《STM32马达控制固件库.pdf》由会员分享，可在线阅读，更多相关《STM32马达控制固件库.pdf（29页珍藏版）》请在三一文库上搜索。
1、STM32motor control firmware library STM32 FOC PMSM SDK v3.0 Contents STM32 FOC PMSM SDK v3.0 overview The FOC (field oriented control) algorithm STM32 with FOC Motor control and electric motor offer FOC with STM32F100 and STM32F103 Support tools for 3-phase motor control application Quickly evaluate
2、 ST microcontrollers on 3- phase PMSM motor control applications Save time when developing motor control solutions to be run on ST microcontrollers Overview STM32 FOC PMSM SDK v 3.0 Firmware library (free of charge) STM32F103 microcontroller (STM32 performance line) Medium-density devices (up to 256
3、 Kbytes of Flash) or high-density devices (from 256 Kbytes to 1 Mbyte of Flash) STM32F100 microcontroller (STM32 value line) in order tosupporting It implements the field oriented control (FOC) drive of 3-phase permanent magnet synchronous motors (PMSM), both surface mounted (SM-PMSM) and internal (
4、I-PMSM) Electric motor control at ST Electric motors AC Synchronous Sinusoidal Permanent magnet Internal mounted PM Surface mounted PM Wound field Trapezoidal Asynchronous Squirrel cage wound rotor Variable reluctance Switched reluctance Stepper DC Universal Also supported by ST products STM32 motor
5、 control FW library available PMSM ACIM ACIM: 3-phase induction motor PMSM: 3-phase permanent magnet synchronous motor Higher efficiency and/or reliability vds vqs+ - + - PID PID iqs ids iqs* ids* REVERSE PARK & circle limitation CALC SVPWM CURRENT READING va,b,c r el v iabc PARK r el i CLARKE SENSO
6、RLESS ROTOR SPEED/POSITION STATE OBSERVER DC domainAC domain vds vqs+ - + - PID PID iqs ids iqs* ids* REVERSE PARK & circle limitation CALC SVPWM CURRENT READING va,b,c r el v iabc PARK r el i CLARKE DC domainAC domain b-emf b-emf BACK-EMFs CALCULATION Rotor Angle/Speed reconstruction i v Bus voltag
7、e measurement vds vqs+ - + - PID PID iqs ids iqs* ids* REVERSE PARK & circle limitation CALC SVPWM CURRENT READING va,b,c r el v iabc PARK r el i CLARKE SENSORLESS ROTOR SPEED/POSITION STATE OBSERVER DC domainAC domain vds vqs+ - + - PID PID iqs ids iqs* ids* REVERSE PARK & circle limitation CALC SV
8、PWM CURRENT READING va,b,c r el v iabc PARK r el i CLARKE DC domainAC domain b-emf b-emf BACK-EMFs CALCULATION Rotor Angle/Speed reconstruction i v Bus voltage measurement Field oriented control (FOC) Mathematical technique used to achieve decoupled control of the flux and torque in a 3-phase motors
9、 Block diagram of FOC algorithm example a b c r m Benefits of FOC Optimized efficiency even during transient operation Precise and responsive speed control to load variations Precise position control (through instantaneous torque control) Acoustical noise reduction due to precise control technique F
10、OC with STM32 Power stage M 6-channel PWM timer Speed/position feedback timer 6x PWM Fault signals Ia and Ib VBUS Tachometer/encoder/Hall sensor Not present for sensorless algorithm Va Vb Vc SV PWM V V d,q , I I Ia Ib ADCs s s m ss d,q , , a,b FOC algorithmHW peripherals STM32 FOC PMSM SDK v 3.0 STM
11、32 FOC PMSM SDK v3.0 key features Algorithm improvements compared to v2.0 Single/dual simultaneous vector control (FOC) Any combination of current-reading topologies and speed or position sensors is supported Full customization through ST MC workbench (GUI) Supports both STM32F100x and STM32F103x fa
12、milies Application example based on FreeRTOS 3-phase brushless motor control evolution Next step Support new advanced MCUs Adding new features Q3 2007: STR750 MC kit Q1 2008: STM32 MC kit Q4 2008: STM32 FOC FW library v2.0 High-end FOC Q1 2011: STM32 FOC PMSM SDK v3.0 - Dual FOCs - High-end FOC - Lo
13、w-end FOC Performances STM32F100 Value line 32-bit ARMCortex-M3 core Up to 30 DMIPS at 24 MHz max 2.0 to 3.6 V operation -40 to +105 C Enhanced control 1x 16-bit advanced timer 6x 16-bit PWM timers Advanced analog 1x fast 12-bit 1.2 s ADC Dual-channel 12-bit DAC System integration Internal 8 MHz RC
14、oscillator Built-in safe reset system Datasheets FOC single motor drive with STM32F100 Requirements for dynamic performances are moderate Quietness of sinusoidal current control (versus 6-step drive) is valuable Extended speed range is required Particularly suitable for pumps, fans and compressors C
15、ost optimized More silent Lower torque ripple Extended speed range more easily achieved Target application characteristicsAdvantages Six-step drive Current Current FOC control Performances of FOC with STM32F100 Configuration: 1 shunt/sensorless at 20 kHz PWM,10 kHz FOC Motor control code size is 15.
16、82 Kbytes Motor control RAM usage is 2.77 Kbytes FOC total execution time is 65.22 s (ADC ISR + TIM1 update ISR) FOC introduced CPU load is 65.2% Total CPU load is 70% (60% at 8 kHz FOC) ISR: interrupt service routine STM32F103 Performance line 32-bit ARMCortex-M3 core 1.25 DMIPS/MHz (Dhrystone 2.1)
17、 2 to 3.6 V supply -40 to + 105C From 16-Kbytes to 1-Mbyte Flash memory Enhanced control Up to 2x 16-bit advanced timer Up to 4x 16-bit PWM timers Advanced analog Up to 3x fast 12-bit 1.2 s ADC System integration Internal 8 MHz RC oscillator Built-in safe reset system Datasheets Wide application ran
18、ge from home appliances to robotics, where: Accurate and quick regulation of motor speed and torque is required (such as in torque load transient or abrupt target speed variations) CPU load granted to motor control must be low due to other duties Home appliances Industrial motor drives Power tools G
19、ames Escalators and elevators Fitness, wellness and healthcare FOC single motor drive with STM32F103 Target applications Performances of FOC with STM32F103 Configuration: 1 shunt/sensorless at 10 kHz FOC sampling time Motor control code size is 16.2 Kbytes Motor control RAM usage is 2.5 Kbytes FOC t
20、otal execution time is 26.1 s (ADC ISR + TIM1 update ISR) FOC introduced CPU load is 30% ISR: interrupt service routine Wide application range from home appliances to robotics, where: Up to two FOC drives have to run at the same time Accurate and quick regulation of motor speed and torque is require
21、d (such as in torque load transient or abrupt target speed variations) Washing machines: drum + drain pumps Dishwashers: spray + drain pumps Air conditioners: compressors + outdoor fans FOC dual motor drive with STM32F103 Industrial motor drives Target applications Target applications Dual FOC PMSM
22、block diagram Gate driversPower bridge1Motor1 va,b,c Speed sensors: Sensorless, Hall, Encoder BKIN Currentsensors: 3shunt/1shunt/ICS Power bridge2 Motor2 Speed sensors: Sensorless, Hall, Encoder Currentsensors: 3shunt/1shunt/ICS va,b,c BKIN r*1 r*2 Gate drivers With STM32 FOC PMSM SDK v3.0, STM32F10
23、3 high-density devices with their extended set of peripherals (2 advanced timers, 3 fast ADCs, and more) can drive 2 motors in diverse configurations ICS: isolated current sensors Performances of dual FOC with STM32F103 Example of configuration No. 1: Motor 1, 1 shunt/sensorless 8 kHz PWM/FOC flux w
24、eakening enabled Motor 2, 1 shunt/sensorless 16 kHz PWM, 8 kHz FOC Motor control code size is 22.3 Kbytes (1.5 times below single motor case) Motor control RAM usage is 4.01 Kbytes FOC introduced CPU load (including TIMx update ISRs) is 44% Total CPU load 50% ISR: interrupt service routine Performan
25、ces of dual FOCs with STM32F103 Example of configuration No. 2: Motor 1, 3 shunts/sensorless 16 kHz PWM/FOC MTPA and flux weakening enabled Motor 2, 1 shunt/sensorless 16 kHz PWM, 8 kHz FOC Motor control code size is 25.5 Kbytes Motor control RAM usage is 4.14 Kbytes FOCs introduced CPU load (includ
26、ing TIMx update ISRs) is 62.6% Total CPU load 70% ISR: interrupt service routine Summary table: features set MCU support STM32F100 (Value line) and STM32F103 1-shunt Flux weakening IPMSM MTPA Feed forward Sensorless (STO + PLL) Sensorless (STO + Cordic) EncoderHall sensors Debug and tuning ST MC wor
27、kbench support USART-based com protocol add-on Max FOC 11 kHz 3-shunt ICS FreeRTOS Max FOC 25 kHz Dual FOC Max FOC 25 kHz Max dual FOC 20 kHz STM32F103 (Performance line) HD STM32F103 (Performance line) MD and HD ICS: isolated current sensors ST Motor Control Workbench v1.0.2 (STMCWB) STMCWB is a PC
28、 code generator tool developed to reduce the firmware development time for STM32 FOC PMSM SDK v3.0. A graphical user interface (GUI) allows you to generate all parameter header files that configure the library, according to application needs. MotorPower stageDrive managementControl stage STM3210B-MC
29、KIT starter kit STM3210B-MCKIT MC connector STM3210B-MCKIT starter kit STM3210B-MCKIT starter kit Driving strategy: vector control AC induction motors, sensored PMSM motors, sensored and sensorless 34-pin dedicated motor control connector Encoder, Hall sensor, tachometer sensor inputs Current sensin
30、g mode: 3 shunt resistors Single shunt STM32F103 (32-bit MCU with dedicated motor control timer) L6386DE (gate driver) VIPer12AS (power supply downconverter) L7815CP, L7805CP, LD1117S33TR (voltage regulators) STGF7NC60H (IGBT) TSV994, TS374ID, TS372ID (op-amps) M74HC09RM13TR, M74HCT7007RM13TR (logic
31、) ST complete offerMain features Dual FOC STM32 FOC PMSM SDK v3.0 STEVAL-IHM022V1STM3210B-EVAL STM32 evaluation boards (control board) STEVAL-IHM032V1STM32100B-EVALSTM3210E-EVAL FOCFOCFOC Optimized for STM32F100xHigh performance High performance http:/ Complementary high-voltage power stages 2000 W
32、1x IGBT SLLIMM: STGIPS20K60 1x PWM SMPS: VIPer26LD 1x IGBT: STGW35NB60SD STEVAL-IHM028V1 1000 W 1x IGBT SLLIMM: STGIPL14K60 1x converter based on VIPer16 1x IGBT: STGP10NC60KD STEVAL-IHM025V1 1000 W 1x IGBT SLLIMM: STGIPS10K60A 1x converter based on VIPer16 1x IGBT: STGP10NC60KD STEVAL-IHM027V1 3x P
33、WM smart drivers: L6390 1x converter based on VIPer12 6x MOSFET power switches: STD5N52U STEVAL-IHM021V1 3x PWM smart drivers: L6390 1x converter based on VIPer12 6x IGBT power switches: STGDL35NC60DI STEVAL-IHM024V1 1000 W 3x PWM smart drivers: L6390 1x converter based on VIPer16 7x IGBT power swit
34、ches: STGP10NC60KD STEVAL-IHM023V2 STEVAL-IHM032V1 (*) 150 W 3x PWM smart drivers: 2xL6392D and 1x L6391D 1x converter based on VIPer12 6x IGBT power switches: STGD3HF60HD SLLIMM (ST IPMs) basedGate-driver and power-transistor based (*) Available in Q4/2011 http:/ Low voltage power stages and drive
35、solutions 120 W 3x dual power MOSFETs: STS8DNH3L 2x PWM smart drivers: L6387E 1x step-down converter: L4976D STEVAL-IHM031V1 Power stage up to 48 V 2000 W 3x PWM smart drivers: L6388 6x LV power MOSFETs: STV250N55F3 1x step-down converter: L4978D STEVAL-IEM003V1 FOC PMSM motor drive 80 W 1x 32-bit m
36、icrocontroller: STM32F103C 1x motor drive IC: L6230PD STEVAL-IFN003V1 (*) Low-voltage power stagesComplete motor drive solutions (*) Available in Q4/2011 http:/ STM32 control board Segger J-Link motor Example: STEVAL-IHM025V1 configurations STM32 MCSTEVAL-IHM025V1 HW ready to work in FOC control PMS
37、M STM32 FOC PMSM SDK v3.0 configuration through the PC GUI: STMCWB v1.0.2 Field oriented control (FOC) Download: STM32 FOC PMSM SDK v 3.0 firmware library zip file ST MC Workbenchv1.0.2 zip file Consult: Technical note TN0516 Overview of the STM32F103/STM32F100 PMSM single/dual FOC SDK V3.0 User manual UM1052 STM32F103 or STM32F100 PMSM single/dual FOC SDK V3.0 User manual UM1053 Advanced dev. guide for STM32F103/STM32F100 PMSM single/dual FOC library More information Thank you