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1590 BDC
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Objectives
1590 BDC
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1590 BDC
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BDC Agenda
BDC Basics
Control Types
DC Motor Construction
Motor Types
1590 BDC
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BDC Basics
1590 BDC
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BDC Motor
Rotary Parts
Motor Shaft
Commutator
Windings
Stationary Parts
Stator
Brushes
1590 BDC
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BDC Rotor
Commutator
Windings
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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BDC Stator
Electromagnetic
windings
1590 BDC
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Permanent Magnet
Shunt wound
Series wound
Compound wound
Shunt + Series
1590 BDC
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Permanent Magnet
Most common
Used in fractional horsepower applications
More cost effective than wound stators
Torque, limited due to constant stator field
Rotor
S
Permanent
Magnetic Poles
1590 BDC
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10
Shunt Wound
ITot
DC
Voltage
Supply
IShunt
Shunt
Field
IShunt
IMotor
IMotor
Rotor
Brushes
Heavy
Load
1590 BDC
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11
Series Wound
I = ISeries + IMotor
Series
Field
DC
Voltage
Supply
I
Rotor
Brushes
Heavy
Load
1590 BDC
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12
Compound Wound
ITot
DC
Voltage
Supply
ITot = I1 + I2
Series
Field
I2
I2 = ISeries + IMotor
Shunt
Field
Rotor
Brushes
IShunt = I1
Heavy
Load
1590 BDC
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13
Brushes
1590 BDC
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14
Rotor
Windings
Brushes
Commutator
Terminals
1590 BDC
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15
Control Types
1590 BDC
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16
Control Types
Chopper
Half Bridge
Bi-directional
1590 BDC
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17
Simple On/Off
One I/O port to
control
No high side
driver
Inexpensive
One direction
D1
Motor
Micro
R1
Controlled
SW1
R2
1590 BDC
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18
One direction
R2
Micro
R1
SW1
Controlled
Motor
D1
1590 BDC
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19
Half Bridge
VBUS
SW2
OFF
Micro
Controlled
ON
Micro
SW1
Controlled
Forward
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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20
Half Bridge
VBUS
SW2
ON
Controlled
OFF
SW1
Micro
Controlled
Brake
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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21
Half Bridge
VBUS
SW2
ON
Controlled
ON
SW1
Micro
Controlled
Warning
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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22
Half Bridge
VBUS
Micro
SW1
ON
Controlled
Micro
OFF
Controlled
SW2
D1
Motor
Forward
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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23
Half Bridge
VBUS
Micro
SW1
OFF
Controlled
Micro
ON
SW2
Controlled
D1
Motor
Brake
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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24
Half Bridge
VBUS
Micro
SW1
Controlled
ON
Micro
Controlled
ON
SW2
D1
Motor
Warning
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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25
Half Bridge
Advantages
Disadvantages
Only one direction
More parts, 2 outputs to control
Shoot-Through (both FETS ON)
1590 BDC
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26
Full Bridge
VBUS
D1
Micro
Controlled
Micro
Controlled
D2
ON
SW3
OFF
OFF
ON
SW1
SW2
Motor
SW4
D3
D4
Micro
Controlled
Micro
Controlled
Forward
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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27
Full Bridge
VBUS
D1
Micro
Controlled
Micro
Controlled
SW1
OFF
ON
SW2
D2
Motor
D3
D4
Micro
SW3
ON
Controlled
OFF
Micro
SW4
Controlled
Reverse
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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28
Full Bridge
VBUS
D1
D2
Micro
Controlled
Micro
Controlled
SW1
OFF
ON
SW2
SW3
OFF
Motor
ON
SW4
D3
D4
Micro
Controlled
Micro
Controlled
Brake
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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29
Full Bridge
VBUS
D1
Micro
Controlled
Micro
Controlled
SW1
ON
ON
SW2
D2
SW3
ON
Motor
ON
SW4
D3
D4
Micro
Controlled
Micro
Controlled
Warning
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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30
Full Bridge
Advantages
Bi-Directional control
Braking
Safety (High Side Drive)
Disadvantages
Most complicated
4 outputs to control
Shoot-Through (both FETS ON)
1590 BDC
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31
Topology Review
Chopper
Half Bridge
A little more complex, two output control
Adds the Braking features
Full Bridge
Most complicated
Adds the features of Braking and Reverse
1590 BDC
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32
Speed Control
1590 BDC
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33
Firmware Control
VBUS
D1
Motor
Simple On/Off
Firmware
intensive
Lots of
attention to
control
Micro
R1
Controlled
SW1
R2
1590 BDC
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34
PWM Control
(Pulse Width Modulation)
We control the speed by varying the voltage
across the motor
Voltage Across MotorAvg.Volt = VoltageSupply Duty Cycle
= VDD
Pulse Width
Period
1590 BDC
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PWM Control
Voltage Source
PWM
Equates to
1590 BDC
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36
PWM Control
1590 BDC
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37
PWM Control
Voltage Across Motor
Actual Current
Average Current
Time
Accelerate
Decelerate
Voltage
Actual Current
Average Current
1590 BDC
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38
CCP
Capture/Compare/PWM
1590 BDC
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39
PWM Control
Signal Period
Pulse Width
TMR2 = PR2
TMR2 = 0
TMR2 = CCPR1L:CCP1CON(<5:4>)
Equations
Period PWM(seconds) = (PR2 + 1)
Tosc
TMR2 Prescaler
1590 BDC
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40
ECCP
(Enhanced Capture/Compare/PWM)
1590 BDC
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41
PWM Control
Half-Bridge PWM
Generates a PWM signal on two outputs
Microcontroller
P1A Modulated
P1B Modulated
1590 BDC
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42
PWM Control
Examples:
VDD
ON
1590 BDC
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43
PWM Control
High
P1A Active
P1B Inactive
Low
P1C Inactive
Low
P1D Modulated
1590 BDC
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44
PWM Control
Example:
Microcontroller
ON
ON
1590 BDC
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45
PWM Control
P1A Inactive
P1B Modulated
High
P1C Active
Low
P1D Inactive
1590 BDC
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46
PWM Control
Example:
Microcontroller
ON
ON
1590 BDC
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47
BDC Demos
F1 LV Eval. Board
1590 BDC
BDC Add-on
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48
BDC DEMOS
1590 BDC
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49
Further Reading
1590 BDC
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50
1590 BDC
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51
ACIM Agenda
1590 BDC
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52
1590 BDC
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53
ACIM Basics
1590 BDC
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54
ACIM Stator
Terminal box
Motor casing
Stator coils
Stator slots
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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55
AC Stator
Stator supplied
with 3-phase AC
voltage source for
fixed speed
operation
Va
3 Phase
ACIM
Vb
1590 BDC
Vc
Slide
56
ACIM Stator
Rotating flux
Generated by alignment of
3 phase windings on Stator
Synchronous
speed of field
depends on
number of poles
2 pole@ 60 Hz,
3600 rpm
4 pole(shown) @
60 Hz, 1800 rpm
1590 BDC
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57
ACIM Rotor
Bearings
Driving end
Shorting rings
1590 BDC
Internal fan
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58
ACIM Rotor
1590 BDC
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59
ACIM Equations
Flux
Im
Torque
Is
Im
ns
Ir
Ir
120 f
p
ns
nr
ns
1590 BDC
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60
Braking
Synchronous Speed
Rotor Speed
Generator
SLIP
1.5
1.0
0.5
-0.5
1590 BDC
-1.0
Slide
61
1590 BDC
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62
30 Hz
45 Hz
60 Hz
Torque
Rotor Speed
1590 BDC
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63
V/Hz Profile
240
Volts RMS
200
160
High Amplitude
Limit
Boost
Region
120
Constant V/F
Region
80
40
Low Frequency
Cutoff
20
40
60
Frequency (Hz)
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
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64
V/Hz Control
PID
r
+-
Limits
VF curve
P
W
M
Motor
Feedback
device
1590 BDC
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65
ACIM Hardware
1590 BDC
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66
Need 1 Timer
and 3 ECCPS
PIC16F193X
PIC16F194X
PIC18F2XK22
PIC18F4XK22
ECCP1
Timer2
ECCP2
Timer4
ECCP3
CCP4
Timer6
CCP5
1590 BDC
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67
ACIM Inverter
+V
P1A
ECCP1
P1B
P2A
P3A
P2B
3 Phase
ACIM
P3B
ECCP2
ECCP3
Timer2
1590 BDC
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68
Dead Time
P1A
P1A
P1B
P1B
1590 BDC
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69
Software
Implementation
1590 BDC
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70
Sinusoidal PWM
Modulation
VDC
1590 BDC
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71
Modulation Function
Lookup from
wavetable of
size 2N
Wavetable
contains one
cycle of
waveshape
Use 16-bit
variable to
track phase
1590 BDC
Phase
angle
0x0000
0 deg
0x4000
90 deg
0x5555
120 deg
0x8000
180 deg
0xAAAA
240 deg
0xFFFF
359.99 deg
Slide
72
Modulation Function
1590 BDC
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73
Modulation Function
15
Phase
64 Entry
Sine Wave
Table
1590 BDC
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74
Sinusoidal PWM
Modulation
Motor Phase Current
VDC
1590 BDC
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75
Phase Offsets
1590 BDC
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76
Modulation Frequency
PWM Frequency = 20,000 Hz
Postscaler = 10:1 2000 Hz
interrupt rate
f mod
2000
DeltaPhase
16
2
DeltaPhase 0.0305
1590 BDC
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77
1590 BDC
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78
Sine Wavetable
1.50
Modulation Index
1.00
0.50
Sine Va
Sine Vb
Line to Line
0.00
0
60
120
180
240
300
-0.50
-1.00
Angle (degrees)
1590 BDC
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79
1.50
1.00
0.50
0.00
0
60
120
180
240
300
Va
Vb
Line to Line
-0.50
-1.00
-1.50
1590 BDC
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80
V/Hz Profile
DeltaPhase
0
ADCresult 2
DeltaPhase 2046
ADCresult
ModVoltage
8
0 ModVoltage 127
1590 BDC
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81
Modulation Function
Benchmarks
1590 BDC
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82
Processor Choice
1590 BDC
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83
ACIM Demo
1590 BDC
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84
ACIM Summary
1590 BDC
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85
Appendix
ACIM Source Code and Device
1590 BDC
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86
LCD
10-bit
ADC
Timers
8b/16b
ECCP/
CCP
COMMS
256
28
60
11
4/1
3/2
256
256
40/44
96
14
4/1
3/2
8K
512
256
28
60
11
4/1
3/2
Now
8K
512
256
40/44
96
14
4/1
3/2
PIC16F1938
Now
16K
1K
256
28
60
11
4/1
3/2
PIC16F1939
Now
16K
1K
256
40/44
96
14
4/1
3/2
PIC16F1946
Now
8K
512
256
64
184
17
4/1
3/2
2xUART, 2xI2C,
2xSPI
PIC16F1947
Now
16K
1K
256
64
184
17
4/1
3/2
2xUART, 2xI2C,
2xSPI
FLASH RAM
DataEE
(Words) (Bytes) (Bytes)
Device
Available
PIC16F1933
Now
4K
256
PIC16F1934
Now
4K
PIC16F1936
Now
PIC16F1937
1590 BDC
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1590 BDC
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1590 BDC
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89
Modulate () Function
void Modulate(int volts, unsigned int angle, tDuty *dutycycle)
{
union{
unsigned int ui;
unsigned char uc[2];
}phase_index;
int temp;
if(volts > 127) volts = 127;
// Calculate the duty cycle for Phase 1
phase_index.ui = angle;
// Get the lookup value using upper 6 bits of phase index.
temp = sinplus3rd[phase_index.uc[1] >> 2];
// Scale the sine table value by the volts parameter.
temp = (temp * volts) >> 7;
// Introduce a 50% offset into the sine value.
dutycycle->Phase1 = (temp << 2) + HALF_DUTY;
// Calculate the duty cycle for Phase 2
// Everything is the same as phase 1, except for the phase offset.
phase_index.ui += ONE_TWENTY_DEG;
temp = sinplus3rd[phase_index.uc[1] >> 2];
temp = (temp * volts) >> 7;
dutycycle->Phase2 = (temp << 2) + HALF_DUTY;
// Calculate the duty cycle for Phase 3
// Everything is the same as phase 1, except for the phase offset.
phase_index.ui += ONE_TWENTY_DEG;
temp = sinplus3rd[phase_index.uc[1] >> 2];
temp = (temp * volts) >> 7;
dutycycle->Phase3 = (temp << 2) + HALF_DUTY;
}
2011 Microchip Technology Incorporated. All Rights Reserved.
1590 BDC
Slide
90
Shunt Wound
ITot
DC
Voltage
Supply
IShunt
IMotor
IMotor
Rotor
Brushes
Heavy
Load
1590 BDC
Slide
91
Series Wound
I = ISeries + IMotor
Series
Field
DC
Voltage
Supply
I
Rotor
Brushes
Heavy
Load
1590 BDC
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92
Compound Wound
ITot = I1 + I2
Series
Field
ITot
I2 = ISeries + IMotor
I2
DC
Voltage
Supply
Shunt
Field
Rotor
IShunt = I1
Brushes
Heavy
Load
1590 BDC
Slide
93
Trademarks
The Microchip name and logo, the Microchip logo, dsPIC, KeeLoq, KeeLoq
logo, MPLAB, PIC, PICmicro, PICSTART, PIC32 logo, rfPIC and UNI/O are
registered trademarks of Microchip Technology Incorporated in the U.S.A.
and other countries.
FilterLab, Hampshire, HI-TECH C, Linear Active Thermistor, MXDEV,
MXLAB, SEEVAL and The Embedded Control Solutions Company are
registered trademarks of Microchip Technology Incorporated in the U.S.A.
Analog-for-the-Digital Age, Application Maestro, chipKIT, chipKIT logo,
CodeGuard, dsPICDEM, dsPICDEM.net, dsPICworks, dsSPEAK, ECAN,
ECONOMONITOR, FanSense, HI-TIDE, In-Circuit Serial Programming,
ICSP, Mindi, MiWi, MPASM, MPLAB Certified logo, MPLIB, MPLINK,
mTouch, Omniscient Code Generation, PICC, PICC-18, PICDEM,
PICDEM.net, PICkit, PICtail, REAL ICE, rfLAB, Select Mode, Total
Endurance, TSHARC, UniWinDriver, WiperLock and ZENA are trademarks
of Microchip Technology Incorporated in the U.S.A. and other countries.
SQTP is a service mark of Microchip Technology Incorporated in the
U.S.A.
All other trademarks mentioned herein are property of their respective
companies.
2011, Microchip Technology Incorporated, All Rights Reserved.
1590 BDC
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