STM3210B-MCKIT motor control starter kit
Contents
1. Bus Undervoltage This occurs if the bus voltage is below 20V DC This indicates that the correct start up criteria were not met during the Start up failed motor start up sequence This returns an error on the speed position estimation by the sensorless algorithm the quality of the speed measurement expressed in terms of distribution around the mean value is not satisfactory This typically means that either the observer is not properly tuned or that the speed is so low that a good observation of the induced B emf is not possible e g rotor is locked Error on speed fdbck 2 1 4 Running your own PMSM motor To run your own motor using the standalone PMSM firmware follow the indications given in the Getting Started with the Library section of the UM0492 user manual STM32F103xx permanent magnet synchronous motor FOC software library V2 0 Based on your own motor parameters and hardware configuration you must edit and update the following files STM32F10x_conf h configuration header file MC Control Param h MC encoder Param h MC PMSM param h MC State Observer param h MC hall param h Users are assisted in customizing their PMSM application firmware by a parameter file generation tool FOCGUI which starting from system parameters automatically generates everything that is needed by the MC firmware library to quickly run the motor thus saving time and easing the development phase This to2. lt 35V only or HIGH VOLTAGE W4 Present W5 Not present W6 Present W7 Present and set on default position of silk screen printing W8 Present W9 Present W10 Present and soldered on default position of silk screen printing W11 Present W12 Not present W13 Not present W14 Not present W15 Not present W16 Present and set on reverse position of silk screen printing W17 Present W18 Present W19 Present Table 2 STM32 evaluation board jumper settings for a PMSM motor default Jumper Description JP4 Set to PSU position to supply the STM32 evaluation board through the jack CN3 JP12 Not fitted tachogenerator signal filtering for AC induction motor JP10 Not fitted TRST JTAG and NRESET MCU do not need to be connected SW1 SW2 Both set to 0 position to boot from embedded user flash Note In order to increase the motor control performance especially when the motor is not loaded it is suggested to replace capacitor C77 by a 470 nF capacitor on the STM3210B EVAL evaluation board Please refer to the STM3210B EVAL evaluation board user manual UMO0488 to know more about the location of C77 9 27 STM3210B MCKIT hardware setup UM0486 1 3 Caution 10 27 Hardware configuration for AC induction motor This section describes the procedure for operating the STM3210B MCKIT with an AC induction motor You must change the default settings that are present on the STM32 evaluation board and on the motor control evaluat
3. Verify that the PMSM motor cables are correctly plugged into the motor control board s MOTOR connectors J5 and J8 The motor control board MB459B the STM32 evaluation board MB525 the opto isolation JTAG board MB535B and the provided PMSM motor are already assembled together over a metal support when you receive the kit Verify that the STM32 evaluation board and the JTAG opto isolation board MB535B are connected with the provided 20 pin JTAG cable In this way the STM32 evaluation board automatically supplies the opto isolation board Power up the STM32 evaluation board with the auxiliary power supply block TR30R Power up the motor control board by connecting the output terminals of your DC power supply to the MAINS connector J3 The provided voltage must be 24V DC and your power supply must be able to provide a current of 3A The STM3210B MCKIT is ready to run with the PMSM motor Before supplying the board double check proper connections make sure that there are no metal parts on below or around the PCB and that there are no undesired earth ground loops due to measuring equipment such as an oscilloscope UM0486 STM3210B MCKIT hardware setup Table 1 MB459B motor control board jumper settings for a PMSM motor default Jumper Settings for the provided Settings for a high voltage PMSM SHINANO 24V PMSM motor motor W1 35V only
4. wv UM0486 J User manual STM3210B MCKIT motor control starter kit Introduction The STM3210B MCKIT starter kit is an integrated system designed to provide a complete ready to use motor control application developed around the STMicroelectronics STM32 microcontroller This starter kit is particularly suited to drive 3 phase brushless motors either AC induction or permanent magnet types and demonstrates how effectively the STM32 microcontrollers can be used in real world motor control applications Drive is based on sensored field oriented control FOC for three phase motors using the single or three shunt resistor current measurement method for closed loop torque control Position measurement is implemented using Encoder sensor or Tachometer The inverter is driven using the space vector PWM modulation technique You can run the STM3210B MCKIT starter kit in several ways e Asaplug and play demo out of the box with the provided PMSM motor in sensorless torque or speed control mode e With an AC induction motor after reprogramming the microcontroller in torque or speed control mode However the main advantage of the STM3210B MCKIT is that you can use it to create your own applications and re program the STM32 microcontroller You can develop your own applications using the dedicated software libraries provided in the starter kit in conjunction with a third party IDE and C compiler In this manual you will find informati
5. Move fi Change When you press the Key push button or the joystick the motor starts the main state machine goes from IDLE to START state After startup following a linear ramp if valid information from the speed sensor tachometer or encoder is detected you can adjust the torque reference on the fly using the joystick However if no valid information from the speed sensor is detected due to a problem with speed sensor connections or because the load torque is higher than the defined value for example then the final torque reference remains constant for 3 seconds Finally if there s no valid information coming from the motor after 3 seconds the main state machine goes into FAULT state for two seconds and the Start up failed error message is displayed on the LCD If this happens you are strongly advised to check the speed sensor feedback connections first and if this is not sufficient to increase the final ramp torque reference because the load torque is probably too high 21 27 Running the starter kit UM0486 Caution 2 2 3 2 2 4 22 27 In torque control mode operation a constant torque reference is produced Depending on the applied load torque this could lead to a constant acceleration of the motor making the speed rise up to the physical limits of the motor For more information about driving an AC induction motor refer to the UM0483 user manual STM32F103xx AC induction motor IFOC softwa
6. benefit of the STM3210B MCKIT starter kit is that you can use it to create your own applications and reprogram the STM32 microcontroller In the toolkit you will find the source files for PMSM and AC induction motors and the STM32 standard library They are intended to provide a sound basis for your own application developments Do not hesitate to fine tune them to suit your specific requirements These libraries are provided with IAR EWARM v 5 20 KEIL RVMDK v 3 22 and Green Hills MULTI v 5 0 3 workspaces Exhaustive validation was performed using IAR while simple functional validation was done with the other toolchains You can set up your workspace manually for any other toolchain UM0486 Additional information Appendix A Additional information A 1 A 2 A 3 Recommended reading This documentation describes how to use the STM3210B MCKIT Starter Kit Additional information can be found in the following documents STM32F103xx low medium and high density datasheets STM32F10xxx reference manual RM0008 STMicroelectronics motor control application notes STM3210B EVAL evaluation board user manual UM0426 Motor control evaluation board user manual UM0379 JTAG opto isolation board user manual UM0378 STM32F103xx AC induction motor IFOC software library V2 0 user manual UM0483 STM32F103xx permanent magnet synchronous motor FOC software library V2 0 user manual UM0492 Most of the above documents are pre
7. observer gains K1 and K2 as well as the PLL gains this PLL provides the speed feedback for the speed regulator using the rotor angle computed by the observer 16 27 r UM0486 Running the starter kit Figure 10 Sensorless screen STM32 Motor Control PMSM FOC ver 1 0 Observer Gains K1 K2 01200 00852 PLL Gains P I 00237 00046 gt Move ti Change After 4 consecutive pushes the last settings screen is entered it allows the I Os of the micro PBO and PB1 to be used as DACs to monitor internal variables in real time with an oscilloscope These outputs provide PWM signals with a duty cycle proportional to the value of the variable it must be low pass filtered by a 6 8K 47nF low pass filter to remove all high frequency components due to the PWM fundamental frequency Figure 11 DAC screen STM32 Motor Control PMSM FOC ver 1 0 Signal on PBO la Signal on PB1 Observed B emf beta oMove ti Change You can select the following internal variables to be monitored la lb Phase a and b currents from ADC reading results alpha beta outputs of the clarke transformation Iq Id direct and quadrature currents output of the park transformation Iq ref Id ref direct and quadrature current components set points Vq Vd direct and quadrature voltage commands V alpha V beta output voltages from the reverse park transform Measured El ectrical angle rotor position computed
8. on Speed Fdbck Press Key to return to menu Press Key to return to menu is displayed only if the cause of the fault is no longer present Pressing the Key button causes the main state machine to switch from FAULT to IDLE state Six different fault sources are monitored during operation Refer to the UM0492 STMS2F103xx permanent magnet synchronous motor FOC software library V2 0 user manual for more implementation details UM0486 Running the starter kit Table 5 PMSM motor faults Error message Description This occurs if a low level triggers the emergency stop on the PWM peripheral dedicated input pin BKIN on pin1 of motor control connector CN14 It means that either the hardware over temperature protection or the hardware over current protection was triggered Over current trip is Overcurrent defined by the L6386 gate driver s comparators level 0 5V and the shunt resistors 3 3A for 0 22 ohm shunt resistor default PMSM configuration 7A for 0 1 ohm shunt resistor This occurs if the power stage heat sink temperature goes above 60 C Overheating This is monitored by reading the voltage value on a NTC resistor with the STM32 ADC on pin26 of motor control connector CN14 This occurs if the DC bus voltage goes above 350Vdc This value is read Bus Overvoltage using the STM32 ADC pin14 of the motor control connector CN14 and a resistor network in parallel with the power stage bulk capacitors
9. 108 24V 3 3A 80W with S amp T Type connector code P00 from SINPRO www trcelectronics com Sinpro e AnAC induction motor The STM3210B MCKIT can operate with an AC induction motor The provided graphical user interface is designed to operate with the SELNI induction motor It can be ordered as an accessory with the following order code ST7MC MOT IND To use the STM3210B MCKIT starter kit with the Selni AC induction motor you need a 42V DC or 32Vag AC power supply polarity not important GND recommended Permanent magnet synchronous motor PMSM The PM synchronous motor is a rotating electric machine where the stator is a classic three phase stator like that of an induction motor and the rotor has surface mounted permanent magnets In this respect the PM synchronous motor is equivalent to an induction motor where the air gap magnetic field is produced by a permanent magnet The use of a permanent magnet to generate a substantial air gap magnetic flux makes it possible to design highly efficient PM motors A PM synchronous motor is driven by sine wave voltage coupled with the given rotor position The generated stator flux together with the rotor flux which is generated by a rotor magnet defines the torque and thus speed of the motor The sine wave voltage output have to be applied to the 3 phase winding system in a way that angle between the stator flux ky UM0486 STM3210B MCKIT hardware setup and the rotor flux i
10. Microelectronics NV and its subsidiaries ST reserve the right to make changes corrections modifications or improvements to this document and the products and services described herein at any time without notice All ST products are sold pursuant to ST s terms and conditions of sale Purchasers are solely responsible for the choice selection and use of the ST products and services described herein and ST assumes no liability whatsoever relating to the choice selection or use of the ST products and services described herein No license express or implied by estoppel or otherwise to any intellectual property rights is granted under this document If any part of this document refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein UNLESS OTHERWISE SET FORTH IN ST S TERMS AND CONDITIONS OF SALE ST DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ST PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT OF ANY PATENT COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT UNLESS EXPRESSLY APP
11. ROVED IN WRITING BY AN AUTHORIZED ST REPRESENTATIVE ST PRODUCTS ARE NOT RECOMMENDED AUTHORIZED OR WARRANTED FOR USE IN MILITARY AIR CRAFT SPACE LIFE SAVING OR LIFE SUSTAINING APPLICATIONS NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY DEATH OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE ST PRODUCTS WHICH ARE NOT SPECIFIED AS AUTOMOTIVE GRADE MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER S OWN RISK Resale of ST products with provisions different from the statements and or technical features set forth in this document shall immediately void any warranty granted by ST for the ST product or service described herein and shall not create or extend in any manner whatsoever any liability of ST ST and the ST logo are trademarks or registered trademarks of ST in various countries Information in this document supersedes and replaces all information previously supplied The ST logo is a registered trademark of STMicroelectronics All other names are the property of their respective owners 2008 STMicroelectronics All rights reserved STMicroelectronics group of companies Australia Belgium Brazil Canada China Czech Republic Finland France Germany Hong Kong India Israel Italy Japan Malaysia Malta Morocco Singapore Spain Sweden Switzerland United Kingdom United States of America www st com 27 27 4
12. STM3210B EVAL user manual UM0426 provided on the STM3210B MCKIT CD ROM 1 1 1 Hardware 4 27 Ti UM0486 STM3210B MCKIT hardware setup An MB535B opto isolation JTAG board 3 This board is described in the JTAG opto isolation board user manual UM0378 provided on the STM3210B MCKIT CD ROM The purpose of the JTAG opto isolation board is to provide galvanic isolation between the J link debugger programmer and the STM32 evaluation board It helps to prevent accidental damage to the PC in the event of a catastrophic failure on the motor control board This isolation barrier also solves the problem of the PC JTAG debugger and motor control board being at different ground potentials A J link USB JTAG debugger 4 The SEGGER J link USB JTAG debugger allows you to reprogram the Flash memory of the STM32 microcontroller and to debug the software before using the application in standalone mode A 24V DC SHINANO PMSM motor 5 The motor included in the STM3210B MCKIT starter kit is a SHINANO Inner rotor type 4 pole brushless DC motor with Hall sensor and encoder For electrical specifications and mechanical dimensions refer to the SHINANO datasheets on the STM3210B MCKIT CD ROM An auxiliary power supply block TR30R 6 The following cables Motor cables 7 Amotor connector HE10 34 pin cable 8 AUSB cable 9 Two JTAG cables 10 A bag with three 0 10hm resistors are included to configure t
13. The shortcircuit replacing the D3 diode footprint must be open This is to avoid having reverse current in the L7815 voltage regulator UM0486 Running the starter kit 2 Running the starter kit When you receive the STM3210B MCKIT starter kit the STM32 microcontroller is already programmed with the PMSM sensorless FOC firmware allowing to immediately run the PMSM motor included in the kit Section 2 1 explains how to do this The STM3210B MCKIT can also run an AC induction motor To do this you must first reconfigure the hardware and load the AC induction motor standalone firmware into the flash memory of the STM32 microcontroller Section 2 2 explains how to do this For both types of motors once you have checked the motor connections and jumper settings on the motor control board you can use the joystick push button and LCD display on the STM3210B EVAL evaluation board to monitor and change parameters of the motor The joystick and the button labelled Key are used to navigate between the different menus see Figure 2 Figure 2 Joystick and push button DATA a FUNCTION 4 gt FUNCTION e y ENTER Key connected to PB3 DATA The conventions for actions on the Key push button and the joystick are as follows 1 The Function concerned by a setting is displayed in red on the LCD 2 Right Left movement of the joystick allows a Inside a given screen to pass from one function to another b
14. d to be modified with the joystick is displayed in red For more information on how the demo works and on how a PMSM can be controlled with the STM32 refer to the UM0492 STM32F103xx permanent magnet synchronous motor FOC software library V2 0 UM0486 Running the starter kit Starting the motor 1 Once you have checked the hardware configuration and connected the power supply as explained in Section 1 2 on page 8 press the Reset push button Figure 4 shows the main screen of the PMSM demo Figure 4 PMSM main screen STM32 Motor Control PMSM FOC ver 1 0 Sensorless Demo Speed control mode Target Measured 01500 rpm 00000 gt Move ti Change 2 Press the Key push button to start the motor Pressing the Key push button again will stop the motor 2 1 1 LCD display in speed control mode In Speed control mode the firmware allows modifying in real time the speed set point Figure 5 Main screen in run state STM32 Motor Control PMSM FOC ver 1 0 Sensorless Demo Speed control mode Target Measured 01500 rpm 01512 2oMove fi Change When the motor is running the LCD indicates the target as well as the measured speed Pressing the joystick up down increases or decreases the speed set point respectively Pressing the joystick to the right enters the Speed PI regulator set up screen Figure 6 Speed PI regulator set up screen STM32 Motor Control PMSM FOC ver 1 0 S
15. ds and the Start up failed error message is displayed on the LCD If this happens you are strongly advised to check the speed sensor feedback connections first and if this is not sufficient to increase the STARTUP_FINAL_TORQUE parameter because the load torque is probably too high This parameter cannot be modified using the LCD interface It is necessary to rebuild the firmware library and re flash the STM32 to change the value Note that the STARTUP_FINAL_TORQUE and STARTUP_TIMEOUT parameters are fully configurable so that you can customize the start up phase to adapt it to the motor you are using and to load conditions For more information about driving an AC induction motor refer to the UM0483 user manual STM32F103xx AC induction motor IFOC software library V2 0 LCD display in torque control mode Figure 15 AC motor screens torque control STM32 Motor Control ACIM IFOC ver 1 0 TORQUE CONTROL MODE Target Measured 08000 00000 09837 00000 Speed rpm 00000 STM32 Motor Control ACIM IFOC ver 1 0 Torque P I D 00100 00020 00000 Target 08000 Iq Measured 00000 Iq Move fi Change 2oMove fi Change STM32 Motor Control ACIM IFOC ver 1 0 Flux D Power stage status 00100 00000 Iq DCbus 000 Volt STM32 Motor Control ACIM IFOC ver 1 0 STM32 Motor Control ACIM IFOC ver 1 0 Signal on PBO 00300 Target 09837 Id Measured 00000 Id T Signal on PB1 20 Celsius Iqref Move fi Change
16. f this section 2 2 1 LCD display in speed control mode Figure 14 AC motor screens speed conirol 20 27 STM32 Motor Control ACIM IFOC ver 1 0 SPEED CONTROL MODE Target Measured 03000 rpm 00000 7Move fi Change STM32 Motor Control ACIM IFOC ver 1 0 Flux 00300 00100 00000 Target 09837 I Measured 00000 I 2Move fi Change STM32 Motor Control ACIM IFOC ver 1 0 Speed P D 06000 01000 00100 Target 03000 rpm Measured 00000 rpm Move fi Change STM32 Motor Control ACIM IFOC ver 1 0 Power stage status DCbus 000 Volt T 20 Celsius STM32 Motor Control ACIM IFOC ver 1 0 Torque I 00100 00020 00000 Target 08000 Iq Measured 00000 Iq 2Move fi Change STM32 Motor Control ACIM IFOC ver 1 0 Signal on PBO Iq Signal on PB1 Iqref gt Move fi Change Pressing the joystick or the Key push button starts the motor During the Speed control demo start up a linear torque ramp is applied to the motor until it reaches the minimum speed allowing to enter closed loop operation for torque and flux Then the speed PID regulator is enabled and takes over control of the torque reference ky UM0486 Running the starter kit 2 2 2 The final torque reference value is applied until the motor reaches the target speed or until a 3 seconds period is elapsed If the target speed is not reached after 3 seconds the state machine goes into FAULT state for two secon
17. from the encoder if connected Measured rotor speed speed measured with the encoder if connected Observed El ectrical angle output of the rotor position estimator Observed rotor speed output of the speed reconstruction PLL Observed alpha beta B emf alpha B emf beta rotor position estimator internal variables A last push to the right returns to the very 1st screen 17 27 Running the starter kit UM0486 2 1 2 18 27 LCD display in torque control mode In torque control mode the firmware allows modifying in real time the torque and flux set points for constant torque operation From the speed control menu an up or down push enters this demo mode Figure 12 Torque Control demo STM32 Motor Control PMSM FOC ver 1 0 Sensorless Demo Torque control mode Target Measured Iq 04500 00000 Id 00000 00000 Speed rpm 00000 Move fi Change When the motor is running the LCD indicates the target Id and Iq current components set points as well as the measured values Pressing the joystick up down increases resp decreases these settings Actual speed is also reported Pressing the joystick on the right enters the same screen than for speed control mode at the exception of Speed PI regulator settings PMSM motor fault messages During the demo you can potentially get error messages as shown in Figure 13 Figure 13 Fault screen STM32 Motor Control PMSM FOC ver 1 0 FAULT Error
18. he MB459B board for driving an AC induction motor The STM3210B MCKIT CD ROM 1 1 2 Software The STM3210B MCKIT CD ROM includes the following software PMSM and AC induction motor software libraries When you receive the STM3210B MCKIT the STM32 microcontroller is programmed by default with the PMSM sensorless FOC firmware 5 27 STM3210B MCKIT hardware setup UM0486 1 1 3 6 27 Documentation The STM3210B MCKIT CD ROM also includes the following product documentation in PDF format e STMS32F103xx high medium and low density datasheets e STM32F10xxx reference manual e STM3210B MCKIT motor control kit user manual UM0486 the present manual e STM32F103xx permanent magnet synchronous motor FOC software library V2 0 UM0492 e STMS32F103xx AC induction motor IFOC software library V2 0 UM0483 e STM3210B EVAL user manual UM0426 e MB459B motor control evaluation board user manual UM0379 e JTAG opto isolation board user manual UM0378 In the box with the STM3210B MCKIT you will also find e Astartup color poster which summarizes the main steps for running the motor control kit The MCD product finder Product flyers and brochures The MCD miniROM A guarantee record card Components not provided The STM3210B MCKIT starter kit does not include e A power supply To use the STM3210B MCKIT starter kit with the provided PMSM motor you need a 24V 3A minimum power supply You can order the SPU65
19. ion board when you receive the STM3210B MCKIT starter kit because they are intended for a PMSM motor When you are running the AC induction motor follow these steps 1 Change the jumpers on the motor control board MB459B to the settings required for running with an AC induction motor Refer to Table 3 for information on jumper settings and if necessary to the MB459B Motor Control Board User Manual for the location of the jumpers on the board Replace the three shunt resistors R3 R4 and R5 on the motor control board MB459B by the 0 10hm resistors included in the bag delivered with the kit Verify that the jumpers on the STM3210B EVAL evaluation board MB469B are in their default position Refer to Table 4 for information on jumper settings and if necessary to the STM3210B EVAL board user manual for the location of jumpers on the board Disconnect the PMSM motor from the motor control board s MOTOR connectors J5 and J8 The motor control board MB459B the STM3210B EVAL evaluation board MB469B the opto isolation JTAG board MB535B and the provided PMSM motor are already assembled together over a metal support when you receive the kit Connect your AC induction motor to the motor control board by connecting the three phases to the J5 connector and the tachometer cables to the J6 connector Verify that the STM3210B EVAL evaluation board and the JTAG opto isolation board MB535B are connected with the provided 20
20. of all information in this document STMicroelectronics assumes no liability to any party for any loss or damage caused by errors or omissions or by statements of any kind in this document its updates supplements or special editions whether such errors are omissions or statements resulting from negligence accident or any other cause 3 27 STM3210B MCKIT hardware setup UM0486 1 STM3210B MCKIT hardware setup This section provides a detailed description of the components included in the STM3210B MCKIT starter kit It also describes the default settings for a permanent magnet sensored motor PMSM and explains how to change them to use an AC induction motor 1 1 Package checklist Figure 1 shows the layout and connections of the major components of the STM3210B MCKIT starter kit Figure 1 STM3210B MCKIT layout vC 9 DEBUGGER W EO ON BOARD MB535B Encoder SHINANO MOTOR 5 L MOTOR CONTROL PUN sno MB459B EVAL BOARD MB525 A TR30R AC DC Power Adapter The STM3210B MCKIT starter kit includes the following items e The MB459B motor control evaluation board 1 This board is described in the MB459B motor control board user manual UM0379 provided on the STM3210B MCKIT CD ROM e The MB525 STM32 evaluation board 2 This board is described in the
21. ol can be downloaded from http www st com mcu Using a third party IDE and C compiler you must then rebuild the project and load it onto the STM32 microcontroller 4 19 27 Running the starter kit UM0486 2 2 Running an AC induction motor The AC induction motor firmware allows you to run the motor in torque or speed control mode and to monitor and change various parameters on the fly This section provides a summary of the screen displays and settings Before you can use the STM3210B MCKIT with an AC induction motor you must re program the STM32 microcontroller to use the AC induction motor firmware To do this you must 1 Set up the hardware as described in Section 1 3 on page 10 2 Connect the J link debugger to the opto isolation board with the 20 pin JTAG cable 3 Connect the J link debugger to the host PC with the USB cable provided The POWER LED on the instrument turns on 4 Power up the motor control kit 5 Load the AC induction motor firmware into the flash memory of the STM32 microcontroller using a third party IDE and C compiler 6 Disconnect the PC from the motor control kit Starting the motor 1 To initialize the system press the Reset push button 2 Press the Key push button to start the motor Pressing the Key push button again will stop the motor At this stage the joystick and the Key push button can be used to navigate between the different menus as described at the beginning o
22. on on e The STM3210B MCKIT starter kit components and how to set up the hardware to run the provided PMSM motor or an AC induction motor e How to run the STM3210B MCKIT starter kit in standalone mode e How to re program the STM32 microcontroller to run your own application For information on the features of the STM32 microcontroller refer to the datasheet The STM32 evaluation board features peripherals and connectors are described in the STM3210B EVAL user manual UM0426 For information on the PMSM and AC induction motor software libraries and how to use them in motor control application development projects refer to the PMSM field oriented control software library user manual UM0492 and the AC induction motor IFOC software library user manual UM0483 respectively You will find these manuals and all related documentation on the STM3210B MCKIT CD ROM November 2008 Rev 3 1 27 www st com Contents UM0486 Contents 1 STM3210B MCKIT hardware setup 0000 e eee eee eee eee 4 1 1 Package checklist a deen eee eee renee AK obs Ree EER and 4 1 1 1 Hardware suce ae EE NRREERIGRESERENRITGONA eek ee Adm 4 1 1 2 SoftWare i esses tee ones Gerba opee edd RR IRERG TEE RAGd os 5 1 1 3 Documentation 0 000 eee eee 6 1 1 4 Components not provided 0 00 c eee eee ee 6 1 1 5 Permanent magnet synchronous motor PMSM 6 1 1 6 AC induction motor ssslssssese ees 7 1 2 Hard
23. peed P 01000 Target 01500 rpm Measured 00000 rpm gt Move ti Change The P proportional coefficient is active by default pressing the joystick up down increases or decreases its value respectively This can be done while the motor is running 15 27 Running the starter kit UM0486 Pressing the joystick to the right a second time allows you to modify the integral coefficient Pressing the joystick to the right another time enters the Torque PI regulator set up screen Figure 7 Torque PI regulator set up screen STM32 Motor Control PMSM FOC ver 1 0 Torque P I 08000 01000 Target 01500 Iq Measured 00000 Iq gt Move fi Change This regulator can be tuned in the same way as the speed regulator Pushing the joystick twice to the right enters the Flux regulator settings screen Figure 8 Flux Pl regulator set up screen STM32 Motor Control PMSM FOC ver 1 0 Flux P I 07500 01000 Target 07500 Id Measured 00000 Id gt Move fi Change Pushing the joystick twice to the right enters the Power stage status screen giving the current heat sink temperature and DC bus voltage Figure 9 Power stage status screen STM32 Motor Control PMSM FOC ver 1 0 Power Stage Status DC bus 024 Volt 020 Celsius Move Pushing the joystick on the right enters the Sensorless control settings screen to modify the rotor position
24. pin JTAG cable In this way the STM3210B EVAL evaluation board automatically supplies the opto isolation board Power up the STM3210B EVAL evaluation board with the auxiliary power supply block TR30R Power up the motor control board by connecting the output terminals of your DC power supply to the MAINS connector J3 The provided voltage must not be higher than 42V DC or 32Va4 AC GND recommended The STM3210B MCKIT is ready to run with your AC induction motor Before supplying the board double check proper connections make sure that there are no metal parts on below or around the PCB and that there are no undesired earth ground loops due to measuring equipment such as an oscilloscope UM0486 STM3210B MCKIT hardware setup Table 3 MB459B motor control board jumper settings for an AC induction motor Jumper Settings for AC induction motor with tachometer feedback W1 lt 35V only or HIGH VOLTAGE W4 Present W5 Not present W6 Present W7 Present and set on default position of silk screen printing W8 Present W9 Present W10 Soldered in the position represented on silk screen printing W11 Present W12 Present W13 Not present W14 Not present W15 Not present W16 Present and set to the reverse position vs silk screen printing W17 Not present W18 Not present W19 Not present Table 4 STM3210B EVAL evaluation board jumper settings for an AC induction mo
25. re library V2 0 AC motor control variables that can be monitored You can select the following internal variables to be monitored la lb Phase a and b currents from ADC reading results alpha beta outputs of the clarke transformation Iq Id direct and quadrature currents output of the park transformation Iq ref Id ref direct and quadrature current components set points Vq Vd direct and quadrature voltage commands V alpha V beta output voltages from the reverse park transform Measured El ectrical angle rotor position computed from speed feedback Measured rotor speed speed measured with the tachogenerator AC induction motor fault messages Table 6 gives the list of fault messages that can be displayed using the demo firmware Table 6 AC induction motor faults Error Message Overcurrent Description This occurs if a low level triggers the emergency stop on the PWM peripheral dedicated input pin BKIN on pin1 of motor control connector CN14 It means that either the hardware over temperature protection or the hardware over current protection was triggered Over current trip is defined by the L6386 gate driver s comparators level 0 5V and the shunt resistors 3 3A for 0 22 ohm shunt resistor default PMSM configuration 7A for 0 1 ohm shunt resistor Overheating This occurs if the power stage heat sink temperature goes above 60 C This is monitored by reading the voltage value on a NTC resistor wi
26. rter kit has noninsulated wires moving or rotating parts when connected to a motor as well as hot surfaces In case of improper use incorrect installation or misuse there is danger of serious personal injury and damage to property All operations installation and maintenance are to be carried out by skilled technical personnel applicable accident prevention rules must be observed When the motor control board is supplied with voltages greater than 30 V AC DC all of the board and components must be considered hot and any contact with the board must be avoided The operator should stay away from the board as well risk of projection of material in case of components destruction especially when powering the board with high voltages The rotating parts of motors are also a source of danger The STM3210B MCKIT starter kit contains electrostatic sensitive components which may be damaged through improper use Intended use The STM3210B MCKIT starter kit is made of components designed for demonstration purposes and must not be included in electrical installations or machinery Instructions about the setup and use of the STM3210B MCKIT starter kit must be strictly observed Operation After disconnecting the board from the voltage supply several parts and power terminals must not be touched immediately because of possible energized capacitors or hot surfaces Important notice to users While every effort has been made to ensure the accuracy
27. s kept close to 90 to get the maximum generated torque To meet this criterion the motor requires electronic control for proper operation For a common 3 phase PM synchronous motor a standard 3 phase power stage is used The same power stage is used for AC induction and PMSM motors The power stage utilizes six power transistors with independent switching The power transistors are switched in the complementary mode The sine wave output is generated using the space vector PWM technique AC induction motor The AC induction motor is a rotating electric machine designed to operate from a three phase source of alternating voltage The stator is a classic three phase stator with the winding displaced by 120 The most common type of induction motor has a squirrel cage rotor in which aluminum conductors or bars are shorted together at both ends of the rotor by cast aluminum end rings When three currents flow through the three symmetrically placed windings a sinusoidally distributed air gap flux generating the rotor current is produced The interaction of the sinusoidally distributed air gap flux and induced rotor currents produces a torque on the rotor The mechanical angular velocity of the rotor is lower then the angular velocity of the flux wave by so called slip velocity In adjustable speed applications AC induction motors are powered by inverters The inverter converts DC power to AC power at the required frequency and amplitude The inver
28. sent on the STM3210B MCKIT CD ROM Software upgrades The latest versions of the STM32 motor control libraries are available free of charge from our sales offices Getting technical support Technical assistance is provided free to all customers For technical assistance documentation and information about products and services please refer to your local STMicroelectronics partner 25 27 Revision history UM0486 Revision history 26 27 Table 7 Document revision history Date Revision Changes 13 Dec 2007 1 Initial release 26 Sep 2008 STM3210B MCKIT starter kit upgraded Open and closed loop modes replaced by torque and speed modes throughout the document The starter kit supports several other third party IDE and C compilers in addition to the EWARM KickStart Edition from IAR software 1 1 2 Firmware section removed Section 1 1 2 Software and Section 1 1 3 Documentation updated A customization assistant is also provided see Section 2 1 4 Running your own PMSM motor Section 3 Creating your custom application updated Sections 3 1 and 3 2 removed A 1 Recommended reading updated 06 Nov 2008 Note added to Section 1 2 Hardware configuration for PMSM motor default and Section 1 3 Hardware configuration for AC induction motor x UM0486 Please Read Carefully Information in this document is provided solely in connection with ST products ST
29. ter consists of three half bridge units where the upper and lower switches are controlled complementarily As the power device s turn off time is longer than its turn on time some dead time must be inserted between the turn off of one transistor of the half bridge and turn on of its complementary device The output voltage is mostly created by a pulse width modulation PWM technique The three phase voltage waves are shifted 120 to each other and thus a three phase motor can be supplied 7 27 STM3210B MCKIT hardware setup UM0486 1 2 Caution 8 27 Hardware configuration for PMSM motor default This section describes the procedure for operating the STM3210B MCKIT with a PMSM motor The default settings that are present on the STM32 evaluation board and on the motor control evaluation board when you receive the STM3210B MCKIT starter kit are intended for a PMSM motor When you are running the PMSM motor follow these steps 1 Verify that all the jumpers on the motor control board MB459B are in their default position Refer to Table 1 for information on jumper settings and if necessary to the MB459B Motor Control Board User Manual for the location of the jumpers on the board Verify that all of the STM32 evaluation board MB525 jumpers are in their default position Refer to Table 2 for information on jumper settings and if necessary to the STM3210B EVAL board User Manual for the location of jumpers on the board
30. th the STM32 ADC on pin26 of motor control connector CN14 Bus Overvoltage This occurs if the DC bus voltage goes above 350Vdc This value is read using the STM32 ADC pin14 of the motor control connector CN14 and a resistor network in parallel with the power stage bulk capacitors Bus Undervoltage This occurs if the bus voltage is below 20V DC Start up failed This indicates that the correct start up criteria were not met during the motor start up sequence Error on speed fdbck This indicates a time out on tachogenerator feedback signal it can be either a cable disconnection or a motor stall because of an insufficient torque reference or supply voltage for instance UM0486 Running the starter kit 2 2 5 Running your own AC motor To run your own motor using the AC firmware follow the indications given in the Getting Started section of the UM0483 user manual STM32F103xx AC induction motor IFOC software library V2 0 Based on your own motor parameters and hardware configuration you must edit and update the following files STM32F10x_conf h configuration header file MC Control Param h MC encoder Param h MC acmotor prm h e MC tacho prm h Using a third party IDE and C compiler you must then rebuild the project and load it onto the STM32 microcontroller Ky 23 27 Creating your custom application UM0486 3 24 27 Creating your custom application The main
31. to pass from one screen to the other using a circular path 3 Up Down movement of the joystick changes the data for the selected function A simple state machine handles the motor control tasks in the main loop and monitors the power stage This state machine is described in Figure 3 it does not differentiate speed control from torque control demos 13 27 Running the starter kit UM0486 2 1 14 27 Figure 3 PMSM and AC induction motor main state machine Button pushed Fault condition over amp Key button pressed Initialization Motor still HW or start up fault elapsed The power stage is monitored using the A D converter and the PWM peripheral Emergency Stop Break in input These peripherals check for the following conditions e Heatsink over temperature e DC bus over voltage or under voltage Over current protection Any of these three conditions will cause the PWM to be stopped and the state machine to go into FAULT state for 2 seconds before going back to IDLE state Depending on the source of the fault an error message is also displayed on the LCD for the duration of the FAULT condition Running the PMSM motor The PMSM firmware allows you to run the motor in torque or speed control mode and to monitor and change various parameters on the fly This section provides a summary of the Screen displays and settings The active parameter the one that is selecte
32. tor Jumper Description Set to PSU position to supply the STM32 evaluation board through the jack JP4 CNA JP12 Fitted tachogenerator signal filter for AC induction motor JP10 Not fitted TRST JTAG and NRESET MCU do not need to be connected SW1 SW2 Both set to 0 position to boot from embedded user flash Note 1 Tousethe STM3210B EVAL evaluation board with an AC induction motor the three shunt resistors R3 R4 and R5 of the motor control board MB459B must be replaced by the 0 1ohm resistors included in the bag delivered with the kit 2 In order to increase the motor control performance especially when the motor is not loaded it is suggested to replace capacitor C77 by a 470 nF capacitor on the STM3210B EVAL evaluation board Please refer to the STM3210B EVAL evaluation board user manual UMO0488 to know more about the location of C77 11 27 STM3210B MCKIT hardware setup UM0486 1 4 12 27 Power supply connections J1 connector provides a completely independent control of the DC bus voltage power and the 15V supply for the gate drivers This is interesting for development purposes when one needs to smoothly increase the motor s operating voltage from zero while having gate drivers operating with their nominal supply When supplying the power stage with an external 15V power supply using the J1 connector special care must be taken that 1 No jumpers are connected on Jumper W1 2
33. ware configuration for PMSM motor default llus 8 1 3 Hardware configuration for AC induction motor 45 10 1 4 Power supply connections lllsleleeeesseleees eere 12 2 Running the starter kit LLll l eeee e 13 2 1 Running the PMSM motor 2 000 e eee ees 14 2 1 1 LCD display in speed control mode 00 02 cee eee 15 2 1 2 LCD display in torque control mode n saasaa eae 18 2 1 8 PMSM motor fault messages 00 00 cee eee eee 18 2 1 4 Running your own PMSM motor 000 0c cece eee 19 2 2 Running an AC induction motor 0 0000 eee eee 20 2 2 1 LCD display in speed control mode 00 00 cee eee 20 2 2 2 LCD display in torque control mode n sanasana eae 21 2 2 8 AC motor control variables that can be monitored 22 2 2 4 AC induction motor fault messages lille 22 2 2 5 Running your own AC motor 2 000 0c eee eee 23 3 Creating your custom application else 24 Appendix A Additional information llle 25 A 1 Recommended reading 00 0c eee eee eee 25 AS Software upgrades sc ccren oe di geed esses bose FP EN ese RCRS ER 25 A 3 Getting technical support 0 c eee ee 25 REVISION NISL 1 acea a Cacaica oe Ca CR eee ee eee ae 26 2 27 Ti UM0486 Safety warnings General In operation the STM3210B MCKIT sta
Download Pdf Manuals
Related Search