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Applications
Overview
FurtherInformation
KeyTechnology
BLDCMotorControlAlgorithms
MotorControl
UniversalMotorControlAlgorithms
ACMotorControlAlgorithms
StepperMotorControlAlgorithms
MotorControlAlgorithms
MotorTypes
RecommendedMCUs&
MPUsforMotors
RecommendedA&PProducts
forMotors
EvaluationBoards/Sample
Code
ApplicationsforMotors
FeatureArticles
BLDCMotorControlAlgorithms
Brushlessmotorsarenotselfcommutating,andhencearemorecomplicatedtocontrol.
BLDCmotorcontrolrequiresknowledgeoftherotorpositionandmechanismtocommutatethemotor.Forclosedloop
speedcontroltherearetwoadditionalrequirements,measurementofthemotorspeedand/ormotorcurrentandPWM
signaltocontrolthemotorspeedandpower.
BLDCmotorscanuseedgealignedorcenteralignedPWMsignalsdependingontheapplicationrequirements.Most
applications,thatonlyrequirevariablespeedoperation,willusesixindependentedgealignedPWMsignals.This
providesthehighestresolution.Iftheapplicationrequiresservopositioning,dynamicbraking,ordynamicreversal,it
isrecommendedthatcomplementarycenteralignedPWMsignalsbeused.
TosensetherotorpositionBLDCmotorsuseHallEffectsensorstoprovideabsolutepositionsensing.Thisresultsin
morewiresandhighercost.SensorlessBLDCcontroleliminatestheneedforHalleffectsensors,usingtheback
EMF(electromotiveforce)ofthemotorinsteadtoestimatetherotorposition.Sensorlesscontrolisessentialforlow
costvariablespeedapplicationssuchasfansandpumps.Refrigeratorandairconditioningcompressorsalsorequire
sensorlesscontrolwhenusingBLDCmotors.
DeadTimeInsertionandCompensation
ManydifferentcontrolalgorithmshavebeenusedtoprovidecontrolofBLDCmotors.Typically,themotorvoltageis
controlledusingapowertransistoroperatingasalinearvoltageregulator.Thisisnotpracticalwhendrivinghigher
powermotors.HighpowermotorsmustusePWMcontrolandrequireamicrocontrollertoprovidestartingandcontrol
functions.
Thecontrolalgorithmmustprovidethreethings:
PWMvoltagetocontrolthemotorspeed
Mechanismtocommutatethemotor
MethodtoestimatetherotorpositionusingthebackEMForHallSensors
Pulsewidthmodulationisusedtoapplyavariablevoltagetothemotorwindings.Theeffectivevoltageisproportional
tothePWMdutycycle.Whenproperlycommutated,thetorquespeedcharacteristicsoftheBLDCmotorareidentical
toadcmotor.Thevariablevoltagecanbeusedtocontrolthespeedofthemotorandtheavailabletorque.
Thecommutationofthepowertransistorsenergizestheappropriatewindingsinthestatortoprovideoptimumtorque
generationdependingontherotorposition.InaBLDCmotor,theMCUmustknowthepositionoftherotorand
commutateattheappropriatetime.
TrapezoidalCommutationofBLDCMotor
OneofthesimplestmethodsofcontrolfordcbrushlessmotorsuseswhatistermedTrapezoidalcommutation.
Figure1:SimplifiedBlockDiagramofTrapezoidalControllerforBLDCMotor
Inthisscheme,currentiscontrolledthroughmotorterminalsonepairatatime,withthethirdmotorterminalalways
electricallydisconnectedfromthesourceofpower.
ThreeHalldevicesembeddedinthemotorareusuallyusedtoprovidedigitalsignalswhichmeasurerotorposition
within60degreesectorsandprovidethisinformationtothemotorcontroller.Becauseatanytime,thecurrentsintwo
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ofthewindingsareequalinmagnitudeandthethirdiszero,thismethodcanonlyproducecurrentspacevectors
havingoneofsixdifferentdirections.Asthemotorturns,thecurrenttothemotorterminalsiselectricallyswitched
(commutated)every60degreesofrotationsothatthecurrentspacevectorisalwayswithinthenearest30degrees
ofthequadraturedirection.
Figure2:TrapezoidalControl:DriveWaveformsandTorqueatcommutation
Thecurrentwaveformforeachwindingisthereforeastaircasefromzero,topositivecurrent,tozero,andthento
negativecurrent.
Thisproducesacurrentspacevectorthatapproximatessmoothrotationasitstepsamongsixdistinctdirectionsas
therotorturns.
InmotorapplicationssuchasairconditionersandrefrigeratorsuseofHallEffectsensorsisnotaviableoption.Back
EMFsensorsthatsensethebackEMFintheunconnectedwindingcanbeusedtoachievethesameresults
Thetrapezoidalcurrentdrivesystemsarepopularbecauseofthesimplicityoftheircontrolcircuitsbutsufferfroma
torquerippleproblemduringcommutation.
SinusoidalCommutationforBDLCMotors
Trapezoidalcommutationisinadequatetoprovidesmoothandprecisemotorcontrolofbrushlessdcmotors,
particularlyatlowspeeds.Sinusoidalcommutationsolvesthisproblem.Thisisbecausethetorqueproducedina
threephasebrushlessmotor(withasinewavebackEMF)isdefinedbythefollowingequation:
Sinusoidallycommutatedbrushlessmotorcontrollersattempttodrivethethreemotorwindingswiththreecurrents
thatvarysmoothlyandsinusoidallyasthemotorturns.Therelativephasesofthesecurrentsarechosensothatthey
shouldresultinasmoothlyrotatingcurrentspacevectorthatisalwaysinthequadraturedirectionwithrespecttothe
rotorandhasconstantmagnitude.Thiseliminatesthetorquerippleandcommutationspikesassociatedwith
trapezoidalcommutation.
Inordertogeneratesmoothsinusoidalmodulationofthemotorcurrentsasthemotorturns,anaccurate
measurementofrotorpositionisrequired.TheHalldevicesprovideonlyacoarsemeasureofrotorpositionandare
inadequateforthispurpose.Forthisreason,anglefeedbackfromanencoder,orsimilardevice,isrequired.
Figure3:SimplifiedBlockDiagramofSinusoidalControllerforBLDCMotor
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Sincethewindingcurrentsmustcombinetoproduceasmoothlyrotatingcurrentspacevectorofconstantmagnitude,
andbecausethestatorwindingsareoriented120degreesapartfromeachother,currentsineachwindingmustbe
sinusoidalandphaseshiftedby120degrees.Positioninformationfromtheencoderisusedtosynthesizetwo
sinusoids,one120degreesphaseshiftedfromtheother.Thesesignalsarethenmultipliedbythetorquecommandso
thattheamplitudesofthesinewavesareproportionaltodesiredtorque.Theresultistwosinusoidalcurrentcommand
signalsappropriatelyphasedtoproducearotatingstatorcurrentspacevectorinthequadraturedirection.
ThesinusoidalcurrentcommandsignalsareprovidedasinputstoapairofPIcontrollersthatregulatecurrentinthe
twoappropriatemotorwindings.Thecurrentinthethirdmotorwindingisthenegativesumofthecurrentsinthe
controlledwindingsandthereforecannotbeseparatelycontrolled.TheoutputfromeachPIcontrollerisfedtoaPWM
modulatorandthentotheoutputbridgeandtwomotorterminals.Voltageappliedtothethirdmotorterminalisderived
asthenegativesumofthesignalsappliedtothefirsttwowindings,asappropriateforthreesinusoidalvoltageseach
separatedby120degrees.
Totheextentthattheactualoutputcurrentwaveformaccuratelytracksthesinusoidalcurrentcommandsignals,the
resultingcurrentspacevectorissmoothlyrotating,constantinmagnitudeandorientedinthequadratedirectionas
desired.
Sinusoidalcommutationresultsinsmoothnessofcontrolthatisgenerallyunachievablewithtrapezoidalcommutation.
However,whileitisveryeffectiveatlowmotorspeeds,ittendstofallapartathighmotorspeeds.Thisisbecauseas
speedgoesupthecurrentloopcontrollersmusttrackasinusoidalsignalofincreasingfrequency.Atthesametime
theymustovercomethemotorbackEMFthatalsoincreasesinamplitudeandfrequencyasspeedgoesup.
BecausethePIcontrollershavelimitedgainandfrequencyresponse,thetimevariantperturbationstothecurrent
controlloopcausephaselagandgainerrorinthemotorcurrents.Higherspeedsresultinlargererrors.Thisperturbs
thedirectionofthecurrentspacevectorrelativetotherotor,causingittoshiftawayfromthequadraturedirection.
Whenthishappens,lesstorqueisproducedbyagivenamountofcurrentandthereforemorecurrentisrequiredto
maintaintorque.Efficiencydeteriorates.
Thisdegradationcontinuesasspeedincreases.Atsomepointmotorcurrentphaseshiftcrossesthrough90
degrees.Whenthishappenstorqueisreducedtozero.Withsinusoidalcommutation,speedsabovethispointresultin
negativetorqueandarethereforenotachievable.
SuggestedRenesasMCUs
SuggestedRenesasMCUSolutions
Control
Methods
BLDC
Motor
Control
MCURequirements
R8C
Family
Trapezoidal
DriveControl
InputCapture,Interrupt,PWMTimerfor
ThreePhasemotorcontrol
Sinusoidal
DriveControl
InputCapture,Interrupt,PWMTimerfor
ThreePhasemotorcontrol
Simplified
VectorControl
InputCapture,Interrupt,PWMTimerwith
DeadtimeforThreePhasemotorcontrol
Vector
Control(FOC)
HighPerformanceMCUMACHigh
SpeedA/DConverter,InputCapture,
Interrupt,PWMTimerwithDeadtimefor
ThreePhasemotorcontrol
Sensorless
Trapezoidal
DriveControl
InputCapture,HighSpeedA/DConverter,
Interrupt,
PWMTimerforThreePhasemotorcontrol
Sensorless
VectorControl
HighPerformanceMCUMACHigh
SpeedA/DConverter,Interrupt,PWM
TimerwithDeadtimeforThreePhase
motorcontrol
78K0R
Family
RX
Family
V850
Family
SuperH
Family
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