FM3/0+ Fan Montor Control User Manual

Fan Motor Control
32-BIT MICROCONTROLLER
FM3/0+ Family
USER MANUAL
Publication Number S6E1A1_AN710-00004
Revision 1.4
Issue Date Aug 3, 2015
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Target products
This application note describes the following products:
Series
Product Number (Not Including Package Suffix）
FM3 Series
MB9AF132K
FM0+ Series
S6E1A1
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Table of Contents
1.
2.
3.
4.
4
Introduction ..................................................................................................................................... 9
1.1
Purpose…. .......................................................................................................................... 9
1.2
Definitions, Acronyms and Abbreviations ............................................................................ 9
1.3
Document Overview ............................................................................................................ 9
System Environment .................................................................................................................... 10
2.1
Hardware Environment...................................................................................................... 10
2.2
Software Environment ....................................................................................................... 10
System Firmware Design ............................................................................................................. 11
3.1
Firmware Architecture ....................................................................................................... 11
3.1.1
IAR Project File Architecture.............................................................................. 11
3.2
Firmware Flow Chart ......................................................................................................... 12
Event Function.............................................................................................................................. 13
4.1
Function List ...................................................................................................................... 13
4.2
Function Prototype ............................................................................................................ 14
4.2.1
void ClarkeTransform() ..................................................................................... 14
4.2.2
void ParkTransform() ........................................................................................ 14
4.2.3
void InvertClackeTransform() ........................................................................... 14
4.2.4
void InvertParkTransform() ............................................................................... 14
4.2.5
void Sensor_Parameter_Initial () ...................................................................... 14
4.2.6
void Motor1_Sensor_Offeset_Detect() ............................................................. 15
4.2.7
void Motor1_Sense() ........................................................................................ 15
4.2.8
void DT_Compensation().................................................................................. 15
4.2.9
void Dynamic_change_PWM() ......................................................................... 15
4.2.10
void Motor1_Elec_Brake () ............................................................................... 15
4.2.11
void FieldWeaken()........................................................................................... 15
4.2.12
int32_t LogicRightShift() ................................................................................... 15
4.2.13
unsigned long Sqrt () ........................................................................................ 16
4.2.14
void Lpf () ......................................................................................................... 16
4.2.15
void DifferParamsLpf ()..................................................................................... 16
4.2.16
void Initial_Motor1_FieldWeakPar ()................................................................. 16
4.2.17
void Initial_Motor1_BEMF_EstimPar () ............................................................ 16
4.2.18
void Initial_Motor1_RunPar () ........................................................................... 16
4.2.19
void Motor1_Init() ............................................................................................. 17
4.2.20
void Motor1_Start() ........................................................................................... 17
4.2.21
void Motor1_Stop() ........................................................................................... 17
4.2.22
void Motor1_Speed_Regulate () ....................................................................... 17
4.2.23
void Motor1_Limit_Calc ()................................................................................. 17
4.2.24
void Motor1_Theta_Generate () ....................................................................... 17
4.2.25
void Motor1_Process() ..................................................................................... 17
4.2.26
void PositionObserver () ................................................................................... 18
4.2.27
void Motor1_HandleError () .............................................................................. 18
4.2.28
void Motor1_Protect() ....................................................................................... 18
4.2.29
void Motor1_Run () ........................................................................................... 18
4.2.30
void NoStop_Start() .......................................................................................... 18
4.2.31
void Current_PI () ............................................................................................. 18
4.2.32
void Speed_PI () ............................................................................................ 19
4.2.33
uint32_t u32Q22_ArcTan() ............................................................................... 19
4.2.34
int32_t i32Q12_Sin() ........................................................................................ 19
4.2.35
int32_t i32Q12_Cos () ...................................................................................... 19
4.2.36
void Motor1_Res_Measure() ............................................................................ 19
4.2.37
void Single_Shunt() .......................................................................................... 19
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4.2.38
void Comm_Duration_Calc() ............................................................................ 19
4.2.39
void Sector_Judge() ......................................................................................... 20
4.2.40
void abcon_map() ............................................................................................. 20
4.2.41
void SVPWM_Calc() ......................................................................................... 20
4.2.42
void Write_Motor1_MFT_Register() ................................................................. 20
4.2.43
void InitNVIC () ................................................................................................. 20
4.2.44
void InitGpio () .................................................................................................. 20
4.2.45
void InitADC () .................................................................................................. 21
4.2.46
void InitSysTime () ............................................................................................ 21
4.2.47
void InitWDT () ................................................................................................. 21
4.2.48
void Motor1_configPWM () ............................................................................... 21
4.2.49
void Motor1_SVPWM_Init () ............................................................................. 21
4.2.50
void Motor1_SVPWM_En () ............................................................................. 21
4.2.51
void Motor1_SVPWM_Dis ()............................................................................. 22
4.2.52
void Speed_Feedback() ................................................................................... 22
4.2.53
void Thermal_Protect() ..................................................................................... 22
4.2.54
void RMS_Calc() .............................................................................................. 22
4.2.55
void Motor1_StartSpeed_PI() ........................................................................... 22
4.2.1
void CAP_Charge () ......................................................................................... 22
4.2.2
void Main ()....................................................................................................... 23
User Interface ............................................................................................................................... 24
5.1
Customer Interface Variable List ....................................................................................... 24
5.2
Variable Definition ............................................................................................................. 25
5.2.1
Motor1_Pole_Pairs ........................................................................................... 25
5.2.2
Motor1_Ld ........................................................................................................ 25
5.2.3
Motor1_Lq ........................................................................................................ 25
5.2.4
Motor1_Res ...................................................................................................... 26
5.2.5
Motor1_Ke ........................................................................................................ 26
5.2.6
Motor1_Kt ......................................................................................................... 26
5.2.7
Motor1_Kj ......................................................................................................... 26
5.2.8
Motor1_dki........................................................................................................ 27
5.2.9
Motor1_dkp ...................................................................................................... 27
5.2.10
Motor1_qki........................................................................................................ 27
5.2.11
Motor1_qkp ...................................................................................................... 27
5.2.12
Motor1_ski ........................................................................................................ 27
5.2.13
Motor1_skp....................................................................................................... 27
5.2.14
Motor1_Speed_Inc_Acceleration_Hz ............................................................... 27
5.2.15
Motor1_Speed_Dec_Acceleration_Hz ............................................................. 27
5.2.16
Motor1_OpenLoop_Inc_Current_APS .............................................................. 27
5.2.17
Motor1_OpenLoop_CurrentA ........................................................................... 28
5.2.18
Motor1_Orient_TimeS ...................................................................................... 28
5.2.19
Motor1_Force_Inc_Speed_Hz.......................................................................... 28
5.2.20
Motor1_CloseLoop_Speed_Hz ........................................................................ 28
5.2.21
Motor1_Initial_Speed_Pre_Close_Hz .............................................................. 28
5.2.22
Motor1_Detect_Direction_TimeS...................................................................... 28
5.2.23
Motor1_Inverse_Rotor_Brake_TimeS .............................................................. 28
5.2.24
Motor1_Pre_CloseLoop_TimeS ....................................................................... 28
5.2.25
Motor1_Pre_CloseLoop_Current_MinA............................................................ 28
5.2.26
Motor1_Pre_CloseLoop_Current_MaxA........................................................... 29
5.2.27
Motor1_Inc_SpeedAcc_TimeS ......................................................................... 29
5.2.28
Motor1_Inc_Speed_MAX_Hz ........................................................................... 29
5.2.29
Motor1_PWM_Brake_Inc_TimeS ..................................................................... 29
5.2.30
Motor1_Stop_Brake_CurrentA ......................................................................... 29
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5.2.31
Motor1_Over_CurrentA .................................................................................... 29
5.2.32
Motor1_max_dcvoltageV .................................................................................. 29
5.2.33
Motor1_min_dcvoltageV ................................................................................... 29
5.2.34
Motor1_Error_keep_timeS ............................................................................... 29
5.2.35
Motor1_Field_Value.......................................................................................... 29
5.2.36
Motor1_Comp_MaxA ....................................................................................... 30
5.2.37
Motor1_Is_MaxA .............................................................................................. 30
5.2.38
Motor1_dead_timeUS ...................................................................................... 30
5.2.39
Motor1_PWM_Carry_Frequency ...................................................................... 30
5.2.40
Motor1_Current_Carry_Frequency ................................................................... 30
5.2.41
Motor1_speed_Max_RPM ................................................................................ 30
5.2.42
Motor1_speed_Min_RPM ................................................................................. 30
5.2.43
Motor1_Rotor_direction .................................................................................... 30
5.2.44
Motor1_Running_Level .................................................................................... 30
5.2.45
Motor1_Dynamic_PWM_Enable ...................................................................... 31
5.2.46
Motor1_PWM_Table ......................................................................................... 31
5.2.47
AD_OFFSET_NUM .......................................................................................... 31
5.2.48
AD_OFFEST_MAX_VALUE ............................................................................. 31
5.2.49
Motor1_Control_mode ...................................................................................... 31
5.2.50
MOTOR1_PWM_POLAR_AVAILABLE............................................................. 31
5.2.51
SYS_CLOK ...................................................................................................... 31
5.2.52
MOTOR1_SHUNT_NUMBER .......................................................................... 31
5.2.53
SPEED_FROM_OUT ....................................................................................... 31
5.2.54
VSP_MOTOR_START_V ................................................................................. 32
5.2.55
PULSE_FEEDBACK_ENABLE ........................................................................ 32
5.2.56
MOTOR1_IDENTIFICATION_ENABLE ............................................................ 32
5.2.57
MOTOR1_THERMAL_PROTECTION .............................................................. 32
5.2.58
MOTOR1_U_PIN.............................................................................................. 32
5.2.59
MOTOR1_V_PIN .............................................................................................. 32
5.2.60
MOTOR1_W_PIN ............................................................................................. 32
5.2.61
DC_V_PIN ........................................................................................................ 33
5.2.62
MOTOR1_SPEED_PIN .................................................................................... 33
5.2.63
ADC_Digit......................................................................................................... 33
5.2.64
ADC_REF......................................................................................................... 33
5.2.65
VDC_Amplifier_Multiple.................................................................................... 33
5.2.66
Motor1_Current_Rs .......................................................................................... 34
5.2.67
Motor1_Current_Amplifier_Multiple .................................................................. 34
5.2.68
Motor1_Pre_Charge_TimeS ............................................................................. 34
5.2.69
Motor1_Pre_Charge_Duty_Cycles ................................................................... 34
5.2.70
MOTOR1_BEMF_LPFK_MIN ........................................................................... 34
5.2.71
MOTOR1_BEMF_LPFK_MAX ......................................................................... 35
5.2.72
MOTOR1_BEMF_LPFK_MIN_HZ .................................................................... 35
5.2.73
MOTOR1_BEMF_LPFK_MAX_HZ ................................................................... 35
Interrupt Function ......................................................................................................................... 36
6.1
Function List ...................................................................................................................... 36
6.2
Interrupt Priority Configuration .......................................................................................... 36
System Debug Sample ................................................................................................................. 38
7.1
System Build ..................................................................................................................... 38
7.1.1
Demo Board Connect ....................................................................................... 38
7.1.2
Open Project .................................................................................................... 38
7.1.3
Configure Hardware and Software ................................................................... 39
7.1.4
Configure User Interface .................................................................................. 40
7.2
Motor Start-up ................................................................................................................... 43
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7.2.1
Code Rebuild.................................................................................................... 43
7.2.2
Download Code ................................................................................................ 43
7.2.3
Program and Motor Running ............................................................................ 44
7.2.4
Debug Motor Running Status ........................................................................... 45
7.2.5
VSP Modify Motor Speed ................................................................................. 47
7.2.6
Torque Control Mode ........................................................................................ 47
System Error Code Definition ....................................................................................................... 48
Additional Information ................................................................................................................... 49
Figures
Figure 3-1: Relationship of the Files in Each Layer ................................................................................ 11
Figure 3-2: File Architecture in IAR Project ............................................................................................. 11
Figure 3-3: The Main Loop Flow Chart ..................................................................................................... 12
Figure 5-1: Motor Current Waveform when Braking ................................................................................. 25
Figure 5-2: Motor Current Waveform Detail .............................................................................................. 26
Figure 5-3: DC Bus Voltage Amplifying Circuit ......................................................................................... 33
Figure 5-4: Phase Current Sampling Circuit ............................................................................................. 34
Figure 5-5: Current Amplifying Circuit....................................................................................................... 34
Figure 6-1: Interrupt Priority Map.............................................................................................................. 36
Figure 6-2: Interrupt Priority Configuration Diagrammatic Sketch (FM0+) ................................................ 37
Figure 7-1: Front View of Demo Board ..................................................................................................... 38
Figure 7-2: IAR Project Interface .............................................................................................................. 38
Figure 7-3: Project Structure .................................................................................................................... 39
Figure 7-4: Hardware Parameters Configuration ...................................................................................... 39
Figure 7-5: Configure MCU Register, Interrupt and Motor Parameters File Structure .............................. 40
Figure 7-6: Define Motor Name ................................................................................................................ 40
Figure 7-7: Define Motor Parameters ....................................................................................................... 41
Figure 7-8: Motor PI Parameters .............................................................................................................. 41
Figure 7-9: Motor Start-up Parameters..................................................................................................... 42
Figure 7-10: Motor Protection Parameters ............................................................................................... 42
Figure 7-11: Motor Running Parameters .................................................................................................. 43
Figure 7-12: Code Rebuild (1) .................................................................................................................. 43
Figure 7-13: Code Rebuild (2) .................................................................................................................. 43
Figure 7-14: Download Code ................................................................................................................... 43
Figure 7-15: Running Button .................................................................................................................... 44
Figure 7-16: Variable Watch Window ....................................................................................................... 44
Figure 7-17: Parameters Watch Window .................................................................................................. 45
Figure 7-18: Start-up Current Waveform (100mA/1s/scale) ..................................................................... 45
Figure 7-19: Start-up with No Orient and Open Loop Mode Parameters.................................................. 45
Figure 7-20: Start-up with No Orient and Open Loop Current waveform (100mA/1s/scale) ..................... 45
Figure 7-21: Start-up with Orient and Open Loop Mode Parameters ....................................................... 45
Figure 7-22: Start-up with Orient and Open Loop Current Waveform (100mA/1s/scale) .......................... 45
Figure 7-23: Speed Loop PI Parameters (Over large) .............................................................................. 46
Figure 7-24: Motor Current Waveform in PI Parameters Over Large (100mA/1s/scale)........................... 46
Figure 7-25: Speed Loop PI Parameters .................................................................................................. 46
Figure 7-26: Motor Current when PI Parameters appropriately (100mA/1s/scale) ................................... 46
Figure 7-27: D&Q Axis PI Parameters ...................................................................................................... 46
Figure 7-28: Motor Current when D&Q Axis PI parameters larger (100mA/1s/scale) ............................... 46
Figure 7-29: D&Q Axis PI Parameters ...................................................................................................... 47
Figure 7-30: Motor Current when D&Q Axis PI parameters Smaller (100mA/1s/scale) ............................ 47
Figure 7-31: D&Q Axis PI Parameters (PI parameters appropriately) ...................................................... 47
Figure 7-32: Motor Current when D&Q Axis PI parameters appropriately (100mA/1s/scale) ................... 47
Figure 7-33: Knob of Demo Board............................................................................................................ 47
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Tables
Table 2-1: MCU Hardware Development Environment ............................................................................. 10
Table 2-2: MCU Software Development Environment .............................................................................. 10
Table 3-1: Project File Architecture ............................................................................................................ 11
Table 4-1: Function List Table ................................................................................................................... 13
Table 6-1: Interrupt Function Table ........................................................................................................... 36
Table 6-2: Interrupt Priority Table.............................................................................................................. 37
Table 8-1: Error Code Table...................................................................................................................... 48
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1. Introduction
1.1
Purpose
This manual describes document architecture, demo connection and motor debug of Spansion DC Indoor
Fan Motor solution. It can help you to understand and use Spansion Cortex M3/M0+ series MCU better. It
can also provide some references to customers for development of new products.
1.2
1.3
Definitions, Acronyms and Abbreviations
API
Application Programming Interface
FOC
Field Oriented Control
HW
Hardware
FW
Firmware
I/O
Input and output
RAM
Random Access Memory
Document Overview
The rest of document is organized as the following:
Section 2 explains System Environment.
Section 3 explains System Firmware Design.
Section 4 explains Event Function.
Section 5 explains User Interface.
Section 6 explains Interrupt Function.
Section 7 explains System Debug Sample
Section 8 explains System Error Code .
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2. System Environment
2.1
Hardware Environment
Table 2-1: MCU Hardware Development Environment
2.2
System
Description
MCU
S6E1A1
Hardware
FAN _Motor_SOLU-V0.2.1
Emulator
J-Link V8
Motor type
Fan motor 2#(RS:80Ω Ke:120; Ls:620)
Software Environment
Table 2-2: MCU Software Development Environment
10
Type
Description
PC System
Windows 7 (64-bit)
Software developing IDE
IAR EWARM V6.6
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3. System Firmware Design
3.1
Firmware Architecture
Figure 3-1:
Relationship of the Files in Each Layer
User layer
Up
Application layer
Module layer
Driver layer
Down
Global layer
Each layer is independent. If the performance and independence will not be affected, the files in the lower
layer can call the files in the upper layer. In most cases, the files in upper layer call the files in the lower layer.
3.1.1
IAR Project File Architecture
According to the firmware architecture model, the file in IAR project is composed of header file (.h), source
file (.c) and the output file in build (.out).
Figure 3-2:
File Architecture in IAR Project
Folder names are shown in Figure 3-2. The project includes five header folders and five source folders. The
file in each folder is shown in the following table.
Table 3-1: Project File Architecture
Folder Name
Description
H01-Global
Global function declaration, global variables and macro definition folder
H02-Driver
MCU function declaration, variables and macro definition folder
H03-Module
Event function declaration and variables definition folder
H04-Application
Application function declaration and variables definition folder
H05-User
Hardware parameters and software parameters and MCU configuration header file folder
S01-Global
Global function folder
S02-Driver
MCU driver function folder
S03-Module
Event function folder
S04-Application
Application function folder
S05-User
Hardware parameters and software parameters and MCU configuration source file folder
Remarks: The file Chip_Init.c in S05-User is MCU configuration file; ISR.c is interrupt entrance function file;
Vector_Table.c is interrupt entrance vector table file, Customer_interface.c is motor control parameters and
configuration file.
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3.2
M A N U A L
Firmware Flow Chart
The flow chart of main functions is shown in Figure 3-3.
Figure 3-3: The Main Loop Flow Chart
WdgHwCallback
Start
Start
Initial Gpio
Set fault flag and stop motor
Initial PWM
End
Time Delay
WdgSwCallback
Start
Initial ADC
Motor Parameters Set
Set fault flag and stop motor
Initial WDT
End
Initial NVIC
ISR_MFT0_FRT
Start
Initial Timer
Update register OCCP
Feed WDT
End
Stop?
N
DtifIntCallback
Y
Start
Stop Function
Set fault flag and stop motor
Re-start?
N
End
Y
Re-start Function
ISR_ADC_unit0
Start
Start?
N
Y
Start Function
Get AD sample data
End
Communication
RtUnderflowIntHandler
Start
Set Target Speed
Running motor control
If the function is selected,
please enable the macro
12
End
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4. Event Function
4.1
Function List
Table 4-1: Function List Table
Prototype
Description
Remark
Clark Transform
Park Transform
Clarke Transform
Park Transform
N/A
N/A
InverseClackeTransform
InverseParkTransform
Inverse Clarke transform
Inverse Park transform
N/A
N/A
Sensor_Parameter_Initial
Motor1_Sensor_Offeset_Detect
Current sensor parameters initialization
Current sensor offset detect
N/A
N/A
Motor1_Sense
DT_Compensation
Current sensor function
Dead time compensation algorithm function
N/A
N/A
Dynamic_change_PWM
Motor1_Elec_Brake
Dynamic change PWM carrier frequency function
Motor electronic brake function
N/A
N/A
Field Weaken
LogicRightShift
Field weaken algorithm function
Bit logic right shift function
N/A
N/A
Sqrt
Lpf
Square root function
One order low pass filter
N/A
N/A
DifferParamsLpf
Initial_Motor1_FieldWeakPar
Differ parameters low pass filter
Field weaken function initialization
N/A
N/A
Initial_Motor1_BEMF_EstimPar
Initial_Motor1_RunPar
Position Estimator function initialization
Motor run function initialization
N/A
N/A
Motor1_Init
Motor1_Start
Motor total variables initialization function
Motor start up function
N/A
N/A
Motor1_Stop
Motor1_Speed_Regulate
Motor stop function
Motor speed regulate function
N/A
N/A
Motor1_Limit_Calc
Motor1_Theta_Generate
Motor limit voltage and current function
Motor theta generate function
N/A
N/A
Motor1_Process
PositionObserver
Motor control main loop algorithm function
Position Estimator event function
N/A
N/A
Motor1_HandleError
Motor1_Protect
Motor error handler function
Motor protect event function
N/A
N/A
Motor1_Run
NoStop_Start
Motor run and start up event function
No stop to restart function
N/A
N/A
Current_PI
Speed_PI
Current loop PI controller function
Speed loop PI controller function
N/A
N/A
u32Q22_ArcTan
i32Q12_Sin
Arctan function lookup algorithm
Sine function lookup algorithm
N/A
N/A
i32Q12_Cos
Motor1_Res_Measure
Cosine function lookup algorithm
Motor resistance measure function
N/A
N/A
Single_Shunt
Comm_Duration_Calc
Single shunt algorithm
Vector time calculate function
N/A
N/A
Sector_Judge
abcon_map
Sector judge algorithm function
Effective vector distribution function
N/A
N/A
SVPWM_Calc
Write_Motor1_MFT_Register
SVPWM algorithm event function
MFT register value assignment
N/A
N/A
InitNVIC
InitGpio
NVIC function mode initialization
Initialization I/O port
N/A
N/A
InitADC
Initialization AD model
N/A
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InitSysTime
Clock mode initialization
N/A
InitWDT
Watch dog mode initialization
N/A
Motor1_configPWM
PWM carrier frequency configuration
N/A
Motor1_SVPWM_Init
Motor1_SVPWM_En
Motor function module initialization
Enable SVPWM mode
N/A
N/A
Motor1_SVPWM_Dis
Speed_Feedback
Disable SVPWM mode
Pulse feedback motor speed
N/A
N/A
Thermal_Protect
RMS_Calc
Thermal protection function
Root mean square calculate
N/A
N/A
Motor1_StartSpeed_PI
CAP_Charge
Motor start speed PI parameter adjustment
Bootstrap capacitance prepare charge
N/A
N/A
Main
Main loop function
N/A
4.2 Function Prototype
4.2.1
void ClarkeTransform()
4.2.2
4.2.3
4.2.4
4.2.5
14
Prototype
void ClarkeTransform(UVWAxiahCS *Input, AlphaBetaCS *Output);
Parameter
U-V-W stator coordinate variables, α-β stator coordinate variables
Return
N/A
Description
Clarke transform
Remark
N/A
void ParkTransform()
Prototype
void ParkTransform(AlphaBetaCS *Input, dqAxialCS *Output);
Parameter
α-β stator coordinate variables, d-q rotating coordinate variables
Return
N/A
Description
Park transform
Remark
N/A
void InvertClackeTransform()
Prototype
void InvertClackeTransform(AlphaBetaS *Input, UVWAxiahS
*Output)
Parameter
α-β stator coordinate variables, u-v-w stator coordinate variables
Return
N/A
Description
Clarke inverse transform
Remark
N/A
void InvertParkTransform()
Prototype
void InvertParkTransform(dqAxialS *Input, AlphaBetaS *Output)
Parameter
d-q rotating coordinate variables, α-β stator coordinate variables
Return
N/A
Description
PARK inverse transform
Remark
N/A
void Sensor_Parameter_Initial ()
Prototype
void Sensor_Parameter_Initial (void)
Parameter
void
Return
void
Description
Current sampling parameters initialization
Remark
N/A
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4.2.6
4.2.7
4.2.8
4.2.9
4.2.10
4.2.11
void Motor1_Sensor_Offeset_Detect()
Prototype
void Motor1_Sensor_Offeset_Detect(void)
Parameter
void
Return
void
Description
Current sampling offset detect
Remark
N/A
void Motor1_Sense()
Prototype
void Motor1_Sense(void)
Parameter
void
Return
void
Description
Current sampling event function
Remark
N/A
void DT_Compensation()
Prototype
void DT_Compensation(void)
Parameter
void
Return
void
Description
Dead time compensation algorithm function
Remark
N/A
void Dynamic_change_PWM()
Prototype
void Dynamic_change_PWM(void)
Parameter
void
Return
void
Description
Dynamic change PWM carrier frequency function
Remark
N/A
void Motor1_Elec_Brake ()
Prototype
void Motor1_Elec_Brake (void)
Parameter
void
Return
void
Description
Motor electronic brake function
Remark
N/A
void FieldWeaken()
Parameter
void FieldWeaken(FieldWeakenS * FieldWeakenPar, signed
long Q8_Vbus, AlphaBetaS *Motor_2sVoltage, signed long
*Motor_idref, unsigned char MotorRunningStage)
Field weaken parameters
Return
void
Description
Field weaken algorithm function
Remark
N/A
Prototype
4.2.12
M A N U A L
int32_t LogicRightShift()
Prototype
int32_t LogicRightShift(int32_t Qmdata, uint32_t Shiftbits)
Parameter
Data input/Data output,
Aug 3, 2015, S6E1A1_AN710-00004-1v4-E
data shift digits
15
U S E R
4.2.13
4.2.14
Return
void
Description
Bit
Remark
N/A
unsigned long Sqrt ()
unsigned long Sqrt (unsigned long Root)
Parameter
Data input/Data output
Return
void
Description
Square root function
Remark
N/A
void Lpf ()
Parameter
Lpf(int32_t BeforeLpfData, int32_t
stc_lpfparams_t *pstcLpfParams)
Input value, output value
Return
void
Description
One order low pass filter
Remark
N/A
4.2.17
16
*AfterLpfData,
Parameter
DifferParamsLpf(int32_t
BeforeLpfData,
int32_t
*AfterLpfData, stc_differlpfparams_t *pstcLpfParams)
Input value, output value， filter parameters
Return
void
Description
Differ parameters low pass filter
Remark
N/A
void
void Initial_Motor1_FieldWeakPar ()
Prototype
static void Initial_Motor1_FieldWeakPar(uint32_t sample_freq)
Parameter
Carrier frequency
Return
Void
Description
Field weaken function initialization
Remark
N/A
void Initial_Motor1_BEMF_EstimPar ()
Parameter
static
void
sample_freq)
Carrier frequency
Return
Void
Description
Position Estimator function initialization
Remark
N/A
Prototype
4.2.18
void
void DifferParamsLpf ()
Prototype
4.2.16
logic right shift function
Prototype
Prototype
4.2.15
M A N U A L
Initial_Motor1_BEMF_EstimPar(uint32_t
void Initial_Motor1_RunPar ()
Prototype
static void Initial_Motor1_RunPar(uint32_t sample_freq)
Parameter
Carrier frequency
Return
Void
Description
Motor run function initialization
Remark
N/A
S6E1A1_AN710-00004-1v4-E, Aug 3, 2015
U S E R
4.2.19
4.2.20
4.2.21
4.2.22
4.2.23
4.2.24
4.2.25
M A N U A L
void Motor1_Init()
Prototype
void Motor1_Init(uint32_t Sample_freq)
Parameter
Carrier frequency
Return
Void
Description
Motor total variables initialization function
Remark
N/A
void Motor1_Start()
Prototype
void Motor1_Start(uint32_t Sample_freq)
Parameter
Carrier frequency
Return
void
Description
Motor start up function
Remark
N/A
void Motor1_Stop()
Prototype
void Motor1_Stop(void)
Parameter
Void
Return
void
Description
Motor stop function
Remark
N/A
void Motor1_Speed_Regulate ()
Prototype
void Motor1_Speed_Regulate (void)
Parameter
Void
Return
void
Description
Motor speed regulate function
Remark
N/A
void Motor1_Limit_Calc ()
Prototype
void Motor1_Limit_Calc (void)
Parameter
Void
Return
void
Description
Motor limit
Remark
N/A
voltage and current function
void Motor1_Theta_Generate ()
Prototype
void Motor1_Theta_Generate (void)
Parameter
Void
Return
void
Description
Motor theta generate function
Remark
N/A
void Motor1_Process()
Prototype
void Motor1_Process(void)
Parameter
Void
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U S E R
4.2.26
Return
void
Description
Motor control main loop algorithm function
Remark
N/A
void PositionObserver ()
Parameter
PositionObserver(stc_observer_t
*pstcEstParams,
AlphaBetaS *pstc2sV, AlphaBetaCS *pstc2sC)
Position estimator parameters
Return
Void
Description
Position Estimator event function
Remark
N/A
Prototype
4.2.27
4.2.28
4.2.29
4.2.30
4.2.31
void
void Motor1_HandleError ()
Prototype
void Motor1_HandleError(stc_Protect_t *pstcProtectParams)
Parameter
Motor protection parameters
Return
Void
Description
Motor error status handler function
Remark
N/A
void Motor1_Protect()
Prototype
void Motor1_Protect(stc_Protect_t *pstcProtectParams)
Parameter
Motor protection parameters
Return
void
Description
Motor protect event function
Remark
N/A
void Motor1_Run ()
Prototype
void Motor1_Run (void)
Parameter
Void
Return
void
Description
Motor run and start up event function
Remark
N/A
void NoStop_Start()
Prototype
void NoStop_Start(void)
Parameter
void
Return
void
Description
No stop to restart function
Remark
N/A
void Current_PI ()
Parameter
void Current_PI(int32_t Ref, int32_t Input, int32_t *Output,
stc_pid_t *PID_Par)
Reference current, feedback current, PI output, PI parameters
Return
void
Description
current loop PI controller function
Prototype
18
M A N U A L
S6E1A1_AN710-00004-1v4-E, Aug 3, 2015
U S E R
N/A
Remark
4.2.32
4.2.33
4.2.34
4.2.35
4.2.36
4.2.37
4.2.38
void
M A N U A L
Speed_PI ()
Prototype
void Speed_PI(int32_t Ref, int32_t Input,
stc_pid_t *PID_Par)
Parameter
Target speed, feedback speed, target torque
Return
void
Description
Speed loop PI controller function
Remark
N/A
int32_t *Output,
uint32_t u32Q22_ArcTan()
Prototype
uint32_t u32Q22_ArcTan(int32_t i32Q8_Y,int32_t i32Q8_X)
Parameter
BEMF input, angle output
Return
void
Description
Arctan function lookup algorithm
Remark
N/A
int32_t i32Q12_Sin()
Prototype
int32_t i32Q12_Sin(uint32_t u32Q22_Angle)
Parameter
Angle input，angle sine value output
Return
void
Description
Sine function lookup algorithm
Remark
N/A
int32_t i32Q12_Cos ()
Prototype
int32_t i32Q12_Cos(uint32_t u32Q22_Angle)
Parameter
Angle input, angle cosine value output
Return
void
Description
Cosine function lookup algorithm
Remark
N/A
void Motor1_Res_Measure()
Prototype
void Motor1_Res_Measure(void)
Parameter
void
Return
void
Description
Motor resistance measure function
Remark
N/A
void Single_Shunt()
Prototype
void Single_Shunt(void)
Parameter
void
Return
void
Description
Single shunt algorithm
Remark
N/A
void Comm_Duration_Calc()
Prototype
Aug 3, 2015, S6E1A1_AN710-00004-1v4-E
void Comm_Duration_Calc(SVPWM_CalculateS
*Motor_SVPWMPar)
19
U S E R
4.2.39
Parameter
SVPWM parameters
Return
void
Description
Vector time calculate function
Remark
N/A
void Sector_Judge()
Parameter
void Sector_Judge(SVPWM_CalculateS *Motor_SVPWMPar,
UVWAxiahS *Motor_3sVoltage)
Three-phase voltage value
Return
void
Description
Sector judge algorithm function
Remark
N/A
Prototype
4.2.40
void abcon_map()
Parameter
static inline void abcon_map(SVPWM_CalculateS
*SVPWMPar)
Vector value
Return
void
Description
Effective vector distribution function
Remark
N/A
Prototype
4.2.41
void SVPWM_Calc()
Parameter
Void SVPWM_Calc(SVPWM_CalculateS
*SVPWMPar ,AlphaBetaS *_2sV, UVWAxiahS *_3sV,
AlphaBetaS *_2sV_Real)
SVPWM parameters
Return
void
Description
SVPWM algorithm event function
Remark
N/A
Prototype
4.2.42
void Write_Motor1_MFT_Register()
Parameter
void Write_Motor1_MFT_Register(SVPWM_CalculateS
*SVPWM_Par)
Effective Vector value
Return
void
Description
MFT register value assignment
Remark
N/A
Prototype
4.2.43
4.2.44
20
M A N U A L
void InitNVIC ()
Prototype
void InitNVIC (void)
Parameter
void
Return
void
Description
NVIC function mode initialization
Remark
N/A
void InitGpio ()
Prototype
void InitGpio(void)
Parameter
void
S6E1A1_AN710-00004-1v4-E, Aug 3, 2015
U S E R
4.2.45
4.2.46
4.2.47
4.2.48
4.2.49
4.2.50
M A N U A L
Return
void
Description
Initialization I/O port
Remark
N/A
void InitADC ()
Prototype
void InitADC(uint32_t Motor1_Sample_freq)
Parameter
PWM carrier frequency
Return
void
Description
ADC module initialization
Remark
N/A
void InitSysTime ()
Prototype
void InitSysTime (void)
Parameter
void
Return
void
Description
System timer initialization
Remark
N/A
void InitWDT ()
Prototype
void InitWDT (void)
Parameter
void
Return
void
Description
Watch dog mode initialization
Remark
N/A
void Motor1_configPWM ()
Prototype
void Motor1_configPWM(uint32_t parameter)
Parameter
Current loop frequency
Return
void
Description
PWM carrier frequency configuration
Remark
N/A
void Motor1_SVPWM_Init ()
Prototype
void Motor1_SVPWM_Init (void)
Parameter
void
Return
void
Description
Motor function module initialization
Remark
N/A
void Motor1_SVPWM_En ()
Prototype
void Motor1_SVPWM_En (void)
Parameter
void
Return
void
Description
Enable SVPWM mode
Remark
N/A
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U S E R
4.2.51
4.2.52
4.2.53
void Motor1_SVPWM_Dis ()
Prototype
void Motor1_SVPWM_Dis (void)
Parameter
void
Return
void
Description
Disable SVPWM mode
Remark
N/A
void Speed_Feedback()
Prototype
void Speed_Feedback(stc_speedfeedback_t
*pstcSpeedParams)
Parameter
Pulse count value
Return
void
Description
Disable SVPWM mode
Remark
N/A
void Thermal_Protect()
Parameter
void Thermal_Protect(stc_thermalprotection_t
*pstcThermalParams)
Thermal sensor parameters
Return
void
Description
Disable SVPWM mode
Remark
N/A
Prototype
4.2.54
void RMS_Calc()
Prototype
Parameter
4.2.55
22
void RMS_Calc( int32_t angle, int32_t data,stc_rmsparams_t
*rms)
Motor rotor angle, motor one phase current, RMS function
parameters.
Return
void
Description
Disable SVPWM mode
Remark
N/A
void Motor1_StartSpeed_PI()
Parameter
void Motor1_StartSpeed_PI(stc_parameters_t
*startspeedpi)
Start speed PI adjustment function parameters
Return
void
Description
Disable SVPWM mode
Remark
N/A
Prototype
4.2.1
M A N U A L
void CAP_Charge ()
Prototype
void CAP_Charge(stc_capparams_t *charge)
Parameter
CAP charge function parameters
Return
void
Description
Disable SVPWM mode
Remark
N/A
S6E1A1_AN710-00004-1v4-E, Aug 3, 2015
U S E R
4.2.2
M A N U A L
void Main ()
Prototype
void Main(void)
Parameter
void
Return
void
Description
Main loop function
Remark
N/A
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U S E R
M A N U A L
5. User Interface
5.1
Customer Interface Variable List
Motor1: (Fan)
Motor Parameters
Motor1_Pole_Pairs
Motor1_Ld
Motor1_Lq
Motor1_Rs
Motor1_Ke
Motor1_Kt
Motor1_Kj
PI Parameters Regulate information
Motor1_dki
Motor1_dkp
Motor1_qki
Motor1_qkp
Motor1_ski
Motor1_skp
Motor1_Speed_Inc_Acceleration_Hz
Motor1_Speed_Dec_Acceleration_Hz
Motor Startup Parameters
Motor1_OpenLoop_Inc_Current_APS
Motor1_Openloop_CurrentA
Motor1_Orient_TimeS
Motor1_Force_Inc_Speed_Hz
Motor1_CoseLoop_Speed_Hz
Motor1_Initial_Speed_Pre_Close_Hz
Motor1_Detect_Direction_TimeS
Motor1_Inverse_Rotor_Brake_TimeS
Motor1_Pre_CloseLoop_TimeS
Motor1_Pre_CloseLoop_Current_MinA
Motor1_Pre_CloseLoop_Current_MaxA
Motor1_Inc_SpeedAcc_TimeS
Motor1_Inc_Speed_MAX_Hz
Motor1_PWM_Brake_Inc_TimeS
Motor1_Stop_Brake_CurrentA
Motor1 protection parameters
Motor1_Over_CurrentA
Motor1_max_dcvoltageV
Motor1_min_dcvoltageV
Motor1_Error_keep_timeS
Motor1 running parameters
Motor1_Field_Value
Motor1_Comp_MaxA
Motor1_Is_MaxA
Motor1_dead_timeUS
Motor1_PWM_Carry_Frequency
Motor1_Current_Carry_Frequency
Motor1_speed_Max_RPM
Motor1_speed_Min_RPM
Motor1_Rotor_direction
24
- Motor pole pairs
- PMSM d axis phase inductance
- PMSM q axis phase inductance
-PMSM line resistor
- PMSM Back Electromotive Force coefficient
- PMSM torque const
- PMSM moment of inertia
- D axis current loop integral parameter
- D axis current loop proportion parameter
- Q axis current loop integral parameter
- Q axis current loop proportion parameter
- Speed loop integral parameter
- Speed loop proportion parameter
- Acceleration of speed loop
- Deceleration of speed loop
- Current vary step in open loop
- Current value in open loop
- Orient time
- Open loop acceleration
- Target speed when switching to closed loop
- Speed initial value before closed loop
- Detection time of rotational direction
- Brake time of motor reversion
- Time before closed loop
- Minimum current before closed loop
- Maximum current before closed loop
- Acceleration interval
- Maximum speed acceleration
- PWM brake mode brake duty ratio pulse increase time
- Motor braking stops when the motor braking current is low
- Software over current point
- DC bus over voltage point
- DC bus under voltage point
- Fault maintain time
- Maximum current of field value
- Dead time compensation offset balance current
- Motor running maximum torque current
- Dead time value
- Motor start running PWM carry frequency
- Current implement frequency
-Motor running maximum speed
-Motor running minimum speed
-Motor running direction set
S6E1A1_AN710-00004-1v4-E, Aug 3, 2015
U S E R
M A N U A L
Motor1_Running_Level
Motor1_Dynamic_PWM_Enable
Motor1_PWM_Table
-Set motor running stage
-Motor carrier dynamic change switching
-Motor carrier frequency table
5.2 Variable Definition
5.2.1
Motor1_Pole_Pairs
Data type: unsigned char
Description: PMSM pole pairs
Unit: none
Measure method: Turn motor rotor manually, test motor three-phase terminal line voltage waveform, record
turning revolution N and sine wave period number M, so
Motor1_pole_pairs = M/N
5.2.2
Motor1_Ld
Data type: float
Description: PMSM d axis phase inductance
Unit: mH
Note: This parameter can be obtained from motor parameters or testing manually.
5.2.3
Motor1_Lq
Data type: float
Description: PMSM q axis phase inductance
Unit: mH
Note: This parameter can be obtained from motor parameters or test results.
Measure method:
When motor is running, brake motor manually and measure the phase current waveform. The current
waveform is shown in Figure 5-1. Then Lq is calculated by using braking phase current. This method is only
applicable to SPM motor.
Figure 5-1: Motor Current Waveform when Braking
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U S E R
M A N U A L
When motor braking, the phase current waveform detail is shown in Figure 5-2
Figure 5-2: Motor Current Waveform Detail
Considering Ke, Rs and Motor1_pole_pairs are known, record the following data when motor braking:
The frequency of current waveform: F
The current falling time: T
The current amplitude changes in falling time: A
The peak-peak current: A0
So Lq is calculated as follows,
Motor1_Lq = (F*60/ Motor1_pole_pairs* Motor1_Ke/1000 - Motor1_Res* A0/2)*T/A
5.2.4
Motor1_Res
Data type: float
Description: PMSM line resistor
Unit: Ω
Measure method: Test any two phases of resistance using multi-meter, record three test results Ruv, Rvw,
Ruw, so
Motor1_Res = (Ruv +Rvw+ Ruw)/3
5.2.5
Motor1_Ke
Data type: float
Description: PMSM Back Electromotive Force coefficient
Unit: V/Krpm
Measure method: Turn motor rotor rapidly, test motor three-phase terminal line voltage waveform, and
choose a relatively stable range of line voltage amplitude, record voltage peak-peak value and frequency in
the range.
Motor1_Ke = V* Motor1_pole_pairs*5.8934465/F
5.2.6
Motor1_Kt
Data type: float
Description: PMSM torque constant
Unit: N·m/Arms
5.2.7
Motor1_Kj
Data type: float
Description: PMSM moment of inertia
Unit: Kg·m2
26
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U S E R
5.2.8
M A N U A L
Motor1_dki
Data type: float
Description: D axis current loop integral parameter
Unit: none
Range: about 0.3
5.2.9
Motor1_dkp
Data type: float
Description: D axis current loop proportion parameter
Unit: none
Range: about 0.3
5.2.10
Motor1_qki
Data type: float
Description: Q axis current loop integral parameter
Unit: none
Range: about 0.3
5.2.11
Motor1_qkp
Data type: float
Description: Q axis current loop proportion parameter
Unit: none
Range: about 0.3
5.2.12
Motor1_ski
Data type: float
Description: Speed loop integral parameter
Unit: none
Range: about 0.0005
5.2.13
Motor1_skp
Data type: float
Description: Speed loop proportion parameter
Unit: none
Range: about 0.3
5.2.14
Motor1_Speed_Inc_Acceleration_Hz
Data type: float
Description: Acceleration of speed loop
Unit: Hz
5.2.15
Motor1_Speed_Dec_Acceleration_Hz
Data type: float
Description: Deceleration of speed loop
Unit: Hz
5.2.16
Motor1_OpenLoop_Inc_Current_APS
Data type: float
Description: Current vary step in open loop
Unit: A
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U S E R
5.2.17
M A N U A L
Motor1_OpenLoop_CurrentA
Data type: float
Description: Current value in open loop
Unit: A
5.2.18
Motor1_Orient_TimeS
Data type: float
Description: Orient time
Unit: s
5.2.19
Motor1_Force_Inc_Speed_Hz
Data type: float
Description: PMSM open loop acceleration. According to motor inertia, the greater inertia of the motor is, the
smaller the parameter value becomes.
Unit: Hz
5.2.20
Motor1_CloseLoop_Speed_Hz
Data type: float
Description: Target speed when switching to closed loop. The parameter value is greater than or equal to the
minimum frequency of the motor.
Unit: Hz
5.2.21
Motor1_Initial_Speed_Pre_Close_Hz
Data type: float
Description: PMSM target speed before close loop, if the value is less than minimum close loop speed,
system uses the open loop reference current and current acceleration as the close loop premise. If the value
is greater than or equal to the close loop target speed, system will start up with prepared close loop model.
Unit: Hz
5.2.22
Motor1_Detect_Direction_TimeS
Data type: float
Description: Detection time of rotational direction. If set the value to zero, system will close brake function by
default.
Unit: s
5.2.23
Motor1_Inverse_Rotor_Brake_TimeS
Data type: float
Description: PMSM rotor break duration, which is based on the motor current and the speed in the breaking
moment.
Unit: s
5.2.24
Motor1_Pre_CloseLoop_TimeS
Data type: float
Description: Time before closed loop
Unit: s
5.2.25
Motor1_Pre_CloseLoop_Current_MinA
Data type: float
Description: Minimum current before closed loop
Unit: A
28
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U S E R
5.2.26
M A N U A L
Motor1_Pre_CloseLoop_Current_MaxA
Data type: float
Description: Maximum current before closed loop
Unit: A
5.2.27
Motor1_Inc_SpeedAcc_TimeS
Data type: float
Description: motor open loop speed increase interval
Unit: s
5.2.28
Motor1_Inc_Speed_MAX_Hz
Data type: float
Description: motor maximum speed acceleration
Unit: Hz
5.2.29
Motor1_PWM_Brake_Inc_TimeS
Data type: float
Description: PMSM PWM break duty acceleration, if the value is greater than 2S, system uses the zero
vector break mode as default; if the value is less than 2S, system uses the PWM break mode. The less the
value is, the greater the effect becomes.
Unit: S
5.2.30
Motor1_Stop_Brake_CurrentA
Data type: float
Description: Motor braking stops when the motor braking current is smaller than
“Motor1_Stop_Brake_CurrentA”.
Unit: S
5.2.31
Motor1_Over_CurrentA
Data type: float
Description: Software over current point
Unit: A
5.2.32
Motor1_max_dcvoltageV
Data type: unsigned short
Description: DC bus over voltage point
Unit: V
5.2.33
Motor1_min_dcvoltageV
Data type: unsigned short
Description: DC bus under voltage point
Unit: V
5.2.34
Motor1_Error_keep_timeS
Data type: unsigned short
Description: DC bus under voltage point
Unit: V
5.2.35
Motor1_Field_Value
Data type: float
Description: Maximum current of field weaken
Unit: A
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U S E R
5.2.36
M A N U A L
Motor1_Comp_MaxA
Data type: float
Description: the dead time compensation value of current
Unit: A
5.2.37
Motor1_Is_MaxA
Data type: float
Description: Motor maximum current
Unit: A
5.2.38
Motor1_dead_timeUS
Data type: float
Description: PWM dead time
Unit: us
5.2.39
Motor1_PWM_Carry_Frequency
Data type: unsigned short
Description: PWM carrier frequency
Unit: Hz
5.2.40
Motor1_Current_Carry_Frequency
Data type: unsigned short
Description: Motor control algorithm frequency
Unit: Hz
5.2.41
Motor1_speed_Max_RPM
Data type: unsigned short
Description: Maximum speed
Unit: RPM
5.2.42
Motor1_speed_Min_RPM
Data type: unsigned short
Description: Minimum speed
Unit: RPM
5.2.43
Motor1_Rotor_direction
Data type: unsigned char
Description: Motor rotate direction
Unit: none
Range: 0->clockwise, 1->anticlockwise
5.2.44
Motor1_Running_Level
Data type: unsigned char
Description: Motor running level
Unit: none
Range: 0->Brake, 1->Orient, 2->Open loop, 3->Closed loop, 4->Set running speed
30
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U S E R
5.2.45
M A N U A L
Motor1_Dynamic_PWM_Enable
Data type: unsigned char
Description: switch of the Dynamic PWM function
Unit: none
Range: 0->disable, 1->enable
5.2.46
Motor1_PWM_Table
Data type: unsigned short
Description: the carry frequency of per frequency
Unit: KHZ
5.2.47
AD_OFFSET_NUM
Data type: macro definition
Description: Stationary phase current will be sampled 2 AD_OFFSET_NUM times, before the AD middle
voltage is calculated.
Unit: None
5.2.48
AD_OFFEST_MAX_VALUE
Data type: macro definition
Description: AD middle voltage maximum offset
Unit: None
5.2.49
Motor1_Control_mode
Data type: macro definition
Description: Motor1 control mode switch
Range: 0: Speed 1: Torque 2: VF 3: VF_Diagnose
5.2.50
MOTOR1_PWM_POLAR_AVAILABLE
Data type: macro definition
Description: Motor1 control PWM output polarity
Range: 0: LOW_POLAR 1: HIGH_POLAR
5.2.51
SYS_CLOK
Data type: macro definition
Description: MCU main frequency
Unit: MHz
Range: 0—20MHz
5.2.52
MOTOR1_SHUNT_NUMBER
Data type: macro definition
Description: The number of sampling resistor
Unit: none
Range: 1, 2, 3
5.2.53
SPEED_FROM_OUT
Data type: macro definition
Description: modify the source of motor target speed
Unit: none
Range: 0: from the UART or debug set 1: from the out AD
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5.2.54
M A N U A L
VSP_MOTOR_START_V
Data type: macro definition
Description: The voltage threshold value of motor start in Vsp control speed model.
Unit: V
Range: 0-5V
5.2.55
PULSE_FEEDBACK_ENABLE
Data type: macro definition
Description: motor speed count uses pulse counting model or not, if the parameter is enabled, there are 12
PWM cycle feedbacks from pin ‘P61’ in one motor mechanical cycle.
Unit: none
Range: 0 – disable; 1 – enable.
5.2.56
MOTOR1_IDENTIFICATION_ENABLE
Data type: macro definition
Description: motor parameters identification function enable flag.
Unit: none
Range: 0 – disable; 1 – enable.
5.2.57
MOTOR1_THERMAL_PROTECTION
Data type: macro definition
Description: thermal protect function enable flag, if the parameters are enabled, when the temperature of the
motor rises, the speed will slow down; if the temperature exceeds the max value, motor will stop running to
protect itself.
Unit: none
Range: 0 – disable; 1 – enable.
5.2.58
MOTOR1_U_PIN
Data type: macro definition
Description: AD Channel to sample U phase current
Unit: MCU pin
Range: ANXX
5.2.59
MOTOR1_V_PIN
Data type: macro definition
Description: AD Channel to sample V phase current
Unit: MCU pin
Range: ANXX
5.2.60
MOTOR1_W_PIN
Data type: macro definition
Description: AD Channel to sample W phase current
Unit: MCU pin
Range: ANXX
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M A N U A L
DC_V_PIN
Data type: macro definition
Description: AD Channel to sample DC bus voltage
Unit: MCU pin
Range: ANXX
5.2.62
MOTOR1_SPEED_PIN
Data type: macro definition
Description: AD channel to sample sliding rheostat to control motor speed
Unit: MCU pin
Range: ANXX
5.2.63
ADC_Digit
Data type: macro definition
Description: AD converter resolution
Unit: bit
Range: 1-bit, 12-bit
5.2.64
ADC_REF
Data type: macro definition
Description: ADC reference voltage
Unit: V
Range: 1.8V/3.3V/5V
5.2.65
VDC_Amplifier_Multiple
Data type: macro definition
Description: DC bus voltage amplifying circuit coefficient
Unit: none
Calculation process: as shown in Figure 5-3;
VDC_Amplifier_Multiple = (R138+R39+R59+R62)/R62;
Figure 5-3: DC Bus Voltage Amplifying Circuit
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5.2.66
M A N U A L
Motor1_Current_Rs
Data type: macro definition
Description: Current sampling resistance of Motor1
Unit: Ω
Note: the shunt connect to IPM in circuit as shown in Figure 5-4; if use built-in shunt, please refer to IPM
datasheet to get the shunt resistance.
Figure 5-4: Phase Current Sampling Circuit
5.2.67
Motor1_Current_Amplifier_Multiple
Data type: macro definition
Description: Current amplifying circuit coefficient
Unit: none
Calculation process: as shown in Figure 5-5,
Motor1_Current_Amplifier_Multiple = (R111//R110)/R115;
Figure 5-5: Current Amplifying Circuit
5.2.68
Motor1_Pre_Charge_TimeS
Data type: macro definition
Description: IPM bootstrap capacitor charge time in motor start-up status.
Unit: S
Range: according to IPM characteristic and hardware parameters.
5.2.69
Motor1_Pre_Charge_Duty_Cycles
Data type: macro definition
Description: IPM bootstrap capacitor charge PWM duty
Unit: None
Range: 0~1
5.2.70
MOTOR1_BEMF_LPFK_MIN
Data type: macro definition
Description: the minimum of motor1 estimate filters K value
Unit: None
Range: according to motor characteristic, hardware and sensor circuit performance
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5.2.71
M A N U A L
MOTOR1_BEMF_LPFK_MAX
Data type: macro definition
Description: the maximum of motor1 estimate filters K value
Unit: None
Range: according to motor characteristic, hardware and sensor circuit performance
5.2.72
MOTOR1_BEMF_LPFK_MIN_HZ
Data type: macro definition
Description: The minimum value of rotor position estimator’s filter
Unit: None
Range: equal to motor lowest run frequency
5.2.73
MOTOR1_BEMF_LPFK_MAX_HZ
Data type: macro definition
Description: The maximum value of rotor position estimator’s filter
Unit: None
Range: equal to motor lowest run frequency
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6. Interrupt Function
6.1
Function List
Table 6-1: Interrupt Function Table
Function Prototype
6.2
Description
Remark
WdgHwCallback
Hard watch dog interrupt
N/A
WdgSwCallback
Soft watch dog interrupt
N/A
ISR_MFT0_FRT
FRT interrupt
N/A
DtifIntCallback
DTTI interrupt
N/A
ISR_ADC_unit0
ADC0 interrupt
N/A
RtUnderflowIntHandler
Base timer interrupt
N/A
Interrupt Priority Configuration
1. Interrupt Priority Map
Figure 6-1: Interrupt Priority Map
Main Loop
Low
High
RtUnderflowIntHandler ISR_ADC_unit0
ISR_MFT0_FRT
36
DtifIntCallback
WdgHwCallback
Or
WdgSwCallback
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2. Interrupt Priority List
Table 6-2: Interrupt Priority Table
Interrupt Vector
Priority
M3
M0+
DtifIntCallback
0
0
WdgHwCallback Or WdgSwCallback
1
0
ISR_ADC_unit0
2
1
ISR_MFT0_FRT
3
2
RtUnderflowIntHandler
4
3
3. Interrupt Priority Configuration Location
Figure 6-2: Interrupt Priority Configuration Diagrammatic Sketch (FM0+)
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7. System Debug Sample
7.1 System Build
7.1.1
Demo Board Connect
When you get a Fan Motor board as shown in Figure 7-1, please connect as follows:
① Power supply interface;
② Emulator debug interface;
③ Motor three phase line interface;
④ GUI debug interface.
Figure 7-1: Front View of Demo Board
①
④
②
③
7.1.2
Open Project
Firstly, run IAR Embedded Workbench, click “File->Open->Workspace”, choice the project name
“ArmInverterPlatform.eww”, the opened project interface is show in Figure 7-2.
Figure 7-2: IAR Project Interface
.
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7.1.3
M A N U A L
Configure Hardware and Software
1. Configure Motor Interface Location
When you change the motor or hardware, please modify the related file as shown in Figure 7-3.
Figure 7-3: Project Structure
The file configures hardware, software,
parameters, and MCU information.
2. Configure hardware parameters as shown in Figure 7-4
Figure 7-4: Hardware Parameters Configuration
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3. Configure MCU Register, Interrupt and motor parameters location. As shown in Figure 7-5;
Figure 7-5: Configure MCU Register, Interrupt and Motor Parameters File Structure
Configure MCU Frequency, Interrupt,
Watch dog, AD and MFT and so on.
Set motor parameters and startup
parameters
and
motor
protect
parameters and so on.
Configure the interrupt service function.
Configure interrupt vector table.
7.1.4
Configure User Interface
7.1.4.1
Configure Motor Type
1. Define the motor type in file “Customer_Interface.c”,
For example: define the motor name to “Fan_Motor_Type_2”, as shown in Figure 7-6;
Figure 7-6: Define Motor Name
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2. Please copy and paste a data set as shown in Figure 7-7, modify the motor pole, reluctance, inductance
and induction constant. In this project, we do not care about torque constant and inertia constant.
Motor parameter can be obtained from motor factory directly, or measured by the user.
Figure 7-7: Define Motor Parameters
7.1.4.2
Configure PI Parameters
You do not need to modify the default PI parameters, when the motor is running, system can modify the PI
parameters of speed loop and current loop automatically according to motor running state. The PI parameters of
speed loop are based on motor inertia, and the PI parameters of current loop are based on the resistance and
inductance. The detail information is shown in chapter 7.2.4.2.
Figure 7-8: Motor PI Parameters
7.1.4.3
Configuration Start-up Parameters
1. Start-up with orient and open loop; set the orient duration and open loop current;
2. According to motor inertia and motor minimum operation frequency, set the acceleration and close loop frequency
with open loop;
3. Start-up with anti-wind, define the detect direction times;
a. Do not need Start-up with anti-wind, define it to zero;
b. Need start-up with anti-wind function, define the detect direction times as a non-zero value. In principle,
if the time can satisfy the direction detection, please set the time as short as possible, the typical case is
0.2S.
4. Start-up with close-loop, set Pre close loop time and prepare close loop current. For the detail of open loop
acceleration and maximum speed with open loop and PWM break duty cycle, please refer to chapter 5.2.
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Figure 7-9: Motor Start-up Parameters
7.1.4.4
Configuration Protection Parameters
Configuration principles: according to the characteristics of motor, the threshold of current and voltage can’t
cause damage to motor.
Figure 7-10: Motor Protection Parameters
7.1.4.5
Configure Running Parameters
1. Set the field weaken current:
a. If the voltage of power supply and back electromotive force can run the motor at maximum speed, set
the field weaken current to zero;
b. Otherwise, set the field weaken current according to your requirements. Theoretically, the field weaken
current is not over 60% of total current.
2. Debug and confirm the maximum of dead time compensation and threshold according to motor characteristic:
a. Dead time compensation should depend on IPM or MOSFET hardware performance. Theoretically, the
time should be as short as possible in order to eliminate harmonic and control error;
3. Set the motor maximum current according to system power;
4. Configure motor start-up frequency and current loop carrier frequency according to motor characteristic:
a. Please use the default parameters if the electromagnetic noise and start-up performance are acceptable;
b. If you enabled the function of dynamic adjustment the carrier frequency online, this function can turn the
motor run with proper carrier frequency to eliminate electromagnetic.
5. Modify the speed range according to motor characteristic;
6. All the parameters in Figure 7-11support change online, you can modify it to control your motor to get the best state
conveniently.
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Figure 7-11: Motor Running Parameters
7.1.4.6
Hardware Parameters Configuration
For the detail of hardware parameter configuration, definition and calculation, please refer to the chapter 5.2.
7.2 Motor Start-up
7.2.1
Code Rebuild
In IAR environment, select the project name “ArmInverterPlantform”, and right-click. Then select “Rebuild All”, or click
“Project->Rebuild All”, as shown in Figure 7-12 and Figure 7-13.
Figure 7-12: Code Rebuild (1)
7.2.2
Figure 7-13: Code Rebuild (2)
Download Code
When rebuild code passed, left click “Project->Download and Debug” or according to Figure 7-14, click the shortcut
button to enter the debug interface.
Figure 7-14: Download Code
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7.2.3
M A N U A L
Program and Motor Running
As shown in Figure 7-15 click “
” or press “F5” to run program, in this status, program can respond to your
command and return the status and data.
Figure 7-15: Running Button
Right click “View->Live Watch” to enter the interface, type the global variable names in “Live Watch” window.
Such as: “Motor1_RunPar”, as shown in Figure 7-16. Expansion the structure variable “Motor1_RunPar”, type a
non-zero value to “Q0_TargetSpeed_RPM” and press “Enter”, the motor can be start-up. When motor start-up
finished, we can modify the parameters as mentioned before according to the current waveform in oscilloscope.
Figure 7-16: Variable Watch Window
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7.2.4
M A N U A L
Debug Motor Running Status
7.2.4.1
Debug Start-up
Set different parameters according to start-up modes, for example:
1. Prepare Close Loop Start-up Mode (default mode)
Set the parameters as shown in Figure 7-17:
Figure 7-17: Parameters Watch Window
Figure 7-18: Start-up Current Waveform
(100mA/1s/scale)
2. Start-up with no orient and open loop mode
Set the parameters as shown in Figure 7-19. (Modify the “Motor1_Orient_TimeS” &
“Motor1_Initial_Speed_Pre_Close_Hz” value on the basis of Figure 7-17)
Figure 7-19: Start-up with No Orient and Open Loop
Mode Parameters
Figure 7-20: Start-up with No Orient and Open Loop
Current waveform (100mA/1s/scale)
3. Start-up with orient and open loop mode
Set the parameters as shown in Figure 7-21. (Modify the “Motor1_OpenLoop_Inc_Current_APS” value on
the basis of Figure 7-19)
Figure 7-21: Start-up with Orient and Open Loop Mode
Parameters
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Figure 7-22: Start-up with Orient and Open Loop Current
Waveform (100mA/1s/scale)
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7.2.4.2
M A N U A L
Debug PI Parameters
Adjust the PI controller parameters according to motor status and current waveform, for example:
1. Speed Loop
a. Set a group over large PI parameters, as shown in Figure 7-23, the motor current waveform as shown in
Figure 7-24.
Figure 7-23: Speed Loop PI Parameters (Over large)
Figure 7-24: Motor Current Waveform in PI Parameters
Over Large (100mA/1s/scale)
b. Set a group PI parameters appropriately, as shown in Figure 7-25; the motor current waveform is shown in
Figure 7-26.
Figure 7-25: Speed Loop PI Parameters
Figure 7-26: Motor Current when PI Parameters
appropriately (100mA/1s/scale)
2. Current Loop
a. Set a group over large D&Q Axis PI parameters, as shown in Figure 7-27, the motor current waveform is
shown in Figure 7-28, the current ripple and electromagnetic noise is very heavy.
Figure 7-27: D&Q Axis PI Parameters
(PI parameters over large)
46
Figure 7-28: Motor Current when D&Q Axis PI
parameters larger (100mA/1s/scale)
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b. Set a group too small D&Q Axis PI parameters, as shown in Figure 7-29, the motor current can’t follow the
reference current, the system enter error, the motor current waveform is shown in Figure 7-30.
Figure 7-29: D&Q Axis PI Parameters
(PI parameters too small)
Figure 7-30: Motor Current when D&Q Axis PI
parameters Smaller (100mA/1s/scale)
c. Set a group appropriately D&Q Axis PI parameters, as shown in Figure 7-31, the motor current ripple is
very little and follow the reference current very nice, the motor current waveform is shown in Figure 7-32.
Figure 7-31: D&Q Axis PI Parameters (PI parameters
appropriately)
7.2.5
Figure 7-32: Motor Current when D&Q Axis PI
parameters appropriately (100mA/1s/scale)
VSP Modify Motor Speed
To achieve the VSP modify motor speed, you need to follow below steps:
Step 1: Define the parameters “SPEED_FROM_OUT” and “VSP_MOTOR_START_V” in ‘Hardware_Congig.h’ file,
as shown in below:
#define SPEED_FROM_OUT
1
#define VSP_MOTOR_START_V 0.8
Step 2: “Rebuild All” the project and “Download and Debug”, close the IAR workbench;
Step 3: Twist the resistance knob clockwise or anti-clockwise slowly, as shown in Figure 7-33 to record the motor
speed;
Figure 7-33: Knob of Demo Board
7.2.6
Torque Control Mode
To achieve torque control mode, you need to follow below steps:
Step1: Run motor in “speed” mode at any speed;
Step2: set the value of “Motor1_Startup.PMSM_Control_mode” to “1” in “Live Watch” window;
Step3: change the value of “Motor1_2rCurrentRef.Q12_q”; in this step, motor speed is determined by the value of
“Motor1_2rCurrentRef.Q12_q”;
Note: the “Motor1_2rCurrentRef.Q12_q” value need to be greater than 500 and less than 1400;
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8. System Error Code Definition
Table 8-1: Error Code Table
Error Code
48
Error Type
Remark
0x00
Motor initial state or status normal
none
0x01
Over DC voltage
none
0x02
Under DC voltage
none
0x04
Soft over current
none
0x08
Hardware over current
none
0x10
Motor Loss phase
none
0x20
No connect the motor
none
0x40
AD offset error
none
0x80
Software
none
0x100
Lock the motor
none
0x200
Handle the error
none
0x400
Hardware watchdog
none
watch dog
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9. Additional Information
For more Information on Spansion semiconductor products, visit the following websites:
English version address:
http://www.spansion.com/Products/microcontrollers/
Chinese version address:
http://www.spansion.com/CN/Products/microcontrollers/
Please contact your local support team for any technical question
America: [email protected]
China:
[email protected]
Europe: [email protected]
Japan: [email protected]
Other: http://www.spansion.com/Support/SES/Pages/Ask-Spansion.aspx
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S6E1A1_AN710-00004-1v0-E
Spansion  Application Note
FM3/0+ Family
32-BIT MICROCONTROLLER
Fan Motor User Manual
February 2015 Rev. 1.0
Published:
Edited:
50
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Embd System Plat Dev-Embd Solution
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Colophon
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 any use that includes 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 any use where
chance of failure is intolerable (i.e., submersible repeater and artificial satellite). Please note that Spansion will not be liable
to 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. If any products described in this document
represent goods or technologies subject to certain restrictions on export under the Foreign Exchange and Foreign Trade Law
of Japan, the US Export Administration Regulations or the applicable laws of any other country, the prior authorization by the
respective government entity will be required for export of those products.
Trademarks and Notice
The contents of this document are subject to change without notice. This document may contain information on a Spansion
product under development by Spansion. Spansion reserves the right to change or discontinue work on any product without
notice. The information in this document is provided as is without warranty or guarantee of any kind as to its accuracy,
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the information in this document.
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Copyright © 2014 Spansion. All rights reserved. Spansion , the Spansion logo, MirrorBit , MirrorBit Eclipse , ORNAND
and combinations thereof, are trademarks and registered trademarks of Spansion LLC in the United States and other
countries. Other names used are for informational purposes only and may be trademarks of their respective owners.
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