Question
What is the maximum motor power supply ripple? Does
a higher ripple reduce control precision?
How does active breaking work?
Is there a limit, in eRPMS, which this uC can't handle with
FOC sensored/sensorless?
Can STSPIN32F0 control both AC Permanent magnet
synchronous motor and DC bldc motor?
Are STSPIN32F0 motor drivers available today from
Digikey?
what is different between BLDC and PMSM?
Will the STSPIN32 support isolated current sensors on
the phase leads?
measuring the motor's position can take time and by the
motor will have moved. How much can this be a problem
and how your FOC depends on motor position, and
reading this position can take time. How much
problematic this is and how your ICs go around this?
Could I use F3/F4 Discovery board to develop a project in
ST motor control workbench?
What is the maximum driving frequency of each phase of
the BLDC?
can your Microcontroller generate three phase SVPWM
to drive motor
Is the 6-Step algorithm available instead of the FOC
algorithm. I am not focusing on the STSPIN3201, but in
general. With FOC, I have great difficulty starting the
motor under various high torque conditions, even when I
change the RevUp parameters
Can your provide a list of motors that can easily be
purchased from for learning an sources (e.g. DigiKey,
Mouser, etc.) and used with the evaluation board?
Will the output compile with System Workbench?
Response
The good design practise is to have power supply with
negligible ripple, it means enough capacitance on motor
bus line.
The FOC library is a full 4-quadrant control so it is equally
adept at producing full accelerating or decelerating
torque. The generation of decelerating torque could be
called active braking. Unlike dynamic braking which is
often used with brush DC motors and sometimes with
BLDC as well, using the FOC to generate decelerating
torque allows for controlled torque (up to full torque) to be
generated down to zero speed. One caveat, on must pay
attention as the DC bus voltage will tend to pump up
during this regenerative operation. Some sort of bus
dissipater may be required.
The maximum execution rate of the sensorless FOC is
about 15 kHz. A rasonable limit for the electrical frequecy
could be 1.5 kHz.
Yes
Yes, it is.
The difference is in the cuntruction method. From the
control point of view, the BEMF of a BLDC motor is
trapezoidal and the one of a PMSM motor is sinusoidal. In
any case both of them can be driven using the FOC
algorithm.
Yes. The FOC library supports this kind of sensors.
You are right. The STM32 FOC library is optimized to
perform position estimation in the shortest possible time.
Yes. Both F3 and F4 MCU families are supported by the FOC
library.
The maximum PWM frequecncy strongly depends on the
power stage characteristics (i.e. selected MOSFETs)
The STM32 FOC library from ST is based on this PWM
method.
A dedicated library and evaluation board for the 6STEP
(sensorles/sensored) will be avalilable soon. Stay tuned!
Thre are few pre-programmed options (e.g. Shinano). You
may also visit the e2e community
https://community.st.com for more information.
No. You need one of the supported IDE to compile the
project and then download it into the microcontroller.
can i use the bldc with "DELTA" phase connection
Does the STSPIN32F0 have CAN
If not do you plan to add to the family with F3 for
example?
How about regenerative braking ?
Hello, I've got a problem with Hall sensors as rotor
position sensor. It works incorrect on zero and low speed
(less than 300...500 rpm). Motor doesn't rotate smoothly
and doesn't give full torque. On faster speed it's ok.
Tuning regulators (speed and torque) doesn't help.
Please, give some advise. What can be wrong? I guess,
that's because of rotor position is extrapolated from not
precise Hall sensors (assuming that motor rotates with
constant speed). And there is no such problem whith
encoder. I use STM32 PMSM FOC SDK v 4.2.0
Do you offer a version that supports CAN
communication?
Thank you very much for this presentation
what are the disvantages of FOC?
The calculations for sensorless FOC is quite extensive, but
the integrated MCU is M0. Is calculation done in MCU or
some other Place?
What is highest possible electrical RPM by using of this
solution ?
Does STM have any examples of USART (RS232 or RS485)
commanded motor positon or speed? Alternatively, it
seems the integrated STM32 does not support canbus, is
that correct?
What is the maximum PWM frequency?
Hi Jiri ... I'm having motor startup issues. It seems to stall
and I get Speed Feedback fault occasionally, then it runs
correctly for a while, but the Measured Speed in the ST
monitor is all over the place. Thanks Rich
SDK supports speed control with discrete of 6 rpm. What
if less discrete and more speed precision is required?
Is it possible to use STCUBE and system workbench32 for
the development?
There is a very useful app called Motor Profiler, but
seems it does not work with this SPIN3201 steval board,
is it true?
Yes. There is no difference fron the control point of view.
It does not have CAN bus
We are evaluating several options for future products.
The FOC can performs regenerative braking imposing
"negative" torque to the motor. However the STM32 FOC
library does not include control algorithm managing the
charging of the battery.
300 rpm are equivalent to 5 Hz on Hall sensors (in case of
single pole pair motor). Try incresing the average FIFO
depth. For more support you can also contact our e2e
community https://community.st.com
STSPIN32F0 does not support CAN bus.
You are welcomed.
High demand for MCU computanional power.
It is done in MCU.
The maximum execution rate of the sensorless FOC is
about 15 kHz. A rasonable limit for the electrical frequecy
could be 1.5 kHz.
The library includes a UART protocol controlling the target
speed and diagnostic of the system. It can be used as
starting point for a more complete RS232/485 protocol.
The maximum PWM frequecncy strongly depends on the
power stage characteristics (i.e. selected MOSFETs)
Probably the system switches from open to closed loop too
early. Try incresing the minimum speed at witch the
algorithm is allowed to close the loop. For more support
you can also contract our e2e community
https://community.st.com
I think this is a question for our firmware experts. Contact
them on https://community.st.com
The STM32 FOC library is not based on STCube framework.
You are right. The motor profiler does not support the
STSPIN32F0, but you can use the motor profiler with a
supported motor kit and them "export" the results to the
STPIN32F0 using the MC Workbench.
What is the maximum motor speed achievable with the
STSPIN32F0 using sensorless FOC?
Please explain the 20kHz requirement for PWM, and the
relationship between this and control rate.
How can I set the value of Iq for torque control? Should I
use any equation to calculate the current?
Is there any recommended way to tune speed and
torque PID-regulators?
Does ST have products capable of simultaneously
controlling 2 BLDC motors?
There is no External crystal on the EVAL board, right? But
that is the only option in the Clock source.
Can I control with only Space Vector Modulation(varying
3 voltages with patterns depending n sector) without the
measured current? Is it considered FOC? Kind of?
In SDK there are two modes: torque and speed control. Is
there any plans to fulfill position control mode? This
mode is frequently required in servo systems.
Can you define SPI slave motor controller that can
control speed as well as rotation direction using FOC
Software Development Kit?
What is the communication protocole used for real time
display for exemple ?
Why the max PWM frequency is limited to 15kHz?
Why to use just PI control and not PID control ?
Is there newer version of "ST Motor Profiler" that
support STEVAL-SPIN3201 eval board?
at 48 Mhz system clock, what would be the max RPM of
he motor drive?
If needed to run multiple BLDC motors can this be done
with a single STSPIN32F0 or are there other STSPIN
motor drivers.
should we enable in firmware this quadrant encoder to
enable regenerative braking ?
I depends on many factors. One of the main limits is the
maximum FOC frequency which is about 15 kHz.
PWM frequency divided by execution rate imposes the FOC
execution frequency.
It depeds on what the motor suppose do. In the speed loop
control the Iq is calculated according to the difference
between actual and target speed. In servo positiong it
depends on target position.
The torque PI is automatically set according to motor
electrical characteristics. The speed PI should be tuned
using the zero-pole canellation method where the zero
introduced by the PI cancels the mechanical pole of the
motor.
Take a look to this solution:
http://www.st.com/en/evaluation-tools/steval-
ihm042v1.html
You are right, but it is possible to generate the MCU clock
through a xstal/resonator. See the datasheet for morte
details.
The FOC implies the control of the stator magnetic filed
(i.e. currents) according to rotor position. The driving
method you described is named the sinusoidal voltage
mode driving.
We are working on it. Stay tuned.
The library includes a UART protocol for this purpose, but
you can use the API of the library in order to implement a
SPI based communication protocol.
It is a UART-based protocol.
15 kHz is the maximum FOC execution frequency. The
PWM frequency can be higher.
The derivative component is not required by the control
loop.
Unfortunetly the latest version of the motor profiler does
not support the STSPIN32F0.
The maximum execution rate of the sensorless FOC is
about 15 kHz. A rasonable limit for the electrical frequecy
could be 1.5 kHz.
Each BLDC motor requires STSPIN32F0 driver in order to
control each motor independently. Multi motor solutions
are based on different hardware (see
http://www.st.com/en/evaluation-tools/steval-
ihm042v1.html)
It is not needed. The FOC allows regenerative braking also
in sensorless mode.
What are the minimum and maximum temperatures
allowed for this application?
can we ue the FOC library on the main STM32uC of the
application wher also othe custom application is running,
or does the FOC library require its dedicated uC core?
Is the software really limited to IAR and KEIL?
Is there any application note which explain all
parameters on configuration header file ?
Thank you
How can I set the software to work with customer
specific hardware?
The FOC toolkit is based upon StdPeripheral library. Is
there an easy way to integrate HAL functionality for user
routines?
It depeds on the characteristics of the board and power
consumption of the device. The MCU embedded into the
packages works properly with a junction temperature up to
125 C.
The FOC algorithm is demanding, but the actual MCU load
depends on motor speed and other parameters.
No. They are only two of the IDE natively supported by the
library (i.e. you find the workspace already configured and
ready to be compiled). Another supported IDE is "System
Workbech for STM32", a GCC based IDE. The code can be
compiled by other IDE too, but you need to set the project
database from a scratch.
You can take a look to the library page looking for STSW-
STM32100 on st.com
You are welcomed.
It really depends on the customer specific parameters. I
would suggest to be more specific and eventually share
these parameters on the e2e community
https://community.st.com
I think this is a question for our firmware experts. Contact
them on https://community.st.com