AUTHOR: ABBATE ABSTRACT This application note proposes solution d

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AUTHOR: ABBATE ABSTRACT This application note proposes solution d

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Switched Reluctance Motor Control FIVE
AUTHOR: ABBATE
ABSTRACT This application note proposes solution drive Switched Reluctance Motor (SRM) using cost 8-bit microcontroller. This work been developed vacuum cleaner application order reach high rotational speed acoustic electrical emissions.
Keywords: SRM, Switched Reluctance Motor, Synchronous Motor.
INTRODUCTION Although motors have been well known long time, only today's industry paying attention these kinds electrical machines. decreasing costs microcontrollers inverter stages, need compliance with standards, together with simplicity motor assembly driving homeappliance market's attention synchronous motors, such Permanent Magnet Brushless Switched Reluctance. These machines, that belong group Electrically Commuted Motors, need rotor position sensors order know where rotor poles located space during rotor revolution. Good starting torque, wide speed range, absence brushes expensive magnetic material make motors very interesting electromechanical drivers consumer market. OVERVIEW considered step-motor where both stator rotor present salient poles. permanent magnets used therefore magnetic flux produced stator coils (Unique Flux Synchronous Machine). rotor composed laminated iron sheets, which stacked shaft. bearing-ball ends allow rotor shaft rotate. stator typical N-phase motor presents pair salient poles each phase coil. Fig.1 shows transversal section motor. Typical pole configurations are: 4stator/2rotor poles, 6/4, 8/6, 12/8,
Figure SCHEME
Phase winding
Rotor pole
Torque
Stator pole
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Generally, equation between stator poles rotor poles following:
where number phases. pole saliency, magnetic path different during rotor motion since reluctance minimal when stator rotor poles aligned maximum when poles aligned. Formally, inductance written follows:
with number coils rotation angle motor shaft. equation above reluctance profile responsible inductance profile shown figure which measured motor used this application: x-axis rotor mechanical position degree), y-axis measure inductance (mH).
Figure INDUCTANCE PROFILE
oder oder oder
Energy inductance considerations [1][3] lead following definition motor torque expression
From equation above, argue that, order obtain positive torque, phase coil needs current only during rising edge inductance profile. synchronization phase polarization with rotor poles position measured through Hall sensors main task electronic driver. There different ways arrange sensors: simplest arrange sensor position order obtain necessary information about rising/falling edge each phase. Fig.3 shows typical sensor arrangement 3-phase SRM. Since phase coil inductance with series resistance, current rising time strongly related constant time circuit. very high rotational speed, this rising current time comparable duration L-rising edge. This does allow current rise suitable levels deliver expected torque. this case, temporal coils energizing advance (prephase injection) introduced phases correspondance with L-rising profile beginning.
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Figure SENSOR PLACEMENT DRIVING
Encoder 35mHr Counter-Clockwise direction Encoder
10mHr
rotor turn
Generally, introduction pre-phase current injection achieved adjusting position sensor mechanical degrees forwards backwards with respect rotor rotation. However, since sensors were permanently locked rotor motor being explained, pre-phase injection could applied only through fixed value advance. this case, current values suited only specific speed range, which motor achieves required efficiency. high speed values, drawback having fixed sensor configuration, case motor being explained, overcome adopting strategy extracting information from combination signals coming from Hall sensors change time prephase value current injection. This solution enhanced further through "current tail cut" technique, which described following.
These circumstances conflict with research techniques allowing achievement very high speed with reasonable torque. sequence different logical functions modify input encoder signal changing driving policy "run time". This method up-graded using Timer switch phase signal.
Figure MOTOR: MECHANICAL CHARACTERISTICS
Torque Acceleration
Pre-phase
Normal working area speed, constant torque Start sequence
000000000000000000
000000000000000000 000000000000000000
Speed
Encoder
Pre-phase Firing G1=E1&E2 G2=E2&E3 G3=E3&E1
Pre-phase Firing: G1=E1n&E2n G2=E2n&E3n G3=E3n&E1n
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INVERTER TOPOLOGY motor driven switch board typical 2N-switch topology, with indicating number motor phases. Each motor phase connected asymmetric half bridge consisting power switches diodes. complete voltage used energize de-energize phase chopping mode. When some switches closed, phase will energized positive voltage supply. When both switches opened, current commutates between switches relative freewheeling diodes. voltage across phase negative voltage. This inverter topology most used: presents main advantage exploiting full therefore suited driving motor high speeds. drawback disadvantage this inverter topology high number power devices: each half bridge needs power switches freewheeling diodes. Three L6386 high-side/low-side drivers, shown Fig.5, used control IGBTs (12A 600V), with high speed free-wheeling diodes
Figure SWITCHES INVERTER DRIVER ST52
+DCbus
+DCBUS
DRIVER
DRIVER
DRIVER
Phase
Phase
Phase
-DCbus
-DCBUS
High side1
side1
High side2
side2
High side3
side3
ST52x420
high speed performances needed, simpler cheaper inverter topology used: "N+1 switches" topology, where indicates number phases. This topology uses only High Side chop each three phases, TD300 three phase driver only L6386, saving IGBT's, Diodes L6386 ST52x420 activates driver manipulating encoder signal. choppered used together with hysteresis control. Fig. encoder signal shows chopping high side with reference current implements Current Mode Control. scheme following:
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Figure HARDWARE TOPOLOGY CURRENT MODE CONTROL
this control technique, magnitude current flowing into windings controlled control loop with current feedback. current motor phase winding measured directly current/voltage converter current sense resistor connected series with phase. current compared with reference current, obtaining error signal. current error compensated control law, appropriate control action taken.
Figure PHASE WAVEFORM
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Figure CURRENT MODE MODULATION INSERTION OVER-CURRENT PROTECTION
Some hardware protections implemented board prevent drivers switches from damage caused over-current Bus. previous picture shows protect them. current sensing resistor, which printed on-board, enables detect current using channel micro same used current mode modulation. picture, gate signal "off" direct result over-current no-showed phase, shuts down drivers L6386. DRIVING STRATEGIES Many strategies checked drive motor phases, manipulating encoder signal with some logic operators. control often described terms "low-speed" "high-speed" range. Low-speed operations based control current. motor speed increases, very difficult control current because combination back effects reduced amount time commutation interval. motor speed often increased setting turn-on turn-off angles, that phase commutation begins early producing current winding, while inductance decreasing phase. Besides, extra time obtained allows reduction current winding before rotor reaches negative torque region. control firing angles carried different ways relation type position feedback available specifics application. analysis logic combination encoder signals correct drive Motor. this document, logical between Encoder Encoder used produce three signals, which allows appropriate firing sequence. same time, logical function between complementary another sequence representing appropriate pre-fired control signal drive Motor high speed. choice correct logic combination function derives from comparison between Encoder Signal chart measured Inductance
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(i.e. fig.2). This comparison important order design some strategies, which implement expected outputs (fig. switching from another. This technique implemented either firmware computational time allows it), external logic devices order reach very high performances. switch from strategy another, allows jump from starting phase speed-up phase and/or necessary pre-injection phases reach speed target. These pre-injection phases important correct "current tale action". using lead energizing phase, current tale rising zone (with dL/dt consequentially torque positive), this brake effect motor high speed avoided (fig.3). SOFTWARE DESCRIPTION targets are: speed performances start-up sequence with predetermined counter clockwise. starting phase "soft start procedure" necessary order guarantee start right sense rotation increase Phase Current speed from zero first step speed. After startup, program switches "low-speed" procedures reach 20000 with VAC. implementation used this application, performs driving motor, analyzing encoders computing logical function these signals. This computation carried without external logic, achieve cost target. patented pending technique used perform variable pre-phase injection, order obtain driving signal reduced timing. this "Hybrid" control phase, logical combination encoder used turn phase Motor, while timer used turn off. "counter" Timer decreases increasing speed order obtain firing signal, which turn, synchronized with correct sequence. This sequence less wide than allowed minimum time from simple combination encoder signals. value "counter" could chosen from L.U.T., standard linear function Fuzzy Block which aimed extract correct timing relation speed. this application, L.U.T. used allow Pre-phase timing. flow chart software displayed following section, developed Visual FIVE, visual Development Tool FIVE Family micros. flow chart could divided into following steps: PERIPHERAL CONFIGURATION MICRO INITIALIZATION this step, micro initialized perform implementation, particular with: configuration (Timer mode KHz, Timer timer mode perform pre-phase switch phase high speed); configuration (current sensing); initialization ports (analog input, digital input/output) order drive L6386 implement over-current protection. START-UP PROCEDURE (SOFT START) Start procedure essential allow motor start correctly, direction opposite, speed motor from zero 5000 rpm. correct sequence phase ignition allows counterclockwise direction. variable Duty Cycle allows start-up @full DCBus from rpm. SPEED-UP ALGORITHM. (Low-Speed). After start phase, encoder signal, obtained digital mode, filtered algorithm which performs specified logic function, order express drive sequence. PRE-PHASE, HIGH SPEED ROUTINE (High-Speed) There lots sequences manipulated encoder signals aimed drive motor, each them specific speed range. There other different sequences speed 20Krpm. There
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logic combinations encoder perform both right pre-phase firing sequence timing, order obtain speed higher than previous one. expected speed reached only using specific Timer peripheral switch phase advance. Interrupt routine high speed turns phase after that logical function turns This function performed inside Timer1 Interrupt, which turns phase using right element Table (The Visual FIVE L.U.T.) pointed variable "pointer" inside PWM_0_COUNT. Timer1 configuration will changed after soft-start phase, using same peripheral both soft start high-speed algorithm, saving resources other functions. right value "pointer" reached after measuring encoder inside Timer_0 Interrupt routine. order understand algorithm, flow chart showed below, assembler file found enclosure (appendix
Figure MAIN PROCEDURE
Peripheral Variables configuration initialization
Start Procedure Start Current Mode
Speed pre-phase)
Analyze Mode
High Speed Start Pre-phase Enable TIM1
Phase Firing Procedure
Figure ANALYZE PROCEDURE
Reading Encoders
Filtering Data
Driving Signal Generation
EXIT
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Figure TIMER INTERRUPT ROUTINES
duty cycle High
Interrupt (current mode modulation)
sense<
EXIT
Duty Cycle
EXIT
Timer Interrupt (Pre-phase)
Phase
Gate Signal
Figure Visual FIVE: PHASE INJECTION ROUTINE
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Figure INTERRUPT ROUTINE
CONCLUSION Thanks driving strategy adopted, 25000rpm been reached with feeding 230VAC current around using standard full-bridge driver micro controller. "smart" hardware performances Five micro controllers, efficient Visual FIVE tool have allowed development this application simple way. intrinsic cost features Motor, optimum quality/price rate Five Micro controller Family efficient electronic topology emphasize this result. REFERENCES Mohan, Undeland, Robbins "POWER ELECTRONICS: Converters, Applications, Design" John Wiley sons ST524E420 Data Sheet, Visual FIVE User Manual T.J.E. Miller "Switched Reluctance motors their control" OXFORD SCIENCE Publication 1993 Vukosavic, Stefanovic "SRM Inverter Topologies: Comparative Evaluation" IEEE Transaction Industry Applications, Vol.27 1991 Ichinohura, Onda, Kimura, Watanabe, Yanada "Analysis Dynamic Characteristics based SPICE" IEEE Transaction Magnets, Vol.34 1998 Becerra, Ehsani, Miller "Commutation Motors" IEEE Transactions Power Electronics, Vol.8 1993
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APPENDIX DRIVER BOARD SCHEMATIC
+5Vcc 100K +5Vcc +5Vcc +5Vcc CON8 DO40 RESET Ain0/PB0 VddA Ain1/PB1 Ain2/PB2 PA0/TORES Ain3/PB3 PA1/T0OUTn Ain4/PB4 PA2/T1OUTn Ain5/PB5 PA3/T2OUTn Ain6/PB6 Ain7/PA7/PB7 PA4/T0STRT PA5/T0CLK Reset Test PC0/INT PC1/T0OUT PC2/T1OUT PC3/T2OUT GndA Oscin Oscout ST52T420dip CON3 +5Vcc QH[1.3] 74HC14 74HC14 +5Vcc LOW1 LOW2 LOW3 CON6 .1uF .1uF +5Vcc +5Vcc 100pF 74HC14 .1uF .1uF 74HC14 E_jellow 680pF 680pF 680pF E_grey jellow 74HC14
74HC14
0000 0000 0000000 0000 0000000 0000 0000000 0000 0000000 0000 0000 0000
jellow
E_brown
HI[1.3]
+5Vcc
+15Vcc +15V
+15Vcc 0.1uF
L78L05 220uF 0.1uF +5Vcc
+HBUS DO40 to220diode L11h L11L OUT1 10nF 400V SGND 600V +15Vcc Vboot SGND Pgnd Diag STGP7NB60HD STTA506 +15Vcc DO40 Vboot Pgnd Diag STTA506 L6386 STGP7NB60HD DO40 600V 600V stampata 500K 220pF 100k POWER 150nF 600V -HBUS DO40 +15Vcc STGP7NB60HD L22h L22L OUT2 10nF 400V SGND 600V STTA506 STGP7NB60HD +15Vcc DO40 Vboot Pgnd Diag L33h to220diode L33L CON2 100uF 450V 600V STTA506 BRIDGE STGP7NB60HD
L6386 +15Vcc STGP7N6B60HD +15Vcc L6386 14dip300
DO40
CON2
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APPENDIX FIRMWARE
Author: Abbate 15/06/2001 ;This Project shows drive Three Phase Switched Reluctance Motor. uses signal PC2/T1OUT with frequency 20kHz variable duty cycle. PB0/Ain0, internal peripheral Converter reads current. ;The Timer0 peripheral measures encoder signal order compute speed motor. frequency timer ;Timer1 functions: former supplies predetermined timing Soft Start Phase. latter turns control signal high speed. (pre-phase) ;The Analyze_encoder procedure filters encoder signals into Main Program. ;The Low_speed procedure sends control signals driver order energize phases speed. ;The High_speed procedure sends control signal high speed. ;The Converter Interrupt Routine performs Current Mode Modulation: Hysteresis control current. ;The Timer Interrupt Routine measures encoder order obtain speed choices right "pointer" pre-phase L.U.T. ;(Table). ;The Timer Interrupt Routine dedicated Soft Start "turn off" driving signals during pre-phase action. Interrupt Vector Configuration AD_Converter PwmTimer0 PwmTimer1 PwmTimer2 External Tables Allocation "BYTE Pre_phase[10]" eprom locations from 18(Page:0 Offset:18) 27(Page:0 Offset:27) data Pre_phase[0] 00011001b, 0x19 data Pre_phase[1] 00110010b, 0x32 data Pre_phase[2] 01010000b, 0x50 data 120; Pre_phase[3] 01111000b, 0x78 data 135; Pre_phase[4] 10000111b, 0x87 data 152; Pre_phase[5] 10011000b, 0x98 data 160; Pre_phase[6] 10100000b, 0xA0 data 180; Pre_phase[7] 10110100b, 0xB4 data 200; Pre_phase[8] 11001000b, 0xC8 data 220; Pre_phase[9] 11011100b, 0xDC Tables Allocation Report: byte used from 18(Page:0 Offset:18) 27(Page:0 Offset:27) setmem Store Device Configuration Parameters into Eprom Default Interrupt Priority (Hi->Lo): A/D, Timer0, Timer1, Timer2 data 228; RegConf_01 11100100 Configuration data 144; RegConf_04 10010000 data 248; RegConf_12 11111000 data 255; RegConf_13 11111111 data RegConf_14 00000011 data 243; RegConf_15 11110011 data RegConf_16 00000001 Converter Configuration ConvertionMode Continuous ChannelMode Multiple
ClockMode Divided Channel data RegConf_03 00111010 WatchDog Configuration data RegConf_02 00000000 Pwm-Timer Configuration data RegConf_05 01011000 data RegConf_06 00101111 data RegConf_07 00000100 Pwm-Timer Configuration data 192; RegConf_08 11000000
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data RegConf_09 00101100 Pwm-Timer Configuration data 208; RegConf_10 11010000 data RegConf_11 00100010
setmem Device Configuration Parameters pgset ldce RegConf_01 11100100 ldce RegConf_02 00000000 ldce RegConf_03 00111010 ldce RegConf_04 10010000 ldce RegConf_05 01011000 ldce RegConf_06 00101111 ldce RegConf_07 00000100 ldce RegConf_08 11000000 ldce RegConf_09 00101100 ldce RegConf_10 11010000 ldce RegConf_11 00100010 ldce RegConf_12 11111000 ldce RegConf_13 11111111 ldce RegConf_14 00000011 ldce RegConf_15 11110011 ldce RegConf_16 00000001 ldrc 00000000b, 0x00 ldpr ldpr ldpr
********* User Defined Variables ********* NAME -Flag_mode I_ref I_sense L1_enable L2_enable L3_enable enable_current_mode enc1 enc2 enc3 enc_speed1 enc_speed2 enc_speed3 encoder exit_soft_start flag flag_burning_phase flag_current_mode pointer speed_triple temp temp1
****** Time Vars Initialization ****** -ldrc 00000001b, 0x01 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00011001b, 0x19
main: ********** Start procedure "main"
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Start: Inizialization: ++++++++++++++++++++++++++++++ mdgi Config_PB_8_bit: Block Config_PB_8_bit ldrc 00000000b, 0x00 ldcr ldrc 11111111b, 0xFF ldcr ldrc 00000011b, 0x03 ldcr ldrc 00000000b, 0x00 ldcr ldrc 00000000b, 0x00 ldcr init: ldrc ldrc ldpr ldrc ldpr ldrc ldpr 00000000b, 0x00 11111111b, 0xFF 11111111b, 0xFF 11111111b, 0xFF
IrqMask_0: IrqEnableMask Enable: PwmTimer1 Disable: AD_Converter PwmTimer0 PwmTimer2 External ldrc ldcr RegConf_00 00001000 IrqPriority_0: IrqPriority (Hi->Lo): PwmTimer1 AD_Converter PwmTimer0 PwmTimer2 ldrc ldcr RegConf_01 11010010 Port_A_Off: ldrc 00000000b, 0x00 ldpr PWM2_Off: ldrc 00000000b, 0x00 ldpr PWM_Timer1_0: PWM_1 Setting ldrc ldcr RegConf_08 11000100 PWM_Timer2_0: PWM_2 Setting ldrc ldcr RegConf_10 11010101 AD_Converter_0: Setting ldrc ldcr RegConf_03 00111111 PWM_Timer0_2: PWM_0 Setting ldrc ldcr RegConf_05 01011101 IrqMask_3: IrqEnableMask Enable: PwmTimer1 Disable: AD_Converter PwmTimer0 PwmTimer2 External ldrc ldcr RegConf_00 00001000 IrqReset_0: Reset Interrupts rint External rint AD_Converter rint PwmTimer0
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rint PwmTimer1 rint PwmTimer2 PWM_Timer1_1: PWM_1 Setting ldrc ldcr RegConf_08 11000101 Exit0: Inizialization_Exit Inizialization_Exit: megi -Soft_start_encoder: Receive0: ++++++++++++++++++++++++++++++ mdgi -ldri ldpr ldri megi -Assembler0: Block Assembler0 mirror Send8: ldpr Exit6: Soft_start_encoder_Exit Soft_start_encoder_Exit: Jump11: ++++++++++++++++++++++++++++++ mdgi ldrc 00000000b, 0x00 jpnz End_If_25 megi Soft_start_encoder End_If_25: megi -Change_configuration_timer1: Block Change_configuration_timer1 ldrc 11010000b, 0xD0 ldcr ldrc 00100011b, 0x23 ldcr soft_start_normal: Call0: call Analize_encoder Call3: call Low_speed Exit9: soft_start_normal_Exit soft_start_normal_Exit: Jump2: ++++++++++++++++++++++++++++++ mdgi ldrc 00000000b, 0x00 jpnz End_If_26 megi soft_start_normal End_If_26:
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megi
Enable_current_mode_pre_phase: IrqEnableMask Enable: AD_Converter PwmTimer2 Disable: PwmTimer0 PwmTimer1 External ++++++++++++++++++++++++++++++ mdgi ldrc ldcr RegConf_00 00010010 megi -Exit10: Jump0: ++++++++++++++++++++++++++++++ mdgi ldrc 00000000b, 0x00 jpnz End_If_27 megi normal_mode End_If_27: megi -High_mode: Call5: call Analize_encoder Call4: call High_speed Exit16: High_mode_Exit High_mode_Exit: Jump0 normal_mode: Call2: call Analize_encoder Call1: call Low_speed Exit4: normal_mode_Exit normal_mode_Exit: Jump0
AD_Converter: ********** Start procedure "AD_Converter" Folder4: ++++++++++++++++++++++++++++++ mdgi Jump10: ldrc 00000001b, 0x01 jpnz End_If_11 I_sense End_If_11:
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Brake: ldrc 00000000b, 0x00 ldpr IrqReset_2: Reset Interrupts rint AD_Converter Exit8: Folder4_Exit I_sense: ldri I_ref: ldri Jump9: ldrr End_If_12 boost End_If_12: Brake boost: ldrc 11000000b, 0xC0 ldpr IrqReset_2 Folder4_Exit: megi -RetI3: reti PwmTimer0: ********** Start procedure "PwmTimer0" speed_encoder: ++++++++++++++++++++++++++++++ mdgi Receive1: ldri PWM_Timer0_0: PWM_0 Setting ldrc ldcr RegConf_05 01011100 PWM_Timer0_1: PWM_0 Setting ldrc ldcr RegConf_05 01011101 Exit1: speed_encoder_Exit speed_encoder_Exit: megi -Choice: ++++++++++++++++++++++++++++++ mdgi Jump21: ldrc 01010000b, 0x50 End_If_3 High_Speed End_If_3: Low_Speed: ldrc 00000000b, 0x00
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Exit13: Choice_Exit High_Speed: ldrc 00000001b, 0x01 Jump12: ldrc 00001010b, 0x0A End_If_4 Alu0 End_If_4: Jump15: ldrc 00010100b, 0x14 End_If_5 Alu2 End_If_5: Jump16: ldrc 00011110b, 0x1E End_If_6 Alu3 End_If_6: Jump19: ldrc 00101000b, 0x28 End_If_7 Alu4 End_If_7: Jump18: ldrc 00110010b, 0x32 End_If_8 Alu5 End_If_8: Jump17: ldrc 00111100b, 0x3C End_If_9 Alu6 End_If_9: Jump20: ldrc 01000110b, 0x46 End_If_10 Alu7 End_If_10: Alu1: ldrc 00000110b, 0x06 ldrr ldrc 00010010b, 0x12 pgset Read: ldpe Exit14: Choice_Exit Alu7: ldrc 00000110b, 0x06 ldrr ldrc 00010010b, 0x12 pgset Read_1: ldpe
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Exit14
Alu6: ldrc 00000110b, 0x06 ldrr ldrc 00010010b, 0x12 pgset Read_2: ldpe Exit14 Alu5: ldrc 00000101b, 0x05 ldrr ldrc 00010010b, 0x12 pgset Read_3: ldpe Exit14 Alu4: ldrc 00000100b, 0x04 ldrr ldrc 00010010b, 0x12 pgset Read_4: ldpe Exit14 Alu3: ldrc 00000011b, 0x03 ldrr ldrc 00010010b, 0x12 pgset Read_5: ldpe Exit14 Alu2: ldrc 00000001b, 0x01 ldrr ldrc 00010010b, 0x12 pgset Read_6: ldpe Exit14 Alu0: ldrc 00000000b, 0x00 ldrr ldrc 00010010b, 0x12 pgset Read_7: ldpe Exit14 Choice_Exit: megi -RetI1: reti PwmTimer1: ********** Start procedure "PwmTimer1" Jump8: ++++++++++++++++++++++++++++++ mdgi ldrc 00000000b, 0x00 jpnz End_If
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megi timer_soft_start
End_If: megi -Off_phase: ++++++++++++++++++++++++++++++ mdgi Send2: ldrc 00000000b, 0x00 ldpr PWM_Timer2_2: PWM_2 Setting ldrc ldcr RegConf_10 11010100 Exit17: Off_phase_Exit Off_phase_Exit: megi -RetI2: reti timer_soft_start: ++++++++++++++++++++++++++++++ mdgi Assembler2: Block Assembler2 Jump14: ldrc 00000101b, 0x05 ldrr End_If_1 End_soft_start1 End_If_1: Send13: ldpr Exit11: timer_soft_start_Exit End_soft_start1: ldrc 00000001b, 0x01 Send14: ldpr Jump13: ldrc 00110010b, 0x32 ldrr End_If_2 Off_inc_PWM1 End_If_2: Exit12: timer_soft_start_Exit Off_inc_PWM1: IrqEnableMask Enable: Disable: AD_Converter PwmTimer0 PwmTimer1 PwmTimer2 External ldrc ldcr RegConf_00 00000000 IrqReset_3: Reset Interrupts rint PwmTimer1
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enable_current_mode1: ldrc 00000001b, 0x01 Exit11 timer_soft_start_Exit: megi RetI2 PwmTimer2: ********** Start procedure "PwmTimer2" RetI4: reti External: ********** Start procedure "External" RetI0: reti Low_speed: ********** Start procedure "Low_speed" Normal: ++++++++++++++++++++++++++++++ mdgi Jump3: ldrc 10100000b, 0xA0 jpnz End_If_13 cross_conduction_control_L1 End_If_13: Jump4: ldrc 11000000b, 0xC0 jpnz End_If_14 cross_conduction_control_L2 End_If_14: Jump5: ldrc 01100000b, 0x60 jpnz End_If_15 cross_conduction_control_L3 End_If_15: Flag_current_off: ldrc 00000000b, 0x00 Off: ldrc 00000000b, 0x00 ldpr Exit2: Normal_Exit cross_conduction_control_L3: ldrc 00000001b, 0x01 jpnz End_If_16 Exit19 End_If_16: L1_L2_enable2: ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000001b, 0x01 ldrc 00000001b, 0x01 L3_burning: ldrc 00000100b, 0x04 ldpr Exit2 Exit19:
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Normal_Exit
cross_conduction_control_L2: ldrc 00000001b, 0x01 jpnz End_If_17 Exit18 End_If_17: L1_L3_enable1: ldrc 00000000b, 0x00 ldrc 00000001b, 0x01 ldrc 00000000b, 0x00 ldrc 00000001b, 0x01 L2_burning: ldrc 00000010b, 0x02 ldpr Exit2 Exit18: Normal_Exit cross_conduction_control_L1: ldrc 00000001b, 0x01 jpnz End_If_18 Exit5 End_If_18: L2_L3_enable: ldrc ldrc ldrc ldrc 00000001b, 0x01 00000000b, 0x00 00000000b, 0x00 00000001b, 0x01
L1_burning: ldrc 00000001b, 0x01 ldpr Exit2 Exit5: Normal_Exit Normal_Exit: megi -Return2: High_speed: ********** Start procedure "High_speed" High: ++++++++++++++++++++++++++++++ mdgi Jump1: ldrc 10000000b, 0x80 jpnz End_If_19 cross_conduction_control_L4 End_If_19: Jump6: ldrc 01000000b, 0x40 jpnz End_If_20 cross_conduction_control_L6 End_If_20: Jump7: ldrc 00100000b, 0x20 jpnz End_If_21 cross_conduction_control_L5 End_If_21:
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Flag_current_off1: ldrc 00000000b, 0x00 Off1: ldrc 00000000b, 0x00 ldpr PWM_Timer1_2: PWM_1 Setting ldrc ldcr RegConf_08 11000100 Exit3: High_Exit cross_conduction_control_L5: ldrc 00000001b, 0x01 jpnz End_If_22 Exit21 End_If_22: L1_L2_enable1: ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000001b, 0x01 ldrc 00000001b, 0x01 L3_burning1: ldrc 00000100b, 0x04 ldpr PWM_Timer1_2 Exit21: High_Exit cross_conduction_control_L6: ldrc 00000001b, 0x01 jpnz End_If_23 Exit20 End_If_23: L1_L3_enable2: ldrc 00000000b, 0x00 ldrc 00000001b, 0x01 ldrc 00000000b, 0x00 ldrc 00000001b, 0x01 L2_burning1: ldrc 00000010b, 0x02 ldpr PWM_Timer1_2 Exit20: High_Exit cross_conduction_control_L4: ldrc 00000001b, 0x01 jpnz End_If_24 Exit15 End_If_24: L2_L3_enable1: ldrc 00000001b, 0x01 ldrc 00000000b, 0x00 ldrc 00000000b, 0x00 ldrc 00000001b, 0x01 L1_burning1: ldrc 00000001b, 0x01 ldpr PWM_Timer1_2 Exit15: High_Exit High_Exit: megi
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Return1: Analize_encoder: ********** Start procedure "Analize_encoder" Folder2: read_encoder: ++++++++++++++++++++++++++++++ mdgi -ldri ldpr ldri megi -Filtering: ++++++++++++++++++++++++++++++ mdgi ldrc 11100000b, 0xE0 megi -Exit7: Folder2_Exit Folder2_Exit: Return0:
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Full Product Information http://www.st.com/five Information furnished believed accurate reliable. However, STMicroelectronics assumes responsibility consequences such information infringement patents other rights third parties which result from use. license granted implication otherwise under patent patent rights STMicroelectronics. Specification mentioned this publication subject change without notice. This publication supersedes replaces information previously supplied. STMicroelectronics products authorized critical components life support devices systems without express written approval STMicroelectronics. logo registered trademark STMicroelectronics 2001 STMicroelectronics Printed Italy Rights Reserved STMicroelectronics GROUP COMPANIES Australia Brazil China Canada Finland France Germany Hong Kong India Israel Italy Japan Malaysia Malta Morocco Singapore Spain Sweden Switzerland United Kingdom U.S.A. http://www.st.com
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AUTHOR: ABBATE ABSTRACT This application note proposes solution d

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