TVZ Mechatronics Team / BLDCmotorDriver

Library for driving a 3-phase brushless DC motor.

Dependents:   BLDC_mainProgram STMF302R8_MotorDrive HelloWorld_IHM07M1

BLDCmotorDriver

Introduction

This library is still being developed.

This is a Wiki page about BLDCmotorDriver library developed by TVZ Mechatronics Team. The library is part of our project of creating an e-bike which is supposed to drive/run a 3-phase brushless DC motor with Hall sensors.

We are testing our library on NXP mbed LPC1768 platform and driver DRV8301 from Texas Instruments to run our testing BLDC motor. Next step of our project is creating a standalone library for DRV8301.

Hall sensors

In our BLDC motors there are three Hall sensors located 120 degrees from one another, they are identified as InterruptIn/DigitalIn on mbed and they send zeros and ones on TeraTerm with we locate in which sector

Na našim testnim BLDC motorima postoje 3 halova senzora, koji su udaljeni za 120 stupnjeva jedan od drugoga te inicijaliziranjem svakog pojedinog kao InterruptIn/DigitalIn na pinovima mbeda preko terminala na računalu (TeraTerm) dobivamo prikaz binarnih nula i jedinica koji se slažu sa trobitnim gray-evim kodom, s time da smo kombinacije 000 i 111 definirali kao fault vrijednosti. Pošto se slučajevi kada su sva tri hallova senzora upaljena ili ugašena ne mogu dogoditi tj. ne bi se smijeli dogoditi, ukoliko je došlo do takve situacije dogodio se kvar na hallovim senzorima te bi motor trebao prijeći u mod rada bez hallovih senzora.

With that we got six combinations, which we use to determine six sectors:

  • 001 - Sector 1
  • 011 - Sector 2
  • 010 - Sector 3
  • 110 - Sector 4
  • 100 - Sector 5
  • 101 - Sector 6

Nakon toga odredili smo za sve tri faze stanja mosfeta..

/media/uploads/dfraj/3-bit_gray_code_ring.jpg

Components

/media/uploads/dfraj/kotac.jpg

BLDCmotorDriver.cpp@4:f56d1fb53d9b, 2016-10-12 (annotated)

Committer:
avilei
Date:
Wed Oct 12 08:16:28 2016 +0000
Revision:
4:f56d1fb53d9b
Parent:
3:a4b4a8e3f2a0 
Make members protected to allow C++ inheritance

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mslovic 0:5602fba2a7f7 1 #include "BLDCmotorDriver.h"
mslovic 0:5602fba2a7f7 2
tbjazic 1:786897114846 3 BLDCmotorDriver::BLDCmotorDriver(PinName pGH_A, PinName pGH_B, PinName pGH_C, PinName pGL_A, PinName pGL_B, PinName pGL_C,
mslovic 3:a4b4a8e3f2a0 4 PinName pH1, PinName pH2, PinName pH3, PinName pFault) :
tbjazic 1:786897114846 5 GH_A(pGH_A), GH_B(pGH_B), GH_C(pGH_C), GL_A(pGL_A), GL_B(pGL_B), GL_C(pGL_C),
mslovic 3:a4b4a8e3f2a0 6 H1(pH1), H2(pH2), H3(pH3), Fault(LED1){
mslovic 3:a4b4a8e3f2a0 7
mslovic 0:5602fba2a7f7 8 sampleTime = 1e-3;
mslovic 0:5602fba2a7f7 9 switchingPeriod = 1.0 / 20e3;
mslovic 0:5602fba2a7f7 10 dutyCycle = tempDutyCycle = 0;
mslovic 0:5602fba2a7f7 11 GH_A.period(switchingPeriod); // applies to all PwmOut instances
mslovic 0:5602fba2a7f7 12 rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
mslovic 3:a4b4a8e3f2a0 13 //H1.mode(PullNone);
mslovic 3:a4b4a8e3f2a0 14 //H2.mode(PullNone);
mslovic 3:a4b4a8e3f2a0 15 //H3.mode(PullNone);
tbjazic 1:786897114846 16 H1.rise(this, &BLDCmotorDriver::commutation);
tbjazic 1:786897114846 17 H2.rise(this, &BLDCmotorDriver::commutation);
tbjazic 1:786897114846 18 H3.rise(this, &BLDCmotorDriver::commutation);
tbjazic 1:786897114846 19 H1.fall(this, &BLDCmotorDriver::commutation);
tbjazic 1:786897114846 20 H2.fall(this, &BLDCmotorDriver::commutation);
tbjazic 1:786897114846 21 H3.fall(this, &BLDCmotorDriver::commutation);
mslovic 0:5602fba2a7f7 22 }
mslovic 0:5602fba2a7f7 23 void BLDCmotorDriver::configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope) {
mslovic 0:5602fba2a7f7 24 if (sampleTime < 1e-6)
mslovic 0:5602fba2a7f7 25 sampleTime = 1e-3;
mslovic 0:5602fba2a7f7 26 if (switchingFrequency < 100)
mslovic 0:5602fba2a7f7 27 switchingFrequency = 20e3;
mslovic 0:5602fba2a7f7 28 if (rampUpSlope < 0 || rampUpSlope > 1)
mslovic 0:5602fba2a7f7 29 rampUpSlope = 0.1;
mslovic 0:5602fba2a7f7 30 if (rampDownSlope > 0 || rampDownSlope < -1)
mslovic 0:5602fba2a7f7 31 rampDownSlope = -0.1;
mslovic 0:5602fba2a7f7 32 this->sampleTime = sampleTime;
mslovic 0:5602fba2a7f7 33 switchingPeriod = 1.0 / switchingFrequency;
mslovic 0:5602fba2a7f7 34 rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
mslovic 0:5602fba2a7f7 35 }
mslovic 3:a4b4a8e3f2a0 36 int BLDCmotorDriver::getSector(){ // hall 120°
mslovic 3:a4b4a8e3f2a0 37
mslovic 3:a4b4a8e3f2a0 38 h1 = H1.read();
mslovic 3:a4b4a8e3f2a0 39 h2 = H2.read();
mslovic 3:a4b4a8e3f2a0 40 h3 = H3.read();
mslovic 3:a4b4a8e3f2a0 41
mslovic 3:a4b4a8e3f2a0 42
mslovic 3:a4b4a8e3f2a0 43 if(h1 == 0 && h2 == 0 && h3 == 1){
mslovic 3:a4b4a8e3f2a0 44 _currentSector = 0;
mslovic 3:a4b4a8e3f2a0 45 }
mslovic 3:a4b4a8e3f2a0 46 else if(h1 == 0 && h2 == 1 && h3 == 1){
mslovic 3:a4b4a8e3f2a0 47 _currentSector = 1;
mslovic 3:a4b4a8e3f2a0 48 }
mslovic 3:a4b4a8e3f2a0 49 else if(h1 == 0 && h2 == 1 && h3 == 0){
mslovic 3:a4b4a8e3f2a0 50 _currentSector = 2;
mslovic 3:a4b4a8e3f2a0 51 }
mslovic 3:a4b4a8e3f2a0 52 else if(h1 == 1 && h2 == 1 && h3 == 0){
mslovic 3:a4b4a8e3f2a0 53 _currentSector = 3;
mslovic 3:a4b4a8e3f2a0 54 }
mslovic 3:a4b4a8e3f2a0 55 else if(h1 == 1 && h2 == 0 && h3 == 0){
mslovic 3:a4b4a8e3f2a0 56 _currentSector = 4;
mslovic 3:a4b4a8e3f2a0 57 }
mslovic 3:a4b4a8e3f2a0 58 else if(h1 == 1 && h2 == 0 && h3 == 1){
mslovic 3:a4b4a8e3f2a0 59 _currentSector = 5;
mslovic 3:a4b4a8e3f2a0 60 }
mslovic 3:a4b4a8e3f2a0 61 previousSector = _currentSector - 1;
mslovic 3:a4b4a8e3f2a0 62 difference = _currentSector - previousSector;
mslovic 3:a4b4a8e3f2a0 63 if (difference == 1){
mslovic 3:a4b4a8e3f2a0 64 currentSector = _currentSector;
mslovic 3:a4b4a8e3f2a0 65 Fault = 0;
mslovic 3:a4b4a8e3f2a0 66 }
mslovic 3:a4b4a8e3f2a0 67 else Fault = 1;
mslovic 3:a4b4a8e3f2a0 68 return currentSector;
mslovic 3:a4b4a8e3f2a0 69 }
tbjazic 1:786897114846 70
mslovic 3:a4b4a8e3f2a0 71 void BLDCmotorDriver::commutation() {
mslovic 3:a4b4a8e3f2a0 72 dutyCycle = rl.out(tempDutyCycle);
mslovic 3:a4b4a8e3f2a0 73 currentSector = getSector();
mslovic 0:5602fba2a7f7 74 if (dutyCycle > 0) {
mslovic 3:a4b4a8e3f2a0 75 currentSector++;
mslovic 3:a4b4a8e3f2a0 76 if(currentSector > 5)currentSector = 0;
mslovic 3:a4b4a8e3f2a0 77 switch(currentSector) {
mslovic 3:a4b4a8e3f2a0 78
mslovic 3:a4b4a8e3f2a0 79 case 0: //001
mslovic 0:5602fba2a7f7 80 GH_A = dutyCycle;
mslovic 0:5602fba2a7f7 81 GL_A = 0;
mslovic 0:5602fba2a7f7 82 GH_B = 0;
mslovic 0:5602fba2a7f7 83 GL_B = 0;
mslovic 0:5602fba2a7f7 84 GH_C = 0;
mslovic 3:a4b4a8e3f2a0 85 GL_C = 1;
mslovic 3:a4b4a8e3f2a0 86 break;
mslovic 3:a4b4a8e3f2a0 87 case 1:
mslovic 3:a4b4a8e3f2a0 88 GH_A = 0;
mslovic 3:a4b4a8e3f2a0 89 GL_A = 0;
mslovic 3:a4b4a8e3f2a0 90 GH_B = dutyCycle;
mslovic 3:a4b4a8e3f2a0 91 GL_B = 0;
mslovic 3:a4b4a8e3f2a0 92 GH_C = 0;
mslovic 0:5602fba2a7f7 93 GL_C = 1;
mslovic 0:5602fba2a7f7 94 break;
mslovic 3:a4b4a8e3f2a0 95 case 2:
mslovic 3:a4b4a8e3f2a0 96 GH_A = 0;
mslovic 3:a4b4a8e3f2a0 97 GL_A = 1;
mslovic 3:a4b4a8e3f2a0 98 GH_B = dutyCycle;
mslovic 3:a4b4a8e3f2a0 99 GL_B = 0;
mslovic 0:5602fba2a7f7 100 GH_C = 0;
mslovic 0:5602fba2a7f7 101 GL_C = 0;
mslovic 0:5602fba2a7f7 102 break;
mslovic 3:a4b4a8e3f2a0 103 case 3:
mslovic 0:5602fba2a7f7 104 GH_A = 0;
mslovic 0:5602fba2a7f7 105 GL_A = 1;
mslovic 0:5602fba2a7f7 106 GH_B = 0;
mslovic 0:5602fba2a7f7 107 GL_B = 0;
mslovic 0:5602fba2a7f7 108 GH_C = dutyCycle;
mslovic 0:5602fba2a7f7 109 GL_C = 0;
mslovic 0:5602fba2a7f7 110 break;
mslovic 3:a4b4a8e3f2a0 111 case 4:
mslovic 0:5602fba2a7f7 112 GH_A = 0;
mslovic 0:5602fba2a7f7 113 GL_A = 0;
mslovic 0:5602fba2a7f7 114 GH_B = 0;
mslovic 0:5602fba2a7f7 115 GL_B = 1;
mslovic 0:5602fba2a7f7 116 GH_C = dutyCycle;
mslovic 0:5602fba2a7f7 117 GL_C = 0;
mslovic 3:a4b4a8e3f2a0 118 break;
mslovic 3:a4b4a8e3f2a0 119 case 5:
mslovic 3:a4b4a8e3f2a0 120 GH_A = dutyCycle;
mslovic 3:a4b4a8e3f2a0 121 GL_A = 0;
mslovic 3:a4b4a8e3f2a0 122 GH_B = 0;
mslovic 3:a4b4a8e3f2a0 123 GL_B = 1;
mslovic 3:a4b4a8e3f2a0 124 GH_C = 0;
mslovic 3:a4b4a8e3f2a0 125 GL_C = 0;
mslovic 0:5602fba2a7f7 126 break;
mslovic 3:a4b4a8e3f2a0 127 }
mslovic 3:a4b4a8e3f2a0 128 } else if (dutyCycle < 0) {
mslovic 3:a4b4a8e3f2a0 129 currentSector--;
mslovic 3:a4b4a8e3f2a0 130 if(currentSector < 0)currentSector = 5;
mslovic 3:a4b4a8e3f2a0 131 switch(currentSector) {
mslovic 3:a4b4a8e3f2a0 132 case 0:
mslovic 3:a4b4a8e3f2a0 133 GH_A = -dutyCycle;
mslovic 3:a4b4a8e3f2a0 134 GL_A = 0;
mslovic 3:a4b4a8e3f2a0 135 GH_B = 0;
mslovic 3:a4b4a8e3f2a0 136 GL_B = 1;
mslovic 3:a4b4a8e3f2a0 137 GH_C = 0;
mslovic 3:a4b4a8e3f2a0 138 GL_C = 0;
mslovic 3:a4b4a8e3f2a0 139 break;
mslovic 3:a4b4a8e3f2a0 140 case 1:
mslovic 3:a4b4a8e3f2a0 141 GH_A = -dutyCycle;
mslovic 3:a4b4a8e3f2a0 142 GL_A = 0;
mslovic 3:a4b4a8e3f2a0 143 GH_B = 0;
mslovic 3:a4b4a8e3f2a0 144 GL_B = 0;
mslovic 3:a4b4a8e3f2a0 145 GH_C = 0;
mslovic 3:a4b4a8e3f2a0 146 GL_C = 1;
mslovic 3:a4b4a8e3f2a0 147 break;
mslovic 3:a4b4a8e3f2a0 148 case 2:
mslovic 3:a4b4a8e3f2a0 149 GH_A = 0;
mslovic 3:a4b4a8e3f2a0 150 GL_A = 0;
mslovic 3:a4b4a8e3f2a0 151 GH_B = -dutyCycle;
mslovic 3:a4b4a8e3f2a0 152 GL_B = 0;
mslovic 3:a4b4a8e3f2a0 153 GH_C = 0;
mslovic 3:a4b4a8e3f2a0 154 GL_C = 1;
mslovic 3:a4b4a8e3f2a0 155 break;
mslovic 3:a4b4a8e3f2a0 156 case 3:
mslovic 3:a4b4a8e3f2a0 157 GH_A = 0;
mslovic 3:a4b4a8e3f2a0 158 GL_A = 1;
mslovic 3:a4b4a8e3f2a0 159 GH_B = -dutyCycle;
mslovic 3:a4b4a8e3f2a0 160 GL_B = 0;
mslovic 3:a4b4a8e3f2a0 161 GH_C = 0;
mslovic 3:a4b4a8e3f2a0 162 GL_C = 0;
mslovic 3:a4b4a8e3f2a0 163 break;
mslovic 3:a4b4a8e3f2a0 164 case 4:
mslovic 0:5602fba2a7f7 165 GH_A = 0;
mslovic 0:5602fba2a7f7 166 GL_A = 1;
mslovic 0:5602fba2a7f7 167 GH_B = 0;
mslovic 0:5602fba2a7f7 168 GL_B = 0;
mslovic 3:a4b4a8e3f2a0 169 GH_C = -dutyCycle;
mslovic 0:5602fba2a7f7 170 GL_C = 0;
mslovic 0:5602fba2a7f7 171 break;
mslovic 3:a4b4a8e3f2a0 172 case 5:
mslovic 0:5602fba2a7f7 173 GH_A = 0;
mslovic 0:5602fba2a7f7 174 GL_A = 0;
mslovic 3:a4b4a8e3f2a0 175 GH_B = 0;
mslovic 3:a4b4a8e3f2a0 176 GL_B = 1;
mslovic 3:a4b4a8e3f2a0 177 GH_C = -dutyCycle;
mslovic 3:a4b4a8e3f2a0 178 GL_C = 0;
mslovic 3:a4b4a8e3f2a0 179 break;
mslovic 3:a4b4a8e3f2a0 180 }
mslovic 3:a4b4a8e3f2a0 181 }else {
mslovic 3:a4b4a8e3f2a0 182 coast();
mslovic 0:5602fba2a7f7 183 }
mslovic 0:5602fba2a7f7 184 }
mslovic 0:5602fba2a7f7 185 void BLDCmotorDriver::setDutyCycle(float dc) {
mslovic 0:5602fba2a7f7 186 if (dc >= -1 && dc <= 1) {
mslovic 3:a4b4a8e3f2a0 187 ticker.attach(this, &BLDCmotorDriver::commutation, sampleTime);
mslovic 0:5602fba2a7f7 188 tempDutyCycle = dc;
mslovic 0:5602fba2a7f7 189 } else {
mslovic 0:5602fba2a7f7 190 coast();
mslovic 0:5602fba2a7f7 191 }
mslovic 0:5602fba2a7f7 192 }
mslovic 3:a4b4a8e3f2a0 193 /*void BLDCmotorDriver::adjustDutyCycle() {
tbjazic 1:786897114846 194 dutyCycle = rl.out(tempDutyCycle);
tbjazic 1:786897114846 195 float diff = tempDutyCycle - dutyCycle;
tbjazic 1:786897114846 196 if (diff < 0.01 || diff > -0.01)
tbjazic 1:786897114846 197 ticker.detach();
mslovic 3:a4b4a8e3f2a0 198 }*/
mslovic 0:5602fba2a7f7 199 void BLDCmotorDriver::coast() {
mslovic 0:5602fba2a7f7 200 GH_A = 0;
mslovic 0:5602fba2a7f7 201 GL_A = 0;
mslovic 0:5602fba2a7f7 202 GH_B = 0;
mslovic 0:5602fba2a7f7 203 GL_B = 0;
mslovic 0:5602fba2a7f7 204 GH_C = 0;
mslovic 0:5602fba2a7f7 205 GL_C = 0;
mslovic 0:5602fba2a7f7 206 dutyCycle = tempDutyCycle = 0;
mslovic 0:5602fba2a7f7 207 rl.reset();
mslovic 0:5602fba2a7f7 208 ticker.detach();
mslovic 0:5602fba2a7f7 209 }
mslovic 0:5602fba2a7f7 210 float BLDCmotorDriver::getDutyCycle() {
mslovic 0:5602fba2a7f7 211 return dutyCycle;
mslovic 0:5602fba2a7f7 212 }