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..

Components

• mbed NXP LPC1768 https://developer.mbed.org/platforms/mbed-LPC1768/
• DRV8301 http://www.ti.com/product/drv8301
• CSD18533Q5A 60V N-Channel NexFET Power MOSFET http://www.ti.com/product/csd18533q5a
• 3-phase brushless DC motor with Hall sensors - BG 65x50 dunkermotoren http://www.dunkermotoren.com/default.asp?id=10&mid=28&lang=2
• 3-phase brushless DC motor with Hall sensors - nine continent 2807

#include "mbed.h"
#include "RateLimiter.h"

class BLDCmotorDriver {
    public:
        BLDCmotorDriver(PinName GH_A, PinName GL_A, PinName GH_B, PinName GL_B, PinName GH_C, PinName GL_C, PinName h1, PinName h2, PinName h3, PinName Fault);    
        void configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope);
        void setDutyCycle(float dutyCycle);
        void coast();
        float getDutyCycle();
        int getSector();
        void ispis();
        
    protected:
        PwmOut GH_A, GH_B, GH_C;
        DigitalOut GL_A, GL_B, GL_C; // Low-side gates are never PWM driven
        InterruptIn H1; // InterruptIn can be used on all pins except p19 and p20
        InterruptIn H2; 
        InterruptIn H3;
        RateLimiter rl;
        Ticker ticker;
        float switchingPeriod, dutyCycle, tempDutyCycle, sampleTime;
        void commutation();
        int currentSector, _currentSector, previousSector, difference;
        DigitalOut Fault;
        int h1, h2, h3;
        //void adjustDutyCycle();
            
};