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STEVE-SPIN3201: wowongolera wapamwamba wa BLDC wokhala ndi bolodi yowunika ya STM32 MCU
Mawu Oyamba
The STEVAL-SPIN3201 board ndi 3-phase brushless DC motor driver board kutengera STSPIN32F0, wowongolera magawo atatu wokhala ndi STM3 MCU yophatikizika, ndipo amagwiritsa ntchito 32-shunt resistors ngati topology yowerengera pano.
Imapereka yankho losavuta kugwiritsa ntchito pakuwunika kwa chipangizocho pazinthu zosiyanasiyana monga zida zapakhomo, mafani, ma drones, ndi zida zamagetsi.
Bolodiyo idapangidwa kuti ikhale yowunikira kapena yopanda mphamvu yoyang'anira malo okhala ndi 3-shunt sensing.
Chithunzi 1. STEVE-SPIN3201 gulu lowunika
Zofunikira pa Hardware ndi mapulogalamu
Kugwiritsa ntchito bolodi lowunika la STEVAL-SPIN3201 kumafunikira mapulogalamu ndi zida zotsatirazi:
- Windows ® PC (XP, Vista 7, Windows 8, Windows 10) kuti muyike pulogalamuyo
- Chingwe chaching'ono cha USB cholumikizira bolodi ya STEVAL-SPIN3201 ku PC
- STM32 Motor Control Software Development Kit Rev Y (X-CUBE-MCSDK-Y)
- 3-gawo brushless DC motor yokhala ndi voliyumu yogwirizanatage ndi mavoti apano
- Mphamvu yakunja ya DC.
Kuyambapo
Mavoti apamwamba a bolodi ndi awa:
- Mphamvu stagndi voltage (VS) kuchokera 8 V mpaka 45 V
- Motor phase pano mpaka 15 Arms
Kuti muyambe ntchito yanu ndi bolodi:
Khwerero 1. Yang'anani malo odumphira molingana ndi kasinthidwe ka chandamale (onani Gawo 4.3 Kuzindikira kwakanthawi
Khwerero 2. Lumikizani galimoto ku cholumikizira J3 ndikusamalira kutsatizana kwa magawo agalimoto.
Khwerero 3. Perekani bolodi kudzera pazolowera 1 ndi 2 za cholumikizira J2. DL1 (yofiira) LED idzayatsa.
Khwerero 4. Konzani pulogalamu yanu pogwiritsa ntchito STM32 Motor Control Software Development Kit Rev Y (X-CUBEMSDK-Y).
Kufotokozera kwa Hardware ndi kasinthidwe
Chithunzi 2. Zigawo zazikulu ndi zolumikizira 'malo amasonyeza malo a zigawo zikuluzikulu ndi zolumikizira pa bolodi.
Chithunzi 2. Zigawo zazikulu ndi zolumikizira malo
Table 1. Ma jumper a Hardware amapereka chithunzithunzi chatsatanetsatane cha zolumikizira.
Table 1. Ma jumper a Hardware
| Jumper | Masinthidwe ololedwa | Mkhalidwe wofikira |
| Mtengo wa JP1 | Kusankhidwa kwa VREG yolumikizidwa ndi V motor | TSEGULANI |
| Mtengo wa JP2 | Selection motor magetsi olumikizidwa ndi magetsi a DC | CHOtsekedwa |
| Mtengo wa JP3 | Kupereka kwa Selection Hall encoder kumagetsi a USB (1) / VDD (3). | 1 – 2 YOTSEDWA |
| Mtengo wa JP4 | Kukhazikitsanso kwa ST-LINK (U4) | TSEGULANI |
| Mtengo wa JP5 | Selection PA2 yolumikizidwa ndi Hall 3 | CHOtsekedwa |
| Mtengo wa JP6 | Selection PA1 yolumikizidwa ndi Hall 2 | CHOtsekedwa |
| Mtengo wa JP7 | Selection PA0 yolumikizidwa ndi Hall 1 | CHOtsekedwa |
Table 2. Zolumikizira zina, jumper, ndi malongosoledwe a mayeso
|
Dzina |
Pin | Label |
Kufotokozera |
| J1 | 1-2 | J1 | Mphamvu zamagetsi zamagetsi |
| J2 | 1-2 | J2 | Chipangizo chachikulu chamagetsi (VM) |
| J3 | 1 – 2 – 3 | U, V, W | Kulumikizana kwa magawo atatu a BLDC motor phases |
| J4 | 1 – 2 – 3 | J4 | Cholumikizira cha Hall/encoder sensor |
| 4-5 | J4 | Masensa a Hall / encoder amapereka | |
| J5 | – | J5 | Kulowetsa kwa USB ST-LINK |
| J6 | 1 | Mtengo wa 3V3 | ST-LINK magetsi |
| 2 | Mtengo CLK | SWCLK ya ST-LINK | |
| 3 | GND | GND | |
| 4 | DIO | SWDIO ya ST-LINK | |
| J7 | 1-2 | J7 | NGOLI |
| J8 | 1-2 | J8 | ST-LINK kukonzanso |
| Mtengo wa TP1 | – | GREG | 12v gawotage regulator linanena bungwe |
| Mtengo wa TP2 | – | GND | GND |
| Mtengo wa TP3 | – | VDD | VDD |
| Mtengo wa TP4 | – | Liwiro | Kuthamanga kwa potentiometer |
| Mtengo wa TP5 | – | PA3 | PA3 GPIO (output op-amp malingaliro 1) |
| Mtengo wa TP6 | – | V-BASI | Ndemanga za VBus |
| Mtengo wa TP7 | – | OUT_U | Zotsatira U |
| Mtengo wa TP8 | – | PA4 | PA4 GPIO (output op-amp malingaliro 2) |
| Mtengo wa TP9 | – | PA5 | PA5 GPIO (output op-amp malingaliro 3) |
| Mtengo wa TP10 | – | GND | GND |
| Mtengo wa TP11 | – | OUT_V | Zotsatira V |
| Mtengo wa TP12 | – | PA7 | PA7_3FG |
| Mtengo wa TP13 | – | OUT_W | Zotsatira W |
| Mtengo wa TP14 | – | Mtengo wa 3V3 | 3V3 ST-LINK |
| Mtengo wa TP15 | – | 5V | USB voltage |
| Mtengo wa TP16 | – | Ine/O | SWD_IO |
| Mtengo wa TP17 | – | Mtengo CLK | SWD_CLK |
Kufotokozera mozungulira
STEVAL-SPIN3201 imapereka yankho lathunthu la 3-shunt FOC lopangidwa ndi STSPIN32F0 - chowongolera chapamwamba cha BLDC chokhala ndi STM32 MCU yophatikizidwa - ndi magetsi atatutagChithunzi cha NMOS STD140N6F7.
STSPIN32F0 imadzipangira yokha mphamvu zonse zofunikatages: chosinthira chamkati cha DC/DC chimapereka 3V3 ndipo chowongolera chamkati chamkati chimapereka 12 V kwa oyendetsa zipata.
Kuwongolera kwaposachedwa kwazizindikiro kumachitidwa kudzera muzochita zitatu ampma lifiers ophatikizidwa mu chipangizocho ndipo wofananira wamkati amachita chitetezo chopitilira muyeso ku zopinga za shunt.
Mabatani awiri ogwiritsa ntchito, ma LED awiri, ndi chodulira zilipo kuti mugwiritse ntchito njira zosavuta zolumikizirana ndi ogwiritsa ntchito (mwachitsanzo, kuyambitsa / kuyimitsa mota ndikukhazikitsa liwiro lomwe mukufuna).
Bolodi ya STEVAL-SPIN3201 imathandizira encoder ya quadrature ndi masensa a digito Hall ngati mayankho amagalimoto.
Bungweli limaphatikizapo ST-LINK-V2 yomwe imalola wogwiritsa ntchito kusokoneza ndikutsitsa firmware popanda zida zina zowonjezera.
4.1 Hall / encoder motor speed sensor
Bolodi lowunika la STEVAL-SPIN3201 limathandizira masensa a digito Hall ndi quadrature encoder ngati mayankho amagalimoto.
Masensa amatha kulumikizidwa ndi STSPIN32F0 kudzera pa cholumikizira cha J4 chomwe chalembedwamo
Table 3. Hall / encoder cholumikizira (J4).
| Dzina | Pin | Kufotokozera |
| Hall1/A+ | 1 | Hall sensor 1/encoder kunja kwa A+ |
| Malo 2/B+ | 2 | Hall sensor 2/encoder kunja kwa B+ |
| Hall3/Z+ | 3 | Hall sensor 3/encoder zero mayankho |
| VDD sensor | 4 | Sensor supply voltage |
| GND | 5 | Pansi |
Chitetezo cha mndandanda wa 1 kΩ imayikidwa pamndandanda wokhala ndi zotulutsa za sensor.
Kwa masensa omwe amafunikira kukokera kunja, zopinga zitatu za 10 kΩ zayikidwa kale pamizere yotulutsa ndikulumikizidwa ndi VDD vol.tage. Pamizere yomweyo, chopondapo cha zopinga zokokera pansi chiliponso.
Jumper JP3 imasankha magetsi a sensor supply voltage:
- Jumper pakati pa pini 1 - pini 2: Zomverera za Hall zoyendetsedwa ndi VUSB (5 V)
- Jumper pakati pa pini 1 - pini 2: Zomverera za Hall zoyendetsedwa ndi VDD (3.3 V)
Wogwiritsa ntchito amatha kuletsa zotulutsa za sensa kuchokera ku MCU GPIO otsegula ma jumpers JP5, JP6, ndi JP7.
4.2 Kuzindikira kwakanthawi
Mu bolodi la STEVAL-SPIN3201, mawonekedwe amakono ozindikira amachitidwa kudzera muzinthu zitatu zomwe zikugwira ntchito. ampzowunikira zophatikizidwa mu chipangizo cha STSPIN32F0.
Mu ntchito yanthawi zonse ya FOC, mafunde a milatho ya theka lachitatu amamveka pogwiritsa ntchito shunt resistor pa gwero la switch yamagetsi yotsika. Malingaliro voltagZizindikiro za e zimaperekedwa kwa chosinthira cha analogi kupita ku digito kuti athe kuwerengera matrix okhudzana ndi njira ina yowongolera. Zizindikiro zamtunduwu nthawi zambiri zimasinthidwa ndipo ampyolembedwa ndi op-amps pofuna kugwiritsa ntchito ma ADC onse (onani chithunzi 3. Panopa sensing scheme ex.ample).
Chithunzi 3. Chiwembu chamakono chomva example
Zizindikiro zomveka ziyenera kusinthidwa ndikukhazikika pa VDD/2 voltage (pafupifupi 1.65 V) ndi amplified kachiwiri zomwe zimapereka kufanana pakati pa mtengo wapamwamba wa siginecha yomwe wamva ndi kuchuluka kwathunthu kwa ADC.
Voltagndi kusintha stage imayambitsa kuchepetsedwa (1 / Gp) kwa chizindikiro cha ndemanga chomwe, pamodzi ndi phindu la kasinthidwe kosasintha (Gn, yokhazikitsidwa ndi Rn ndi Rf), imathandizira kupindula konse (G). Monga tanenera kale, cholinga chake ndikukhazikitsa zonse amplification network gain (G) kotero kuti voltage pa shunt resistor yolingana ndi kuchuluka kwa injini yololedwa pano (ISmax peak value of motor rated current) ikugwirizana ndi kuchuluka kwa voltagimawerengedwa ndi ADC.
Zindikirani kuti, G atakhazikitsidwa, ndi bwino kuyikonza pochepetsa kutsitsa koyambirira kwa 1/Gp momwe mungathere, motero phindu la Gn. Izi ndizofunikira osati kukulitsa chizindikiro ndi chiŵerengero cha phokoso komanso kuchepetsa zotsatira za op-amp intrinsic offset pa zotuluka (molingana ndi Gn).
The gain and the polarization voltage (VOPOut, pol) dziwani kuchuluka kwa ma sensing apano:
Kumene:
- IS- = pazipita sourced panopa
- IS + = pazipita zozama zapano zomwe zimatha kuzindikirika ndi ma circuitry.
Chithunzi cha 4 STEVE-SPIN3201 op-amps polarization network
|
Parameter |
Gawo lofotokozera | Rev. 1 |
Rev. 3 |
| Rp | R14, 24, r33 | 560 Ω pa | 1.78 kΩ |
| Ra | R12, 20, r29 | 8.2 kΩ | 27.4 kΩ |
| Rb | R15, 25, r34 | 560 Ω pa | 27.4 kΩ |
| Rn | R13, 21, r30 | 1 kΩ | 1.78 kΩ |
| Rf | R9, 19, r28 | 15 kΩ | 13.7 kΩ |
| Cf | C15, C19, C20 | 100 pf | NM |
| G | – | 7.74 | 7.70 |
| VOPout, pol | – | 1.74 V | 1.65 V |
4.3 Kuzindikira kwakanthawi
Bungwe lowunika la STEVAL-SPIN3201 limagwiritsa ntchito chitetezo chopitilira muyeso kutengera STSPIN32F0 yophatikizika ya OC comparator. Shunt resistors kuyeza kuchuluka kwa katundu wa gawo lililonse. Zotsutsa R50, R51, ndi R52 zimabweretsa voltage ma siginecha okhudzana ndi katundu aliyense wapano ku pini ya OC_COMP. Pamene chiwongolero chamakono chikuyenda mu gawo limodzi mwa magawo atatuwo chikudutsa malire osankhidwa, chofanizira chophatikizika chimayambika ndipo zosintha zonse zamphamvu zam'mbali zimayimitsidwa. Zosintha zamagetsi zam'mbali zam'mbali zimathandizidwanso pomwe pano zikugwera pansi, motero kuyika chitetezo chopitilira muyeso.
Zomwe zilipo pano za STEVAL-SPIN3201 zowunikira zalembedwa
Table 5. Kupitirira malire.
| PF6 | PF7 | Internal comp. polowera | Mtengo wa OC |
| 0 | 1 | 100 mv | 20 A |
| 1 | 0 | 250 mv | 65 A |
| 1 | 1 | 500 mv | 140 A |
Mipata iyi ikhoza kusinthidwa posintha R43 bias resistor. Ndibwino kusankha R43 yoposa 30 kΩ. Kuti muwerengere mtengo wa R43 pa malire apano a IOC, njira iyi ingagwiritsidwe ntchito:
pomwe OC_COMPth ndi voltage khomo la wofananira wamkati (osankhidwa ndi PF6 ndi PF7), ndipo VDD ndi 3.3 V digital supply voltage zoperekedwa ndi chosinthira chandalama chamkati cha DCDC.
Kuchotsa R43, njira yomwe ilipo pano ndiyosavuta motere:
4.4 Basi voltagndi dera
Bungwe lowunika la STEVAL-SPIN3201 limapereka mabasi voltagndi sensing. Chizindikirochi chimatumizidwa kudzera mu voltage divider kuchokera ku motor supply voltage (VBUS) (R10 ndi R16) ndikutumizidwa ku PB1 GPIO (channel 9 ya ADC) ya MCU yophatikizidwa. Chizindikirocho chimapezekanso pa TP6.
4.5 Mawonekedwe a Hardware
Bungweli lili ndi zinthu zotsatirazi za mawonekedwe a hardware:
- Potentiometer R6: imayika liwiro la chandamale, mwachitsanzoample
- Sinthani SW1: yambitsaninso STSPIN32F0 MCU ndi ST-LINK V2
- Sinthani SW2: batani la ogwiritsa 1
- Sinthani SW3: batani la ogwiritsa 2
- LED DL3: wosuta LED 1 (amayatsanso wosuta 1 batani akanikizidwa)
- LED DL4: wogwiritsa LED 2 (amayatsanso mabatani a 2 akanikizidwa)
4.6 Kusintha
Bungwe loyesa la STEVAL-SPIN3201 limayika ST-LINK/V2-1 debugger/programmer. Zomwe zimathandizidwa pa ST-LINK ndi:
- Kuwerengeranso mapulogalamu a USB
- Mawonekedwe a doko a Virtual com pa USB olumikizidwa ndi ma PB6/PB7 a STSPIN32F0 (UART1)
- Mawonekedwe osungira ambiri pa USB
Magetsi a ST-LINK amaperekedwa ndi PC yolandila kudzera pa chingwe cha USB cholumikizidwa ku J5.
LED LD2 imapereka chidziwitso cha ST-LINK: - LED yofiyira ikung'anima pang'onopang'ono: yoyatsa isanayambike USB
- Kuwala kwa LED kofiira: kutsatira kulumikizana koyamba kolondola pakati pa PC ndi ST-LINK/V2-1 (kuwerengera)
- Kuwala kofiyira KUYANTHA: Kuyambitsa pakati pa PC ndi ST-LINK/V2-1 kwatha
- Green LED ON: kuyambitsa bwino kulumikizana kwa chandamale
- Kuwala kofiira / kobiriwira kwa LED: panthawi yolankhulana ndi chandamale
- Green ON: Kuyankhulana kwatha komanso kopambana
Ntchito yokonzanso imachotsedwa pa ST-LINK pochotsa jumper J8.
Mbiri yobwereza
Gulu 6. Mbiri yokonzanso zolemba
| Tsiku | Kubwereza | Zosintha |
| 12-Dec-20161 | 1 | Kutulutsidwa koyamba. |
| 23 Nov-2017 | 2 | Wowonjezera Gawo 4.2: Zomwe zikuchitika patsamba 7. |
| 27-Feb-2018 | 3 | Zosintha zazing'ono muzolemba zonse. |
| 18 Aug-2021 | 4 | Kukonza kwakung'ono kwa template. |
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