針對馬達控制和數位電源應用的STM32微控制器系列STM32 for Digital Power and

Motor Control Application

Anicet GIAIMO

技術行銷經理意法半導體

STM32 for Digital Power and Motor Control Application

• Introduction to Digital Power

• Application and benefit

• MCU requirement for Digital Power Control

• STM32 key ingredient for digital power

• STM32 for Digital Power Application

• STM32F334 Digital Power Product Line

• STM32 Digital Power Ecosystem

• Hardware and Firmware

• 500W DSMPS, 2kW DSMPS

• Documentation

2

SMART

HIGH INTEGRATION

ENERGY SAVING

Introduction to Digital Power

What is Digital Power Control?

3

PROCESSING

ACTUATION

SENSING

COMMUNICATION

Cortex-M

TIMER PWM

ADC

UART/I2C/SPI

…

SMARTENERGY SAVING

HIGH INTEGRATION

STM32 Application

Digital Power

Introduction to Digital Power

Power Conversion Applications

4

Lighting Adapters

Servers

IndustrialUPS and

PV inverters

WeldingTelecom power

Wireless charger

Digital Power Control

Achieved by

STM32 broad Portfolio

STM32 Application

Digital Power

Introduction to Digital Power

• Benefit of digital control for power conversion

• Energy saving

• Increase the power efficiency

• High Integration

• Increase the power density

• Smarter design

• Control adaptability

• Make your design more flexible

• Less components

• Simplify your design

• Reduce your BOM cost

• Increase the value of your product

5

Energy

saving

Efficiency

Power density

STM32 Application

Digital Power

STM32 & Digital Power

MCU requirements for Power Control

6

COMMUNICATION(USART, CAN, I2C)

CONDITIONING- High speed comparator

- Event and Fault triggering

- High BdW & Low offset Amplifier

-

+

POWER

STAGE

IN OUT

To host

Primary or

Secondary

PGA

ACTUATION (PWM)- Flexible PWM pattern generator

- Supporting multiple topologies PWMs

COMP

SENSING

(ADC)- Multiple ADC

- Fast and precise

- Triggered by switching

patterns

PROCESSING

(CPU)- High Performance

- Low latency

ADCADCADC

DAC

Feedback

Current

Voltage

A

N

A

L

O

G

D

I

G

I

T

A

L

1 0

0 1

0 0

1STM32 Application

Digital Power

STM32 key ingredients for power control

• Select the right core within STM32 broad pin-to-pin portfolio

• Take advantage of STM32 unique acceleration features

• CCM-SRAM: SRAM on instruction bus

boosts critical routines

• ART Accelerator

cache memory

• DSP & FPU

STM32 & Digital Power 7

Cortex-M0/M0+ Cortex-M3 Cortex-M4 Cortex-M7

32bit performance

at competitive price

Cortex-M

Foundation

High performance

with DSP & FPU

Very high

performance

PROCESSING

Flash Data

SRAM0 WS

CCM-

SRAM

0 WS

Critical

routines

43% more performance for routines executed

from CCM-SRAM

STM32 Application

Digital Power

STM32 & Digital Power

STM32 key ingredients for power control

8

DIGITAL

1 0 0 1 0 0 1

ANALOG

CONDITIONING Embedded Comparator

& Op-Amp

SENSING12bit ADC SAR 5MSPS

16bit ADC Sigma Delta

ACTUATION (PWM)Advanced Motor Control Timer

144Mhz (6.9ns)

High Resolution timer (217ps)

COMMUNICATION CAN

Fast USART

I2C PMBus ready

STM32 Application

Digital Power

STM32F334 Digital Power Product Line

• STM32 Digital Power Product Line: STM32F334

• Supporting complex topologies

• Multi-phase, interleaved

• Control up to 10 power switches

• High-resolution timers

• Improve control precision

• Increase efficiency and power density

• New PWM features

• Burst Mode Hardware controller

• Push Pull Hardware controller

• Banking/windowing

• Lower reaction time

• Ultra fast comparator with direct path to PWM outputs

• Protection and cycle by cycle Event Control

9

Interleave

Bridgeless

PFC

LLC

Phase shift Full Bridge

Synchronous Rectification

3 phase

inverter

Full bridge

STM32 Application

Digital Power

• STM32 Digital Power Product Line: STM32F334

• PROCESSING: ARM Cortex-M4

With DSP instruction and FPU

Up to 90DMIPS*

• ACTUATION: High Resolution TIMER

217ps High resolution, self compensated

Drift free vs voltage, temp or manufacturing

Advanced PWM waveform generator

Complex event management

• SENSING: Precise/Hi-Speed ADC

12bit SAR 5MSPS single end and diff. inputs

Down to 21ns Sampling time

Multiple trigger for PWM

• CONDITIONNING: COMP & PGA

Ultra Fast Comparator (26ns)

Op-Amp with built-in Gain (PGA)

A

N

A

L

O

G

D

I

G

I

T

A

L

1 0

0 1

0 0

1

STM32F334 Digital Power Product Line

10

HRTIM (10ch)

* From CCM-RAM

STM32 Application

Digital Power

STM32F334 Digital Power Product Line

• STM32F334: High Resolution Timer response time

11

PWM Output

(30pF load)HRTIMER

12ns

26ns

DACCOMP

Fault Input OCP/OVP

Protection

Digital73-80ns

26ns (FAST

mode)

45-52ns

12ns

(FAST

Mode)

DACCOMP Event Input

Set/Reset PWM

Synchronization

Analog

Digital

STM32 Application

Digital Power

STM32 Digital Power Ecosystem Overview

• STM32F334 Dedicated Eco-system

• Set of evaluation boards:

• Software (including library, middleware and examples)

• HAL library

• RTOS

• DSP library and PMBus ready

• Full set of examples

• PC tools:

• CubeMx: Configuration tool

• STMStudio: On-the-fly variable monitoring (validation and debug)

12

STEVAL-ISA147V2

500W DSMPS eval

Semi-bridgeless PFC

LLC + SR

2KW DSMPS eval

Available Q4 2015

Interleave PFC

Phase Shift Full Bridge + SR

NUCLEO

NUCLEO-F334R8

PrototypingLighting Demo

Buck-Boost Demo

32F3348DISCOVERY

DISCOVERY

DSP Library

PMBus 1.2 ready

Real Time OS

HAL Library

STM32 Application

Digital Power

STM32 Digital Power Ecosystem

500W DSMPS

• STEVAL-ISA147V2: Key messages

13

STEVAL-ISA147V2

Full digital control STM32F051 for PFC

STM32F334 for LLC & SR

Main featuresFull Range AC Input

PFC output voltage: 430V DC

PFC switching frequency: 60 kHz

DC/DC switching frequency:76kHz/130kHz

Output voltage: 12V DC

Peak efficiency : 93.5%

Boosted peak and

light load efficiencyIn line with the stringent

requirements of the power

supply industry. 80+ Platinum

compliant at 115 Vac

All essential

protection featuresHigher reliability, thanks to fast protections

Short Circuit protection

Over current/voltage Protection

STM32 Application

Digital Power

STM32 Digital Power Ecosystem

500W DSMPS

• STEVAL-ISA147V2: Block Diagram

14

Syn

ch

. M

OS

2 V

DS

Secondary MCUSTM32F334C8

Primary MCUSTM32F051K8

EMI Filter

HF Isolation

LLC HalfBridge

Synchr.Rectifier

Semi-BridgelessPFC

Input Voltage

90 Vac-264Vac, 45Hz/65HzSinewave 430V DC 12V DC

ADC CH9

Adv. TIM

Input voltage

Sensing & Conditioning

Sensing & Conditioning

Sensing & Conditioning

PFC

MOS1 Curr.

Output

Voltage

PW

M1

PW

M2

PW

M3

PW

M3

N

Transf. Current

Output Voltage

Syn

ch

. M

OS

1 V

DS

Sensing& Condit.

PW

M4

PW

M4

N

Bidirectional

Communication

GPI/O

LED

Opto COMP.

CT

GPI/O

LED

Opto

AUXPS

ADC CH1

ADC CH0

Sensing & Conditioning

PFC

MOS2 Curr.

ADC CH8

ADC1/2 Ch3

ADC1/2 CH2

ADC1 CH1HR TIM

STM32 Application

Digital Power

STM32 Digital Power Ecosystem

2kW DSMPS

• 2KW DSMPS EVAL: Key messages

15

Main featuresFull Range AC Input

PFC output voltage: 400V DC

PFC switching frequency: 60 kHz

DC/DC switching frequency:100kHz

Output voltage: 48V DC

HF transformer isolation:4 kV

Full digital control STM32F334 for PFC

STM32F334 for DC/DC & SR

Boosted peak and

light load efficiency

All essential

protection featuresHigher reliability, thanks to fast protections

Short Circuit protection

Over current/voltage Protection

Over temperature Protection

STM32 Application

Digital Power

STM32 Digital Power Ecosystem

2kW DSMPS

• 2KW DSMPS EVAL: Block Diagram

16

PW

M2

Syn

ch

. M

OS

2 V

DS

Secondary MCUSTM32F334C8

Primary MCUSTM32F334C8

EMI Filter

HF Isolation

DC/DC Full Bridge

Synchr.Rectifier

Input Voltage

90 Vac-264Vac, 45Hz/65HzSinewave 400V DC 48V DC

Adv. TIM

Input voltage

Sensing &Conditioning

PFC

MOS1 Curr.

Bust

Voltage

PW

M1

PW

M_

HS

1

Transf. Current

Output Voltage

Syn

ch

. M

OS

1 V

DS

Sensing& Condit.

PW

MS

R1

PW

M S

R2

Bidirectional

Communication

GPI/O

LED

Opto

COMP.

GPI/O

LED

Opto

PFC

MOS2 Curr.

ADC1/2 Ch3

ADC1/2 CH2

ADC1 CH1

PFC shunt current

PW

M_

LS

1

PW

M_

HS

2

PW

M_

LS

2

HR TIM

Opto

Sensing &Conditioning

Sensing &Conditioning

Sensing &Conditioning

Sensing &Conditioning

ADC1 In3

ADC3 In1

ADC1 In2 + COMP

ADC2 In4 + COMP

ADC1 In1

iPFC

AUXPS

STM32 Application

Digital Power

STM32 Digital Power Ecosystem

Documentation

• Digital Power documentation

• Complete HW/FW application notes

• HRTIMER cookbook

How to operate HR timer in different topologies

Including firmware examples

• Buck-Boost converter with F334 discovery kit

Including Hardware and Firmware description

• High Resolution LED dimming with F334 discovery kit

Including Hardware and Firmware description

• 500W DSMPS (ISA147V2)

Including Hardware and Firmware description

• And also user manuals and getting started manuals

• UM1733: Getting started with F334 discovery

• UM1736: Getting started with F334 software

• UM1735: Discovery kit user manual

• UM1746: 500W DSMPS user manual

17

AN4449Buck-Boost converter

F334 Discovery kit

AN4539High Resolution

LED Dimming F334

AN4539HRTIM

Cookbook

AN4468500W fully digital F334 AC-DC PSU

STM32 Application

Digital Power

STM32 and Motor Control

Application

STM32 for Digital Power and Motor Control Application

• Introduction to motor control

• Application

• STM32 & Motor control

• Motor classification

• STM32 Motor Control ecosystem

• FOC PMSM Firmware library

• ST Motor control workbench

• Hardware solutions

19

Motor Control

Introduction to Motor Control Application

20

Efficient motor control solutions

Home

appliances

White Goods, Refrigerators,Room air conditioning

Diodes

Power

transistors

Gate Drivers

Control

unit

Motor driver ICs

Sensors

AC switches

Power

Management

(IPMs) SLLIMM™

A complete offer of ST devices

Motion Control

Robotics, HVAC,

pumps, CNC.Industrial

Drives

Motor Control libraries

Motor Control

Fitness, Healthcare, Pedelec and more

STM32 Application

Motor Control

Introduction to Motor ControlSTM32 Shaped for Motor Control

STM32: THE Cortex-M based MCU family shaped for Motor Control

21

From entry level (F0 series) to very-high

performance (F7 series)

All STM32F devices equipped with advanced Motor

Control timer(s)

Rich and advanced analog integration especially in

STM32 F3 series sized for control loop

From 16 KBytes up to 2 MBytes in various

packages

Fast

12-bit

ADC

(0.2µs)

Interconnect

BUS Matrix

12-bit

DAC

SIL ready,

Class B,

HW safety

Ultra Fast

Comparator

(25ns)

Op-Amp

with 7 gains

Industrial

Grade

Control

Loop

Booster,

ART

Accelerator

STM32 Application

Motor Control

Broad range of

algorithms for specific

applications

(FOC – 6step)

Ready to use ST Solution for Motor Control

MCUs for

Motor Control (8-32 bit)

ST MC Workbench

PC SW GUI

Full customization

and real time

communication

HW & SW tools

Inverters

IPM / discretes

IPM

MC FW

Library

Technical Support (WW level)

Introduction to Motor ControlSTM32 Shaped for Motor Control

22

STM32 Application

Motor Control

Electric motors

Synchronous

Sinusoidal

Permanent Magnet

(PMSM)

Internal mounted PM

Surface mounted PM

Wound field

Trapezoidal (BLDC) PM

AC

Asynchronous

(ACIM)Squirrel cage

Wound rotor

Variable reluctance

Switched reluctance

Stepper

DC (brushed)

Universal

Introduction to Motor Control 23

Higher efficiency and/or reliability

• PMSM: 3-phase permanent

magnet synchronous motor

• ACIM: 3-phase induction motor

Computation intensive

Complex driving, requires specific knowledge and/or support

Complete ecosystem necessary

Requires 3-phase timer + sync’d ADC

Limited computation needs

Driving method well-known, mastered by customer

Light ecosystem

Basic ADC/PWM requirement

Electric Motor: Classification

STM32 Application

Motor Control

Electric motors

AC

Synchronous

Sinusoidal

Permanent Magnet

(PMSM)

Internal mounted PM

Surface mounted PM

Wound field

Asynchronous

(ACIM)

Squirrel cage

Wound rotor

Switched reluctance

Introduction to Motor Control 24

Higher efficiency and/or reliability

Supported with ST products but no

ecosystem

Complete Motor Control ecosystem (FW library V2.x)

• PMSM: 3-phase permanent

magnet synchronous motor

• ACIM: here 3-phase induction

motor

STM32

Complete Motor Control ecosystem (FW Library V4.x)Solution

available today

STM8 STM32

Trapezoidal (BLDC) PM

Variable reluctance

Stepper

DC (brushed)

Universal

STM32

Solution available (HW & SW)

STM8

STM32 + dSpin

STM8

STM8 STM32

Electric Motor: MCU Mapping

STM32 Application

Motor Control

STM32 FOC PMSM FW libMotor Control Firmware Features

25

1shuntFlux

WeakeningIPMSM MTPA

Feed ForwardSensor-less (STO + PLL)

Sensor-less (STO + Cordic)

Encoder Hall sensorsDebug & Tuning

ST MC Workbench

support

USART based com protocol

add-on

Max FOC F100 ~11kHzF0xx ~12kHz

3shunt

ICS(2)

FreeRTOSF103, F2xx

Max FOC(3)

~23kHz

Dual FOC

Max FOC(3)

F103 ~23kHzF2xx ~40kHz

Max Dual FOC(3)

F103 ~20kHzF2xx ~36kHz

STM32F103x HD/XL, STM32F2xx

STM32F103x LD/MD

STM32F100x, STM32F0xx

STM32F4xx, STM32F3xx

(1) High Frequency Injection

New

(2) F1, F2, F4

HFI(1)

Max FOC(3)

F3xx ~ 30kHzF4xx ~50kHz

Max Dual FOC(3)

F3xx ~27kHzF4xx~45kHz

(3) Max FOC estimated in sensorless mode

STM32 Application

Motor Control

STM32 FOC PMSM FW libST MC Workbench

PC GUI to setup MC environment + configure the MC FW lib

26

Motor

1 Power Stage

2

Drive

Management

3Control Stage

4

Configure the MC FW lib parameters in 4 steps

Generate source code project and compile

RUN the motor

.h .h + .exe=.lib

STM32 Application

Motor Control

• Use the ST MC workbench to set-up a “real time communication” to send

start/stop commands or to set a speed ramp.

• Debug or fine tuning motor control variables (like speed PI parameters) can be

assessed using the advanced tab.

• Plot significant motor control variables (virtual oscilloscope) like target or

measured motor speed.

STM32 FOC PMSM FW libST MC Workbench

Real time tuning

27

STM32 Application

Motor Control

STM32 FOC PMSM FW libMotor Profiler + One Touch Tuning

28

• Single parameter to tune the speed controller

• Wide speed range

• Adapting to various load/inertia

• Automatic detection of key parameters

• Zero equipment required

• Spin motor within < 1min.

Plug and Spin your Motor in less than 1 minute !

STM32 Application

Motor Control

STM32 FOC PMSM FW libMotor Profiler + One Touch Tuning

29

Motor stopped

• Rs measurement

• Ls measurement

• Current regulators set-up

10 sec

Open loop

• Ke measurement

• Sensorless state observer set-up

• Switch over

5 sec

Closed loop

• Friction coefficient measurement

• Moment of inertia measurement

• Speed regulator set-up

45 sec

Plug and Spin your Motor in less than 1 minute !

1 m

inute

!

STM32 Application

Motor Control

STM32 FOC PMSM FW libMotor Startup “on-the-fly”

• Ready for Fan and Air-Con

• This Motor Startup “on-the-fly” algorithm provides smooth sensorless

FOC drive insertion in applications where the rotor is already

rotating. A typical application is an outdoor fan (Air Con, Smoke

extractor and more).

• Related benefits:

• Reliable starts up.

• Reducing noise and mechanical vibration/noise

• Efficient drive

30

STM32 Application

Motor Control

Hardware EcosystemSystem Approach

31

MC Software Development Kit (SDK)

(FW library, GUI, collateral materials)

Control stages

Power stages

Flexible

MC Platform

Complete

MC drives

STM32

Nucleo + X-NUCLEOMC

KIT

STM32 Application

Motor Control

Hardware EcosystemBuilding Your Evaluation Kit

32

MC

Co

nn

ect

or

Full set of control board

featuring all ST MCUs

Full set of Power board

featuring Power Transistor,

IPM, MC Driver ICs.

Display ST Microcontrollers Power supply inverterSensing

network

Flexible MC Platform

STM32 Application

Motor Control

Hardware EcosystemNew Motor Control Nucleo Pack

33

• Fast & safe prototyping

• Affordable for everyone

• 3-Phase motor control application

(up to 50V,1.4 A)

• 6 Step modulation - FOC

FW library compatible with

STM32Cube MX

• Vector drive control –

ST PMSM FOC SDK (STSW-

STM32100)

Main features

NUCLEO-F302 X-NUCLEO-IHM07M1*

LV BLDC Motor

*Expansion Nucleo Board with STSPIN L6230 (up to 50V,1.4 A)

All in

one

blister

Low Voltage MC kit for PMSM/BLDC motor

STM32 Application

Motor Control

34Thank You