MICROCHIP dsPIC33EP32MC204 Drone Propeller Reference Tsim
Taw qhia
TshajVIEW
Kev tsim qauv siv yog qhov kev ntsuas tus nqi qis rau kev siv quadcopter / drone nrog cov kiv cua uas tau tsav los ntawm peb-theem Permanent Magnet Synchronous lossis Brushless motors. Qhov kev tsim no yog ua raws li Microchip dsPIC33EP32MC204 DSC, lub tshuab tswj lub cev muaj zog.
Daim duab 1-1: dsPIC33EP32MC204 Drone lub cev muaj zog tswj kev siv tsim
NTA
Cov yam ntxwv tseem ceeb ntawm Reference Design yog raws li hauv qab no:
- Peb-theem lub cev muaj zog tswj fais fab Stage
- Theem tam sim no tawm tswv yim los ntawm txoj kev shunt rau kev ua tau zoo dua
- Phase voltage tawm tswv yim los siv sensor-tsawg trapezoidal tswj lossis ya pib
- DC Bus Voltage tawm tswv yim rau over-voltage kev tiv thaiv
- ICSP header rau In-Circuit Serial Programming siv Microchip Programmer/Debugger
- CAN Kev Sib Txuas Lus Header
THAIV DIAGRAM
Qhov ntau yam khoom siv kho vajtse ntawm Cov Qauv Siv Siv tau pom nyob rau hauv daim duab 1-3 thiab tau sau tseg hauv Table 1-1.
DAIM 1-3: HARDWARE SECTIONS
| Table 1-1 Hardware Sections | |
| Tshooj | Kho vajtse Section |
| 1 | Peb-theem lub cev muaj zog tswj inverter |
| 2 | dsPIC33EP32MC204 thiab cuam tshuam Circuit Court |
| 3 | MCP8026 MOSFET Tsav Tsheb |
| 4 | UA Interface |
| 5 | Tam sim no Sensing Resistor |
| 6 | Serial Communication Interface Header |
| 7 | ICSP™ Header |
| 8 | User Interface Header |
| 9 | DE2 MOSFET Tsav Tsheb Serial Interface Header |
Board Interface Description
Taw qhia
Tshooj lus no muab cov lus piav qhia ntxaws ntxiv ntawm cov tswv yim thiab cov khoom siv sib cuam tshuam ntawm Drone motor controller Reference Design. Cov ntsiab lus hauv qab no tau them:
- Board Connectors
- Pin functions ntawm dsPIC DSC
- Pin functions ntawm MOSFET Tsav Tsheb
BOARD CONNECTORS
Tshooj lus no qhia txog cov khoom sib txuas hauv Smart Drone Controller Board. Lawv muaj nyob rau hauv daim duab 2-1 thiab cov ntsiab lus nyob rau hauv Table 2-1.
- Muab lub zog tawm tswv yim rau Smart Drone Controller Board.
- Xa cov inverter tawm rau lub cev muaj zog.
- Enabling tus neeg siv rau kev pab cuam / debug lub dsPIC33EP32MC204 ntaus ntawv.
- Interfacing rau CAN network.
- Tsim kev sib txuas lus serial nrog tus tswv PC.
- Muab cov teeb liab siv ceev.
Daim duab 2-1: CONNECTORS – Drone Motor Controller Reference Design
TAB 2-1 CONNECTORS
| Connector Designator | Tsis muaj Pins | xwm txheej | Kev piav qhia |
| ISP 1 | 5 | Populated | ICSP™ Header – Interfacing Programmer/Debugger rau dsPIC® DSC |
| P5 | 6 | Populated | CAN Kev Sib Txuas Lus Interface Header |
| P3 | 2 | Populated | Serial Communication Interface Header |
| P2 | 2 | Populated | Reference Speed PWM/Analog Interface Header |
| Phase A, Phase B, Phase C |
3 |
Tsis Populated |
Peb-theem inverter outputs |
| VDC, GND | 2 | Tsis Populated | Input DC mov tab connector
(VDC: Positive Terminal, GND: Negative Terminal) |
|
P1 |
2 |
Populated |
DE2 MOSFET Tsav Tsheb Serial Interface Header. Thov xa mus rau
MCP8025A/6 data sheet rau kho vajtse thiab kev sib txuas lus raws tu qauv specifications |
ICSP™ Header rau Programmer/Debugger Interface (ISP1)
6-pin header ISP1 tuaj yeem txuas nrog tus programmer, piv txwv liample, PICkit 4, rau programming thiab debugging lub hom phiaj. Qhov no tsis yog tuaj populated. Populate thaum xav tau nrog Part Number 68016-106HLF los yog zoo sib xws. Cov lus qhia tus pin muaj nyob rau hauv Table 2-2.
TAB 2-2: PIN DESCRIPTION – Header ISP1
| Tus pin # | Lub Npe Lub Npe | Pin Description |
| 1 | MCLR | Device Master Clear (MCLR) |
| 2 | + 3.3 V | Muab voltage |
| 3 | GND | Hauv av |
| 4 | PGD | Device Programming Data Line (PGD) |
| 5 | PGC | Device Programming Clock Line (PGC) |
CAN Kev Sib Txuas Lus Interface Header (P5)
Qhov no 6-pin header tuaj yeem siv rau kev cuam tshuam rau CAN network. Cov lus qhia tus pin muaj nyob rau hauv Table 2-3.
TAB 2-3: PIN DESCRIPTION – Header P5
| Tus pin # | Lub Npe Lub Npe | Pin Description |
| 1 | 3.3 V | Muab 3.3 volts rau sab nraud module (10 ma. Max) |
| 2 | TXHEEM | Input Signal tso cai rau tus tswj ntse hauv standby |
| 3 | GND | Hauv av |
| 4 | CANTX | CAN transmitter (3.3V) |
| 5 | CANRX | CAN receiver (3.3V) |
| 6 | DGND | Txuas rau hauv av digital ntawm lub rooj tsavxwm |
Ceev Reference UI Header (P2)
Lub 2-pin Header P2 yog siv los muab kev siv ceev rau lub firmware ntawm 2 txoj hauv kev. Cov pins yog luv-circuit tiv thaiv. Cov ntsiab lus ntawm header P2 yog muab rau hauv Table 2-4.
TAB 2-4: PIN DESCRIPTION – Header P2
| Tus pin # | Lub Npe Lub Npe | Pin Description |
| 1 | INPUT_FMU_PWM | Digital signal - PWM 50Hz, 3-5V, 4-85% |
| 2 | AD SPEED | Analog teeb liab - 0-3.3V |
Serial Communications Header (P3)
Lub 2-pin Header P3 tuaj yeem siv rau kev nkag mus rau cov pins tsis siv ntawm lub microcontroller rau kev nthuav dav lossis kev debugging, thiab cov ntsiab lus tus pin ntawm header J3 tau muab rau hauv Table 2-4.
TAB 2-4: PIN DESCRIPTION – Header P3
| Tus pin # | Lub Npe Lub Npe | Pin Description |
| 1 | RXL | UART – Txais |
| 2 | TXL | UART – Transmitter |
DE2 MOSFET Tsav Tsheb Serial Interface Header (P1)
Lub 2-pin Header P1 tuaj yeem siv rau kev nkag mus rau cov pins tsis siv ntawm lub microcontroller rau kev nthuav dav lossis kev debugging, thiab cov ntsiab lus tus pin ntawm header J3 tau muab rau hauv Table 2-4.
TAB 2-4: PIN DESCRIPTION – Header P1
| Tus pin # | Lub Npe Lub Npe | Pin Description |
| 1 | TIAB SA 2 | UART – DE2 Signal |
| 2 | GND | Board Ground siv rau kev sib txuas sab nraud |
Inverter tso zis Connector
Tus qauv siv tuaj yeem tsav peb-theem PMSM / BLDC lub cev muaj zog. Pin assignments ntawm connector yog qhia nyob rau hauv Table 2-6. Qhov tseeb theem ua ntu zus ntawm lub cev muaj zog yuav tsum tau txuas nrog kom tsis txhob rov qab tig.
TAB 2-6: PIN DESCRIPTION
| Tus pin # | Pin Description |
| PHASE A | Theem 1 tso zis ntawm inverter |
| PHASE B | Theem 2 tso zis ntawm inverter |
| Phase C | Theem 3 tso zis ntawm inverter |
Input DC Connector (VDC thiab GND)
Lub rooj tsavxwm yog tsim los ua haujlwm hauv DC voltage ntau ntawm 11V txog 14V, uas tuaj yeem siv los ntawm cov khoom sib txuas VDC thiab GND. Cov ntsiab lus txuas txuas tau muab rau hauv Table 2-7.
TAB 2-7: PIN DESCRIPTION
| Tus pin # | Pin Description |
| VDC | DC Input muab qhov zoo |
| GND | DC Input mov tsis zoo |
Tus neeg siv INTERFACE
Muaj ob txoj hauv kev los cuam tshuam rau Smart Drone Controller firmware los muab cov lus qhia ceev ceev.
- PWM input (Digital signal – PWM 50Hz, 3-5Volts, 4-55% Duty cycle)
- Analog voltage (0-3.3V)
Lub interface yog ua los ntawm kev sib txuas rau P2 connector. Saib Table 2-4 kom paub meej. Cov qauv siv no muaj cov khoom siv sab nraud PWM maub los uas muab cov kev siv ceev. Sab nraud maub los muaj nws tus kheej potentiometer thiab 7 ntu LED zaub. Lub potentiometer tuaj yeem siv los kho qhov xav tau ceev los ntawm kev hloov PWM lub voj voog uas tuaj yeem hloov pauv ntawm 4% mus rau 55%. (50Hz 4-6V) nyob rau hauv 3 ntau yam. Saib Tshooj 3.3 yog xav paub ntxiv.
PIN ua haujlwm ntawm dsPIC DSC
Lub onboard dsPIC33EP32MC204 ntaus ntawv tswj cov kev siv tsim ntau yam nta los ntawm nws cov peripherals thiab CPU muaj peev xwm. Pin functions ntawm dsPIC DSC yog pab pawg raws li lawv cov functionality thiab nthuav tawm hauv Table 2-9.
TAB 2-9: dsPIC33EP32MC204 PIN FUNCTIONS
|
Teeb liab |
dsPIC DSC
Pin Tus lej |
dsPIC DSC
Tus Pin muaj nuj nqi |
dsPIC DSC Peripheral |
Lus hais |
| dsPIC DSC Configuration – Muab khoom, Pib dua, moos, thiab Programming | ||||
| v 33 | 28,40 | VDD |
Kev muab khoom |
+3.3V Digital muab rau dsPIC DSC |
| DGND | 6,29,39 | VSS | Hauv av Digital | |
| SIB 33 | 17 | AVDD | +3.3V Analog muab rau dsPIC DSC | |
| LOJ | 16 | AVSS | Analog hauv av | |
| OSCI | 30 | OSCI/CLKI/RA2 | Sab nraud oscillator | Tsis muaj kev sib txuas sab nraud. |
| RST | 18 | MCLR | Rov pib dua | Txuas rau ICSP Header (ISP1) |
| ISPDATA | 41 | PGED2/ASDA2/RP37/RB5 | Hauv-Circuit Serial Programming (ICSP™) lossis
Hauv-circuit debugger |
Txuas rau ICSP Header (ISP1) |
|
ISPCLK |
42 |
PGEC2/ASCL2/RP38/RB6 |
||
| IBUS | 18 | DACOUT/AN3/CMP1C/RA3 | High Speed Analog Comparator 1 (CMP1) thiab DAC1 | Amplified Bus tam sim no tau lim ntxiv ua ntej txuas mus rau cov tswv yim zoo ntawm CMP1 rau kev tshawb pom dhau tam sim no. Lub sijhawm dhau los tam sim no tau teeb tsa los ntawm DAC1. Cov kev sib piv cov zis muaj nyob rau sab hauv raws li qhov yuam kev ntawm PWM generators los kaw PWMs yam tsis muaj CPU cuam tshuam. |
|
Voltage Cov Lus Qhia |
||||
| ADBUS | 23 | PGEC1/AN4/C1IN1+/RPI34/R B2 | Sib koom ADC Core | DC Bus Voltagthiab tawm tswv yim. |
|
Debug Interface (P3) |
||||
| RXL | 2 | RP54/RC6 | Remappable Function ntawm I / O thiab UART | Cov teeb liab no txuas nrog Header P3 rau kev sib txuas UART serial kev sib txuas lus. |
| TXL | 1 | TMS/ASDA1/RP41/RB9 | ||
|
CAN Interface (P5) |
||||
| CANTX | 3 | RP55/RC7 | CAN receiver, transmitter thiab standby | Cov teeb liab no txuas nrog Header P5 |
| CANRX | 4 | RP56/RC8 | ||
| TXHEEM | 5 | RP57/RC9 | ||
|
PWM Outputs |
||||
| PWM 3H | 8 | RP42/PWM3H/RB10 | PWM Module output. | Xa mus rau daim ntawv teev cov ntaub ntawv kom paub meej ntxiv. |
| PWM 3L | 9 | RP43/PWM 3L/RB11 | ||
| PWM 2H | 10 | RPI144/PWM2H/RB12 | ||
| PWM 2L | 11 | RPI45/PWM2L/CTPLS/RB13 | ||
| PWM 1H | 14 | RPI46/PWM1H/T3CK/RB14 | ||
| PWM 1L | 15 | RPI47/PWM1L/T5CK/RB15 | ||
|
Lub hom phiaj dav dav I/O |
||||
| I_OUT 2 | 22 | PGEC3/VREF+/AN3/RPI33/CT ED1/RB1 | Sib koom ADC Core | |
| MotorGateDr_ CE | 31 | OSC2/CLKO/RA3 | I/O Chaw nres nkoj | Enables lossis disables tus tsav tsheb MOSFET. |
| MotorGateDrv
_ILIMIT_OUT |
36 | SCK1/RP151/RC3 | I/O Chaw nres nkoj | Kev tiv thaiv overcurrent. |
| TIAB SA 2 | 33 | FLT32/SCL2/RP36/RB4 | UART 1 | Reprogrammable chaw nres nkoj configured rau UART1 TX |
| DE2 RX 1 | 32 | SDA2/RPI24/RA8 | UART 1 | Reprogrammable chaw nres nkoj configured rau UART1 RX |
|
Scaled Phase voltage ntsuas |
||||
| PHC | 21 | PGED3/VREF-/ AN2/RPI132/CTED2/RB0 | Sib koom ADC Core | Rov qab emf xoom hla kev ntsuas PHASE C |
| PHB | 20 | AN1/C1IN1+/RA1 | Sib koom ADC Core | Rov qab emf xoom hla kev ntsuas PHASE B |
| PHA,
Tawm tswv yim |
19 | AN0/OA2OUT/RA0 | Sib koom ADC Core | Rov qab emf xoom hla kev ntsuas PHASE A |
|
Tsis muaj kev sib txuas |
||||
| - | 35,12,37,38 | |||
| - | 43,44,24 | |||
| - | 30,13,27 | |||
PIN ua haujlwm ntawm tus tsav tsheb MOSFET
|
Teeb liab |
YWB 8026
Pin Tus lej |
YWB 8026
Tus Pin muaj nuj nqi |
MCP8026 Muaj nuj nqi thaiv |
Lus hais |
|
Kev sib txuas ntawm lub zog thiab hauv av |
||||
| VCC_LI_PO WER | 38,39 | VDD |
Bias generator |
11-14 Volts Cov |
| PGND | 36,35,24,20
ib ,19,7 |
PGND | Lub zog hauv av | |
| v 12 | 34 | + 12 V | 12 Volt tso zis | |
| V5 | 41 | + 5 V | 5 Volt tso zis | |
| LX | 37 | LX | Buck regulator hloov node rau 3.3V tawm | |
| FB | 40 | FB | Buck regulator tawm tswv yim ntawm 3.3V tawm | |
|
PWM output |
||||
| PWM 3H | 46 | PWM 3H |
Rooj vag tswj logic |
Xa mus rau cov ntaub ntawv ntaus ntawv kom paub meej ntxiv |
| PWM 3L | 45 | PWM 3L | ||
| PWM 2H | 48 | PWM 2H | ||
| PWM 2L | 47 | PWM 2L | ||
| PWM 1H | 2 | PWM 1H | ||
| PWM 1L | 1 | PWM 1L | ||
|
Tam sim no sensing pins |
||||
| I_SENSE2- | 13 | I_SENSE2- |
Motor Control Unit |
Phase A shunt -ve |
| I_SENSE2+ | 14 | I_SENSE2+ | Phase A shunt + ve | |
| I_SENSE3- | 10 | I_SENSE3- | Phase B shunt -ve. Nco ntsoov qhov shunt no nyob ntawm W ib nrab choj ntawm lub inverter. | |
| I_SENSE3+ | 11 | I_SENSE3+ | Phase B shunt + ve. Nco ntsoov qhov shunt no nyob ntawm W ib nrab choj ntawm lub inverter. | |
| I_SENSE1- | 17 | I_SENSE1- |
Motor Control Unit |
Reference voltage -ua |
| I_SENSE1+ | 18 | I_SENSE1+ | 3.3V / 2 qhov hluav taws xob Voltage + ua | |
| I_OUT 1 | 16 | I_OUT 1 | Cov zis tawm 3.3V / 2 Volts | |
| I_OUT 2 | 12 | I_OUT 2 | Amplified tso zis theem A tam sim no | |
| I_OUT 3 | 9 | I_OUT 3 | Amplified tso zis theem B tam sim no | |
|
Serial DE2 interface |
||||
| TIAB SA 2 | 44 | TIAB SA 2 | Bias generator | Serial interface rau tsav configuration |
|
MOSFET rooj vag inputs |
||||
| U_Motor | 30 | PHA |
Rooj vag tswj logic |
Txuas mus rau lub cev muaj zog theem. |
| V_Motor | 29 | PHB | ||
| W_Motor | 28 | PHC | ||
|
High Side MOSFET rooj vag tsav |
||||
| HS 0 | 27 | HSA |
Rooj vag tswj logic |
Siab sab MOSFET Phase A |
| HS 1 | 26 | HSB | High sab MOSFET Phase B | |
| HS 2 | 25 | HSC | High sab MOSFET Phase C | |
|
Bootstrap |
||||
| VBA | 33 | VBA |
Rooj vag tswj logic |
Boot Strap capacitor tso zis Theem A |
| VBB | 32 | VBB | Boot Strap capacitor tso zis Theem B | |
| VBC | 31 | VBC | Boot Strap capacitor tso zis Theem C | |
|
Low Side MOSFET rooj vag tsav |
||||
| TIAB SA 0 | 21 | LSA |
Rooj vag tswj logic |
Tsawg sab MOSFET Phase A |
| TIAB SA 1 | 22 | LSB | Tsawg sab MOSFET Phase B | |
| TIAB SA 2 | 23 | LSC | Tsawg sab MOSFET Phase C | |
|
Digital I/O |
||||
| MotorGateDrv
_CEB |
3 | CE | Kev sib txuas lus chaw nres nkoj | Ua kom tus tsav tsheb MC8026 MOSFET. |
| MotorGateDrv
_ILIMIT_OUT |
15 | ILIMIT_OUT (Active low) | Motor Control Unit | |
|
Tsis muaj kev sib txuas |
||||
| - | 8 | LV_OUT1 | ||
| - | 4 | LV_OUT2 | ||
| - | 6 | HV_IN1 | ||
| - | 5 | HV_IN2 | ||
Hardware Description
Taw qhia
Lub Drone Propeller Reference Design Board yog npaj los ua kom pom lub peev xwm ntawm tus pin me me suav lub cev muaj zog tswj cov cuab yeej hauv dsPIC33EP tsev neeg ntawm ib qho tseem ceeb Digital Signal Controllers (DSCs). Lub Rooj Tswjhwm Saib tau muab cov khoom sib xyaw me me kom txo qhov hnyav. Lub cheeb tsam PCB tuaj yeem txo qis ntxiv rau qhov loj me rau cov khoom tsim tawm. Lub rooj tsavxwm tuaj yeem tsim los ntawm In System Serial Programming connector thiab suav nrog ob qhov kev nkag siab tam sim no thiab tus tsav tsheb MOSFET. Lub CAN interface connector yog muab rau kev sib txuas lus nrog lwm tus tswj thiab muab cov ntaub ntawv ceev ceev yog tias xav tau. Tus maub los lub inverter yuav siv lub tswv yim voltage nyob rau hauv qhov ntau ntawm 10V txog 14V thiab tuaj yeem xa cov khoom tso tawm tas mus li tam sim no ntawm 8A (RMS) hauv kev ua haujlwm vol.tage ntau. Yog xav paub ntxiv txog cov lus qhia txog hluav taws xob, saib Daim Ntawv Ntxiv B. “Cov Lus Qhia Txog Hluav Taws Xob”.
HARDWARE ntu
Tshooj lus no suav nrog cov khoom kho vajtse hauv qab no ntawm Drone Propeller Reference Design Board:
- dsPIC33EP32MC204 thiab cov kab hluav taws xob cuam tshuam
- Fais fab mov
- Current Sense Circuitry
- MOSFET rooj vag tsav tsheb circuitry
- Peb-theem Inverter Choj
- ICSP Header/Debugger Interface
- dsPIC33EP32MC204 thiab cov kab hluav taws xob cuam tshuam
- Fais fab mov
Controller board muaj peb tswj voltage outputs 12V, 5V thiab 3.3V tsim los ntawm MCP8026 MOSFET tsav tsheb. Lub 3.3 volts yog tsim los siv MCP8026 onboard puck regulator thiab ib qho kev tawm tswv yim. Saib lub npov liab hauv daim duab A-1 hauv seem schematics. Cov khoom siv hluav taws xob sab nraud los ntawm lub roj teeb ncaj qha mus rau lub inverter ntawm lub zog txuas. Lub 15uF capacitor muab DC lim rau kev ua haujlwm ruaj khov thaum hloov pauv ceev. Thov saib cov ntaub ntawv ntaus ntawv (MCP8026) rau cov zis tam sim no muaj peev xwm ntawm txhua qhov voltage cov zis. - Current Sense Circuitry
Tam sim no paub siv qhov nrov "ob shunt" mus kom ze. Ob lub 10-milliohm shunts muab cov tswv yim tam sim no rau cov tswv yim ntawm on-chip Op-Amps. Kev Op-Amps yog nyob rau hauv qhov sib txawv nce hom nrog nce ntawm 7.5 muab 22Amp peak theem tam sim no ntsuas muaj peev xwm. Cov amplified tam sim no teeb liab los ntawm theem A (U ib nrab choj) thiab Theem B (W ib nrab-bridge) yog hloov los ntawm dsPIC maub los firmware. Ib voltage siv nrog buffered tso zis rau 3.3V / 2 muab rau cov suab nrov tsis muaj xoom siv rau cov kev xav tam sim no. Saib seem Schematics FIGURE A-4 kom paub meej. - MOSFET rooj vag tsav tsheb circuitry
Lub rooj vag tsav yog ua haujlwm sab hauv tshwj tsis yog rau cov bootstrap capacitors thiab diodes uas nyob rau ntawm lub rooj tsavxwm thiab tsim kom nco ntsoov kom txaus tig rau ntawm MOSFETs ntawm qhov qis tshaj kev khiav hauj lwm vol.tage. Saib cov specifications rau MCP8026 kev khiav hauj lwm voltage ntau yam hauv cov ntaub ntawv.
Saib seem Schematics FIGURE A-1 kom paub meej txog kev sib txuas. - Peb-theem Inverter Choj
Lub inverter yog tus qauv 3 Ib nrab choj nrog 6 N Channel MOSFET cov cuab yeej muaj peev xwm ua haujlwm hauv txhua qhov 4 quadrants. Tus neeg tsav tsheb MOSFET ncaj qha cuam tshuam los ntawm tus nqi sib tw txwv cov kab hluav taws xob rau lub rooj vag ntawm MOSFETs. Ib tug qauv bootstrap Circuit Court muaj xws li ib tug network ntawm capacitors thiab diodes yog muab rau txhua lub siab-sab MOSFETs rau txaus tig-ON rooj vag vol.tage. Lub bootstrap capacitors thiab diodes raug ntsuas rau kev ua haujlwm puv voltage ntau yam thiab tam sim no. Cov zis ntawm peb-theem inverter choj yog muaj nyob rau ntawm U, V, thiab W rau peb theem ntawm lub cev muaj zog. Saib seem Schematics FIGURE A-4 rau kev sib txuas thiab lwm yam ntsiab lus.
ICSP Header/Debugger Interface
Programming lub Rooj Tswjhwm Saib Drone Smart: Programming thiab debugging yog ntawm tib ICSP connector ISP1. Siv PICKIT 4 rau kev pab cuam nrog PKOB connector, txuas 1 txog 1 raws li tau muab rau hauv Table 2-2. Koj tuaj yeem ua haujlwm nrog MPLAB-X IDE lossis MPLAB-X IPE. Fais fab lub rooj tsavxwm nrog 11-14 Volts. Xaiv qhov tsim nyog hex file thiab ua raws li cov lus qhia ntawm IDE/IPE. Programming tiav thaum cov lus "Programming/Verifying tiav" tshwm nyob rau hauv cov zis qhov rais.
- Xa mus rau MPLAB PICKIT 4 cov ntaub ntawv cov ntaub ntawv rau cov lus qhia debugging
HARDWARE CONNECTIONS
Tshooj lus no piav qhia txog ib txoj hauv kev los ua kom pom kev ua haujlwm ntawm Drone controller. Kev tsim qauv siv yuav tsum muaj ob peb yam ntxiv ntawm cov khoom siv sab nraud thiab lub cev muaj zog.
- 5V fais fab mov rau PWM maub los
- PWM maub los siv los muab kev siv ceev lossis potentiometer los muab qhov sib txawvtage ceev siv
- BLDC lub cev muaj zog nrog cov tsis muaj raws li tau piav qhia hauv Cov Ntawv Ntxiv B
- Lub roj teeb lub zog ntawm 11-14V thiab 1500mAH muaj peev xwm
Ib qho kev ua tau zoo lossis qauv tuaj yeem siv los hloov cov uas tau qhia ntawm no kom ua tiav kev ua haujlwm. Qhia hauv qab no yog examples ntawm cov khoom siv saum toj no thiab cov motors siv rau kev ua qauv qhia no.
PWM Controller:
BLDC lub cev muaj zog: DJI 2312
Roj teeb:
Cov lus qhia ua haujlwm: Ua raws li cov kauj ruam hauv qab no:
Nco tseg: TSIS TXAUS SIAB RAU LUB PROPELLER thaum lub sijhawm no
Kauj Ruam 1: Lub ntsiab fais fab kev sib txuas
Txuas lub roj teeb '+' thiab '-' rau VDC thiab GND terminals kom lub zog ntawm tus tswj ntse. Lub DC fais fab mov kuj tseem siv tau.
Kauj ruam 2: Ceev siv teeb liab rau tus ntse Drone maub los.
Tus maub los siv ceev cov lus siv los ntawm PWM maub los ntawm 5V max ncov. Cov zis ntawm PWM maub los muab lub hauv paus-referenced 5V teeb liab tso zis uas txuas rau 5V tolerant input pin raws li qhia hauv daim duab. Kuj pom yog qhov chaw rau kev sib txuas hauv av.
Kauj ruam 3: Fais fab mov rau PWM maub los.
Txuas lub Switching tsis tu ncua input rau lub roj teeb terminals thiab cov zis (5V) rau PWM maub los mov.
Kauj ruam 4: PWM controller configuration:
Lub teeb liab mem tes dav los ntawm PWM maub los yog validated rau lub teeb liab siv tau hauv firmware los tiv thaiv spurious tig ON thiab overspeeding. Cov maub los muaj ob lub laub khawm hloov. Xaiv hom kev ua haujlwm ntawm phau ntawv siv lub "Xaiv" hloov. Siv "Pulse Width" khawm xaiv ntawm 3 theem ntawm kev tswj ceev. Lub voj voog hloov mus txog 3 qhov sib txawv rau PWM lub luag haujlwm lub voj voog tso tawm nrog txhua tus xovxwm.
- Ntau yam 1: 4-11%
- Ntau yam 2: 10-27.5%
- Ntau yam 3: 20-55%
Cov lus qhia pom txawv ntawm 800 txog 2200 rau kev hloov pauv hauv lub voj voog ua haujlwm hauv qhov ntau. Tig lub potentiometer ntawm PWM maub los yuav nce lossis txo cov zis PWM.
Kauj ruam 5: Lub cev muaj zog terminal kev twb kev txuas:
Txuas lub motor terminals mus rau PHASE A, B, thiab C. Qhov sib lawv liag txiav txim siab ntawm kev sib hloov ntawm lub cev muaj zog. Qhov xav tau kev sib hloov ntawm Drone yog clockwise saib mus rau hauv lub cev muaj zog tiv thaiv lub kiv cua los ntawm loosening. Yog li ntawd nws yog ib qho tseem ceeb kom paub meej tias qhov kev sib hloov kev taw qhia ua ntej mounting cov hniav. Muab PWM siv lub teeb liab los ntawm tweaking lub potentiometer ntawm PWM maub los pib nrog qhov tsawg kawg nkaus pulse dav txoj hauj lwm (800). Lub cev muaj zog yuav pib spinning ntawm 7.87% lub voj voog ua haujlwm (50Hz) thiab siab dua. 7-Segment zaub qhia 1573 (7.87% lub voj voog ua haujlwm) rau 1931 (10.8% lub voj voog ua haujlwm) thaum lub cev muaj zog. Paub meej tias cov kev taw qhia ntawm kev sib hloov yog counterclockwise. Yog tsis sib pauv ob qho kev sib txuas rau lub cev muaj zog terminals. Rov qab lub potentiometer mus rau qhov chaw qis tshaj plaws.
Kauj Ruam 6: Mounting Propeller:
Disconnect roj teeb lub zog. Mount lub kiv cua los ntawm screwing nws mus rau hauv lub cev muaj zog ncej nyob rau hauv ib tug clockwise kev taw qhia. Tuav tus pas / lub cev muaj zog nrog lub caj npab ncab tawm thiab ntawm qhov chaw nyab xeeb ntawm txhua qhov teeb meem thiab tib neeg thaum ua haujlwm. Txuas lub hwj huam mov. Lub kiv cua ua haujlwm yuav tawm dag zog tawm ntawm tes thaum tig, yog li kev tuav ruaj khov yog qhov tseem ceeb los tiv thaiv lub cev raug mob. Tweak lub potentiometer hloov qhov ceev (tso qhia txog ntawm 1573 thiab 1931) Qhov no ua tiav qhov kev ua qauv qhia.
Daim duab hauv qab no qhia txog kev teeb tsa hluav taws xob tag nrho rau kev ua qauv qhia.
Schematics
BOARD SCHEMATICS
Tshooj lus no muab cov duab kos duab ntawm dsPIC33EP32MC204 Drone Propeller Reference Design. Kev tsim qauv siv plaub txheej FR4, 1.6 hli, Plated-Through-Hole (PTH) kev tsim kho.
Table A-1 qhia txog cov schematics ntawm Reference Design:
| TAB A-1: SCHEMATICS | ||
| Daim duab Index | Schematics Daim Ntawv No. | Cov khoom siv kho vajtse |
|
Daim duab A-1 |
1av 4 |
dsPIC33EP32MC204-dsPIC DSC(U1) Interconnections MCP8026-MOSFET tsav tsheb sib tshuam
3.3V analog thiab digital lim thiab tawm tswv yim network dsPIC DSC kev ua haujlwm sab hauv amplifiers rau amplifying Bus Tam sim no Bootstrap network. |
|
Daim duab A-2 |
2av 4 |
Hauv-System Serial Programming Header ISP1 CAN Kev Sib Txuas Lus Interface Header P5 Sab Nraud PWM ceev tswj Interface Header P2
Serial Debugger Interface P3 |
|
Daim duab A-3 |
3av 4 |
DC Bus Voltage scaling resistor divider Back-emf voltage scaling network
Op-Amp nce thiab siv circuitry rau theem tam sim no sensing |
| Daim duab A-4 | 4av 4 | Lub cev muaj zog tswj Inverter - Peb-theem MOSFET choj |
Daim duab A-1:
Daim duab A-2
Daim duab A-4
Hluav taws xob Specifications
Taw qhia
Tshooj lus no muab cov lus qhia tshwj xeeb rau hluav taws xob rau dsPIC33EP32MC204 Drone Motor Controller Reference Design (saib Table B-1).
ELECTRICAL SPECIFICATIONS 1:
| Parameter | Kev khiav haujlwm Ntau yam |
| Tswv yim DC Voltage | 10-14V |
| Tsis Txaus Siab Tshaj Tawm DC Voltage | 20v XNUMX |
| Qhov siab tshaj tawm tam sim no los ntawm Connector VDC thiab GND | 10 A |
| Nruam cov zis tam sim no ib theem @ 25 ° C | 44A (Peak) |
| Lub cev muaj zog Specification: DJI 2312 | |
| Motor Phase Resistance | 42-47 hli Ohms |
| Lub cev muaj zog theem inductance | 7.5 micro-Henrys |
| Motor Pole Pairs | 4 |
Nco tseg:
- Thaum ua haujlwm ntawm qhov ntsuas kub ntawm +25 ° C thiab nyob rau hauv qhov tso cai nkag DC voltage ntau yam ntawm lub rooj tsavxwm tseem nyob hauv thermal txwv rau kev txuas mus ntxiv rau ib theem tam sim no txog li 5A (RMS).
Cov Nqi Khoom Siv (BOM)
Cov Nqi Ntawm Cov Khoom
| Yam khoom | Saib | Tus neeg tsim qauv | Ntau |
| 1 | 10uF 25V 10% 1206 | C1 | 1 |
| 2 | 10uF 25V 10% 0805 | C2, C17, C18 | 3 |
| 3 | 1uF 25V 10% 0402 | C3, C5 | 2 |
| 4 | 22uF 25V 20% 0805 | C4 | 1 |
| 5 | 100nF 25V 0402 | C6 | 1 |
| 6 | 2.2uF 10V 0402 | C24, C26 | 2 |
| 7 | 1uF 25V 10% 0603 | C7, C8, C9, C10, C12, C13 | 6 |
| 8 | 100nF 50V 10% 0603 | C11, C14, C15, C20 | 4 |
| 9 | 1.8nF 50V 10% 0402 | C16 | 1 |
| 10 | 0.01uF 50V 10% 0603 | C19, C23, C27, C25 | 3 |
| 11 | 100pF 50V 5% 0603 | C21, C22 | 2 |
| 12 | 680uF 25V 10% RB2/4 | C28 | 1 |
| 13 | 5.6nF 50V 10% 0603 | C29, C30 | 2 |
| 14 | 1 N5819 SOD323 | D1, D2, D3, D7 | 4 |
| 15 | 1 N5819 SOD323 | D4, D5, D6 | 3 |
| 16 | 4.7uF 25V 10% 0805 | E1 | 1 |
| 17 | TPHR8504PL SOP8 | NMOs 1, NMOs 2, NMOs 3, NMOs 4, NMOs 5, NMOs 6 | 6 |
| 18 | 15uH 1A SMD4 * 4 | P4 | 1 |
| 19 | 200R 1% 0603 | R1, R2 | 2 |
| 20 | 0R 1% 0603 | R5, R27 | 2 |
| 21 | 47K 1% 0603 | R4, R6, R14, R24 | 4 |
| 22 | 47R 1% 0402 | R7, R8, R9, R18, R19, R20 | 6 |
| 23 | 2K 1% 0603 | R10, R37, R38, R39, R40, R42, R45, R46, R48, R49, R54, R57 | 12 |
| 24 | 300K 1% 0402 | 11, r12, 13 | 3 |
| 25 | 24.9R 1% 0603 | 15, r16, 17 | 3 |
| 26 | 100K 1% 0402 | 21, r22, 23 | 3 |
| 27 | 0.01R 1% 2010 | R25, R26 | 1 |
| 28 | 0R 1% 0805 | R28 | 1 |
| 29 | ua 1r0603 | R29 | 1 |
| 30 | 18K 1% 0603 | R30 | 1 |
| 31 | 4.99R 1% 0603 | R31 | 1 |
| 32 | 11K 1% 0603 | R32 | 1 |
| 33 | 30K 1% 0603 | R33, R34, R47, R50 | 4 |
| 34 | 300R 1% 0603 | 35, r44, 55 | 3 |
| 35 | 20k 1% 0603 | R36 | 1 |
| 36 | 12K 1% 0603 | 41, r53, 56 | 3 |
| 37 | 10K 1% 0603 | R43, R52 | 2 |
| 38 | 1k 1% 0603 | R51 | 1 |
| 39 | 330R 1% 0603 | R58, R59 | 2 |
| 40 | DSPIC33EP64MC504-I/PT TQFP44 | U1 | 1 |
| 41 | MCP8026-48L TQFP48 | U2 | 1 |
| 42 | 2 PIN-68016-106HLF | P1, P2, P3 | 3 |
| 43 | 5 PIN-68016-106HLF | ISP 1 | 1 |
| 44 | 6 PIN-68016-106HLF | P5 | 1 |
Cov qhabnias xeem
Kev sim tau ua los ua tus cwj pwm ntawm Drone Propeller Reference Design. A 12V, plaub ncej khub peb-theem PMSM Drone lub cev muaj zog qhia hauv kev teeb tsa ntawm nplooj 1 tau siv rau kev sim nrog cov hniav txuas. Table D-1 qhia txog cov txiaj ntsig kev xeem. Daim duab D-1 qhia qhov ceev vs. input zog.
Tabla D-1
Daim duab D-1
Cov ntaub ntawv / Cov ntaub ntawv
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