STM32 电机控制 简介

/mcuDecember 2007 For 3-phase brushless motor vector drives Motor control with STM32 32-bit ARM®-based MCUVector control made simpleSTMicroelectronics’ STM32 offers the performance of the industry-standard Cortex™-M3 core at the service ofvector (or field-oriented) control algorithms. Vector-control algorithms are widely used in high-performance drives.They provide precise and responsive torque and speed control, and guarantee optimized efficiency during transient operations. Practically, they also have the advantage of using the same framework to control an asynchronous orsynchronous motor. This is interesting for development teams that have to deal with various applications and motor types. Finally, the sensorless algorithms for rotor speed and position detection are also of interest when trying to reduce the cost of the drive. The benefits of the ARM™ architecture combined with motor-control dedicated peripherals makes the STM32 Performance line MCU family ideally suited to optimize the overall performance of execution while reducing the overall system cost.The STM32 family benefits from the Cortex-M3 architectural enhancements (including the Thumb-2® instruction set).It delivers improved performance with better code density, has a tightly coupled nested vectored interrupt controller that significantly speeds response to interrupts, and features industry-leading power consumption.STM32F10x portfolioFlash sizeQFN LQFP LQFP LQFP/BGA LQFP/BGALeading-edge architecture with Cortex-M3 core■ Harvard architecture■ 1.25 DMIPS/MHz and 0.19 mW/MHz■ Thumb-2 instruction set brings 32-bit performance with 16-bit code density■ Single cycle multiply and hardware division■Embedded, fast interrupt controller is now inside the core allowing:■ Excellent real-time behavior■ Low latency down to six CPU cycles inter-interrupt ■ Six CPU cycles wake-up time from low-power mode ■Up to 35% faster and up to 45% less code than ARM7TDMI ®STM32 key benefitsC o r e p e r f o r m a n c eD M I P Srating100806040200Cortex-M3 performance versus ARM7TDMIThe STM32 is the latest series of super-integrated single-chip 32-bit ARM Cortex-M3-based MCUs. The STM32 is an optimal choice to support many applications with the same platform:■ From reduced memory and pin requirements to larger needs ■ From simple cost-sensitive to complex high-valueThe high level of pin-to-pin, peripheral and software compatibility across the family gives you full flexibility. You canupgrade to a higher or downgrade to a lower memory size, or use different packages without changing your initial layout or software. The Performance line, STM32F103, operates at 72 MHz, with more on-chip RAM and peripherals.High level of integration■ Built-in supervisor reduces need for external components:■ Power-on reset, low-voltage detect, brown-out detect, watchdog timer with independent clock■One main crystal drives entire system:■ Inexpensive 4-16 MHz crystal drives CPU, USB and all peripherals ■ Embedded PLL generates multiple frequencies ■ Optional 32 kHz crystal for RTC■ Embedded factory trimmed 8 MHz RC can be used as main clock ■ Additional low-frequency RC for RTC or watchdog■Only 7 external passive components required for base system on LQFP100 packageMotor controlThe STM32 Performance line embeds timers and ADC features that areperfectly suited to three-phase brushless motor control. The advanced control PWM timer offers:■ Six outputs■ Dead-time generation■ Edge-aligned and center-aligned waveforms■ Emergency stop and synchronization capability with the dual ADCThe dual ADC architecture allows simultaneous sample and hold with 12-bit resolution, 1 µs conversion time.This dedicated set of peripherals combined with the high performance of the Cortex-M3 core allows your software to shorten the total vector control loop to 24 µs (sensorless mode, three-phase PM synchronous motor) allowing the STM32 to perform other tasks than motor control in the application.Field-orientation in sensorless torque control – PMSMVector control drive■ Theory■Changing reference coordinates from fixed statorcoils to the moving rotor frame greatly simplifies theequation describing the motor■ Method■Clark and Park transformations convert variableswith fixed 3-axis, 120º shifted coordinates into2-axis orthogonal rotating coordinates■These last variables are DC, or slowly varying values, which can be regulated by means of simple PIDcontrollers and then transformed back to the fixedstator windings frame using reverse transforms,as shown in the diagram above■ Requirements■Intensive math computations (trigonometricfunctions, multiple PID regulators, speed calculation)■Minimum resolution of 16 bits for the main controlvariables, with a need for 32-bit intermediate results, such as integral terms■Free CPU load must be kept for the remainingapplicative tasks, such as communication anduser interface STM32 safety features for greatercontrol robustnessFeatures■ Safety critical registers can be locked to prevent power stage damage (software runaway)■Deadtime, PWM output polarity, emergencyinput enable■ All target registers are read/write until lock activation (and then read-only if protected)■Once the two lock bits are written, they cannot bemodified until next MCU reset (write-once bits)■ If main clock fails, an internal RC oscillator (FREEOSC, ~5 MHz average frequency) starts immediately■ Interrupt can be generated for shut-down or safe restart sequences■ Dual watchdog architecture with independent clock sources■ Embedded reset circuitry (power-on reset,power-down reset, programmable voltage detector)■ Emergency stop dedicated input pin withprogrammable stateBenefits■ Strengthens control algorithm to protect motor operation from external disturbance■ Protects safety-critical registers in case of system hang ■ Quick error diagnosis and fault management■ Hardware protection of power stage whatever the status of MCU oscillator■ Safety hardware features to comply withIEC60335-1 normSTM32 MCU familyPWM timer features■ Motor control timer clock■Maximum input clock is 72 MHz to provide13.9 ns edge resolution (12-bit @ 16 kHzedge-aligned PWM)■ Double-update mode■No loss of resolution in center-aligned mode■Done thanks to an additional interrupt per PWM cycle or DMA transfers■ Burst mode■Possibility to update several registers of theperipheral using a single DMA stream■ Programmable reload rate■ Versatile PWM output management■Individually selectable polarities■Redirection circuitry for 6-step drives■ Programmable hardware deadtime generation ■8-bit register with 13.9 ns resolution at 72 MHz Dual ADC features■ Dual ADC with simultaneous conversion mode■ 12-bit resolution■ Down to 1 µs conversion time■ Up to 16 channels, plus internal temperature sensor and Vref■ External and internal trigger (including PWM timer) ■ Versatile channel sequencer■ DMA capable■ Programmable sampling rateBenefits■ Suitable for three-phase brushless PMSM or AC induction motors■ Sensor and sensorless configurationsSpeed feedback■ Handled by the general-purpose timers■ Encoder and Hall sensors can be handled by general-purpose timersSTM32 dedicated peripherals for 3-phase brushless motor controlSTM3210B-MCKITRun your motor in just a few stepsIn just a few minutes, you can run the kit’s PM synchronous motor with the standalone demo, in torque-control or speed-control mode, using the LCD and the joystick on the STM3210B-EVAL control board.You can then fine tune or change many parameters using the LCD user interface and run the PM synchronous motor, or an induction motor:■ Real-time tuning of torque, flux and speed PIDs■ B-EMFs observer gains tuning (for sensorless control)■ Variation of target speed (speed control) or target torque and flux (torque control)■ Bus-voltage and power-stage temperature monitoring ■ Selection of variables to put on output for DACOnce familiar with the demo, you will be able to explore our motor control library that supports FOC (field-oriented control) drive of PMSM and induction motors.The library sources are free upon request, and help speed up development of motor control applications. With the free 32-Kbyte evaluation version of IAR’s EWARM, you just open the libraries, develop the application, fine tune the code and parameters and compile. You can fine tune the application while running the motor thanks to the real-time debugging capability of the Segger J-Link.Application-specific requirementsKey benefits■ Ready to run within minutes (requires a power supply for the motor)■ Same hardware and firmware platform for PMSM and induction three-phase motors■ Allows real-time control and monitoring through a colour LCD and on-board push buttons and joystick ■Segger/IAR JLink (included) Flash programming and real-time debug capability allows same hardware and firmware platform to be used from evaluation to an advanced development stage■Bypass connector for external inverter power-stage connectionSTM32 MCU familySTM32-libraryOptimized and documented C firmware libraries for control of both PMSM (sensor and sensorless mode) and AC induction (sensor mode) brushless motors are available upon request.These modular libraries support both types of motor in standalone mode using the hardware of the STM3210B-MCKIT. The source files are provided free of charge upon request. These libraries offer:■ Different current sensing methodologies ■ Isolated current sensing■ Three shunt resistors with dual sample and hold utilization and advanced methodology for better bus voltage exploitation■ Different rotor-position feedback ■ Encoder (PMSM motor)■ Tachometer (AC motor)■ Hall sensors (60° and 120° placement)■ Sensorless (PMSM motor only)Device summaryCanada16 Fitzgerald Road,Suite 300 Nepean,ON,K2H 8R6OttawaTel:+1 613 768 9000Fax:+1 613 768 9001350 Burnhamthorpe Road West Suite 604,Mississauga,ON,L5B 3JI TorontoTel:+1 905 273 4300Fax:+1 905 273 7578USANorth AmericanBusiness Headquarters Lexington Corporate Center3rd Floor,10 Maguire Road,Building 1, Lexington,MA02421Tel:+1 781 861 2650Fax:+1 781 861 266428720 Roadside Drive,Suite 290 Agoura Hills,CA 91301Tel:+1 818 865 6850Fax:+1 818 865 686115 Enterprise Suite 300Aliso Viejo,CA 92656Tel:+1 949 347 0717Fax:+1 949 347 12247501 Capital of Texas Highway Building A,Suite 130Austin,TX 78731Tel:+1 512 225 6161Fax:+1 512 225 6199170 Mt.Airy Rd.Suite AA3,Bldg.A Basking Ridge,NJ 07920Tel:+1 908 766 7401Fax:+1 908 766 7738Two Greenwood Square3331 Street Road,Suite 415 Bensalem,PA 19020Tel:+1 215 638 2958Fax:+1 215 638 29861310 Electronics Dr. Carrollton,TX 75006Tel:+1 972 466 6000Fax:+1 972 466 83872000 Regency Parkway,Suite 400, Cary,NC 27511Tel:+1 919 469 1311Fax:+1 919 469 4515435 NW 5th St.,Suite B Corvallis,OR 97330Tel:+1 541 754 8192Fax:+1 541 754 82623300 Edinborough Way,Suite 705 Edina,MN 55435Tel:+1 952 841 6420Cell:+1 612 554 316920405 State Highway 249,Suite 195 Houston,TX 77070Tel:+1 281 376 9939Fax:+1 281 376 99481525 Perimeter Parkway,Suite.420Huntsville,AL 35806-3560Tel:+1 256 837 3754Fax:+1 256 837 824610333 N Meridian St,Suite 420 Indianapolis,IN 46290Tel:+1 317 575 5520Fax:+1 317 575 8271452 Northeast 68th St,#8, Kansas City,MO 64118Tel:+1 816 468 6868Fax:+1 816 468 65612745 Albright RoadKokomo,IN 46902-3996Tel:+1 765 455 3500Fax:+1 765 455 34004690 Executive DriveLa Jolla,CA 92121Tel:+1 858 452 7715Fax:+1 858 452 8202333 Swanson Drive NE Lawrenceville - 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