TVZ Mechatronics Team / BLDCmotorDriver

Library for driving a 3-phase brushless DC motor.

Dependents:   BLDC_mainProgram STMF302R8_MotorDrive HelloWorld_IHM07M1

BLDCmotorDriver

Introduction

This library is still being developed.

This is a Wiki page about BLDCmotorDriver library developed by TVZ Mechatronics Team. The library is part of our project of creating an e-bike which is supposed to drive/run a 3-phase brushless DC motor with Hall sensors.

We are testing our library on NXP mbed LPC1768 platform and driver DRV8301 from Texas Instruments to run our testing BLDC motor. Next step of our project is creating a standalone library for DRV8301.

Hall sensors

In our BLDC motors there are three Hall sensors located 120 degrees from one another, they are identified as InterruptIn/DigitalIn on mbed and they send zeros and ones on TeraTerm with we locate in which sector

Na našim testnim BLDC motorima postoje 3 halova senzora, koji su udaljeni za 120 stupnjeva jedan od drugoga te inicijaliziranjem svakog pojedinog kao InterruptIn/DigitalIn na pinovima mbeda preko terminala na računalu (TeraTerm) dobivamo prikaz binarnih nula i jedinica koji se slažu sa trobitnim gray-evim kodom, s time da smo kombinacije 000 i 111 definirali kao fault vrijednosti. Pošto se slučajevi kada su sva tri hallova senzora upaljena ili ugašena ne mogu dogoditi tj. ne bi se smijeli dogoditi, ukoliko je došlo do takve situacije dogodio se kvar na hallovim senzorima te bi motor trebao prijeći u mod rada bez hallovih senzora.

With that we got six combinations, which we use to determine six sectors:

  • 001 - Sector 1
  • 011 - Sector 2
  • 010 - Sector 3
  • 110 - Sector 4
  • 100 - Sector 5
  • 101 - Sector 6

Nakon toga odredili smo za sve tri faze stanja mosfeta..

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Components

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BLDCmotorDriver.h@1:786897114846, 2015-05-24 (annotated)

Committer:
tbjazic
Date:
Sun May 24 06:46:25 2015 +0000
Revision:
1:786897114846
Parent:
0:5602fba2a7f7
Child:
3:a4b4a8e3f2a0
InterruptIn pins added instead of DigitalOut pins for Hall sensors, some changes in variables and function names, added adjustDutyCycle member function. Commutation function still needs to be fixed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mslovic 0:5602fba2a7f7 1 #include "mbed.h"
mslovic 0:5602fba2a7f7 2 #include "RateLimiter.h"
mslovic 0:5602fba2a7f7 3
mslovic 0:5602fba2a7f7 4 class BLDCmotorDriver {
mslovic 0:5602fba2a7f7 5 public:
tbjazic 1:786897114846 6 BLDCmotorDriver(PinName pGH_A, PinName pGH_B, PinName pGH_C, PinName pGL_A, PinName pGL_B, PinName pGL_C, PinName pH1, PinName pH2, PinName pH3, PinName pfault);
mslovic 0:5602fba2a7f7 7 void configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope);
mslovic 0:5602fba2a7f7 8 void setDutyCycle(float dutyCycle);
mslovic 0:5602fba2a7f7 9 void coast();
mslovic 0:5602fba2a7f7 10 float getDutyCycle();
tbjazic 1:786897114846 11 int getSector();
mslovic 0:5602fba2a7f7 12 private:
tbjazic 1:786897114846 13 PwmOut GH_A, GH_B, GH_C;
tbjazic 1:786897114846 14 DigitalOut GL_A, GL_B, GL_C; // Low-side gates are never PWM driven
tbjazic 1:786897114846 15 InterruptIn H1; // InterruptIn can be used on all pins except p19 and p20
tbjazic 1:786897114846 16 InterruptIn H2;
tbjazic 1:786897114846 17 InterruptIn H3;
tbjazic 1:786897114846 18 DigitalOut fault;
mslovic 0:5602fba2a7f7 19 RateLimiter rl;
mslovic 0:5602fba2a7f7 20 Ticker ticker;
mslovic 0:5602fba2a7f7 21 float switchingPeriod, dutyCycle, tempDutyCycle, sampleTime;
tbjazic 1:786897114846 22 void commutation();
tbjazic 1:786897114846 23 void adjustDutyCycle();
tbjazic 1:786897114846 24 int currentSector, previousSector;
mslovic 0:5602fba2a7f7 25 };