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@2:7aae78b85e1d, 2015-06-01 (annotated)

Committer:
mslovic
Date:
Mon Jun 01 13:40:39 2015 +0000
Revision:
2:7aae78b85e1d
Parent:
0:5602fba2a7f7 
First working version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mslovic 0:5602fba2a7f7 1 #include "BLDCmotorDriver.h"
mslovic 0:5602fba2a7f7 2
mslovic 2:7aae78b85e1d 3 BLDCmotorDriver::BLDCmotorDriver(PinName pGH_A, PinName pGH_B, PinName pGH_C, PinName pGL_A, PinName pGL_B, PinName pGL_C,
mslovic 2:7aae78b85e1d 4 PinName pH1, PinName pH2, PinName pH3, PinName pFault) :
mslovic 2:7aae78b85e1d 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 2:7aae78b85e1d 6 H1(pH1), H2(pH2), H3(pH3), Fault(LED1){
mslovic 2:7aae78b85e1d 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 2:7aae78b85e1d 13 //H1.mode(PullNone);
mslovic 2:7aae78b85e1d 14 //H2.mode(PullNone);
mslovic 2:7aae78b85e1d 15 //H3.mode(PullNone);
mslovic 2:7aae78b85e1d 16 H1.rise(this, &BLDCmotorDriver::commutation);
mslovic 2:7aae78b85e1d 17 H2.rise(this, &BLDCmotorDriver::commutation);
mslovic 2:7aae78b85e1d 18 H3.rise(this, &BLDCmotorDriver::commutation);
mslovic 2:7aae78b85e1d 19 H1.fall(this, &BLDCmotorDriver::commutation);
mslovic 2:7aae78b85e1d 20 H2.fall(this, &BLDCmotorDriver::commutation);
mslovic 2:7aae78b85e1d 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 2:7aae78b85e1d 36 int BLDCmotorDriver::getSector(){ // hall 120°
mslovic 2:7aae78b85e1d 37
mslovic 2:7aae78b85e1d 38 h1 = H1.read();
mslovic 2:7aae78b85e1d 39 h2 = H2.read();
mslovic 2:7aae78b85e1d 40 h3 = H3.read();
mslovic 2:7aae78b85e1d 41
mslovic 2:7aae78b85e1d 42
mslovic 2:7aae78b85e1d 43 if(h1 == 0 && h2 == 0 && h3 == 1){
mslovic 2:7aae78b85e1d 44 _currentSector = 0;
mslovic 2:7aae78b85e1d 45 }
mslovic 2:7aae78b85e1d 46 else if(h1 == 0 && h2 == 1 && h3 == 1){
mslovic 2:7aae78b85e1d 47 _currentSector = 1;
mslovic 2:7aae78b85e1d 48 }
mslovic 2:7aae78b85e1d 49 else if(h1 == 0 && h2 == 1 && h3 == 0){
mslovic 2:7aae78b85e1d 50 _currentSector = 2;
mslovic 2:7aae78b85e1d 51 }
mslovic 2:7aae78b85e1d 52 else if(h1 == 1 && h2 == 1 && h3 == 0){
mslovic 2:7aae78b85e1d 53 _currentSector = 3;
mslovic 2:7aae78b85e1d 54 }
mslovic 2:7aae78b85e1d 55 else if(h1 == 1 && h2 == 0 && h3 == 0){
mslovic 2:7aae78b85e1d 56 _currentSector = 4;
mslovic 2:7aae78b85e1d 57 }
mslovic 2:7aae78b85e1d 58 else if(h1 == 1 && h2 == 0 && h3 == 1){
mslovic 2:7aae78b85e1d 59 _currentSector = 5;
mslovic 2:7aae78b85e1d 60 }
mslovic 2:7aae78b85e1d 61 previousSector = _currentSector - 1;
mslovic 2:7aae78b85e1d 62 difference = _currentSector - previousSector;
mslovic 2:7aae78b85e1d 63 if (difference == 1){
mslovic 2:7aae78b85e1d 64 currentSector = _currentSector;
mslovic 2:7aae78b85e1d 65 Fault = 0;
mslovic 2:7aae78b85e1d 66 }
mslovic 2:7aae78b85e1d 67 else Fault = 1;
mslovic 2:7aae78b85e1d 68 return currentSector;
mslovic 2:7aae78b85e1d 69 }
mslovic 2:7aae78b85e1d 70
mslovic 2:7aae78b85e1d 71 void BLDCmotorDriver::commutation() {
mslovic 2:7aae78b85e1d 72 dutyCycle = rl.out(tempDutyCycle);
mslovic 2:7aae78b85e1d 73 currentSector = getSector();
mslovic 0:5602fba2a7f7 74 if (dutyCycle > 0) {
mslovic 2:7aae78b85e1d 75 currentSector++;
mslovic 2:7aae78b85e1d 76 if(currentSector > 5)currentSector = 0;
mslovic 2:7aae78b85e1d 77 switch(currentSector) {
mslovic 2:7aae78b85e1d 78
mslovic 2:7aae78b85e1d 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 2:7aae78b85e1d 85 GL_C = 1;
mslovic 2:7aae78b85e1d 86 break;
mslovic 2:7aae78b85e1d 87 case 1:
mslovic 2:7aae78b85e1d 88 GH_A = 0;
mslovic 2:7aae78b85e1d 89 GL_A = 0;
mslovic 2:7aae78b85e1d 90 GH_B = dutyCycle;
mslovic 2:7aae78b85e1d 91 GL_B = 0;
mslovic 2:7aae78b85e1d 92 GH_C = 0;
mslovic 0:5602fba2a7f7 93 GL_C = 1;
mslovic 0:5602fba2a7f7 94 break;
mslovic 2:7aae78b85e1d 95 case 2:
mslovic 2:7aae78b85e1d 96 GH_A = 0;
mslovic 2:7aae78b85e1d 97 GL_A = 1;
mslovic 2:7aae78b85e1d 98 GH_B = dutyCycle;
mslovic 2:7aae78b85e1d 99 GL_B = 0;
mslovic 0:5602fba2a7f7 100 GH_C = 0;
mslovic 0:5602fba2a7f7 101 GL_C = 0;
mslovic 0:5602fba2a7f7 102 break;
mslovic 2:7aae78b85e1d 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 2:7aae78b85e1d 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 2:7aae78b85e1d 118 break;
mslovic 2:7aae78b85e1d 119 case 5:
mslovic 2:7aae78b85e1d 120 GH_A = dutyCycle;
mslovic 2:7aae78b85e1d 121 GL_A = 0;
mslovic 2:7aae78b85e1d 122 GH_B = 0;
mslovic 2:7aae78b85e1d 123 GL_B = 1;
mslovic 2:7aae78b85e1d 124 GH_C = 0;
mslovic 2:7aae78b85e1d 125 GL_C = 0;
mslovic 0:5602fba2a7f7 126 break;
mslovic 2:7aae78b85e1d 127 }
mslovic 2:7aae78b85e1d 128 } else if (dutyCycle < 0) {
mslovic 2:7aae78b85e1d 129 currentSector--;
mslovic 2:7aae78b85e1d 130 if(currentSector < 0)currentSector = 5;
mslovic 2:7aae78b85e1d 131 switch(currentSector) {
mslovic 2:7aae78b85e1d 132 case 0:
mslovic 2:7aae78b85e1d 133 GH_A = -dutyCycle;
mslovic 2:7aae78b85e1d 134 GL_A = 0;
mslovic 2:7aae78b85e1d 135 GH_B = 0;
mslovic 2:7aae78b85e1d 136 GL_B = 1;
mslovic 2:7aae78b85e1d 137 GH_C = 0;
mslovic 2:7aae78b85e1d 138 GL_C = 0;
mslovic 2:7aae78b85e1d 139 break;
mslovic 2:7aae78b85e1d 140 case 1:
mslovic 2:7aae78b85e1d 141 GH_A = -dutyCycle;
mslovic 2:7aae78b85e1d 142 GL_A = 0;
mslovic 2:7aae78b85e1d 143 GH_B = 0;
mslovic 2:7aae78b85e1d 144 GL_B = 0;
mslovic 2:7aae78b85e1d 145 GH_C = 0;
mslovic 2:7aae78b85e1d 146 GL_C = 1;
mslovic 2:7aae78b85e1d 147 break;
mslovic 2:7aae78b85e1d 148 case 2:
mslovic 2:7aae78b85e1d 149 GH_A = 0;
mslovic 2:7aae78b85e1d 150 GL_A = 0;
mslovic 2:7aae78b85e1d 151 GH_B = -dutyCycle;
mslovic 2:7aae78b85e1d 152 GL_B = 0;
mslovic 2:7aae78b85e1d 153 GH_C = 0;
mslovic 2:7aae78b85e1d 154 GL_C = 1;
mslovic 2:7aae78b85e1d 155 break;
mslovic 2:7aae78b85e1d 156 case 3:
mslovic 2:7aae78b85e1d 157 GH_A = 0;
mslovic 2:7aae78b85e1d 158 GL_A = 1;
mslovic 2:7aae78b85e1d 159 GH_B = -dutyCycle;
mslovic 2:7aae78b85e1d 160 GL_B = 0;
mslovic 2:7aae78b85e1d 161 GH_C = 0;
mslovic 2:7aae78b85e1d 162 GL_C = 0;
mslovic 2:7aae78b85e1d 163 break;
mslovic 2:7aae78b85e1d 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 2:7aae78b85e1d 169 GH_C = -dutyCycle;
mslovic 0:5602fba2a7f7 170 GL_C = 0;
mslovic 0:5602fba2a7f7 171 break;
mslovic 2:7aae78b85e1d 172 case 5:
mslovic 0:5602fba2a7f7 173 GH_A = 0;
mslovic 0:5602fba2a7f7 174 GL_A = 0;
mslovic 2:7aae78b85e1d 175 GH_B = 0;
mslovic 2:7aae78b85e1d 176 GL_B = 1;
mslovic 2:7aae78b85e1d 177 GH_C = -dutyCycle;
mslovic 2:7aae78b85e1d 178 GL_C = 0;
mslovic 2:7aae78b85e1d 179 break;
mslovic 0:5602fba2a7f7 180 }
mslovic 0:5602fba2a7f7 181 }else {
mslovic 0:5602fba2a7f7 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 2:7aae78b85e1d 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 2:7aae78b85e1d 193 /*void BLDCmotorDriver::adjustDutyCycle() {
mslovic 2:7aae78b85e1d 194 dutyCycle = rl.out(tempDutyCycle);
mslovic 2:7aae78b85e1d 195 float diff = tempDutyCycle - dutyCycle;
mslovic 2:7aae78b85e1d 196 if (diff < 0.01 || diff > -0.01)
mslovic 2:7aae78b85e1d 197 ticker.detach();
mslovic 2:7aae78b85e1d 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 }