UM2154 STEVAL-SPIN3201 Isilawuli Esithuthukisiwe se-BLDC esineManyuwali Yomsebenzisi Eshumekiwe yebhodi Lokuhlola le-STM32 MCU

impilo.augmented
UM2154

Imaniwali yosebenzisayo

I-STEVE-SPIN3201: isilawuli esithuthukisiwe se-BLDC esinebhodi lokuhlola elishumekiwe le-STM32 MCU

Okuqukethwe fihla

1 Isingeniso

2 Izingxenyekazi zekhompuyutha nezidingo zesofthiwe

3 Ukuqalisa

4 Incazelo yezingxenyekazi zekhompuyutha kanye nokucushwa

5 Incazelo yesifunda

6 Umlando wokubuyekeza

7 Amadokhumenti / Izinsiza

7.1 Izithenjwa

8 Okuthunyelwe Okuhlobene

Isingeniso

Ibhodi le-STEVAL-SPIN3201 iyibhodi yomshayeli wemoto ye-brushless DC enezigaba ezi-3 esekelwe ku-STSPIN32F0, isilawuli sezigaba ezi-3 esine-STM32 MCU edidiyelwe, futhi sisebenzisa izinto eziphikisayo ezingama-3-shunt njenge-topology yokufunda yamanje.
Ihlinzeka ngesixazululo esisebenziseka kalula sokuhlola idivayisi ezinhlelweni ezihlukene ezifana nezinto zikagesi zasekhaya, amafeni, ama-drones, namathuluzi kagesi.
Ibhodi yakhelwe i-algorithm ye-sensored or sensorless field-oriented control enenzwa engu-3-shunt.

Umfanekiso 1. STEVE-SPIN3201 ibhodi lokuhlola

Izingxenyekazi zekhompuyutha nezidingo zesofthiwe

Ukusebenzisa ibhodi lokuhlola le-STEVAL-SPIN3201 kudinga isofthiwe nehardware elandelayo:

I-Windows ® PC (XP, Vista 7, Windows 8, Windows 10) yokufaka iphakheji yesofthiwe
Intambo ye-USB mini-B yokuxhuma ibhodi le-STEVAL-SPIN3201 ku-PC

I-STM32 Motor Control Software Development Kit Rev Y (X-CUBE-MCSDK-Y)
Injini ye-DC enezigaba ezi-3 ene-voltage ehambisanayotage kanye nezilinganiso zamanje

Umthombo wamandla we-DC wangaphandle.

Ukuqalisa

Izilinganiso eziphezulu zebhodi yilezi ezilandelayo:

Amandla stage supply voltage (VS) kusuka ku-8 V kuya ku-45 V
Isigaba se-Motor okwamanje kufika ku-15 Arms

Ukuze uqale iphrojekthi yakho ngebhodi:

Isinyathelo 1. Hlola isikhundla se-jumper ngokusho kokucushwa okuhlosiwe (bheka Isigaba 4.3 Ukutholwa Kwesikhathi Esidlule
Isinyathelo 2. Xhuma injini kusixhumi J3 unakekele ukulandelana kwezigaba zemoto.
Isinyathelo 3. Nikeza ibhodi ngokusebenzisa okokufaka 1 no-2 kwesixhumi J2. I-DL1 (bomvu) LED izovuleka.
Isinyathelo 4. Yakha uhlelo lwakho lokusebenza usebenzisa i-STM32 Motor Control Software Development Kit Rev Y (X-CUBEMSDK-Y).

Incazelo yezingxenyekazi zekhompuyutha kanye nokucushwa

Umfanekiso 2. Izingxenye eziyinhloko nezikhundla zezixhumi zibonisa indawo yezingxenye eziyinhloko nezixhumi ebhodini.
Umfanekiso 2. Izikhundla eziyinhloko nezixhumi

Ithebula 1. Izixhumi ze-Hardware zokusetha zinikeza iphinikhodi enemininingwane yezixhumi.
Ithebula 1. Hardware setting jumpers

I-Jumper	Ukulungiselelwa okuvunyelwe	Isimo esizenzakalelayo
JP1	Ukukhethwa kwe-VREG exhunywe ku-V motor	VULA
JP2	Ukunikezwa kwamandla kagesi okukhethiwe okuxhunywe kugesi we-DC	KUVALIWE
JP3	Ukunikezwa kwesifaki khodi sehholo lokukhetha kuphakeli kagesi we-USB (1) / VDD (3).	1 – 2 IVALIWE
JP4	Ukusethwa kabusha kokukhethwa kwe-ST-LINK (U4)	VULA
JP5	Ukukhethwa kwe-PA2 kuxhunywe ku-Hall 3	KUVALIWE
JP6	Ukukhethwa kwe-PA1 kuxhunywe ku-Hall 2	KUVALIWE
JP7	Ukukhethwa kwe-PA0 kuxhunywe ku-Hall 1	KUVALIWE

Ithebula 2. Ezinye izixhumi, i-jumper, nencazelo yamaphoyinti okuhlola

Igama	Phina	Ilebula	Incazelo
J1	1 – 2	J1	Ukunikezwa kwamandla emoto
J2	1 – 2	J2	Ukunikezwa kwamandla okuyinhloko yedivayisi (VM)
J3	1 – 2 – 3	U, V, W	3-isigaba BLDC motor izigaba uxhumano
J4	1 – 2 – 3	J4	Isixhumi sezinzwa zehholo/somshini wokufaka ikhodi
J4	4 – 5	J4	Ukunikezwa kwezinzwa zehholo/isifaki khodi
J5	–	J5	Okokufaka kwe-USB ST-LINK
J6	1	3V3	Ukunikezwa kwamandla kwe-ST-LINK
	2	I-CLK	I-SWCLK ye-ST-LINK
	3	GND	GND
	4	I-DIO	I-SWDIO ye-ST-LINK
J7	1 – 2	J7	INQALI
J8	1 – 2	J8	Ukusetha kabusha kwe-ST-LINK
I-TP1	–	GREG	12v isiqephutagokukhiphayo kwesilawuli
I-TP2	–	GND	GND
I-TP3	–	I-VDD	I-VDD
I-TP4	–	ISIVIVINYO	Isivinini se-potentiometer okukhiphayo
I-TP5	–	PA3	I-PA3 GPIO (output op-amp umqondo 1)
I-TP6	–	I-VBUS	Impendulo ye-VBus
I-TP7	–	OUT_U	Okukhiphayo U
I-TP8	–	PA4	I-PA4 GPIO (output op-amp umqondo 2)
I-TP9	–	PA5	I-PA5 GPIO (output op-amp umqondo 3)
I-TP10	–	GND	GND
I-TP11	–	OUT_V	Okukhiphayo V
I-TP12	–	PA7	PA7_3FG
I-TP13	–	OUT_W	Okukhiphayo W
I-TP14	–	3V3	I-3V3 ST-LINK
I-TP15	–	5V	Ivolumu ye-USBtage
I-TP16	–	I/O	SWD_IO
I-TP17	–	I-CLK	SWD_CLK

Incazelo yesifunda

I-STEVAL-SPIN3201 inikeza isisombululo esiphelele se-FOC engu-3-shunt esakhiwe i-STSPIN32F0 - isilawuli esithuthukisiwe se-BLDC esine-STM32 MCU eshumekiwe - kanye namandla we-triple half-bridge power s.tagIdatha ye-NMOS STD140N6F7.
I-STSPIN32F0 ikhiqiza ngokuzenzakalelayo wonke umthamo wokunikezwayo odingekayotages: i-DC/DC buck converter yangaphakathi inikeza i-3V3 futhi isilawuli somugqa sangaphakathi sihlinzeka ngo-12 V kubashayeli bamasango.
Ukulungiswa kwesignali yempendulo yamanje kwenziwa ngokusebenzisa okuthathu kokusebenza ampama-lifiers ashumekwe kudivayisi futhi isiqhathanisi sangaphakathi senza ukuvikeleka okudlulele kuma-shunt resistors.
Izinkinobho ezimbili zomsebenzisi, ama-LED amabili, nesinqamuli kuyatholakala ukuze kusetshenziswe ukuxhumana komsebenzisi okulula (isb, ukuqala/ukumisa injini nokusetha isivinini esiqondiwe).
Ibhodi le-STEVAL-SPIN3201 lisekela isifaki khodi se-quadrature nezinzwa zeHholo ledijithali njengempendulo yokuma kwemoto.
Ibhodi lihlanganisa i-ST-LINK-V2 evumela umsebenzisi ukuthi alungise iphutha futhi alande i-firmware ngaphandle kwanoma yiliphi ithuluzi lezingxenyekazi zekhompuyutha elengeziwe.

4.1 Ihholo/inzwa yesivinini semoto
Ibhodi lokuhlola le-STEVAL-SPIN3201 lisekela Ihholo ledijithali nezinzwa zesifaki khodi se-quadrature njengempendulo yokuma kwemoto.
Izinzwa zingaxhunywa ku-STSPIN32F0 ngesixhumi se-J4 esisohlwini

Ithebula 3. Ihholo/isixhumi sekhodi (J4).

Igama	Phina	Incazelo
Ihholo1/A+	1	Inzwa yehholo 1/isishumeki esiphuma ku-A+
Ihholo2/B+	2	Inzwa yehholo 2/isishumeki esiphuma ku-B+
Ihholo3/Z+	3	Inzwa yehholo 3/isifaki khodi sempendulo enguziro
Inzwa ye-VDD	4	Ukunikezwa kwenzwa voltage
GND	5	Ground

Isivimbeli sochungechunge lokuvikela esingu-1 kΩ ifakwe ochungechungeni olunezinzwa eziphumayo.
Ezinzwa ezidinga ukudonsela phezulu kwangaphandle, izithasiselo ezintathu ezingu-10 kΩ sezivele zifakwe emigqeni yokuphumayo futhi zixhunywe ku-VDD vol.tage. Emigqeni efanayo, isigxivizo sonyawo sezinto eziphikisayo zokudonsela phansi siyatholakala.

I-jumper JP3 ikhetha ukunikezwa kwamandla kwe-sensor supply voltage:

Igxuma phakathi kwephinikhodi 1 – iphinikhodi 2: Izinzwa zehholo ezinikwa amandla yi-VUSB (5 V)

Jumper phakathi kwephinikhodi 1 – pin 2: Izinzwa zehholo ezinikwa amandla yi-VDD (3.3 V)
Umsebenzisi anganqamula ukuphuma kwenzwa ku-MCU GPIO yokuvula ama-jumper JP5, JP6, kanye ne-JP7.

4.2 Izinzwa zamanje

Ebhodini le-STEVAL-SPIN3201, isimo sesignali sezinzwa samanje senziwa ngokuthathu kokusebenza. ampama-lifiers ashumekwe kudivayisi ye-STSPIN32F0.
Kuhlelo lokusebenza olujwayelekile lwe-FOC, amaza kumabhuloho angamahhafu amathathu azwakala kusetshenziswa i-shunt resistor kumthombo weswishi yamandla ehlangothini oluphansi ngalunye. Umqondo voltagamasignali e-e anikezwa kusiguquli se-analog-to-digital ukuze senze ukubala kwe-matrix okuhlobene nendlela ethile yokulawula. Lezo zimpawu zenzwa zivame ukuguqulwa futhi ampkuvezwe yi-op-amps ukuze kusetshenziswe uhla oluphelele lwe-ADC (bheka uMdwebo 3. Isikimu sezinzwa samanje example).

Umfanekiso 3. Uhlelo lwamanje lwezinzwa example

Amasignali enzwa kufanele agudluzwe futhi agxile ku-VDD/2 voltage (cishe 1.65 V) kanye ampi-lified futhi ehlinzeka ngokumatanisa phakathi kwevelu enkulu yesiginali ezwayo kanye nobubanzi besikali esigcwele se-ADC.
IVoltage ukushintsha stagethula ukuncishiswa (1/Gp) kwesignali yempendulo, kanye nenzuzo yokucushwa okungaguquki (i-Gn, elungiswe yi-Rn ne-Rf), inikele ekuzuzeni iyonke (G). Njengoba sekushiwo, inhloso ukusungula jikelele ampi-liification network gain (G) ukuze i-voltagI-e ku-shunt resistor ehambisana nobuningi benjini evunyelwe yamanje (ISmax peak value of motor rated current) ilingana nobubanzi bevolthitagifundeka yi-ADC.

Qaphela ukuthi, uma i-G isilungisiwe, kungcono ukuyimisa ngokwehlisa i-attenuation yokuqala 1/Gp ngangokunokwenzeka futhi, ngenxa yalokho, ukuzuza kwe-Gn. Lokhu kubalulekile hhayi nje ukukhulisa isignali ngesilinganiso somsindo kodwa futhi nokunciphisa umphumela we-op-amp I-intrinsic offset kokuphumayo (ngokulingana ne-Gn).

Inzuzo kanye ne-polarization voltage (VOPOut, pol) inquma uhla lokusebenza lwesekhethi yamanje yezinzwa:

Kuphi:

IS- = ubuningi bamanje obutholakala kumthombo
IS+ = umthamo omkhulu wamanje ocwile ongazwakala yi-circuitry.

Ithebula 4. STEVE-SPIN3201 op-ampinethiwekhi ye-polarization

Ipharamitha	Ingxenye yesithenjwa	I-Rev. 1	I-Rev. 3
Rp	R14, R24, R33	560 Ω	1.78 k XNUMX
Ra	R12, R20, R29	8.2 k XNUMX	27.4 k XNUMX
Rb	R15, R25, R34	560 Ω	27.4 k XNUMX
Rn	R13, R21, R30	1 k XNUMX	1.78 k XNUMX
Rf	R9, R19, R28	15 k XNUMX	13.7 k XNUMX
Cf	C15, C19, C20	100 pf	NM
G	–	7.74	7.70
VOPout, pol	–	1.74 V	1.65 V

4.3 Ukutholwa kwesikhathi esedlule

Ibhodi lokuhlola le-STEVAL-SPIN3201 lisebenzisa ukuvikela okudlulele okususelwe kusiqhathanisi se-OC esihlanganisiwe se-STSPIN32F0. Ama-shunt resistors akala umthamo wamanje wesigaba ngasinye. Ama-resistor u-R50, u-R51, no-R52 aletha ivolumutagamasiginali ahlotshaniswa nomthwalo ngamunye wamanje kuphinikhodi ye-OC_COMP. Lapho umthamo wamanje ogeleza kwesinye sezigaba ezintathu udlula umkhawulo okhethiwe, isiqhathanisi esihlanganisiwe siyaqaliswa futhi wonke amaswishi amandla aseceleni okuphezulu avaliwe. Ukushintsha kwamandla ohlangothini oluphezulu kunikwa amandla futhi uma owamanje uwela ngaphansi komkhawulo, ngaleyo ndlela kusetshenziswa ukuvikela okudlulele.
Imikhawulo yamanje yebhodi lokuhlola le-STEVAL-SPIN3201 isohlwini

Ithebula 5. Ama-threshold adlulele.

PF6	PF7	Ikhompiyutha yangaphakathi. umbundu	Umkhawulo we-OC
0	1	100 mV	20 A
1	0	250 mV	65 A
1	1	500 mV	140 A

Le mikhawulo ingashintshwa ngokushintsha i-R43 bias resistor. Kunconywa ukukhetha u-R43 ngaphezulu kuka-30 kΩ. Ukuze kubalwe inani lika-R43 lomkhawulo wamanje oqondiwe we-IOC, le fomula elandelayo ingasetshenziswa:

lapho OC_COMPth kuyivolumutagi-threshold yesiqhathaniso sangaphakathi (ekhethwe yi-PF6 ne-PF7), futhi i-VDD ingu-3.3 V we-digital supply voltage inikezwe isiguquli semali ye-DCDC sangaphakathi.
Ukukhipha i-R43, ifomula yamanje ye-threshold yenziwa ibe lula ngale ndlela elandelayo:

4.4 Ibhasi voltage isekethe

Ibhodi lokuhlola le-STEVAL-SPIN3201 lihlinzeka ngomthamo webhasitage ukuzwa. Lesi siginali sithunyelwa nge-voltagi-e divider evela ku-motor supply voltage (VBUS) (R10 kanye ne-R16) futhi ithunyelwe ku-PB1 GPIO (umzila 9 we-ADC) we-MCU eshumekiwe. Isiginali iyatholakala naku-TP6.

4.5 I-Hardware interface yomsebenzisi

Ibhodi lihlanganisa izinto ezilandelayo zokusebenzelana kwehadiwe:

I-Potentiometer R6: isetha isivinini esiqondiwe, ngokwesiboneloample
Shintsha i-SW1: kusetha kabusha i-STSPIN32F0 MCU kanye ne-ST-LINK V2

Shintsha i-SW2: inkinobho yomsebenzisi 1
Shintsha i-SW3: inkinobho yomsebenzisi 2
I-LED DL3: umsebenzisi i-LED 1 (iphinde ivule uma inkinobho yomsebenzisi engu-1 icindezelwa)

I-LED DL4: i-LED 2 yomsebenzisi (iphinde ivule uma izinkinobho zomsebenzisi 2 zicindezelwa)

4.6 Ukulungisa iphutha

Ibhodi lokuhlola le-STEVAL-SPIN3201 lishumeka i-ST-LINK/V2-1 debugger/programmer. Izici ezisekelwe ku-ST-LINK yilezi:

Ukubalwa kabusha kwesoftware ye-USB
I-Virtual com port interface ku-USB exhunywe kumaphinikhodi we-PB6/PB7 we-STSPIN32F0 (UART1)
Isitoreji esiningi ku-USB
Ukunikezwa kwamandla kwe-ST-LINK kunikezwa i-PC yomsingathi ngentambo ye-USB exhunywe ku-J5.
I-LED LD2 inikeza ulwazi lwesimo sokuxhumana se-ST-LINK:

I-LED ebomvu ibaneka kancane: ivuliwe ngaphambi kokuqaliswa kwe-USB
I-LED ebomvu ibaneka ngokushesha: kulandela ukuxhumana okulungile kokuqala phakathi kwe-PC kanye ne-ST-LINK/V2-1 (ukubala)
I-LED Ebomvu IVULIWE: ukuqalisa phakathi kwe-PC kanye ne-ST-LINK/V2-1 kuqediwe

I-LED eluhlaza IVALIWE: ukuqaliswa ngempumelelo kokuxhumana okuqondiwe
Ukukhanyisa kwe-LED okubomvu/okuluhlaza: ngesikhathi sokuxhumana nokuhlosiwe
I-Green ON: ukuxhumana kuphelile futhi kuphumelele
Umsebenzi wokusetha kabusha unqanyuliwe ku-ST-LINK ngokukhipha i-jumper J8.

Umlando wokubuyekeza

Ithebula 6. Umlando wokubuyekeza idokhumenti

Usuku	Buyekeza	Izinguquko
12-Dec-20161	1	Ukukhishwa kokuqala.
23-Nov-2017	2	Kwengezwe Isigaba 4.2: Izinzwa zamanje ekhasini 7.
27-Feb-2018	3	Izinguquko ezincane kuyo yonke idokhumenti.
18-Aug-2021	4	Ukulungiswa kwesifanekiso esincane.

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