3-phase high voltage inverter power board for FOC based on

3-phase high voltage inverter power board for FOC based on
UM1703
User manual
3-phase high voltage inverter power board for FOC based on
STGIPN3H60A (SLLIMM™-nano)
Introduction
The 3-phase high voltage inverter power board features the STGIPN3H60A (SLLIMM™nano) for field-oriented control (FOC) of permanent magnet synchronous motors (PMSM). It
is also referred to by the order code STEVAL-IHM045V1.
This 3-phase inverter is designed to perform the FOC of sinusoidal-shaped back-EMF
PMSMs with or without sensors, with nominal power up to 100 W. The flexible, open and
high-performance design consists of a 3-phase inverter bridge based on:
•
The STGIPN3H60A SLLIMM™-nano (small low-loss intelligent molded module) IPM,
3-phase IGBT inverter - 3 A - 600 V very fast IGBT
•
The VIPer06 fixed frequency VIPer™ plus family
The system is specifically designed to achieve fast and accurate conditioning of the current
feedback, thereby matching the requirements typical of high-end applications such as field
oriented motor control.
The board is compatible with 110 and 230 VAC mains, and includes a power supply stage
with the VIPer06 to generate the +15 V and the +3.3 V supply voltage required by the
application. Finally, the board can be interfaced with the STM3210B-EVAL, STM32100BEVAL, STM3210E-EVAL, STM320518-EVAL, STM3220G-EVAL, STM32303C-EVAL,
STM3240G-EVAL (STM32 microcontroller evaluation board), STEVAL-IHM022V1 (high
density dual motor control demonstration board based on the STM32F103ZE
microcontroller), STEVAL-IHM039V1 (dual motor drive control stage based on the
STM32F415ZG microcontroller) and with the STEVAL-IHM033V1 (control stage based on
the STM32F100CB microcontroller suitable for motor control), through a dedicated
connector.
Figure 1. STEVAL-IHM045V1 evaluation board
June 2014
DocID025649 Rev 1
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www.st.com
Contents
UM1703
Contents
1
Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1
Target applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2
System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3
Safety and operating instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4
5
6
3.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2
Intended use of the evaluation board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.3
Installing the evaluation board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.4
Electronic connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.5
Operating the evaluation board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
STGIPN3H60A characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4.1
Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4.2
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
VIPer06L characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5.1
Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5.2
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
TSV994 characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
6.1
7
Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
TS374 characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
7.1
Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
8
Electrical characteristics of the board . . . . . . . . . . . . . . . . . . . . . . . . . 13
9
Board architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2/35
9.1
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
9.2
Hardware overcurrent detecting network . . . . . . . . . . . . . . . . . . . . . . . . . 14
9.3
Amplifying network for current measurement . . . . . . . . . . . . . . . . . . . . . . 15
9.4
Temperature feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
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Contents
9.5
10
STEVAL-IHM045V1 schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . 16
10.1
Overcurrent detecting network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
10.2
Direct motor currents sampling from shunt resistors . . . . . . . . . . . . . . . . 20
10.3
Current sensing amplification network using external operational amplifiers
22
10.4
Jumpers configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.5
11
Hall sensor/quadrature encoder inputs . . . . . . . . . . . . . . . . . . . . . . . . . . 15
10.4.1
Microcontroller supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.4.2
Current sensing network topology settings . . . . . . . . . . . . . . . . . . . . . . 24
10.4.3
Power supply configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Motor control connector J1 pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Using the STEVAL-IHM045V1 with the STM32 FOC firmware library . 26
11.1
Environmental considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
11.2
Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
11.3
Software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
11.4
STM32 FOC firmware library customization . . . . . . . . . . . . . . . . . . . . . . . 27
12
Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
13
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
14
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
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List of figures
UM1703
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.
4/35
STEVAL-IHM045V1 evaluation board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Motor control system architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
STGIPN3H60A block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
VIPer06L block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
STEVAL-IHM045V1 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Current sensing and overcurrent detection networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Sensor inputs, motor control connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Inverter schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Power supply schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Current sensing network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Changing current sensing network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Current sensing amplifying network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Motor control connector J1 (top view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
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1
Main features
Main features
The STEVAL-IHM045V1 inverter power stage board has the following characteristics:
1.1
•
Compact size
•
Wide-range input voltage (30-270 VAC) maximum power up to 100 W at 230 VAC input
•
The STGIPN3H60A SLLIMM™-nano (small low-loss intelligent molded module) IPM,
3-phase IGBT inverter - 3 A - 600 V very fast IGBT
•
The VIPer06 fixed frequency VIPer™ plus family
•
DC bus voltage power supply connectors
•
External 15 V input
•
Connector for interfacing with the STM3210B-EVAL, STM32100B-EVAL, STM3210EEVAL, STM320518-EVAL, STM3220G-EVAL, STM32303C-EVAL, STM3240G-EVAL,
STEVAL-IHM022V1, STEVAL-IHM039V1 and STEVAL-IHM033V1
•
Efficient DC-DC power supply (15 V, 3.3 V)
•
Suitable for sinusoidal FOC drive
•
Easy selectable single or three shunt current reading topology with fast operational
amplifier (with offset insertion for bipolar currents)
•
Configurable for direct motor current sampling from shunt resistors (exploiting the
topologies of current measurement with operational amplifiers embedded in the
microcontroller)
•
Hardware overcurrent detecting network
•
Temperature sensor
•
Hall sensor/quadrature encoder inputs.
Target applications
•
High efficiency drain pumps for domestic white goods like dishwashers and washing
machines
•
Compressor drives for refrigerators
•
Ceiling fans
•
Inverters for high efficiency circulating water pumps in heating systems for single-family
homes
•
High efficiency and reliable solutions for small power transfer pumps for waste sludge –
sewage systems in single-family homes, waste piping
•
High efficiency transfer pumps for outlet condensation water
•
High efficiency extractor hoods and blowers for gas furnace applications
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System architecture
2
UM1703
System architecture
A generic motor control system can be represented as the arrangement of four main blocks
(Figure 2).
•
Control block: its main tasks are to accept user commands and motor drive
configuration parameters, and to provide digital signals to implement the appropriate
motor driving strategy
•
Power block: performs the power conversion from the DC bus, transferring it to the
motor by means of a 3-phase inverter topology
•
The motor: the STEVAL-IHM045V1 board can drive both PMSM and BLDC motors in
FOC
•
Power supply block: can accept input voltages of 30 to 270 VAC and provides the
appropriate supply levels for both the control block and power block devices.
Figure 2. Motor control system architecture
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3RZHU
VXSSO\
3RZHU
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With respect to the above motor control system architecture, the STEVAL-IHM045V1
incorporates the power supply and power hardware blocks.
The power block, based on the high voltage STGIPN3H60A (SLLIMM™-nano), converts the
signals coming from the control block into power signals capable of correctly driving the 3phase inverter, and therefore the motor.
The power supply can be fed with 110 or 230 VAC mains with a maximum allowed input
power of 100 W at 230 VAC (refer to Section 8).
In the control block, an MC connector is mounted on the STEVAL-IHM045V1 and the
STM3210B-EVAL, STM32100B-EVAL, STM3210E-EVAL, STM320518-EVAL, STM3220GEVAL, STM32303C-EVAL, STM3240G-EVAL, STEVAL-IHM022V1, STEVAL-IHM039V1
and STEVAL-IHM033V1, which allows the STM32 microcontroller evaluation board to be
used as a hardware platform for development.
The “STM32 FOC firmware library” is ready to be used in conjunction with the STM32 MC
workbench as a software platform for the sensorless control of PMSMs (see Section 11).
The required STM32 motor control workbench data is reported in Table 5.
6/35
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Safety and operating instructions
3
Safety and operating instructions
3.1
General
Warning:
During assembly and operation, the STEVAL-IHM045V1
evaluation board poses several inherent hazards, including
bare wires, moving or rotating parts and hot surfaces.
Serious personal injury and damage to property may occur if
the kit or its components are used or installed incorrectly.
All operations involving transportation, installation and use, as well as maintenance, should
be performed by skilled technical personnel (applicable national accident prevention rules
must be observed). The term “skilled technical personnel” refers to suitably-qualified people
who are familiar with the installation, use and maintenance of electronic power systems.
3.2
Intended use of the evaluation board
The STEVAL-IHM045V1 evaluation board is designed for demonstration purposes only and
must not be used for electrical installations or machinery. Technical data and information
concerning the power supply conditions are detailed in the documentation and should be
strictly observed.
3.3
Installing the evaluation board
The installation and cooling of the evaluation board must be in accordance with the
specifications and target application.
3.4
•
The motor drive converters must be protected against excessive strain. In particular,
components should not be bent or isolating distances altered during transportation or
handling.
•
No contact must be made with other electronic components and contacts.
•
The board contains electrostatically-sensitive components that are prone to damage if
used incorrectly. Do not mechanically damage or destroy the electrical components
(potential health risk).
Electronic connections
Applicable national accident prevention rules must be followed when working on the main
power supply with a motor drive. The electrical installation must be completed in
accordance with the appropriate requirements (for example, cross-sectional areas of
conductors, fusing, PE connections, etc.).
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Safety and operating instructions
3.5
UM1703
Operating the evaluation board
The system architecture that supplies power to the STEVAL-IHM045V1 evaluation board
must be equipped with additional control and protective devices in accordance with the
applicable safety requirements (i.e., compliance with technical equipment and accident
prevention rules).
Warning:
8/35
Do not touch the evaluation board after it has been
disconnected from the voltage supply as several parts and
power terminals containing possibly-energized capacitors
need time to discharge.
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STGIPN3H60A characteristics
4
STGIPN3H60A characteristics
4.1
Main features
4.2
•
IPM 3 A, 600 V, 3-phase IGBT inverter bridge including control ICs for gate driving and
freewheeling diodes
•
Optimized for low electromagnetic interference
•
VCE(sat) negative temperature coefficient
•
3.3 V, 5 V, 15 V CMOS/TTL inputs comparators with hysteresis and pull down resistors
•
Undervoltage lockout
•
Internal bootstrap diode
•
Interlocking function
•
Optimized pinout for easy board layout
Block diagram
Figure 3 shows the block diagram of the STGIPN3H60A device.
Figure 3. STGIPN3H60A block diagram
Pin 1
Pin 26
NW
GND
GND
HVG
VCC
OUT
HIN
LVG
W, OUT W
NC
Vcc W
LIN
VBOOT
HIN W
Vboot W
LIN W
NC
NV
NC
NC
GND
HVG
VCC
OUT
HIN
LVG
V, OUT V
Vcc V
LIN
VBOOT
HIN V
LIN V
Vboot V
NC
NU
Vcc U
GND
HVG
VCC
OUT
HIN
LVG
HIN U
U,OUT U
NC
LIN
VBOOT
P
LIN U
Vboot U
Pin 16
AM09917v1
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Pin 17
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35
VIPer06L characteristics
UM1703
5
VIPer06L characteristics
5.1
Main features
5.2
•
800 V avalanche rugged power section
•
PWM operation with frequency jittering for low EMI
•
Operating frequency 60 kHz
•
No need of auxiliary winding in low power application
•
Standby power < 30 mW at 265 VAC
•
Limiting current with adjustable set point
•
On-board soft-start
•
Safe auto-restart after a fault condition
•
Hysteretic thermal shutdown
Block diagram
Figure 4 shows the block diagram of the VIPer06L device.
Figure 4. VIPer06L block diagram
VDD
Vcc
BR
DRAIN
Vin_OK
+
0.45V
Internal Supply bus
&
Ref erence Voltages
SUPPLY
& UVLO
HV_ON
Istart-up
15uA
OCP
BLOCK
-
CONT
OTP
OCP
BURST
+
SOFT
START
.
OVP
LOGIC
+
THERMAL
SHUTDOWN
OSCILLATOR
UVLO
PWM
TURN-ON
LOGIC
LEB
S
Q
R1
R2
6uA
+
OVP
-
2nd OCP
LOGIC
Ref
OLP
OVP
OTP
Rsense
BURST-MODE
LOGIC
BURST
FB
10/35
GND
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TSV994 characteristics
6
TSV994 characteristics
6.1
Main features
•
Low input offset voltage: 1.5 mV max
•
Rail-to-rail input and output
•
Wide bandwidth 20 MHz, stable for gain > 3
•
Low power consumption: 1.1 mA maximum
•
High output current: 35 mA
•
Operating from 2.5 V to 5.5 V
•
Low input bias current, 1 pA typ
•
ESD internal protection > 5 kV
•
Latch-up immunity
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TS374 characteristics
UM1703
7
TS374 characteristics
7.1
Main features
12/35
•
Wide single supply range or dual supplies 3 V to 16 V or ±1.5 V to ±8 V
•
Very low supply current: 0.1 mA/COMP independent of supply voltage
•
Extremely low input bias current: 1 pA typical
•
Extremely low input offset currents: 1 pA typical
•
Low input offset voltage
•
Input common-mode voltage range includes GND
•
Low output saturation voltage: 150 mV typical
•
Output compatible with TTL, MOS and CMOS
•
High input impedance: 1012 Ω typical
•
Fast response time: 200 ns typical for TTL level input step
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8
Electrical characteristics of the board
Electrical characteristics of the board
The board is designed to be supplied by an alternate current power supply through
connector J7 (AC mains) or by a direct current power supply through connector J8 (DC
bus). When a DC bus is applied, the correct polarity must be respected.
Stresses above the limits shown in Table 1 may cause permanent damage to the devices
present on the board. These are stress ratings only and functional operation of the device
under these conditions is not implied. Exposure to maximum rating conditions for extended
periods may affect device reliability.
A bias current measurement may be useful to check the working status of the board. If the
measured value is considerably higher than the typical value, some damage has occurred
to the board. Supply the board using a 40 V power supply connected to J8, respecting the
polarity. When the board is properly supplied, LED D16 turns on and the typical bias current
is 7 mA.
Table 1. Board electrical characteristics
STEVAL-IHM045V1
Board parameters
Unit
Min
Max
AC Mains – J7
30
270
Vrms
DC Bus – J8
40
400
V
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Board architecture
9
UM1703
Board architecture
The STEVAL-IHM045V1 can be schematized as shown in Figure 5.
Figure 5. STEVAL-IHM045V1 block diagram
9.1
Power supply
The power supply can address an AC input voltage (J7) ranging from 30 VAC to 270 VAC.
The alternating current input is rectified by a diode bridge and a bulk capacitor to generate a
direct current bus voltage approximately equal to √2 VAC (neglecting the voltage drop
across the diodes and the bus voltage ripple). A VIPer06 is then used in a non-insulated
flyback topology to generate the +15 V supply voltage required by the STGIPN3H60A and
to supply the low drop voltage regulators (LD1117S33TR) to generate the 3.3 V used as the
Vdd_Micro reference voltage. It is also possible to provide the microcontroller supply
voltage to the control board via motor control connector J1 when R7 is mounted with a
0 ohm resistor (default setting).
9.2
Hardware overcurrent detecting network
The hardware overcurrent detecting network is implemented using the TS374 Low power
quad CMOS voltage comparator (U11).
The fault signal (low level) is fed back to the J1 connector if the overcurrent event is
detected and connected to the emergency input of the microcontroller.
See Section 10.1 for more detailed information on hardware current detecting network.
14/35
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9.3
Board architecture
Amplifying network for current measurement
The voltages across the shunt resistor are amplified by Aop amplification gains to correctly
condition the current feedback signals and optimize the output voltage range for a given
phase current range and A-D converter input dynamics. Refer to Section 10.3 for more
detailed information on how to dimension the op-amp conditioning network depending on
user needs.
To implement the current measurement network, the TSV994 rail-to-rail input/output high
merit factor op-amps (U10) is used.
9.4
Temperature feedback
Temperature feedback is performed by way of an NTC placed below the package of the
STGIPN3H60A. It enables the monitoring of the power stage temperature so as to prevent
any damage to the inverter caused by overtemperature.
9.5
Hall sensor/quadrature encoder inputs
The board can be used to run the motor using the Hall sensors or quadrature encoder as
position/speed feedback connecting the sensors signals to connector J2.
Note:
Note: The Hall sensors or quadrature encoder sensor is not power supplied by STEVALIHM045V1.
The default configuration is intended for push-pull sensors. The R8, R11 and R12 resistors
are used to limit the current injected into the microcontroller if the sensor high voltage is
above Vdd-micro.
The maximum current injected should be less than the maximum present in the
microcontroller datasheet.
If the sensors have open drain outputs and are supplied by 3.3 V it is possible to mount the
three pull-up resistors R2, R3 and R4. Otherwise, if supplied with more than 3.3 V, the three
pull-up resistor have to be mounted externally.
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Vshunt_3_GND
Vshunt_3
680pF 10V
C31
680pF 10V
C30
680pF 10V
C26
13
-
+
14
U10D TSV994IPT
R84
2.2k
R81
680
R76
2.2k
R73
680
R63
2.2k
R60
680
12
CIN3
Vshunt_2_GND
Vshunt_2
CIN2
Vshunt_1_GND
Vshunt_1
CIN1
R62
4.7k
R75
4.7k
N.M.
R82
R83
4.7k
Vdd_ExtCmp
N.M.
R74
Vdd_ExtCmp
N.M.
R61
Vdd_ExtCmp
-
+
-
+
10
11
R85
5.6k
9
10
R77
6
5
4
5.6k
-
+
-
+
TS374CDT
13
U11D
8
U10C TSV994IPT
5.6k
7
R69
N.M.
N.M.R58
4.7uF 10V
+ C24
N.M.
R107
N.M.
R108
N.M.
R106
CIN3
Curr_fdbk2
CIN2
Curr_fdbk1
CIN1
CIN3
CIN2
CIN1
R104
Vdd_Micro
0
Vdd_ExtCmp
GND
GND
R79
Curr_fdbk3
N.M.
STMicroelectronics and/or its licensors do not warrant the accuracy or
completeness of this specification or any information contained
therein. STMicroelectronics and/or its licensors do not warrant that
this design will meet the specifications, will be suitable for your
application or fit for any particular purpose, or will operate in an
implementation. STMicroelectronics and/or its licensors do not warrant
that the design is production worthy. You should completely validate
and test your design implementation to confirm the system
functionality for your application.
U10A TSV994IPT
1
U10B TSV994IPT
R70
2
3
100nF10V
C25
Vdd_ExtCmp
2.2nF 10V
OC Boost
R102
1k
R94
5.6k
2.2nF 10V
R97
1k
OC Boost
Vdd_ExtCmp
2.2nF 10V
R92
1k
OC Boost
1k
C40
C35
R95
C33
1k
R103
1k
R98
1k
R93
C45
C44
C43
8
9
6
7
4
5
1uF10V
-
+
1uF10V
-
+
1uF10V
-
+
+0.5V
TS374CDT
14
U11C
+0.5V
TS374CDT
U11B
1
+0.5V
C29
100nF10V
TS374CDT
2
U11A
Vdd_ExtCmp
3
16/35
11
R105
0
Emergency
4.7uF 10V
+ C27
10
12
External op-amp & comparator
STEVAL-IHM045V1 schematic diagrams
UM1703
STEVAL-IHM045V1 schematic diagrams
Figure 6. Current sensing and overcurrent detection networks
DocID025649 Rev 1
Enc A/H1
Enc B/H2
Enc Z/H3
OC Boost
Vdd_Micro
Emergency
PhaseU_H
PhaseU_L
PhaseV_H
PhaseV_L
PhaseW_H
PhaseW_L
Curr_fdbk1
Curr_fdbk2
Curr_fdbk3
R5
R6
1
3
5
7
9
11
13
15
17
19
21
23
0
N.M. 25
27
29
31
33
J1
MOTOR_CONN
2
4
6
8
10
12
14
16
18
20
22
24
26
28 R7
30
32
34
0
Vdd_Micro
Temperature feedback
WCurr_fdbk1_GND
WCurr_fdbk2_GND
WCurr_fdbk3_GND
Bus Volt feedback
A+/H1
B+/H2
Z+/H3
1
2
3
Stripline m. 1x3
J2
R2
N.M.
Vdd_Micro
R3
N.M.
R4
N.M.
C1
4.7k
4.7k
R11
R12
4.7k
R8
10pF 10V
C2
C3
Enc Z/H3
Enc B/H2
Enc A/H1
Only for sensors
UM1703
STEVAL-IHM045V1 schematic diagrams
Figure 7. Sensor inputs, motor control connector
17/35
35
10pF 10V
10pF 10V
18/35
DocID025649 Rev 1
Vshunt_1
0
R51
4.7k
Vshunt_2
Vshunt_2_GND
NC_2
GND
LIN W
HIN W
Vcc W
NC_8
NC_7
NC_6
LIN V
HIN V
Vcc V
NC_12
NC_15
HIN U
Vcc U
LIN U
C20
10nF 10V
WCurr_fdbk1_GND
Curr_fdbk1
2
1
5
4
3
8
7
6
11
10
9
12
15
14
13
16
1Sh
3Sh
0
J9
CON3
R45
0.47
R56
NW
W
Vboot W
NV
V
Vboot V
NU
U
P
Vboot U
RS model C621/1206
Placed near the IGBT bridge
NTC 10k
Vdd_Micro
NTC1
Temperature feedback
R44
0.47
R55
PhaseW_L
PhaseW_H
PhaseV_L
PhaseV_H
PhaseU_H
Vshunt_1_GND
C14
470nF 25V
+15V
PhaseU_L
U2
STGIPN3H60A
1
2
3
26
25
24
23
22
21
20
19
18
17
C13
1Sh
J10
CON3
1
2
3
R46
0.47
R57
Phase C
Phase B
Phase A
RS model 434-740
Vshunt_1
NU
Vshunt_2
3Sh
Vshunt_3_GND
Vshunt_3
WCurr_fdbk2_GND
Curr_fdbk2
NW
2.2uF 25V
C16
Vshunt_2
2.2uF 25V
C15
NU
2.2uF 25V
Vbus
0
Vshunt_3
NW
Vshunt_2
WCurr_fdbk3_GND
Curr_fdbk3
J6
1
2
3
MOTOR
CON3
GND
GND
TP19
TP20
TP21
TP22
Phase A
Phase B
Phase C
Vbus
TP13
TP14
TP1
TP2
TP3
TP4
TP5
TP6
TP7
TP17
TP18
GND
GND
+15V
Vdd_Micro
Temperature feedback
Bus Volt feedback
Emergency
PhaseU_H
PhaseU_L
PhaseV_H
PhaseV_L
PhaseW_H
PhaseW_L
Test points
Phase A
Phase B
Phase C
STEVAL-IHM045V1 schematic diagrams
UM1703
Figure 8. Inverter schematic
Vbus
2
1
2
1
J11
CON2
DC Bus
J8
F1
R109
220k
Vbus
AC MAINS
J7
2
1
1
+15V
DocID025649 Rev 1
D12
STTH1L06A
C46
1nF
630V
Ext. 15V
J12
2A
10
9
8
7
6
1
2
3
T2
2
VIPer06LS
DRAIN_5
DRAIN_4
DRAIN_3
DRAIN_2
GND
VDD
LIM
FB
DRAIN_1 COMP
U12
5ohm
NTC2
C47
2.2uF
50V
1
2
3
4
5
4
5
6
50V
C48
+ 100nF
D24
D23
D9
STTH1R04U
D7
STTH1R04U
R111
22k
6.3V
R110 C49
22nF
15k
D14
GND
6.3V
C50
1nF
1N4148WT
STPS1L60MF
STPS1150MF
D10
STTH1R04U
D8
STTH1R04U
15k
R113
R112
51k
R115
2k
22uF
25V
3
47uF
25V
+ C23
R54
8.2k
R53
470k 1/4W
R52
470k 1/4W
1
+
C42
10uF
6.3V
Vdd_Micro
Bus Volt feedback
LD1117S33TR
2
Vin
Vout
GND
C22
4.7nF 10V
U3
D16
GREEN LED SMD
R114
2.2k
1/8W
+15V
C21
100uF
450V
+ C28
+
Vbus
UM1703
STEVAL-IHM045V1 schematic diagrams
Figure 9. Power supply schematic
19/35
35
STEVAL-IHM045V1 schematic diagrams
10.1
UM1703
Overcurrent detecting network
Hardware overcurrent detecting network is implemented on the board thanks to the TS374
Low power quad CMOS voltage comparator (U11). All three voltage drops across the shunt
resistors are monitored to detect the overcurrent condition, three comparators of the TS374
product are used.
Overcurrent detection activates as soon as the voltage of any of the non-inverting input pins
(4,6,8) rises above the reference approximately equal to 0.5 V, and, given the default value
of the shunt resistors (0.47 Ω), it follows that the default value for the maximum allowed
current (ICP) is:
Equation 1
If necessary, the overcurrent threshold can be modified by changing the value of shunt
resistors R44, R45 and R46.
The outputs of the three comparators are combined together to generate a unique
emergency signal that is fed to the microcontroller brake input through the J1 connector.
10.2
Direct motor currents sampling from shunt resistors
The board is configured by default for direct motor current sensing from shunt resistors.
Figure 10 shows the current sensing network relative to the motor phase A current. The
configuration of the current sensing can be modified by acting on R55, R56, R57, R58, R69
and R79 as described in Table 2.
Table 2. Configuration of the current sensing
20/35
Resistors
Direct current sensing from shunt resistors
(default setting)
Using external op-amp
R55, R56, R57
Mounted (0Ω)
Not mounted
R58, R69, R79
Not mounted
Mounted (0Ω)
DocID025649 Rev 1
UM1703
STEVAL-IHM045V1 schematic diagrams
Figure 10. Current sensing network
Figure 11 shows the layout of the board. The red sections highlight the position of the
components that must be modified when the current sensing network needs to be changed.
Figure 11. Changing current sensing network
DocID025649 Rev 1
21/35
35
STEVAL-IHM045V1 schematic diagrams
10.3
UM1703
Current sensing amplification network using external
operational amplifiers
The board is configured by default for direct motor current sensing from shunt resistors. See
Table 2 for configuring the board to use the external operational amplifier TSV994.
Figure 12 shows the current sensing amplifying network when using the external
operational amplifier TSV994.
Figure 12. Current sensing amplifying network
+3.3V
R62
4.7k
Vshunt
R60
680
+
TSV994IPT
U10
Vshunt_GND
Curr_fdbk
-
0
R63
2.2k
R70
5.6k
The voltage at node “Curr_fdbk” can be computed as the sum of a bias and a signal
component, respectively equal to:
Equation 2
Equation 3
With the default values, this gives:
•
VBIAS=1.48V
•
VSIGN=3.1•RShunt•I
•
AOP=3.1
As such, the maximum current amplifiable without distortion is equal to:
Equation 4
22/35
DocID025649 Rev 1
UM1703
STEVAL-IHM045V1 schematic diagrams
Equation 5
With the default values, this gives:
Equation 6
Equation 7
Equation 8
Equation 9
Note that the IMAX value can be modified by simply changing the values of the shunt
resistors.
10.4
Jumpers configuration
This section provides jumper settings for configuring the STEVAL-IHM045V1 board.
Two types of jumpers are used on the STEVAL-IHM045V1 board:
•
3-pin jumpers with two possible positions, the allowable settings for which are
presented in the following sections.
•
2-pin jumpers with two possible settings: fitted if the jumper is closed and not fitted if
the jumper is open.
The STEVAL-IHM045V1 board can be also configured using a set of 0 Ω resistor. These
resistors are used as 2-pin jumpers with two possible settings: mounted and not mounted.
10.4.1
Microcontroller supply voltage
The 3.3 V microcontroller supply voltage can be fed into J1 pin 28 through the R7 resistor.
This configuration permits the control board to be supplied with 3.3 V using the J1 connector
DocID025649 Rev 1
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35
STEVAL-IHM045V1 schematic diagrams
UM1703
and is the default configuration. If the control board is self-supplied, it is possible to remove
the R7 resistor to avoid conflict in the supply voltages.
10.4.2
Current sensing network topology settings
The current sensing network can be configured for three shunt current reading or for single
shunt current reading. In both cases, the current sensing network topology supports bipolar
current reading. This means that the current flows in the shunt resistor in both directions: to
the ground and from the ground. This is the case of sinusoidal control and the current
sensing network adds an offset value in order to measure the negative values.
To select the proper current sensing network topology, the J9 and J10 jumpers are used
according to Table 3.
Table 3. Jumpers settings for the current sensing network topology selection
10.4.3
Topology
Jumper settings
Three shunt current reading
J9 between pins 1 and 2
J10 between pins 1 and 2
Single shunt current reading
J9 between 2 and 3
J10 between 2 and 3
Jumper settings
Power supply configuration
Jumper J11 can be used to enable or disable the power supply section based on VIPer06L.
When J11 is fitted (default configuration), the power supply section is enabled and the +15 V
is regulated by the on board VIPer06L when the DC bus voltage is present.
If the DC bus voltage required by the application exceeds the specifications stated in
Table 1, it is possible to open the J11 jumper to exclude the power supply section based on
VIPer06L and supply an external reference voltage of 15 V to connector J12. The maximum
DC bus voltage applied in this case may still not exceed the maximum allowed voltage for
STGIPN3H60A.
10.5
Motor control connector J1 pinout
Figure 13. Motor control connector J1 (top view)
$0Y
24/35
DocID025649 Rev 1
UM1703
STEVAL-IHM045V1 schematic diagrams
Table 4. Motor control connector J1 pin assignment
J1 Pin
Function
J1 Pin
Function
1
Emergency stop
2
GND
3
PWM-UH
4
GND
5
PWM-UL
6
GND
7
PWM-VH
8
GND
9
PWM-VL
10
GND
11
PWM-WH
12
GND
13
PWM-WL
14
Bus voltage
15
Phase A current in three shunts
16
GND
17
Phase B current in three shunts or
Current feedback in single shunt
18
GND
19
Phase C current in three shunts
20
GND
21
Not connected
22
GND
23
Not connected
24
GND
25
Not connected
26
Heatsink
temperature
27
Not connected
28
VDD μ
29
Not connected
30
GND
31
H1/Enc A
32
GND
33
H2/Enc B
34
H3/Enc Z
DocID025649 Rev 1
25/35
35
Using the STEVAL-IHM045V1 with the STM32 FOC firmware library
11
UM1703
Using the STEVAL-IHM045V1 with the STM32 FOC
firmware library
The “STM32 FOC firmware library” provided together with the STM3210B-MCKIT,
STM32100B-MCKIT or available for download in the ST website, performs the field-oriented
control (FOC) of a permanent magnet synchronous motor (PMSM) in both sensor and
sensorless configurations.
It is possible to configure the firmware to use the STEVAL-IHM045V1 as the power stage
(power supply plus power block of Figure 2) of the motor control system.
This section describes the changes that need to be applied to the “STM32 FOC firmware
library” in order for the firmware to be compatible with the STEVAL-IHM045V1.
11.1
Environmental considerations
Warning:
The STEVAL-IHM045V1 evaluation board must only be used
in a power laboratory. The voltage used in the drive system
presents a shock hazard.
The kit is not electrically isolated from the DC input. This topology is very common in motor
drives. The microprocessor is grounded by the integrated ground of the DC bus. The
microprocessor and associated circuitry are hot and MUST be isolated from user controls
and communication interfaces.
Warning:
Any measurement equipment must be isolated from the main
power supply before powering up the motor drive. To use an
oscilloscope with the kit, it is safer to isolate the DC supply
AND the oscilloscope. This prevents a shock from occurring
as a result of touching any single point in the circuit, but
does NOT prevent shocks when touching two or more points
in the circuit.
An isolated AC power supply can be constructed using an isolation transformer and a
variable transformer.
Note:
26/35
Isolating the application rather than the oscilloscope is highly recommended in any case.
DocID025649 Rev 1
UM1703
11.2
Using the STEVAL-IHM045V1 with the STM32 FOC firmware library
Hardware requirements
The following items are required to run the STEVAL-IHM045V1 together with the “STM32
FOC firmware library”.
11.3
•
The STEVAL-IHM045V1 board
•
Any of the STM32 evaluation boards with an MC connector such as STM3210B-EVAL
(MB525), STEVAL-IHM022V1, STEVAL-IHM039V1, STEVAL-IHM033v1, STM32100BEVAL (MB871), STM3210E-EVAL (MB672), STM320518-EVAL (MB965), STM32xGEVAL (MB786), STM32303C-EVAL (MB1019)
•
An insulated AC or DC power supply
•
A programmer/debugger dongle as required by the control board (not included in the
package). Refer to the control board user manual to find a supported dongle. Use of an
insulated dongle is always recommended.
•
A 3-phase brushless motor with a permanent magnet rotor (not included in the
package)
•
An insulated oscilloscope (as necessary)
•
An insulated multimeter (as necessary)
Software requirements
To customize, compile and program (in the microcontroller memory) the “STM32 FOC
firmware library”, a firmware developing toolchain must be installed. For documentation
about the “STM32 FOC firmware library”, refer to the STMicroelectronics website or contact
your nearest STMicroelectronics office. Refer to the control board user manual for further
details.
11.4
STM32 FOC firmware library customization
To customize the “STM32 FOC firmware library” the “ST Motor control workbench” can be
used.
The required parameters for the power stage related to the STEVAL-IHM045V1 are
reported in Table 5.
DocID025649 Rev 1
27/35
35
Using the STEVAL-IHM045V1 with the STM32 FOC firmware library
UM1703
Table 5. STEVAL-IHM045V1 motor control workbench parameters
Parameter
STEVAL-IHM045V1 default value
ICL shut out
Disabled
Dissipative brake
Disabled
Bus voltage sensing
Enabled
Unit
125 (using STM3210B-EVAL, STM32100BEVAL, STM3210E-EVAL, STM320518-EVAL,
STM3220G-EVAL, STM3240G-EVAL,
STEVAL-IHM022V1, STEVAL-IHM039V1 or
STEVAL-IHM033V1)
Bus voltage divider
115 (using STM32303C-EVAL)
28/35
Min rated voltage
40
V
Max rated voltage
375
V
Nominal voltage
325 (using 230 VAC)
V
Temperature sensing
Enabled
V0
1055
mV
T0
25
°C
∆V/∆T
22
mV/°C
Max working temperature on sensor
70
°C
Over current protection
Enabled
Comparator threshold
0.50
V
Over current network offset
0
V
Over current network gain
0.47
V/A
Expected overcurrent threshold
1.0638
A
Overcurrent feedback signal polarity
Active low
Overcurrent protection disabling network
Disabled
Overcurrent protection disabling network
polarity
Any
Current sensing
Enabled
Current reading topology
Three shunts or one shunt resistor depending
on configuration (see Section 10.4.2)
Shunt resistor(s) value
0.47
Amplifying network gain(1)
3.1
T-noise
300
ns
T-rise(1)
1900
ns
T-rise(2)
2250
ns
Power switches
Min dead-time
1500
ns
DocID025649 Rev 1
Ω
UM1703
Using the STEVAL-IHM045V1 with the STM32 FOC firmware library
Table 5. STEVAL-IHM045V1 motor control workbench parameters (continued)
Parameter
STEVAL-IHM045V1 default value
Unit
Power switches
Max switching frequency
50
kHz
U,V,W driver
High side driving signal
Active high
U,V,W driver
Low side driving signal
Complemented from high side
Disabled
U,V,W driver
Low side driving signal
Polarity
Active high
1.
Using external operational amplifier (see Section 10.3)
2.
Using direct motor currents sampling and STM32303C-EVAL (see Section 10.2)
DocID025649 Rev 1
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35
Bill of materials
12
UM1703
Bill of materials
Table 6. Bill of materials
Reference
Part / value
Manufacturer
C1,C2,C3
10pF
Any
C25,C29
100nF
Any
C14
470nF
Any
C33,C35,C40
2.2nF
Any
C26,C30,C31
680pF
Any
C20
10nF
Any
C22
4.7nF
Any
C24,C27
4.7uF
Panasonic
C13,C15,C16
2.2uF
Any
C21
100uF
C42
10uF
Murata
GRM31CR60J106KA01
L
C23
100uF
Panasonic
ECEV1EA101P
C43,C44,C45
1uF
Any
C28
22uF
Panasonic
EEE1EA220SP
C46
1nF
Kemet
PFR5 102J630J11L4
C47
2.2uF
C48
100nF
C49
22nF
C50
1nF
R2,R3,R4,R6,R58,R61,R69,R
74,R79,R82,R106,R107,R108
,R110
N.M
Any
R5,R7,R55,R56,R57,R104,R1
05
0
Any
R8,R11,R12,R51,R62,R75,R8
3
4.7k
Any
R92,R93,R95,R97,R98,R102,
R103
1k
Any
R44,R45,R46
0.47
IRC
R52,R53
470k
Any
R54
8.2k
Any
R109
220k
Any
R113
15k
Any
30/35
DocID025649 Rev 1
Manufacturer code
EEE1EA4R7SR
LR2512-LF-R470-F
UM1703
Bill of materials
Table 6. Bill of materials (continued)
Reference
Part / value
Manufacturer
R111
22k
Any
R112
51k
Any
R115
2k
Any
R63, R76, R84, R114
2.2k
Any
R70,R77,R85,R94
5.6k
Any
R60,R73,R81
680
Any
TP1,TP2,TP3,TP4,TP5,TP6,T
P7,TP13,TP14,TP17,TP18,TP
19,TP20,TP21,TP22
Manufacturer code
Vero Technologies
20-2137
D7,D8,D9,D10
STTH1R04U
STM
STTH1R04U
D12
STTH1L06A
STM
STTH1L06A
D14
1N4148WT
Fairchild
1N4148WT
D16
GREEN LED
AVAG
HSMG-C170
D23
STPS1150MF
STM
STPS1150MF
D24
STPS1L60MF
STM
STPS1L60MF
F1
FUSE
Holly
5RF020HK
J1
MOTOR_CONNECTOR
Tyco Electronics
3-1761603-1
J2
STRIPLINE1X3
Kontek
4720302140400
Jumper
RS
MOTOR
Phoenix
MSTBA 2.5/ 3-G-5.08
MOTOR
Phoenix
MSTB 2.5/ 3-ST-5.08
J7
AC MAIN
Phoenix
MSTBA 2.5/ 2-G-5.08
J8,J12
DC BUS/15V ext
Phoenix
MSTBA 2.5/ 2-G-5.08
J9,J10
MOUNTING HOLE
Harwin
H3161-01
J11
JUMPER
Any
Insulated Jumper Blue
Harwin
D3086-97
AC MAIN/DC BUS
Phoenix
MSTBA 2.5/ 2-G-5.08
NTC1
NTC
Epcos
B57621C103J62
NTC2
NTC
Epcos
B57235S509M
T2
Transformer 450-500uH
325mW
Magnetica
E. Rossoni
Magnetica:2217.0003
E. Rossoni: ERL5402-01
U2
STGIPN3H60A
STM
STGIPN3H60A
U3
LD1117S33TR
STM
LD1117S33TR
J6
DocID025649 Rev 1
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35
Bill of materials
UM1703
Table 6. Bill of materials (continued)
Reference
Part / value
Manufacturer
Manufacturer code
U10
TSV994
STM
TSV994IPT
U11
TS374
STM
TS374CDT
U12
VIPer06LS
STM
VIPer06LS
Phoenix
MSTB 2.5/2-ST-5.08
Phoenix
MSTB 2.5/2-ST-5.08
Screw M3-20 mm
Washer M3
Screw nut M3
Nylon spacer M3 20mm
Plastic bag
32/35
DocID025649 Rev 1
UM1703
13
References
References
•
STGIPN3H60A datasheet
•
VIPer06L datasheet
•
TSV994 datasheet
•
TS374 datasheet
•
http://www.st.com/mcu/ web site, which is dedicated to the complete
STMicroelectronics microcontroller portfolio.
•
Magnetica S.r.l
•
Elettronica Rossoni
DocID025649 Rev 1
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35
Revision history
14
UM1703
Revision history
Table 7. Document revision history
34/35
Date
Revision
03-Jun-2014
1
Changes
Initial release.
DocID025649 Rev 1
UM1703
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