953mcl motor control hands-on using pic18fxx31 microcontrollers

2005 Microchip Technology Incorporated. All Rights Reserved. Slide 1

953 MCLMotor Control hands-on

using PIC18FXX31 Microcontrollers

2005 Microchip Technology Incorporated. All Rights Reserved. Class Slide 2

Agenda & TimelineO PIC18FXX31 family overview O Training board overviewO High speed ADC features O Initialize ADC : Lab1& discuss answerO Motion Feedback Module(MFM) featuresO Initialize MFM : Lab2 & discuss answerO Power Control PWM(PCPWM) featuresO Initialize PCPWM : Lab3 & discuss answerO Overview of BLDC motor control using PIC18FXX31 O BLDC speed control: Lab4 & discuss answerO Motor control resources from Microchip O Q & A


Motor Control PIC MCUs

O Mid-Range PIC16 seriesO PIC16F684/716 14/18 pin

O ECCP, ADCs and comparatorsO PIC16F7X7 series 28/40 pin

O 3 CCPs, ADCs and Comparators

O High end PIC18 series- This classO PIC18FXX31 series 28/40 pin

O Power Control PWM (PCPWM), High-speed ADCs and Motion Feedback Module (MFM)

O dsPIC digital signal controller familyO dsPIC2010 to dsPIC6010 28 pin to 80 pin

O Power Control PWM (PCPWM), High-speed ADCs and Motion Feedback Module (MFM)


You should have.1) MPLAB IDE V7.10 or higher installed2) Complete MPLAB ICD2 setup 3) BLDC motor control board(05-60001)4) 24V power supply for the above board5) Hurst(NTDynamo) BLDC motor with

O Power cable (4 wires with white square connector) andO Hall sensor cable (5 wires with 8 pin inline connector)

6) Circuit schematic of BLDC motor control board7) Datasheet of PIC18F2331/2431/4331/4431


Features PIC18F2331 PIC18F2431 PIC18F4331 PIC18F4431Packages 28SP,28SO 28SP,28SO 40P,44L,44PT 40P,44ML,

44L,44PTProgram

memory bytes8192 16384 8192 16384

RAM bytes 768 768 768 768EEPROM bytes 256 256 256 256

I/O ports 22 22 34 34CCP module 2 2 2 2

Timers 3-16Bit,1-8bit,1-WDT

3-16Bit,1-8bit,1-WDT



Serial I/O EUSART/I2C/SPI EUSART/I2C/SPI EUSART/I2C/SPI EUSART/I2C/SPI

Failsafe Clockmonitor

Yes Yes Yes Yes

Power managemodes

RUN, IDLE andSLEEP

RUN, IDLE andSLEEP

RUN, IDLE andSLEEP

RUN, IDLE andSLEEP

ICSP,PBOR,LVD

Yes Yes Yes Yes

Max. speed 40 MHz 40 MHz 40 MHz 40 MHz

PIC18FXX31 Spec. Overview


Features PIC18F2331 PIC18F2431 PIC18F4331 PIC18F4431Power

Control PWMmodule

3 channels w/complementary

outputs


outputs


outputs


outputsTimer5module

yes yes yes yes

Input Capture 3 3 3 3Quadrature

EncoderInterface

QEA, QEB, INDX QEA, QEB, INDX QEA, QEB, INDX QEA, QEB, INDX

High-SpeedADC

channels5 10bit 5 10bit 9 10bit 9 10bit

External FaultInputs

2 2 2 2

PIC18FXX31 FeaturesFor Motor Control


PIC18Fxx31 overview


Pinout (40-pin devices) /MCLR/Vpp/RE3 1 40

2

3

4

5

6

7

9

12

1516

1718

14

39

38

37

36

35

34

3332

3029

26

31

28

RA0/AN0

RA1/AN1

RA2/AN2/Vref-/CAP1/INDX

RA3/AN3/Vref+/CAP2/QEA

RA4/AN4/CAP3/QEB

RA5/AN5/LVDIN

AVss

OSC2/CLKO/RA6RC0/T1OSO/T1CKI

RC1/CCP2/T1OSI/~FLTA

RC2/CCP1/~FLTBRC3/T0CKI/GPCKI/INT0

RB2/PWM2

RB1/PWM1

RB0/PWM0VddVssRD7/PWM7RD6/PWM6RD5/PWM4RD4/~FLTA

RB3/PWM3

RB4/KBIO/PWM5

RB5/KBI1/PWM4/PGM

RB6/KBI2/PGC

RB7/KBI3/PGD

8RE0/AN6

10

13

AVdd

OSC1/CLKI/RA7

1920

RD0/T0CKI/T5CKIRD1/SDO

11

RE1/AN7RE2/AN8

27RC7/RX/DT/SDO

25 RC6/TX/CK/~SS

24 RC5/INT2/SCK/SCL

23 RC4/INT1/SDI/SDA

22 RD3/SCK/SCL

21 RD2/SDI/SDA

P

I

C

1

8

F

4

4

3

1

98

7

6

5

4

3

2

1


Pinout (28-pin devices)

/MCLR/Vpp/RE3 28

3

4

5

6

7

9

11

12

13

14

10

27

26

25

24

23

22

21

20

18

17

15

19

16

RA0/AN0

RA1/AN1

RA2/AN2/Vref-/CAP1/INDX

RA3/AN3/Vref+/CAP2/QEA

RA4/AN4/CAP3/ QEB

AVdd

AVss

OSC1/CLKI/RA7

OSC2/CLKO/RA6

RC0/T1OSO/T1CKI

RC1/T1OSI/CCP2/~FLTA

RC2/CCP1/~FLTB

RC3/T0CKI/T5CKI/INT0

RB2/PWM2

RB1/PWM1

RB0/PWM0

VDD

Vss

RC7/RX/DT

RC6/TX/CK

RC5/INT2/SDO

RC4/INT1/SDI/SDA

RB3/PWM3

RB4/PWM5

RB5/PGM/PWM4

RB6/PGC

RB7/PGD

P

I

C

1

8

F

2

4

3

1

9

1

3

4

5

6

7

2

8


Training Board Overview


Training Board

ICD 2 Connector Current Limit Pot

S1 Reset

PowerSupply

connector

S3 RUN/STOP

S2 FWD/REV

Pot REF

PIC18F2431

Serial Connector Motor

Connectors

Shunt Resistor


Training Board

PowerMOSFETs


Jumpers and LEDs

D7Power LED

PIC18F2431

JumpersJ7, J8, J11, J12, J13, J14

LEDsD1D2D3

Jumper J15

Jumper J2

LEDsPWM0

toPWM5


Default Jumper settings

O J2(2 pin) - shorted. O J15(3 pin) - shorted between pin 2 & 3

(short link towards the crystal oscillator)

O J7, J11 and J13 - shorted between pin 1 & 2(short link towards the ICD2 connector)

O J8, J12, J14, J16 and J17 keep openO Keep Potentiometer REF(R14) completely

turned counter clockwiseO Keep Potentiometer R60 completely turned

clockwise


Hardware Block Diagram

P

I

C

1

8

F

2

4

3

1 BLDC

Motor3 phase Inverter bridge

R-LowR-High

Y-Low

Y-HighB-HighB-LowREF

Motor current

IREFERENCE

Hallsensors

Hall sensors

Motor current

Power supply

+24V

Shunt

IM

+

-IM

+15V+5VGnd

J9

M1

M2

M3

HAHBHC

R60

AC input

/MCLR 28

11

12

13

14

10

27

26

25

24

23

22

21

20

18

17

15

19

16

AN0

AN1AN2/IC1

AN3/IC2

AN4/IC3AVdd

AVss

OSC1

OSC2

RC0

/FLTA/CCP2

/FLTB/CCP1

RC3/INT0

PWM2

PWM1

PWM0

Vdd

Vss

RC7/RX

RC6/TX

RC5/INT2

RC4/INT1

PWM3

PWM5

RB6/PGC

RB7/PGD

PWM4

9

87

6

54

32

1


Program flow - Main routines

StartStart

Initialize ADC (LAB1-a)

Initialize MFM (LAB2)

Initialize PCPWM (LAB3)

Switch S2 and S3 check

Main_loop

Commutation sequence table (LAB4-a)

Exercises you need to do

Calculate PWM duty cycle


Program flow - ISR routines

IC1/IC2/IC3 ISR?

Updatecommutation

sequence

Read PORTA states and display on

D1/2/3

ADC ISR?

UpdateSpeed Reference

and motor current

Read FIFO

RETFIE

PWMISR?

Filter the FaultAand indicate Motor

Over current Read FaultA status

ISR_HIGH (LAB4-b)

(LAB1-b)

Exercises you need to do


High-speed ADC module


High-Speed ADCO Up to 9 channelsO Simultaneous two-channel sampling O Two S/H circuits and 1 conversion circuitO Sequential sampling of 1, 2, or 4 channelsO Auto-conversion capabilityO 4-word FIFO with selectable interrupt

frequencyO Selectable external triggersO Programmable acquisition time


4x10-bit FIFO

MUX

1010

1010

8 bi

t dat

a bu

s

Analog Mux

Analog Mux

S/H1

ADC

1234

ADRESH,ADRESL

Conversion logic

Input mux controlS/H-2 Ch. Sel

S/H-1 Ch. Sel

S/H-1 Ch. Sel

VrefMux

AVddAVssVref+Vref-

Vref select

AVref+AVref-

AN0AN4AN8AN2AN6

AN1AN5AN3AN7

AAACC

BBDD

Not available on 28 pin devices

S/H2

ADC Functional Block Diagram

ADC


ADC Modes of OperationADC Mode Description

Multi-channel sequential Mode 1 (SEQM1)

A & B are sampled and converted sequentially

Multi-channel sequential Mode 2 (SEQM2)

A,B,C& D are sampled and converted sequentially

Multi-channel simultaneous Mode 1 ( STNM1)

A & B sampled simultaneously and converted sequentially

Multi-channel simultaneous Mode 2 (STNM2)

A & B sampled simultaneously and converted sequentially. Then C & D

sampled simultaneously and converted sequentially.

Single Channel mode 1 (SCM1) A is sampled and converted Single Channel mode 2 (SCM2) B is sampled and converted Single Channel mode 3 (SCM3) C is sampled and converted Single Channel mode 4 (SCM4) D is sampled and converted

Auto conversion Single shot mode The sequence is executed once Auto conversion continuous loop mode The sequence is executed continuously


ADC Control Registers

SFR Bit7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ADCON0 --- --- Auto

CONV Auto SCH

Auto Conv mode ACMOD

GO/ Done

ADON

ADCON1 Vref source VCFG

--- FIFOEN

FIFO empty

FIFO Ovrfl

FIFO read pointer

ADCON2 AD format

A/D acquisition time selection ACQT

A/D clock select ADCS

ADCON3 A/D int select --- A/D trigger source select SSRC ADCHS Sample D

SDSEL Sample B

SBSEL Sample C

SCSEL Sample A

SASEL ANSEL0 Pin input select: Analog/digital ANS ANSEL1 Pin input select: Analog/digital ANS

Trigger Sources ADCON3RBO/INT pin xxxx1Timer5 Overflow xxx1xInput Capture 1 xx1xxCCP2 Compare x1xxxPCPWM 1xxxx

Interrupt Options ADCON3Each write to FIFO 002nd & 4th write to FIFO 01Every 4th write to FIFO 10

(These options ignored in single shot mode.)


Lab 1a and 1b

Initializing AD Converter Module

Duration : 20 minutes

Note : Do not connect any of the motor cablesto the board at this time.


Lab 1a & 1bO Goal : To get familiarized with new high speed A/D moduleO Task : Initialize ADC to read potentiometer(REF) and motor

currentO Steps:

O Create a project in MPLAB IDE V6.42 or higherO Select PIC18F2431 as the target deviceO Add EX1.asm and linker script(18f2431i.lkr) file to the projectO Select ICD2 as debuggerO Open EX1.asm,

O Go to START LAB-1a HERE and initialize ADC O Go to START LAB-1b HERE and read ADC result O Follow the instructions given in the code

Jumper J15 should be between 2-3 (towards crystal)


Lab 1a & 1b - HintsO REF pot connected to AN1O Motor current feedback connected to AN0O Enable appropriate multi channel conversion mode O Left justified resultO Enable FIFO O Interrupt when 2nd and 4th word written to FIFO O Enable appropriate analog channels for conversion

Note : Do not connect any of the motor cablesto the board at this time.


Lab 1a & 1b - ResultO Build, program the part and run the programO Rotate clockwise the pot. REF slowlyO LEDs D1, D2 and D3 should turn on @ approx.

30%, 60% and 90% of the pot level respectively O Press either switch S2 or S3O LEDs D1, D2 and D3 should turn ON and OFF

sequentially.


Motion Feedback Module (MFM)

Quadrature Encoder Interface (QEI) Input Captures (IC)


Quadrature Encoder Interface

O Two phase inputs (QEA, QEB) and one index input interface

O Two level position tracking: x2 and x4 O Direction detectionO Velocity measurement mode :

O Programmable postscaler for high-speed velocity measurement

O Programmable digital filters on each input pin


ClockDivider

COUNTER

INDEX/IC1

Tcy

Digital FilterLogic

Digital FilterLogic

Digital FilterLogic

QEA/IC2

QEB/IC316-Bit Up/Down

Counter

Direction

QuadratureDecoder

Logic

Clock

ResetComparator

MaxCounter

8 bi

t dat

a bu

s

PostscalerVelocity Velocity capture

Position interrupt

Velocity interrupt

QEI Block Diagram


QEI Position Tracking Mode

QEA

QEB

Index

Positioncounter

Max counter = 1541

FWD/REV

Direction change

PositionMax count

PositionMax count

PositionIndex

Interrupts

+ + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - -

Forward Reverse

152215231524152515261527152815291530153115321533153415351536153715381539154015410000000100020003

000200010000154115401539153815371536153515341533153215311530152915281527152615251524


Noise filters

Clock

Filter Input(Pin)

Filter output

3 cycles Noise


QEI - Velocity Measurement

QEA

QEB

+1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1+1 +1 +1 +1 +1 +1 +1 +1 +1 +1

Old value

1234

1234

1246

1246

Vel_out

Vel_capture

Timer5

Vel_REG

Interrupt


Input Capture Block Diagram

ClockDivider

Tcy

DigitalFilterLogic

IC3

Timer 5 Logic

DigitalFilterLogic

DigitalFilterLogic

Prescale &mode select



Timer 5

CAPxBUF

Timer5Reset control

IC2

IC1


Input Capture Modes

Edge capture mode - Every rising edge

1 2 3 4

Edge capture mode - Every falling edge

Edge capture mode - Every 4th rising edge


Input Capture Modes

Timer5

Special event trigger modes:a) Trigger on every falling edge of CAP1 input onlyb) Trigger on every rising edge of CAP1 input only

Edge capture mode - Every 16th rising edge

Period measurement mode Rising edge to rising edge

1 2 15 16


Input Capture Modes

Pulse

Timer5

Pulse

Interrupt

Interrupt

Pulse width measurement mode Falling edge to rising edge

Pulse width measurement mode Rising edge to falling edge

Timer5


Capture 3

Time Base

CAP1BUF

CAP2BUF

CAP3BUF

0000h

Time Base Reset

1 1 1 0

1

1 1

Capture 2Capture 1

S

t

a

t

e

1

S

t

a

t

e

2

S

t

a

t

e

3

S

t

a

t

e

4

S

t

a

t

e

5

S

t

a

t

e

6

1

0 0 1 1

0 0 0

Capture for Hall SensorsInput capture on state change mode :Time base is capture on every CAPx input state change


Lab 2

Initialization of MFM module


DO NOT connect motor power cable to the board at this time


Lab 2O Goal : To get familiarized with Motion Feedback

Module(MFM)O Task : Initialize MFM to interface with 3 Hall

sensorsO Steps:

O Create a project in MPLAB IDE V6.42 or higherO Select PIC18F2431 as the target deviceO Add EX2.asm and linker script(18f2431i.lkr) file to the

projectO Select ICD 2 as debuggerO Open EX2.asm, go to START LAB-2 HERE and

initialize MFM


Lab 2 - HintsO IC1, IC2 and IC3 pins are used for Hall sensor interfaceO Enable capture on every CAPx state change modeO Disable QEI modesO Enable interrupt on every IC transitionO Make Hall sensor connections on connector J9 as follows:

O RED : Connect to +5VO BLACK : Connect to O WHITE : Connect to HA (IC1)O BROWN : Connect to HB (IC2)O GREEN : Connect to HC (IC3)

DO NOT connect motor power cable to the board at this time


Lab 2 - ResultO Build, program the part and run the programO Rotate clockwise the pot. REF slowly and

observe LEDs D1, D2 and D3 should turn on @ approx. 30%, 60% and 90% of the pot level respectively

O Press either switch S2 or S3O Spin the rotor with hand, LEDs D1/D2/D3

should turn on and off every 12 degrees of rotor rotation

O Check the correct sequence:O Rotate the rotor and keep only D1 ONO Turn the rotor by a step (12 degrees) in

clockwise when viewed from driving end and follow the table

ONOFFONStep6

ONOFFOFFStep5

ONONOFFStep4

OFFONOFFStep3

OFFONONStep2

OFFOFFONStep1

D3D2D1


Power Control PWM Module(PCPWM)


Power Control PWM Module

O Designed for power and motor controlO Single phase and Three-phase AC-Induction

MotorO Multiple DC Brush MotorsO Brushless DC MotorO UPSO Switched Reluctance Motor


PCPWM FeaturesO Up to 4 channels with complimentary outputO Edge or center-aligned operationO Flexible dead-band generator

O 50 nS to 25.6 uS @ 40 MHzO Hardware fault protection inputsO Simultaneous update of duty cycle and periodO Flexible Special Event trigger outputO Output override features


PDC compareoutputPWM1/3/5/7PWM0/2/4/6

DT DT

Special Event Trigger

PWM Enable and Mode SFRs

PWM Override

Dead Time Control

PWM5

Fault Pin Control SFR

PWMCON 1

PWM Timer (PTMR)

PWM Generator #1

Dead time Generator

andOverride

logic

PWM4

PWM3PWM2

PWM1PWM0

FLTA

PWM Generator #2

8

b

i

t

d

a

t

a

b

u

s

DTCON

FLTCON

PWMCON 0

OVDCON

PDC2 Buffer

PDC2

ComparatorComparator

Period register (PTPER)

Comparator

SEVTCMP

PTCON PWM Timermodes

PWM Generator #0

Outputdriverblock

PCPWM Functional Block Diagram


Edge-aligned PWM

PTMR=PTPER

PTMR=0

PWM1

PWM3

PWM5

PWM7

PWM period

PDC0

PDC1

PDC2

PDC3

Interrupt


Center-aligned PWM

PTMR=PTPER

PTMR=0

PWM1

PWM3

PWM5

PWM7

PWM period

PDC0

PDC1

PDC2

PDC3


PWM ResolutionPWM period

PTMR n 000 001 n-1 nQ1Q2 Q3 Q4 Q1Q2 Q3 Q4

PWM1

PWM3

PWM5

PWM7

PTPER = 0xn

PDC0 = 0xn(12 bits)+00




Note: When PDCx > PTPER, output will always be active.


PWM Frequency vs. Resolution

Edge aligned mode:

Center aligned mode: PWMfrequency = 2 x PTPER x (PTMRprescalevalue)Fosc/4

PWMfrequency =(PTPER+1) x (PTMRprescalevalue)

Fosc/4

Resolution = log( )

FoscFpwm

log(2)

Edge aligned mode: Frequency v/s resolutionFosc MIPS PTPER value PWM

resolutionPWM

frequency40 MHz 10 0xFFF 14 bits 2.4 KHz40 MHz 10 0x7FF 13 bits 4.9 KHz40 MHz 10 0x3FF 12 bits 9.8 KHz40 MHz 10 0x1FF 11 bits 19.5 KHz40 MHz 10 0x0FF 10 bits 39.0 KHz40 MHz 10 0x07F 9 bits 78.1 KHz40 MHz 10 0x03F 8 bits 156.2 KHz40 MHz 10 0x01F 7 bits 312.5 KHz40 MHz 10 0x00F 6 bits 625 KHz25 MHz 6.25 0x0FF 10 bits 24.4 KHz10 MHz 2.5 0x0FF 10 bits 9.8 KHz


Configuration BitsO HPOL : High-side power switch polarity

O Selects PWM1,3,5,7 are active high/lowO LPOL : Low side power switch polarity

O Selects PWM0,2,4,8 are active high/low

O PWMPIN : PWM output pins stateO Selects PWM module to be enabled/disabled upon

resetO PWM4MX : PWM4 mux bit

O PWM4 output multiplexed with RB5 or RD5O FLTAMX : FLTA pin mux

O FLTA pin muxed with RC1 or RD4


Lab 3

Initialization of PCPWM module



Lab 3O Goal :

To get familiarized with Power Control PWM (PCPWM)

O Task : Initialize PCPWM to control a BLDC motorO Steps:

O Create a project in MPLAB IDE V6.42 or higherO Select PIC18F2431 as the target deviceO Add EX3.asm and linker script(18f2431i.lkr) file to the

projectO Select ICD2 as debuggerO Open EX3.asm,

O Go to START LAB-3 HERE and initialize PCPWM


Important : Enable Fault condition on break point

Lab 3 - HintsO Use PWM0 to PWM5 for the controlO PWM outputs in edge-aligned or center aligned modeO Set PWM outputs in independent modeO Set PWM frequency to 16 kHz (Fosc = 5 MHz X 4 PLL)O Set FaultA in cycle-by-cycle mode O Enable Fault condition on breakpointO Set outputs on PWM pins controlled by the PWM duty cycle


Lab 3 - ResultO Build, program the part and run O Rotate clockwise the pot. REF slowly and observe LEDs

D1, D2 and D3 should turn on @ approx. 30%, 60% and 90% of the pot level respectively (Lab 1)

O Press either switch S2 or S3O Spin the rotor with hand, LEDs D1/D2/D3 should turn on

and off every 12 degrees of rotor rotation (Lab 2)O Turn the Pot REF clockwise, ONLY ONE LED out of

PWM0-PWM5 should turn ONO When the rotor is rotated, on/off of PWM0-PWM5 LEDs

should scroll. O When the pot REF is rotated, the intensity of PWM0-PWM5

LEDs should vary


BLDC Motor Control


Drive SequenceVDC+

VDC-

(3)(6)(5)(2)

(1)(4)

H1

L1

H2

L2

H3

L3

P

I

C

1

8

F

x

x

3

1

PWM1PWM3PWM5

PWM0PWM2

PWM4


6 step-Switching SequenceStep (x) (1) (2) (3) (4) (5) (6) (1) (2) (3) (4)

Phase A

Phase B

Phase C

H2L3

H1L3

H1L2

H3L2

H3L1

H2L1

Hall sensorHall A

Hall B

Hall C

High switchLow switch

101 001 011 010 110 100 101 001 011 010 110

Hall C

Hall B

Hall A

Phase A

Phase B

Phase C

0 0 1 DC+ NC DC- 0 1 1 DC+ DC- NC 0 1 0 NC DC- DC+ 1 1 0 DC- NC DC+ 1 0 0 DC- DC+ NC 1 0 1 NC DC+ DC-


OVDCOND vs. PWM(1) (2) (3) (4) (5) (6)Step

001 011 010 110 100 101Hall sensor

PWM5

PWM4

PWM3

PWM2

PWM1

PWM0

0001100000010010 00000110 00100100 00100001 00001001OVDCOND


Control Flow ChartInitialization

Load new step sequence

to the OVDCOND

register from Table

Hall sensor change?

Yes

No

Key scan/

Other application?

Change Speed?

Calculate new PWM

duty cycle

Yes

No Hall C Hall

B Hall

A Phase

A Phase

B Phase

C 0 0 1 DC+ NC DC- 0 1 1 DC+ DC- NC 0 1 0 NC DC- DC+ 1 1 0 DC- NC DC+ 1 0 0 DC- DC+ NC 1 0 1 NC DC+ DC-


Control with Hall Sensors

BLDC

Motor

3 phase Inverter bridge

R-LowR-High

Y-Low

Y-HighB-HighB-Low

AC in

+ - DC bus

Motor current

Potentiometer

+

Motor current

Reference-

Hallsensors

Hall sensors

USART/I2C/SPI

/FLTA/CCP2

/FLTB/CCP1

RC3/INT0

/MCLR 28

11

12

13

14

10

27

26

25

24

23

22

21

20

18

17

15

19

16

AN0

AN1AN2/IC1

AN3/IC2AN4/IC3

AVdd

AVss

OSC1

OSC2

RC0

PWM2

PWM1

PWM0

Vdd

Vss

RC7/RX/DT

RC6/TX/CK

RC5/INT2

RC4/INT1

PWM3

PWM5

RB6/PGC

RB7/PGD

PWM4

P

I

C

1

8

F

2

4

3

1

9

87

6

54

3

21


INDX

Vss

OSC1

FLTA/CCP2

INT0/RC3

Vdd

OSC2

RD0RD1

RC7/RX/DTRC6/TX/CK

/MCLR

QEAQEB

AN4

AN5AN6AN7AN8

RC0

FLTB/CCP1 BLDC

Motor


R-LowR-High

Y-Low

Y-HighB-HighB-Low

AC in

+ - DC bus

Hallsensors

INT0

QE

QE interface

Motor current

Temp. sensor

+

Motor current

Reference-

Power factorcorrection

Motor current

40

12

1516

1718

14

39

38

37

36

35

34

3332

3029

26

31

28

PWM2

PWM1

PWM0VddVssRD7RD6RD5RD4

PWM3

PWM5

PWM4RB6/PGC

RB7/PGD

13

1920

11

27

2524 RC5/INT2

23 RC4/INT1

22 RD3

21 RD2

AN0

P

I

C

1

8

F

4

4

3

1

1098765

43

12

Closed Loop Control With QEI


FLTA/CCP2

INT0/RC3

FLTB/CCP1


R-LowR-High

Y-Low

Y-HighB-HighB-Low

+ - DC busBack EMF sense

Motor current

Temp. sensor

+

Motor current

Reference-

+

-Back EMF sense

BLDC

Motor

USART/I2C/SPI

Power factorcorrection

Motor current

40

12

1516

1718

14

39

38

37

36

35

34

3332

3029

26

31

28

IC1

Vss

OSC1

PWM2

PWM1

PWM0VddVssRD7RD6RD5RD4

PWM3

PWM5

PWM4RB6/PGC

RB7/PGD

10

13

Vdd

OSC2

1920

RD0RD1

11

27RC7/RX/DT

25 RC6/TX/CK

24 RC5/INT2

23 RC4/INT1

22 RD3

21 RD2

/MCLR

AN0

IC2IC3

AN4

AN5AN6AN7AN8

RC0

P

I

C

1

8

F

4

4

3

1

1

98765432

Closed Loop Control With Back EMFAC in


Sensorless Control Schemes1) Compare with DC bus/2 2) Compare with virtual neutral

3) Using ADChannels


Lab 4

BLDC Motor Speed Control



Lab 4a & 4bO Goal : To drive a BLDC motor O Task : Derive switching sequence from the datasheetO Steps:

O Create a project in MPLAB IDE V6.42 or higherO Select PIC18F2431 as the target deviceO Add EX4.asm and linker script(18f2431i.lkr) file to the projectO Select ICD2 as debuggerO Open EX4.asmO Go to START LAB-4a HERE and follow the instructions to write

the winding energizing sequenceO Go to START LAB-4b HERE and follow the instructions to access

the winding energizing sequence for the Hall sensor state


Lab 4a & 4b - HintsO Define the active PWMs for the position corresponding to the Hall inputO Write code to access the position tableO Keep in mind that IC1/IC2/IC3 are on PORTAO Use indirect addressingO Hall A, Hall B and Hall C are connected to IC1, IC2 and IC3 respectively

Note: This is not Commutation sequence

Windings Energizing table

Hall A Hall B Hall C Phase A Phase B Phase C0 0 0 --- --- ---1 0 0 DC+ --- DC-0 1 0 --- DC- DC+1 1 0 DC+ DC- ---0 0 1 DC- DC+ ---1 0 1 --- DC+ DC-0 1 1 DC- --- DC+1 1 1 --- --- ---


Lab 4a & 4b - Hints

O Motor power connections(4 wire white colored connector):Disconnect the 24V power supply from the board before making motor

connectionsO RED : Connect to M1 on J9 on the BLDC motor control boardO BLACK : Connect to M2 on J9 on the BLDC motor control boardO WHITE : Connect to M3 on J9 on the BLDC motor control boardO GREEN : Connect to G on J9 on the BLDC motor control board

Note 1 : Motor windings Phase A,Phase B and Phase C are connected to terminal M1, M2 and M3 respectively

Note 2 : While running the motor with ICD 2 in debug mode, the program mayhalt sometime. To avoid this, use ICD 2 as programmer not debugger

Note 3 : Refer to the circuit schematics to determine which PWM isconnected to which MOSFET


Lab 4a & 4b - ResultO Build, program the part and run O Rotate clockwise the pot. REF slowly and observe LEDs

D1, D2 and D3 should turn on @ approx. 30%, 60% and 90% of the pot level respectively (Lab 1)

O Press either switch S2 or S3O Spin the rotor with hand, LEDs D1/D2/D3 should turn on

and off every 12 degrees of rotor rotation (Lab 2)O Turn the Pot REF clockwise, motor should rotate !!!!!!!!!!!!!!O Press S3 to toggle between RUN and STOP conditionsO Press S2 to toggle between direction of rotationO If motor STOPs and LED D1 blinks, it indicates that there

was a over current faultO Reduce the speed ref and press either S2 or S3


ResourcesVisit www.microchip.com\motor

O Application notes onO Theory of Stepper, Brush DC, Brushless DC and

AC Induction motorsO Stepper and Brushed DC motor control using PIC16F684O Brushless DC motor control using PIC18FXX31 and

dsPIC digital signal controller (DSC)O Induction motor control using PIC16F7X7, PIC18FXX31

and dsPIC DSC

O Web seminars on ACIM and BLDC motorcontrol


Resources - Demo boardsO PICDEM MC motor control demo board

O Part number : DM183011O Completely isolatedO Debug tools can be connected when the board is liveO Low cost design

O dsPICDEM MC motor control dev kitO Low and high voltage versionsO Power module + control boardO Part numbers : DM300020, DM300021, DM300022

O Visit www.microchip.com\motor for all motor control related materials


PICDEM MC


Motor Control GUI

Main control window


Motor Control GUI

ParametersSet up window


Summary

O New PIC MCUs for motor controlO PIC18FXX31 family features overview O Features of High speed ADC (Lab1)O Features of Motion Feedback Module (Lab2)O Features of Power Control PWM (Lab3)O Overview of motor control using PIC18FXX31 O BLDC motor control (Lab4) O Motor control resources from Microchip

953mcl motor control hands-on using pic18fxx31 microcontrollers

Documents

bldc motor control board05

pino power control pwm

microchip o q

mclmotor control handson

idle andsleeprun

highspeed adcs

power supply

indx qea