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AN035404-1015MultiMotor
SeriesMultiMotor
Series
Abstract
Space vector modulation techniques can be applied for AC induction motors, permanent magnet synchronous motors, and BLDC motor types. PMSM motors can be more efficient at smaller motor frame sizes compared with an ACIM machine of the same size.
A 3-phase BLDC motor can be controlled by creating a rotating voltage reference vector within a hexagon; the speed of rotation of this voltage reference vector determines the fre-quency of motor rotation. The space vector modulation application discussed in this appli-cation note uses a BLDC type motor with three Hall sensors for angular position feedback.
Constant cost pressure and increased consumer expectations have driven design engineers to seek minimal hardware solutions that extract maximum performance from motors used in consumer goods. This application note demonstrates how Zilog’s Z16FMC MCU can implement efficient, cost-conscious vector modulation of a BLDC motor.
The source code file associated with this application note, AN0354-SC01, is available free for download from the Zilog website. This source code has been tested with ZDS II – ZNEO version 5.0.1. Subsequent releases of ZDS II may require you to modify the code supplied with this application note.
Z16FMC Series Flash MicrocontrollersThe Z16FMC Series of Flash MCUs is based on Zilog’s advanced 16-bit ZNEO CPU core. The MCUs in this series are optimized for motor control applications and support control of single- and multiphase variable-speed motors. Target applications are consumer appliances, HVAC, factory automation, refrigeration, and automotive applications, among others.
To rotate a 3-phase motor, three AC voltage signals must be supplied and phase-shifted 120 degrees from each other and the MCU must provide six Pulse Width Modulation (PWM) outputs. To control a 3-phase motor, the MCU must provide six Pulse Width Modulation (PWM) outputs. The Z16FMC Series Flash MCU features a flexible PWM module with three complementary pairs – or six independent PWM outputs – supporting deadband operation and fault protection trip input. These features provide multiphase con-trol capability for various motor types, and ensure safe operation of the motor by provid-ing immediate shutdown of the PWM pins during a fault condition.
Note:
AN035404-1015
Application Note
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCU
Page 1 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Discussion
An electric motor consists of a stator and a stationary frame in which a rotating compo-nent, or rotor, is mounted on a shaft and bearings. In a 3-phase BLDC motor, the stator is laced with three sets of inductor windings energized by three AC voltage inputs that are phase-offset 120 degrees from each other to produce a rotating field of magnetic flux. This stator flux field exerts a magnetic force on a rotor’s permanent magnet flux field, resulting in torque on the output shaft.
In a 3-phase motor control application, the input to the motor is produced by a 3-phase inverter bridge. A bridge contains three complementary source/drain transistor pairs which connect either ground or high-voltage DC to each of its three outputs in response to digital control signals from the microcontroller. The microcontroller uses PWM on the bridge control signals to generate three approximately-sinusoidal AC waveforms on the bridge outputs, with the required 120-degree phase offset.
The duty cycle of each microcontroller PWM output is varied to control the period and amplitude of the generated AC signal which, in turn, determines the speed and torque of the motor.
Theory of Operation
Similarly to third harmonic-injected sinusoidal PWM, the Space Vector Modulation method utilizes about fifteen percent more of the available bus voltage, therefore increas-ing the efficiency of motor operation.
Unlike a non-third harmonic-injected sinusoidal PWM, the neutral point of the phase volt-ages is constrained to one-half of the bus voltage, as illustrated in Figure 1.
Space vector modulation is not confined to the limits of the VBUS and the center voltages, and can float in space as illustrated in Figure 2.
Figure 1. The Rotating Vectors are Constrained by ± VBUS and the Center of the VBUS Voltage
Vbus
Vbus/2
-Vbus
AN035404-1015 Page 2 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Unlike sinusoidal PWM which generates sinusoidal currents separately in each push/pull stage of the inverter, space vector modulation operates the entire inverter as a single unit to produce the sinusoidal currents. In doing so, the inverter is operated in eight different states within the hexagon, two of which are referred to as zero vectors because they pro-duce no voltages, and six states which produce non-zero voltages.
The rotating reference voltage Vs within this hexagon, seen in Figure 3, is represented by a space vector using the following equation:
With vector addition, the resulting reference space vector is:
Figure 2. Center Voltage of the Space Vector Floats in Space
Figure 3. The Rotating Reference Vector VREF within the Hexagon
U V W
T1 T2 T3 Time 1 Time 2 Time 3
Vbus
Vbus/2
-Vbus
Vs Vsej
=
V3(010) V2(110)
V4(011) � Vs
V0(000)V7(111)
V1(100)
V5(001) V6(101)
Vs r1 V1 r2 V2 +=
AN035404-1015 Page 3 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
To produce this rotating vector, the angular position within any two base vectors must be known, as shown in Figure 4.
Knowing the angle of rotation and the adjacent base vectors within the hexagon, the scalar coefficients for the adjacent base vector r1 and r2 must be calculated to time-modulate the base vectors V1 and V2 toward generating the resulting voltage reference vector, VS.
After the angular information is obtained, the scalar quantities r1 and r2 can be calculated using the following equations:
In the above equations, m is the magnitude of the rotating space vector, VS.
The time periods for which the adjacent base vectors are modulated to obtain the reference vector can be calculated using equations 1, 2, and 3:
Equation 1
Equation 2
Equation 3
In these three equations, T is the sum of t0, t1, and t2, and cannot be greater than the time period of the PWM. Next, t0 becomes the time period for which either or both zero vectors are applied in combination with t1 and t2, as illustrated in Figure 5.
Figure 4. The Location of the Reference Vector in between any of Two Base Vectors
r1 m 3 60 – sin=
r2 m 3 sin=
t0 1 t1– t2– T=
t1 r1 T=
t2 r2 T=
AN035404-1015 Page 4 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
To find the time periods t0, t1, and t2, the angles are determined by using V1 as the refer-ence axis in a counterclockwise direction to determine the base vector angle to be sub-tracted from the angle of the reference vector.
Example 1
Using equations 1, 2, and 3 above, if the bus voltage is 24 V and the desired reference vec-tor magnitude is 12 V, then the following equation can be calculated:
In the above equation, the angle is 190 degrees and the adjacent base vector is V4, which is 180 degrees. Therefore, r1 and r2 can be calculated using the following equations:
If the PWM period is T = 50 µs, then the time duration for either zero vector V0, V7 is:
The time duration for t1 is:
And the time duration for t2 is:
Space vector control allows for different switching combinations using t1 and t2 based on the choice of the null vectors which are applied for duration of time t0. Applying the zero vectors V0, V7, or both V0 and V7 results in different switching patterns to generate either less total harmonic distortion or to reduce linear switching power losses in the switching devices. Using these V0, V7 zero vectors can serve to obtain a regenerative braking effect, especially when using ACIM.
Figure 5. The Switching Times for Base Vectors V1, V2, and Zero Vectors
VsMagVbus------------ e
j 190=
r1 312V24V----------- 60 190 180– – sin 0.663= =
r2 312V24V----------- 190 180– sin 0.15= =
t0 1 r1– r2– T 9.3s= =
t1 r1 T 33.2s==
t2 r2 T 7.5s==
AN035404-1015 Page 5 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Example 2
To reduce linear switching losses with either V0 or V7, zero vectors can be applied in sequence; i.e, using V0 as the zero vector in the sequence t1 → t2 → t0 or using the V7 zero vector in the same sequence. In both cases, each of the three phases in the inverter does not switch for one-third of the time in a cycle.
However, different combinations of switching sequences have different effects on the inverter circuit, depending on the size of the bootstrap capacitors used for the high- and low-side drivers. If the V0 zero vector is used, the bootstrap will still work because the capacitors can discharge; however, such may not be the case when using the V7 vector as a zero vector.
The resulting phase waveforms are shown in Figures 6 through 10.
Figure 6. Using V7 as the Null Vectors in Sector 1, 3, 5 and V0 in Sector 2, 4, 6
Figure 7. Using V0 as the Null Vectors in Sectors 1, 3, and 5 and V7 in Sectors 2, 4, and 6
AN035404-1015 Page 6 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Examples for PWM timings using null vectors V0, V7 across the six hexagon sectors are listed in Table 1.
Figure 8. Always Using V0 as Zero Vector
Figure 9. Always Using V7 as a Zero Vector
Figure 10. Using Alternate Reverse Switching Modes by Alternating Zeroes for Each Sequence and Reverse Sequence After Each Zero Vector
AN035404-1015 Page 7 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Application
To apply space vector theory, the Z16FMC microcontroller’s PWM module is configured as three complementary output pairs. Each output pair controls one complementary source/drain transistor pair in the inverter bridge. The PWM module is configured to insert a deadband between ON states to prevent leakage that might occur if one transistor in a pair turns on before the other is fully off.
Each PWM output pair produces a stream of complementary on/off pulses to activate the corresponding source or drain transistor in the inverter bridge. The voltage of each bridge output varies with the source/drain pulse duty cycle.
The period of each PWM cycle is configured to be 50 µs; the PWM module generates an interrupt request at the end of each cycle to calculate the PWM timings for of the space vector modulation signals. These signals are loaded into the three PWM registers for Phase A, Phase B, and Phase C. Therefore, the primary goal of the ISR is to update the duty cycle value for each PWM channel, as required, to produce the appropriate AC wave-forms at the inverter bridge outputs.
The frequency of the rotating vector is calculated as:
In the above equation, the LUToffset value is a 16-bit integer index, of which only the upper byte is used to select the Look-Up Table (LUT) entries.
The synchronous speed of the rotor can then be calculated as:
Utilizing Timer 0, the time period of the rotor is measured in terms of timer ticks. This information is then used in the PI speed control loop.
Table 1. PWM Timings for Each of Six Sectors
Sector 1 Sector 2 Sector 3 Sector 4 Sector 5 Sector 6
PhsA = t1 + t2 PhsA = t0 + t1 PhsA = 0 PhsA = t0 PhsA = t2 PhsA = 100%
PhsB = t2 PhsB = 100% PhsB = t1 + t2 PhsB = t0 + t1 PhsB = 0 PhsB = t0PhsC = 0 PhsC = t0 PhsC = t2 PhsC = 100% PhsC = t1 + t2 PhsC = t0 + t1
Freq =LUToffset
PWMperiod x LUTsize
Speed = 120 xFreq
Poles
TimerTicks =
MCUclockFreq
TimerPrescaler
LUToffset
PWMperiod x LUTsize
AN035404-1015 Page 8 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Equipment Used
The following equipment is used for the setup to demonstrate the space vector modulation technique. The first four items are included in the MultiMotor Development Kit (ZMULTIMC100ZCOG).
• MultiMotor Development Board (99C1358-0001G)
• 24V AC/DC power supply
• LINIX 3-phase 24VDC, 30W, 3200RPM BLDC motor (45ZWN24-30)
• Opto-Isolated UART-to-USB adapter (99C1359-001G
• Z16FMC MultiMotor MCU Module (99C1357-001G) – Order separately
• Opto-Isolated USB SmartCable (99C0968) – Order separately
• Digital oscilloscope
• PC with Internet access and at least two open USB ports
Hardware Setup
Figure 11 illustrates the application hardware connections required to operate the motor with space vector modulation.
Figure 11. The MultiMotor Development Kit with Z16FMC MCU Module and SmartCable
AN035404-1015 Page 9 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Testing Procedure
Observe the following procedure to test space vector modulation on the Z16FMC MCU Module.
1. Download and install ZDS II – ZNEO 5.0.1 (or newer) on your PC from the Zilog Store.
2. Download the AN0354-SC01.zip source code file from the Zilog website and unzip it to an appropriate location on your PC.
3. Connect the hardware as shown in Figure 11.
a. The cables from the Opto-Isolated USB SmartCable and the UART-to-USB adapter must be connected to two of the PC’s USB ports.
b. Download and install the drivers for the SmartCable and the UART-to-USB adapter, if required.
c. For additional assistance, refer to the MultiMotor Series Development Kit Quick Start Guide (QS0091).
4. Power up the MultiMotor Series Development Board using the 24 V DC adapter that is included in the Kit.
5. Using a serial terminal emulation program such as HyperTerminal, TeraTerm, or Real-Term, configure the serial port to 57600-8-N-1-N. A console screen should appear on the PC which will show the status of the motor and allow changes to the motor’s operation.
6. Launch ZDS II – ZNEO, select Open Project from the File menu, browse to the direc-tory on your PC in which the AN0354-SC01 source code was downloaded to, locate the AN0354_SC01.zdsproj file, highlight it, and select Open.
7. Ensure that the RUN/STOP switch on the Z16FMC MCU Module is in the STOP position.
8. In ZDS II, compile and flash the firmware to the Z16FMC MCU Module by selecting Rebuild All from the Build menu. Next, select Debug → Download code, followed by Debug → Go.
9. Set the RUN/STOP switch on the Z16FMC MCU Module to RUN. The motor should begin turning.
10. In the GUI terminal console, enter the letter U to switch to UART control; a menu sim-ilar to the example shown in Figure 12 should appear. As a result, commands can now be entered using the console to change the motor’s operation.
AN035404-1015 Page 10 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
11. At the Input Command: prompt, enter the letter A to indicate an alternate-reverse switching pattern. There will be no apparent change in the motor’s operation; how-ever, the signals going to the motor will change and can be displayed as shown in Fig-ures 15 through 20, beginning on page 14.
12. While the motor is running, enter the B character at the HyperTerminal prompt to indi-cate the V0 Zero Only Vector switching pattern, as shown in Figure 13.
Figure 12. GUI Terminal Showing the Alternate-Reverse Switching Pattern
AN035404-1015 Page 11 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
13. While the motor is running, enter the C character at the HyperTerminal prompt to indi-cate the V0, V7 Zero Vector switching pattern, as shown in Figure 14.
Figure 13. GUI Terminal Showing the V0 Zero Vector Only Switching Pattern
AN035404-1015 Page 12 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
14. You can now add your own application software to the main program to experiment with additional functions.
Results
In this application, three oscilloscope probes are connected to the Phase A, Phase B, and Phase C offsets of the MultiMotor Series Development Board to show three different switching patterns. These scope probes were also connected to BEMF voltage dividers to monitor the generated BEMF voltages and, ultimately, to view the associated switching pattern waveforms.
Figure 15 illustrates the alternate-reverse space vector modulation pattern on Phase A, Phase B, and Phase C.
Figure 14. GUI Terminal Showing the "V0, V7 Zero Vector" Switching Pattern
AN035404-1015 Page 13 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Figure 15. Alternate-reverse Space Vector Modulation Pattern
AN035404-1015 Page 14 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Figure 16 illustrates the V0, V7 switching pattern on Phase A, Phase B, and Phase C.
Figure 16. V0, V7 Space Vector Modulation Pattern
AN035404-1015 Page 15 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Figure 17 illustrates the V7 Zero Vector Only switching pattern on Phase A, Phase B, and Phase C.
Figure 17. V7 Zero Vector Only Switching Pattern
AN035404-1015 Page 16 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Figure 18 illustrates the alternate-reverse waveform on Phase A, Phase B, and Phase C.
Figure 18. Alternate-Reverse Waveforms
AN035404-1015 Page 17 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Figure 19 illustrates the V0, V7 Zero Vector Only Waveform on Phase A, Phase B, and Phase C.
Figure 19. V0, V7 Zero Vector Only Waveforms
AN035404-1015 Page 18 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Figure 20 illustrates the V7 Zero Vector Only Waveform on Phase A, Phase B, and Phase C.
Closed-Loop Control PerformanceTo monitor closed-loop speed control performance, the motor speed was set to 2000 RPM at a nominal operating voltage of 24 V. As this operating voltage was increased and decreased by ± 4 V, motor speed was observed to remain constant. To test the PI loop under load, the motor load was increased, which caused the PI loop to quickly ramp up the current to maintain the set speed. The PI loop stability was verified by observing the volt-age sine wave while loading the running motor, a condition for which the sine wave period time must be maintained constant in both amplitude and frequency with no jitter. The closed-loop speed control essentially provides power operation of the motor which remains constant.
Figure 20. V7 Zero Vector Only Waveforms
AN035404-1015 Page 19 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Open-Loop Control PerformanceTo monitor the performance of the speed control function while operating in an open loop, the motor speed was set to 2000 RPM at a nominal operating voltage of 24 V. As this oper-ating voltage was increased or decreased by ± 4 V, motor speed was observed to vary accordingly. The motor load was then increased, which caused the motor current to be increased while its speed dropped.
Summary
The purpose of this application is to demonstrate the operation of a BLDC- or PMSM-type machine using the Space Vector Modulation technique. To generate sinusoidal voltages and currents, a voltage reference vector is rotated 360 degrees within a hexagon. Each of the six sectors within this hexagon creates unique switching patterns for the space vector modulation.
Space vector modulation has the advantage of utilizing about fifteen percent more of the available bus voltage. Formulas discussed in this document have been shown to calculate the space vector modulation timings and resulting motor frequency. Because the fre-quency calculations include the PWM period, all space vector sinusoidal wave construc-tions are executed in the PWM interrupt service routine. The execution time for the sine wave reconstruction in the PWM service interrupt routine is approximately 6 µs. The exe-cution time of the Hall interrupt service routine is approximately 8 µs. Both execution times are based on a 20 MHz external clock.
To maintain synchronization and commutation angle between the reference vector fre-quency and rotor frequency, the Hall interrupt service routine captures the binary Hall state upon each interrupt and fetches the corresponding reference angle from a Look-Up Table (LUT). The High byte of the PWM sine Look-Up Table index is then used to fetch the next value from the Sine Look-Up Table (in which the LUT index is interpolating). Any positive or negative offset value to this high byte of the PWM sine look-up table will accordingly increment or decrement the frequency of rotation of the reference vector.
Space vector modulation has the advantage of commutating a BLDC or PMSM motor with less acoustical and electrical noise, because the sine current through the windings has no steep current transitions. The effects of total harmonic distortions and linear switching power losses can be further manipulated by applying different space vector modulation switching schemes. Such manipulations allow for higher life expectancy of ripple current capacitors and ball bearings because the sinusoidal commutation approach causes virtually no torque or current ripple in a PMSM or BLDC motor. In addition to electrical and acous-tical noise reduction, the PWM sine approach also increases the efficiency of a BLDC-/PMSM-type motor due to its fifteen percent higher bus voltage utilization. The program uses unsigned integer-type variables only, to avoid additional execution times.
The example application and techniques described in this document should prove helpful for anyone who intends to develop motor control applications based on the Z16FMC Series family of microcontrollers.
AN035404-1015 Page 20 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Appendix D. References
Documents associated with the Z16FMC Series of products are listed below. Each of these documents can be obtained from the Zilog website by clicking the link associated with its document number where indicated.
• ZNEO CPU User Manual (UM0188)
• Z16FMC Series Motor Control Product Specification (PS0287)
• MultiMotor Series Development Kit Quick Start Guide (QS0091)
• MultiMotor Series Development Kit User Manual (UM0262)
• MultiMotor Control with Parameter Monitoring Using the Z16FMC MCU Application Note (AN0343)
• 3-Phase Sensorless Brushless DC Motor Control Application Note (AN0353)
• Hall Sensor Sinusoidal PWM Modulation Brushless DC Motor Control Application Note (AN0355)
• 3-Phase Hall-Sensor Brushless DC Motor Control Application Note (AN0356)
• Implementing a Data Logger with Spansion SPI Flash Application Note (AN0360)
The following external documents offer sound fundamentals for understanding motor con-trol concepts.
• Motor Control Electronics Handbook, Richard Valentine; McGraw Hill.
• Short Course on Electric Drives: Understanding Basics to Advanced Control & Encod-er-Less Operation, Ned Mohan, University of Minnesota, 2005: a recording of the In-ternet-based short course presented on May 12, 2005 by Professor Mohan and edited to fit on a DVD.
• Lehrstuhl fuer Electrische Antriebssysteme und Leistungselektronik, Prof. Dr. Ing. Ralph Kennel, Technische Universitaet Muenchen.
• Electric Machinery, Peter F. Ryff.
AN035404-1015 Page 21 of 27
AN0354 Page 22 of 27
DC Motor with the Z16FMC MCUltiMotor Series Application Note
Appe
ROUTING ALLOWS.
PB3
PH3
PC0
PC1
PH2
CS2-
CS2+
CS1-
CS1+
PC7_PWML0PC6_PWMH0
PD0_PWMH1ANA0 BEMF A
ANA1 BEMF BPD1_PWML1
M ANA4PD2_PWMH2
E
HSB PD4HSC PD5
PD7_PWML2ANA2 BEMF C
HSA PD3
PD6
CSZ+
CSZ-
PC7_PWML0A_LPC6_PWMH0A_H
B_H PD0_PWMH1BEMF_A ANA0
BEMF_B ANA1PD1_PWML1B_L
PD2_PWMH2C_HC_L PD7_PWML2
CS1+BEMF_C ANA2
CS1-CS2+CS2-TEMP
CS2+
CS2-
PC0_T1IN_CINN
PC1_TOUT_COMPOUT
ANA6 CS1+
ANA7 CS1-
CS2+
CS2-
TEMPPH2_ANA10
PH3_ANA11_CPINP
PB3_ANA3_OPOUT
VCC_3v3
R3 0 ohm
J41
J2
HDR/PIN 2x15
1357911131517192123252729 30
28262422201816141210
8642
R5 0 ohm
J51
J61
J81
J13
HDR/PIN 1x16
12345678910111213141516
J111
J91
R4
0 ohm
J101
R6
0 ohm
J3
1
J121
04-1015
Space Vector Modulation of a 3-Phase BLMu
ndix E. Schematic Diagrams
Figures 21 and 22 present the schematic diagrams for the Z16FMC MCU Module.
Figure 21. Space Vector Modulation Schematics, #1 of 4
DBGINTERFACE
-RESET
IF VCC_3v3 is usedremove R8 andinstall R10 = 3.3K
PLACE J3 - J12 WHERE THE
VREF
FAULTY
FAULT0
ONVBUS CTRL
MCU
Do Not Install.
XOUT
PC7_PWML0
PC1_TOUT_COMPOUTDBG
PC6_PWMH0
PB
7_A
NA
7_O
PIN
NA
NA
7
PC0_T1IN_CINN
PB
6_A
NA
6_O
PIN
PA
NA
6P
B5_
AN
A5
AN
A5
PB
3_A
NA
3_O
PO
UT
PH
3_A
NA
11_C
PIN
P
PD2_PWMH2
-RESET
GND
VREF
GND
VR
EF
PB7_ANA7_OPINN CS1-
PD1_PWML1PD0_PWMH1
DBG
GND
AG
ND
PB6_ANA6_OPINP CS1+
PH3_ANA11_CPINP
VREF
PE0PE1PE2
PA
4_R
XD
0P
A5_
TXD
0
PB3_ANA3_OPOUT
PD7_PWML2
-RESET
AN
A0
AN
A1
AN
A4
AN
A2
PD
3P
D4
CS
Z+C
SZ-
PA
1
PD
5
VBUS_
ENABL
PD4HSBPD5HSC
Vbus_MANA4ENABLE
PD3HSA
PE7
PA0
PH
2_A
NA
10TE
MP
SCK
MOSI
VCC_3v3
MISO
SS-
SCK
MO
SI
MIS
OSS-
ENABLEPE7
VCC_3v3
XIN
XINXOUT
PD6
VCC_3v3
VCC_3v3
VCC_3v3
VCC_3v3
VCC_3v3
VCC_5VM
VCC_3v3
PE0PE1PE2
PA4_RXD0
PA5_TXD0
PA0
PA1
R2 10K
C5100PF
R10 3.3K
C14
0.01uF
C24680pF
C11
0.01uF
+
C3 10uF
1 2
Y2
20MHZ
R12 7.87KR115K
13
2R16 10K
C19
0.01uF
J14
6-CKT R/A HOUSING
1 23 45 6
J71
C16
0.01uF
C6 0.1uF
C4 0.01uF
R1
10K
R17 10K
C13
0.01uF
C2722pF
C10
0.01uF
R9 12.4K
C7
1000pF/1nF
R26 10K
C25680pF
J21
1
C2 0.01uF
R14 49.9K
C18
0.01uF
C28
22pF
R80 ohm
C8 12pF
J22
1
U2
S25FL032P
GND4
VCC8
CS1
WP3
SO2
HOLD7
SCK6
SI5
C15
0.01uF
C12
0.01uF
J20
123
SW2B3U-1000P
1 2
Y1
20MHZ
R7 10K
J11
C9
0.01uF
C26680pF
SW1B3U-1000P
1 2
R15 10KR13 1K
LQFP
U1Z16F2810
VS
S2
1
AV
DD
2
PH
0/A
NA
83
PH
1/A
NA
94
PB
0/A
NA
0/T0
IN0
5
PB
1/A
NA
1/T0
IN1
6
PB
4/A
NA
47
PB
5/A
NA
58
PB
6/A
NA
6/O
PIN
P/C
INN
9
PB
7/A
NA
7/O
PIN
N10
PB
3/A
NA
3/O
PO
UT
11
PB
2/A
NA
2/T0
IN2
12
PH
2/A
NA
1013
PH
3/A
NA
11/C
PIN
P14
VR
EF
15
AV
SS
16
PC0/T1IN/T1OUT/CINN17PC1/T1OUT/COMPOUT18DBG19PC6/T2IN/T2OUT/PWM0H20PC7/T2OUT/PWM0L21
PG323
PE725PE626PE527
PD7/PWM2L29PC3/SCK30PD6/CTS131PA7/SDA32
PA
6/S
CL
33P
A5/
TXD
034
PA
4/R
XD
035
PC
4/M
OS
I38
PD
5/TX
D1
39P
D4/
RX
D1
40P
D3/
DE
141
PC
5/M
ISO
42P
F743
PA
3/C
TS0/
FAU
LT0
46P
A2/
DE
0/FA
ULT
Y47
PA
1/T0
OU
T48
PA0/T0IN/T0OUT49
PD2/PWM2H50
PC2/SS51
RESET52
PE454
PE355
PE257
PE158
PE059
PD1/PWM1L61
PD0/PWM1H62
XOUT63
XIN64
VDD222
VDD324
VD
D4
37
VD
D5
44
VDD153
VSS356
VSS160
VSS428
VS
S5
36
VS
S6
45
C17
0.01uF
AN0354 Page 23 of 27
DC Motor with the Z16FMC MCUltiMotor Series Application Note
STOP/RUN
DIRECTION
VCC_3v3
VC
J16
1 2 3
R22100K
SW3
EG1218
1
32
SW4
EG1218
1
32
R23100K
04-1015
Space Vector Modulation of a 3-Phase BLMu
Figure 22. Space Vector Modulation Schematics, #2 of 4
3.3 OK
VCC_5VVCC_5V
VCC_3v3
VCC_3v3
VCC_5V
VCC_5V
VCC_5VM
C_5VL PE0
PE1
PE2
PA0
PA1
PA4_RXD0PA5_TXD0
R19330
C22
4.7uF
U3
NCP551SN33T1G
Vin1
Enable3
GND2
NC4
Vout5
D4GREEN
21
R20
330
D2
RED
21
J15
1 2 3
R24
100 ohm
C23
0.1uF, 50V
D3
YELL
21
C20
0.1uF
J18HDR/PIN 1x3
1 2 3
R21
330
J19
1x6 RT-ANGL
123456
D1
PMEG3020
32
1
C21
4.7uF
R18
330
R25
100 ohm
J17
HDR/PIN 1x3
123
D5
GREEN
21
AN0354 Page 24 of 27
DC Motor with the Z16FMC MCUltiMotor Series Application Note
FOR USE WITH AC MOTOR
Phase_C
HSAHSBHSC
Phase_APhase_BPhase_C
GC_L
GC_H
VCC_1
VCC_3v3
ENA
J3
5-POS
12345
C5
0.1uF, 50V
J5
2 POS
12
D4
BAS16V
4
1
3
5
6
2
R13150K
J1
3-POS
123
Q3
IXTY64N055T
1
23
4
R2110K
C110.1uf
Q6
IXTY64N055T
1
23
4
R2310K
R6150K
C8
0.1uF, 50V
04-1015
Space Vector Modulation of a 3-Phase BLMu
Figures 23 and 24 present the schematic diagrams for the MultiMotor Main Board.
Figure 23. Space Vector Modulation Schematics, #3 of 4
J16 SETTINGS:1-2 AC MOTOR2-3 BLDC MOTOR
GA_H
GA_L
Phase_B
Phase_A
GA_H
GA_L
GB_L
GB_H
GC_L
GC_H
Phase_B
A_L
B_H
B_L
C_L
CS1+
CS1-
Vbus_M
Phase_CPhase_BPhase_A
BEMF_A BEMF_B
PD4HSC PD5
Vbus_M ANA4ENABLE PE7
A_LPC7_PWML0A_HPC6_PWMH0
B_HPD0_PWMH1BEMF_A
BEMF_BB_LPD1_PWML1
C_HPD2_PWMH2C_LPD7_PWML2
CS1+BEMF_C
CS1-CS2+CS2-TEMP
HSA PD3
TEMP
GB_L
GB_HA_H
C_H
Phase_A
BEMF_C
PD4HSB
Phase_C
2V
VCC_3v3
VCC_5VM
VCC_3v3
VBUS_B
BLE
C10
0.1uF
R12150K
TR3210K
Q2
IXTY64N055T
1
23
4
J2
HDR/PIN 2x15
1357911131517192123252729 30
28262422201816141210
8642
R1710K
U1
MIC4101YM
VC
C1
HB2
HO3
HS4
HI5
LI6
GN
D7
LO8
D2
BAV19WS
2 1
R9 22.1 ohm
Q7MMBT3904
3
1
2
Q5
IXTY64N055T
1
23
4
C1
0.1uF
R3110K
R2210K
R2910K
D3
BAV19WS
2 1
R8150K
R1022.1 ohm
R2 22.1 ohm
R15 10K
C4
0.1uF
R26150K
R4150K
R7 2.2 ohm
+ C3220uF, 50V
R24150K
R28100 ohm
C9
0.1uF
R5150K
R2710K
C120.1uf
U3
MIC4101YM
VC
C1
HB2
HO3
HS4
HI5
LI6
GN
D7
LO8
Q1
IXTY64N055T
1
23
4
C2
0.1uF
R16 22.1 ohm
R3010K
J4
1 2 3
C7
0.1uF, 50V
R180.100 ohm, 2W
R14 2.2 ohm
R322.1 ohm
C6
0.1uF
R11150K
Q4
IXTY64N055T
1
23
4
U2
MIC4101YM
VC
C1
HB2
HO3
HS4
HI5
LI6
GN
D7
LO8
R1922.1 ohm R20 10K
R25150K
J6
12
SH1
shunt
R1 2.2 ohm
D1
BAV19WS
2 1
AN0354 Page 25 of 27
DC Motor with the Z16FMC MCUltiMotor Series Application Note
5V
SH1-2-
USE HEATSINK
VCC_5VM
VBUS_B
C17
0.1uF
O-220
U5
MIC29150-5
OUT3
GN
D2
IN
+ C1510uF
12
J12
123
12V
3
04-1015
Space Vector Modulation of a 3-Phase BLMu
Figure 24. Space Vector Modulation Schematics, #4 of 4
24VDC
GND
GND
12V
EXTERNAL VBUSUP TO 48VDC
holderUNT POSITION2 EXTERNAL VBUS3 INTERNAL VBUS
NEED to change C25 to 50V Tantalum
50V
VBUS
VCC_24VVCC_12V
VCC_12V
VBUS
ENABLE
D51N4007-T
21
HS2
T
11
22
33
J13
123
J8
123
1
+ C1410uF
12
+ C1310uF
12
J11
123
SH2
shunt
R33
2K
F1
FUSE/250V/2A
U4
MIC29150-12
OUT3
GN
D2
IN1
J10
123
J7
2 POS
12
FH1
250V/5x20
1 2
Q8MMBT3904
3
1
2
P1
PJ-003A
1
23
RL1
JS1A-
1
52
D6BAS16
13
2
J14
123
HS1
TO-220
11
22
33
C16
0.1uF
J9
HDR/PIN 1x3
123
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Appendix F. Flow Charts
Figure 25 presents the typical flow of the space vector control routine.
Figure 25. Space Vector Modulation Flow
AN035404-1015 Page 26 of 27
Space Vector Modulation of a 3-Phase BLDC Motor with the Z16FMC MCUMultiMotor Series Application Note
Customer Support
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This publication is subject to replacement by a later edition. To determine whether a later edition exists, please visit the Zilog website at http://www.zilog.com.
DO NOT USE THIS PRODUCT IN LIFE SUPPORT SYSTEMS.
LIFE SUPPORT POLICY
ZILOG’S PRODUCTS ARE NOT AUTHORIZED FOR USE AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYSTEMS WITHOUT THE EXPRESS PRIOR WRITTEN APPROVAL OF THE PRESIDENT AND GENERAL COUNSEL OF ZILOG CORPORATION.
As used herein
Life support devices or systems are devices which (a) are intended for surgical implant into the body, or (b) support or sustain life and whose failure to perform when properly used in accordance with instructions for use provided in the labeling can be reasonably expected to result in a significant injury to the user. A critical component is any component in a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or system or to affect its safety or effectiveness.
Document Disclaimer
©2015 Zilog, Inc. All rights reserved. Information in this publication concerning the devices, applications, or technology described is intended to suggest possible uses and may be superseded. ZILOG, INC. DOES NOT ASSUME LIABILITY FOR OR PROVIDE A REPRESENTATION OF ACCURACY OF THE INFORMATION, DEVICES, OR TECHNOLOGY DESCRIBED IN THIS DOCUMENT. ZILOG ALSO DOES NOT ASSUME LIABILITY FOR INTELLECTUAL PROPERTY INFRINGEMENT RELATED IN ANY MANNER TO USE OF INFORMATION, DEVICES, OR TECHNOLOGY DESCRIBED HEREIN OR OTHERWISE. The information contained within this document has been verified according to the general principles of electrical and mechanical engineering.
ZNEO and Z16FMC are trademarks or registered trademarks of Zilog, Inc. All other product or service names are the property of their respective owners.
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AN035404-1015 Page 27 of 27