CD00298474_stm32f4_pmsm_foc_sdk使用指南原版.pdf

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1、November 2012Doc ID 18458 Rev 41/129UM1052User manualSTM32F05xx/STM32F100 xx/STM32F103xx/STM32F2xx/ STM32F4xx PMSM single/dual FOC SDK v3.3IntroductionThis manual describes the Motor Control Software Development Kit (generically called software library) designed for and to be used with STM32F05xx, S

2、TM32F100 xx, STM32F103xx, STM32F2xx or STM32F4xx microcontrollers. The software library implements the Field Oriented Control (FOC) drive of 3-phase Permanent Magnet Synchronous Motors (PMSM), both Surface Mounted (SM-PMSM) and Internal (I-PMSM).The control of an AC induction motor equipped with enc

3、oder or tacho generator is described in the UM0483 user manual.The STM32F family of 32-bit Flash microcontrollers is based on the breakthrough ARM Cortex-M cores: the Cortex-M0 for STM32F05xx, the Cortex-M3 for STM32F1xx and STM32F2xx, and the Cortex-M4 for STM32F4xx, specifically developed for embe

4、dded applications. These microcontrollers combine high performance with first-class peripherals that make it suitable for performing both permanent-magnet and AC induction motor FOC.The PMSM FOC library can be used to quickly evaluate ST microcontrollers and complete ST application platforms, as wel

5、l as to save time when developing Motor Control algorithms to be run on ST microcontrollers. This PMSM FOC library is written in C language, and implements the core Motor Control algorithms (reference frame transformations, currents regulation, speed regulation, space-vector modulation, energy effic

6、iency optimizations) as well as sensor reading/decoding algorithms (three shunts, ST-patented single DC link shunt, isolated current sensors, incremental encoder, hall sensors) and a sensorless algorithm for rotor position reconstruction.When deployed with STM32F103xx High-Density / XL-Density devic

7、es (Flash memory density between 256 and 512 Kbytes / 768 Kbytes and 1 Mbyte), STM32F2xx or STM32F4xx, the PMSM FOC library enables simultaneous dual FOC of two different motors. The library can be customized to suit user application parameters (motor, sensors, power stage, control stage, pin-out as

8、signment) and provides a ready-to-use Application Programming Interface (API). A user project has been implemented to demonstrate how to interact with the Motor Control API. The project provides an LCD User Interface and a USART User Interface, represents a convenient real-time fine-tuning and remot

9、e control tool for the motor control application.A PC Graphical User Interface (GUI), the ST Motor Control Workbench, allows a complete and easy customization of the PMSM FOC library. In conjunction with the ST motor control starter kits, a PMSM motor can be made to run in a very short time using de

10、fault parameters.Basic knowledge of C programming, C+ programming (for customizing the LCD User Interface), PM motor drives and power inverter hardware is necessary for using the software library. Table 1 lists the microcontrollers concerned by this user manual. Table 1.Applicable productsTypeApplic

11、able productsMicrocontrollersSTM32F05xx, STM32F100 xx, STM32F103xx, STM32F2xx, STM32F4xx ContentsUM10522/129Doc ID 18458 Rev 4Contents1MC software development kit architecture . . . . . . . . . . . . . . . . . . . . . . 102Documentation architecture . . . . . . . . . . . . . . . . . . . . . . . . .

12、. . . . . . . . . 132.1Where to find the information you need . . . . . . . . . . . . . . . . . . . . . . . . . . 132.2Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143Overview of the FOC and other implemented algorithms . . . . . . . . . . 153.1

13、Introduction to the PMSM FOC drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153.2PM motor structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173.3PMSM fundamental equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183.

14、3.1SM-PMSM field-oriented control (FOC) . . . . . . . . . . . . . . . . . . . . . . . . . 193.4PMSM maximum torque per ampere (MTPA) control . . . . . . . . . . . . . . . . 203.5Feed-forward current regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.6Flux-weakening contro

15、l . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.7PID regulator theoretical background . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.7.1Regulator sampling time setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.8A priori determinati

16、on of flux and torque current PI gains . . . . . . . . . . . . 263.9Space vector PWM implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283.10Detailed explanation about reference frame transformations . . . . . . . . . . 303.10.1Circle limitation . . . . . . . . . . . . . . . .

17、 . . . . . . . . . . . . . . . . . . . . . . . . . . . 324Current sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344.1Current sampling in three-shunt topology . . . . . . . . . . . . . . . . . . . . . . . . 344.1.1Tuning delay parameters and sampling s

18、tator currents in three-shunt resistor topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364.2Current sampling in single-shunt topology . . . . . . . . . . . . . . . . . . . . . . . . 404.2.1Definition of the noise parameter and boundary zone . . . . . . .

19、. . . . . . . 434.3Current sampling in isolated current sensor topology . . . . . . . . . . . . . . . 465Rotor position/speed feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495.1Sensorless algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20、 . 495.1.1A priori determination of state observer gains . . . . . . . . . . . . . . . . . . . . 505.2Hall sensor feedback processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52UM1052ContentsDoc ID 18458 Rev 43/1295.2.1Speed measurement implementation . . . . . . . . . . . . . .

21、 . . . . . . . . . . . . 525.2.2Electrical angle extrapolation implementation . . . . . . . . . . . . . . . . . . . . 545.2.3Setting up the system when using Hall-effect sensors . . . . . . . . . . . . . 555.3Encoder sensor feedback processing . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

22、5.3.1Setting up the system when using an encoder . . . . . . . . . . . . . . . . . . . 586Working environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606.1Motor control workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616.2MC S

23、DK customization process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636.3Motor control library project (confidential distribution) . . . . . . . . . . . . . . . 656.4Motor control application project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666.5User project

24、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676.6LCD UI project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707MC application programming interface (API) . . . . . . . . . . . . . . . . . . . . 747.1MCIn

25、terfaceClass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 747.1.1User commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 757.1.2Buffered commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26、 . . . . . 767.2MCTuningClass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777.3How to create a user project that interacts with the MC API . . . . . . . . . . 787.4Measurement units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27、. . . . . 837.4.1Rotor angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837.4.2Rotor speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837.4.3Current measurement . . . . . . . . . . . . . . . . . . . . .

28、 . . . . . . . . . . . . . . . . . 847.4.4Voltage measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 848LCD user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 858.1Running the motor control firmware using the LCD inte

29、rface . . . . . . . . . . 858.2LCD User interface structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 868.2.1Motor control application layer configuration (speed sensor) . . . . . . . . 878.2.2Welcome message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30、 . . . . . . . 888.2.3Configuration and debug page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888.2.4Dual control panel page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 938.2.5Speed controller page . . . . . . . . . . . . . . . . . . . . . . . . . .

31、 . . . . . . . . . . . . 948.2.6Current controller page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 978.2.7Sensorless tuning STO & PLL page . . . . . . . . . . . . . . . . . . . . . . . . . . . 99ContentsUM10524/129Doc ID 18458 Rev 48.2.8Sensorless tuning STO & CORDIC p

32、age . . . . . . . . . . . . . . . . . . . . . . 1029User Interface class overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1049.1User interface class (CUI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1059.2User interface configuration . . . . . . . . .

33、. . . . . . . . . . . . . . . . . . . . . . . . . 1079.3LCD manager class (CLCD_UI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1089.4Using the LCD manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1099.5Motor control protocol class (CMCP_UI) . . . .

34、 . . . . . . . . . . . . . . . . . . . . 1099.6Using the motor control protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1109.7DAC manager class (CDACx_UI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1119.8Using the DAC manager . . . . . . . . . . . . . . . . . . .

35、 . . . . . . . . . . . . . . . . . . 1139.9How to configure the user defined DAC variables . . . . . . . . . . . . . . . . . 11410Serial communication class overview . . . . . . . . . . . . . . . . . . . . . . . . . 11510.1Set register frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

36、. . . . . . . . . . . . . 11710.2Get register frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12010.3Execute command frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12110.4Execute ramp frame . . . . . . . . . . . . . . . . . . . .

37、 . . . . . . . . . . . . . . . . . . . . 12210.5Get revup data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12310.6Set revup data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12410.7Set current references frame . . . . . .

38、 . . . . . . . . . . . . . . . . . . . . . . . . . . . 12511Document conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126Appendix AAdditional information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127A.1References . . . . . . . . . . . .

39、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128UM1052List of tablesDoc ID 18458 Rev 45/129List of tablesTable 1.Applicable products and tools. . . . . . . . . . . . . .

40、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Table 2.References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Table 3.Sector identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

41、. . . . . . . . . . . . . . . . . . . . . . . . . 30Table 4.3-shunt current reading, used resources (single drive, F103 LD/MD) . . . . . . . . . . . . . . . . 35Table 5.3-shunt current reading, used resources (single drive, or dual drive, F103 HD, F2xx, F4xx). . . . . . . . . . . . . . . . . . . . .

42、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Table 6.Current through the shunt resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Table 7.single-shunt current reading, used resources (single drive, F103/F10

43、0 LD/MD), F05xx . . 41Table 8.single-shunt current reading, used resources (single or dual drive, F103HD, F2xx, F4xx) 42Table 9.ICS current reading, used resources (single drive, F103 LD/MD) . . . . . . . . . . . . . . . . . . . 47Table 10.ICS current reading, used resources (single or dual drive, F

44、103 HD, F2xx, F4xx). . . . . . . 47Table 11.File structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Table 12.Project configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

45、. . . . . . . . . 69Table 13.Integrating the MC Interface in a user project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78Table 14.MC application preemption priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Table 15.Priority confi

46、guration, overall (non FreeRTOS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Table 16.Priority configuration, overall (FreeRTOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Table 17.Joystick actions and conventions . . . . . . . . . . . . . .

47、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Table 18.List of controls used in the LCD demonstration program . . . . . . . . . . . . . . . . . . . . . . . . . . 87Table 19.Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

48、. . . . . . . . . . . . 89Table 20.List of DAC variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90Table 21.DAC variables related to each state observer sensor when two state observer speed sensors are selected . . . . . . . . . . . .

49、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Table 22.Fault conditions list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92Table 23.Control groups . . . . . . . . . . . . . . . . . . . . . . . .

50、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Table 24.Speed controller page controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Table 25.Control groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .