直流无刷电机控制方案及磁编码器的应用_MPS_2015_11_18

1、MPS Confidential Dont Distribute直流无刷电机控制方案及磁编码器的应用直流无刷电机控制方案及磁编码器的应用_秦鸿强秦鸿强/陆桢陆桢 2015.11.17The Future of Analog IC Technology 单相直流无刷电机控制技术及方案 三相直流无刷电机控制技术及方案 步进电机控制技术及方案 永磁同步电机矢量控制技术及方案 MPSMPS转子角度位置传感器特点及应用 基于MPS永磁同步电机方案的机器人抛球装置介绍The Future of Analog IC Technology需要检测转子磁场位置根据位置信息决定通电顺序，以产生持续旋转的磁场调节H

2、桥占空比从而控制绕组电流大小The Future of Analog IC Technology 外围器件少外围器件少 单层单层PCB设计容易设计容易PCB 控制控制/H桥桥/霍尔集成霍尔集成PCBPCBStraight Lead TSOT23-6The Future of Analog IC Technology 3V to 18V 输入输入，21V过压保护过压保护 输入防插反输入防插反 内部集成霍尔检测内部集成霍尔检测(min. 3mT) 输出输出FG/RD可选择可选择 软换相抑软换相抑制电流过冲和噪声制电流过冲和噪声 BEMF和电流自动锁相提高效率和电流自动锁相提高效率The Futur

3、e of Analog IC TechnologyTcase_rise=10CVIN=12V, IIN=0.31ARoom. Temp,The Future of Analog IC Technology 软换相抑软换相抑制电流过冲和制电流过冲和噪声噪声 BEMF和电流自动锁相和电流自动锁相提高效率提高效率 检测输入检测输入PWM占空比占空比 查表获取输出查表获取输出PWM占空比占空比 查表可任意查表可任意数字编程数字编程The Future of Analog IC Technology根据三相霍尔德位置决定导通相，以产生旋转的定子磁场每60o有两相导通，另外一相悬空每相电流导通240oTh

4、e Future of Analog IC Technology 三相驱动可独立控制三相驱动可独立控制 5V-60V输入输入 外部外部MOSFET，功率应用灵活，功率应用灵活输出驱动可输出驱动可100%占空比工作占空比工作 死区可调死区可调The Future of Analog IC Technology 三相驱动可独立控制三相驱动可独立控制 支持三相霍尔支持三相霍尔+PWM接口输入接口输入 5V-60V输入输入 外部外部MOSFET，功率应用灵活，功率应用灵活输出驱动可输出驱动可100%占空比工作占空比工作 死区可调死区可调The Future of Analog IC Technolog

5、y 实时输出三相电流检测实时输出三相电流检测 三相桥臂可灵活单独控制三相桥臂可灵活单独控制 全集成驱动和三相桥全集成驱动和三相桥 QFN5x5mm MP6540: 60V/5A/30m MP6541: 35V/8A/13m The Future of Analog IC Technology 反应式步进电机：反应式步进电机： 利用磁阻转矩，结构简单 无定位转矩 步距角小 永磁式步进电机：永磁式步进电机： 利用电磁转矩，效率高 有定位转矩 步距角度不宜做小 混合式步进电机：混合式步进电机： 步距角可以很小 有定位转矩 结构复杂The Future of Analog IC Technology

6、电脉冲信号与角度位移成正比 两相邻相磁极轴线与转子齿数的关系： Zr为转子齿数，p为极对数，为m相数，K为正整数。12ZrKpmmA A相对齐时（相对齐时（3 3相步进电机为例）相步进电机为例）The Future of Analog IC Technology 电周期的通电拍数与步距角的关系（N拍转一个齿距）：N为一个电周期通电拍数；M为相数；C=1（单拍或者双拍方式），C=2（单双拍方式）单拍工作方式：每拍只有一相绕组通电；双拍工作方式：每拍同时有两相绕组通电；单双拍工作方式：每拍单拍、双拍交替进行；360osrNZNCmThe Future of Analog IC Technology

7、STEP: 步进命令DIR: 方向控制开关频率设置MS2MS1模式模式 拍拍数数LLFull4LHHalf8HLQuarter16HHEight32绕组最大电流设定The Future of Analog IC Technology例：例：3232拍（拍（Eight StepEight Step）The Future of Analog IC Technology各相磁场及BEMF为正弦波利用3/2旋转变化，把三相交流变量(A/B/C)转化为旋转的2相直流量(d/q)用相邻基本矢量+零矢量利用面积等效原理所需矢量The Future of Analog IC Technology MP6540

8、: 60V/5A/30m MP6541: 35V/8A/13m 集成高精度位置传感器集成高精度位置传感器 I2C/SPI数字通讯接口数字通讯接口 FOC控制算法控制算法 位置位置/速度速度/转矩模式转矩模式 非易失储存器存储参数非易失储存器存储参数The Future of Analog IC Technology置霍尔检测置霍尔检测速度：速度：20到到60000RPM位置：位置：0.2o 分辨率分辨率, 232圈圈The Future of Analog IC Technology Brake un-controlled and slow! More energy lost on diode

9、, winding resistance! Brake controlled and fast!u Normal Brakeu Fast Brake More energy recycle!Controlled by MP6570The Future of Analog IC TechnologyMP6540/1 3-phase bridgeQFN5x5mmMPS ControllerQFN4x4mm3.3V LDO (optional)(VIN/3.3V/GND/EN/DIR/CLKIN/BRAKE/FG/FT/SPI/I2C)From System ControllerThe Future

10、 of Analog IC TechnologyThe Future of Analog IC Technology feasible with the same devicevs.The Future of Analog IC Technologyend-of-shaftside-shaftSensor on-axis of magnetSensor off axis of magnetThe Future of Analog IC TechnologyWhat is common in all competitors sensors?Based on two component (X,Y)

11、 measurementConvert hall voltage signal into digital domainAngle computed with complex arctan algorithmThe Future of Analog IC TechnologyMPS Special Technique: energy efficient extremely fast small die & package robust & reliableTime countingswitcha aMPS MagAlpha Spinaxis means true instanta

12、neous sensing (TIS) simple & robust setup low power consumption small sensor componentsThe Future of Analog IC TechnologyiVV B B B=How does Spinaxis work?The Future of Analog IC TechnologyHow does Spinaxis work?The Future of Analog IC TechnologyFiltered output:a aa aHow does Spinaxis work?The Fu

13、ture of Analog IC TechnologyCOMPREFa aHow does Spinaxis work?The Future of Analog IC TechnologyHow does Spinaxis work?HALLPWM (SR)COMPREFCOMPREFa aThe Future of Analog IC TechnologycompanyproductINLresolution (3sigma)response timeapplied fieldpower up timepackage sizesupply currentsupply voltageoper

14、ating temperatureside-shaft mountABZ UVWimmun. ext field Bmin Bmax larg length minmaxminmax degbitusmTmTusmmmmmAVVCC AS50450.912964575 20000 7.886.21635.5-40125nononoyesAS50481.2141003070 10000 6.451535.5-40150nononoyesAS513428.5222080500 7.87.2224.55.5-40125noyesyesyesAS50551.412100003080400448.533

15、.6-4085nononoyes AK7405112200003070 25000 7.57.4154.55.5-40150yes12 bitsnono AEAT-66000.41244290120 10000 6.451735.5-40125noyesyesno IC-MH0.51250251253005584.55.5-40125no12 bitsyesyes IC-MH80.351250251253005584.55.5-40125no12 bitsyesyes TLE5012 (fast mode)19213050500 5.84.81435.5-40150noyesyesno MLX

16、90316 (fast mode)1122002070 15000 5.84.8164.55.5-40150yesnonono HAL36250.791000201007000 5.84.8104.55.5-40170yesnonono AM40960.21230.7505015001082635.5-40125noyesyesyesAM81920.2132204040 100001212394.755.25-40125noyesnoyesA1332210.1683010040000 6.45204.55.5-40125yesnononoA13341.759.26030100300 6.451

17、04.514.5-40150nononono MA 3001.5123201502533733.6-40125yes10 bitsyesno side-shaft mounting possible high sampling frequency 500 kHz ultra-short latency3 s short power-up time25 s small components3x3 mm2 QFN moderate power consumption 7 mAThe Future of Analog IC TechnologyhallencoderProduct Applicati

18、onAbsoluteIncrementalzero settingside shaft linearizationlow power optimizationSPIPWM motor commutation8 bit10 bit8 bit16 bitMA100 Motor commutationMA120 Motor commutationMA200 Motor commutation & speed controlMA300 Motor commutation & position controlMA700 High performance encoderMA720 Low power encoderMA750 Contactless potentiometerUpcoming featuresMotor commutation: multiple pole pair rotor with simple target magnet MA100, MA120, MA200, MA300Alarm:High /Low f