TN0516 STMICROELECTRONICS | Alldatasheet

Document overview

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Technical content

Datasheet sections

  • 1 Motor control library features
  • 1.1 User project and interface features
  • 2 MC software development kit architecture
  • 3 Documentation architecture
  • 3.1 Where to find the information you need
  • 3.2 Related documents
  • 4 Revision history

Synchronous Motors (PMSM), both Surface Mounted (SM-PMSM) and Internal (I-PMSM). Amplifiers, PGA) for current sensing and protection, thus simplifying application board. ready-to-use Application Programming Interface (API). library to explain the usage of the motor control API and it's most common features. Table 1. Applicable products

TN0516 Motor control library features

1 Motor control library features

  • Single or simultaneous Dual PMSM FOC sensorless / sensored (Dual PMSM FOC only when running on STM32F103xx High-Density, STM32F103xx XL-Density or STM32F2xx or STM32F303xB/C or STM32F4xx)
  • Speed feedback: – Sensorless (High Frequency Injection HFI plus B-EMF State Observer, PLL rotor speed/angle computation from B-EMF, only for STM32F30x or STM32F4xx) – Sensorless (B-EMF State Observer, PLL rotor speed/angle computation from B-EMF) – Sensorless (B-EMF State Observer, CORDIC rotor angle computation from B-EMF) – 60° or 120° displaced Hall sensors decod ing, rising/falling edge responsiveness – Quadrature incremental encoder – For each motor, dual simultaneous speed feedback processing – On-the-fly spee d sensor switching capability
  • Current sampling methods: – Two ICS (only when running on STM32F103xx or STM32F2xx or STM32F4xx) – Single, common DC-link shunt resistor (ST patented) – Three-shunt resistors placed on the bottom of the three inverter legs (only when running on STM32F103xx or STM32F2xx or STM32F302xB/C or STM32F30xB/C or STM32F4xx)
  • Embedded analog features (STM32F30x only) – PGA (Programmable Gain Amplifiers) for current sensing: support for three-shunt and single-shunt, internal and external gain – Comparators for over-current protection: support for three-shunt and single-shunt, internal and external threshold – Comparators for over-voltage protection: support for motor phases short-circuiting mode and free-wheeling mode, internal and external threshold
  • FOC hardware acceleration(STM32F30x only) – ADC queue of context (ST patented architecture) support – CCM (Core Coupled Memory) RAM support – Advanced Timer structures for single shunt (ST patented) support
  • Flux weakening algorithm to attain higher than rated motor speed (optional)
  • Feed-Forward, high performance current regulation algorithm (optional)
  • SVPWM generation: – Centered PWM pattern type – Adjustable PWM frequency
  • Torque control mode, speed control mode; on-the-fly switching capability
  • Brake strategies (optional): – Dissipative DC link brake resistor handling – Motor phases short-circuiting (with optional hardware over-current protection disabling)

Motor control library features TN0516 – Motor phases free-wheeling

  • When running Dual FOC, any combination of the above-mentioned speed feedback, current sampling, control mode, optional algorithm
  • Optimized I-PMSM and SM-PMSM drive
  • Programmable speed ramps (parameters duration and final target)
  • Programmable torque ramps (parameters duration and final target)
  • Real-time fine tuning of: – PID regulators – Sensorless algorithm – Flux weakening algorithm – Start-up procedure (in case of sensorless)
  • Fault conditions management: – Over-current – Over-voltage – Over-temperature – Speed feedback reliability error – FOC algorithm execution overrun
  • Easy customization of options, pin-out assignments, CPU clock frequency through ST MC Workbench GUI
  • C language code: – Compliant with MI SRA-C 2004 rules – Conforms strictly with ISO/ANSI – Object-oriented programming architecture

1.1 User project an d interface features

Two options are available:

  • FreeRTOS-based user project (for STM32F103xx and STM32F2xx only)
  • SysTick-timer-easy-scheduler-based user project Available User Interface options (and combinations of them):
  • Full LCD plus joystick
  • Light LCD plus joystick
  • Serial communication protocol bidirectional (compatible with ST MC Workbench GUI)
  • Serial communication protocol fast unidirectional
  • Drive system variables logging/displaying via: –S P I – DAC (DAC peripheral is not present in the STM32F103xx low or medium density; in this case, RC-filtered PWM signal option is available).

2 MC software development kit architecture

  • STM32Fxxx standard peripherals library and CMSIS library
  • Motor Control Library
  • Motor Control Application
  • Demonstration user project

Figure 1. MC software library architecture CMSIS and MISRA-C compliant. Visit www.st.com/stm32 for complete documentation. elements involved in motor control (such as speed sensors, current sensors, algorithms). Each class has an interface, which is a list of methods applicable to objects of that class. Figure 2 is a conceptual representation of the library.

  • Web distribution, available free of charge at www.st.com, where the Motor Control Library is provided as a compiled .lib file.
  • Confidential distribution, available free of charge on demand by contacting your nearest ST sales office or support team. Source files of classes are provided, with the exception of ST protected IPs, which are provided as compiled object files. Source files of protected IPs can also be provided free of charge to ST partners upon request. Contact your nearest ST office or support team for further information.

Figure 2. Motor control library specified in its Application Programming Interface (API). STM32F2xx/F30x/F4xx MCUs PMSM single/dual FOC library (UM1053). logging/displaying utility, or as a tuning tool.

permanent-magnet synchronous motor single/dual FOC software library V4.0 (UM1052). Figure 3. Example scenario complete list of ST offices and distributors, refer to the ST website http://www.st.com.

Documentation architecture TN0516

3 Documentation architecture

3.1 Where to find the information you need

Technical information about the MC SDK is distinguished and organized by topic. The following is a list of the available documents and the subjects they cover:

  • STM32F05xx/STM32F100xx/STM32F103xx/STM32F2xx/STM32F30x or STM32F4xx permanent-magnet synchronous motor single/dual FOC software library V4.0 (UM1052). This provides the following: –F e a t u r e s – Architecture – Workspace – Customization processes – Overview of algorithms implemented (F OC, current sensors, speed sensors, embedded analog topologies supported) – MC API – Demonstrative user project – Demonstrative LCD user interface – Demonstrative serial communication protocol
  • Advanced developers guide for STM32F05xx/STM32F100xx/103xx and STM32F2xx/STM32F30x/STM32F4xx MCUs PMSM single/dual FOC library (UM1053). This provides the following: – Object oriented programming style used for developing the MC library – Description of classes that belong to the MC library – Interactions between classes – Description of tasks of the MCA
  • MC library source documentation (Doxygen-compiled HTML file). This provides a full description of the public interface of each class of the MC library (methods, parameters required for object creation).
  • MC Application source documentation (Doxygen-compiled HTML file). This provides a full description of the classes that make up the MC API.
  • User Interface source documentation (Doxygen-compiled HTML file). This provides a full description of the classes that make up the UI Library.
  • STM32F0xx, STM32F10x, STM32F2xx, STM32F30x or STM32F4xx Standard Peripherals Library source documentation (Doxygen-compiled HTML file).
  • ST MC Workbench GUI documentation. This is a field guide that describes the steps and parameters required to customize the library, as shown in the GUI.
  • In-depth documentation about particular algorithms (sensorless position/speed detection, flux weakening, MTPA, feed-forward current regulation). Please contact your nearest ST sales office or support team to obtain the documentation you are interested in if it was not already included in the software package you received or available on the ST web site (www.st.com).

TN0516 Documentation architecture

3.2 Related documents

Available from www.arm.com

  • Cortex™-M0 Technical Reference Manual, available from: 0_trm.pdf
  • Cortex™-M3 Technical Reference Manual, available from: 1_trm.pdf
  • Cortex™-M4 Technical Reference Manual, available from: 1_trm.pdf Available from www.st.com or your STMicroelectronics sales office
  • STM32F050x and STM32F051x datasheets
  • STM32F100xx datasheet
  • STM32F103xx datasheet
  • STM32F20x and STM32F21x datasheets
  • STM32F40x and STM32F41x datasheets
  • STM32F050x and STM32F051x reference manual (RM0091)
  • STM32F100xx reference manual (RM0041)
  • STM32F103xx reference manual (RM0008)
  • STM32F20x and STM32F21x reference manual (RM0033)
  • STM32F40x and STM32F41x reference manual (RM0090)
  • STM32F103xx AC induction motor IFOC software library V2.0 user manual (UM0483)
  • STM32 and STM8 Flash Loader demonstrator user manual (UM0462)
  • STM32F302xB/C datasheet
  • STM32F303xB/C datasheet
  • STM32F30x reference manual (RM316)

4 Revision history

Table 2. Document revision history 19-Apr-2011 1 Initial release. Updated Table 1: Applicable products. Updated Motor control library features. Added references to new UM1052 and UM1053. 22-May-2014 4 Updated Introduction and Section 1: Motor control library features. Updated references to new UM1052 and UM1053.