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6 - Step Commutation Diagram

Six

Step BLDC Motor Control

A
0
%

Voltage applied on two phases only


It creates 6 flux vectors
Phases are power based on rotor position
The process is called Commutation

1.

0
%

2.

3.

5.

4.

6.

BLDC
A

Phases voltage

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

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6 step (120 Degree) 3-phase BLDC Motor Control


Stator field is maintained 60 to 120 relative to
Therefore the rotor position must be estimated

Right Before Commutation

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

rotor field

Right After Commutation

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Power Stage Motor Topology


3-PHASE POWER STAGE
PWM1
SAT

PWM3
S BT

PWM5
SCT

POWER
SOURCE
DC VOLTAGE

PWM2
SAB

PWM4
S BT

PWM6
SCT

3-PHASE BLDC MOTOR

MOSFET/IGBT DRIVERS
PWM1

PWM2 PWM3

PWM4

PWM5

PWM6

PULSE WIDTH MODULATOR


(PWM) MODULE (FLEX TIMER)

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

Controller

TM

Second Quadrant
negative speed-positive torque
reverse-braking

Current
(Torque)

Quadrants of Operation

Generating

Motoring

Motoring

First Quadrant
positive speed-positive torque
forward-accelerating

II
III IV

Third Quadrant
negative speed - negative torque
reverse-accelerating

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

Voltage
(Speed)

Generating
Fourth Quadrant
Positive speed - negative torque
forward-braking

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Bipolar BLDC Commutation


(3 Complementary PWM pairs)
Allows energy recuperation
BOTTOM is opposite of TOP
Requires sophisticated PWM
commutation

commutation

commutation

120o

support

commutation

commutation

commutation

commutation

SAt

A - Off

A - Off

SAb

A - Off

A - Off

SBt

B - Off

B - Off

SBb

B - Off

B - Off

SCt

C - Off

SCb

C - Off

commutation

60o

C - Off

C - Off

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

SAt

SBt

SCt

SAb

SBb

SCb

C - Off

3phase
Brushless
DC motor

C - Off

B
A

TM

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