SS (IR21381Q /2177S/21771S/ 2114SS/21141SS STMicro-electronics L6205/6225/6206/ 6226/6207/ 6227/ 6208/6228/ 6235/6229
BLDC and ac motor drives 400-V ac 3-phase systems 600-V ac 3-phase systems Dual dc or bipolar stepper motors and BLDC motors
Two-phase stepper motor driver has: Dual DMOS full bridge
PowerDIP24, PowerSO36 and SO24
Smart motor drivers
PWM controller Phase sequence generator
Zetex Semiconductors
ZXBM1015 singlephase motor predriver
Variable or fixed speed control of single-phase brushless dc fans, blowers and pumps
PWM output to drive H-bridge

Current monitoring Configurable phase commutation delay
Miniature TSSOP20
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Slide
134
Isolated Three Phase Inverter

Phase voltages Phase voltages Power Electronics Gate Drive Stages Switching signals
Optocouplers Drive
Isolated Hall-Effect Current Transducer Currents measured
Fault detection circuitry Isolated Switching Signals Fault signals
Conditioning of Feedback Signals
Signals from/to dsPIC DSC

Slide
135
Driver Application Resources

Motor Interface/Driver
AN894 Motor Control Sensor Feedback Circuits Sensors are a critical component in a motor control system. They are used to sense the current, position, speed and direction of the rotating motor. In most motor control systems, several sensors are used to provide feedback information on the motor. These sensors are used in the control loop and to improve the reliability by detecting fault conditions that may damage the motor. AN898a Determining MOSFET Driver Needs for Motor Drive Applications Electronic motor control for various types of motors represents one of the main applications for MOSFET drivers today. This application note discusses some of the fundamental concepts needed to obtain the proper MOSFET driver for your application.
DS41233
The DC Motor Control Tips n Tricks document has lots of information about driving brush DC motors. Measuring Speed and Position with the QEI Module Driving ACIM with the dsPIC DSC MCPWM Module
GS002 GS004
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Slide
136
Motor Control Vocabulary
1253 IMC
Slide
137

O
Most Commonly found Motor Types

O O O O O O
DC Brush DC Brushless PMSM AC induction Stepper Motor Switched Reluctance Timer Analog to Digital Converter Pulse Width Modulation
1253 IMC
General Functions for Motor Control

O O O
Slide
138

O
Electricity Basics
O
AC is Alternating Current
O O O
Think of the wall socket It is how electricity is generated! Motor is a reverse of a generator! Think of a battery Armature is energized in a DC motor
1253 IMC
DC is Direct Current
O O
Slide
139

O
Motor Structure
O
Armature
O O O
Device that turns in a motor Sometimes called rotor Energized in a DC motor The outside case Energized in an AC motor
1253 IMC
Stator
O O
Slide
140

O
Motor Structure (continued)

O
Commutator
O O
Only found in DC motors Permits generation of direct current in a rotating machine Application of force Think of turning a bolt
1253 IMC
Torque
O O
Slide
141

O
Motor Structure (continued)

O
Poles
O
AC Induction motor
O O
Number of magnetic on poles stator winding See Synchronous speed Number of PM poles on the rotor Mechanical vs. Electrical revolutions Stronger magnetic field (torque) Poles do not determine speed
PMS Motor
O O
Brush DC Motor
O O
1253 IMC
Slide
142

O
Torque Ripple
O O
Variation in torque (Commutation) Expressed as a percentage of torque Rotor unable keep up with stator field Caused by load
Slip
O O
1253 IMC
Slide
143

O
Field Weakening
O
O O
Decrease strength of the magnetic field Increases motor speed Decreases torque
1253 IMC
Slide
144

O
Inverter
O O
Electronic device Converts fixed frequency and fixed voltages to variable frequency and voltage Electronic speed control of an AC motor
1253 IMC
Slide
145

O
Synchronous Speed (ACIM)

O
Speed of the rotating magnetic field in stator winding Rotor moves with the rotating stator field Speed = 120 * freq Poles
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Slide
146

O
Electrical Revolution (BLDC)

O
O O
Rotor moves with the rotating stator field Six Steps per Rotor pole pair Electrical RPS = Mechanical RPS Rotor Pole Pairs
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Slide
147

O
Dynamometer
O O
Calibrated dynamic load Measures motor

O O O
Output torque Speed Efficiency
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Slide
148

O
Open Loop Control

O
O O
No feedback basic control suitable for systems with simple loads such as fans Timer based solution May have current sense for overload / stall conditions Position / speed feedback from sensor(s) Used for accurate speed and control
1253 IMC
Closed loop control

O O
Slide
149

O
Two Types of Closed loop control

O
With Sensor
O
Hall Effect, Resolvers, Quadrature Encoders Measures the current flowing in the motor
O O
Without Sensor (sensorless)

O
Measure back EMF for motors with magnets Measure inductance (L) in switched reluctance motors
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Slide
150

O
Embedded Control Algorithms (examples)

O O
More complex than using timers Employed in closed loop systems

O O O
PI - Proportional Integrative PID - Proportional Integrative Differential Algorithms require

O O O
Measurement Calculation Control
Requires microcontroller performance

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Slide
151
Trademarks
The Microchip name and logo, the Microchip logo, Accuron, dsPIC, KeeLoq, KeeLoq logo, MPLAB, PIC, PICmicro, PICSTART, PRO MATE, rfPIC and SmartShunt are registered trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. FilterLab, Linear Active Thermistor, MXDEV, MXLAB, SEEVAL, SmartSensor and The Embedded Control Solutions Company are registered trademarks of Microchip Technology Incorporated in the U.S.A. Analog-for-the-Digital Age, Application Maestro, CodeGuard, dsPICDEM, dsPICDEM.net, dsPICworks, dsSPEAK, ECAN, ECONOMONITOR, FanSense, In-Circuit Serial Programming, ICSP, ICEPIC, Mindi, MiWi, MPASM, MPLAB Certified logo, MPLIB, MPLINK, mTouch, PICkit, PICDEM, PICDEM.net, PICtail, PIC32 logo, PowerCal, PowerInfo, PowerMate, PowerTool, REAL ICE, rfLAB, Select Mode, Total Endurance, UNI/O, WiperLock and ZENA are trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. SQTP is a service mark of Microchip Technology Incorporated in the U.S.A. All other trademarks mentioned herein are property of their respective companies. 2008, Microchip Technology Incorporated. All Rights Reserved.
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1253 IMC

Overview of Intelligent Motor Control Solutions

When you finish this class you will know:

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Basic Motor Theory Overview of common motor types and applications

Motor control algorithms and resources

2008 Microchip Technology Incorporated. All Rights Reserved.

Basic Motor Theory

2008 Microchip Technology Incorporated. All Rights Reserved.

Basic Motor Theory

How? Force is developed when charge moves through a magnetic field

Left Hand Rule

2008 Microchip Technology Incorporated. All Rights Reserved.

Taking direction of F into account T=Fr sin

2008 Microchip Technology Incorporated. All Rights Reserved.

Torque = Force * Distance

2008 Microchip Technology Incorporated. All Rights Reserved.

Common Motor Types and Applications

2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

Brushed & Brushless DC Motor Construction

2008 Microchip Technology Incorporated. All Rights Reserved.

BLDC vs. BDC Motor

Rotor Inertia Speed Range Electric Noise Generation Cost of Building

2008 Microchip Technology Incorporated. All Rights Reserved.

Permanent Magnet Synchronous Motor Permanent

2008 Microchip Technology Incorporated. All Rights Reserved.

Rotor Permanent magnets

2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

Synchronous = 120 * frequency Poles Speed

2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

BLDC vs. AC Motor

No slip is experienced between stator and rotor frequencies

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2008 Microchip Technology Incorporated. All Rights Reserved.

2008 Microchip Technology Incorporated. All Rights Reserved.

Switched Reluctance Motor

2008 Microchip Technology Incorporated. All Rights Reserved.

Switched Reluctance Motor

2008 Microchip Technology Incorporated. All Rights Reserved.

Adjustable-speed drive Variable-frequency drive Torque and speed control

2008 Microchip Technology Incorporated. All Rights Reserved.

Variable Speed/Frequency Drives

2008 Microchip Technology Incorporated. All Rights Reserved.

Need for Variable Speed Drives (VSD)

Electric motors consume 1/3 power in US Motorized Equipment oversized

Exceed maximum torque requirements To meet equipment requirements

Motor usually in continuous, full-speed operation

2008 Microchip Technology Incorporated. All Rights Reserved.

Electrical Motor Drive Advantages

Variable motor frequency Energy efficient

Increased motor life span

2008 Microchip Technology Incorporated. All Rights Reserved.

Motor and Drive Application Requirement

2008 Microchip Technology Incorporated. All Rights Reserved.

Control Technique Types

Vector/Field Oriented Control