Motor Control and Drive Motor Control and Drive Design Solutions www.microchip.com/motor Microchip Motor Control and Drive Solutions Silicon Solution Cost Competitive Superior Architecture Large Compatible Family Algorithms Technical Support ACIM/BLDC/PMSM Brush DC/Stepper Sensor/Sensorless Control Field-Oriented Control Power Factor Correction Web Design Center Webinars Regional Training Center Classes Motor Control Experts Reference Designs and GUI Tools Application Note Library with Code Low-cost Development Tools Software GUIs for Motor Tuning Real-Time Motor Parameter Updates Need Design Assistance? Visit www.microchip.com/partners for a directory of third party consultants and designers that can help with your motor control application. Table of Contents Brushed DC Motors . . . . . . . . . . . . . . . . . . . . . . 3 Stepper Motors . . . . . . . . . . . . . . . . . . . . . . . . . 4 Brushless DC Motors . . . . . . . . . . . . . . . . . . . . . 6 Permanent Magnet Synchronous Motors . . . . . . . 9 AC Induction Motors . . . . . . . . . . . . . . . . . . . . . 11 All Motor Control Application Notes . . . . . . . . . . 13 World Class Development Tools . . . . . . . . . . . . . 14 Motor Control Tuning GUIs. . . . . . . . . . . . . . . . . 15 2 Motor Control and Drive Design Solutions Brushed DC Motors Brushed DC Motor Control Brushed DC Motor Training Brushed DC motors are easy to control because speed and torque are proportional to the applied voltage/current. The rotor is heavy due to windings on the armature, more inertia makes it more difficult to start/stop. Heat is generated in windings on the rotor and is more difficult to remove. H Bridge Gate Drivers Class Title Duration 09/18/2008 14 min. F1 BDC Motor Add-On (DM164130-6) VBUS Current Feedback Recording Date English Brushed DC Motor Development Tools The BDC Motor Add-On is a simple development accessory that plugs directly into the F1 LV Evaluation Platform and incorporates all the components necessary to implement Brushed DC motor control. Key features include two MOSFET half bridge circuits, motor current limit adjustment, debug header, and pin header connector for the motor and power supply. Motor PIC® Microcontroller or Digital Signal Controller Language Brushed DC Motor Basics Mechanical Feedback MTS2916 Dual Full-Bridge Stepper Motor Driver Evaluation Board (ADM00308) The MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board demonstrates the capabilities of the MTS2916A to control both windings of a bipolar stepper motor. The board also demonstrates the capabilities of controlling two brushed DC motors. Brushed DC Motor Application Notes Algorithm App Note PIC18CXX/PIC16CXXX DC Servomotor Applications AN8696 Low-Cost Bi-directional Brushed DC Motor Control Using the PIC16F684 AN893 Brushed DC Motor Fundamentals AN905 Recommended Products for Brushed DC Motor Control Device PIC10F322 PIC12F615/PIC16HV615 (1) PIC12F752F Pins Flash KB SRAM Bytes EE Bytes Timer 8/16-bit 6 0.896 64 – 2/0 8 2 64 – 2/1 8 1.75 64 – 2/1 2 CCP/ ECCP Motor Control PWM A/D 10-bit – – 2 1 1 – 1 – Comp Quad Enc UART SPI/ I2C™ 3 ch 8-bit – – – 4 ch No – – 4 ch 10-bit – – – 14 3.5 128 – 2/1 2 0/1 – 8 ch No – – 14 3.5 128 256 2/1 2 0/1 – 8 ch No – – PIC16F1509 20 14 512 – 2/1 2 – 4 12 ch 10-bit – 1 1 PIC16F1783 28 7 512 256 4/1 3 2 – 11 ch 12-bit – 1 1 PIC16F1823 14 3.5 128 256 2/1 2 0/1 – 8 – 1 1 PIC16F1933 28 7 256 256 4/1 2 2/3 – 11 – 1 1 PIC16F616/PIC16HV616 (1) PIC16F684 PIC16F1936 28 14 512 256 4/1 2 2/3 – 11 – 1 1 PIC16F1937 40/44 14 512 256 4/1 2 2/3 – 14 – 1 1 PIC16F1939 40/44 28 1024 256 4/1 2 2/3 – 14 – 1 1 PIC18F45K20 40/44 32 1536 256 1/3 2 1/1 – 14 – 1 1 1 PIC18F46K20 40/44 64 3936 1024 1/3 2 1/1 – 14 – 1 PIC18F1330 18/20 8 256 128 0/2 3 – 6 4 ch No 1 – PIC18F2431 28 16 768 256 1/3 – 2 6 5 ch Yes 1 1 PIC18F4431 40/44 16 768 256 1/3 – 2 8 9 ch Yes 1 1 Note 1: HV device has on-chip shunt regulator. Device MTS62C19A MTS2916A Motor Type One Bipolar Stepper Motor or Two DC Motors One Bipolar Stepper Motor or Two DC Motors Device Configuration MCP14700 Dual, Non-inverting Input Output Voltage Current Range (V) (mA) 10.0 to 40.0 750 10.0 to 40.0 750 Control Scheme Direct PWM Input, Current Limit Control, Microstepping Direct PWM Input, Current Limit Control, Microstepping Temp. Operating Range (°C) −40 to +105 −40 to +105 Features Overt emperature Protection, Under Voltage Protection, Dual Full Bridge Motor Driver, Microstepping, Pincompatible with ST L6219 Over temperature Protection, Under Voltage Protection, Dual Full Bridge Motor Driver, Microstepping, Pincompatible with Allegro UDX2916 and A4970 Temp. Operating Peak Output Output Resistance (RH/RL) Maximum Supply (Max. W @ 25 °C) Voltage (V) Range (°C) Current (A) −40 to +125 2 2.5/2.5 Packages 5 (VDD), 36 (Boot Pin) Input/Output Delay (tD1, tD2) (ns) 25/25 24-pin SOIC 24-pin SOIC Packages 8-pin SOIC, 8-pin 3 × 3 DFN Motor Control and Drive Design Solutions 3 Stepper Motors Stepper Motor Control Stepper Motor Development Tools Do you need exact position control with great holding torque? If so, then a stepper motor is the best solution. While nearly every MCU or DSC from Microchip can drive a stepper motor, some are better suited for this than others. F1 Unipolar Motor Add-On for the F1 LV Evaluation Platform (DM164130-8) Voltage Regulator VDD Motor I/O PIC® Microcontroller or dsPIC® Digital Signal Controller I/O F1 Bipolar Motor Add-On for the F1LV Evaluation Platform (DM164130-7) The Bipolar Stepper Motor AddOn is a simple development accessory that plugs directly into the F1 LV Evaluation Platform and incorporates all the components necessary to implement Bipolar Stepper Motor control. Key features include four MOSFET half bridge circuits, motor current limit sense, debug header, and pin header connector for the motor and power supply. I/O I/O Power Supply Voltage Regulator Phase 1 VDD PIC® Microcontroller or dsPIC® Digital Signal Controller Phase 2 dsPICDEM™ MCSM Development Board (DM330022) dsPICDEM MCSM Stepper Motor Development Board Kit (DV330021) VLOGIC VLOAD I01 I12 I02 I12 Dual H-Bridge Stepper Motor Driver OUT1A OUT1B OUT2A Sense 1 Motor OUT2B Sense 2 Stepper Motor Application Notes Algorithm PIC16 Family PIC18 Family dsPIC® DSC Family Full and Half-Stepping AN906 AN907 – AN1307 – AN822 AN1307 Micro-Stepping Stepper Motor Training Class Title The Unipolar Stepper Motor Add-On is a simple development accessory that plugs directly into the F1 LV Evaluation Platform and incorporates all the components necessary to implement Unipolar Stepper Motor control. Key features include four MOSFET drivers motor current limit, debug header, and pin header connector for the motor and power supply. Language Recording Date Duration Stepper Motors Part 1: Types of Stepper Motors English 09/14/2007 19 min. Stepper Motors Part 2: Stepper Motor Control English 09/14/2007 17 min. This development board is intended for low-voltage (up to 80 volts at 3 amps) 2-phase uni-polar or bi-polar stepper motor (4, 6 or 8 wire) applications. It provides a low-cost system for users to evaluate and develop applications using dsPIC33F motor control DSCs via a Plug-In Module (PIM) or 28-pin SOIC socket. A USB serial interface for RTDM is provided. Feedback support includes current and voltage. Demo software to run motors in open-loop or closed-loop with full or variable micro-stepping is provided. A DMCI/RTDM GUI for controlling step commands, motor parameter input and operation modes is included. The kit includes a stepper motor and a 24-volt power supply. PICkit™ 3 Debug Express, MPLAB® ICD 3 In-Circuit Debugger or REAL ICE™ In-Circuit Emulator is required for programming or debugging operations. MTS2916A Stepper Driver Evaluation Board (ADM00308) This evaluation board incorporates features through the implementation of push button switches and a variable speed input potentiometer to exercise a stepper motor in Full-Step, Half-Step, Modified Half-Step and Micro-stepping modes. 4 Motor Control and Drive Design Solutions Stepper Motors Recommended Products for Stepper Motor Control Device Motor Type Input Voltage Range (V) Output Current (mA) Control Scheme Temp. Operating Range (°C) Features MTS62C19A One Bipolar Stepper Motor or Two DC Motors 10.0 to 40.0 750 Direct PWM Input, Current Limit Control, Microstepping −40 to +105 Over temperature Protection, Under Voltage Protection, Dual Full Bridge Motor Driver, Microstepping, Pin-compatible with ST L6219 24-pin SOIC MTS2916A One Bipolar Stepper Motor or Two DC Motors 10.0 to 40.0 750 Direct PWM Input, Current Limit Control, Microstepping −40 to +105 Over temperature Protection, Under Voltage Protection, Dual Full Bridge Motor Driver, Microstepping, Pin-compatible with Allegro UDX2916 and A4970 24-pin SOIC Device Max. Input Voltage (V) Output Voltage (V) Output Current (mA) Junction Temp. Range (°C) 16 1.8, 2.5, 2.7, 2.8, 2.85, 3.0, 3.3, 3.6, 4.0, 5.0 150 −40 to +125 MCP1754 Packages Typical Typical Typical Dropout Output Active Voltage @ Max. Voltage Current Iout (mV) Accuracy (%) (μA) 50 300 ±2 Features Packages 5-pin SOT-23, 3-pin SOT-89, 3-pin SOT-223, 8-pin 2 × 3 TDFN 70 dB PSRR Pins Flash KB SRAM Bytes EE Bytes Timer 8/16-bit Comp CCP/ ECCP Motor Control PWM A/D 10-bit Quad Enc UART SPI/ I2C™ PIC16F616/ PIC16HV616 14 3.5 128 – 2/1 2 0/1 – 8 ch No – – PIC16F684 14 3.5 128 256 2/1 2 0/1 – 8 ch No – – PIC16F1509 20 14 512 – 2/1 2 – 4 12 ch 10-bit – 1 1 PIC16F1783 28 7 512 256 4/1 3 2 – 11 ch 12-bit – 1 1 PIC16F1823 14 3.5 128 256 2/1 2 0/1 – 8 – 1 1 PIC16F1933 28 7 256 256 4/1 2 2/3 – 11 – 1 1 PIC16F1936 28 14 512 256 4/1 2 2/3 – 11 – 1 1 PIC16F1937 40/44 14 512 256 4/1 2 2/3 – 14 – 1 1 PIC16F1939 40/44 28 1024 256 4/1 2 2/3 – 14 – 1 1 Device (1) Pins Flash KB RAM KB DMA # Ch Timer 16-bit Input Capture Output/Compare/ Standard PWM Motor Control PWM Ch QEI ADC 10-/12-bit* 1.1/0.5 Msps 16-bit DAC Analog Comparators CodeGuard™ Security Segments UART SPI I2C™ PMP RTCC CAN Package Temperature Range*** Note 1: HV device has on-chip shunt regulator. dsPIC33FJ12MC202 28 12 1 – 3 4 2 6+2 ch 1 1 ADC, 6 ch – – 2 1 1 1 – – 0 SO, SP, ML I,E dsPIC33FJ32MC202 28 32 2 – 3 4 2 6+2 ch 1 1 ADC, 6 ch – – 2 1 1 1 – – 0 SO, SP, MM I,E dsPIC33FJ32MC302 28 32 4 8 5 4 4 6+2 ch 2 1 ADC, 6 ch – 2 – 2 2 1 1 1 – SO, SP, MM I,E,H dsPIC33FJ64MC202 28 64 8 8 5 4 4 6+2 ch 2 1 ADC, 6 ch – 2 – 2 2 1 1 1 – SO, SP, MM I,E,H dsPIC33FJ64MC802 28 64 16 8 5 4 4 6+2 ch 2 1 ADC, 9 ch – 2 – 2 2 1 1 1 1 SO, SP, MM I,E,H Device *dsPIC33 devices feature one or two user-selectable 1.1 Msps 10-bit ADC (4 S & H) or 500 ksps 12-bit ADC (1 S & H). **A DAC is associated with each analog comparator to set a programmable voltage reference. One DAC output may be selected by software and driven on an external pin. ***I = Industrial Temperature Range (−40°C to +85°C), E = Extended Temperature Range (−40°C to +125°C), H = High Temperature Range (−40°C to +140°C). Motor Control and Drive Design Solutions 5 Brushless DC Motor Control BLDC Motor Control BLDC Fan Motor Control Looking for high reliability, high efficiency, and high power-to-size ratio motor? The obvious solution is a Brushless DC (BLDC) motor. It shares many of the same torque and speed characteristics with the brushed DC motor, but without the brushes. Technically it is a Permanent Magnet Synchronous Motor (PMSM), but its name comes from the simple method of commutation and in some cases the stator windings are constructed to match the non-sinusoidal commutation. Need a highly integrated fan controller with a customizable speed/temperature profile? Take a look at Microchip’s PIC12HV and PIC16HV devices. These devices have a built-in 5V regulator and on-chip comparator to save system cost. The rotor position is determined by a hall-effect sensor connected to the on-chip comparator. The Enhanced Capture Compare PWM (ECCP) Module uses this feedback information to drive the motor by steering the PWM signal to the appropriate motor phase. Temperature sensor inputs can be used to create a unique fan speed profile and the application can provide digital status information to a host device. The simpler commutation methods allows the use of a wide range of Microchip products, from 8-bit PIC16 MCUs to MTD650X dedicated BLDC driver chips to dsPIC® digital signal controllers. The device best suited to your application depends on what you are trying to achieve: performance, cost, efficiency, time to market, etc. Microchip has a wide range of application notes and development tools that allow you to get started with your application quickly. VBUS Inverter Gate Drivers If space or time-to-market is a concern for your next project, Microchip’s 3-phase full-wave sensorless drivers for brushless DC (BLDC) motors are the answer. The devices feature 180° sinusoidal drive, high torque output and silent drive. With the adaptive features, parameters and wide range or power supplies, they work standalone or with Microchip’s broad range of microcontrollers. 12V DC Commutation & Speed PIC12HV615 Motor 5V Reg N S Temperature Comp PWM Command PIC® Microcontroller or Digital Signal Controller ECCP – VREF + FG Mechanical Feedback Algorithm Sensored Sinusoidal AN857 AN885 – AN1175 AN1305 PWM PIC18 Family dsPIC® DSC Family AN899 AN957 – AN1017 AN901 AN992 AN970 Algorithm App Note Sensorless Filtered BEMF with Majority Detect AN1160 Sensorless Dual-Shunt FOC with SMO Estimator and Field Weakening AN1078 Sensorless Dual-Shunt FOC with SMO and PFC AN1208 Sensorless Dual-Shunt FOC with PLL Estimator and Field Weakening AN1292 Sensorless Sing-Shunt FOC with SMO Estimator and Field Weakening AN1299 Tuning Guide: Sensorless BLDC Control with Back-EMF Filetering Using a Majority Function AN1160 Motor Control and Drive Design Solutions VDD DIR VDD VBIAS C2 BLDC Application Notes and Tuning Guides PIC16 Family MTD6505 PROG – 6 B Comparator Op Amp Sensorless BEMF A I2C™ + Sensored Hall Sensor OUT1 OUT3 OUT2 GND C1 BLDC Training Class Title Language Recording Date Duration Sensorless BLDC Motor Control Using a Majority Function English 04/29/2008 19 min. Brushless DC Motor Control BLDC Development Tools dsPICDEM MCHV-2 Development System (DM330023-2) F1 BLDC Motor Add-On (DM164130-2) The BLDC Motor Add-On is a simple development accessory that plugs directly into the F1 Evaluation Platform or F1 Evaluation Platform and incorporates all the components necessary to implement Brushless DC motor control. Key features include three MOSFET half bridge circuits, adjustments for zero crossing and current limit of the motor, debug header, and screw terminals for the motor and power supply. Motor Control Starter Kit with mTouch™ Sensing (DM330015) The Motor Control Starter Kit with mTouch Sensing is a complete, integrated development platform based on the dsPIC33FJ16MC102. It includes a USB interfaced debugger programmer, a complete drive circuit featuring Microchip’s TC4428 dual 1.5A gate drivers, an onboard BLDC Motor, a user configurable switch and an mTouch slider with LED indicators for speed control. Simply power the board using a 9V supply and the pre-loaded code begins to execute. dsPICDEM MCLV-2 Development Board (DM330021-2) This development board is intended for low-voltage (up to 48V at 10A) BLDC sensored or sensorless applications. It provides a low-cost system for users to evaluate and develop applications using dsPIC33F/E motor control DSCs via a Plug-In Module (PIM) or 28-pin SOIC socket. With the MCLV-2 either the internal, on-chip op amps or the external op amps on the MCLV-2 board can be used. Microchip provides PIMs for using either the internal or external op amps. The MCLV-2 is fully backwards compatible with the original MCLV and all MC PIMs. Serial interfaces include: RS-232C, CAN, LIN and USB (for RTDM). Feedback support includes Hall- Effect Sensors, Shaft Encoder, Back EMF voltages and single or dual shunt resistors for current. PICkit 3 Debug Express, MPLAB ICD 3 In-Circuit Debugger or MPLAB REAL ICE In-Circuit Emulator is required for programming or debugging operations. This development system is intended for high-voltage (up to 400V at 6.5A) BLDC, PMSM and ACIM sensored or sensorless applications. It provides a low-cost Integrated Power Module (IPM) based system for users to evaluate and develop applications using dsPIC33F/E motor control DSCs via a Plug-In Module (PIM) or a 28-pin SOIC socket. With the MCHV-2 either the internal, on-chip op amps or the external op amps on the MCHV-2 board can be used. Microchip provides PIMs for using either the internal or external op amps. The MCHV-2 is fully backwards compatible with the original MCHV and all MC PIMs. Isolated serial interfaces include RS-232C and USB (for RTDM). Feedback support includes Hall-Effect Sensors, Shaft Encoder, Back EMF voltages and single or dual current shunt resistors. A PFC circuit is provided to meet regulatory requirements. An isolated built-in debugger (similar to a starter kit programmer/debugger) permits a direct connection with a PC. BLDC Fan Control Development Tools MTD6505 3-Phase BLDC Sensorless Fan Controller Demonstration Board (ADM00345) The MTD6505 3-Phase BLDC Sensorless Fan Controller Demonstration Board allows the control and monitoring of the MTD6505 device using PC software connected to the board via a USB connection. F1 BLDC Motor Add-On (DM164130-2) The BLDC Motor Add-On is a simple development accessory that plugs directly into the F1 Evaluation Platform or F1 Evaluation Platform and incorporates all the components necessary to implement Brushless DC motor control. Key features include three MOSFET half bridge circuits, adjustments for zero crossing and current limit of the motor, debug header, and screw terminals for the motor and power supply. Recommended Products for Brushless Fan Control Device PIC16F616/PIC16HV616 PIC16F684 PIC16F1509 PIC16F1783 PIC16F1823 PIC16F1933 PIC16F1936 PIC16F1937 PIC16F1939 (1) Pins Flash KB SRAM Bytes EE Bytes 14 14 20 28 14 28 28 40/44 40/44 3.5 3.5 14 7 3.5 7 14 14 28 128 128 512 512 128 256 512 512 1024 – 256 – 256 256 256 256 256 256 Timer Comp 8/16-bit 2/1 2/1 2/1 4/1 2/1 4/1 4/1 4/1 4/1 2 2 2 3 2 2 2 2 2 CCP/ ECCP Motor Control PWM A/D 10-bit Quad Enc UART SPI/ I2C™ 0/1 0/1 – 2 0/1 2/3 2/3 2/3 2/3 – – 4 – – – – – – 8 ch 8 ch 12 ch 10-bit 11 ch 12-bit 8 11 11 14 14 No No – – – – – – – – – 1 1 1 1 1 1 1 – – 1 1 1 1 1 1 1 Note 1: HV device has on-chip shunt regulator. Motor Control and Drive Design Solutions 7 Brushless DC Motor Control Recommended Products for Brushless Fan Control (Continued) Input Output Control Voltage Current Scheme Range (V) (mA) Motor Type Device 3-Phase Brushless DC Motor MTD6505 MTD6501C MTD6501D MTD6501G 3-Phase Brushless DC Motor 3-Phase Brushless DC Motor 3-Phase Brushless DC Motor 2.0 to 5.5 750 2.0 to 14.0 800 2.0 to 14.0 500 2.0 to 14.0 800 Temp. Operating Range (°C) Sensorless Sinusoidal −40 to +125 Sensorless Sinusoidal Sensorless Sinusoidal Sensorless Sinusoidal −30 to +95 −30 to +95 −30 to +95 Features Packages 180° Sinusoidal Drive, Direction Control, Programmable BEMF Coefficient Range, Current Limitation, Lock-up Recover, Over temperature Protection, Output Switching Frequency at 30 kHz 180° Sinusoidal Drive, Current Limitation, Lock-up Recover, Over temperature Protection, Output Switching Frequency at 20 kHz 180° Sinusoidal Drive, Current Limitation, Lock-up Recover, Over temperature Protection, Output Switching Frequency at 20 kHz 180° Sinusoidal Drive, Current Limitation, Lock-up Recover, Over temperature Protection, Output Switching Frequency at 23 kHz 10-pin 3 × 3 UDFN Thermally Enhanced 8-pin SOP 10-pin MSOP Thermally Enhanced 8-pin SOP Recommended Products for Brushless DC Motors Temperature Range*** – – 1 1 1 1 1 1 1 Package – – 1 1 1 1 1 1 1 USB 2.0 No No – – – – – – – CAN 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 8 ch 8 ch 12 ch 10-bit 11 ch 12-bit 8 11 11 14 14 RTCC 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 – – 4 – – – – – – PMP 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 0/1 0/1 – 2 0/1 2/3 2/3 2/3 2/3 I2C™ 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 SPI/ I2C™ SPI 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 UART UART 4 4 4 4 4 4 8 8 8 8 8 8 8 8 16 16 16 16 16 16 32 32 32 32 32 32 48 48 48 48 48 48 Quad Enc CodeGuard™ Security Segments 32 32 32 32 32 32 64 64 64 64 64 64 64 64 128 128 128 128 128 128 256 256 256 256 256 256 512 512 512 512 512 512 A/D 10-bit Op Amps dsPIC33EP32MC202 dsPIC33EP32MC502 dsPIC33EP32MC203◊ dsPIC33EP32MC503◊ dsPIC33EP32MC204 dsPIC33EP32MC504 dsPIC33EP64MC202 dsPIC33EP64MC502 dsPIC33EP64MC203◊ dsPIC33EP64MC503◊ dsPIC33EP64MC204 dsPIC33EP64MC504 dsPIC33EP64MC206 dsPIC33EP64MC506 dsPIC33EP128MC202 dsPIC33EP128MC502 dsPIC33EP128MC204 dsPIC33EP128MC504 dsPIC33EP128MC206 dsPIC33EP128MC506 dsPIC33EP256MC202 dsPIC33EP256MC502 dsPIC33EP256MC204 dsPIC33EP256MC504 dsPIC33EP256MC206 dsPIC33EP256MC506 dsPIC33EP512MC202 dsPIC33EP512MC502 dsPIC33EP512MC204 dsPIC33EP512MC504 dsPIC33EP512MC206 dsPIC33EP512MC506 2 2 2 3 2 2 2 2 2 Motor Control PWM Analog Comparators 28 28 36 36 44 44 28 28 36 36 44 44 64 64 28 28 44 44 64 64 28 28 44 44 64 64 28 28 44 44 64 64 Device 2/1 2/1 2/1 4/1 2/1 4/1 4/1 4/1 4/1 CCP/ ECCP ADC – 256 – 256 256 256 256 256 256 Timer Comp 8/16-bit QEI 128 128 512 512 128 256 512 512 1024 Output Compare/ Standard PWM Motor Control PWM Ch 3.5 3.5 14 7 3.5 7 14 14 28 Input Capture 14 14 20 28 14 28 28 40/44 40/44 Timer 16-bit EE Bytes DMA # Ch SRAM Bytes RAM KB (1) Flash KB Flash KB PIC16F616/PIC16HV616 PIC16F684 PIC16F1509 PIC16F1783 PIC16F1823 PIC16F1933 PIC16F1936 PIC16F1937 PIC16F1939 Pins Pins Device 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 8 ch 1 ADC, 8 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 8 ch 1 ADC, 8 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 + 2** 1 + 2** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 2 2 2 2 3 3 2 2 2 2 3 3 3 3 2 2 3 3 3 3 2 2 3 3 3 3 2 2 3 3 3 3 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – SP, SO, SS, MM SP, SO, SS, MM TL TL TL, ML, PT TL, ML, PT SP, SO, SS, MM SP, SO, SS, MM TL TL TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SP, SO, SS, MM SP, SO, SS, MM TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SP, SO, SS, MM SP, SO, SS, MM TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SO, SS, MM SO, SS, MM ML, PT ML, PT ML, PT ML, PT I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H *dsPIC33 devices feature one or two user-selectable 1.1 Msps 10-bit ADC (4 S & H) or 500 ksps 12-bit ADC (1 S & H). **Op amps can be configured as comparators. ***I = Industrial Temperature Range (−40°C to +85°C), E = Extended Temperature Range (−40°C to +125°C), H = High Temperature Range (−40°C to +140°C). ◊Check www.microchip.com for availability. 8 Motor Control and Drive Design Solutions Permanent Magnet Synchronous Motors PMSM Motor Control PMSM Development Tools Permanent Magnet Synchronous Motors (PMSM) are brushless and have very high reliability and high efficiency. Due to permanent magnet rotor, they also have higher torque with smaller frame size and no rotor current, of all which are advantages over AC induction motors. With a high power-to-size ratio, PMSMs can help you make your design smaller without the loss of torque. dsPICDEM MCLV-2 Development Board (DM330021-2) PMSMs need to be commutated like BLDC motors, but due to the construction of the windings, the waveforms need to be sinusoidal for good performance. This requires more complicated control algorithms and, therefore, a higher performing controller like Microchip’s dsPIC digital signal controllers. Microchip offers development tools and applications notes to develop advanced PMSM control solutions like sensorless Field Oriented Control (FOC). Gate Drivers VBUS Inverter Motor This development board is intended for low-voltage (up to 48V at 10A) BLDC sensored or sensorless applications. It provides a low-cost system for users to evaluate and develop applications using dsPIC33F/E motor control DSCs via a Plug-In Module (PIM) or 28-pin SOIC socket. With the MCLV-2 either the internal, on-chip op amps or the external op amps on the MCLV-2 board can be used. Microchip provides PIMs for using either the internal or external op amps. The MCLV-2 is fully backwards compatible with the original MCLV and all MC PIMs. Serial interfaces include RS-232C, CAN, LIN and USB (for RTDM). Feedback support includes Hall- Effect Sensors, Shaft Encoder, Back EMF voltages and single or dual shunt resistors for current. PICkit 3 Debug Express, MPLAB ICD 3 In-Circuit Debugger or MPLAB REAL ICE In-Circuit Emulator is required for programming or debugging operations. dsPICDEM MCHV-2 Development System (DM330023-2) PIC® Microcontroller or Digital Signal Controller Comparator – VREF + Mechanical Feedback + – Op Amp PMSM Application Notes and Tuning Guides Algorithm dsPIC® DSC Family Sensored Sensored Sinusoidal Sensorless BEMF AN957 AN1017 AN901, AN992 Algorithm App Note Sensorless Filtered BEMF with Majority Detect AN1160 Sensorless Dual-Shunt FOC with SMO Estimator and Field Weakening AN1078 Sensorless Dual-Shunt FOC with SMO and PCF AN1208 Sensorless Dual-Shunt FOC with PLL Estimator and Field Weakening AN1292 Sensorless Single-Shunt FOC with SMO Estimator and Field Weakening AN1299 Sensorless Dual-Shunt FOC with SMO Estimator BLDC/PMSM AN1078 Sensorless Dual-Shunt FOC with PLL Estimator BLDC/PMSM AN1292 Tuning Guide: Sensorless Single-Shunt FOC with SMO Estimator BLDC/PMSM AN1299 PMSM Motor Training Class Title Language Recording Date Duration Sensorless Field Oriented Control for Permanent Magnet Synchronous Motors English 03/30/2007 30 min. This development system is intended for high-voltage (up to 400V at 6.5A) BLDC, PMSM and ACIM sensored or sensorless applications. It provides a low-cost Integrated Power Module (IPM) based system for users to evaluate and develop applications using dsPIC33F/E motor control DSCs via PIM or a 28-pin SOIC socket. With the MCHV-2 either the internal, on-chip op amps or the external op amps on the MCHV-2 board can be used. Microchip provides PIMs for using either the internal or external op amps. The MCHV-2 is fully backwards compatible with the original MCHV and all MC PIMs. Isolated serial interfaces include RS-232C and USB (for RTDM). Feedback support includes Hall-Effect Sensors, Shaft Encoder, Back EMF voltages and single or dual current shunt resistors. A PFC circuit is provided to meet regulatory requirements. An isolated built-in debugger (similar to a starter kit programmer/debugger) permits a direct connection with a PC. 24V 3-Phase Brushless DC Motor (AC300020) The 24V 3-phase Brushless DC (BLDC) motor with Hall-Effect sensors can be used with the dsPICDEM MCLV-2 development board (DM330021-2). 24V 3-Phase Brushless DC Motor with Encoder (AC300022) This Brushless DC (BLDC) motor has a 250-line encoder, and can be used with the dsPICDEM MCLV-2 Development Board (DM330021-2). Motor Control and Drive Design Solutions 9 Permanent Magnet Synchronous Motors PMP RTCC CAN USB 2.0 Package Temperature Range*** 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 I2C™ 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 SPI 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 UART 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 CodeGuard™ Security Segments Input Capture 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 Op Amps Timer 16-bit 4 4 4 4 4 4 8 8 8 8 8 8 8 8 16 16 16 16 16 16 32 32 32 32 32 32 48 48 48 48 48 48 Analog Comparators DMA # Ch 32 32 32 32 32 32 64 64 64 64 64 64 64 64 128 128 128 128 128 128 256 256 256 256 256 256 512 512 512 512 512 512 ADC RAM KB dsPIC33EP32MC202 dsPIC33EP32MC502 dsPIC33EP32MC203◊ dsPIC33EP32MC503◊ dsPIC33EP32MC204 dsPIC33EP32MC504 dsPIC33EP64MC202 dsPIC33EP64MC502 dsPIC33EP64MC203◊ dsPIC33EP64MC503◊ dsPIC33EP64MC204 dsPIC33EP64MC504 dsPIC33EP64MC206 dsPIC33EP64MC506 dsPIC33EP128MC202 dsPIC33EP128MC502 dsPIC33EP128MC204 dsPIC33EP128MC504 dsPIC33EP128MC206 dsPIC33EP128MC506 dsPIC33EP256MC202 dsPIC33EP256MC502 dsPIC33EP256MC204 dsPIC33EP256MC504 dsPIC33EP256MC206 dsPIC33EP256MC506 dsPIC33EP512MC202 dsPIC33EP512MC502 dsPIC33EP512MC204 dsPIC33EP512MC504 dsPIC33EP512MC206 dsPIC33EP512MC506 QEI Flash KB 28 28 36 36 44 44 28 28 36 36 44 44 64 64 28 28 44 44 64 64 28 28 44 44 64 64 28 28 44 44 64 64 Device Output Compare/ Standard PWM Motor Control PWM Ch Pins Recommended Products for PMSM Motors 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 8 ch 1 ADC, 8 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 8 ch 1 ADC, 8 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 + 2** 1 + 2** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 2 2 2 2 3 3 2 2 2 2 3 3 3 3 2 2 3 3 3 3 2 2 3 3 3 3 2 2 3 3 3 3 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – SP, SO, SS, MM SP, SO, SS, MM TL TL TL, ML, PT TL, ML, PT SP, SO, SS, MM SP, SO, SS, MM TL TL TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SP, SO, SS, MM SP, SO, SS, MM TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SP, SO, SS, MM SP, SO, SS, MM TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SO, SS, MM SO, SS, MM ML, PT ML, PT ML, PT ML, PT I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H *dsPIC33 devices feature one or two user-selectable 1.1 Msps 10-bit ADC (4 S & H) or 500 ksps 12-bit ADC (1 S & H). **Op amps can be configured as comparators. ***I = Industrial Temperature Range (−40°C to +85°C), E = Extended Temperature Range (−40°C to +125°C), H = High Temperature Range (−40°C to +140°C). ◊Check www.microchip.com for availability. 10 Motor Control and Drive Design Solutions AC Induction Motors AC Induction Motor Control AC Induction Application Notes The AC Induction Motor (ACIM) is the workhorse of the world. It is the most common motor type, used in everything from consumer products to heavy industry. Its simple design with no brushes makes it highly reliable and also allows it to be manufactured at a low cost. But, it is less efficient than other motors like PMSM, which is partially related to the heat generation in the rotor windings. The Open Loop Voltage/frequency (V/f) drive technique is tradionally used to control ACIMs. It can be implemented on an 8-bit PIC® MCU. This drive technique is not very efficient, so for applications that need higher efficiency, an advanced control solution like Field Oriented Control can be applied. This requires a high performance controller, like a dsPIC digital signal controller. Hardware and software development solutions are available from Microchip. VBUS Inverter Gate Drivers Motor PIC® Microcontroller or Digital Signal Controller Comparator VREF – + Mechanical Feedback + – Op Amp AC Induction Motor Training PIC16 Family Algorithm Open Loop V/F Closed Loop Vector Control Sensorless Dual-Shunt FOC with PLL Estimator Sensorless Dual-Shunt FOC with PLL Estimator and Field Weakening PIC18 Family dsPIC® DSC Family AN900 AN843 AN984 – AN980 – – AN1162 – – AN1206 AN887 AN889 AN955 AN967 – AC Induction Development Tools dsPICDEM MCHV-2 Development System (DM330023-2) This development system is intended for high-voltage (up to 400V at 6.5A) BLDC, PMSM and ACIM sensored or sensorless applications. It provides a low-cost Integrated Power Module (IPM) based system for users to evaluate and develop applications using dsPIC33F/E motor control DSCs via a Plug-In Module (PIM) or a 28-pin SOIC socket. With the MCHV-2 either the internal, on-chip op amps or the external op amps on the MCHV-2 board can be used. Microchip provides PIMs for using either the internal or external op amps. The MCHV-2 is fully backwards compatible with the original MCHV and all MC PIMs. Isolated serial interfaces include RS-232C and USB (for RTDM). Feedback support includes Hall-Effect Sensors, Shaft Encoder, Back EMF voltages and single or dual current shunt resistors. A PFC circuit is provided to meet regulatory requirements. An isolated built-in debugger (similar to a starter kit programmer/debugger) permits a direct connection with a PC. AC Induction Motor (AC300023) Class Title Language Recording Date Duration Sensorless Field Oriented (FOC) Control for AC Induction Motors English 01/21/2008 23 min. This compact 3-phase AC Induction Motor has been certified for use with dsPIC33 ACIM motor control application notes in conjunction with the dsPICDEM MCHV-2 Development System (DM330023-2). Recommended Products for AC Induction Motors Device PIC16F616/PIC16HV616 PIC16F684 PIC16F1509 PIC16F1783 PIC16F1823 PIC16F1933 PIC16F1936 PIC16F1937 PIC16F1939 (1) Pins Flash KB SRAM Bytes EE Bytes 14 14 20 28 14 28 28 40/44 40/44 3.5 3.5 14 7 3.5 7 14 14 28 128 128 512 512 128 256 512 512 1024 – 256 – 256 256 256 256 256 256 Timer Comp 8/16-bit 2/1 2/1 2/1 4/1 2/1 4/1 4/1 4/1 4/1 2 2 2 3 2 2 2 2 2 CCP/ ECCP Motor Control PWM A/D 10-bit Quad Enc UART SPI/ I2C™ 0/1 0/1 – 2 0/1 2/3 2/3 2/3 2/3 – – 4 – – – – – – 8 ch 8 ch 12 ch 10-bit 11 ch 12-bit 8 11 11 14 14 No No – – – – – – – – – 1 1 1 1 1 1 1 – – 1 1 1 1 1 1 1 Note 1: HV device has on-chip shunt regulator. Motor Control and Drive Design Solutions 11 AC Induction Motors PMP RTCC CAN USB 2.0 Package Temperature Range*** 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 I2C™ 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 SPI 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 UART 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 CodeGuard™ Security Segments Input Capture 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 Op Amps Timer 16-bit 4 4 4 4 4 4 8 8 8 8 8 8 8 8 16 16 16 16 16 16 32 32 32 32 32 32 48 48 48 48 48 48 Analog Comparators DMA # Ch 32 32 32 32 32 32 64 64 64 64 64 64 64 64 128 128 128 128 128 128 256 256 256 256 256 256 512 512 512 512 512 512 ADC RAM KB dsPIC33EP32MC202 dsPIC33EP32MC502 dsPIC33EP32MC203◊ dsPIC33EP32MC503◊ dsPIC33EP32MC204 dsPIC33EP32MC504 dsPIC33EP64MC202 dsPIC33EP64MC502 dsPIC33EP64MC203◊ dsPIC33EP64MC503◊ dsPIC33EP64MC204 dsPIC33EP64MC504 dsPIC33EP64MC206 dsPIC33EP64MC506 dsPIC33EP128MC202 dsPIC33EP128MC502 dsPIC33EP128MC204 dsPIC33EP128MC504 dsPIC33EP128MC206 dsPIC33EP128MC506 dsPIC33EP256MC202 dsPIC33EP256MC502 dsPIC33EP256MC204 dsPIC33EP256MC504 dsPIC33EP256MC206 dsPIC33EP256MC506 dsPIC33EP512MC202 dsPIC33EP512MC502 dsPIC33EP512MC204 dsPIC33EP512MC504 dsPIC33EP512MC206 dsPIC33EP512MC506 QEI Flash KB 28 28 36 36 44 44 28 28 36 36 44 44 64 64 28 28 44 44 64 64 28 28 44 44 64 64 28 28 44 44 64 64 Device Output Compare/ Standard PWM Motor Control PWM Ch Pins Recommended Products for AC Induction Motors (Continued) 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 8 ch 1 ADC, 8 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 8 ch 1 ADC, 8 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 ADC, 6 ch 1 ADC, 6 ch 1 ADC, 9 ch 1 ADC, 9 ch 1 ADC, 16 ch 1 ADC, 16 ch 1 + 2** 1 + 2** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 1 + 2** 1 + 2** 1 + 3** 1 + 3** 1 + 3** 1 + 3** 2 2 2 2 3 3 2 2 2 2 3 3 3 3 2 2 3 3 3 3 2 2 3 3 3 3 2 2 3 3 3 3 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – 1 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – SP, SO, SS, MM SP, SO, SS, MM TL TL TL, ML, PT TL, ML, PT SP, SO, SS, MM SP, SO, SS, MM TL TL TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SP, SO, SS, MM SP, SO, SS, MM TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SP, SO, SS, MM SP, SO, SS, MM TL◊, ML, PT TL◊, ML, PT ML, PT ML, PT SO, SS, MM SO, SS, MM ML, PT ML, PT ML, PT ML, PT I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H I,E, H *dsPIC33 devices feature one or two user-selectable 1.1 Msps 10-bit ADC (4 S & H) or 500 ksps 12-bit ADC (1 S & H). **Op amps can be configured as comparators. ***I = Industrial Temperature Range (−40°C to +85°C), E = Extended Temperature Range (−40°C to +125°C), H = High Temperature Range (−40°C to +140°C). ◊Check www.microchip.com for availability. 12 Motor Control and Drive Design Solutions Application Notes for Motor Control Motor Control Application Notes by Motor Type Motor Type Stepper Motor Brushed DC Motor BLDC and PMSM AC Induction Motor Other App. Note AN822 AN906 AN907 AN1307 AN696 AN893 AN905 AN857 AN885 AN899 AN901 AN992 AN957 AN970 AN1017 AN1078 AN1160 AN1175 AN1208 AN1292 AN1299 AN1305 AN843 AN887 AN889 AN900 AN908 AN955 AN967 AN984 AN1162 AN1206 AN894 AN898 AN1106 AN1229 AN1332 Description Stepper Motor Micro-stepping with PIC18C452 Stepper Motor Control Using the PIC16F684 Stepper Motor Fundamentals Stepper Motor Control Using the dsPIC®DSC PIC18CXXX/PIC16CXXX DC Servomotor Applications Low-Cost Bi-directional Brushed DC Motor Control Using the PIC16F684 Brushed DC Motor Fundamentals Brushless DC Motor Control Made Easy Brushless DC (BLDC) Motor Fundamentals Brushless DC Motor Control Using PIC18FXX31 MCUs Sensorless Control of BLDC Motor Using dsPIC30F6010 Sensorless Control of BLDC Motor Using dsPIC30F2010 Sensored Control of BLDC Motor Using dsPIC30F2010 Using the PIC18F2431 for Sensorless BLDC Motor Control Sinusoidal Control of PMSM Motors with dsPIC30F With Four Quadrant Control Dual Shunt Sensorless FOC for PMSM with SMO Estimator and Field Weakening Sensorless BLDC Control with Back-EMF Filtering Using a Majority Function Sensorless Brushless DC Motor Control with PIC16 Integrated Power Factor Correction and Sensorless Field-Oriented Control System Dual Shunt Sensorless FOC for PMSM with PLL Estimator and Field Weakening Single Shunt Sensorless FOC for PMSM with SMO Estimator and Field Weakening Sensorless 3-Phase Brushless Motor Control with the PIC16FXXX Speed-Control of 3-Phase Induction Motor Using PIC18 Microcontrollers AC Induction Motor Fundamentals VF Control of 3-Phase Induction Motors Using PIC16F7X7 Microcontrollers Controlling 3-Phase AC Induction Motors Using the PIC18F4431 Using the dsPIC30F for Vector Control of an ACIM VF Control of 3-Phase Induction Motor Using Space Vector Modulation Bidirectional VF Control of Single and 3-Phase Induction Motor Using Space Vector Modulation Introduction to ACIM Control Using the dsPIC30F Sensorless Field Oriented Control (FOC) of an ACIM Sensorless Field Oriented Control (FOC) of an ACIM Using Field Weakening Motor Control Sensor Feedback Circuits Determining MOSFET Driver Needs for Motor Drive Applications Power Factor Correction on dsPIC DSC Meeting IEC 60730 Class B Compliance with dsPIC DSC Current Sensing Circuit Concepts and Fundamentals Motor Type/Algorithm Versus MCU Family Motor Type Stepper Motor Brushed DC Motor Algorithm Full and Half-Stepping Micro-Stepping Unidirectional Bi-directional Servo Motor Sensored Sensored Sinusoidal Sensorless BEMF BLDC and PMSM Sensorless Filtered BEMF with Majority Detect Sensorless Dual-Shunt FOC with SMO Estimator and Field Weakening Sensorless Dual-Shunt FOC with SMO and PFC Sensorless Dual-Shunt FOC with PLL Estimator and Field Weakening Sensorless Single-Shunt FOC with SMO Estimator and Field Weakening Open Loop V/F AC Induction Motor Other Closed Loop Vector Control Sensorless Dual-Shunt FOC with PLL Estimator Sensorless Dual-Shunt FOC with PLL Estimator and Field Weakening PFC Appliance Class B (IEC 60730) Motor Control Sensor Feedback Circuits MOSFET Driver Selection Current Sensing Circuit Concepts and Fundamentals PIC16 Family AN906 AN907 – AN905 AN893 AN696 AN857 AN885 – AN1175 AN1305 – – – – – AN887 AN889 AN955 AN967 – – – – – AN894 AN898 AN1332 PIC18 Family dsPIC® DSC Family – AN1307 AN822 – – AN696 AN1307 – – – AN899 AN957 – AN1017 AN901 AN992 AN1160 AN1078 AN1208 AN1292 AN1299 AN970 – – – – – AN900 AN843 AN984 – – – – AN1229 AN894 AN898 AN1332 AN980 AN1162 AN1206 AN1106 AN1229 AN894 AN898 AN1332 Motor Control and Drive Design Solutions 13 World Class Development Tools MPLAB X IDE Universal and Integrated Tool Set MPLAB X IDE is a single, universal graphical user interface for Microchip and third party software and hardware development tools. It is the industry’s only IDE to support an entire portfolio of 8-bit, 16-bit and 32-bit PIC MCUs, dsPIC DSCs and memory devices. MPLAB X supports Microchip’s compilers, emulators, debuggers and starter kits, as well as many third-party tools. Moving between all of your favorite Microchip tools and upgrading from software simulators to hardware debugging and programming tools is simple with this IDE’s seamless user interface. Powerful Yet User-Friendly Interface With complete project management, visual call graphs, a configurable watch window and a feature-rich editor that includes code-completion, context menus and a task navigator, MPLAB X is flexible and friendly enough for new users. MPLAB X is also fully equipped for the needs of experienced users with the ability to support multiple tools on multiple projects with multiple configurations and simultaneous debugging. Open-Source Platform Based on the NetBeans™ Platform, MPLAB X supports a host of free software components and plug-ins from the NetBeans community for high-performance application development customized to your needs. In addition to local file history, MPLAB X is also compatible with revision control plug-ins and Bugzilla. Cross-Platform Using MPLAB X IDE, users can run their favorite toolset and develop their next embedded application on Windows®, Linux®or Mac®OS X. 14 Motor Control and Drive Design Solutions MPLAB XC16 C Compiler for PIC24 MCUs and dsPIC DSCs The MPLAB XC16 C Compiler includes a complete ANSI C standard library, including string manipulation, dynamic memory allocation, data conversion, timekeeping and math libraries. The compiler has a powerful code optimizer. Other 16-bit MCU compilers generate as much as 165% more code for the same application. The assembler comes with the MPLAB XC C Compiler and may be used with the compiler or as an assembler. It is a full-featured macro assembler. User-defined macros, conditional assembly and a variety of assembler directives make the assembler a power code generation tool. Download a full-featured, time-restricted evaluation version of the MPLAB XC16 C Compiler for PIC24 MCUs or dsPIC DSCs from the Microchip web site. www.microchip.com/compilers Available for MPLAB X IDE MPLAB X SIM Software Simulator The MPLAB X SIM Software Simulator is a full-featured, cycle-accurate software simulator. In addition to simulating the CPU and the instruction set, it also supports key peripherals. Motor Control Tuning GUIs These software plug-in tools included with MPLAB X IDE assist with the development of motor control applications: ■ Data Monitor and Control Interface (DMCI): Provides a customizable GUI to input and adjust software motor parameters using sliders and switches. Four customizable output plots can be used to show a graphical history of control variables so that the motor dynamic response can by analyzed. This tool is useful for tweaking software parameters and visualizing historical data during debug sessions. Most motor control application note software comes with a setup file to automatically configure DMCI for the application. ■ Real-Time Data Monitor (RTDM): Make a change to a software parameter and see the effect immediately without stopping the motor. A serial USB or UART cable supports bi-directional data transfers between the host PC and the MCU/DSC. This is configured within DMCI and most motor control application note software comes with a setup file to automatically configure RTDM for the application. Motor Control and Drive Design Solutions 15 Support Training Microchip is committed to supporting its customers in developing products faster and more efficiently. We maintain a worldwide network of field applications engineers and technical support ready to provide product and system assistance. In addition, the following service areas are available at www.microchip.com: ■ Support link provides a way to get questions answered fast: http://support.microchip.com ■ Sample link offers evaluation samples of any Microchip device: http://sample.microchip.com ■ Forum link provides access to knowledge base and peer help: http://forum.microchip.com ■ Buy link provides locations of Microchip Sales Channel Partners: www.microchip.com/sales If additional training interests you, then Microchip can help. We continue to expand our technical training options, offering a growing list of courses and in-depth curriculum locally, as well as significant online resources – whenever you want to use them. ■ Technical Training Centers: www.microchip.com/training ■ MASTERs Conferences: www.microchip.com/masters ■ Worldwide Seminars: www.microchip.com/seminars ■ eLearning: www.microchip.com/webseminars ■ Resources from our Distribution and Third Party Partners www.microchip.com/training Sales Office Listing AMERICAS Atlanta Tel: 678-957-9614 Boston Tel: 774-760-0087 Chicago Tel: 630-285-0071 Cleveland Tel: 216-447-0464 Dallas Tel: 972-818-7423 Detroit Tel: 248-538-2250 Indianapolis Tel: 317-773-8323 Los Angeles Tel: 949-462-9523 Santa Clara Tel: 408-961-6444 Toronto Mississauga, Ontario Tel: 905-673-0699 EUROPE Austria - Wels Tel: 43-7242-2244-39 Denmark - Copenhagen Tel: 45-4450-2828 France - Paris Tel: 33-1-69-53-63-20 Germany - Munich Tel: 49-89-627-144-0 Italy - Milan Tel: 39-0331-742611 Netherlands - Drunen Tel: 31-416-690399 Spain - Madrid Tel: 34-91-708-08-90 UK - Wokingham Tel: 44-118-921-5869 ASIA/PACIFIC Australia - Sydney Tel: 61-2-9868-6733 China - Beijing Tel: 86-10-8569-7000 China - Chengdu Tel: 86-28-8665-5511 China - Chongqing Tel: 86-23-8980-9588 China - Hangzhou Tel: 86-571-2819-3187 China - Hong Kong SAR Tel: 852-2493-5100 China - Nanjing Tel: 86-25-8473-2460 China - Qingdao Tel: 86-532-8502-7355 China - Shanghai Tel: 86-21-5407-5533 China - Shenyang Tel: 86-24-2334-2829 China - Shenzhen Tel: 86-755-8864-2200 China - Wuhan Tel: 86-27-5980-5300 China - Xiamen Tel: 86-592-2388138 China - Xian Tel: 86-29-8833-7252 China - Zhuhai Tel: 86-756-3210040 ASIA/PACIFIC India - Bangalore Tel: 91-80-3090-4444 India - New Delhi Tel: 91-11-4160-8631 India - Pune Tel: 91-20-3019-1500 Japan - Osaka Tel: 81-6-6152-7160 Japan - Tokyo Tel: 81-3-6880-3770 Korea - Daegu Tel: 82-53-744-4301 Korea - Seoul Tel: 82-2-554-7200 Malaysia - Kuala Lumpur Tel: 60-3-6201-9857 Malaysia - Penang Tel: 60-4-227-8870 Philippines - Manila Tel: 63-2-634-9065 Singapore Tel: 65-6334-8870 Taiwan - Hsin Chu Tel: 886-3-5778-366 Taiwan - Kaohsiung Tel: 886-7-213-7828 Taiwan - Taipei Tel: 886-2-2508-8600 Thailand - Bangkok Tel: 66-2-694-1351 8/20/13 www.microchip.com Information subject to change. The Microchip name and logo, the Microchip logo, dsPIC, MPLAB and PIC are registered trademarks and dsPICDEM, PICkit, REAL ICE and mTouch are trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. All other trademarks mentioned herein are property of their respective companies. © 2013, Microchip Technology Incorporated. All Rights Reserved. 09/13 DS00000869K Microchip Technology Inc. 2355 W. Chandler Blvd. Chandler, AZ 85224-6199