The 2012 Texas Instruments Motor Control Training document covers several topics:
1) Motor topologies and digital control techniques for brushless DC motors and AC induction motors.
2) Power modulation and regeneration methods using devices like space vector modulation.
3) TI's motor control product solutions and how they partition control between intelligent controllers and power conversion circuits.
The 2012 Texas Instruments Motor Control Training document covers several topics:
1) Motor topologies and digital control techniques for brushless DC motors and AC induction motors.
2) Power modulation and regeneration methods using devices like space vector modulation.
3) TI's motor control product solutions and how they partition control between intelligent controllers and power conversion circuits.
The 2012 Texas Instruments Motor Control Training document covers several topics:
1) Motor topologies and digital control techniques for brushless DC motors and AC induction motors.
2) Power modulation and regeneration methods using devices like space vector modulation.
3) TI's motor control product solutions and how they partition control between intelligent controllers and power conversion circuits.
The 2012 Texas Instruments Motor Control Training document covers several topics:
1) Motor topologies and digital control techniques for brushless DC motors and AC induction motors.
2) Power modulation and regeneration methods using devices like space vector modulation.
3) TI's motor control product solutions and how they partition control between intelligent controllers and power conversion circuits.
Dave Wilson Team Lead, Motor Solutions Group 2012 Texas Instruments Motor Control Training In Today’s Exciting Episode… Motor Topologies and Operation
Digital Control Techniques
Power Modulation and Regeneration
TI Motor Control Solutions
Control Partitioning 2012 Texas Instruments Motor Control Training
Intelligence Power Conversion Motor
Feedback vs. Feedforward
Digital Control Space Vector Modulation Brushless DC PI(D) controllers Power Regeneration ACIM Observers PMSM Field Oriented Control Stepper Sensorless FOC 2012 Texas Instruments Motor Control Training
-Vth Torque in a BLDC Motor
Clockwise N
Torque θ Stable Point 360°
Counter-Clockwise S
TI Spins Motors…Smarter, Safer, Greener.
A Torque = ( 4 NBlr ) ( I ) = (kT ) ( I )
0° C B
Torque N B
Current B C B
A 0°
TI Spins Motors…Smarter, Safer, Greener.
Control of a Brushless D.C. Motor
2 A
Controller B 12 zones in 360 degrees s of mechanical rotation 3
4 C r t
5 120 0 hall spacing is 6 preferred over 60 0 spacing since 1 unpowered or 1 unconnected sensors 0 produce 111 or 000 codes, which can be used for fault Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure detection.
TI Spins Motors…Smarter, Safer, Greener.
BLDC Commutation Q1 Q2 Q3 Q4
Q5 Q6
Hall A Hall B
Hall C
Fault input signal
TI Spins Motors…Smarter, Safer, Greener.
Commutation of a Brushless DC Motor C C C A B A B A B N N N B A B N A B S S N A N S S S S N S N C S S C C S S C C N N C S S N S N S N S S A N B A N B A N S B N N
B C A B C A B C A n o p C C C A B A B A B S S S N S B S A B A B N A S N N N N S N S C N N C C N N C C S S C N S S N N N S N N A S B A S B A S N B S S
B C A B C A B C A
q r s TI Spins Motors…Smarter, Safer, Greener. Spoke Design BLDC Motor
TI Spins Motors…Smarter, Safer, Greener.
Disk Drive BLDC Motor
TI Spins Motors…Smarter, Safer, Greener.
96% BLDC Motor Efficiency ≈ 100W
Using iron based amorphous
core material, Japanese researchers at Tokai University break 96% efficiency barrier!
TI Spins Motors…Smarter, Safer, Greener.
BLDC Control
Controller Conditioning
Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure
TI Spins Motors…Smarter, Safer, Greener.
Traditional Sensorless Commutation Rotor Electrical Position (Degrees) 0 60 120 180 240 300 360
Phase A
Phase B
Phase C
Zero crossings
PWM 1
PWM 3
PWM 5
PWM 2
PWM 4
PWM 6
TI Spins Motors…Smarter, Safer, Greener.
Introducing InstaSPIN – BLDC! What is InstaSPIN - BLDC? MCU PWM0 PWM1 Gate Power BLDC PWM2 ADC0 PWM3 Drivers Inverter Motor ADC1 PWM4 ADC2 PWM5
InstaSPIN - BLDC Software
Phase A Phase B Phase C
InstaSPIN - BLDC is a method to perform
sensorless commutation on three-phase BLDC motors which enables quick commissioning, robust control (even at low speeds), and exceptional adaptation to velocity perturbations.
TI Spins Motors…Smarter, Safer, Greener.
The InstaSPIN Advantage Extremely robust! (InstaSPIN has currently been tested on about 80 different motors. In each case, the motor was running in under 30 seconds, and suitably tuned in under two minutes.)
Extremely simple! Only one parameter needs to be adjusted to tune
the commutation process.
Commutation advance easily accomplished at high speed by
dynamically lowering the threshold level.
Back-EMF integration creates a less noisy signal for commutation
control. This results in more reliable low speed operation.
InstaSPIN immediately adapts to acceleration changes (unlike the
zero-cross timing technique).
TI Spins Motors…Smarter, Safer, Greener.
InstaSPIN - BLDC…A Peek Under the Hood
Rotor Electrical Position (Degrees)
0 60 120 180 240 300 360
Phase A
Phase B
Phase C
Vth
-Vth
Commutate
TI Spins Motors…Smarter, Safer, Greener.
Speed Invariant Performance
1/6 Amplitude Zero-crossing line
Commutate Commutate
Zero
-Vth
Start Integrating
dλ ∂λ dθ ∂λ voltage = = ⋅ = ⋅ ωm dt ∂θ dt ∂θ TI Spins Motors…Smarter, Safer, Greener. Current Mode Control Topology
Kp + + PWM Value Commutation Commanded current (torque) - + Engine
Ki ∫ Bus Current (from shunt resistor)
Controls current only. Velocity is out of control.
Ki ∫ - Velocity Loop Limit Ki ∫ Commutation Times Bus Current (from shunt resistor)
Rotor Speed Estimate Velocity
Calculation
Controls both velocity and current.
TI Spins Motors…Smarter, Safer, Greener.
DRV8312 Board
TI Spins Motors…Smarter, Safer, Greener.
DRV8301 Board
TI Spins Motors…Smarter, Safer, Greener.
User Interface
TI Spins Motors…Smarter, Safer, Greener.
Brushless DC Motor Summary Advantages High power output per frame size Easy to control with trapezoidal commutation High efficiency due to small rotor losses Low profile designs possible Excellent high speed performance Structure inherently allows heat to be easily removed
Disadvantages Slightly more torque ripple than PMAC motors Uniform airgap flux density required for trapezoidal back- EMF is difficult to achieve Field weakening requires additional current Permanent magnetic field causes viscous drag Permanent magnets can be demagnetized at high temp.
