1、MPS Confidential Dont Distribute直流無刷電機控制方案及磁編碼器的應(yīng)用直流無刷電機控制方案及磁編碼器的應(yīng)用_秦鴻強秦鴻強/陸楨陸楨 2015.11.17The Future of Analog IC Technology 單相直流無刷電機控制技術(shù)及方案 三相直流無刷電機控制技術(shù)及方案 步進(jìn)電機控制技術(shù)及方案 永磁同步電機矢量控制技術(shù)及方案 MPSMPS轉(zhuǎn)子角度位置傳感器特點及應(yīng)用 基于MPS永磁同步電機方案的機器人拋球裝置介紹The Future of Analog IC Technology需要檢測轉(zhuǎn)子磁場位置根據(jù)位置信息決定通電順序，以產(chǎn)生持續(xù)旋轉(zhuǎn)的磁場調(diào)節(jié)H

2、橋占空比從而控制繞組電流大小The Future of Analog IC Technology 外圍器件少外圍器件少 單層單層PCB設(shè)計容易設(shè)計容易PCB 控制控制/H橋橋/霍爾集成霍爾集成PCBPCBStraight Lead TSOT23-6The Future of Analog IC Technology 3V to 18V 輸入輸入，21V過壓保護(hù)過壓保護(hù) 輸入防插反輸入防插反 內(nèi)部集成霍爾檢測內(nèi)部集成霍爾檢測(min. 3mT) 輸出輸出FG/RD可選擇可選擇 軟換相抑軟換相抑制電流過沖和噪聲制電流過沖和噪聲 BEMF和電流自動鎖相提高效率和電流自動鎖相提高效率The Futur

3、e of Analog IC TechnologyTcase_rise=10CVIN=12V, IIN=0.31ARoom. Temp,The Future of Analog IC Technology 軟換相抑軟換相抑制電流過沖和制電流過沖和噪聲噪聲 BEMF和電流自動鎖相和電流自動鎖相提高效率提高效率 檢測輸入檢測輸入PWM占空比占空比 查表獲取輸出查表獲取輸出PWM占空比占空比 查表可任意查表可任意數(shù)字編程數(shù)字編程The Future of Analog IC Technology根據(jù)三相霍爾德位置決定導(dǎo)通相，以產(chǎn)生旋轉(zhuǎn)的定子磁場每60o有兩相導(dǎo)通，另外一相懸空每相電流導(dǎo)通240oTh

4、e Future of Analog IC Technology 三相驅(qū)動可獨立控制三相驅(qū)動可獨立控制 5V-60V輸入輸入 外部外部MOSFET，功率應(yīng)用靈活，功率應(yīng)用靈活輸出驅(qū)動可輸出驅(qū)動可100%占空比工作占空比工作 死區(qū)可調(diào)死區(qū)可調(diào)The Future of Analog IC Technology 三相驅(qū)動可獨立控制三相驅(qū)動可獨立控制 支持三相霍爾支持三相霍爾+PWM接口輸入接口輸入 5V-60V輸入輸入 外部外部MOSFET，功率應(yīng)用靈活，功率應(yīng)用靈活輸出驅(qū)動可輸出驅(qū)動可100%占空比工作占空比工作 死區(qū)可調(diào)死區(qū)可調(diào)The Future of Analog IC Technolog

5、y 實時輸出三相電流檢測實時輸出三相電流檢測 三相橋臂可靈活單獨控制三相橋臂可靈活單獨控制 全集成驅(qū)動和三相橋全集成驅(qū)動和三相橋 QFN5x5mm MP6540: 60V/5A/30m MP6541: 35V/8A/13m The Future of Analog IC Technology 反應(yīng)式步進(jìn)電機：反應(yīng)式步進(jìn)電機： 利用磁阻轉(zhuǎn)矩，結(jié)構(gòu)簡單 無定位轉(zhuǎn)矩 步距角小 永磁式步進(jìn)電機：永磁式步進(jìn)電機： 利用電磁轉(zhuǎn)矩，效率高 有定位轉(zhuǎn)矩 步距角度不宜做小 混合式步進(jìn)電機：混合式步進(jìn)電機： 步距角可以很小 有定位轉(zhuǎn)矩 結(jié)構(gòu)復(fù)雜The Future of Analog IC Technology

6、電脈沖信號與角度位移成正比 兩相鄰相磁極軸線與轉(zhuǎn)子齒數(shù)的關(guān)系： Zr為轉(zhuǎn)子齒數(shù)，p為極對數(shù)，為m相數(shù)，K為正整數(shù)。12ZrKpmmA A相對齊時（相對齊時（3 3相步進(jìn)電機為例）相步進(jìn)電機為例）The Future of Analog IC Technology 電周期的通電拍數(shù)與步距角的關(guān)系（N拍轉(zhuǎn)一個齒距）：N為一個電周期通電拍數(shù)；M為相數(shù)；C=1（單拍或者雙拍方式），C=2（單雙拍方式）單拍工作方式：每拍只有一相繞組通電；雙拍工作方式：每拍同時有兩相繞組通電；單雙拍工作方式：每拍單拍、雙拍交替進(jìn)行；360osrNZNCmThe Future of Analog IC Technology

7、STEP: 步進(jìn)命令DIR: 方向控制開關(guān)頻率設(shè)置MS2MS1模式模式 拍拍數(shù)數(shù)LLFull4LHHalf8HLQuarter16HHEight32繞組最大電流設(shè)定The Future of Analog IC Technology例：例：3232拍（拍（Eight StepEight Step）The Future of Analog IC Technology各相磁場及BEMF為正弦波利用3/2旋轉(zhuǎn)變化，把三相交流變量(A/B/C)轉(zhuǎn)化為旋轉(zhuǎn)的2相直流量(d/q)用相鄰基本矢量+零矢量利用面積等效原理所需矢量The Future of Analog IC Technology MP6540

8、: 60V/5A/30m MP6541: 35V/8A/13m 集成高精度位置傳感器集成高精度位置傳感器 I2C/SPI數(shù)字通訊接口數(shù)字通訊接口 FOC控制算法控制算法 位置位置/速度速度/轉(zhuǎn)矩模式轉(zhuǎn)矩模式 非易失儲存器存儲參數(shù)非易失儲存器存儲參數(shù)The Future of Analog IC Technology置霍爾檢測置霍爾檢測速度：速度：20到到60000RPM位置：位置：0.2o 分辨率分辨率, 232圈圈The Future of Analog IC Technology Brake un-controlled and slow! More energy lost on diode

9、, winding resistance! Brake controlled and fast!u Normal Brakeu Fast Brake More energy recycle!Controlled by MP6570The Future of Analog IC TechnologyMP6540/1 3-phase bridgeQFN5x5mmMPS ControllerQFN4x4mm3.3V LDO (optional)(VIN/3.3V/GND/EN/DIR/CLKIN/BRAKE/FG/FT/SPI/I2C)From System ControllerThe Future

10、 of Analog IC TechnologyThe Future of Analog IC Technology feasible with the same devicevs.The Future of Analog IC Technologyend-of-shaftside-shaftSensor on-axis of magnetSensor off axis of magnetThe Future of Analog IC TechnologyWhat is common in all competitors sensors?Based on two component (X,Y)

11、 measurementConvert hall voltage signal into digital domainAngle computed with complex arctan algorithmThe Future of Analog IC TechnologyMPS Special Technique: energy efficient extremely fast small die & package robust & reliableTime countingswitcha aMPS MagAlpha Spinaxis means true instanta

12、neous sensing (TIS) simple & robust setup low power consumption small sensor componentsThe Future of Analog IC TechnologyiVV B B B=How does Spinaxis work?The Future of Analog IC TechnologyHow does Spinaxis work?The Future of Analog IC TechnologyFiltered output:a aa aHow does Spinaxis work?The Fu

13、ture of Analog IC TechnologyCOMPREFa aHow does Spinaxis work?The Future of Analog IC TechnologyHow does Spinaxis work?HALLPWM (SR)COMPREFCOMPREFa aThe Future of Analog IC TechnologycompanyproductINLresolution (3sigma)response timeapplied fieldpower up timepackage sizesupply currentsupply voltageoper

14、ating temperatureside-shaft mountABZ UVWimmun. ext field Bmin Bmax larg length minmaxminmax degbitusmTmTusmmmmmAVVCC AS50450.912964575 20000 7.886.21635.5-40125nononoyesAS50481.2141003070 10000 6.451535.5-40150nononoyesAS513428.5222080500 7.87.2224.55.5-40125noyesyesyesAS50551.412100003080400448.533

15、.6-4085nononoyes AK7405112200003070 25000 7.57.4154.55.5-40150yes12 bitsnono AEAT-66000.41244290120 10000 6.451735.5-40125noyesyesno IC-MH0.51250251253005584.55.5-40125no12 bitsyesyes IC-MH80.351250251253005584.55.5-40125no12 bitsyesyes TLE5012 (fast mode)19213050500 5.84.81435.5-40150noyesyesno MLX

16、90316 (fast mode)1122002070 15000 5.84.8164.55.5-40150yesnonono HAL36250.791000201007000 5.84.8104.55.5-40170yesnonono AM40960.21230.7505015001082635.5-40125noyesyesyesAM81920.2132204040 100001212394.755.25-40125noyesnoyesA1332210.1683010040000 6.45204.55.5-40125yesnononoA13341.759.26030100300 6.451

17、04.514.5-40150nononono MA 3001.5123201502533733.6-40125yes10 bitsyesno side-shaft mounting possible high sampling frequency 500 kHz ultra-short latency3 s short power-up time25 s small components3x3 mm2 QFN moderate power consumption 7 mAThe Future of Analog IC TechnologyhallencoderProduct Applicati

18、onAbsoluteIncrementalzero settingside shaft linearizationlow power optimizationSPIPWM motor commutation8 bit10 bit8 bit16 bitMA100 Motor commutationMA120 Motor commutationMA200 Motor commutation & speed controlMA300 Motor commutation & position controlMA700 High performance encoderMA720 Low power encoderMA750 Contactless potentiometerUpcoming featuresMotor commutation: multiple pole pair rotor with simple target magnet MA100, MA120, MA200, MA300Alarm:High /Low f