AVR Motor Control
Control of Brushless DC motors
Atmel Norway 2005
Brushless DC Motor applications
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AVR Motor Control
Characteristics of Brushless DC motors Pro
Very Power efficient (95%) Good Power to Weight ratio No mechanical wearing of Brushes Very good control of speed and position Low electrical noise High starting torque
Con
Rely on electronic commutation (microcontroller or ASSP) More complex driver stage than Brushed DC
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AVR Motor Control
Brushless DC Motor the basic concept Rotor consists of permanent magnets Stator consists of a number of windings
Current through windings generates a magnetic field that attract/ rejects the rotor magnets
Position sensors used to determine when to commutate
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AVR Motor Control
Brushless DC Motor the advanced concept Sensorless control is when position sensors are not used
Back Electromotive Force (B-EMF) is the key to sensorless control
B-EMF is the voltage generated in the stator windings when motor rotates - the motor is a generator while being a motor
B-EMF voltage is depending on the motor speed
B-EMF voltage not available when starting
The Electrical Danymo (generator) was patented in 1888 by N. Tesla
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AVR Motor Control
Brushless motor types Single-phase BLDC Single-phase BLDC motor
Used for fans Advantages
Low cost mechanical solution
Disadvantages
Electronical control requires hall-sensor Noisy due to high torque ripple Costly driver stage Requires dead-time between commutations
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AVR Motor Control
Brushless motor types Two-phase BLDC Two-phase BLDC motor
Used in fans Advantages
Low mechanical cost Simple to control (and no dead band required) Inexpensive driver stage
Disadvantages
Difficult to control without sensors
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AVR Motor Control
Brushless motor types Three-phase BLDC Three-phase BLDC motor
Used in various applications toys, power tools, white goods +++ Advantages (compared to AC induction and PMSM motors)
Easy to control High power to weight ratio Good position control
Disadvantages
Noisy
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AVR Motor Control
Challenges common to all motor control Cost
Low cost MCU MCU must reduce external components count
Board space and assembly is expensive On-chip analog features cheaper than external components
Power efficiency
Right PWM control for efficient torque/speed management and driver power dissipation.
Safety comes first!
Motor current must always be monitored to avoid overheating Rapid response to overcurrent essential
Protect drivers and motor Protect humans
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Why AVR is a good choice for motor control
Low cost PWM features
Dual slope PWM - Easy to do software dead band insertion PWM triggerd ADC for clean measurements Buffered PWM registers eliminates shoot-through
Pin change interrupts
Excellent for position sensors signals
On board ADC and analog comparator
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AVR Motor Control
AVR Application notes and reference designs 3 application notes on Two-phase BLDC motor control
AVR440 (sensorless) AVR441, AVR442 (sensor based) Articles published
5 Application notes on Three-phase BLDC motor
AVR443, AVR448, and AVR492 (sensor based) AVR444 and AVR493 (sensorless) Reference design ATAVRMC100 available Application note on sine wave driving of three phase permanent magnet motor in the works
2 Application notes on AC induction motor control
AVR494 (natural modulation) and AVR495 (space-vector modulation) AC induction motors used e.g. in industrial control and white goods Reference board MC200
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Sensor based control of two-phase fan AVR441 - two-phase BLDC fan with two speed references
E.g. Host and temperature sensor Advantage
Autonomous fan speed Temperature sensor in ATtiny25/45/85 reduces overall cost
Target devices
ATtiny13 ATtiny25/45/85
AVR442 - two-phase BLDC fan with TWI interface
Also uses integrated temp sensor Advantage
Autonomous fan speed TWI/SMBus control multiple fans Advanced fan feedback
Target devices
ATtiny25/45/85
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Sensorless control of two-phase fan AVR440 - sensorless control of two-phase BLDC fan
Patent filed method can only be used with AVR microcontrollers B-EMF voltage over passive winding used to time commutation.
Advantage
Hall-sensor can be eliminated to reduce fan cost
Disadvantage
Difficult to run the fan a very low speed
Target devices
ATtiny13 ATtiny25/45/85
Requirements
Up-down PWM counter PWM triggered ADC
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Sensor based control of three-phase BLDC motor AVR443, AVR448 Three-phase BLDC motor
GPIO/PWM controls high side driver PWM controls low side driver Current sensing
Advantage
Low cost solution Implementation needs few resources, CPU cycles available for other tasks HW fault protection (Tiny26 family) Support TWI/SPI/UART
Requirements
3/6 PWM channels and PWM triggered ADC
Target devices
ATmega48/88/168 (automotive) ATtiny261/461/861
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Sensorless control of three-phase BLDC motor
AVR444 sensorless control of three-phase BLDC motor
PWM on both high and low side driver Current control
Advantage
Low cost microcontroller Low cost motor without sensors Automotive qualified (ATmega48 fam)
Disadvantage
Very low speed not possible Startup routine requires known load
Target devices
ATmega48/88/168 ATtiny261/461/861
Requirements
6 PWM channels PWM triggered ADC
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