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Motorola M68HC08 User Manual

Page 152

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User Guide

Designer Reference Manual

DRM028 — Rev 0

152

User Guide

MOTOROLA

SPEED_MIN_RPM determines the minimal desired speed. It must be
changed for any motor accommodation. The minimal speed is also
determined by the back-EMF zero crossing technique. Usually:

(EQ 6-11.)

Therefore, for low speed requirements minimal speed
SPEED_MIN_RPM must be evaluated experimentally.

NOTE:

SPEED_MIN_RPM can be evaluated with PC master software tuning file
tuning_bldc.pmp.

Minimal PWM Duty cycle limit [-]:

/* CAN_CHANGE_11: */

#define DUTY_PWM_MIN 0.250

Range: <0,1>

DUTY_PWM_MIN determines minimal PWM duty cycle limit, and in
this way it restricts minimal voltage on the motor.

Therefore, DUTY_PWM_MIN must be changed if its default setting
creates a higher voltage than is physically necessary to run with a
speed close to SPEED_MIN_RPM.

CAUTION:

If the motor is unable to run down to the speed set in SPEED_MIN_RPM,
then decrease
DUTY_PWM_MIN constant.

Speed PI regulator constants:

/* MUST_CHANGE_13_EXPER: */

#define SPEED_PIREG_P_GAINSCALELEFT 0

Range: <0,8>

/* MUST_CHANGE_14_EXPER: */

#define SPEED_PIREG_P_GAIN 128

Range: <0,255>

where the current regulator proportional gain is:

(EQ 6-12.)

/* MUST_CHANGE_15_EXPER: */

#define SPEED_PIREG_I_GAINSCALERIGHT 0

Range: <0,8>

/* MUST_CHANGE_16_EXPER: */

#define SPEED_PIREG_I_GAIN 64

SPEED_MIN_RPM

(0.07 to 0.5)SPEED_MAX_RPM

=

KP

SPEED_PIREG_P_GAIN*2

SPEED_PIREG_P_GAINSCALELEFT

=

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Freescale Semiconductor, Inc.

For More Information On This Product,

Go to: www.freescale.com

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