953MCL Motor Control Hands-On Using PIC18FXX31 Microcontrollers

953 MCL
Motor Control hands-on using PIC18FXX31 Microcontrollers
2005 Microchip Technology Incorporated. All Rights Reserved.
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Agenda & Timeline

PIC18FXX31 family overview Training board overview High speed ADC features Initialize ADC : Lab1& discuss answer Motion Feedback Module(MFM) features Initialize MFM : Lab2 & discuss answer Power Control PWM(PCPWM) features Initialize PCPWM : Lab3 & discuss answer Overview of BLDC motor control using PIC18FXX31 BLDC speed control: Lab4 & discuss answer Motor control resources from Microchip Q&A
Class
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Motor Control PIC MCUs

Mid-Range PIC16 series

PIC16F684/716 14/18 pin

ECCP, ADCs and comparators 3 CCPs, ADCs and Comparators
PIC16F7X7 series 28/40 pin

High end PIC18 series- This class

PIC18FXX31 series 28/40 pin

Power Control PWM (PCPWM), High-speed ADCs and Motion Feedback Module (MFM) dsPIC digital signal controller family
dsPIC2010 to dsPIC6010 28 pin to 80 pin

Power Control PWM (PCPWM), High-speed ADCs and Motion Feedback Module (MFM)
Class
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You should have.

1) 2) 3) 4) 5) MPLAB IDE V7.10 or higher installed Complete MPLAB ICD2 setup BLDC motor control board(05-60001) 24V power supply for the above board Hurst(NTDynamo) BLDC motor with

Power cable (4 wires with white square connector) and Hall sensor cable (5 wires with 8 pin inline connector)
6) Circuit schematic of BLDC motor control board 7) Datasheet of PIC18F2331/2431/4331/4431
Class
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PIC18FXX31 Spec. Overview

Features
Packages Program memory bytes RAM bytes EEPROM bytes I/O ports CCP module Timers Serial I/O Failsafe Clock monitor Power manage modes ICSP,PBOR, LVD Max. speed
PIC18F2331 PIC18F2431 PIC18F4331 PIC18F4431

28SP,28SO 8192 768 256 22 2 3-16Bit,1-8bit, 1-WDT EUSART/I2C/SPI Yes RUN, IDLE and SLEEP Yes 40 MHz 28SP,28SO 16384 768 256 22 2 3-16Bit,1-8bit, 1-WDT EUSART/I2C/SPI Yes RUN, IDLE and SLEEP Yes 40 MHz 40P,44L,44PT 8192 768 256 34 2 3-16Bit,1-8bit, 1-WDT EUSART/I2C/SPI Yes RUN, IDLE and SLEEP Yes 40 MHz 40P,44ML, 44L,44PT 16384 768 256 34 2 3-16Bit,1-8bit, 1-WDT EUSART/I2C/SPI Yes RUN, IDLE and SLEEP Yes 40 MHz
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PIC18FXX31 Features For Motor Control

Features PIC18F2331 PIC18F2431 PIC18F4331 PIC18F4431
Power Control PWM module Timer5 module Input Capture 3 channels w/ complementary outputs yes 3 3 channels w/ complementary outputs yes 3 QEA, QEB, INDX 4 channels w/ complementary outputs yes 3 4 channels w/ complementary outputs yes 3
Quadrature Encoder QEA, QEB, INDX Interface High-Speed ADC 5 10bit channels External Fault 2 Inputs
QEA, QEB, INDX QEA, QEB, INDX
5 10bit 2
9 10bit 2
9 10bit 2
Class
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PIC18Fxx31 overview
Class
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Pinout (40-pin devices)

/MCLR/Vpp/RE3 RA0/AN0 RA1/AN1 RA2/AN2/Vref-/CAP1/INDX RA3/AN3/Vref+/CAP2/QEA RA4/AN4/CAP3/QEB RA5/AN5/LVDIN RE0/AN6 RE1/AN7 RE2/AN8 AVdd AVss OSC1/CLKI/RA7 OSC2/CLKO/RA6 RC0/T1OSO/T1CKI RC1/CCP2/T1OSI/~FLTA RC2/CCP1/~FLTB RC3/T0CKI/GPCKI/INT0 RD0/T0CKI/T5CKI RD1/SDO
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Class
40 RB7/KBI3/PGD 39 RB6/KBI2/PGC 38 RB5/KBI1/PWM4/PGM 37 RB4/KBIO/PWM5 36 RB3/PWM3
PIC18F4431
35 RB2/PWM2 34 RB1/PWM1 33 RB0/PWM0 32 Vdd 31 Vss 30 RD7/PWM7 29 28 27 26 25 24 RD6/PWM6 RD5/PWM4 RD4/~FLTA RC7/RX/DT/SDO RC6/TX/CK/~SS RC5/INT2/SCK/SCL
23 RC4/INT1/SDI/SDA 22 RD3/SCK/SCL 21 RD2/SDI/SDA Slide 8
Pinout (28-pin devices)

/MCLR/Vpp/RE3 1 RA0/AN0 RA1/AN1 RA2/AN2/Vref-/CAP1/INDX RA3/AN3/Vref+/CAP2/QEA RA4/AN4/CAP3/ QEB AVdd AVss OSC1/CLKI/RA7 OSC2/CLKO/RA6 RC0/T1OSO/T1CKI RC1/T1OSI/CCP2/~FLTA 2 3 4 5 6 7 8 9 10 11 12 28 RB7/PGD 27 RB6/PGC 26 RB5/PGM/PWM4 25 RB4/PWM5
PIC18F2431
24 RB3/PWM3 23 RB2/PWM2 22 RB1/PWM1 21 RB0/PWM0 20 VDD 19 Vss 18 RC7/RX/DT 17 RC6/TX/CK 16 RC5/INT2/SDO 15 RC4/INT1/SDI/SDA
RC2/CCP1/~FLTB 13 RC3/T0CKI/T5CKI/INT0 14
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Training Board Overview
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10
Training Board
PIC18F2431 Power Supply connector S1 Reset Pot REF S2 FWD/REV S3 RUN/STOP Serial Connector
Shunt Resistor
ICD 2 Connector Current Limit Pot

Class
Motor Connectors
Slide 11
Training Board
Power MOSFETs
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12
Jumpers and LEDs

PIC18F2431 Jumper J2 LEDs PWM0 to PWM5
Jumper J15 D7 Power LED LEDs D1 D2 D3 Jumpers J7, J8, J11, J12, J13, J14
2005 Microchip Technology Incorporated. All Rights Reserved. Class
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13
Default Jumper settings

J2(2 pin) - shorted. J15(3 pin) - shorted between pin 2 & 3

(short link towards the crystal oscillator)
J7, J11 and J13 - shorted between pin 1 & 2

(short link towards the ICD2 connector)
J8, J12, J14, J16 and J17 keep open

Keep Potentiometer REF(R14) completely turned counter clockwise Keep Potentiometer R60 completely turned clockwise
Class
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14
Hardware Block Diagram

Power supply
AC input Motor current REF
/MCLR AN0 AN1 AN2/IC1 1 2 3 28 27 26 25 RB7/PGD RB6/PGC PWM4 PWM5 PWM3 PWM2 PWM1 PWM0 Vdd Vss RC7/RX RC6/TX RC5/INT2 RC4/INT1
+15V +5V Gnd +24V

B-Low B-High Y-High Y-Low R-High R-Low
M1
PIC18F2431
Hall sensors
4 AN3/IC2 5 AN4/IC3 6 AVdd 7 AVss 8 OSC1 9 OSC2 10 RC0 11 /FLTA/CCP2 12
24 23 22 21 20 19 18 17 16 15
3 phase Inverter bridge

IM Shunt
M2 M3
BLDC Motor
HA HB HC
Motor current IM
/FLTB/CCP1 RC3/INT0
J9
13 14
Hall sensors
R60
IREFERENCE
Class
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15
Program flow - Main routines

Start
Initialize ADC Initialize MFM Initialize PCPWM
(LAB1-a) (LAB2) (LAB3)
Commutation sequence table
(LAB4-a)
Main_loop
Calculate PWM duty cycle Switch S2 and S3 check Exercises you need to do
Class
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Program flow - ISR routines

ISR_HIGH IC1/IC2/IC3 ISR? Read PORTA<4:2> states and display on D1/2/3 Update commutation sequence Update Speed Reference and motor current Filter the FaultA and indicate Motor Over current RETFIE
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(LAB4-b)
(LAB1-b)
ADC ISR? Read FIFO
PWM ISR?
Read FaultA status
Exercises you need to do

High-speed ADC module
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18
High-Speed ADC

Up to 9 channels Simultaneous two-channel sampling Two S/H circuits and 1 conversion circuit Sequential sampling of 1, 2, or 4 channels Auto-conversion capability 4-word FIFO with selectable interrupt frequency Selectable external triggers Programmable acquisition time
Class
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19
ADC Functional Block Diagram

Vref select AVdd AVss Vref+ VrefVref Mux AVrefAVref+
MUX
S/H-1 Ch. Sel 1 2 3 4
10 10 10 10
AN1 AN5 AN3 AN7
B B D D
Analog Mux
S/H2
4x10-bit FIFO
S/H-1 Ch. Sel
Input mux control
Not available on 28 pin devices

S/H-2 Ch. Sel

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Class
8 bit data bus
AN0 AN4 AN8 AN2 AN6
A A A C C
ADC ADC
Analog Mux S/H1
Conversion logic ADRESH,ADRESL
ADC Modes of Operation

ADC Mode
Multi-channel sequential Mode 1 (SEQM1) Multi-channel sequential Mode 2 (SEQM2) Multi-channel simultaneous Mode 1 ( STNM1) Multi-channel simultaneous Mode 2 (STNM2)
Description
A & B are sampled and converted sequentially A,B,C& D are sampled and converted sequentially A & B sampled simultaneously and converted sequentially A & B sampled simultaneously and converted sequentially. Then C & D sampled simultaneously and converted sequentially. A is sampled and converted B is sampled and converted C is sampled and converted D is sampled and converted The sequence is executed once The sequence is executed continuously
Class
Single Channel mode 1 (SCM1) Single Channel mode 2 (SCM2) Single Channel mode 3 (SCM3) Single Channel mode 4 (SCM4) Auto conversion Single shot mode Auto conversion continuous loop mode
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ADC Control Registers

SFR
ADCON0 ADCON1 ADCON2 ADCON3 ADCHS ANSEL0 ANSEL1 Bit7 --Bit 6 --Bit 5 Auto CONV --Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Auto Auto Conv mode GO/ ADON SCH ACMOD<1:0> Done Vref source FIFO FIFO FIFO FIFO read VCFG<1:0> EN empty Ovrfl pointer AD A/D acquisition time selection A/D clock select format ACQT<3:0> ADCS<2:0> A/D int select --A/D trigger source select SSRC<4:0> Sample D Sample B Sample C Sample A SDSEL<1:0> SBSEL<1:0> SCSEL<1:0> SASEL<1:0> Pin input select: Analog/digital ANS<7:0> Pin input select: Analog/digital ANS<15:8>
Trigger Sources ADCON3<4:0> RBO/INT pin xxxx1 Timer5 Overflow xxx1x Input Capture 1 xx1xx CCP2 Compare x1xxx PCPWM 1xxxx
Interrupt Options Each write to FIFO 2nd & 4th write to FIFO Every 4th write to FIFO
ADCON3<7:6> 00 01 10
(These options ignored in single shot mode.)

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22
Lab 1a and 1b Initializing AD Converter Module

Duration : 20 minutes Note : Do not connect any of the motor cables to the board at this time.
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23
Lab 1a & 1b

Goal : To get familiarized with new high speed A/D module Task : Initialize ADC to read potentiometer(REF) and motor current Steps:

Create a project in MPLAB IDE V6.42 or higher Select PIC18F2431 as the target device Add EX1.asm and linker script(18f2431i.lkr) file to the project Select ICD2 as debugger Open EX1.asm, Go to START LAB-1a HERE and initialize ADC Go to START LAB-1b HERE and read ADC result Follow the instructions given in the code
Jumper J15 should be between 2-3 (towards crystal)

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Lab 1a & 1b - Hints

REF pot connected to AN1 Motor current feedback connected to AN0 Enable appropriate multi channel conversion mode Left justified result Enable FIFO Interrupt when 2nd and 4th word written to FIFO Enable appropriate analog channels for conversion
Note : Do not connect any of the motor cables to the board at this time.
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Lab 1a & 1b - Result

Build, program the part and run the program Rotate clockwise the pot. REF slowly LEDs D1, D2 and D3 should turn on @ approx. 30%, 60% and 90% of the pot level respectively Press either switch S2 or S3 LEDs D1, D2 and D3 should turn ON and OFF sequentially.
Class
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26
Motion Feedback Module (MFM)

Quadrature Encoder Interface (QEI) Input Captures (IC)
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27
Quadrature Encoder Interface

Two phase inputs (QEA, QEB) and one index input interface Two level position tracking: x2 and x4 Direction detection Velocity measurement mode :
Programmable postscaler for high-speed velocity measurement
Programmable digital filters on each input pin
Class
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28
QEI Block Diagram

Clock Divider
INDEX/IC1 Tcy
Digital Filter Logic Digital Filter Logic
Velocity Quadrature Decoder Logic
Postscaler Clock
Velocity capture
QEA/IC2
Digital Filter Logic

QEB/IC3
Direction
COUNTER 16-Bit Up/Down Counter
Reset
Comparator Max Counter
Position interrupt
Class
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8 bit data bus

29
Velocity interrupt
QEI Position Tracking Mode

Forward Reverse
QEA QEB
++++++++++++++++++++++++ - - - - - - - - - - - - - - - - - - - - 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 0000 0001 0002
Position counter
0003 0002 0001 0000 1541 1540 1539 1538 1537 1536 1535 1534 1533 1532 1531 1530 1529 1528 1527 1526 1525 1524 1523 1522
Class
Max counter = 1541 Index FWD/ REV Interrupts

Position Direction Position Max count change Max count
Position Index
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Noise filters
Clock 3 cycles Filter Input (Pin) Filter output Noise
Class
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31
QEI - Velocity Measurement
QEA QEB Vel_out Vel_capture

1234 1246
Timer5 Vel_REG Interrupt
+1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1+1 +1 +1 +1 +1 +1 +1 +1 +1 +1
Old value 1234 1246
Class
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32
Input Capture Block Diagram

Clock Divider Tcy
IC1
Digital Filter Logic Digital Filter Logic Digital Filter Logic
Prescale & mode select
CAPxBUF
IC2
IC3
Timer 5 Timer5 Reset control
Timer 5 Logic
Class
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33
Input Capture Modes

Edge capture mode - Every falling edge
Edge capture mode - Every rising edge
Edge capture mode - Every 4th rising edge

1 2 3 4
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34
Input Capture Modes

Edge capture mode - Every 16th rising edge
1 2 15 16
Period measurement mode Rising edge to rising edge
Timer5
Special event trigger modes: a) Trigger on every falling edge of CAP1 input only b) Trigger on every rising edge of CAP1 input only
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35
Input Capture Modes

Pulse width measurement mode Falling edge to rising edge
Pulse
Timer5 Interrupt
Pulse width measurement mode Rising edge to falling edge

Pulse
Timer5 Interrupt
Class
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36
Capture for Hall Sensors

Input capture on state change mode : Time base is capture on every CAPx input state change
State 3 State 4 State 5 1 1 1 State 2 State 6 State 1
Capture 1 Capture 2 Capture 3 Time Base

0000h
1 0 1
1 0 0
1 1 0
0 1 0
CAP1BUF CAP2BUF CAP3BUF Time Base Reset

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37
Lab 2 Initialization of MFM module

Duration : 20 minutes DO NOT connect motor power cable to the board at this time
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38
Lab 2
Goal : To get familiarized with Motion Feedback Module(MFM) Task : Initialize MFM to interface with 3 Hall sensors Steps:

Create a project in MPLAB IDE V6.42 or higher Select PIC18F2431 as the target device Add EX2.asm and linker script(18f2431i.lkr) file to the project Select ICD 2 as debugger Open EX2.asm, go to START LAB-2 HERE and initialize MFM
Class
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39
Lab 2 - Hints

IC1, IC2 and IC3 pins are used for Hall sensor interface Enable capture on every CAPx state change mode Disable QEI modes Enable interrupt on every IC transition Make Hall sensor connections on connector J9 as follows:

RED : Connect to +5V BLACK : Connect to WHITE : Connect to HA (IC1) BROWN : Connect to HB (IC2) GREEN : Connect to HC (IC3)
DO NOT connect motor power cable to the board at this time

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40
Lab 2 - Result

Build, program the part and run the program Rotate clockwise the pot. REF slowly and observe LEDs D1, D2 and D3 should turn on @ approx. 30%, 60% and 90% of the pot level respectively Press either switch S2 or S3 Spin the rotor with hand, LEDs D1/D2/D3 should turn on and off every 12 degrees of rotor rotation Check the correct sequence:

D1 Step1 Step2 ON ON
D2 OFF ON ON ON OFF OFF
D3 OFF OFF OFF ON ON ON
Step3 OFF Step4 OFF Step5 OFF Step6 ON
Rotate the rotor and keep only D1 ON Turn the rotor by a step (12 degrees) in clockwise when viewed from driving end and follow the table
Class
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41
Power Control PWM Module (PCPWM)
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42
Power Control PWM Module

Designed for power and motor control

Single phase and Three-phase AC-Induction Motor Multiple DC Brush Motors Brushless DC Motor UPS Switched Reluctance Motor
Class
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43
PCPWM Features

Up to 4 channels with complimentary output Edge or center-aligned operation Flexible dead-band generator 50 nS to 25.6 uS @ 40 MHz Hardware fault protection inputs Simultaneous update of duty cycle and period Flexible Special Event trigger output Output override features
Class
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44
PCPWM Functional Block Diagram

PWMCON 0 PWMCON 1 DTCON FLTCON OVDCON<D/S> PTCON PWM Enable and Mode SFRs Dead Time Control Fault Pin Control SFR PWM Override PWM Timer modes PWM Generator #2
PDC compare output PWM 1/3/5/7 PWM 0/2/4/6
DT
DT
8 bit data bus
PDC2 Buffer PWM Timer (PTMR) Comparator Period register (PTPER) PDC2 Comparator PWM Generator #1 PWM Generator #0 Comparator SEVTCMP
Slide 45 Special Event Trigger
Dead time Generator and Override logic
PWM5 PWM4
Output driver block
PWM3 PWM2 PWM1 PWM0 FLTA
Class
Edge-aligned PWM
PWM period
PTMR=PTPER PDC0 PDC1 PDC2 PDC3 PTMR=0
PWM1 PWM3 PWM5 PWM7 Interrupt

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46
Center-aligned PWM
PWM period
PTMR=PTPER PDC0 PDC1 PDC2 PDC3 PTMR=0
PWM1 PWM3 PWM5 PWM7
Class
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47
PWM Resolution
PWM period PTMR PWM1 PWM3 PWM5 PWM7 Q1Q2 Q3 Q4 n PTPER = 0xn 000 001 Q1Q2 Q3 Q4 n-1 n
PDC0 = 0xn(12 bits)+00 PDC1 = 0xn(12 bits)+01 PDC2 = 0xn(12 bits)+10 PDC3 = 0xn(12 bits)+11
Note: When PDCx > PTPER, output will always be active.

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48
PWM Frequency vs. Resolution

Edge aligned mode: PWMfrequency = (PTPER+1) x (PTMRprescalevalue)
Fosc/4 Center aligned mode: PWMfrequency = 2 x PTPER x (PTMRprescalevalue) Fosc log( Fpwm Resolution = log(2) Fosc/4
Edge aligned mode: Frequency v/s resolution
Fosc 40 MHz 40 MHz 40 MHz 40 MHz 40 MHz 40 MHz 40 MHz 40 MHz 40 MHz 25 MHz 10 MHz
Class
MIPS 10 10 10 10 10 10 10 10 10 6.25 2.5
PTPER value 0xFFF 0x7FF 0x3FF 0x1FF 0x0FF 0x07F 0x03F 0x01F 0x00F 0x0FF 0x0FF
PWM resolution 14 bits 13 bits 12 bits 11 bits 10 bits 9 bits 8 bits 7 bits 6 bits 10 bits 10 bits
PWM frequency 2.4 KHz 4.9 KHz 9.8 KHz 19.5 KHz 39.0 KHz 78.1 KHz 156.2 KHz 312.5 KHz 625 KHz 24.4 KHz 9.8 KHz
Slide 49
Configuration Bits
HPOL : High-side power switch polarity

Selects PWM1,3,5,7 are active high/low

Selects PWM0,2,4,8 are active high/low

LPOL : Low side power switch polarity

PWMPIN : PWM output pins state

Selects PWM module to be enabled/disabled upon reset PWM4 output multiplexed with RB5 or RD5 FLTA pin muxed with RC1 or RD4
Class
PWM4MX : PWM4 mux bit

FLTAMX : FLTA pin mux

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50
Lab 3 Initialization of PCPWM module

Duration : 20 minutes
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51
Lab 3

Goal : To get familiarized with Power Control PWM (PCPWM) Task : Initialize PCPWM to control a BLDC motor Steps:

Create a project in MPLAB IDE V6.42 or higher Select PIC18F2431 as the target device Add EX3.asm and linker script(18f2431i.lkr) file to the project Select ICD2 as debugger Open EX3.asm, Go to START LAB-3 HERE and initialize PCPWM
Class
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52
Lab 3 - Hints

Use PWM0 to PWM5 for the control PWM outputs in edge-aligned or center aligned mode Set PWM outputs in independent mode Set PWM frequency to 16 kHz (Fosc = 5 MHz X 4 PLL) Set FaultA in cycle-by-cycle mode Enable Fault condition on breakpoint Set outputs on PWM pins controlled by the PWM duty cycle
Important : Enable Fault condition on break point
Class
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53
Lab 3 - Result

Build, program the part and run Rotate clockwise the pot. REF slowly and observe LEDs D1, D2 and D3 should turn on @ approx. 30%, 60% and 90% of the pot level respectively (Lab 1) Press either switch S2 or S3 Spin the rotor with hand, LEDs D1/D2/D3 should turn on and off every 12 degrees of rotor rotation (Lab 2) Turn the Pot REF clockwise, ONLY ONE LED out of PWM0-PWM5 should turn ON When the rotor is rotated, on/off of PWM0-PWM5 LEDs should scroll. When the pot REF is rotated, the intensity of PWM0-PWM5 LEDs should vary
Class
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54
BLDC Motor Control
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55
Drive Sequence
VDC+
PWM1 PWM3 PWM5
H1
H2
H3
PIC18Fxx31
(5) (2) (4) (1)

PWM0 PWM2 PWM4
(6) (3)
L1
L2
L3
VDC-
Class
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56
6 step-Switching Sequence
Step (x) (1) (2) (3) (4) (5) (6) (1) (2) (3) (4) Hall sensor 101 001 011 010 110 100 101 001 011 010 110 Hall A Phase A Hall B Phase B Hall C Phase C High switch H2 H1 H1 H3 H3 H2 Low switch L3 L3 L2 L2 L1 L1
Hall C 0 0 0 1 1 1 Hall B 0 1 1 1 0 0 Hall A 1 1 0 0 0 1 Phase A DC+ DC+ NC DCDCNC Phase B NC DCDCNC DC+ DC+ Phase C DCNC DC+ DC+ NC DC-
Class
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57
OVDCOND vs. PWM

Step Hall sensor
OVDCOND
(1)
(2)
(3)
(4)
(5)
(6)
001 011 010 110 100 101 00010010 00000110 00100100 00100001 00001001 00011000
PWM5 PWM4 PWM3 PWM2 PWM1 PWM0

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58
Control Flow Chart

Initialization
Load new step sequence Hall sensor change?
No Yes Calculate new PWM Yes
to the OVDCOND register from Table
Change Speed?
No
duty cycle
Hall C 0 0 0 1 1 1
Class
Key scan/ Other application?
Hall B 0 1 1 1 0 0
Hall A 1 1 0 0 0 1
Phase A DC+ DC+ NC DCDCNC
Phase B NC DCDCNC DC+ DC+

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Phase C DCNC DC+ DC+ NC DC59
Control with Hall Sensors

AC in
Potentiometer
/MCLR AN0 1 2 28 RB7/PGD 27 RB6/PGC 26 PWM4 25 PWM5
+
B-Low B-High Y-High Y-Low R-High R-Low
- DC bus
Motor current Hall sensors
Motor current Reference
AN1 3 AN2/IC1 4 AN3/IC2 5 AN4/IC3 6 AVdd 7 AVss 8 OSC1 9 OSC2 10 RC0 11 /FLTA/CCP2 12 /FLTB/CCP1 RC3/INT0 13 14
PIC18F2431
24 PWM3 23 PWM2 22 PWM1 21 PWM0 20 Vdd 19 Vss
BLDC Motor
18 RC7/RX/DT 17 RC6/TX/CK 16 RC5/INT2 15 RC4/INT1
Hall sensors
USART/ I2C/SPI
Class
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60
Closed Loop Control With QEI

AC in
/MCLR 1 AN0 2 INDX 3 QEA 4 QEB 5 AN4 6 AN5 7 AN6 8 AN7 9 AN8 10 Vdd 11 Vss 12 OSC2 13 OSC1 14 RC0 15 FLTA/CCP2 16 FLTB/CCP1 17 INT0/RC3 18 RD0 19 RD1 20 40 RB7/PGD 39 RB6/PGC PWM4 B-Low 38 B-High 37 PWM5
- DC bus
QE interface
PIC18F4431
Motor current Temp. sensor
36 PWM3 35 PWM2
Y-High Y-Low
34 PWM1 R-High R-Low 33 PWM0 32 Vdd 31 Vss 30 RD7 29 RD6 28 RD5 27 RD4 26 RC7/RX/DT 25 RC6/TX/CK 24 RC5/INT2 23 RC4/INT1 22 RD3 INT0 21 RD2

BLDC Motor Hall sensors
Motor current
Power factor correction

QE
Slide 61
Closed Loop Control With Back EMF

AC in
/MCLR AN0 IC1 IC2 IC3 AN4 1 2 3 4 5 6 7 8 9 10 11 12 13 14 40 RB7/PGD 39 RB6/PGC PWM4 B-Low 38 B-High 37 PWM5
- DC bus
Back EMF sense Motor current Temp. sensor
PIC18F4431
AN5 AN6 AN7 AN8 Vdd Vss OSC2 OSC1
36 PWM3 35 PWM2
Y-High Y-Low
RC0 15 FLTA/CCP2 16 FLTB/CCP1 17 INT0/RC3 18 RD0 19 RD1 20
34 PWM1 R-High R-Low 33 PWM0 32 Vdd 31 Vss 30 RD7 29 RD6 28 RD5 27 RD4 USART/ 26 RC7/RX/DT I2C/SPI 25 RC6/TX/CK 24 RC5/INT2 23 RC4/INT1 22 RD3 21 RD2
BLDC Motor
Motor current
Class
Slide 62
Power factor correction
Back EMF sense
Sensorless Control Schemes

1) Compare with DC bus/2 2) Compare with virtual neutral
3) Using ADChannels
Class
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63
Lab 4 BLDC Motor Speed Control

Duration : 30 minutes
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64
Lab 4a & 4b

Goal : To drive a BLDC motor Task : Derive switching sequence from the datasheet Steps:

Create a project in MPLAB IDE V6.42 or higher Select PIC18F2431 as the target device Add EX4.asm and linker script(18f2431i.lkr) file to the project Select ICD2 as debugger Open EX4.asm Go to START LAB-4a HERE and follow the instructions to write the winding energizing sequence Go to START LAB-4b HERE and follow the instructions to access the winding energizing sequence for the Hall sensor state
Class
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65
Lab 4a & 4b - Hints

Define the active PWMs for the position corresponding to the Hall input Write code to access the position table Keep in mind that IC1/IC2/IC3 are on PORTA<4:2> Use indirect addressing Hall A, Hall B and Hall C are connected to IC1, IC2 and IC3 respectively
Hall A 0 1 0 1 0 1 0 1 Hall B 0 0 1 1 0 0 1 1 Hall C 0 0 0 0 1 1 1 1 Phase A Phase B Phase C ------DC+ --DC--DCDC+ DC+ DC--DCDC+ ----DC+ DCDC--DC+ -------
Windings Energizing table Note: This is not Commutation sequence

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66
Lab 4a & 4b - Hints

Motor power connections(4 wire white colored connector): Disconnect the 24V power supply from the board before making motor connections RED : Connect to M1 on J9 on the BLDC motor control board BLACK : Connect to M2 on J9 on the BLDC motor control board WHITE : Connect to M3 on J9 on the BLDC motor control board GREEN : Connect to G on J9 on the BLDC motor control board
Note 1 : Motor windings Phase A,Phase B and Phase C are connected to terminal M1, M2 and M3 respectively Note 2 : While running the motor with ICD 2 in debug mode, the program may halt sometime. To avoid this, use ICD 2 as programmer not debugger Note 3 : Refer to the circuit schematics to determine which PWM is connected to which MOSFET
Class
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Lab 4a & 4b - Result

Build, program the part and run Rotate clockwise the pot. REF slowly and observe LEDs D1, D2 and D3 should turn on @ approx. 30%, 60% and 90% of the pot level respectively (Lab 1) Press either switch S2 or S3 Spin the rotor with hand, LEDs D1/D2/D3 should turn on and off every 12 degrees of rotor rotation (Lab 2) Turn the Pot REF clockwise, motor should rotate !!!!!!!!!!!!!! Press S3 to toggle between RUN and STOP conditions Press S2 to toggle between direction of rotation If motor STOPs and LED D1 blinks, it indicates that there was a over current fault Reduce the speed ref and press either S2 or S3
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Resources
Visit www.microchip.com\motor
Application notes on

Theory of Stepper, Brush DC, Brushless DC and AC Induction motors Stepper and Brushed DC motor control using PIC16F684 Brushless DC motor control using PIC18FXX31 and dsPIC digital signal controller (DSC) Induction motor control using PIC16F7X7, PIC18FXX31 and dsPIC DSC
Web seminars on ACIM and BLDC motor control

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Resources - Demo boards

PICDEM MC motor control demo board

Part number : DM183011 Completely isolated Debug tools can be connected when the board is live Low cost design Low and high voltage versions Power module + control board Part numbers : DM300020, DM300021, DM300022
dsPICDEM MC motor control dev kit

Visit www.microchip.com\motor for all motor control related materials

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PICDEM MC
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Motor Control GUI
Main control window
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Motor Control GUI
Parameters Set up window
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Summary

New PIC MCUs for motor control PIC18FXX31 family features overview Features of High speed ADC (Lab1) Features of Motion Feedback Module (Lab2) Features of Power Control PWM (Lab3) Overview of motor control using PIC18FXX31 BLDC motor control (Lab4) Motor control resources from Microchip
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953MCL Motor Control Hands-On Using PIC18FXX31 Microcontrollers

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953 MCL

Motor Control hands-on using PIC18FXX31 Microcontrollers

2005 Microchip Technology Incorporated. All Rights Reserved.

Agenda & Timeline

2005 Microchip Technology Incorporated. All Rights Reserved.

Motor Control PIC MCUs

Mid-Range PIC16 series

PIC16F684/716 14/18 pin

ECCP, ADCs and comparators 3 CCPs, ADCs and Comparators

PIC16F7X7 series 28/40 pin

High end PIC18 series- This class

PIC18FXX31 series 28/40 pin

dsPIC2010 to dsPIC6010 28 pin to 80 pin

2005 Microchip Technology Incorporated. All Rights Reserved.

You should have.

6) Circuit schematic of BLDC motor control board 7) Datasheet of PIC18F2331/2431/4331/4431

2005 Microchip Technology Incorporated. All Rights Reserved.

PIC18FXX31 Spec. Overview

PIC18F2331 PIC18F2431 PIC18F4331 PIC18F4431

2005 Microchip Technology Incorporated. All Rights Reserved.

PIC18FXX31 Features For Motor Control

QEA, QEB, INDX QEA, QEB, INDX

2005 Microchip Technology Incorporated. All Rights Reserved.

2005 Microchip Technology Incorporated. All Rights Reserved.

Pinout (40-pin devices)

40 RB7/KBI3/PGD 39 RB6/KBI2/PGC 38 RB5/KBI1/PWM4/PGM 37 RB4/KBIO/PWM5 36 RB3/PWM3

23 RC4/INT1/SDI/SDA 22 RD3/SCK/SCL 21 RD2/SDI/SDA Slide 8

Pinout (28-pin devices)

2005 Microchip Technology Incorporated. All Rights Reserved.

Training Board Overview

2005 Microchip Technology Incorporated. All Rights Reserved.

ICD 2 Connector Current Limit Pot

2005 Microchip Technology Incorporated. All Rights Reserved.

Jumpers and LEDs

Default Jumper settings

J2(2 pin) - shorted. J15(3 pin) - shorted between pin 2 & 3

J7, J11 and J13 - shorted between pin 1 & 2

J8, J12, J14, J16 and J17 keep open

2005 Microchip Technology Incorporated. All Rights Reserved.

Hardware Block Diagram

+15V +5V Gnd +24V

4 AN3/IC2 5 AN4/IC3 6 AVdd 7 AVss 8 OSC1 9 OSC2 10 RC0 11 /FLTA/CCP2 12

3 phase Inverter bridge

2005 Microchip Technology Incorporated. All Rights Reserved.

Program flow - Main routines

Initialize ADC Initialize MFM Initialize PCPWM

(LAB1-a) (LAB2) (LAB3)

Commutation sequence table

2005 Microchip Technology Incorporated. All Rights Reserved.

Program flow - ISR routines

Read FaultA status

Exercises you need to do

High-speed ADC module

2005 Microchip Technology Incorporated. All Rights Reserved.

2005 Microchip Technology Incorporated. All Rights Reserved.

ADC Functional Block Diagram

AN1 AN5 AN3 AN7

Input mux control

Not available on 28 pin devices

S/H-2 Ch. Sel

8 bit data bus

AN0 AN4 AN8 AN2 AN6

Conversion logic ADRESH,ADRESL

ADC Modes of Operation