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Fujitsu Semiconductor Design (Chengdu) Co. Ltd.
User Manual
MCU-AN-510112-E-10
32-BIT MICROCONTROLLER
MB9AF112L SERIES
PMSM PROTECTION
TECHENOLOGY
USER MAMUAL
ARM and Cortex-M3 are the trademarks of ARM Limited in the EU and other countries.
Protection Technology V1.0.0
Revision History
Revision History
Version
Date
Updated by
1.0.0
2012-1-17
Devin Zhang
Approved by
Modifications
First Draft
This manual contains 16 pages.
Specifications are subject to change without notice. For further information please contact each office.
All Rights Reserved.
The contents of this document are subject to change without notice.
Customers are advised to consult with sales representatives before ordering.
The information, such as descriptions of function and application circuit examples, in this document are presented solely
for the purpose of reference to show examples of operations and uses of FUJITSU SEMICONDUCTOR device; FUJITSU
SEMICONDUCTOR does not warrant proper operation of the device with respect to use based on such information. When
you develop equipment incorporating the device based on such information, you must assume any responsibility arising
out of such use of the information.
FUJITSU SEMICONDUCTOR assumes no liability for any damages whatsoever arising out of the use of the information.
Any information in this document, including descriptions of function and schematic diagrams, shall not be construed as
license of the use or exercise of any intellectual property right, such as patent right or copyright, or any other right of
FUJITSU SEMICONDUCTOR or any third party or does FUJITSU SEMICONDUCTOR warrant non-infringement of
any third-party's intellectual property right or other right by using such information. FUJITSU SEMICONDUCTOR
assumes no liability for any infringement of the intellectual property rights or other rights of third parties which would
result from the use of information contained herein.
The products described in this document are designed, developed and manufactured as contemplated for general use,
including without limitation, ordinary industrial use, general office use, personal use, and household use, but are not
designed, developed and manufactured as contemplated (1) for use accompanying fatal risks or dangers that, unless
extremely high safety is secured, could have a serious effect to the public, and could lead directly to death, personal injury,
severe physical damage or other loss (i.e., nuclear reaction control in nuclear facility, aircraft flight control, air traffic
control, mass transport control, medical life support system, missile launch control in weapon system), or (2) for use
requiring extremely high reliability (i.e., submersible repeater and artificial satellite).
Please note that FUJITSU SEMICONDUCTOR will not be liable against you and/or any third party for any claims or
damages arising in connection with above-mentioned uses of the products.
Any semiconductor devices have an inherent chance of failure. You must protect against injury, damage or loss from such
failures by incorporating safety design measures into your facility and equipment such as redundancy, fire protection, and
prevention of over-current levels and other abnormal operating conditions.
Exportation/release of any products described in this document may require necessary procedures in accordance with the
regulations of the Foreign Exchange and Foreign Trade Control Law of Japan and/or US export control laws.
The company names and brand names herein are the trademarks or registered trademarks of their respective owners.
Copyright © 2011 Fujitsu Semiconductor Design (Chengdu) Co. Ltd. All rights reserved.
MCU-AN-510112-E-10 – Page 2
Protection Technology V1.0.0
Contents
Contents
REVISION HISTORY ............................................................................................................ 2
CONTENTS .......................................................................................................................... 3
1 INTRODUCTION .............................................................................................................. 4
1.1
Purpose ................................................................................................................... 4
1.2
Document Overview ................................................................................................ 4
2 PRINCIPLE OF MOTOR PROTECTION TECHNOLOGY ................................................ 5
2.1
AD Offset Detection................................................................................................. 5
2.2
Open Phase Detection ............................................................................................ 6
2.3
Motor Locked Detection........................................................................................... 7
2.4
Over-Low DC Voltage Detection.............................................................................. 8
2.5
IPM Protection Detection ......................................................................................... 9
2.6
PFC hardware over current Protection Detection................................................... 10
2.7
PFC software over current Protection Detection .................................................... 11
2.8
PFC software over voltage Protection Detection.................................................... 11
3 FLOW CHART AND FAULT CODE DEFINITION OF PROTECTION FUNCTION ......... 12
3.1
Flow Chart of Protection Function ......................................................................... 12
3.2
Definition of Fault Code ......................................................................................... 13
4 ADDITIONAL INFORMATION ....................................................................................... 15
5 APPENDIX ..................................................................................................................... 16
5.1
List of Figures and Tables ..................................................................................... 16
MCU-AN-510112-E-10 – Page 3
Protection Technology V1.0.0
Chapter 1 Introduction
1 Introduction
1.1
Purpose
This user manual describes the operation of motor driver protection technology based on the
FUJITSU FM3 32 bits in MB9AF112L Series.
This user manual describes FUJITSU protection solution for permanent magnet DC motor
driver, which includes motor-lock detection, open-phase detection, start-up detection, overcurrent detection, over voltage detection, low voltage, IPM protection and so on.
1.2
Document Overview
The rest of document is organized as the following:
Chapter 2 explains the principle of motor protection technology.
Chapter 3 explains flow chart and fault code definition of protection function.
Chapter 4 explains additional information.
Chapter 5 explains appendix.
MCU-AN-510112-E-10 – Page 4
Protection Technology V1.0.0
Chapter 2 Principle of Motor Protection Technology
2 Principle of Motor Protection Technology
This chapter describes the item and implementation of motor protection method in details.
2.1
AD Offset Detection
In FUJITSU motor sampling current solution, It has a steady middle level voltage (2.5V),
which needs to detect before motor start-up each time. And in the program, the real-time
sampling middle voltage has been described as “uphase_midvol”, “vphase_midvol” in dual
resistance sampling system, or “Ibus_midvol” in single shunt sampling system. Set the
range of tolerance AD offset value (+adoffset_tolerance). The current AD sampling value of
the OP-Amplifier is detected at the power on stage. If the detected middle voltage is lower
than “2.5-adoffset_tolerance”, or larger than “2.5+adoffset_tolerance”, the program would
deal with it as an error, the error flag ‘pmsm_error_type’ for AD offset would be set to ‘1’and
motor is stopped. Otherwise, the program would take the real-time sampling value as steady
middle voltage to operation, and set “pmsm_error_type ==0” and start up motor. The figure
of implementation of AD offset detection is as follows:
uphase_midvol
vphase_midvol
pmsm_error_type
Ibus_midvol
adoffset_tolerance
Figure 2-1 AD offset detection of current sample
MCU-AN-510112-E-10 – Page 5
Protection Technology V1.0.0
Chapter 2 Principle of Motor Protection Technology
2.2
Open Phase Detection
Based on the difference situation, open phase fault can be appeared before motor start-up
or motor running.
The first situation, when in start-up motor, at the orientation stage, it would sample the phase
current (‘pmsm_isalpha’), at the same time, based on the Q-axis reference current
(‘pmsm_isqref’) and the rotor angle (‘pmsm_theta’), the α-axis current (‘lose_isalpha’) can be
calculated. If the sampling current value (‘pmsm_isalpha’) is nearly less than ¾
‘lose_isalpha’, or ‘pmsm_isalpha’ is larger than 5/4 ‘lose_isalpha’ in continuous 50ms, the
error flag ‘pmsm_error_type’ for open phase would be set to ‘1’ and motor is stopped,
otherwise, startup motor as normal.
The second, when in running motor, when the given Q-axis reference current is larger than
1A, If the average of current sample value is nearly less than 0.5A in continuous 200ms,
motor is stopped right now, and the error flag ‘pmsm_error_type’ for open phase would be
set to ‘1’. Otherwise, run motor as normal. (Attention: 1A and 0.5A are manual given, which
should be changed in different driver system for getting the best effect.)
orientation
Open phase detection in
open-loop stage
Open phase detection in
close-loop stage
Figure 2-2 Sequence diagram of motor open phase detection
pmsm_iu
pmsm_iv
Detect motor state,
pmsm_error_type
Detect three phase state
pmsm_iw
Figure 2-3 Motor open phase detection module frame
MCU-AN-510112-E-10 – Page 6
Protection Technology V1.0.0
Chapter 2 Principle of Motor Protection Technology
2.3
Motor Locked Detection
Start-up motor, if the motor runs in the open loop stage, and the given PI target speed is no
more less than 800RPM. When the running time is over 1s, but the estimated speed
(‘omegaMr_avr’) in program is also less than 500rpm, motor is stopped right now, and the
error flag ‘pmsm_error_type’ for the locked rotor would be set to ‘1’. Otherwise, run motor as
normal.
The other situation, if the motor runs in the close loop stage, and the given PI target speed is
larger than 3000RPM. the estimated speed (‘omegaMr_avr’) in program is less than
1200rpm lasting out more than 500ms, or the given PI target speed is larger than 2400RPM.
the estimated speed (‘omegaMr_avr’) in program is less than 600rpm lasting out more than
500ms, motor is stopped right now, and the error flag ‘pmsm_error_type’ for the locked rotor
would be set to ‘1’. Otherwise, run motor as normal.
Estimated speed
Orientation
Open loop
Close loop
Target speed
Figure 2-4 Flow chart of motor locked detection
omegaMr_avr
Target_speed
Motor
locked
detection module
pmsm_error_type
Figure 2-5 Motor locked detection module frame
MCU-AN-510112-E-10 – Page 7
Protection Technology V1.0.0
Chapter 2 Principle of Motor Protection Technology
2.4
Over-Low DC Voltage Detection
With the influence of electrical net and PFC modul, it would maybe induce the wavy DC
voltage. Sample DC voltage, if the sampling DC voltage is larger or less than the given
range of the steady DC voltage, it would be deal with as a over or low DC voltage fault. The
details are as follows:
Over DC voltage protection: if the real-time sample DC voltage(‘direct_voltage’) is larger
than the given max DC voltage(‘max_dcvoltage’) lasting out 1ms, motor is stopped, and the
error flag ‘pmsm_error_type’ for over DC voltage would be set to ‘1’ . Otherwise, run motor
as normal.
Low DC voltage protection: if the real-time sample DC voltage(‘direct_voltage’) is less than
the given minimal DC voltage(‘min_dcvoltage’) lasting out 1ms, motor is stopped, and the
error flag ‘pmsm_error_type’ for low DC voltage would be set to ‘1’ . Otherwise, run motor as
normal.
More than 1ms
max_dcvoltage
direct_voltage
min_dcvoltage
More than1ms
Figure 2-6 Sequence diagram of motor over-low voltage detection
direct_voltage
max_dcvoltage
pmsm_error_type
min_dcvoltage
Figure 2-7 Motor over-low voltage detection module frame
MCU-AN-510112-E-10 – Page 8
Protection Technology V1.0.0
Chapter 2 Principle of Motor Protection Technology
2.5
IPM Protection Detection
When running the motor, if the hardware IPM is over hot, over current or low power(+15v),
the pin(FO) of the IPM would put out a low level signal. Then, motor is stopped right now,
and set ‘pmsm_status ==3’.
Attention:
When the IPM is over hot, only the pin (FO) would put out a low level signal just lies on the
IPM module has the temperature detection function.
The manual given value of the max current for protection lies on the parameter of the current
protection circuit, IPM current trigger value and the ability of the anti-jamming.
The point of IPM over temperature
The point of IPM temperature protection
Value of the IPM temperature
The point of IPM current protection
Value of the IPM current
+15V
+13.6V
The point of low voltage
The point of IPM over current
Figure 2-8 Sequence diagram of IPM hardware over current detection
+15V
IPM tempereture
pmsm_status
DC voltage
Figure 2-9 IPM hardware over current detection module frame
MCU-AN-510112-E-10 – Page 9
Protection Technology V1.0.0
Chapter 2 Principle of Motor Protection Technology
2.6
PFC hardware over current Protection Detection
When running the PFC module, if the current of the PFC circuit is larger than the max
permitted current, the PFC hardware circuit would put out a low pulse signal and trigger an
interrupt to close the PFC operation. The error flag ‘PFC_stop_Flag’ for PFC module would
be set to ‘1’. Otherwise, run PFC module as normal.
AcCurrent
PFC_stop_Flag
Parameter of hardware
Figure 2-10 PFC over current detection module frame
The value of PFC over current
The point of PFC current protection
AcCurrent
PFC_INT
PFC_startup
The time of PFC start-up
Figure 2-11 Sequence diagram of PFC over current detection
MCU-AN-510112-E-10 – Page 10
state
Protection Technology V1.0.0
Chapter 2 Principle of Motor Protection Technology
2.7
PFC software over current Protection Detection
When running the PFC module, if the current of the AC side is larger than the given max
current in program, it should stop the PFC operation and set the error flag “PFC_stop_Flag
==6”. Otherwise, run the PFC module as normal.
Attention: the sequence diagram of PFC software over current protection detection is similar
as the motor over current detection.
2.8
PFC software over voltage Protection Detection
When running the PFC module, if the DC voltage is larger than the given max voltage in
program, it should stop the PFC operation and set the error flag “PFC_stop_Flag ==5”.
Otherwise, run the PFC module as normal.
Attention: the sequence diagram of PFC software over DC voltage protection detection is
similar as the motor over voltage detection.
MCU-AN-510112-E-10 – Page 11
Protection Technology V1.0.0
Chapter 3 Flow chart and fault code definition of protection function
3 Flow chart and fault code definition of protection function
This chapter describes the flow chart and fault code definition of protection function.
3.1
Flow Chart of Protection Function
Start up
Initial port and register
AD offset detection
DC over-low voltage
detection
IPM over current detection
Y
PFC_startup==1
N
Open phase detection
Motor locked detection
PFC hardware over current
detection
PFC software over current
detection
PFC over DC voltage
detection
Figure 3-1 Flow Chart of Protection Function
MCU-AN-510112-E-10 – Page 12
Protection Technology V1.0.0
Chapter 3 Flow chart and fault code definition of protection function
3.2
Definition of Fault Code
In fujitsu motor driver system, the definitions of fault code can be described as Table 3-1, it
also can be found in the relevant head files.
pmsm_error_type
= 0x00,
//Motor initial or normal state
pmsm_error_type
= 0x01,
//Motor over DC voltage state
pmsm_error_type
= 0x02,
// Motor low DC voltage state
pmsm_error_type
= 0x04,
//Motor software over current state
pmsm_error_type
= 0x08,
//Motor failed start-up
pmsm_error_type
= 0x10,
//Motor open phase state
pmsm_error_type
= 0x20,
//No Motor
pmsm_error_type
= 0x40,
//Motor AD offset fault state
pmsm_error_type
= 0x80
//Motor locked state
PFC_stop_Flag = 0;
//PFC initial or normal state
PFC_stop_Flag = 1;
//PFC hardware over current state
PFC_stop_Flag = 5;
//PFC software over voltage state
PFC_stop_Flag = 6;
//PFC software over current state
MCU-AN-510112-E-10 – Page 13
Protection Technology V1.0.0
Chapter 3 Flow chart and fault code definition of protection function
Table 3-1: Fault Code of Protection Function
Fault Code
Type of Fault
Reason
0x0000
Motor initial or normal state
Motor stop or normal run
0x0001
Motor over DC voltage state
High AC input, DC sample circuit fault,
PFC abnormity
0x0002
Motor low DC voltage state
Low AC input, DC sample circuit fault
0x0004
Motor software over current state
Motor run abnormity, current sample fault
0x0008
Motor failed start-up
Improper parameter,hardware driver fault
0x0010
Motor open phase state
Motor connected abnormity
0x0020
No Motor
Motor connected abnormity
0x0040
Motor AD offset fault state
AD current sample abnormity
0x0080
Motor locked state
Motor fault, Improper parameter, hardware
circuit fault
0
PFC initial or normal state
PFC no work or normal work
1
PFC hardware over current state
PFC run abnormity or sample fault or
hardware fault
5
PFC software over voltage state
PFC run abnormity or sample fault or
hardware fault
6
PFC software over current state
PFC run abnormity or sample fault or
hardware fault
MCU-AN-510112-E-10 – Page 14
Protection Technology V1.0.0
Chapter 4 Additional Information
4 Additional Information
For more Information on FUJITSU semiconductor products, visit the following websites:
English version address:
http://www.fujitsu.com/cn/fsp/services/mcu/32bit/fm3/an.html
Chinese version address:
http://www.fujitsu.com/cn/fss/services/mcu/32bit/fm3/an.html
MCU-AN-510112-E-10 – Page 15
Protection Technology V1.0.0
Chapter 5 Appendix
5 Appendix
5.1
List of Figures and Tables
Table 3-1: Fault Code of Protection Function ....................................................................... 14
Figure 2-1 AD offset detection of current sample ................................................................... 5
Figure 2-2 Sequence diagram of motor open phase detection ............................................... 6
Figure 2-3 Motor open phase detection module frame ........................................................... 6
Figure 2-4 Flow chart of motor locked detection ..................................................................... 7
Figure 2-5 Motor locked detection module frame ................................................................... 7
Figure 2-6 Sequence diagram of motor over-low voltage detection ........................................ 8
Figure 2-7 Motor over-low voltage detection module frame .................................................... 8
Figure 2-8 Sequence diagram of IPM hardware over current detection .................................. 9
Figure 2-9 IPM hardware over current detection module frame .............................................. 9
Figure 2-10 PFC over current detection module frame ......................................................... 10
Figure 2-11 Sequence diagram of PFC over current detection ............................................. 10
Figure 3-1 Flow Chart of Protection Function ....................................................................... 12
MCU-AN-510112-E-10 – Page 16
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