stm32/8 optimize motor control ‘ecosystem’

STM32/8 Optimize Motor Control ‘Ecosystem’Yonghai LuYonghai Lu

MCU Segment

Senior Marketing Engineer

Industry Automation 2

1.Motor 2.PLC3.Motion control4.HMI

HMI

HMI

16/07/2012Presentation Title

STM32 Portfolio

Leader in Motor Control w/ Cortex-M3 (?)

• ARM chose ST Motor Control Ecosystem (STM32, MC kit, SW lib) to build his demo and demonstrate the advantages of the Cortex-M3 with FOC solution.

• http://armdevices.net/2011/03/04/arm-embedded-in-motor-control-demo/

4

Leader in Motor Control STM8 (?)

• STM8 Market share ?

5

AC motor STM32F051/1/2/3/4( cortex-M 32bit)

Vector control /Sinusoidal Sensor/sensorless

6

DC motor STM8 ( M8-8bit)

Scalar /6-step or sinus

Sensor/sensorless

STM8S STM8S family

7

STM8S Main features for MC

SPI

4kB-128kB

Flash Memory

Int. RC 16 MHz

Xtal 1-24 MHz

Int. RC 128 KHz

Clocks toPeripherals

Core

Clock Controller

Clock Detector

Reset Block

POR

I2C

Add

ress

& D

ata

Bus

2xU(S)ARTLIN

Smartcard / IrDA

1.8V Regulator

16-bit Timer4 CAPCOM +

BOR

- 3 stage pipeline-20 MIPS peak performance @24MHz- 16bit Timer suitable for MC (4ch, 7outputs)-10 bit ADC with synchronization capability

STM8Core

8

Add

ress

& D

ata

Bus

Nested IT Ctrl32 IT vectors

Up to 37 ext.IT

Flash Memory

2x Watchdog(IWDG & WWDG)

Beeper 1/2/4Khz

AWU

2x16-bit Timer

2/3 CAPCOM

Add

ress

& D

ata

Bus

Debug Module

SWIM

Up to 68 I/Os

Up to 6KB SRAM

Boot ROM8-bit Timer

Up to 2KB EEPROM

CAN 2.0B

3 cmpl. output@ 24 MHz

®

10 bit ADC

16 channels

STM8S MC Kit

9

• The STM8S MC FW library can be evaluated on STM8S MC-KIT

• The complete kit to perform scalar control of both BLDC and AC IM three-phase motor

•• Free Free source files are available with the kit

STM8S MC FW library: performances figure• BLDC performance figures

• Code size is always below• Workload (CPU running @16MHz, 18kHz switching frequency,

speed closed loop):• between 16% and 20% in sensor• between 27% and 32% in sensor-less

• AC IM performance figures:• Code size is always below 8kB• Workload (CPU running @24MHz, 8kHz

sine-wave refresh rate, speed closed loop): ~20%*

10

STM32F STM32F family

11

STM32F fitting Motor Control needsFeatures & Performance

DualMC

2010 2011 2012 Time

SingleMC

…2009

12

5V

Low end FOC

Dual FOC

High end FOC

The new arrival :

3-ph brushless Motor Control SW lib evolutionP

erfo

rman

ces

Per

form

ance

sP

erfo

rman

ces

Per

form

ance

s

Vector drives

Q3 2007STR750 MC Kit

Q1 2008STM32 MC Kit

Q4 2008STM32 FOC FW library v2.0

Q1 2011

2007 2008 2009 2010 2011

13

Per

form

ance

sP

erfo

rman

ces

Per

form

ance

sP

erfo

rman

ces

Q3 2009: STM8S MC Kit

Scalar drives

2012

STM32F051/1/2/3/4

STM32 FOC PMSM SDK v3.0 Permanent Magnet Synchronous Motor (PMSM)

SM-PMSM IPM-SM

PMSM

14

a. SM-PMSM: Surface mounted permanent magnetsb. & c. IPM-SM: Internal permanent magnets (in particular: b. inset

magnets; c. radial buried magnets)

Mathematical technique used to achieve decoupled control of the flux and torque in a three-phase machine

Field oriented control (FOC): a quick overview

a

b

c

θr

Φm

� Optimized efficiency even during transient operation

� Precise and responsive speed control to

Benefits:

� Precise and responsive speed control to load variations

� Enables precise position control (through instantaneous torque control)

� Acoustical noise reduction due to precise control technique

vds

vqs+

-

+-

PID

PID

iqs

ids

iqs*

ids*

REVERSE PARK & circle

limitation

CALC SVPWM

CURRENT READING

va,b,c

θr el

vαβ

iabc

PARK

θr el

iαβ

CLARKE

SENSORLESS ROTOR

SPEED/POSITION STATE OBSERVER

DC domain AC domain

vds

vqs+

-

+-

PID

PID

iqs

ids

iqs*

ids*


limitation

CALC SVPWM

CURRENT READING

va,b,c

θr el

vαβ

iabc

PARK

θr el

iαβ

CLARKE

DC domain AC domain

b-emf α

b-emf β

BACK-EMFs CALCULATION

Rotor Angle/Speed

reconstruction

iαβvαβ

Bus voltage measurement

vds

vqs+

-

+-

PID

PID

iqs

ids

iqs*

ids*


limitation

CALC SVPWM

CURRENT READING

va,b,c

θr el

vαβ

iabc

PARK

θr el

iαβ

CLARKE

SENSORLESS ROTOR

SPEED/POSITION STATE OBSERVER

DC domain AC domain

vds

vqs+

-

+-

PID

PID

iqs

ids

iqs*

ids*


limitation

CALC SVPWM

CURRENT READING

va,b,c

θr el

vαβ

iabc

PARK

θr el

iαβ

CLARKE

DC domain AC domain

b-emf α

b-emf β

BACK-EMFs CALCULATION

Rotor Angle/Speed

reconstruction

iαβvαβ

Bus voltage measurement

Example of FOC algorithm:

Vector Control with STM32 (3ph brushless):� From block diagram to implementation

Power stage

M6-channel

PWMTimer

6xPWM

Fault signals

Va

Vb

Vc

SVPWM

Vα

Vβd,q

α,β

Iα Ia

θsθs

Speed/positionFeedback

TIMER

Ia & Ib

Vbus

Tachometer/Encoder/Hall sensor

No present for sensorless algorithm

Iα

Iβ

Ia

Ib ADCs

θs

θs

ωm

d,q

α,β

α,β

a,b

FOC algorithm Hw peripherals

The STM32 FOC PMSM SDK v3.0• The STM32 FOC PMSM SDK v3.0:

• is a Motor Control Software Development Kit• for 3-phase Permanent Magnet Synchronous

Motors (PMSM) • based on Field Oriented Control (FOC)• supporting STM32F103 and STM32F100

• Key features:• Key features:• Single/Dual simultaneous vector control (FOC)• Any combination of current reading topologies

and/or speed/position sensors is supported• Support to both STM32F103x and STM32F100x

families• Full customization through PC SW ST MC

Workbench• A number of technical algorithms improvements

has been introduced compared to v2.0• Application example based on FreeRTOS

17

STM32F103x (Performance line) HD/(XL)

STM32F103x (Performance line) LD/MD

STM32F100x (Value line) LD/MD/(HD)

Features set, µC support

1shunt FluxWeakening IPMSM MTPA 3shunt

18

Weakening

Feed Forward Sensor-less(STO + PLL)

Sensor-less (STO + Cordic)

Encoder Hall sensors Debug & Tuning

ST MC Workbench

support

USART basedcom protocol

add-on

Max FOC~ 11 kHz

ICS

FreeRTOS

Max FOC ~25kHz

Dual FOC

Max FOC ~25kHz

Max FOC dual

~20kHz

Single motor solutionsSingle motor solutions

19

FOC, cost optimized implementationSTM32F100x Value Line

• Target applications:• All those applications where:

• Requirements for dynamic performances are moderate • Quietness of sinusoidal current control (vs six steps drive) is valuable• Extended speed range is required

• Particularly suitable for pumps, fans and compressors

Current Current

DW Spray & drain pumps

Fridge compressor

WM Drain pump

STM32F100 Value Line Block Diagram� 32-bit ARM® Cortex™-M3 core

� Up to 30 DMIPS at 24 MHz max� 2.0 V to 3.6 V operation� -40 to +105 °C� Enhanced control

� 16-bit 3-phase motor-control timer

� 6x 16-bit PWM timers� Advanced analog

� Fast 12-bit 1.2 µs ADC� Fast 12-bit 1.2 µs ADC� Dual-channel 12-bit DAC

� System integration� Internal 8 MHz RC oscillator� Built-in safe reset system

FOC, cost optimized implementation Some performance figures with STM32F100

• Configuration: 1shunt/sensorless @20kHz PWM,10kHZ FOC

• Motor Control code size is 15.82Kb

• Motor Control RAM usage is 2.77Kb

• FOC Total execution time is 65.22us (ADC ISR + TIM1 Update ISR)

• FOC introduced CPU load is 65.2%

• Total CPU load is ~70% (~60% at 8kHz FOC)

22

STM32F103 Performance Line

� 32-bit ARM® Cortex™-M3 core � Up to DMIPS at 72MHz

� 2V-3.6V Supply� -40 to +105 °C� From 16kB to 1MB flash memory� Enhanced control

� Up to 3x 16-bit Advanced timer � Up to 4x 16-bit PWM timers

� Advanced analog� Up to 3x fast 12 -bit 1.2 µs ADC� Up to 3x fast 12 -bit 1.2 µs ADC


FOC single motor drive - high performancesSTM32F103x

• Target applications:• Wide range from home appliances to robotics, where:

• Accurate and quick regulation of motor speed and/or torque is required (e.g. in torque load transient or target speed abrupt variations)

• CPU load granted to motor control must be low due to other duties

Home appliances

Industrial motor drives

Power tools

GamesEscalators and elevators

Fitness, wellness and healthcare

And much much more…

FOC single motor driveSome performances figure with STM32F103

� Thanks to the powerful CortexTM-M3 computational capabilities the overall sensor-less control loop execution:� 20.9usec with 3 shunt resistor (14.5kB flash; <2.5kB RAM)� 26.1usec with single shunt resistor (16.2kB flash; <2.5kB RAM)

vds

vqs+

-

+

iqs*

ids*vαααα’’’’ββββ’’’’s

PID

PID

REVERSE PARK &

circle limitation

CALC SVPWM

25

+-

iqs

ids

θθθθr el

iabc s

θθθθr el

iαβαβαβαβ s

limitation

1 or 31 or 3--SHUNTSHUNTCURRENT READING

SENSORLESSSENSORLESSROTOR POSITION

FEEDBACK

CLARKEPARK

• 3-Shunt: CPU load @ 10kHz sampling time ≈ 25%• 1-Shunt: CPU load @ 10kHz sampling time ≈ 30%

Dual motor solutionsDual motor solutions

26

FOC dual motor drive - high performancesSTM32F103x high density

• Target applications:• Wide range from home appliances to robotics, where:

• Up to two FOC drives have to run at the same time• Accurate and quick regulation of motor speed and/or torque is required (e.g. in

torque load transient or target speed abrupt variations)

White goods

Industrial motor drives

Power tools

And much much more…

WM: drum + drain pump

DW: spray + drain pumps

Air Con: Compressor + outdoor fan

STM32F103 Performance Line

� 32-bit ARM® Cortex™-M3 core � Up to DMIPS at 72MHz

� 2V-3.6V Supply� -40 to +105 °C� From 256kB to 1MB flash memory� Enhanced control

� Up to 3x 16-bit Advanced timer � Up to 4x 16-bit PWM timers

� Advanced analog� Up to 3x fast 12 -bit 1.2 µs ADC� Up to 3x fast 12 -bit 1.2 µs ADC


Basics – Dual PMSM FOC

Gate drivers Power bridge1 Motor1

va,b,c

Speedsensors: Sensorless,Hall,Encoder

BKIN Current sensors: 3shunt/1shunt/ICS

ωr*1

ωr*2

29

Power bridge2

Motor2

Speedsensors: Sensorless,Hall,Encoder

Current sensors: 3shunt/1shunt/ICS

va,b,c

BKIN

Gate drivers

STM32F103 (High Density) + Motor control SW lib v3.0 : �� drive 2 motors in diverse configurations

FOC dual motor driveSome performances figure example... 1/2

• Configuration:• Motor 1: 1shunt/sensorles s @8kHz PWM/FOC - Flux Weakening enabled• Motor 2: 1shunt/sensorless @16kHz PWM, 8kHZ FOC.

• Motor Control code size is 22.3Kb (below 1.5 times single motor case)


• FOCs introduced CPU load (including TIMx Update ISRs) is 44%• FOCs introduced CPU load (including TIMx Update ISRs) is 44%

• Total CPU load ~50%

30

FOC dual motor driveSome performances figure example... 2/2

• Configuration:• Motor 1: 3shunts/sensorless @16kHz PWM/FOC - MTPA and Flux Weakening enabled• Motor 2: 1shunt/sensorless @16kHz PWM, 8kHZ FOC.

• Motor Control code size is 25.5Kb


• FOCs introduced CPU load (including TIMx Update ISRs) is 62.6%• FOCs introduced CPU load (including TIMx Update ISRs) is 62.6%

• Total CPU load <70%

31

Environment (making life easier)Environment (making life easier)

32

ST Motor Control Workbench V1.0.2 (STMCWB)

MotorMotor

ST Motor Control Workbench v1.0.2, is a PC code generator tool that reduces thedesigner effort and time in the firmware development for STM32 FOC PMSM SDK v3.0.The user through a graphical user interface (GUI) generate all parameter header fileswhich configures the library according the application needs.

MotorMotor

Power StagePower Stage

Drive Drive

ManagementManagement Control StageControl Stage

Customization process - GUI

1010010..

.OBJ

MC Application

User Project

101001010100110101101010101010100..

.LIB

1110010..

.OBJ 1000010..

.OBJLinker

110111010101001011110001101010101..

.EXE

.hParameter

files

ST MC Workbench GUI

SDK IDE

• Parameter files, generated by the ST MC Workbench GUI, are used by the MC Application to instance objects from MC Library classes. The IDE rebuilds the Application project, links and creates the .exe

34

MC Library Project

MC Application Project

.LIB

110010010101000101001010010101001..

.LIB

Making life easier with ST toolsStart with the right STM32 and get

the optimum pinout configuration� MicroXplorer tools

� MCU product selector

� Identify the best STM32 to fit your application needs (performance, memory, peripherals, I/Os, etc.)

Optimize application performance� STM Studio tool

� Monitor any variable selected in your code to optimize application performance (motor control, touch sense, etc.) � Several display modes

� MCU configuration tool� Configure the STM32 pinout to fit

your application needs

� On-the-fly acquisition modes

� Log to/replay from file

� Variables read/write capability

Motor Control KitsMotor Control Kits

36

Motor Control Kit: STM32-MCKIT

MB631MB459B

MC Connector

Main Features: � Driving Strategy: Vector Control� PMSM motor sensored and sensorless

� 34-pin dedicated motor control connector� Encoder; Hall sensor; Tachometer sensor input� Current sensing mode:� 3 shunt resistors� Single shunt

ST offers all devices for Motor control solution:STM32F103 (32-bit MCU with motor control dedicated timer)L6386DE (Gate Drivers)VIPer12AS (Power Supply down converter)L7815CP, L7805CP, LD1117S33TR (Voltage regulators)STGF7NC60H (IGBT)TSV994, TS374ID, TS372ID (Op Amps)M74HC09RM13TR, M74HCT7007RM13TR (Logic)

Run your motor in a few minutes! STM3210B-MCKIT

• The STM32 FOC FW library can be evaluated on STM32 MC-KIT• Complete kit to perform Field Oriented Control of 3-Ph PMSM •• Free Free source files are available with the kit• Evaluation versions of Keil and IAR compilers available

for freefree

STEVAL-IHM022V1STM3210B-EVALSTM8/128 –Eval

Complementing M.C. starter kitSTM8/32 Evaluation boards

STEVAL-IHM032V1STM32100B-EVAL STM3210E-EVAL

Optimized for STM32F100x High performance High performance

MC connector

Please visit http://www.st.com/evalboards or contact a local ST office

Complementing Motor Control Starter KitsHigh Voltage Power Stage

• 1 x IGBT SLLIMM™ STGIPL14K60

• 1 converter based on Viper16

• 1 x IGBT STGP10NC60KD

STEVAL-IHM025V1

• 1 x IGBT SLLIMM™ STGIPS10K60A

• 1 converter based on Viper16

• 1 x IGBT STGP10NC60KD

STEVAL-IHM027V1

•3 x PWM smart driver L6390

•1 converter based on Viper12

• 6 x MOSFET power switch STD5N52U

STEVAL-IHM021V1

•3 x PWM smart driver L6390


• 7 x IGBT power switch STGP10NC60KD

STEVAL-IHM023V21000W

1000W

1000W

Gate drivers & Power Transistors based

• 1 x IGBT SLLIMM™ STGIPS20K60

• 1 x PWM SMPS VIPer26LD

• 1 x IGBT STGW35NB60SD

STEVAL-IHM028V1

•3 x PWM smart driver: L6390


• 6 x IGBT power switch: STGDL35NC60DI

STEVAL-IHM024V12000W

SLLIMM™ (ST IPMs) based STEVAL-IHM032V1

•3 x PWM smart driver:

2xL6392D and 1x L6391D


6 x IGBT power switch: STGD3HF60HD

150W


Complementing MC starter kitsLow Voltage Power Stages and complete drive solutio n

• 3 x dual PowerMOSFETs STS8dnh3l

•2 x PWM smart driver L6387E

• 1x step down converter L4976D

STEVAL-IHM031v1

STEVAL-IEM003v1

• 1 x 32bit Microcontroller STM32F103C

• 1 x Motor Drive Ic L6230PD

STEVAL-IFN003v1

120W

2000W

FOC PMSM Motor Drive

• 1 x 8bit-Microcontroller STM8S

• 1 x Motor Drive Ic L6230Q

STEVAL-IFN004v1

BLDC Six-Steps Motor Drive

70W

70W

Power stage up to

Complete Motor Drive Solutions

• 3 x PWM smart driver L6388

• 6x LV Power MOSFET STV250N55F3

• 1x step down converter L4978D

• 1 x 8bit-Microcontroller STM8S

• 2 x PWM smart driver L6388

• 4 x LV Power MOSFET STV250N55F3

STEVAL-IHM030v1

DC Brushed Motor Drive

2000W

• 1 x Motor Drive Ic L6230Q

Low Voltage Power Stages


Power stage up to 48V

Example:STEVAL-IHM025V1 Configurations

Control BoardControl BoardSTM8/128STM8/128--EvalEval

Daughter board Daughter board BLDC SensorlessBLDC Sensorless

ST/J/U-LINK

motor

STM8MC STEVAL-IHM025V1

Hw customization to work in six step

mode

STM8MC Libraryconfiguration through

PC GUI: STM8 MC Builder

v1.0.2

Scalar Control

BLDC/ AC Induction

STM32FSTM32FControl BoardControl Board

J/U/ST-Link

motor

ST/J/U-LINK modev1.0.2

STM32MC STEVAL-IHM025V1

Hw ready to work in FOC Control

Field Oriented Control (FOC)

PMSM

STM32 FOC PMSM SDK v3.0

configuration through the PC GUI: STMCWB

v1.0.2

MC solutions summaryMC solutions summary

42

Pro

duct

s

Cor

tex

Cor

e

Fre

q.m

ax

Dm

ips

Touc

h K

eys

(CT

)

Tim

ers

(all)

Adv

ance

dM

C

Tim

er

Tim

er /

PW

M

with

OC

N &

DT

AD

C12

-bit

Com

para

tor

DA

C 1

2-bi

t

Op-

Am

p

Sin

gle

MC

4x In

duct

ion

Dua

l MC

STM32F405 C-M4 150 188 0 17 2 2/63x 2Msps� 24ch

0 2 0 ��

STM32’s featuresApplicationsSTM32 features

43

� 24ch

STM32F205 C-M3 120 150 0 17 2 2/63x 2Msps� 24ch

0 2 0 ��

STM32F301 C-M4 72 90 18 13 2 5/94x 5Msps� 40ch

7 2 4 ��

STM32F103 C-M3 72 62 0 11 2 2/63x 1Msps� 21ch

0 2 0 ��

STM32F100 C-M3 24 30 0 16 1 4/71x 1Msps� 16ch

0 2 0 ��

STM32F051 C-M0 48 36 18 11 1 4/71x 1Msps� 16ch

2 1 0 ��

Getting started with STM32 / Motor Control 1. Evaluate products performance (STM32 & others) using our Motor

Control Kit• Possibility to attend to a ST’s 3 days Motor Control training

2. Select your STM32 device in the large STM’s MCU portfolio3. Customize your own Motor Control application using our MC FW

libraries (available for free) and the FOC GUI PC SW application• Also available: Dual FOC FW lib, PFC FW & example

44

4. Get direct support from ST (dedicated people) to fine tune your application

5. Change STM32 device ? � STM32 are pins and SW compatible � platform strategy� MC FW library v3.0 covers both STM32F103x and STM32F100x

� Strong ST commitment and expertise on MC applicatio n� Secure your investment on ST MCU

Conclusion

• Low cost solution to speed up product evaluation and time to market

• ST offers a very wide product portfolio for motor control:

MCUs, IGBTs, Power MOSFETs, IPMs (SLLIMM™), Gate Drivers; Diodes; AC Switches; Motor Driver ICs and power management Ics.

• Support on Firmware and Hardware

STM32’s MC ‘Ecosystem’

• The STM32’s MC ‘Ecosystem’ is the right answer to 3-phase FOC PMSM developers to quickly start & complete their design keeping flexibility on their platform strategy (low, mid, hi –end).

• The ‘STM32 MC Ecosystem’ is made of (major items):

• MCU: STM32 large portfolio (Cortex-M based)

• SW lib: 3-phase FOC PMSM SDK (SW lib) + WorkBench to generate code

• HW: Motor Control kit (based on STM32 eval board + MC SW lib & all other ‘power’ component from ST)

• Tools: among others: STM Studio, to monitor any variable selected in the code to optimize application performance

• The STM8’s MC ‘Ecosystem’ complete by the STM32’s one with • AC Induction Motors (scalar) and BLDC (6-step) supported in the STM8s MC FW

lib

46

HMI

UART

CAN

USB

LCD interface

Ethernet

PC U disk/ USB host

1.Motor 2.PLC 3.Motion LCD

STM32F0/1/2/4

474747

STM32

SPI I2C FSMC

SRAM.PSRAM ,Norflash……

E2PROM Data flash

Serial/USB

SPI

I2c FSMC

Custom Logic

Field bus

HMI Module

Dataflash CAN/UART

PLC main controller

PLC

E2PROM

MCU

48

SRAM,PSRAM….

STM32F2/4

STM32F0/100

For further info about STM32 FOC PMSM SDK v3.0, please visit:

http://www.st.com/stm32

Downloads:STM32 FOC PMSM SDK v3.0:http://www.st.com/internet/com/SOFTWARE_RESOURCES/SW_COMPONENT/FIRMWARE/stm32_pmsm_foc_motorcontrol_fwlib.

zip

ST MC Workbenchv1.0.2:

Interesting links…

ST MC Workbenchv1.0.2: http://www.st.com/internet/com/SOFTWARE_RESOURCES/TOOL/CONFIGURATION_UTILITY/motorcontrol_workbench.zip

TN0516: Overview of the STM32F103xx/STM32F100xx PMSM single/dual FOC SDK V3.0

UM1052: STM32F103xx or STM32F100xx PMSM single/dual FOC SDK V3.0

UM1053: Advanced developers guide for STM32F103xx/STM32F100xx PMSM single/dual FOC

library

www.st.com

Thank you !

50

stm32/8 optimize motor control ‘ecosystem’

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