ST电机控制及解决方案
Carl XU
Industrial Motor Control Competence Center
AP Region, STMicroelectronics
Agenda
1电机控制创新技术中心:使命, 组织架构, 实验室
2ST 用于电机控制的产品及架构
3 ST参考解决方案
2
电机控制创新技术中心使命
• 系统级研发• HW Reference Design, Application Boards
• FW Application Modules for the ST MC Library
• System Solutions
• 客户支持• Evaluation & Training with ST Tools
• ST Kit Product Selection (in cooperation with TM)
• Schematics; Layout review; Tuning (in cooperation with FAE)
• 伙伴关系• Overall Motor Control System expertise
• Partnership & new algorithms;
• Customer’s IP porting to ST platforms
• NPP, NSP, GAP• Products validation in-application: feedback to divisions
• New Product, New Solution Proposals: specification / roadmap
• Inter-divisional / strategic MKT / Joint Labs: information & technology alignment
创建和推广创新的, 便捷的以及成熟的电机控制系统解决方案;
设计和伙伴和当地的客户
增加工业应用的全部ST产品影响
提高细分市场的收入增长
电机控制创新技术中心关注焦点
4
家用电器空调
自动化伺服驱动器工业运输
电动 & 园林工具
消费类电机控制
电机控制
电机控制实验室
5深圳 上海 首尔
AUDIO ANALYZER
New FW IP, tuning,
debugging, validation
VIBRATION ANALYSIS
New FW IP, tuning,
debugging, validation
IR THERMOCAMERA
Device temperatures,
PCB design
DATA LOGGING
Data Logging
Data Analysis
APPLICATION
UNDER TESTING
MOTOR
~
ELECTRONIC LOAD
Pulsed load
variations,
additional loads
DYNAMOMETER
Energy efficiency, load
variations, Torque measPOWER SOURCE
AC distortions
AC inrush etc
POWER ANALYSIS
Energy
Efficiency
FFT, PF etc
电机控制实验室测试项目
6
Energy
EfficiencyAudio
Analysis
PF, THD
Measure
Thermal
Analysis
电机控制技术, 架构, 生态系统
7
Our extensive ecosystem for Motor Control targeting innovations
for higher efficiency and reliability
7
STM32 MC SDK
IGBT, HV SJ Power MOSFETs, Power Modules
STM32G4, STSPIN32F0, Microcontroller
Gate driver ICs, AC-DC converters, Power
Management, Signal conditioning and interface
Diodes and Protections, Thyristors
MEMS Sensors & Actuators, Time of Flight
Bluetooth LE and Sub-1GHz processors, chip
and modules
Large choice of STM32 with embedded Advanced Motor Control
PWM timers
STM32 电机控制组合 – 概览
8
Ultra-low-power
Mainstream
Cortex-M0
Cortex-M0+Cortex-M3 Cortex-M4 Cortex-M7
High-performance
Wireless
Cortex-M33
: STM32 series with Advanced PWM Motor Control timer(s)
STM32F2 STM32F4 STM32H7
STM32F0 STM32G0 STM32F1 STM32F3 STM32G4
STM32WB
STM32L0 STM32L1 STM32L5 STM32L4 STM32L4+
STM32F7
STM32 电机控制组合- 旗舰
916KB 64KB
64 MHz
(xx DMIPS)
Performance
Flash
32KB
STM32F0x/G0xCortex-M0/M0+
Motor Control Access
MCUs
2 MB512KB
170 MHz
(212 DMIPS)
480MHz
(1027 DMIPS)
STM32F30x/G4xxCortex-M4
Motor Control Analog Advanced MCUs
256KB
STM32H723/H745Cortex-M7 (Single/Dual core +M4)
Motor Control Hi-Performance MCUs
ST 电机控制驱动组合
Extra-Miniaturized
STSPIN2 Series
Below 10 W
High-performance
STSPIN8, L62 Series
Up to 100 W
High-Power / Voltage
PWD SiP Series
Up to 500 W
Motor drivers with embedded MCU: STSPIN32 Series
High-Current
L649 Series Galvanic Isolated
STGAP Series
Up to tens of kWUp to 1 kW
Motor Driver ICs 1.8V – 600 V Gate Driver ICs + MOS / IGBT / SiC / GaN 600V – 6KV
Half-Bridge
3-Phase Bridge
L638, L639 Series
Broad portfolio with > 130 products and > 1.5 Billion units sold
10
完整的功率模块
11
Home Appliances Motor Drive, E-MobilityEnergy Conversion &
Storage
Intelligent Power ModuleSLLIMM
(IGBT, Silicon MOSFET options)
Higher current scalability to cover a wider power range
30W 250kW3kW500W 5kW
Washing
Machine
Air
ConditioningFridge
Electric Motor,
Charging StationMotor Pump Solar Inverter
Power ModuleACEPACK
(Silicon MOSFET, IGBT, Silicon Carbide MOSFET option)
Adaptable Compact Easier Package
E-Mobility
Typ. Application Examples
Traction
150kW10kW 30kW
DC-DC, OBCRoller
shutter
12
STSPIN32(MCU + Gate Driver)
Solution 2“Intelligence
Integration”
STM8/32(MCU)
STSPIN / PWD-SPIN / SLLIMM
(Gate Drivers + IGBT/MOS)
Solution 3“Power
Integration”
STM8/32(MCU)
STDRIVE
(Gate Driver)
STPOWER(IGBT / MOS)
Solution 1“Discrete” + +
+ STPOWER(MOS / IGBT)
+
ST 电机控制解决方案
Helping motion control designers select the best solution for
their design
• High integration
• Up to 80% PCB space save
• Easier and faster PCB design
• MC-SDK Support
• Less flexible in terms of MCU
selection / change compared to
Solution 1
ST 电机控制解决方案– 定位
13
STSPIN32(MCU + Gate Driver)
Solution 2“Intelligence
Integration”
STM8/32(MCU)
STSPIN / PWD-SPIN
(Gate Drivers + MOSFET)
Solution 3“Power
Integration”
STM8/32(MCU)
STDRIVE
(Gate Driver)
STPOWER(MOS)
Solution 1“Discrete” + +
+ STPOWER(MOS / IGBT)
+
Pros Cons
• High Flexibility STM32 package-
memory-performance
• Entry level combinations – cost
sensitive
• Wide / scalable portfolio for
Stepper, Brushed DC and 3-ph
BLDC motors
• MC-SDK Support
• Less integrated and compact
than 2 and 3
• More PCB space required
• High integration
• Up to 60% PCB space save
• Easier and faster PCB design
• Optimized EMI performance
• Wide and scalable portfolio for
Stepper, brushed DC and 3-ph
BLDC motors
• MC-SDK Support
• Less flexible in terms of power
devices selection / change
compared to Solution 1
分立解决方案 vs STSPIN32主要区别
14
Items
“Discrete” solution
based on:
STM32F0x1Cx
“Intelligence
integration”
STSPIN32F0x
CPU Flash Size (KB) From 16k to 256k 32
# of GPIOs 39 Up to 20
# ADC / channels 1 / 9 1 / 9
# OP-AMP / Comp 0 Up to 4 / 1
3-phase Gate Driver External Integrated
3.3V DC-DC buck External Integrated
12V LDO External Integrated
VDD range (V) 2.0 - 3.6 2.0 - 3.6
Total Size (mm²) ≈1370 ≈300
灵活的架构高压应用
15
HS & LS 3ph gate drivers
6x IGBTs or MOSFETs
MCU
SL
LIM
M fa
mily
ST
M32
F3/G
4
OpAmps & Comparators 3x Half bridge gate drivers
6x discrete IGBTs or MOSFETs
STM32
F0
ST
SP
IN32
F06x
fam
ily
OpAmps & Comparators
TSV9x
MDmesh
DM2,K5
IGBT Trench
MCU
3x Half bridge gate drivers
6x IGBTs or MOSFETs
MCU
L639
x, S
TD
RIV
E60
1
OpAmps & Comparators
AC
EP
AC
K
STM32
OpAmps & Comparators
3x Half bridge gate drivers
6x discrete IGBTs or MOSFETs
MCU
TSV9x
L639x
STM32
MDmesh
DM2,K5
IGBT Trench
Flexibility through undisputed widest product portfolio
2002 2005 2008 2009 2011 2013 2014 2016 2018
ST9
ST7FMC
8/16-bit
MCU for
ACIM with
dedicated
library
8-bit MCU for
MC scalar and
6-step control
with MC HW &
SW kit
32-bit CM3
MCU &
sensor-less
FOC library
v1.0
8-bit MCU
& MC kit
for scalar
and 6-step
control
FOC SDK
v3.0 - dual
motor FOC
control
& MCWB
FOC SDK
v3.4 - new
analog &
HW
accelerator
FOC SDK
v4.0 - high
frequency
Injection,
MTPA, …
FOC SDK
v4.3 - Motor
Profiler, One
Touch
Tuning, Start-
up on the fly
FOC SDK v5.0 -
STM32Cube
compatible &
Simplified FW
architecture
18 年三相电机控制经验聚焦FOC 和 6-step
16
2019
PMSM FOC SDK 5.4Support STM32G4
2020
PMSM FOC SDK 5.4Support position control
STM32F3
STM32F4STM32F2
STM32F1
STM32F0
电机控制- 软件开发套件路线图简要
17
SDK
Product
support
FW
solutions (in SDK)
SW Tools
Latest key
featuresQ1 21 Q2 21 Q3 21 Beyond
SDK V5.4 SDK V6.0
New
Workbench
v2.0
Position Control
6-Step V1
(G4, STSPIN32F0)
Dual Drive G4
New Motor
Pilot (variable
monitoring)
Hardware
Solutions
New MC
Workbench +
New FW lib
architecture:
FOC &
6-STEP
STM32G4STM32H7
New FOC
Sensorless
final
SDK 6.1
Class B(G4)
Q4 21
SDK 6.x
SwR Motor
New MC
Profiler (inside MC FW)
STM32 new MCU
SDK V5.5
ACIM
(F3, G4)
FW
examples(outside SDK)
Discontinuous
PWM
Single shunt –
Phase shift
Over
modulation
alpha
3x MC-FOC
(G4)
Product Support
Core products
Cost efficient
High performance
Low Power
STM32F3 STM32G4
STSPIN32
STM32H7STM32F4/
F7
STM32L4
STM32F1 STM32G0
STM32F0
6-Step V2
ACIM
3xMC-FOC
Other SW IPs
STM32 电机控制– 生态系统
18
Motor Control SW Dev. Kit (SDK)
• Motor Control FW lib: full feature library
• Motor Control Workbench: Graphical
(GUI) configurator/monitor
• For STM32, STSPIN32 MCUs.
Motor Control Suite
• Online tool that provides easy access to motor-control
resources in the STMicroelectronics MCU ecosystem
• For STM32, STSPIN32 and STM8 MCUs.
Motor Control Profiler
• Automatic detection of key
parameters (Rs, Ls, Ke)
• Zero equipment required
• For STM32 MCUs.
STM32Cubexx
• Embedded software bricks
• For all STM32xx (flagship for Motor Control: STM32G4)
Visit the STM32 Motor control
dedicated web page:
www.st.com/content/st_com/en
/stm32-motor-control-
ecosystem.htmlHW boards
ST Portfolio (Power)Driver, MOSFet, IGBT, Protection Diods…
STM32 电机控制FOC固件库
19
Benefits of FOC:
• Best energy efficiency even during transient operation, due to optimal current angle
• Responsive speed control to load variations, due to direct and decoupled control of
electromagnetic torque and flux
• Precise position controldue to direct and decoupled control of electromagnetic torque
and flux;
• Acoustical noise reduction due to sinusoidal waveforms / optimized control
• STM32 MC SDK advantageAutomatic code generation, single/dual motor
sensorless, sensored, 1/3 shunt, position control, MTPA, etc.
STM32 Motor control Software Development Kit
Hardware Setup
MCSDK 工作流程
20
Motor Characterization
System Configuration
GUI
Motor Control Workbench
Project Configuration
CubeMX & IDE
Motor Drive Tuning GUI
Motor ControlWorkbench
Final Application
Development
电机控制SDK v5.4 特性列表
21
STM32 series F0 F1 F3 F4 F7 L4 G0 G4
• 1 Shunt
• 3 Shunt
• Hall sensors
• ICS
• Flux weakening
• MTPA
• Sensorless (PLL /
Cordic)
• Feed Forward
• Single FOC
• Dual FOC / /
• FreeRTOS
• Position Control
Full Integration / configuration in MC Workbench tools:
FW Examples / No configuration possible in MC Workbench tools:
STM32 seriesF0
STSpinF0B
F1 F3 F4 F7 L4 G0 G4 H7
• 6 Step
• PFC
• DUAL CORE H7 example
21
应用解决方案
Extreme Integration and Robustness, High Torque / High Speed
• Low-Voltage Design – STEVAL-PTOOL1V1for battery packs up to 36V (2S – 6S)
(STSPIN32F0B + 60V MOS STL180/220N6F7)
电动和园林工具(使用电池)基于STSPIN32F0家族
• High Voltage Design – STEVAL-PTOOL2V1for battery packs up to 60V (8S – 15S)
(STSPIN32F0252 + 80V MOS STL130N8F7 /
STL135N8F7AG)
FOC / 6STEP ; SENSORLESS / HALL / BEMF DETECTION
24
80 mm
58
mm
• Max operating ratings: 80V, 15ARMS
• Very low stand-by power consumption
• 6-Step single shunt with Hall sensors inputs
• Mounting options for:
• Field Oriented Control, sensorless/sensored
• BEMF detection circuitry
• Over Current Protection
• Trigger, direction and speed inputs available
• Speed control potentiometer available
• Heatsink (54x54x20 mm)
• Ready to use dedicated 6step FW
STSPIN32F0252250V integrated
3phase BLDC driver (1A)
STL130N8F780V, 3 mΩ MOSFET
(Bottom side)
STEVAL-PTOOL2V1
24
High voltage power tools reference design (8S – 15S)
机器人割草机
25
+16VDC~+20VDC2/3 shunt
Current
Sample
Ia,Ib,Ic
2 X STSPIN32F0A
Battery
Charge
12 X STL20N6F7
2 X Wheel motor
2/3 shunt
Current
Sample
Ia,Ib,Ic
STSPIN32F0A
6 X STL20N6F7
Blade Motor
ST Solution Feature
STSPIN32F0A (SOC)高集成度, PCB尺寸紧凑, 低系统成本
车轮电机控制无感矢量控制低成本解决方案,
大启动转矩,满足在全负荷中爬升的需求
刀片电机控制无感矢量控制低成本解决方案,
新刹车算法,可控母线电压的升幅
宽范围电池输入 6.7~45VDC
M
M
车轮电机控制
26
• 在无传感器FOC模式下,车轮电机的不同方向快速切换
• 启动时间小于300ms
• 不同方向切换的间隔时间小于330ms
• 额定负载下,车轮电机的最低转速可以达到300RPM
• 在空载和额定负载下,平稳启动,快速的速度指令,无过冲
• 大启动扭矩,重载快速启动,最大启动扭矩可达7N.m
White: Speed
Feedback
Red: Speed
Reference
Running @+-300rpm
刀片电机控制
27
• 快速响应 : Quick Startup to full speed based on Sensorless FOC control;
• 传统主动制动策略: Voltage surge of Vbus is out of Control, the max voltage surge will reach 35Volts when
motor braking from full speed; the braking time period from full speed to 300RPM is 440ms
• 电压跳变可控制动策略: the braking time period from full speed to 0RPM is 530ms, Controlled Voltage
surge of Vbus reachs 30Volts (it could be set by FW freely)
ENABLEDDISABLED
吸尘器参考设计
28
• HW is based on STSPIN32F0/A + 6x STD140N6F7 MOSFETs
(STEVAL-SPIN3201 is a good starting point; V supply = 8-45 V, I out = 15 Arms )
• FW is FOC sensorless in 2-shunt configuration; 1 extra optional shunt can be used for power measurement
HW configuration example
Complete HW + FW package tailored for suction motors in
vacuum cleaners
吸尘器参考设计
29
Motor running at 87K rpm
motor accelerates with closed air inlet (decreased
load)
100K rpm reached
when the load changes (air inlet is reopened), the motor keeps under
control
Can reach 100k – 130k rpm on single pole pair motors (tested),
constant power mode allows different air inlet conditions
Rivet gun
30
ST Solution Feature
STSPIN32F0A (SOC)
High integration, Compact
PCB Size, Low System
Cost
STL140N6F7 High efficiency MOS
Compact installment size,
Max current could reach
50Ampers in Rivet process
High speed 6 step current loop
control and Fast Braking
Big peak torque output,
Fast Rivet process ,braking
and rollback in the initial
position precisely
Wide Range of Battery Input Fit for 6.7~45VDC input
M
STM32F103VET6
STL140N6F7
STripFET F7 series
STSPIN32F0A
ARM Cortex™-M0
Rivet gun
• Working Flow of Rivet process:
Forward acceleration of motor → Fast braking on monitoring forward path of Draw Bar → Reward acceleration of motor → Fast braking on monitoring Reward path of Draw Bar
• Draw Bar path control: Keep draw bar in initial position when rivet process finished
• Period Time: Whole motor rivet process and return to initial position finish in 1.26 seconds
31
Rivet gun
Max speed of motor :21000RPMPeak Current reach 50Ampers in Rivet process
32
STSPIN32G4 dual motor platform
STSPIN32G4
STDRV101
Typical Application
One SOC to control dual motor
• No need communication
bus between two
individual controller of dual
motor
• More compact PCB size
and lower system cost
• Better synchronization
performance for dual
motor control
33
Traditional dual motor control topology
Signal conditioning
M
Power Switches- 12 X MOS
LDO
MOS
Drivers
MCU
DC/DC ConverterDC Source12VDC
3.3VDC
Dual Shunt/Vdson Detection
12VDC
MOS
Drivers
M
CAN ControllerSystem Bus
Key Features
• Discrete DC/DC
Converter for Driver
Supply and others
• Discrete LDO for MCU
supply and others
• Discrete CAN
Controller for System
Bus communication
• Big PCB Size and
Complicate PCB
routing
34
STSPIN32G4 dual motor control topology
Signal conditioning
M
Power Switches- 12 X STL110N10F7
LDOMOS
Drivers
MCU
DC/DC
Converter
DC Source
Dual Shunt/Vdson Detection
MOS
Drivers
M
CAN
Controller
System Bus
Key Features
• Embedded DC/DC
Converter for Driver
Supply and others
• Embedded LDO for
MCU supply and others
• Embedded CAN
Controller for System
Bus communication
• Small PCB Size and
Simple routing
STDRV101
STSPIN32G4
35
Very compact and straightforward design
STSPIN32G4 dual high speed motor controlevaluation
Dual Motor Control
Obstacles Detection
Posture Recognition
Intelligent !!!
Sensorless observer+FOC
Executing time~=7.4us
Current
Loop/PWM
Frequency
Electrical
Motor Speed
Sensorless
FOC
executing
time
CPU Load
Motor 1 35K 140KRPM 7.4us 26%
Motor 2 35K 140KRPM 7.4us 26%
Total 52%
36
Even while controlling dual high-speed motor with sensorless
FOC, CPU still has 46% capacity to handle other tasks
Urea pump
37
ST Solution Feature
STSPIN32F0A (SOC)High integration, Compact PCB
Size, Low System Cost
Motor Control Method
Low cost solution based on
Sensorless FOC control, Fast
hydraulic pressure establishing
and response, stable low speed
running in heavy load
Wide Range of ambient
temperature
-40~125
Wide Range of Battery Input Fit for 6.7~45VDC input
Ejector Urea Tank Diesel Tank
• Pump the urea to reduce nitrogen oxide from exhaust emission of Diesel vehicle
• Urea pump will drag up the left liquor from the tube , and pump back to Urea Tank when vehicle parking
China VI emission standard
Urea pump
38
+7V~32VDC
3 /1 shunt
Current
Sample
Ia,Ib,Ic
STSPIN32F0/
STSPIN32G4
STL36DN6F7 X 6
M
• STSPIN32F0 for Motor Control Module only
• STSPIN32G4 for Combination of Motor
Control Module + SCR control Module
System feature:
• Fast speed deceleration of motor
after startup for pump pressure
establishing, motor run stable in
low speed with heavy load
• Small Pressure ripple and constant
injection delivery in regular running
• High anti-pressure ability, Could
stable running under 15Bar liquid
pressure when tube clogged
System pressure increased quickly after tube blocked
Fast deceleration after system pressure established
Pressure ripple when ejector periodic working
* Blue waveform is changing curve of pump pressure
Security monitor
Motor Position Sensor
• Optical Encoder
• Magnetic Encoder
• Resolver
• Speed Control: The lowest controllable speed could reach 0.6RPM
• Position Control: Achieve the same position control performance as stepper motor , and get better
dynamic response than stepper motor , fit for big inertia system
• Trajectory Plan: For achieve a smooth movement , Calculate trajectory plan(a series combination of
target positions) from constant drag principle
Position Command
• Target Angle
• Interval Time
Trajectory
Calculation Acceleration
Speed
Angle
Position
Control
Immediate target Angle
Torque Command
3 x FOC
39
Security monitor
40
ST Solution Feature
STSPIN32F0A (SOC)
High integration, Compact
PCB Size, Low System
Cost
High precision Magnetic encoder
interface
Precisely decode absolute
position of motor
Position & Speed loop FOC
Control
Stable torque output, Small
camera shake ,
Controllable camera
position, high image quality
Wide Range of Battery Input Fit for 6.7~45VDC input
+12V
3 shunt Current
Sample
Ia,Ib,Ic
STSPIN32F0A
AC-DC power
module
3 X STL7DN6LF3(双NMOS)
M
Discovery k for ESC
STEVAL-CTM009V1• STM32 NucleoBoard
• STH310N10F7-6:
STripFETTM F7 (36x)
• L6491 gate driver
• STTH102AY;
STPS5L60SY;
STPS3L40SY:
rectifiers
• A7986: Buck Boost
regulator5kW high current LV
B-G431B-ESC1• STM32G4
mcu
• L6387ED
gate driver
• STL180N6F7
STripFET F7
• L7986TR,
LD39050PU
33R, BLDC servo kit LV
Power Tools,36V,60V
Vacuum Cleaner
Garden Tools, 6step
EVALKIT-ROBOT-1• STSPIN32F0A
sip
• STL7DN6LF3
Dual STripFET F7
• ST1S14PHR
• Modbus;
Position Control
STEVAL-PTool1v1
STEVAL-PTool2v1• STSPIN32F0A
• STSPIN32F0252
• TSV912
• LD1117S33CTR
STEVAL-SPIN3201• STSPIN32F0
sip
• STD140N6F7
STripFET F7
• 100k RPM
motors
STEVAL-ESC002V1• STSPIN32F0A
sip
• STL140N6F7
STripFET F7
• LMV321LILT
signal cond
NEW
*Part numbers just example; parts to be agreed with ST Marketing
**Architectures just example in the ST-EVAL; architecture to be defined with customer
低压应用
41
总结
42
• 基于创新技术的丰富电机控制生态系统
• 高效可靠的低压整体解决方案—优秀的产品和成熟的FOC算法
• ST的目标—电机控制的领导者.
4/29/2021 Presentation Title 43
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