STMicroelectronics STM32F PMSM Field Oriented Control SDK User manual

UM1080
User manual
Quick start guide for STM32F PMSM single/dual FOC SDK v4.2
Introduction
This user manual provides information to facilitate the use and customization of the STM32
PMSM Field Oriented Control (FOC) SDK.
A complete documentation list is provided in Section 2: Documentation architecture. It is
included in the software package (STSW-STM32100) and it is available on the ST web site.
Section 3: Motor profiler and One Touch Tuning explains how to enable and use the “Motor
profiler” and the “One touch tuning” feature to startup an unknown motor from the scratch.
Section 4: On-the-fly Sensorless startup explains how to enable and use the “On-the-fly”
Sensorless startup feature.
Section 5: Working environment and its customization explains the Motor Control
workspace, its customization and download.
Section 6: How to download the full LCD user interface explains how to download a
Graphical User Interface that allows run-time command execution and fine tune system
parameters (note that this procedure has to be done just once on new evaluation boards) in
the microcontroller Flash memory to STM32 evaluation boards fitted with an LCD display.
Section 7: Full LCD user interface explores the menu screens and controls.
Section 8: Introduction to the PMSM FOC drive provides the block diagram of the
implemented Field Oriented Control.
Section 9: Current sensing and protection with embedded analog (STM32F3x) and
Section 10: Overvoltage protection with embedded analog (STM32F3x) explain how the
library can be easily configured to use STM32F30x's embedded analog peripheral set (fast
comparators and Programmable Gain Amplifiers (PGA)).
Release note RN0085 lists all supported microcontrollers.
September 2015
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www.st.com
Contents
UM1080
Contents
1
Motor control library features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1
2
3
User project and interface features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Documentation architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1
Where to find the information you need . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2
Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Motor profiler and One Touch Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1
Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4
On-the-fly Sensorless startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5
Working environment and its customization . . . . . . . . . . . . . . . . . . . . 17
5.1
Motor control workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.2
MC SDK customization process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6
How to download the full LCD user interface . . . . . . . . . . . . . . . . . . . . 24
7
Full LCD user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.1
Running the motor control firmware using the full LCD
interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.2
LCD User interface structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2.1
Welcome message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2.2
Configuration and debug page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2.3
Dual control panel page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.2.4
Speed controller page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.2.5
Current controllers page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8
Introduction to the PMSM FOC drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9
Current sensing and protection with embedded analog (STM32F3x) 41
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9.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.2
Current sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.3
Overcurrent protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
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Contents
9.4
Resources allocation - single drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.5
Resources allocation - dual drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
10
Overvoltage protection with embedded analog (STM32F3x) . . . . . . . 48
11
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
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3
List of tables
UM1080
List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
Table 8.
Table 9.
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Project configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Joystick actions and conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
List of controls used in the LCD demonstration program . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Fault conditions list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Control groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Speed controller page controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Control groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Current controllers page controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
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List of figures
List of figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
Figure 11.
Figure 12.
Figure 13.
Figure 14.
Figure 15.
Figure 16.
Figure 17.
Figure 18.
Figure 19.
Figure 20.
Figure 21.
Figure 22.
Figure 23.
Figure 24.
Figure 25.
Figure 26.
Figure 27.
Figure 28.
Figure 29.
Figure 30.
Motor profiler. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
How to enable Motor Profiler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Send a “Motor profiler” command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Dialog showing the measured parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Enabling “On-the-fly” start-up with Basic profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Enabling “On-the-fly” start-up with Advanced profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
IAR EWARM IDE Workspace overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Keil uVision workspace overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Workspace batch build for IAR EWARM IDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Workspace batch build for Keil uVision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Customization process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Enabling the full LCD UI in the ST MC Workbench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Flash loader wizard screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
LCD UI project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
User interface reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Page structure and navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
STM32 Motor Control demonstration project welcome message . . . . . . . . . . . . . . . . . . . . 31
Configuration and debug page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Dual control panel page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Speed controller page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Current controllers page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Basic FOC algorithm structure, torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Speed control loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Current sensing and over-current protection with STM32F302/303 . . . . . . . . . . . . . . . . . . 41
Current sensing network using external gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Current sensing network using internal gains plus filtering capacitor . . . . . . . . . . . . . . . . . 43
STMCWB window related to PGA/COMP settings for motor currents . . . . . . . . . . . . . . . . 43
Overvoltage protection network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
STMCWB window related to ADC/COMP settings for DC bus voltage . . . . . . . . . . . . . . . 49
STMCWB window related to DAC settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
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Motor control library features
1
Motor control library features
•
Motor profiler:
–
•
a new algorithm able to auto-measure electromechanical Parameters of PMSM
Motors (only for STM32F30x and STM32F4xx).
One touch tuning:
–
is a new algorithm that use a single parameter to set-up the speed controller
according to the type of load. Together with the Motor profiler can be enabled to
achieve the setup and run of an unknown motor from the scratch (only the
STM32F30x and STM32F4xx).
•
On-the-fly sensorless startup, a new algorithm able to detect if the motor is running
before the startup and skip the acceleration phase if not necessary. The motor is run in
FOC from the begin without need to stop it before the start. This feature is particular
useful for fan application (any STM32F supported).
•
Single or simultaneous Dual PMSM FOC
–
•
•
•
•
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sensorless/sensored (Dual PMSM FOC only when running on STM32F103xx
High-Density, STM32F103xx XL-Density, STM32F2xx, STM32F303xB/C or
STM32F4xx)
Speed feedbacks:
–
Sensorless (High Frequency Injection HFI plus B-EMF State Observer, PLL rotor
speed/angle computation from B-EMF, only for STM32F30x or STM32F4xx);
–
Sensorless (B-EMF State Observer, PLL rotor speed/angle computation from
B-EMF);
–
Sensorless (B-EMF State Observer, CORDIC rotor angle computation from
B-EMF);
–
60° or 120° displaced Hall sensors decoding, rising/falling edge responsiveness;
–
Quadrature incremental encoder;
–
For each motor, dual simultaneous speed feedback processing;
–
On-the-fly speed sensor switching capability;
Current sampling methods:
–
Two ICS (only when running on STM32F103xx, STM32F2xx, or STM32F4xx);
–
Single, common DC-link shunt resistor (ST patented);
–
Three shunt resistors placed on the bottom of the three inverter legs (only when
running on STM32F103xx, STM32F2xx, STM32F302xB/C, STM32F303xB/C or
STM32F4xx);
Embedded analog (STM32F30x only):
–
PGA (Programmable Gain Amplifiers) for current sensing: support for three-shunt
and single shunt, internal and external gain;
–
Comparators for overcurrent protection: support for three-shunt and single shunt,
internal and external threshold;
–
Comparators for overvoltage protection: support for motor phases short-circuiting
mode and free-wheeling mode, internal and external threshold;
FOC hardware acceleration (STM32F30x only);
–
ADC queue of context (ST patented architecture) support;
–
CCM (Core Coupled Memory) RAM support;
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Motor control library features
–
•
Flux weakening algorithm to attain higher than rated motor speed (optional);
•
Feed-Forward, high performance current regulation algorithm (optional);
•
SVPWM generation:
–
Centered PWM pattern type;
–
Adjustable PWM frequency;
•
Torque control mode, speed control mode; on-the-fly switching capability;
•
Brake strategies (optional):
–
Dissipative DC link brake resistor handling;
–
Motor phases short-circuiting (with optional hardware over-current protection
disabling);
–
motor phases free-wheeling;
•
When running Dual FOC, any combination of the above-mentioned speed feedback,
current sampling, control mode, optional algorithm;
•
Optimized I-PMSM and SM-PMSM drive;
•
Programmable speed ramps (parameters duration and final target);
•
Programmable torque ramps (parameters duration and final target);
•
Real-time fine tuning of:
•
1.1
Advanced Timer structures for single shunt (ST patented) support;
–
PID regulators;
–
Sensorless algorithm;
–
Flux weakening algorithm;
–
Start-up procedure (in case of sensorless);
Fault conditions management:
–
Over-current;
–
Over-voltage;
–
Over-temperature;
–
Speed feedback reliability error;
–
FOC algorithm execution overrun;
•
Easy customization of options, pin-out assignments, CPU clock frequency through ST
MC Workbench GUI;
•
C language code:
–
Compliant with MISRA-C 2004 rules;
–
Conforms strictly with ISO/ANSI;
–
Object-oriented programming architecture;
User project and interface features
There are two available options:
•
FreeRTOS-based user project (for STM32F103xx and STM32F2xx only);
•
SysTick-timer-easy-scheduler-based user project;
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Available User Interface options (and combinations of them):
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•
Full LCD plus joystick;
•
Light LCD plus joystick;
•
Serial communication protocol bidirectional (compatible with ST MC Workbench GUI);
•
Serial communication protocol fast unidirectional;
•
Drive system variables logging/displaying via:
–
SPI;
–
DAC (DAC peripheral is not present in the STM32F103xx low or medium density;
in this case, RC-filtered PWM signal option is available);
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Documentation architecture
2
Documentation architecture
2.1
Where to find the information you need
Technical information about the MC SDK is distinguished and organized by topic. The
following is a list of the documents that are available and the subjects they cover:
•
•
STM32F PMSM single/dual FOC SDK (UM1052) provides the followings:
–
Features
–
Architecture
–
Workspace
–
Customization processes
–
Overview of algorithms implemented (FOC, current sensors, speed sensors,
embedded analog topologies supported)
–
MC API
–
Demonstrative user project
–
Demonstrative LCD user interface
–
Demonstrative serial communication protocol
Advanced developers guide for STM32F MCUs PMSM single/dual FOC library
(UM1053). This provides the followings:
–
Object oriented programming style used for developing the MC library
–
Description of classes that belong to the MC library
–
Interactions between classes
–
Description of tasks of the MCA
•
MC library source documentation (Doxygen compiled HTLM file). This provides a full
description of the public interface of each class of the MC library (methods, parameters
required for object creation).
•
MC Application source documentation (Doxygen compiled HTML file). This provides a
full description of the classes that make up the MC API.
•
User Interface source documentation (Doxygen compiled HTML file). This provides a
full description of the classes that make up the UI Library.
•
STM32F0xx, STM32F10xx, STM32F2xx, STM32F30x or STM32F4xx Standard
Peripherals Library source documentation (Doxygen compiled HTML file).
•
ST MC Workbench GUI documentation. This is a field guide that describes the steps
and parameters required to customize the library, as shown in the GUI.
•
In-depth documentation about particular algorithms (sensorless position/speed
detection, flux weakening, MTPA, feed-forward current regulation).
Please contact your nearest ST sales office or support team to obtain the documentation
you are interested in if it was not already included in the software package you received or
available on the ST web site (www.st.com).
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Documentation architecture
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Related documents
Available from www.arm.com
•
Cortex®-M0 Technical Reference Manual, available from: http://infocenter.arm.com.
•
Cortex®-M3 Technical Reference Manual, available from: http://infocenter.arm.com.
•
Cortex®-M4 Technical Reference Manual, available from:http://infocenter.arm.com.
Available from www.st.com or your STMicroelectronics sales office
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•
STM32F051x datasheets
•
STM32F100xx datasheet
•
STM32F103xx datasheet
•
STM32F20x and STM32F21x datasheets
•
STM32F302x6/8 datasheet
•
STM32F302xB/C datasheet
•
STM32F303xB/C datasheet
•
STM32F40x and STM32F41x datasheets
•
STM32F051x user manual (RM0091)
•
STM32F100xx user manual (RM0041)
•
STM32F103xx user manual (RM0008)
•
STM32F20x and STM32F21x user manual (RM0033)
•
STM32F30x user manual (RM0316)
•
STM32F40x and STM32F41x user manual (RM0090)
•
STM32F103xx AC induction motor IFOC software library V2.0 (UM0483)
•
STM32 and STM8 Flash Loader demonstrator (UM0462)
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3
Motor profiler and One Touch Tuning
Motor profiler and One Touch Tuning
The “Motor profiler” (also called “Self-commissioning”) is a new algorithm able to
auto-measure the electrical parameters of PMSM motors.
The “One touch tuning” is a new algorithm that use a single parameter to set-up the speed
controller according the type of load.
They can be enabled together to achieve the run of an unknown motor from the scratch in
few minutes.
If enabled in the firmware this algorithms runs a set of electrical tests to determine the
parameters required by the FOC and perform the auto tuning of the PI regulators (both
current and speed). Starting from now the reference of both features is “Motor Profiler”.
The “Motor Profiler” algorithm will determine the following parameters:
•
Stator resistance Rs
•
Stator inductance Ls
•
BEMF constant Ke
•
KP and KI of speed controller
•
Nominal speed of the motor
If the project supports the “Motor Profiler” feature, the window dialog shown in Figure 1 will
appear.
Figure 1. Motor profiler
User can enable this functionality in any new Workbench project by checking the “Motor
profiler” check box in the Motor – Electrical parameters dialog, like shown in Figure 2. When
enabling “Motor profiler”, also enable the “One touch tuning” feature.
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Figure 2. How to enable Motor Profiler
Enabling “Motor profiler”, the electrical parameters required by the FOC (Rs, Ls and Ke) will
measured by the FW and the relative edit box disappear from the Motor – Electrical
parameters dialog. Other parameters like pole pairs, maximum application speed and
nominal current, will not be measured and must be insert by the user. In case of Internal
PMSM is possible to change the magnetic structure setting and insert manually the Ld/Lq
ratio.
To setup the “One touch tuning” is necessary to indicate the kind of load connected to the
motor in a qualitative way:
•
No load (small/medium sized motor without any load)
•
Medium load (medium sized motor connected with load like pump of small fan)
•
Big load (medium/high sized motor connected with full load of big fan)
This can be selected with the drop down menu “One touch tuning” in Motor – Electrical
parameters dialog, like shown in Figure 2.
In this case, the pre-computed PI coefficient of current and speed regulators done by ST
MC Workbench will not be used to drive the motor but they will be computed by the “Motor
profiler” algorithm.
With the “Motor profiler” feature enabled and before to run it is necessary, as usual, to
generate the .h files into the “SystemDriveParams” folder, compile and download the
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Motor profiler and One Touch Tuning
executable into the microcontroller using a supported IDE (like IAR Embedded Workbench
or Keil Microvision) as explained in the UM1052 – Chapter 9 – “Working environment”.
When the firmware is compiled and flashed into the micro is possible to use the ST MC
Workbench real-time communication to send a “Motor profiler” command. To do this is
necessary to Connect the control board with PC using RS232 (COM) null modem cable and
press the Motor profiler button as shown in Figure 3 starts the procedure.
Figure 3. Send a “Motor profiler” command
A progress bar will show the status of the procedure and at the end the motor runs and, a
dialog shows the measured parameters like in Figure 4.
If some errors occur during the procedure, the fault indication will be shown and the “Clear
Fault” button can be pressed to reset the fault state.
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Figure 4. Dialog showing the measured parameter
At the end of the procedure is also possible to import the measured parameter in the
Workbench project pressing the “Copy Results on Project” button shown in Figure 4. Doing
this the “Motor profiler” feature will be disabled and the firmware can be finalized removing
the extra code required by that feature.
The process to generate the “.h” file, compile, download and to finalize the firmware is
explained in the UM1052 – Chapter 9 – “Working environment”.
Note:
When Motor Profiler is enabled is possible to run the motor in standalone mode (no
Workbench connection) using the LCD and Joystick feature (if present in the board).
Pressing the Key button the Motor Profiler procedure will be executed before to start the
motor. After one successfully identification of the motor the next startup will be executed
using the parameters already measured without executing new Motor Profiler identification.
3.1
Restrictions
“Motor profiler” can be enabled only:
•
For new Workbench projects (or WB example projects) if the selected power board
support that feature.
•
If a microcontroller of the STM32F3 or STM32F4 family is used in the WB project.
•
In a single drive WB project.
•
Using three shunts or single shunt current regulation.
When enabling “Motor profiler” is not possible to:
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•
enable the Flux Weakening
•
enable the “On-the-fly” startup
•
define a customized startup sequence
•
use “Embedded PGA”
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4
On-the-fly Sensorless startup
On-the-fly Sensorless startup
The “On-the-fly” sensorless startup is a new algorithm able to detect if the motor is running
before the startup and skip the acceleration phase if not necessary. If the motor runs with a
speed that is above the allowed threshold, the firmware apply the FOC from the beginning,
without need to stop it and re-start.
This feature is particular useful for fan application.
It is possible to enable this feature only when Sensor-less (Observer+PLL) or Sensor-less
(Observer+Cordic) is selected in the Drive Management – Speed Position Feedback
Management dialog.
To enable this feature check the “startup on Fly” check box in the Drive management.
Start-up parameters dialog like shown in Figure 5 and Figure 6.
Figure 5. Enabling “On-the-fly” start-up with Basic profile
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Figure 6. Enabling “On-the-fly” start-up with Advanced profile
The speed threshold used to determine if is possible to skip the acceleration phase is the
“Minimum startup-output speed” that represents the minimum speed for which the
sensorless observer gives a reliable measurements. This can be select by the user
according the nominal speed of the motor.
When enabling the “On-the-fly” startup two other parameter will appear in the dialog box:
•
Detection duration
•
Braking Duration
Both quantity are expressed in milliseconds and represents respectively:
•
The duration of the “detection phase” of the OTF startup. Within this duration the
reliability of the sensorless measurements are tested in order to validate the speed and
run directly in FOC.
•
The duration of the “braking phase” that is applied if the sensorless measurements
doesn’t give reliable measurement during the “detection phase”. During the “braking
phase” the motor is brake in order to stop it before the new acceleration.
Both, “Basic startup profile” and “Advanced startup profile”, can be used if the OTF startup is
enabled. The two extra phases “detection phase” and “braking phase” are common of the
two profiles. The startup profile can be set by the user to define the acceleration strategy if
the speed of the motor is below the reliability threshold during the “detection phase”.
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5
Working environment and its customization
Working environment and its customization
The working environment for the Motor Control SDK is composed of:
5.1
•
A PC
•
A third-party integrated development environment (IDE)
•
A third-party C-compiler
•
A JTAG/SWD interface for debugging and programming
•
An Application board with an STM32F0xx, STM32F100xx, STM32F103xx,
STM32F2xx, STM32F30x or STM32F4xx properly designed to drive its power stage
(PWM outputs to gate driver, ADC channels to read currents, DC bus voltage). Many
evaluation boards are available from ST, some of them have an ST-link programmer
onboard.
•
A Three-phase PMSM motor
Motor control workspace
The Motor Control workspace is composed of two projects (as shown in Figure 11), which
constitute the MC workspace.
Motor Control Library project: the collection of all the classes developed to implement all
the features. It is built as a compiled library, not as an executable file.
User project: it contains both the MC Application layer and the demonstration program that
makes use of that layer through its MC API and provides the required clockings and access
to Interrupt Handlers. Parameters and configurations related to user's application are used
here to create right objects in what is called the run-time system 'boot'. The Motor Control
API is the set of commands granted to the upper layer. The program can run some useful
functions (depending on user options), such as serial communication, LCD/keys interface,
system variables displaying through DAC.
Two equivalent and alternative types of user projects exist. They differ in how they generate
the clocks: one implements a simple time base itself; the other exploits an Operating
System, FreeRTOS, to do it.
13 user project workspaces are available. They differ in the supported STM32 family, IDE
supported, how they generate the clocks: a simple time base itself or an Operating System
(FreeRTOS).
The fist 8 are for IAR™ EWARM IDE and are stored in the folder Project\EWARM:
•
STM32F0xx_Workspace for STM32F0xx devices and simple time base;
•
STM32F10x_Workspace for both STM32F100xx and STM32F103xx devices and
simple time base;
•
STM32F2xx_Workspace for STM32F2xx devices and simple time base;
•
STM32F30x_Workspace for STM32F302/303 devices and simple time base;
•
STM32F4xx_Workspace for STM32F4xx devices and simple time base;
•
STM32F10x_RTOS_Workspace for both STM32F100xx and STM32F103xx devices
and FreeRTOS;
•
STM32F2xx_RTOS_Workspace for STM32F2xx devices and FreeRTOS;
•
STM32F10x_Example for both STM32F100xx and STM32F103xx devices with simple
time base and ready-to-use examples.
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Working environment and its customization
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The remaining 5 are for Keil uVision and are stored in the folder Project\MDK-ARM:
•
STM32F0xx_Workspace for STM32F0xx devices and simple time base;
•
STM32F10x_Workspace for both STM32F100xx and STM32F103xx devices and
simple time base;
•
STM32F2xx_Workspace for STM32F2xx devices and simple time base;
•
STM32F4xx_Workspace for STM32F4xx devices and simple time base;
•
STM32F30x_Workspace for STM32F302/303 devices and simple time base.
Previously, the built “.lib” files are linked with the user project in order to generate the file that
can be downloaded into microcontroller memory for execution.
Figure 7 provides an overview of the IAR EWARM IDE workspace (located in Installation
folder \Project\EWARM\STM32F10x_Workspace.eww). The following sections provide
details on this. The equivalent workspace based on FreeRTOS is located in Installation
folder \FreeRTOSProject\EWARM\ STM32F10x_RTOS_Workspace.eww.
Figure 7. IAR EWARM IDE Workspace overview
069
Figure 8 provides an overview of the Keil uVision workspace (located in the Installation
folder \Project\MDK-ARM\STM32F10x_Workspace.uvmpw).
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Working environment and its customization
Figure 8. Keil uVision workspace overview
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Working environment and its customization
5.2
UM1080
MC SDK customization process
This section explains how to customize the Motor Control SDK using IAR EWARM IDE or
Keil uVision, so that it corresponds with the user's current system.
1.
Using the ST MC Workbench GUI configure the firmware according to the HW, motor
and specific drive setting of the system. This part of the process ends by generating the
.h parameters in the correct directory(Installation
folder\SystemDriveParams).
2.
If the system is configured to enable the LCD User Interface, download the specific
firmware. See Section 6: How to download the full LCD user interface (this step is to be
done only once).
3.
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–
Using IAR EWARM IDE follow the point: 3, 4, 5, 6.
–
Using Keil uVision follow the point 7, 8, 9, 10.
Open the MC workspace of choice:
–
Installation folder\FreeRTOS
Project\EWARM\STM32F10x_RTOS_Workspace.eww
–
Installation folder\FreeRTOS
Project\EWARM\STM32F2xx_RTOS_Workspace.eww
–
Installation folder\Project\EWARM\STM32F0xx_Workspace.eww
–
Installation folder\Project\EWARM\STM32F10x_Workspace.eww
–
Installation folder\Project\EWARM\STM32F2xx_Workspace.eww
–
Installation folder\Project\EWARM\STM32F30x_Workspace.eww
–
Installation folder\Project\EWARM\STM32F4xx_Workspace.eww
4.
Enable the user project (call-out 1 in Figure 9: Workspace batch build for IAR EWARM
IDE) and select the appropriate option from the combo-box (call-out 2 in Figure 9). If
none of the boards displayed is in use, read Table 1: Project configurations to perform
a correct configuration.
5.
Press F8 to batch-build the entire workspace. The dialog box shown in Figure 9
appears.
6.
Select a batch command (call-out 3, Figure 9) as for step 4, then click the Make button
to make the build (call-out 4, Figure 9). If no error or relevant warning appears,
download the firmware (call-out 5, Figure 9) and do a test run.
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Working environment and its customization
Figure 9. Workspace batch build for IAR EWARM IDE
069
7.
Open one of the MC workspaces:
–
Installation folder\Project\MDK-ARM\STM32F0xx_Workspace.uvmpw
–
Installation folder\Project\MDK-ARM\STM32F10x_Workspace.uvmpw
–
Installation folder\Project\MDK-ARM\STM32F2xx_Workspace.uvmpw
–
Installation folder\Project\MDK-ARM\STM32F3xx_Workspace.uvmpw
–
Installation folder\Project\MDK-ARM\STM32F4xx_Workspace.uvmpw
8.
Enable the UserProject (callout 1 in Figure 10) right click on it and select "Set as Active
Project" according the evaluation board used. If none of the boards displayed is in use,
read Table 1: Project configurations to perform a correct configuration.
9.
Press batch build button (callout 2 in Figure 10) The dialog box shown in Figure 10:
Batch Build appears.
10. Select the configuration to be build according the step 7 (callout 3 in Figure 10) and
selecting the proper conflagration of the MC Library (Single or Dual drive) (callout 4 in
Figure 10). Then click Build button to make the build (callout 5 in Figure 10). If no error
or relevant warning appears, download the firmware (callout 6, Figure 10) and do a test
run.
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Figure 10. Workspace batch build for Keil uVision
069
Note:
When the system configuration or parameters are modified, just the User project requires to
be recompiled.The batch build procedure is requested just if the MC Library is provided as
source code and only for the first compilation for both single and dual drive configuration.
See Figure 11.
Figure 11. Customization process
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Table 1. Project configurations
STM32 device part, single/dual drive selection
Viable configuration among existing
STM32F0xx, Single motor drive
STM320518-EVAL
STM32F100 low / medium / high density
STM32100B-EVAL
STM32F103 low density/medium density
STM3210B-EVAL
STM32F103 high density/XL density,
Single motor drive
STM3210E-EVAL or
STEVAL-IHM022V1_SINGLEDRIVE
STM32F103 high density/XL density,
Dual motor drive
STEVAL-IHM022V1_DUALDRIVE
STM32F2xx, Single motor drive
STM322xG-EVAL
STM32F2xx, Dual motor drive
STM32F2xx_dual
STM32F302xB/C, Single motor drive
STM32302C_SINGLEDRIVE
STM32F302x6/8, Single motor drive
P-NUCLEO-IHM001_SINGLEDRIVE
STM32F303xB/C, Single motor drive
STM32303C-EVAL_SINGLEDRIVE
STM32F303xB/C, Dual motor drive
STM32303C-EVAL_DUALDRIVE
STM32F4xx, Single motor drive
STM324xG-EVAL
STEVAL-IHM039V1_SINGLEDRIVE
STM32F4xx, Dual motor drive
STEVAL-IHM039V1_DUALDRIVE
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How to download the full LCD user interface
6
UM1080
How to download the full LCD user interface
When an STM32 evaluation board equipped with LCD (such as STM3210B-EVAL,
STM3210E-EVAL, STM32100B-EVAL, STEVAL-IHM022V1, STM322xG-EVAL,
STM324xGEVAL, STEVAL-IHM039V1, or STM32303C-EVAL) is in use, you can enable the
LCD plus Joystick User Interface—a useful feature of the demonstration user project that
can be used as run-time command launcher, fine-tuning or monitoring tool (screens and
functions are described in Section 7). This option can be selected via a setting in the ST MC
Workbench GUI. See Figure 12.
In this case, download the LCD UI software (single or dual drive configuration) following the
procedure explained below, in a reserved area in the microcontroller, located at the end of
the addressable Flash memory. Unless you erase it or change the configuration from singledrive to dual-drive or vice-versa, there is no need to download it again. Even disabling the
option with the GUI does not mean you need to flash it again when you re-enable the option.
The latest STM3210B-MCKIT Motor Control starter kits come with the Motor Control Library
and LCD UI software (single-drive) pre-flashed. If your Motor Control kit has a previous
version of Motor Control Library, you do not have the Motor Control kit but you are using one
of the mentioned evaluation boards, or you are changing configuration (single-dual), you
should follow one of the three procedures explained below to download the LCD UI.
Figure 12. Enabling the full LCD UI in the ST MC Workbench
069
Option 1
Option 1 is straightforward and the preferred one.
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1.
Use the STM32 ST-LINK Utility tool to download the LCD pre-compiled file opening the
proper MC workspaces, as explained in Section 5.1.
2.
File->Open file...
3.
Select the appropriate pre-compiled file (STM3210B-EVAL.hex,
STM32100B-EVAL.hex, STM3210E-EVAL.hex, STM322xG-EVAL.hex,
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How to download the full LCD user interface
STM324xG-EVAL.hex, STM32303C-EVAL_SINGLEDRIVE.hex,
STM32303C-EVAL_DUALDRIVE.hex, STEVAL-IHM022V1_SINGLEDRIVE.hex,
STEVAL-IHM022V1_DUALDRIVE.hex, STEVAL-IHM039V1_SINGLEDRIVE.hex,
STEVAL-IHM039V1_DUALDRIVE.hex).
Option 2
1.
Use the STM32 and STM8 Flash loader demonstrator PC software package. This is
available from the ST web site (www.st.com and in the \Installation folder\Utilities\Flash
loader\.)
The User Manual, UM0462 (included in the package), fully explains how to operate it.
For communication purposes, you need to verify that you have an available COM port
(RS232) on your PC.
2.
After the program is installed, run the Flash loader demonstrator application from the
Programs menu, making sure that the device is connected to your PC and that the boot
configuration pins are set correctly to boot from the system memory (check the
evaluation board user manual).
3.
Reset the microcontroller to restart the system memory boot loader code.
4.
When the connection is established, the wizard displays the available device
information such as the target ID, the firmware version, the supported device, the
memory map and the memory protection status. Select the target name in the target
combo-box.
5.
Click the Download to device radio button (see Figure 13) and browse to select the
appropriate hexadecimal file (STM3210B_EVAL.hex, STM32100B_EVAL.hex,
STM3210E_EVAL.hex, STEVAL_IHM022V1_SINGLEDRIVE.hex,
STEVAL_IHM022V1_DUALDRIVE.hex, STM322xG-EVAL.hex, STM324xG-EVAL.hex,
STEVAL_IHM039V1_SINGLEDRIVE.hex or STEVAL_IHM039V1_DUALDRIVE.hex)
from Installation folder\LCD Project\Hex\.
6.
Program the downloading to Flash memory. After the code is successfully flashed,
setup the board to reboot from the user Flash memory and reset the microcontroller.
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How to download the full LCD user interface
Figure 13. Flash loader wizard screen
Option 3
This option is intended for users who want to modify the LCD UI code.
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1.
Use an IDE to rebuild and download the LCD UI.
2.
After parameter files are generated by the GUI (to set the single/dual drive
configuration) using KEIL uVision4 IDE, open the workspace located in:
–
Installation folder\LCDProject\MDK-ARM\STM32F0xx_LCD
Project.uvopt
–
Installation folder\LCDProject\MDK-ARM\STM32F10x_LCD
Project.uvopt
–
Installation folder\LCDProject\MDK-ARM\STM32F2xx_LCD
Project.uvopt
–
Installation folder\LCDProject\MDK-ARM\STM32F3xx_LCD
Project.uvopt
–
Installation folder\LCDProject\MDK-ARM\STM32F4xx_LCD
Project.uvopt.
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How to download the full LCD user interface
Figure 14. LCD UI project
Figure 14 displays the logical arrangement of files (left-hand side) and actions that may
be needed for set up and download.
Five project configurations are provided (call-out 1, Figure 14), one for each STM32
evaluation board that has been tested with the MC SDK:
–
STM32F10B-EVAL
–
STM32F10E-EVAL
–
STM32F100B-EVAL
–
STEVAL-IHM022V1_SINGLEDRIVE
–
STEVAL-IHM022V1_DUALDRIVE
One project configuration is provided for the STM32F2xx_Workspace:
–
STM322xG-EVAL
Three project configurations are provided for the STM32F4xx_Workspace:
–
STM324xG-EVAL
–
STEVAL-IHM039V1_SINGLEDRIVE
–
STEVAL-IHM039V1_DUALDRIVE
One project configuration is provided for the STM32F0xx_Workspace:
–
STM320518-EVAL
This configuration affects the LCD driver and linker file selection.
Two project configurations are provided for the STM32F3xx_Workspace:
–
STM32303C-EVAL_SINGLEDRIVE
–
STM32303C-EVAL_SINGLEDRIVE
3.
Build the project (call-out 2, Figure 14), and download it to the microcontroller memory
(call-out 3, Figure 14).
4.
To test that the LCD UI is flashed correctly: open, build and download the user project
(see Section 5.2: MC SDK customization process). From the debug session, run the
firmware (F5) and then, after a while, stop debugging (CTRL+Shift+D). The LCD UI is
not flashed properly if the program is stalled in a trap in UITask.c, line 195.
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7
Full LCD user interface
7.1
Running the motor control firmware using the full LCD
interface
The STM32 motor control library includes a demonstration program that enables you to
display drive variables, customize the application by changing parameters, and enable and
disable options in real time.
The user interface reference is the one present in the STM32 evaluation boards and is
shown in Figure 15.
Figure 15. User interface reference
The interface is composed of:
•
A 320x240 pixel color LCD screen
•
A joystick (see Table 2 for the list of joystick actions and conventions)
•
A push button (KEY button)
Table 2. Joystick actions and conventions
Keyword
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User action
UP
Joystick pressed up
DOWN
Joystick pressed down
LEFT
Joystick pressed to the left
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Full LCD user interface
Table 2. Joystick actions and conventions (continued)
Keyword
User action
RIGHT
Joystick pressed to the right
JOYSEL
Joystick pushed
KEY
Press the KEY push button
In the default firmware configuration, the LCD management is enabled. It can be disabled
using the STM32 MC Workbench or disabling the feature and manually changing the line:
define #define LCD_JOYSTICK_BUTTON_FUNCTIONALITY DISABLE (line 316) of
the Drive parameters.h file.
7.2
LCD User interface structure
The demonstration program is based on circular navigation pages.
Figure 16 shows the page structure. The visibility of certain pages shown in Figure 16
depends on the firmware configuration:
•
Dual control panel is only present if the firmware is configured for dual motor drive.
•
Speed controller page is only present when the firmware is configured in speed mode.
•
Sensorless tuning page (PLL) is only present if the firmware is configured with state
observer with PLL as primary or auxiliary speed sensor.
•
Sensorless tuning page (CORDIC) is only present if the firmware is configured with
state observer with CORDIC as primary or auxiliary speed sensor.
To navigate the help menus, use:
•
RIGHT: navigate to the next page on the right
•
LEFT: navigate to the next page on the left
Figure 16. Page structure and navigation
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Each page is composed of a set of controls. Table 3 presents the list of controls used in the
LCD demonstration program.You can navigate between focusable controls in the page by
pressing the joystick UP and DOWN. The focused control is highlighted with a blue
rectangle. When focused, you can activate the control by pressing JOYSEL.
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For some configurations such as STM32F100B-EVAL and STM320518-EVAL, a reduced
set of LCD pages and/or controls is available.
Complete documentation about this LCD User Interface can be found in User manual
STM32F PMSM single/dual FOC SDK (UM1052).
Table 3. List of controls used in the LCD demonstration program
Control name and
examples
Edit box
1500
rpm
Combo-box
Speed
Button
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Fault ack
Description
Manages a numerical value. It can be “read only” or “read/write”.
A read only edit box has a gray background and cannot be focused. A
read/write edit box has a white background and can be focused.
When a read/write edit box is focused, it can be activated for modification
by pressing JOYSEL. An activated read/write edit box has a green
background and its value can be modified pressing and/or keeping joystick
UP/DOWN pressed.
The new value is set to the motor control-related object instantaneously
when the value changes, unless otherwise mentioned in this manual.
Manages a list of predefined values.
For example, Speed or Torque control mode. When focused, it can be
activated for modification by pressing JOYSEL.
An activated combo-box has a green background and its value can be
modified by pressing the joystick UP/DOWN.
When the value changes, the new value is instantaneously set to the motor
control-related object, unless otherwise mentioned in this manual.
Sends commands. For example, a start/stop button.
A disabled button is drawn in light gray and cannot be focused. An enabled
button is painted in black and can be focused.
When focused, pressing JOYSEL corresponds to “pushing” the button and
sending the related command.
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7.2.1
Full LCD user interface
Welcome message
After the STM32 evaluation board is powered on or reset, a welcome message displays on
the LCD screen to inform the user about the firmware code loaded and the version of the
release. See Figure 17.
Figure 17. STM32 Motor Control demonstration project welcome message
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7.2.2
Configuration and debug page
Press the joystick RIGHT from the welcome page to enter the Configuration and debug
page.
To navigate between focusable controls on the page, press the joystick UP/DOWN.
Use the Configuration and debug page shown in Figure 18 to:
•
Select the active motor drive (1). This control is present only for dual motor control
applications. This combo-box enables you to select the active motor drive. Once the
active motor is selected, it is shown in the status bar present at the bottom of the
screen (2). Commands performed on, or feedback from a control are only relative to
the active motor.
•
Select the control mode (3). Two control modes are available: speed and torque. You
can change the control mode from speed to torque and vice versa on-the-fly even if the
motor is already running.
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Figure 18. Configuration and debug page
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•
Read the DC bus voltage value (4). This control is read-only.
•
Read the heat sink temperature value (5). This control is read-only.
•
Select the variables to be put in output through DAC channels (6). These controls are
present only if the DAC option is enabled in the firmware. The list of variables also
depends on firmware settings.
•
It is possible to read the list of fault causes (7) if fault conditions have occurred, or if
they are still present. The list of possible faults is summarized in Table 4. If a fault
condition occurred and is over, the relative label is displayed in blue. If a fault condition
is still present, the relative label is displayed in red. It is gray if there is no error.
•
To acknowledge the fault condition, press the Fault ack button (8). If a fault condition
occurs, the motor is stopped and it is no longer possible to navigate in the other pages.
In this condition, it is not possible to restart the motor until the fault condition is over and
the occurred faults have been acknowledged by the user, pushing the Fault ack button
(8). If a fault condition is running, the Fault ack button is disabled.
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Table 4. Fault conditions list
Fault
Overcurrent
This fault occurs when the microcontroller break input signal is activated. It is
usually used to indicate a hardware over current condition.
Revup fail
This fault occurs when the programmed rev-up sequence ends without
validating the speed sensor information. The rev-up sequence is performed
only when the state observer is configured as primary speed sensor.
Speed fdbk
This fault occurs only in RUN state when the sensor no longer meets the
conditions of reliability.
SW error
This fault occurs when the software detects a general fault condition. In the
present implementation, the software error is raised when the FOC
frequency is too high to be sustainable by the microcontroller.
Under volt
This fault occurs when the DC bus voltage is below the configured threshold.
Over volt
This fault occurs when the DC bus voltage is above the configured threshold.
If the dissipative brake resistor management is enabled, this fault is not
raised.
Over temp
This fault occurs when the heat sink temperature is above the configured
threshold.
•
7.2.3
Description
Execute encoder initialization. If the firmware is configured to use the encoder as the
primary speed sensor or auxiliary speed sensor, the Encoder alignment button (9) is
also present. In this case, the alignment of the encoder is required only once after each
reset of the microcontroller.
Dual control panel page
This page is present only if the firmware is configured for dual motor drive.
To enter the Dual control panel page, press the joystick RIGHT from the Configuration and
debug page.
It is possible to navigate between focusable controls present in the page by pressing the
joystick UP/DOWN.
The Dual control panel page shown in Figure 19 is used to send commands and get
feedback from both motors. It is divided into three groups:
•
Groups A and B depend on speed/torque settings. The group content is updated onthe-fly when the control mode (torque/speed) is changed in the Configuration and
debug page. The control present in group A is related to the first motor. The control
present in group B is related to the second motor.
•
Group C does not depend on speed/torque settings. The control present in this group is
related to both motors.
Figure 19 shows an example in which the first motor is set in torque mode and the second
motor is set in speed mode.
The controls present in this page are used as follows:
•
To set the Iq reference (1). This is related to motor 1 and is only present if motor 1 is set
in torque mode. Iq reference is expressed in s16A. In this page, the current references
are always expressed as Cartesian coordinates (Iq,Id).
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Figure 19. Dual control panel page
•
Note:
To set the Id reference (3). This is related to motor 1. This control is only present if
motor 1 is set in torque mode. Id reference is expressed in s16A. In this page, the
current references are always expressed as Cartesian coordinates (Iq,Id).
To convert current expressed in Amps to current expressed in digits, use the following
formula:
Current(s16A) = [Current(Amp) * 65536 * Rshunt * Aop] / Vdd micro.
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•
Set the final motor speed of a speed ramp (6). This is related to motor 2. This control is
only present if motor 2 is set in speed mode. Motor speed is expressed in RPM. The
value set in this control is not automatically sent to the motor control related object but
it is used to perform a speed ramp execution. See the Exec button description (9).
•
Set the duration of a speed ramp (8). This is related to motor 2. This control is only
present if motor 2 is set in speed mode. The duration is expressed in milliseconds. The
value set in this control is not automatically sent to the motor control related object, but
it is used to perform a speed ramp execution. See the Exec button description (9). It is
possible to set a duration value of 0 to program a ramp with an instantaneous change
in the speed reference from the current speed to the final motor speed (6).
•
Execute a speed ramp by pushing the “Exec” button (9). This is related to motor 2. This
control is only present if motor 2 is set in speed mode. The Exec speed ramp command
is sent to the motor control related object together with the final motor speed and
duration currently selected (6). The Exec speed ramp command performs a speed
ramp from the current speed to the final motor speed in a time defined by the duration.
The command is buffered and takes effect only when the motor is in RUN state.
•
To read the motor speed, respectively (2) and (7) for motor 1 and motor 2. The motor
speed is expressed in RPM. This control is read-only.
•
Send a start/stop command, (4) for motor 1, (10) for motor 2. This is performed by
pushing the start/stop button. A start/stop command means: start the motor if it is
stopped, or stop the motor if it is running. If the drive is configured in speed mode when
the motor starts, a speed ramp with the latest values of the final motor speed and
duration is performed. If a fault condition occurs at any time, the motor is stopped (if
running) and the start/stop button is disabled.
•
When a fault condition is over, the Fault ack button, (5) for motor 1, (11) for motor 2, is
enabled. Pushing this button acknowledges the fault conditions that have occurred.
After the fault is acknowledged, the start/stop button becomes available again. When a
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Full LCD user interface
fault occurs and before it is acknowledged, it is only possible to navigate in the Dual
control panel page and the Configuration and debug page.
7.2.4
•
To start or stop both motors simultaneously, push the Start/Stop both motors button
(12). This button is enabled only when the motors are both in Idle state or both in RUN
state. If any of the motors is configured in speed mode when it starts, a speed ramp
with the last values of the final motor speed and duration is performed. It is possible to
stop both motors at any time by pushing the KEY button.
•
To execute simultaneous speed ramps on both motors, push the Exec simultaneous
Ramps button (13). This button is disabled when at least one of the two motors is
configured in torque mode. The Exec speed ramp command is sent to both motor
control objects together with the related final motor speed and the duration currently
selected. The Exec speed ramp command performs a speed ramp from the current
speed to the final motor speed in a time defined by the duration for each motor. The
commands are buffered and take effect only when the related motor is in RUN state.
Speed controller page
This page is only present if the control mode set in Figure 18 is the speed mode.
To enter the Speed controller page, press the joystick RIGHT from the Configuration and
debug page (or from the Dual control panel page, if the firmware is configured in dual motor
drive).
It is possible to navigate between focusable controls present in the page by pressing the
joystick UP/DOWN.
The Speed controller page shown in Figure 20 is used to send commands and get feedback
related to the speed controller from the active motor. There are four groups of controls in this
page:
Table 5. Control groups
Control group
Description
Set point
Used to configure and execute a speed ramp
PID gains
Used to change the speed controller gains in real- time
Flux wk. tuning
Used to tune the flux weakening related variables
Measured speed with start/stop button
Composed of two controls that are also present in the
Current controllers page and in the sensorless tuning
page; it provides a fast access to the measured speed
and to the motor start/stop function
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Figure 20. Speed controller page
069
If the firmware is configured as dual motor drive, it is possible to know which motor is active
by reading the label at the bottom of the page. To change the active motor, go to the
Configuration and debug page and change (1) in Figure 18.
Table 6 lists the actions that can be performed using this page.
Table 6. Speed controller page controls
Control
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Description
Target speed (1 in
Figure 20)
Sets the final motor speed of a speed ramp for the active motor. The motor
speed is expressed in RPM. The value set in this control is not
automatically sent to the motor control related object, but it is used to
perform a speed ramp execution. See the Exec button description (3)
Ramp duration (2)
Sets the duration of a speed ramp for the active motor. The duration is
expressed in milliseconds. The value set in this control is not automatically
sent to the motor control related object, but it is used to perform a speed
ramp execution. See the Exec button description (3). It is possible to set a
duration value of 0 to program a ramp with an instantaneous change in the
speed reference from the current speed to the final motor speed (1).
Exec button (3)
Executes a speed ramp for the active motor. The execute speed ramp
command is sent to the motor control related object together with the final
motor speed and duration presently selected (1) and (2). The execute
speed ramp command performs a speed ramp from the current speed to
the final motor speed in a time defined by duration. The command is
buffered and takes effect only when the motor becomes in RUN state.
Measured speed (4)
Reads the motor speed for the active motor. The motor speed is
expressed in RPM and is a read-only control.
Start/Stop button (5)
Sends a start/stop command for the active motor. A start/stop command
starts the motor if it is stopped, or stops a running motor. Used with a motor
start, a speed ramp with the last values of the final motor speed and
duration is performed. If a fault condition occurs at any time, the motor is
stopped (if running) and the Configuration and debug page displays.
Speed PID gain KP (6)
Sets the proportional coefficient of the speed controller for the active
motor. The value set in this control is automatically sent to the motor
control related object, allowing the run-time tuning of the speed controller.
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Table 6. Speed controller page controls (continued)
Control
7.2.5
Description
Speed PID gain KI (7)
Sets the integral coefficient of the speed controller for the active motor.
The value set in this control is automatically sent to the motor control
related object, allowing the run-time tuning of the speed controller.
Bus‰ (8)
The value set in this control is automatically sent to the motor control
related object, allowing the run-time tuning of flux weakening controller.
The value is expressed in per mil (‰) of DC bus voltage.
Bus‰ (9)
DC bus voltage percentage presently used for the active motor; it is a
read-only control. This control is present only if the flux weakening feature
is enabled in the firmware. The value is actually expressed in per mil (‰)
of DC bus voltage.
Flux wk PI gain KP (10)
The value set in this control is automatically sent to the motor control
related object, allowing the run-time tuning of the flux weakening controller.
Flux wk PI gain KI (11)
The value set in this control is automatically sent to the motor control
related object, allowing the run-time tuning of the flux weakening controller.
Current controllers page
To enter the Current controllers page, press the joystick RIGHT from the Speed controller
page (or from one of the pages described above if the Speed controller page is not visible).
It is possible to navigate between focusable controls present in the page by pressing the
joystick UP/DOWN.
The Current controllers page shown in Figure 21 is used to send commands and get
feedback related to current controllers, from the active motor. There are five control groups
in this page:
Table 7. Control groups
Control group
Set point
Iq PID gains
Id PID gains
Measured speed with
start/stop button
Description
Used to set the current references and read the measured currents
Used to change the speed controller gains in real time
Composed of two controls that are also present in the Current controllers
page and in the Sensorless tuning page. It provides a fast access to the
measured speed and to the motor start/stop function
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Figure 21. Current controllers page
069
If the firmware is configured as dual motor drive, it is possible to know which motor is active
by reading the label at the bottom of the page. To change the active motor, go to the
Configuration and debug page and change (1) in Figure 21.
Table 8 lists the actions that can be performed using this page.
Table 8. Current controllers page controls
Control
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Description
Iq reference (1 in
Figure 21)
Sets and reads the Iq reference for the active motor. This control is readonly if the active motor is set in speed mode, otherwise it can be modified.
The Iq reference is expressed in s16A. To convert current expressed in
Amps to current expressed in digits, use the formula:
Current(s16A) = [Current(Amp) * 65536 * Rshunt * Aop] / Vdd micro
Id reference (2)
Sets and reads the Id reference for the active motor. This control is usually
read-only if the active motor is set in speed mode, otherwise it can be
modified. The Id reference is expressed in s16A.
Measured Iq (3)
Reads the measured Iq for the active motor. Measured Iq is expressed in
s16A and is a read-only control.
Iq PI(D) gain, KP (5)
Sets the proportional coefficient of the Iq current controller for the active
motor. The value set in this control is automatically sent to the motor
control related object, allowing the run-time tuning of the current controller.
Iq PI(D) gain, KI (6)
Sets the integral coefficient of the Iq current controller for the active motor.
The value set in this control is automatically sent to the motor control
related object, allowing the run-time tuning of the current controller.
Id PI(D) gain, KP (7)
Sets the proportional coefficient of the Id current controller for the active
motor. The value set in this control is automatically sent to the motor
control related object, allowing the run-time tuning of the current controller.
This control is only read if the link check box is checked.
Id PI(D) gain, KI (8)
Sets the integral coefficient of the Id current controller for the active motor.
The value set in this control is automatically sent to the motor control
related object, allowing the run-time tuning of the current controller. This
control is only read if the link check box is checked.
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8
Introduction to the PMSM FOC drive
Introduction to the PMSM FOC drive
This software library is designed to achieve the high dynamic performance in AC
permanent-magnet synchronous motor (PMSM) control offered by the well-established field
oriented control (FOC) strategy.
With this approach, it can be stated that, by controlling the two currents iqs and ids, which are
mathematical transformations of the stator currents, it is possible to offer electromagnetic
torque (Te) regulation and, to some extent, flux weakening capability.
This resembles the favorable condition of a DC motor, where those roles are held by the
armature and field currents.
Figure 22. Basic FOC algorithm structure, torque control
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Figure 23. Speed control loop
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Current sensing and protection with embedded analog (STM32F3x)
9
Current sensing and protection with embedded
analog (STM32F3x)
9.1
Introduction
The STM32F302/303 microcontrollers features have an enhanced set of peripherals. They
include comparators, PGAs, DACs and high-speed ADCs. This section describes how to
use these peripherals accordingly to what is made available by the MC library
Figure 24. shows a current sensing and over-current protection network that can be
implemented using the internal resources of the STM32F302/303: due to the motor phase
current, the voltage drop on the shunt resistor can be either positive or negative, an offset is
set by R1 and R2. Then, the signal is linked to a microcontroller pin that has both
functionality of amplifier and comparator non-inverting input.
Figure 24. Current sensing and over-current protection with STM32F302/303
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This configuration shows the optimization that can be reached, using STM32F3, both in
terms of reduced number of external component and microcontroller pins assigned for the
MC application.
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Current sensing and protection with embedded analog (STM32F3x)
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Current sensing
To maximize the resolution of the measurement, the embedded Programmable Gains
Amplifier (PGA) can be used to adapt the level of voltage drop in the shunt resistor (Rshunt),
caused by the motor current, up to the maximum range allowed by the analog to digital
converter (ADC).
The PGA has a set of fixed internal gains (x2, x4, x8, x16). An alternative option in PGA
mode allows you to route the central point of the resistive network on one of the I/Os
connected to the non-inverting input: this feature can be used for instance to add a low-pass
filter to PGA, as shown in Figure 26.
On the other hand, if a different value of amplification is required, it is possible to completely
define the amplification network (for instance as it's shown in Figure 25.).
Figure 25. Current sensing network using external gains
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The MC library can be arranged to match all the configurations shown: by using the ST MC
Workbench, creating a project based on STM32F302 or STM32F303, from the dialogue
window located in Control Stage -> Analog Input -> Phase current feedback (Figure 27.)
setting:
–
“Embedded PGA” as current sensing topology;
–
PGA internal gain (like in Figure 24.): Settling “Internal” in the “OPAMP Gain” drop
down list;
–
PGA external gain (like in Figure 25.): Settling “External” in the “OPAMP Gain”
drop down list;
–
PGA internal gain with external filtering capacitor (like in Figure 26.): Settling
“Internal” in the “OPAMP Gain” drop down list and checking the “Feedback net
filtering” check box in the same group.
Just one of this setting is present in the workbench for each drives, since the configuration
applies to each shunt resistor conditioning network.
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Current sensing and protection with embedded analog (STM32F3x)
Figure 26. Current sensing network using internal gains plus filtering capacitor
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On the other hand, it is possible to setup the motor current measurement network to use
external operational amplifiers. In this case the amplified signals are directly fed to the ADC
channels. By using the ST MC Workbench, creating a project based on STM32F302 or
STM32F303, from the dialogue window located in Control Stage -> Analog Input -> Phase
current feedback, setting “External OPAMP” as current sensing topology.
Figure 27. STMCWB window related to PGA/COMP settings for motor currents
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Overcurrent protection
The basic principle of the hardware over-current protection mechanism can be summarized
as follows:
•
The phase current of the motor flows in the power transistor of the inverter bridge and
passes through the shunt resistor (RShunt) producing a voltage drop (V+).
•
This voltage drop is compared with a threshold (V-) defining the maximum admissible
current.
•
If the threshold is exceeded, a break signal stops the PWM generation putting the
system in a safe state.
All of these actions can be performed using the internal resources of the STM32F302/303
and, in particular, the embedded comparators and the advanced timer break function
(BRK2). As shown in Figure 24., Figure 25., and Figure 26. the same signal is fed to both
not inverting input of embedded comparators and PGA.
The overcurrent threshold (V-) can be defined in three different ways:
•
using one of the available internal voltage reference (1.2V, 0.9V, 0.6V, 0.3V);
•
providing it externally using the inverting input pin of the comparator;
•
programming a DAC channel.
The MC library can be arranged to match all the configurations shown by using the ST MC
Workbench, creating a project based on STM32F302 or STM32F303, from the dialogue
window located in Control Stage -> Analog Input -> Phase current feedback (Figure 27.),
setting:
•
“Embedded HW OCP” radio button as overcurrent protection topology;
•
HW OCP internal threshold: selecting “Internal” in the “Inverting input” drop down list
and choosing the internal voltage reference (among available values) in “Voltage
Threshold”.
•
HW OCP external threshold: selecting “External” in the “Inverting input” drop down list
and editing the external voltage reference in “Voltage Threshold”.
•
HW OCP internal threshold using DAC: selecting “DAC” in the “Inverting input” drop
down list and editing the DAC voltage reference to be generated in “Voltage
Threshold”. A DAC channel must be assigned for this functionality (OCP) from the
related dialogue window located in Control stage -> DAC functionality (Figure 30.).
On the other hand, it is possible to setup the motor overcurrent protection network to use
external components. In this case the overcurrent protection signal - coming from a
comparator for instance - is directly fed to the advanced-timer's BKIN2 pin. By using the ST
MC Workbench, creating a project based on STM32F302 or STM32F303, from the dialogue
window located in Control Stage -> Analog Input -> Phase current feedback, setting
“External protection” as OCP protection topology.
In any case, either using embedded comparators or external components, a digital filter,
upstream the BKIN2 function, can be enabled and configured to reject noises.
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9.4
Current sensing and protection with embedded analog (STM32F3x)
Resources allocation - single drive
For project based on STM32F302/303 the current feedback network configurations
supported by STM32 FOC SDK are single shunt and three shunt.
Single shunt topology: according to configuration (as explained in Section 9.2 and 9.3),
one ADC, one OPAMP, one comparator, and one DAC channel must be assigned.
•
If “Embedded PGA” is enabled, the selection of ADC peripheral (and input pin) is linked
to that of PGA peripheral.
•
If “Embedded HW OCP” and “Embedded PGA” are enabled, the selection of ADC and
comparator (and their input and ‘+’ pins) is linked to that of PGA peripheral (and its '+'
input).
•
If “Embedded HW OCP” is enabled and “Embedded PGA” is disabled, the selection of
comparator is free.
•
If “Embedded HW OCP” and “Embedded PGA” are both disabled, the selection of
comparator and ADC is free.
•
If both PGA and comparator for OC protection are used they will share the same input
pins for the motor current measurement signal.
Three shunts topology: according to configuration (as explained in Section 9.2 and 9.3),
two ADCs, two OPAMPs, three comparators, and one DAC channel must be assigned.
•
If “Embedded PGA” is enabled, the selection of ADC peripherals (and input pins) is
linked to that of PGA peripherals.
•
If “Embedded HW OCP” and “Embedded PGA” are enabled, the selection of ADCs and
comparators (and their inputs and ‘+’ pins) is linked to that of PGA peripherals (and
theirs '+' inputs).
•
If “Embedded HW OCP” is enabled and “Embedded PGA” is disabled, the selection of
comparators is free.
•
If “Embedded HW OCP” and “Embedded PGA” are both disabled, the selection of
comparators and ADCs is free.
The pair OPAMP1/OPAMP2 can be used in a project based on STM32F302 or STM32F303;
the pair OPAMP3/OPAMP4 can be used additionally in a project based on STM32F303.
The pair ADC1/ADC2 can be used in a project based on STM32F302 or STM32F303; the
pair ADC3/ADC4 can be used additionally in a project based on STM32F303.
If both PGA and comparator for OC protection are used they will share the same input pins
for the motor current measurement signal.
9.5
Resources allocation - dual drive
If using a STM32F303 microcontroller is possible to create a dual drive project. The current
feedback network configurations supported by STM32 FOC SDK are single shunt and three
shunt.
Dual single shunt drive, dual three shunts drive and mixed “single plus three” shunts drives
are allowed.
The sharing of peripherals between “single shunt drive” and “three shunt drive” is not
allowed.
The sharing of peripherals between two “single shunt drive” is not allowed.
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The sharing of peripherals between two “three shunt drive” is allowed, in the forms
expressed below.
Single shunt topology: for each motor, according to configuration (as explained
Section 9.2 and 9.3), one ADC, one OPAMP and one Comparator must be assigned.
•
If “Embedded PGA” is enabled, the selection of ADC peripheral (and input pin) is linked
to that of PGA peripheral.
•
If “Embedded HW OCP” and “Embedded PGA” are enabled, the selection of ADC and
comparator (and their input and ‘+’ pins) is linked to that of PGA peripheral (and its '+'
input).
•
If “Embedded HW OCP” is enabled and “Embedded PGA” is disabled, the selection of
comparator is free.
•
If “Embedded HW OCP” and “Embedded PGA” are both disabled, the selection of
comparator and ADC is free.
•
If both PGA and comparator for OC protection are used they will share the same input
pins for the motor current measurement signal.
Three shunts topology mixed with Single shunt topology: according to configuration
(as explained in Section 9.2 and 9.3), two ADCs, two OPAMPs, three Comparators, and one
DAC channel must be assigned.
•
If “Embedded PGA” is enabled, the selection of ADC peripherals (and input pins) is
linked to that of PGA peripherals.
•
If “Embedded HW OCP” and “Embedded PGA” are enabled, the selection of ADCs and
comparators (and their inputs and ‘+’ pins) is linked to that of PGA peripherals (and
theirs '+' inputs).
•
If “Embedded HW OCP” is enabled and “Embedded PGA” is disabled, the selection of
comparators is free.
•
If “Embedded HW OCP” and “Embedded PGA” are both disabled, the selection of
comparators and ADCs is free.
•
The pair OPAMP1/OPAMP2 can be used in a project based on STM32F302 or
STM32F303; the pair OPAMP3/OPAMP4 can be used additionally in a project based
on STM32F303.
•
The pair ADC1/ADC2 can be used in a project based on STM32F302 or STM32F303;
the pair ADC3/ADC4 can be used additionally in a project based on STM32F303.
•
If both PGA and comparator for OC protection are used they will share the same input
pins for the motor current measurement signal.
Dual Three shunts topology, not shared resources: according to configuration (as
explained in Section 9.2 and 9.3), four ADCs, four OPAMPs, six comparators, and two DAC
channels must be assigned.
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•
If “Embedded PGA” is enabled, the selection of ADC peripherals (and input pins) is
linked to that of PGA peripherals.
•
If “Embedded HW OCP” and “Embedded PGA” are enabled, the selection of ADCs and
comparators (and their inputs and ‘+’ pins) is linked to that of PGA peripherals (and
theirs '+' inputs).
•
If “Embedded HW OCP” is enabled and “Embedded PGA” is disabled, the selection of
comparators is free.
•
If “Embedded HW OCP” and “Embedded PGA” are both disabled, the selection of
comparators and ADCs is free.
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Current sensing and protection with embedded analog (STM32F3x)
The pairs that can be used are:
–
OPAMP1/OPAMP2 can be used in a project based on STM32F302 or
STM32F303;
–
OPAMP3/OPAMP4 can be used additionally in a project based on STM32F303.
–
ADC1/ADC2 can be used in a project based on STM32F302 or STM32F303;
–
ADC3/ADC4 can be used additionally in a project based on STM32F303.
If both PGA and comparator for OC protection are used they will share the same input pins
for the motor current measurement signal.
Dual Three shunts topology, shared resources: If both drives are Three shunts it can be
possible to share the ADC and/or the PGA to perform the motor current measurement. To
do this, it is mandatory to have both use external operational amplifier or both use the
embedded PGA for the motor current measurement signals amplification. It can be settled
by the user in the ST MC Workbench clicking the “Shared resource” check box in the
Control Stage -> Analog Input.
If shared resource is settled and external operational amplifier is used, it is possible to use
the pairs ADC1/ADC2 or the pairs ADC3/ADC4 for both drivers. In this case ST MC
Workbench proposes the allowed inputs pins for motor currents measurement.
If shared resource is settled and embedded PGA is used, the following configuration is
used:
–
The pair OPAMP1/OPAMP3 is used,
–
OPAMP gains is only “Internal”,
–
External capacitor filer is not allowed,
–
Input pins are: PA5, PA7, and PB13 respectively U, V, W for motor 1 and PA1,
PA3 and PB0 respectively U, V, W for motor 2.
In this case, if the hardware over current protection is managed by internal comparators, it is
mandatory to connect externally the pins PA3 with one of the pins PB14 or PD14 and
connect externally the pins PA5 with one of the pins PB11 or PD11. The pins selected can
be settled in the workbench in Control Stage -> Analog Input -> Phase current feedback ->
Protection.
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Overvoltage protection with embedded analog
(STM32F3x)
Figure 28. shows a basic implementation of over-voltage protection network that can be
implemented using the internal resources of the STM32F30x.
Figure 28. Overvoltage protection network
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In this case, the principle is similar to the one described in Section 9.3:
•
A resistive voltage divider provides a signal proportional to the bus voltage. It must be
sized depending on the bus voltage range requested by the target application, so that
is never exceeds the MCU's input maximum admissible voltage level.
•
This reading is compared to an over-voltage threshold to generate a fault signal.
•
If the threshold is exceeded, a break signal stops the PWM generation putting the
system in a safe state.
As mentioned before, these actions can be performed automatically using the internal
comparator of the STM32F30x. In this case, it is convenient to use the second break
functionality (BRK) of the advanced timer in order to differentiate the action to perform on
the PWM signals in case of an over-current: disable PMW generation or turn-on low side
switches.
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Overvoltage protection with embedded analog (STM32F3x)
The MC library can be arranged to match these configurations by using the ST MC
Workbench, to create a project based on STM32F302 or STM32F303. From the dialogue
window located in Control Stage -> Analog Input -> Bus voltage feedback (Figure 29.),
setting:
–
“Embedded HW OVP” checkbox;
–
HW OVP internal threshold: selecting “Internal” in the “Inverting input” drop down
list and choosing the internal voltage reference (among available values) in
“Comparator Input”.
–
HW OVP external threshold: selecting “External” in the “Inverting input” drop
down list and editing the external voltage reference in “Comparator Input”.
–
HW OVP internal threshold using DAC: selecting “DAC” in the “Inverting input”
drop down list and editing the DAC voltage reference to be generated in
“Comparator Input”. A DAC channel must be assigned for this functionality (OVP)
from the related dialogue window located in Control stage -> DAC functionality
(Figure 30.)
–
The selection of 'not-inverting' input pin contextually picks the comparator to be
used.
–
The drive behavior when an overvoltage state is found: disable PWM generation,
or turn-on low side switches;
–
Enabling or disabling the comparator output has no effect on the overvoltage
protection functionality itself.
Figure 29. STMCWB window related to ADC/COMP settings for DC bus voltage
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Figure 30. STMCWB window related to DAC settings
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Revision history
Revision history
Table 9. Document revision history
Date
Revision
03-May-2011
1
Initial release.
2
Added references to STM32F05xx, STM32F2xx and STM32F4xx in
the title and throughout the document.
Updated SDK V3.0 to V3.4.
Updated Motor Control Library project and User project in
Section 5.1: Motor control workspace.
Updated Section 5.2: MC SDK customization process, including
Table 1: Project configurations.
Added Option 1 to Section 6: How to download the full LCD user
interface and updated Option 2 and Option 3.
Added text to Section 7.2: LCD User interface structure.
3
Changed the software library version (from V3.3 to v3.4).
Added references to STM32F303xB/C in the title and throughout the
document.
Added new available ST documents in Section : Available from
www.st.com or your STMicroelectronics sales office
Updated option in Section 6: How to download the full LCD user
interface.
Updated Section 5.2: MC SDK customization process.
Added Section 9: Current sensing and protection with embedded
analog (STM32F3x).
Added Section 10: Overvoltage protection with embedded analog
(STM32F3x).
Updated: Figure 15, Figure 17, Figure 18, Figure 19, Figure 20,
Figure 21, Figure 27, Figure 29, Figure 30
4
Changed software library version from v3.4 to v4.0.
Removed Table1 Applicable product.
Added text in Section 1: Motor control library features.
Modified Section 1.1: User project and interface features.
Modified Section 5.1: Motor control workspace.
Updated Figure 7: IAR EWARM IDE Workspace overview
Added Figure 8: Keil uVision workspace overview
Updated Figure 9: Workspace batch build for IAR EWARM IDE
Added Figure 10: Workspace batch build for Keil uVision
Updated Figure 14: LCD UI project, Figure 15: User interface
reference, Figure 17: STM32 Motor Control demonstration project
welcome message and Figure 19: Dual control panel page
14-Nov-2012
16-Dec-2013
22-May-2014
Changes
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Revision history
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Table 9. Document revision history (continued)
Date
18-May-2015
11-Sept-2015
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Revision
Changes
5
Updated Introduction;
Updated Section 1: Motor control library features
Updated Section 2.2: Related documents
Added Section 3: Motor profiler and One Touch Tuning
Added Section 4: On-the-fly Sensorless startup
Added figure from Figure 1: Motor profiler to Figure 6: Enabling “Onthe-fly” start-up with Advanced profile
Updated Figure 29: STMCWB window related to ADC/COMP
settings for DC bus voltage
6
Updated
– Document title
– Introduction
– Table 1.: Project configurations
– Section 2.2: Related documents
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