MIL-PRF-38534 AND 38535 CERTIFIED FACILITY
M.S.KENNEDY CORP.
30 AMP, 50V, 3 PHASE
MOSFET DC BRUSHLESS
DIGITAL MOTOR CONTROLLER
4365
(315) 701-6751
4707 Dey Road Liverpool, N.Y. 13088
FEATURES:
50 Volt Maximum Operating Motor Supply Voltage
75 Volt Absolute Maximum Output Stage Rating
30 Amp Continuous Output Switch Capability
100% Duty Cycle High Side Conduction Capable
Shoot-Through/Cross Conduction Protection
Hall Sensing and Digital Commutation Circuitry on Board
Locked Anti-Phase Full Complimentary Digital PWM
Full Four Quadrant Torque Control Capability
Good Accuracy Around Zero Torque
Isolated Package Design for High Voltage Isolation Plus Good Thermal Transfer
Contact MSK for MIL-PRF-38534 Qualification Status
DESCRIPTION:
The MSK 4365 is a non-isolated, completely digitally controlled 3 Phase Brushless DC Motor Control Torque Amplifier
in a convenient isolated hermetic package. The controller is capable of 30 amps continuous output current with 75V
absolute maximum rated MOSFETs, allowing a 50V maximum motor supply voltage. Bridge protection is included. The
digital signal processor controls the hall sensing, commutation, current sensing and PWM control for a complete closed
loop, current mode torque amplifier. The PWM scheme used by the processor is "Locked Anti-Phase Full Complementary"
digital PWM. This provides full four quadrant control of the motor around zero torque without losing loop control. Compensation values are analog inputs and are read in by the processor upon start up or after releasing RESET. The MSK4365 has
good thermal conductivity for MOSFET power dissipation due to the isolated package design that allows direct heat sinking
of the device without insulators. Current command input is an analog input read by the processor and current monitor
output is analog as well.
BLOCK DIAGRAM
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8548-27 Rev. E 8/13
PIN-OUT INFORMATION
1
2
3
4
5
6
7
8
NC
VDD
VDD
GND
GND
NC
GND
I COMMAND IN
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
I MONITOR OUT
NC
GND
TP1
TP3
TP4
RESET
NC
25
26
27
28
29
30
31
32
GND
HALL A IN
HALL B IN
HALL C IN
PGAIN
IGAIN
DGAIN
TP5
ABSOLUTE MAXIMUM RATING
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41
42
43
RØJC Thermal Resistance
Storage Temperature Range 9
TST
Lead Temperature Range
TLD
10 Seconds
TJMAX Output Switches
TC
Case Operating Temperature
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CV+
BVS
BVS
BØ
BØ
BV+
AVS
AVS
33
34
35
36
37
38
39
40
AØ
AØ
AV+
7
+V
High Voltage Supply
-3V transient to + 75V
+VDD Low Voltage Supply
-0.3V to +5.5V
Voltage on any logic, analog input pin
with respect to GND
-0.3V to + VDD +0.3V
Continuous Output Current
30A
Peak Output Current (dissipation limited)
41A
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BRAKE
DISABLE
RTN
RTN
CVS
CVS
CØ
CØ
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1.5°C/W
-65°C to 150°C
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+300°C
+150°C
-40°C to +85°C
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ELECTRICAL SPECIFICATIONS
NOTES:
1
2
3
4
5
6
7
8
9
Guaranteed by design but not tested. Typical parameters are representative of actual device performance but are for reference only.
Industrial grade devices shall be tested to subgroup 1 and 4 unless otherwise specified.
Military grade devices ("G" suffix) shall be 100% tested to subgroups 1, 2, 3 and 4.
Subgroups 5 and 6 testing available upon request.
Subgroup 1, 4 TC = +25°C
2, 5 TC = +85°C
3, 6 TC = -40°C
Measurements do not include offset current at 0V current command.
Continuous operation at or above absolute maximum ratings may adversly effect the device performance and/or life cycle.
When applying power to the device, apply the low voltage followed by the high voltage or alternatively, apply both at the same time.
Do not apply high voltage without low voltage present.
Internal solder reflow temperature is 180°C, do not exceed.
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8548-27 Rev. E 8/13
APPLICATION NOTES
MSK 4365 PIN DESCRIPTIONS
HALL A - is the Hall A sensor input from the motor to
allow commutation of the output phases. This input has a
5Kohm pull-up resistor to +VDD for typical open-collector Hall sensor outputs. It is also filtered with a 0.001μF
capacitor to ground.
B PHASE OUT - is the power bridge output to be connected to the motor B phase winding.
HALL B - is the Hall B sensor input from the motor to
allow commutation of the output phases. This input has a
5KΩ pull-up resistor to +VDD for typical open-collector
Hall sensor outputs. It is also filtered with a 0.001μF capacitor to ground.
+V - is the motor supply voltage. All high power bypassing components shall be connected between this point and
RTN and shall be placed as close to the module as practical.
C PHASE OUT - is the power bridge output to be connected to the motor C phase winding.
RTN - is the power ground return for all the high current
paths for the motor output. +V bypassing should be
retured to ground through this pin. All bypassing components shall be connected betwen this point and +V, and
shall be placed as close to the module as practical. All low
power ground returns should be through the GND pin.
HALL C - is the Hall C sensor input from the motor to
allow commutation of the output phases. This input has a
5KΩ pull-up resistor to +VDD for typical open-collector
Hall sensor outputs. It is also filtered with a 0.001μF capacitor to ground.
IMON - is an analog output for viewing the bridge current
as read by the microprocessor. It originates from the processor as a PWM signal and is filtered to create an analog voltage representing the bridge current. The zero current point will be centered at 2.5V. Positive current will
be above 2.5V, and negative current will be less than 2.5V.
DISABLE - is a logic input for causing the module to completely shut off bridge output. It is asserted high and internally pulled up to +VDD by a 10KΩ resistor. It must be
actively pulled to ground to enable the device.
BRAKE - is a logic input for causing the module to cease
PWM modulation, shut off all high side transistors and
turn on all low side transistors. This will short circuit back
EMF generated voltage from the spinning motor through
the bridge, causing braking action on the motor. It is asserted high and internally pulled up to +VDD by a 10KΩ
resistor. To disengage it must be actively pulled to ground.
ICOMM - is an analog input for commanding the required
current in the output bridge . In locked anti-phase complimentary modulation, the bridge is always PWM modulating. At zero current, the bridge is modulating at exactly
50% duty cycle. The zero current (torque) point, the current command signal will be at 2.5V. Anything more than
2.5V will command current in the positive direction and
anything less than 2.5V will command current in the negative direction.
RESET - is an asserted low logic input that clears and
restarts the processor from a state similar to power up.
This function is intended to be used as an aid to system
development. The P, I and D gain inputs are read and stored
only once at power up or RESET. This is to prevent control
instability from fluctuations on these inputs during operation. If adjustments to the gain inputs are required the
device can be reset after the adjustments are made thus
avoiding a complete system power down and power up
cycle. It is pulled up to +VDD by a 10KΩ resistor internally.
+VDD - is the power supply input for the microprocessor, analog circuitry, and gate drive circuitry. This supply
voltage must be well regulated and ripple free, as it is
feeding the microprocessor directly.
GND - is the low power ground return for referencing all
the logic, +VDD power and bypassing, and analog inputs.
No high current should be allowed to pass to ground
through this pin. High current power return is through RTN
pins.
NOTE:
TP PINS 12, 13, 14, 24 - are for factory use only. They
are used during manufacturing for programming and test
purposes only. Leave these pins unconnected.
IGAIN - is an analog input for programming integral gain
factor into the error compensation loop. Zero volts will
mean zero integral gain, and increasing voltage will mean
increasing the integral gain factor.
PGAIN - is an analog input for programming proportional
gain factor into the error compensation loop. Zero volts
will mean zero proportional gain, and increasing voltage
will mean increasing the proportional gain factor.
DGAIN - is an analog input for programming derivative
gain factor into the error compensation loop. Zero volts
will mean zero derivative gain, and increasing voltage will
mean increasing the derivative gain factor.
A PHASE OUT - is the power bridge output to be connected to the motor A phase winding.
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8548-27 Rev. E 8/13
APPLICATION NOTES CONT'D
PID Control Gain and Algorithm
The PID Control sample and computation rate is 20KHz which is once every PWM cycle.
The PWM duty cycle bit resolution is 11.5 bits with an equivalent integer range of 0 to 1398. Zero net output current
occurs at a PWM duty cycle of 50% which is represented by 699 in the PWM duty cycle register.
The Analog to Digital Converter (ADC) is 10 bits wide and has a full scale value of 1023.
The ADC Volt per bit resolution = VDD / 1023, thus for VDD = 5.0 Volts the Volt per bit resolution will be equal to
4.8876(mV/bit).
The PID control algorithm utilizes 16 bit fractional integer values for all computations. To provide adequate control
response by the PID control algorithm the ADC results for the gain inputs as well as the current sense and current
command inputs are multiplied by 32.
The equivalent P, I and D integer gain value is given by:
(VIN / 4.8876(mV/bit)) X 32.
Where VIN is the voltage present at the respective device gain input pin.
At 0.5 V the equivalent gain will be 3273, 1.0 V would be equivalent to 6547 and so forth.
The total transconductance gain is 6.667 and is applied externally as well as internally. The external factor is applied
by the differential amplifier at the current sense resistor (see block diagram on page one) and is equal to 5. The other
factor is applied digitally and equals 1.3334.
The PID control algorithm is formulated with the following equation:
controlOutput[n] = controlOutput[n – 1] + controlHistory[n] X (PGAIN + IGAIN + DGAIN)
+ controlHistory[n – 1] X -(PGAIN + 2 * DGAIN)
+ controlHistory[n – 2] X DGAIN
Where controlHistory[n] = currentSense[n] – currentCommand[n]
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8548-27 Rev. E 8/13
MECHANICAL SPECIFICATIONS
WEIGHT = 88 GRAMS TYPCAL
NOTE: ALL DIMENSIONS ARE ±.010 INCHES UNLESS OTHERWISE LABELED.
ESD TRIANGLE INDICATES PIN 1.
ORDERING INFORMATION
MSK4365 G U
LEAD CONFIGURATION
S=STRAIGHT, U=BENT UP, D=BENT DOWN
SCREENING
BLANK=INDUSTRIAL; G=MIL-PRF-38534 CLASS G
GENERAL PART NUMBER
THE ABOVE EXAMPLE IS A MILITARY GRADE HYBRID WITH LEADS BENT UP.
M.S. Kennedy Corp.
4707 Dey Road Liverpool, New York 13088
Phone (315) 701-6751
FAX (315) 701-6752
www.mskennedy.com
The information contained herein is believed to be accurate at the time of printing. MSK reserves the right to make
changes to its products or specifications without notice, however, and assumes no liability for the use of its products.
Please visit our website for the most recent revision of this datasheet.
Contact MSK for MIL-PRF-38534 qualification status.
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8548-27 Rev. E 8/13