STR750F 256KB 54MIPS STR750 STR750-MCKIT STR750-EVAL 2000/XP IEC60730 24VDC - Datasheet Archive

 

32-bit ARM-based MCU family For 3-phase brushless motor vector drives January 2007 www.st.com/mcu Vector control at optimum cost

 

Motor control for STR750F STR750F 32-bit ARM-based MCU family For 3-phase brushless motor vector drives January 2007 www.st.com/mcu Vector control at optimum cost The STR750F STR750F is a new series of super-integrated, single-chip 32-bit ARM7-based MCUs from STMicroelectronics. The STR750F STR750F offers the performance of the industry standard ARM7TDMI core at the service of vector (or field-oriented) control algorithms. Vector control algorithms are widely used in high performance drives. They provide precise and responsive speed control, and guarantee optimized efficiency during transient operations. Practically, they also have the advantage of using the same framework to control an asynchronous or synchronous motor. This is interesting for development teams which have to deal with various applications and motor types. Finally, most of the sensorless algorithms are based on field-orientation methodology, which is also of interest when trying to reduce the cost of the drive. Applications ® ARM7TDMI CPU 60MHz Industrial I Electric vehicles I Low end and medium range industrial drives I Office automation I HVAC actuators and fans I Pumps I Blowers I Vending and cash machines I²C 64KB to 256KB 256KB Flash + 16KB RWW 2 x SSP interfaces 16KB SRAM DMA 4 channels Nested interrupt controller Debug JTAG A/D converter 10-bit 3.75µs 11/16 channels 3 x 16-bit timers (OC/IC/PWM) 1 x PWM timer (6 channels) dead time generation Advanced peripheral bus Power supply Reg 1.8V Advanced high performance bus I Serial memory interface MCU reset and clock control (MRCC) Appliances I Washing machines I Dishwasher pumps I Refrigerators I Air conditioners Advanced peripheral bus I 3 x high speed UARTs CAN 2.0B USB 2.0 FS Timebase timer 13/15 External interrupts Watchdog 32KHz Osc/RTC DMA: direct memory access RTC: real-time clock RWW: read-while-write SSP: synchronous serial peripheral Based on an ARM7TDMI core, the STR750F STR750F series offers: TM I High performance with 54MIPS 54MIPS at 60MHz I Embedded timers and ADC features perfectly suited for vectorial control of 3-phase brushless motors I PWM timer offers six outputs I Dead time generation I Edge aligned and center aligned waveforms I Emergency stop I Synchronization capability with ADC I Synchronization capability with other timers I Programmable safety feature to protect registers against unwanted writing and a 16-bit timer for encoder interfacing I Use with either a 3.3V or a 5V power supply 38/72 I/Os STR750F STR750F MCU family Through a sophisticated combination of several benefits of ARMTM architecture and motor control dedicated peripherals, the STR750F STR750F MCU family allows optimization of the overall performance of execution and a reduction of the overall system cost. Features and benefits Features Benefits Industry standard ARM7TDMI core running up to 60MHz Industry standard core with enough processing power (54MIPS 54MIPS) to tackle most applications 32-bit ARM core architecture: barrel shifter and 32-bit data path Optimize the variable resolution and speed up some multiplications Avoid multiple 16-bit loads when dealing with the integral term of the PID or when extended precision is needed The tachogenerator-based field-oriented control loop is executed within 30µs High on-chip integration of motor control related analog/digital functions: powerful timers and ADC Perfect fit for 3-phase motor control applications Only 30% CPU load with 10kHz current sampling rate Single 3.3V or 5V supply Additional flexibility for customers No need for external regulator Real 5V drive on the I/O when 5V is used Indirect rotor field-oriented control Torque Vqs PI V Va d,q Flux , Vds PI Vb SV PWM V s Inverter Vc s I Ids Ia d,q , Ib Iqs I , Ic a,b Slip estimator s Motor m PI r s + mr m T Speed DC domain AC domain T : Tachometer PI: Proportional/integral E: Encoder 3-phase brushless PMSM or AC induction motor Vector control drive I I Theory I Changing reference coordinates from fixed stator coils to the moving rotor frame, the equation describing the motor is then drastically simplified Method I Clark and Park transformations convert variables with fixed 3-axis, 120º shifted coordinates into 2-axis orthogonal rotating coordinates I I These last variables are DC, or slowly varying values, which can be regulated by means of simple PID controllers and are then transformed back to the fixed stator windings frame using reverse transforms, as shown in diagram above Requirements I Intensive math computations (trigonometric functions, multiple PID regulators, speed calculation) I I Minimum resolution required for the main control variables is 16-bit with a need for 32-bit intermediate results, such as integral terms Free CPU load must be kept for the remaining applicative tasks, such as communication and user interface Brushless motor safety Features I Safety critical registers can be locked to prevent power stage damage (software run-away) I Deadtime, PWM outputs polarity, emergency input enable I All target registers are read/write until lock activation (and then read-only if protected) I Once the two lock bits are written, they cannot be modified until next MCU reset (write-once bits) I Four lock levels offer full flexibility depending on the application (for example 6-step vs sine) I If main clock fails, an internal RC oscillator (FREEOSC, ~5MHz average frequency) starts immediately I Interrupt can be generated for shut down or safe restart sequences I Emergency stop dedicated input pin Benefits I Strengthens control algorithm to protect motor operation from external disturbance I Protects safety-critical registers in case of system hang I Quick error diagnosis and fault management I Hardware protection of power stage whatever the status of MCU oscillator STR750F STR750F MCU family STR750 STR750 Va V d,q , SV PWM V s 6x PWM Vb 6 channel PWM timer Vc Fault Inverter s I Ia Ia , d,q I 10-bit 3µs A/D converter Ib , Ib Vbus a,b s m T s Speed/position feedback timer Motor E Software Hardware From block diagram to implementation Benefits I I I Maximum input clock is 60MHz to provide 16.6ns edge resolution (12-bit @16kHz edge-aligned PWM) I Edge or center-aligned patterns I Double-update mode I No loss of resolution in center-aligned mode I I I Redirection circuitry for 6-step drives Programmable hardware deadtime generation I Done thanks to an additional interrupt per PWM cycle or DMA transfers Sensored and sensorless configurations Versatile PWM output management I Individually selectable polarity selection I I Low and high voltage I Motor control timer clock I Can be twice the advanced peripheral bus frequency Suitable for phase brushless PMSM or AC induction motors I STR750 STR750 dedicated peripherals for 3-phase brushless motor control PWM timer features 10-bit register with 16.6ns resolution at 60MHz (i.e. from 0 to 16µs) Dedicated emergency stop input I Shuts down the 6 PWM outputs and issues an interrupt I Asynchronous operation (operates without clock source) I Burst mode I Possibility to update several registers of the peripheral using a single DMA stream I Debug mode I User selectable PWM timer state in case of breakpoints (normal run mode or PWM off; counter frozen and PWM switches off) Speed feedback I Programmable reload rate I Handled by the general purpose timers STR750-MCKIT STR750-MCKIT Optimize your time to market ­ run your motor in just a few steps Firstly, within a few minutes, run the kit's PMSM motor with the standalone demo, in open or closed loop, using the LCD and the joystick on the STR750-EVAL STR750-EVAL control board. Then install the graphical user interface (GUI) and run the PMSM motor, or an induction motor in open or closed loop, by selecting basic settings in the GUI. Apply changes to real-time settings to tune the drive parameters on the fly and get feedback values from the changed settings. Once familiar with the demo, explore our motor control library that supports FOC (field oriented control) drive of PMSM and induction motors. The library sources are free and help speed up development of motor control applications. With the free 32KB evaluation version of IAR's EWARM, open the libraries, develop the application, fine tune the code and parameters and compile. Then fine tune the application while running the motor thanks to the real-time debugging capability of the Segger J-Link. Application-specific requirements Using the same hardware and firmware platform, it is possible to incorporate application specific requirements by taking advantage of the STR750-EVAL STR750-EVAL control board and the inverter board extension features (UART/LIN port, standalone operation potentiometer, wrapping area). STR750F STR750F MCU family Inverter board STR750 STR750 controller board Debugger/programmer Induction motor ST7MC-MOT/IND Isolation board PMSM motor (Optional) SEGGER J-Link (Included) AI-JTAG/OPTO-1 STR750-library Key benefits I Ready to run within minutes (requires Windows 2000/XP 2000/XP for the GUI and a power supply for the motor) I Same hardware and firmware platform for PMSM and induction 3-phase motors I Allows real-time control and monitor from PC GUI or standalone operation through on-board push buttons and trimmers I Segger/IAR JLink (included) Flash programming and real-time debug capability allows same hardware and firmware platform to be used from evaluation to an advanced development stage I Bypass connector for external inverter power stage connection Optimized and documented C firmware libraries for control of both PMSM and AC induction brushless motors are provided for free in the kit or on the internet (www.st.com/mcu). These modular libraries support both types of motors in standalone mode using the hardware of the STR750-MCKIT STR750-MCKIT. The source files are provided free of charge and are MISRA C compliant, which helps for compliancy with IEC60730 IEC60730. Device summary Motor control development tools Sales type or item Description STR750 STR750 MC library Optimized, documented C firmware libraries for control of 3-phase PMSM or AC induction brushless motors. In open or closed loop with STR750 STR750, sensor mode. The libraries are MISRA C compliant. These are the standalone libraries of the STR750-MCKIT STR750-MCKIT. AI-JTAG/OPTO-1 The isolation board included in the STR750-MCKIT STR750-MCKIT can also be ordered separately. It provides galvanic isolation between the J-Link from Segger and any target board supplied by high voltage. The isolation board has two JTAG connectors (in/out). Available from distributors and ST sales offices. STR750-MCKIT STR750-MCKIT Demonstration, evaluation and development kit for STR750 STR750 includes firmware, GUI, STR750-EVAL STR750-EVAL board (control board), low voltage 7A inverter board, isolation board (AI-JTAG/OPTO-1), Segger J-Link debugger/programmer and 24VDC 24VDC Shinano PMSM motor. Available from distributors and ST sales offices. ST7MC-MOT/IND 240V/800W Selni 3-phase induction motor for use with the STR750-MCKIT STR750-MCKIT or with the ST7MC-KIT using induction motor default values (for evaluation purposes). *RRP: recommended retail price STMicroelectronics sales offices and representatives North America North America Canada Canada 16 Fitzgerald Road, Suite 300 16 Fitzgerald Road, Suite 300 Nepean, ON, K2H 8R6 Nepean, ON, K2H 8R6 Ottawa Ottawa Tel: +1 613 768 9000 Tel: +1 613 768 9000 Fax: +1 613 768 9001 Fax: +1 613 768 9001 350 Burnhamthorpe Road West 350 Burnhamthorpe Road West Suite 604, Mississauga, ON, L5B 3JI Suite 604, Mississauga, ON, L5B 3JI Toronto Toronto Tel: +1 905 273 4300 Tel: +1 905 273 4300 Fax: +1 905 273 7578 Fax: +1 905 273 7578 USA USA North American North American Business Headquarters Business Headquarters Lexington Corporate Center Lexington Corporate Center 3rd Floor, 10 Maguire Road, Building 1, 3rd Floor, 10 Maguire Road, Building 1, Lexington, MA 02421 Lexington, MA 02421 Tel: +1 781 861 2650 Tel: +1 781 861 2650 Fax: +1 781 861 2664 Fax: +1 781 861 2664 28720 Roadside Drive, Suite 290 28720 Roadside Drive, Suite 290 Agoura Hills, CA 91301 Agoura Hills, CA 91301 Tel: +1 818 865 6850 Tel: +1 818 865 6850 Fax: +1 818 865 6861 Fax: +1 818 865 6861 15 Enterprise Suite 300 15 Enterprise Suite 300 Aliso Viejo, CA 92656 Aliso Viejo, CA 92656 Tel: +1 949 347 0717 Tel: +1 949 347 0717 Fax: +1 949 347 1224 Fax: +1 949 347 1224 7501 Capital of Texas Highway 7501 Capital of Texas Highway Building A, Suite 130 Building A, Suite 130 Austin, TX 78731 Austin, TX 78731 Tel: +1 512 225 6161 Tel: +1 512 225 6161 Fax: +1 512 225 6199 Fax: +1 512 225 6199 170 Mt. 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No:1 K:8 D:6 35030 Bornova Izmir 35030 Bornova Izmir Tel: +90 232 4860351 Tel: +90 232 4860351 Fax: +90 232 4860528 Fax: +90 232 4860528 Australia Australia Otis House, Suite 3, Level 7 Otis House, Suite 3, Level 7 43 Bridge Street 43 Bridge Street Hurtsville, Sydney, N.S.W. 2220 Hurtsville, Sydney, N.S.W. 2220 Tel: +61 2 9580 3811 Tel: +61 2 9580 3811 Fax: +61 2 9580 6440 Fax: +61 2 9580 6440 Suite 305, Level 3 Suite 305, Level 3 3 Chester Street 3 Chester Street Oakleigh, Melbourne, Vic. 3166 Oakleigh, Melbourne, Vic. 3166 Tel: +61 3 9568 1222 Tel: +61 3 9568 1222 Fax: +61 3 9568 1999 Fax: +61 3 9568 1999 People's Republic of China People's Republic of China 12B/F 12B/F, Yingu Building 12B/F 12B/F, Yingu Building No.9 Northwest Fourth Ring Road No.9 Northwest Fourth Ring Road Haidian District Haidian District Beijing 100080 Beijing 100080 Tel: +86 10 6280 0887 Tel: +86 10 6280 0887 Fax: +86 10 6280 0864 Fax: +86 10 6280 0864 26F/B 26F/B, The City Tower, No. 86, 26F/B 26F/B, The City Tower, No. 86, Section One, South Peoples Road, Section One, South Peoples Road, Chengdu 610016, Sichuan Chengdu 610016, Sichuan Tel: +86 28 8620 3860 Tel: +86 28 8620 3860 Fax: +86 28 8620 3850 Fax: +86 28 8620 3850 16/F, Tower I,I,The Gateway I I 16/F, Tower The Gateway 25 Canton Road 25 Canton Road Tsim Sha Tsui, Kowloon Tsim Sha Tsui, Kowloon Hong Kong Hong Kong Tel: +85 2 2861 5700 Tel: +85 2 2861 5700 Fax: +85 2 2861 5044 Fax: +85 2 2861 5044 11F Tower A 11F Tower A City center of Shangai City center of Shangai 100 Zun Yi Road 100 Zun Yi Road Shanghai 200051 Shanghai 200051 Tel: +86 21 52574828 Tel: +86 21 52574828 Fax: +86 21 52574820 Fax: +86 21 52574820 6 & 7/F, Tower B, TCL Centre 6 & 7/F, Tower B, TCL Centre Southern No.1 Road, South District Southern No.1 Road, South District Hi-Tech Industrial Park, Nanshan Hi-Tech Industrial Park, Nanshan Shenzhen 518057 Shenzhen 518057 Tel: +86 755 8601 2000 Tel: +86 755 8601 2000 Fax: +86 755 8601 2200 Fax: +86 755 8601 2200 20A, Kings Tower, 12 Shi Shan Road 20A, Kings Tower, 12 Shi Shan Road Suzhou 215011, Jiangsu Suzhou 215011, Jiangsu Tel: +86-512 6809 3198 Tel: +86-512 6809 3198 Fax: +86-512 6809 3598 Fax: +86-512 6809 3598 910 Room, The Bank Center, 910 Room, The Bank Center, 189 Xiahe Road 189 Xiahe Road Xiamen 361003, Fujian Xiamen 361003, Fujian Tel: +86 592 268 4890 Tel: +86 592 268 4890 Fax: +86 592 268 4700 Fax: +86 592 268 4700 India India Service and Marketing Service and Marketing Diners Business Service Diners Business Service 26 Cunningham Road 26 Cunningham Road Bangalore 560052 Bangalore 560052 Tel: +91 80 226 7272 Tel: +91 80 226 7272 Fax: +91 80 225 1133 Fax: +91 80 225 1133 c/o Maruthi Corporate Point c/o Maruthi Corporate Point 217, Swapnalok Complex 217, Swapnalok Complex S.D. Road, Secunderabad S.D. Road, Secunderabad Hyderbad 500003 Hyderbad 500003 Tel: +91 40 27811216 Tel: +91 40 27811216 Fax: +91 40 55319898 Fax: +91 40 55319898 403, Ascot Center 403, Ascot Center Opp ITC Grand Maratha Hotel Opp ITC Grand Maratha Hotel Sahar Airport Road Sahar Airport Road Andheri (East) Andheri (East) Mumbai 400059 Mumbai 400059 Tel: +91 22 64519141/42/43 Tel: +91 22 64519141/42/43 Fax: +91 22 28237835 Fax: +91 22 28237835 Plot No. 2 and 3, Sector 16A Plot No. 2 and 3, Sector 16A Institutional Area Institutional Area Distt. Ghaziabad Distt. Ghaziabad Noida 201301 (U.P.) Noida 201301 (U.P.) Tel: +91 120 2512021-30 Tel: +91 120 2512021-30 Fax: +91 120 4515304 Fax: +91 120 4515304 Japan Japan Business Headquarters Business Headquarters Shinagawa INTERCITY Tower A Shinagawa INTERCITY Tower A 2-15-1, Konan, Minato-Ku 2-15-1, Konan, Minato-Ku Tokyo 108-6018 Tokyo 108-6018 Tel: +81 3 5783 8200 Tel: +81 3 5783 8200 Fax: +81 3 5783 8216 Fax: +81 3 5783 8216 14F Shin-Osaka Second 14F Shin-Osaka Second Mori Building Mori Building 3-5-36 Miyahara Yodogawa-Ku 3-5-36 Miyahara Yodogawa-Ku Osaka 532-0003 Osaka 532-0003 Tel: +81 6 6397 4130 Tel: +81 6 6397 4130 Fax: +81 6 6397 4131 Fax: +81 6 6397 4131 Korea Korea 19th/23rd/24th Floor Kyobotower A 19th/23rd/24th Floor Kyobotower A 1303-22 Seocho-Dong, Seocho-Ku 1303-22 Seocho-Dong, Seocho-Ku Seoul 137-070 Seoul 137-070 Tel: +82 2 3489 0114 Tel: +82 2 3489 0114 Fax: +82 2 3489 0293/0295 Fax: +82 2 3489 0293/0295 601, Hyundae Stock Building 601, Hyundae Stock Building 190-2 Beomeo-1Dong 190-2 Beomeo-1Dong Soosung-Ku Soosung-Ku Taegu 706-011 Taegu 706-011 Tel: +82 53 756 9583 Tel: +82 53 756 9583 Fax: +82 53 756 4463 Fax: +82 53 756 4463 Malaysia Malaysia Suite 5-01A, Block B, Suite 5-01A, Block B, 5th Floor, Menara Amcorp 5th Floor, Menara Amcorp Amcorp Trade Centre No.18 Jalan Amcorp Trade Centre No.18 Jalan Persiaran Barat 46050 Petaling Persiaran Barat 46050 Petaling Jaya Selangor Darul Ehsan Jaya Selangor Darul Ehsan Kuala Lumpur Kuala Lumpur Tel: +603-7958 1189 Tel: +603-7958 1189 Fax: +603-7958 1179 Fax: +603-7958 1179 Unit 13A, Lower Level 5 Unit 13A, Lower Level 5 Hotel Equatorial Hotel Equatorial 1 Jalan Bukit Jambul 1 Jalan Bukit Jambul Penang 11900 Penang 11900 Tel: +60 4 642 8291 Tel: +60 4 642 8291 Fax: +60 4 642 8284 Fax: +60 4 642 8284 Pakistan Pakistan Liaison Office, 402-C 402-C, Eden Towers Liaison Office, 402-C 402-C, Eden Towers 82-E/1-Main Boulevard 82-E/1-Main Boulevard Gulberg III Lahore Gulberg III Lahore Tel: +92 3008 429331/4257 82275 Tel: +92 3008 429331/4257 82275 Fax: +92 42 5782274 Fax: +92 42 5782274 Philippines Philippines 2107, 21st Floor, Orient Square Building 2107, 21st Floor, Orient Square Building Emerald Avenue Ortigas, Pasig City, Emerald Avenue Ortigas, Pasig City, Manila Manila Tel: +63 637 5217/637 5218 Tel: +63 637 5217/637 5218 Fax: +63 637 3793 Fax: +63 637 3793 Singapore Singapore Business Headquarters Business Headquarters 5A Serangoon North Ave 5 5A Serangoon North Ave 5 Singapore 554574 Singapore 554574 Tel: +65 6216 5000 Tel: +65 6216 5000 Fax: +65 6481 5124 Fax: +65 6481 5124 Taiwan Taiwan #20th Floor, #207 #20th Floor, #207 Tun Hua South Road Tun Hua South Road Section 2 Section 2 Taipei 106 Taipei 106 Tel: +88 6 2 2378 8088 Tel: +88 6 2 2378 8088 Fax: +88 6 2 2378 9188 Fax: +88 6 2 2378 9188 Thailand Thailand 54 B.B. Building 54 B.B. Building Room 1306, 13th Floor Room 1306, 13th Floor Asoke Road, Sukhumvit 21 Asoke Road, Sukhumvit 21 North Klongtoey, Wattana North Klongtoey, Wattana Bangkok 10110 Bangkok 10110 Tel: +662 260 7248-9 Tel: +662 260 7248-9 Fax: +662 260 7871 Fax: +662 260 7871 © STMicroelectronics - January 2007 - Printed in Italy - All rights reser ved © STMicroelectronics January 2007 Printed in Italy All rights reser ved The STMicroelectronics corporate logo is aaregistered trademark of the STMicroelectronics group of companies. The STMicroelectronics corporate logo is registered trademark of the STMicroelectronics group of companies. Full product information at www.st.com Full product information at www.st.com Order code: BRSTR750MC0107 BRSTR750MC0107 Order code: BRSTR750MC0107 BRSTR750MC0107 Recycled and chlorine free paper Recycled and chlorine free paper