MICROCHIP dsPIC33EP32MC204 Drone Propeller Reference Design

Mawu Oyamba

ZATHAVIEW
Kapangidwe kake ndi njira yowunikira yotsika mtengo yomwe imayang'aniridwa ndi ma quadcopter / drone okhala ndi ma propeller oyendetsedwa ndi magawo atatu Permanent Magnet Synchronous kapena Brushless motors. Kapangidwe kameneka kamachokera ku Microchip dsPIC33EP32MC204 DSC, chipangizo chowongolera magalimoto.

Chithunzi 1-1: dsPIC33EP32MC204 Drone motor controller design 

MAWONEKEDWE

Zofunikira za Reference Design ndi izi:

• Mphamvu Yowongolera Magalimoto Atatu-Phase Stage
• Gawani ndemanga zamakono kudzera mu njira ya shunt kuti mugwire bwino ntchito
• Gawo voltagndi mayankho kuti agwiritse ntchito sensa-zochepa trapezoidal control kapena kuwuluka koyambira
• DC Bus voltagndi ndemanga za over-voltagndi chitetezo
• Mutu wa ICSP wa In-Circuit Serial Programming pogwiritsa ntchito Microchip Programmer/Debugger
• CAN Communication Mutu

DZIKO LOTSATIRA

 

Zigawo zosiyanasiyana za hardware za Reference Design zikuwonetsedwa mu Chithunzi 1-3 ndikufupikitsidwa mu Table 1-1.

CHITHUNZI 1-3: ZIGAWO ZA ZINTHU ZINA

Table 1-1 Zigawo za Hardware
Gawo	Gawo la Hardware
1	Magawo atatu amagetsi owongolera ma inverter
2	dsPIC33EP32MC204 ndi dera lofananira
3	Dalaivala wa MCP8026 MOSFET
4	CAN Interface
5	Zotsutsa Zamakono Zamakono
6	Seri Communication Interface Header
7	Mutu wa ICSP™

8	Mutu Wogwiritsa Ntchito
9	DE2 MOSFET Driver seri Interface Header

Kufotokozera Kwamawonekedwe a Board

MAU OYAMBA
Mutuwu umapereka kufotokozera mwatsatanetsatane za zolowetsa ndi zotulutsa za Drone motor controller Reference Design. Mitu yotsatirayi ikufotokozedwa:

• Zolumikizira Board
• Pin ntchito za dsPIC DSC
• Pin ntchito za MOSFET Driver

ZOLUMIKIRA BODI
Gawoli likufotokozera mwachidule zolumikizira mu Smart Drone Controller Board. Akuwonetsedwa mu Chithunzi 2-1 ndikufupikitsidwa mu Gulu 2-1.

• Kupereka mphamvu zolowera ku Smart Drone Controller Board.
• Kupereka zotsatira za inverter ku injini.
• Kupangitsa wogwiritsa ntchito kukonza/kusintha chipangizo cha dsPIC33EP32MC204.
• Kulumikizana ndi netiweki ya CAN.
• Kukhazikitsa kulumikizana kosalekeza ndi PC yolandila.
• Kupereka chizindikiro cholozera liwiro.

CHITHUNZI 2-1: ZOLUMIKIRA - Drone Motor Controller Reference Design 

ZOLUMIKIRA 2-1 

Wopanga Cholumikizira	Palibe za Pin	Mkhalidwe	Kufotokozera
Chithunzi cha ISP1	5	Okhala ndi anthu	Mutu wa ICSP™ - Interfacing Programmer/Debugger kupita ku dsPIC® DSC
P5	6	Okhala ndi anthu	Mutu wa CAN Communication Interface
P3	2	Okhala ndi anthu	Seri Communication Interface Header
P2	2	Okhala ndi anthu	Reference Speed ​​​​PWM/Analog Interface Header
PHASE A, PHASE B, PHASE C	3	Opanda Anthu	Zotsatira za magawo atatu a inverter
VDC, GND	2	Opanda Anthu	Cholumikizira cha tabu cha DC cholowetsa (VDC: Positive terminal, GND: Negative terminal)
P1	2	Okhala ndi anthu	DE2 MOSFET Driver seri Interface Header. Chonde onani Tsamba la deta la MCP8025A/6 la hardware ndi kulumikizana kwa protocol

Mutu wa ICSP ™ wa Chiyankhulo cha Programmer/Debugger (ISP1)
Mutu wa 6-pin ISP1 ukhoza kulumikizana ndi wopanga mapulogalamu, mwachitsanzoample, PICkit 4, pazolinga zamapulogalamu ndi kukonza zolakwika. Izi sizinabwere anthu. Khalani ndi Gawo Nambala 68016-106HLF kapena zofanana. Tsatanetsatane wa pini waperekedwa mu Table 2-2.

TABLE 2-2: PIN KUTANTHAUZIRA - HEADER ISP1 

Pini #	Dzina la Signal	Kufotokozera Pin
1	Mtengo wa MCLR	Device Master Clear (MCLR)
2	+ 3.3 V	Wonjezerani voltage
3	GND	Pansi
4	PGD	Device Programming Data Line (PGD)
5	PGC	Device Programming Clock Line (PGC)

CAN Communication Interface Header (P5)
Mutu wa 6-pin uwu ukhoza kugwiritsidwa ntchito polumikizana ndi netiweki ya CAN. Tsatanetsatane wa pini waperekedwa mu Table 2-3.

GUZANI 2-3: KUDZULUKA KWA PIN - HEADER P5 

Pini #	Dzina la Signal	Kufotokozera Pin
1	3.3 V	Amapereka 3.3 volts ku gawo lakunja (10 ma. Max)
2	YEMBEKEZERA	Lowetsani Signal kuti muyike chowongolera chanzeru pamalo oyimilira
3	GND	Pansi
4	Chithunzi cha CANTX	CAN transmitter (3.3 V)
5	Chithunzi cha ANRX	CAN wolandila (3.3 V)
6	Chithunzi cha DGND	Olumikizidwa ku malo adijito pa bolodi

Speed ​​​​Reference UI Header (P2)
2-pin Header P2 imagwiritsidwa ntchito popereka Speed ​​​​reference ku firmware kudzera njira ziwiri. Mapiniwo ndi otetezedwa pafupipafupi. Tsatanetsatane wa mutu P2 waperekedwa mu Table 2-2.

GUZANI 2-4: KUDZULUKA KWA PIN - HEADER P2 

Pini #	Dzina la Signal	Kufotokozera Pin
1	INPUT_FMU_PWM	Chizindikiro cha digito - PWM 50Hz, 3-5Volts, 4-85%
2	Liwiro la AD	Chizindikiro cha analogi - 0 mpaka 3.3 V

Seri Communications Header (P3)
Mutu wa 2-pin Header P3 ukhoza kugwiritsidwa ntchito kupeza zikhomo zosagwiritsidwa ntchito za microcontroller pakukulitsa ntchito kapena kukonza zolakwika, ndipo tsatanetsatane wamutu wa J3 waperekedwa mu Table 2-4.

GUZANI 2-4: KUDZULUKA KWA PIN - HEADER P3 

Pini #	Dzina la Signal	Kufotokozera Pin
1	RXL	UART - Wolandila
2	TXL	UART - Transmitter

DE2 MOSFET Driver seri Interface Header (P1)
Mutu wa 2-pin Header P1 ukhoza kugwiritsidwa ntchito kupeza zikhomo zosagwiritsidwa ntchito za microcontroller pakukulitsa ntchito kapena kukonza zolakwika, ndipo tsatanetsatane wamutu wa J3 waperekedwa mu Table 2-4.

GUZANI 2-4: KUDZULUKA KWA PIN - HEADER P1

Pini #	Dzina la Signal	Kufotokozera Pin
1	DE2	UART - DE2 Signal
2	GND	Board Ground imagwiritsidwa ntchito polumikizira kunja

Cholumikizira cha Inverter
Kapangidwe kazowunikira kumatha kuyendetsa galimoto yamagawo atatu a PMSM/BLDC. Ntchito zamapini za cholumikizira zikuwonetsedwa mu Table 2-6. Magawo olondola a mota amayenera kulumikizidwa kuti apewe kuzungulira kobwerera.

ZOKHUDZA 2-6: PIN KUTANTHAUZIRA 

Pini #	Kufotokozera Pin
PHASE A	Gawo 1 kutulutsa kwa inverter
PHASE B	Gawo 2 kutulutsa kwa inverter
PHASE C	Gawo 3 kutulutsa kwa inverter

Cholumikizira cha DC (VDC ndi GND)
Bungweli lapangidwa kuti lizigwira ntchito mu DC voltagE osiyanasiyana 11V kuti 14V, amene akhoza zoyendetsedwa kudzera zolumikizira VDC ndi GND. Tsatanetsatane wa cholumikizira chaperekedwa mu Table 2-7.

ZOKHUDZA 2-7: PIN KUTANTHAUZIRA 

Pini #	Kufotokozera Pin
VDC	Zolowetsa za DC zabwino
GND	Kuyika kwa DC kulibe

USER INTERFACE
Pali njira ziwiri zolumikizirana ndi firmware ya Smart Drone Controller kuti mupereke chidziwitso cha liwiro.

• Kulowetsa kwa PWM (Chizindikiro cha digito - PWM 50Hz, 3-5Volts, 4-55% Duty cycle)
• Analogi voltage (0 - 3.3 Volts)

Mawonekedwewa amachitika kudzera kulumikiza ku P2 cholumikizira. Onani Table 2-4 kuti mumve zambiri. Mapangidwe awa ali ndi gawo lakunja la PWM lowongolera lomwe limapereka liwiro. Woyang'anira kunja ali ndi potentiometer yake ndi 7 gawo la LED chiwonetsero. Potentiometer ingagwiritsidwe ntchito kusintha liwiro lomwe mukufuna posintha ntchito ya PWM yomwe ingakhale yosiyana ndi 4% mpaka 55%. (50Hz 4-6Volts) m'magawo atatu. Onani Gawo 3 kuti mudziwe zambiri.

PIN NTCHITO ZA dsPIC DSC
Chipangizo cha onboard dsPIC33EP32MC204 chimayang'anira mawonekedwe ake osiyanasiyana kudzera m'mizere yake ndi kuthekera kwa CPU. Ntchito zamapini za dsPIC DSC zimayikidwa m'magulu malinga ndi magwiridwe antchito awo ndikuperekedwa mu Gulu 2-9.

NTCHITO 2-9: dsPIC33EP32MC204 PIN NTCHITO

Chizindikiro	dsPIC DSC Pin Nambala	dsPIC DSC Pin Limagwira	dsPIC DSC Peripheral	Ndemanga
dsPIC DSC Configuration - Perekani, Bwezerani, Wotchi, ndi Mapulogalamu
V33	28,40	VDD	Perekani	+ 3.3V Digital kupezeka kwa dsPIC DSC
Chithunzi cha DGND	6,29,39	VSS		Digital Ground
AV33	17	AVDD		+ 3.3V Analogi ku dsPIC DSC
Mtengo wa AGND	16	Zithunzi za AVSS		Analogi Ground
OSCI	30	OSCI/CLKI/RA2	Oscillator wakunja	Palibe kulumikizana kwakunja.
Mtengo wa RST	18	Mtengo wa MCLR	Bwezerani	Ikulumikiza ku Mutu wa ICSP (ISP1)
ISPDATA	41	PGED2/ASDA2/RP37/RB5	In-Circuit Serial Programming (ICSP™) kapena Mu-circuit debugger	Ikulumikiza ku Mutu wa ICSP (ISP1)
Mtengo wa ISPCLK	42	PGEC2/ASCL2/RP38/RB6
IBUS	18	DACOUT/AN3/CMP1C/RA3	High Speed ​​Analog Comparator 1(CMP1) ndi DAC1	AmpLified Bus current imasefedwanso isanalumikizidwe ku zabwino za CMP1 kuti zizindikirike mopitilira apo. Kufikira komwe kulipo kumakhazikitsidwa kudzera pa DAC1. Kutulutsa kofananitsa kumapezeka mkati ngati kuyika zolakwika kwa majenereta a PWM kuti atseke ma PWM popanda kulowererapo kwa CPU.
Voltage Ndemanga
ADBUS	23	PGEC1/AN4/C1IN1+/RPI34/R B2	Adagawana ADC Core	DC Bus voltagndi mayankho.
Debug Interface (P3)
RXL	2	RP54/RC6	Ntchito Yobwerezabwereza ya I/O ndi UART	Zizindikiro izi zimalumikizidwa ndi Header P3 kuti igwirizane ndi kulumikizana kwamtundu wa UART.
TXL	1	TMS/ASDA1/RP41/RB9
CAN Interface (P5)
Chithunzi cha CANTX	3	RP55/RC7	CAN wolandila, transmitter ndi standby	Zizindikiro izi zimalumikizidwa ndi Header P5
Chithunzi cha ANRX	4	RP56/RC8
YEMBEKEZERA	5	RP57/RC9
Zotsatira za PWM
PWM3H	8	RP42/PWM3H/RB10	Kutulutsa kwa PWM.	Onani ku database kuti mumve zambiri.
PWM3L	9	RP43/PWM3L/RB11
PWM2H	10	RPI144/PWM2H/RB12
PWM2L	11	RPI45/PWM2L/CTPLS/RB13
PWM1H	14	RPI46/PWM1H/T3CK/RB14
PWM1L	15	RPI47/PWM1L/T5CK/RB15
Cholinga cha General I/O

I_OUT2	22	PGEC3/VREF+/AN3/RPI33/CT ED1/RB1	Adagawana ADC Core
MotorGateDr_ CE	31	OSC2/CLKO/RA3	Ndi/O Port	Imathandizira kapena kuletsa dalaivala wa MOSFET.
MotorGateDrv _ILIMIT_OUT	36	SCK1/RP151/RC3	Ndi/O Port	Chitetezo chambiri.
DE2	33	FLT32/SCL2/RP36/RB4	UART1	Doko lokonzedwanso lokonzedwa kuti likhale UART1 TX
DE2 RX1	32	SDA2/RPI24/RA8	UART1	Doko lokonzedwanso lokonzedwa kuti likhale UART1 RX
Scaled Phase voltagmuyeso
Mtengo wa PHC	21	PGED3/VREF-/ AN2/RPI132/CTED2/RB0	Adagawana ADC Core	Back emf zero cross sensing PHASE C
PHB	20	AN1/C1IN1+/RA1	Adagawana ADC Core	Back emf zero cross sensing PHASE B
PHA, Ndemanga	19	AN0/OA2OUT/RA0	Adagawana ADC Core	Back emf zero cross sensing PHASE A
Palibe kulumikizana
–	35,12,37,38
–	43,44,24
–	30,13,27

PIN NTCHITO ZA MOSFET DRIVER

Chizindikiro	MCP8026 Pin Nambala	MCP8026 Pin Limagwira	Chithunzi cha MCP8026	Ndemanga
Mphamvu ndi Ground kulumikizana
VCC_LI_PO WER	38,39	VDD	Jenereta ya tsankho	Volts 11-14
Mtengo wa PGND	36,35,24,20 , 19,7	Mtengo wa PGND		Mphamvu yamagetsi
V12	34	+ 12 V		12 Kutulutsa kwa volt
V5	41	+ 5 V		5 Kutulutsa kwa volt
LX	37	LX		Buck regulator switch node ya 3.3V kunja
FB	40	FB		Buck regulator ndemanga node ya 3.3V kunja
Kutulutsa kwa PWM
PWM3H	46	PWM3H	Kuwongolera zipata	Onani kuzipangizo zamakina kuti mumve zambiri
PWM3L	45	PWM3L
PWM2H	48	PWM2H
PWM2L	47	PWM2L
PWM1H	2	PWM1H
PWM1L	1	PWM1L
Ma pini omvera apano
I_SENSE2-	13	I_SENSE2-	Motor Control Unit	Gawo A shunt -ve
I_SENSE2+	14	I_SENSE2+		Gawo A shunt +ve
I_SENSE3-	10	I_SENSE3-		Gawo B shunt -ve. Dziwani kuti shunt iyi ili pa W half Bridge ya inverter.
I_SENSE3+	11	I_SENSE3+		Gawo B shunt +ve. Dziwani kuti shunt iyi ili pa W half Bridge ya inverter.

I_SENSE1-	17	I_SENSE1-	Motor Control Unit	Reference voltage -ve
I_SENSE1+	18	I_SENSE1+		3.3V / 2 gawo lofotokozeratage +ve
I_OUT1	16	I_OUT1		3.3 V / 2 V / XNUMX
I_OUT2	12	I_OUT2		Amplified linanena bungwe Phase A panopa
I_OUT3	9	I_OUT3		Amplified linanena bungwe Phase B panopa
Seri DE2 Interface
DE2	44	DE2	Jenereta ya tsankho	Seri mawonekedwe kwa kasinthidwe dalaivala
Zolowetsa zipata za MOSFET
U_Motor	30	PHA	Kuwongolera zipata	Imalumikizana ndi magawo a Motor.
V_Mota	29	PHB
W_Motor	28	Mtengo wa PHC
High Side MOSFET gate drive
HS0	27	Mtengo wa HSA	Kuwongolera zipata	Gawo lalikulu la MOSFET Phase A
HS1	26	HSB		Mbali yapamwamba ya MOSFET Phase B
HS2	25	HSC		Gawo lalikulu la MOSFET Phase C
Bootstrap
VBA	33	VBA	Kuwongolera zipata	Boot Strap capacitor yotulutsa Gawo A
VBB	32	VBB		Boot Strap capacitor yotulutsa Gawo B
Zithunzi za VBC	31	Zithunzi za VBC		Kutulutsa kwa Boot Strap capacitor Phase C
Low Side MOSFET chipata galimoto
Chithunzi cha LS0	21	LSA	Kuwongolera zipata	Gawo lotsika la MOSFET Phase A
Chithunzi cha LS1	22	LSB		Gawo lotsika la MOSFET Phase B
Chithunzi cha LS2	23	Zithunzi za LSC		Gawo lotsika la MOSFET Phase C
Digito I/O
MotorGateDrv _CE	3	CE	Port Communication	Imathandizira dalaivala wa MC8026 MOSFET.
MotorGateDrv _ILIMIT_OUT	15	ILIMIT_OUT ( Zotsika kwambiri)	Motor Control Unit
Palibe zolumikizira
–	8	LV_OUT1
–	4	LV_OUT2
–	6	HV_IN1
–	5	HV_IN2

Kufotokozera kwa Hardware

MAU OYAMBA
Drone Propeller Reference Design Board idapangidwa kuti iwonetse kuthekera kwa zida zazing'ono zowongolera ma pin count mu banja la dsPIC33EP la single core Digital Signal Controllers (DSCs). Gulu lowongolera limaphatikizapo zinthu zochepa zochepa kuti muchepetse kulemera. Dera la PCB likhoza kucheperachepera kukula kwa mtundu wa cholinga chopanga. Bololi litha kukonzedwa kudzera pa In System Serial Programming cholumikizira ndikuphatikiza zopinga ziwiri zamakono komanso dalaivala wa MOSFET. Cholumikizira cholumikizira cha CAN chimaperekedwa kuti tizilankhulana ndi owongolera ena komanso kuti apereke zambiri zama liwiro ngati pakufunika. Inverter ya woyang'anira imatenga voliyumu yowonjezeratage pamitundu ya 10V mpaka 14V ndipo imatha kupereka gawo lopitilirapo la 8A (RMS) mu voliyumu yomwe yatchulidwa.tagndi range. Kuti mumve zambiri pazambiri zamagetsi, onani Zowonjezera B. "Mafotokozedwe Amagetsi".

ZIGAWO ZOCHITIKA
Mutuwu ukukhudza zigawo zotsatirazi za Drone Propeller Reference Design Board:

• dsPIC33EP32MC204 ndi madera ogwirizana
• Magetsi
• Current Sense Circuitry
• MOSFET gate driver circuitry
• Mlatho wa Inverter wa magawo atatu
• ICSP Header / Debugger Interface

1. dsPIC33EP32MC204 ndi madera ogwirizana
2. Magetsi
   Gulu lowongolera lili ndi ma voliyumu atatu oyendetsedwatage zotulutsa 12V, 5V ndi 3.3V zopangidwa ndi dalaivala wa MCP8026 MOSFET. Ma 3.3 volts amapangidwa pogwiritsa ntchito MCP8026 onboard buck regulator ndi dongosolo la mayankho. Onani bokosi lofiira mu FIGURE A-1 mu gawo la schematics. Mphamvu yakunja yochokera ku batri imayikidwa mwachindunji ku inverter kudzera pazitsulo zamagetsi. Capacitor ya 15uF imapereka kusefa kwa DC kuti igwire ntchito mokhazikika pakasintha mwachangu. Chonde onani zidziwitso za chipangizocho (MCP8026) kuti mumve zambiri zamtundu uliwonsetagKutulutsa.
3. Current Sense Circuitry
   Current imamveka pogwiritsa ntchito njira yotchuka ya "two shunt". Ma shunts awiri a 10-miliohm amapereka zomwe zikuchitika pakalipano pazolowetsa za On-chip Op-Amps. The Op-Amps ali munjira yopindula ndi phindu la 7.5 kupereka 22Amp nsonga zapamwamba zomwe zilipo panopa. The ampChizindikiro chapano chochokera ku gawo A (U half-bridge) ndi Phase B (W half-bridge) chimasinthidwa ndi firmware ya dsPIC controller. A voltage reference yokhala ndi buffered ya 3.3V / 2 imapereka ziro zopanda phokoso pamagawo apano. Onani gawo la Schematics CHITHUNZI A-4 kuti mumve zambiri.
4. MOSFET gate driver circuitry
   Kuyendetsa pachipata kumayendetsedwa mkati kupatula ma bootstrap capacitors ndi ma diode omwe ali pa bolodi ndipo amapangidwa kukumbukira kuti atsegule MOSFETs pamagetsi otsika kwambiri.tage. Onani zofotokozera za MCP8026 voltagndi mndandanda wa data.
   Onani gawo la Schematics CHINTHU A-1 kuti mumve zambiri.
5. Mlatho wa Inverter wa magawo atatu
   Inverter ndiye mlatho wokhazikika wa 3 Half wokhala ndi zida za 6 N Channel MOSFET zomwe zimatha kugwira ntchito mu 4 quadrants. Dalaivala wa MOSFET amalumikizana mwachindunji kudzera muzoletsa zoletsa zophatikizira ku Gates of the MOSFETs. Dongosolo lokhazikika la bootstrap lomwe lili ndi netiweki ya ma capacitor ndi ma diode amaperekedwa pamtundu uliwonse wa MOSFET wam'mbali kuti azitha kutembenuza chipata chokwanira.tage. Ma capacitor a bootstrap ndi ma diode adavotera kuti agwire ntchito yonsetage range ndi current. Kutulutsa kwa mlatho wosinthira magawo atatu kumapezeka pa U, V, ndi W pamagawo atatu agalimoto. Onani gawo la Schematics CHITHUNZI A-4 kuti mulumikizane ndi zina.

ICSP Header / Debugger Interface
Kukonza bolodi la Smart Drone Controller: Kukonza ndi kukonza zolakwika kumadutsa cholumikizira cha ICSP ISP1. Gwiritsani ntchito PICKIT 4 kuti mupange pulogalamu ndi cholumikizira cha PKOB, cholumikizidwa 1 mpaka 1 monga zaperekedwa mu Gulu 2-2. Mutha kupanga pulogalamu ndi MPLAB-X IDE kapena MPLAB-X IPE. Yambitsani bolodi ndi 11-14 Volts. Sankhani hex yoyenera file ndikutsatira malangizo pa IDE/IPE. Kukonzekera kumatha pamene uthenga wa "Programming/Verifying complete" ukuwonetsedwa pawindo lotulutsa.

• Onani mapepala a data a MPLAB PICKIT 4 kuti mupeze malangizo owongolera

KULUMIKIZANA KWA ZAMBIRI
Gawoli likufotokoza njira yowonetsera ntchito ya wolamulira wa Drone. Mapangidwe amawu amafunikira ma module owonjezera owonjezera akunja ndi mota.

• Mphamvu ya 5V kwa wolamulira wa PWM
• Wolamulira wa PWM amagwiritsidwa ntchito popereka liwiro kapena potentiometer kuti apereke voliyumu yosiyanatage speed reference
• Galimoto ya BLDC yokhala ndi magawo monga tafotokozera mu Zowonjezera B
• Gwero lamphamvu la batri la 11-14V ndi 1500mAH mphamvu

Mapangidwe aliwonse ogwirizana atha kugwiritsidwa ntchito m'malo mwa zomwe zawonetsedwa pano kuti zigwire bwino ntchito. Zowonetsedwa pansipa ndi exampzina mwazinthu zomwe zili pamwambazi ndi ma mota omwe amagwiritsidwa ntchito pachiwonetserochi.

PWM Controller:

BLDC mota: DJI 2312

Batri:

Malangizo ogwiritsira ntchito: Tsatirani njira zotsatirazi:

Zindikirani: OSAMAMIKIRANI PROPELLER PA NTHAWI IYI

Khwerero 1: Kulumikizana kwakukulu kwa gwero lamagetsi
Lumikizani batire '+' ndi '-' ku ma terminals a VDC ndi GND kuti mupatse mphamvu wowongolera wanzeru. Mphamvu yamagetsi ya DC ingagwiritsidwenso ntchito.

Khwerero 2: Chizindikiro cholozera liwiro kwa wowongolera wanzeru wa Drone.
Woyang'anira amatenga liwiro lolowera kuchokera kwa wolamulira wa PWM pa 5V max peak. Kutulutsa kwa wolamulira wa PWM kumapereka chizindikiro cha 5V chotchulidwa pansi chomwe chimagwirizanitsa ndi pini yololera ya 5V monga momwe tawonetsera pachithunzichi. Kuwonetsedwanso ndi malo olumikizirana pansi.

Khwerero 3: Kupereka mphamvu kwa wolamulira wa PWM.
Lumikizani zolowetsa za Kusintha pafupipafupi ku ma terminals a batri ndi zotulutsa (5V) ku zowongolera za PWM.

Gawo 4: Kusintha kwa PWM controller:
Kuthamanga kwa siginecha kuchokera kwa wolamulira wa PWM kumatsimikiziridwa kuti ndi chizindikiro chovomerezeka mu firmware kuti mupewe kutembenuka molakwika ON ndi kuthamanga kwambiri. Wowongolera ali ndi ma switch awiri okankhira-batani. Sankhani njira yogwiritsira ntchito pogwiritsa ntchito "Select" switch. Gwiritsani ntchito batani la "Pulse Width" kuti musankhe pakati pa magawo atatu owongolera liwiro. Kusinthaku kumayenda m'mizere itatu ya PWM yotulutsa ntchito ndikusindikiza kulikonse.

• Mtundu 1: 4-11%
• Mtundu 2: 10-27.5%
• Mtundu 3: 20-55%

Chizindikiro chowonetsera chimasiyana kuchokera ku 800 mpaka 2200 pakusintha kwa mzere wantchito mkati mwamtunduwo. Kutembenuza potentiometer pa PWM controller kumawonjezera kapena kuchepetsa kutulutsa kwa PWM.

Khwerero 5: Kulumikiza kwa ma terminal:
Lumikizani materminal motors ku PHASE A,B, ndi C. Kutsatiraku kumasankha komwe injini imazungulira. Kuzungulira komwe kufunidwa kwa Drone ndikuyang'ana molunjika mu mota kuti chotchingira chisamasuke. Choncho ndikofunikira kutsimikizira njira yozungulira musanayike masamba. Perekani chizindikiro cha PWM pogwiritsira ntchito potentiometer pa PWM controller kuyambira ndi malo ochepa kwambiri a pulse (800). Galimotoyo idzayamba kuzungulira pa 7.87% ntchito yozungulira (50Hz) ndi kupitilira apo. Chiwonetsero cha 7-Segment chikuwonetsa 1573 (7.87% duty cycle) mpaka 1931 (10.8% duty cycle) pamene galimoto imayenda. Tsimikizirani kuti komwe kwazungulira kuli kopingasa. Ngati sichoncho, sinthani maulalo awiri aliwonse kumaterminal motor. Bweretsani potentiometer kumalo otsika kwambiri.

Khwerero 6: Kuyika Propeller:
Lumikizani mphamvu ya batri. Kwezani tsamba la propeller polikhomera mu shaft ya mota molunjika. Gwirani ndodo/motor mwamphamvu ndi mkono wotambasulidwa komanso patali ndi zopinga zonse ndi anthu pamene mukugwira ntchito. Lumikizani magetsi. Kachilomboka kamakhala ndi mphamvu padzanja pozungulira, motero kugwira mwamphamvu ndikofunikira kuti musavulaze thupi. Sinthani potentiometer kuti musinthe liwiro (chiwonetsero chikuwonetsa pakati pa 1573 ndi 1931) Izi zimamaliza chiwonetserochi.

Chithunzi chili m'munsichi chikuwonetsa kukhazikitsidwa kwa mawaya onse pachiwonetserocho.

Zojambula

BODI SCHEMATICS
Gawoli limapereka zithunzi za dsPIC33EP32MC204 Drone Propeller Reference Design. Kapangidwe kake kamagwiritsa ntchito zomanga zinayi za FR4, 1.6 mm, Plated-Through-Hole (PTH).

Table A-1 ikufotokoza mwachidule schematics ya Reference Design:

GULU A-1: ​​SCHEMATICS
Mlozera wazithunzi	Zojambula Tsamba No.	Zida Zamagetsi
Chithunzi A-1	1 mwa4	dsPIC33EP32MC204-dsPIC DSC(U1) Kulumikizana kwa madalaivala MCP8026-MOSFET 3.3V analogi ndi fyuluta ya digito ndi netiweki yamayankho dsPIC DSC mkati ntchito amplifiers kwa ampLifying Bus Current Bootstrap network.
Chithunzi A-2	2 mwa4	Mu-System Serial Programming Header ISP1 CAN Communication Interface Header P5 External PWM control control Interface Header P2 Seri Debugger Interface P3
Chithunzi A-3	3 mwa4	DC Bus voltage scaling resistor divider Back-emf voltagndi makulitsidwe network Op-Amp phindu ndi zozungulira zozungulira kuti mumve zomwe zikuchitika panopa
Chithunzi A-4	4 mwa4	Motor Control Inverter - mlatho wa magawo atatu a MOSFET

Chithunzi A-1:

Chithunzi A-2

Chithunzi A-4

Zofotokozera Zamagetsi

MAU OYAMBA
Gawoli limapereka zofunikira zamagetsi za dsPIC33EP32MC204 Drone Motor Controller Reference Design (onani Table B-1).

ZOKHUDZA DZIKO 1:

Parameter	Kuchita Mtundu
Lowetsani DC Voltage	10-14V
Mtheradi Wochuluka Kwambiri Wolowetsa DC Voltage	20V
Kulowetsa Kwambiri Panopa kudzera pa Cholumikizira VDC ndi GND	10A
Kutulutsa Kopitilira Pakalipano pagawo lililonse @ 25°C	44A (Pamwamba)

Zambiri zamagalimoto: DJI 2312
Motor Phase Resistance	42-47 miliyoni Ohms
Motor Phase Inductance	7.5 micro-Henrys
Magulu a Motor Pole	4

Zindikirani:

1. Pamene ikugwira ntchito yozungulira kutentha kwa +25 ° C komanso mkati mwazovomerezeka Input DC voltagMagulu a bolodi amakhalabe m'malire amafuta opitilira gawo lililonse mpaka 5A (RMS).

Bill of Zipangizo (BOM)

BILA YA ZINTHU

Kanthu	Ndemanga	Wopanga	Kuchuluka
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	Chithunzi cha 1N5819 SOD323	D1, D2, D3, D7	4
15	Chithunzi cha 1N5819 SOD323	D4, D5, D6	3
16	4.7uF 25V 10% 0805	E1	1
17	Mtengo wa TPHR8504PL SOP8	NMOS1, NMOS2, NMOS3,NMOS4,NMOS5,NMOS6	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	R11, 12, r13	3
25	24.9R 1% 0603	R15, 16, r17	3
26	100K 1% 0402	R21, 22, r23	3
27	0.01R 1% 2010	R25, r26	1
28	0R 1% 0805	R28	1
29	Mtengo wa 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	R35, 44, r55	3
35	20k 1% 0603	R36	1
36	12K 1% 0603	R41, 53, r56	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	Chithunzi cha ISP1	1
44	6 PIN-68016-106HLF	P5	1

Zotsatira za mayeso

Mayeso adachitidwa kuti awonetsere Drone Propeller Reference Design. 12V, ma pole awiri a magawo atatu a PMSM Drone motor yomwe yawonetsedwa pakukhazikitsa patsamba 1 idagwiritsidwa ntchito poyesa ndi masamba omwe adalumikizidwa. Table D-1 ikufotokoza mwachidule zotsatira za mayeso. Chithunzi D-1 chikuwonetsa liwiro motsutsana ndi mphamvu zolowetsa.

Gulu D-1

Chithunzi D-1

Zolemba / Zothandizira

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	MICROCHIP dsPIC33EP32MC204 Drone Propeller Reference Design [pdf] Malangizo DS70005545A, DS70005545, 70005545A, 70005545, dsPIC33EP32MC204 Drone Propeller Reference Design, dsPIC33EP32MC204, Drone Propeller Reference Design, Reference Design Design, Propeller Design Reference Design

Maumboni

• Buku Logwiritsa Ntchito