Technical Presentation Stepper, DC and BLDC motors

1
Technical PresentationStepper, DC and BLDC motors

• Tom Hopkins
• Director, Power Systems Application Lab

2
Total ST System Solutions for Motor Control
3
ST Offers a Range of Components for Complete
Motor Solutions
3-phase inverter stage
DC
AC
PFC
Motor
AC
High voltage driver ICs
MCU
Power supply
Interface
feedback
4
System Integration with Integrated ICs
Power circuit feeding the motor
including level shifters
Device incorporating
and protection circuits
all necessary logic and power circuits
INPUT
for driving the motor
INPUT
POWER
POWER
Driver
Power Stage
Controller

LOGIC

LOGIC
Switch
Driving
SIGNALS
SIGNALS
Array
Section
Logic circuit that generates
the proper command pattern
for the power stage
Sensors
Voltage and current
level shifters
(gate drivers)
Linear or switchmode
electronic components
(MOSFETs, BJTs, IGBTs)
5
STEPPER MOTOR DRIVE
6
Stepper Motor
Stepper motors are ideally suited to application
requiring precise position control such as
computer peripherals or numerically controlled
machine tools
Most commonly used stepper
motor
N
H-Bridge
N
S
Permanent Magnet stepper motor
N
S
S
Bipolar
Unipolar
Hybrid stepper motor
Driving methods
H-Bridge
Half step
Full Step two phase-on
Microstepping
Step
signals
Rotation Position is Controlled in Steps
Permanent
Magnet Rotor

Major Applications
A typical stepper motor has permanent magnets on
the rotor and a pair of coils on the stator
Printers, Copiers, Bill
Transport, Automotive,
Medical, Factory Automation
Machine tools
7
Motor Configuration
8
Drive Configuration
BIPOLAR
UNIPOLAR
MOTOR
MOTOR
Vs
Vs
9
Torque ComparisonUnipolar vs Bipolar Motor
Torque
Bipolar
40
Unipolar
Log Scale
Speed
10
Full Step SequenceBipolar 2 Phase Stepper Motor
11
Half Step SequenceBipolar 2 Phase Stepper Motor
12
L/R Drive (Voltage Mode)
Vs
Ic Vs/Rc
t Lc/Rc
13
L/nR Drive (Voltage Mode)
Vs
Rs
Rc
Lc
Ic Vs/(RcRs)
t L/(RcRs)
14
Chopping Drive (Current Mode)
L297 L6506
S
OSC
Ic Vref/Rsense
Q
R
Rsense
Vref
Fixed Frequency PWM Current Control
15
Chopping Drive (Current Mode)
Rc
Lc
L6207, L6208 L6219, PBL3717
_ Q
Ic Vref/Rsense
T
Monostable
Rsense
Vref
Constant Off Time FM Current Control
16
Current WaveformsL/R, L/5R, and Chopping Drive
Current
1
Supply Voltage
V1
L/R Drive
0.5
5V1
L/5R Drive
5V1
Chopping Drive
0
0
10
20
30
40
50
60
70
80
90
100
Time
17
PWM Current Decay modes
VS
VS
VS
ON Time Current builds In winding
OFF Time Slow Decay Recirculation
OFF Time Fast Decay Recirculation
18
Microstepping
IB
Full Step position
IA IB
IA
IA 2 IB
Half Step position IB -1, IA 0
19
Microstepping Block Diagram
H
PWM
Bridge
D/A
H
PWM
Bridge
D/A
20
Typical Microstepping Waveform using L6208
VrefA
IB
VrefB
Clock
21
Typical Run Profile
Steps
Design point for torque
22
Two Phase Bipolar Stepper Motor DriveMonolithic
(integrated) Approach - 1
8 to 45 V
Power supply VIPer
Controller
MCU
Dual H-Bridge
Interface
ST72264 ST7Lite
RS232
Transceiver
ST232
L6207 L6208 L6258
23
Motor Control Driver Power IC Product Matrix
Driver
Power Bridge
Gate Driver
Controller
L6208
L6207
L6206
Dual H-Bridges
L6205
L6506
L6258E
L298
L297
L6204
L6219
L293
3-Phase Bridges
L6235
L6234
L6229
H-Bridges
L6203
PBL3718
L6202
PBL3717
Performances
L6201
TEA3717
Half Bridge Driver
L6386
L6387
L6385
L6384
Controller. includes only the control function
and drives Power Bridge ICs Power Bridge ..
includes only the output power transistor stage
and no control function Motor Driver. includes
control function Power Bridge block Gate
Driver .. includes only the driver stage for
driving MOSFETs or IGBTs
24
New PowerSpin Product Range

• Operating supply voltage from 8 to 52V
• Power MOS output stage
• RDS(ON) 0.3 ? or 0.7 ?
• Intrinsic Fast Free Wheeling Diodes
• Output current rating
• L620x L6235 5.6 A peak and 2.8 A rms,
• L622x 2.8 A peak and 1.4 A rms
• Non-dissipative over current protection
• Cross conduction protection
• Thermal protection
• Under voltage lock out

PowerSO36
DIP24
SO24
25
L6205, L6225 Fully Protected Dual Full Bridge
VSA


OCD
OUT1A
FULL BRIDGE
ENA
OUT2A
GATE
IN1A

LOGIC
SENSEA
IN2A
Vboot

VBOOT
THERMAL

PROTECTION

CHARGE PUMP
VCP

VSB


OCD
OUT1B
FULL BRIDGE
ENB
OUT2B
GATE
IN1B

LOGIC
SENSEB
IN2B
26
L6206, L6226 Fully Protected Dual Full Bridge
PROGCLA
VSA
OCDA


OCD
OUT1A
FULL BRIDGE
ENA
OUT2A
GATE
IN1A

LOGIC
SENSEA
IN2A
Vboot

VBOOT
THERMAL

PROTECTION

CHARGE PUMP
VCP
PROGCLB

OCDB
VSB


OCD
OUT1B
FULL BRIDGE
ENB
OUT2B
GATE
IN1B

LOGIC
SENSEB
IN2B
27
L6207, L6227Dual Full Bridge with Current Control
VSA

OCD

OUT1A
FULL BRIDGE
ENA
OUT2A
GATE
IN1A

LOGIC
SENSEA
IN2A
VREFA

PWM CURRENT REGULATOR
RCA
Vboot

VBOOT

THERMAL

PROTECTION
CHARGE
VCP

PUMP
VSB

OCD

OUT1B
FULL BRIDGE
ENB
OUT2B
GATE
IN1B

LOGIC
SENSEB
IN2B
VREFB

PWM CURRENT REGULATOR
RCB
28
L6208, L6228 Fully Integrated Stepper Motor
Driver
29
L6258E Stepper Motor Driver
VS1


OUT1A
FULL BRIDGE
DISABLE
GATE LOGIC
OUT1B
I0_1 I1_1 I2_1 I3_1

DAC
RSENSE

PH1
PWM CURRENT REGULATOR
VREF1
SENSE2
Vboot

VBOOT


VCP1
THERMAL PROTECTION
CHARGE PUMP
CLOCK

VCP2
GENERATOR
VS2


OUT2A
FULL BRIDGE
GATE LOGIC
OUT2B
I0_2 I1_2 I2_2 I3_2

DAC
RSENSE

PWM CURRENT REGULATOR
PH2
VREF2
SENSE2
30
Stepper Motor Drive High Power
High voltage driver ICs
Power supply VIPer
Controller
MCU
Dual H-Bridge
Interface
ST72264 ST7Lite
L6506
L6384
MOS
31
L6384 Half Bridge Driver

• Key Features
• 600 V rail max
• High current drive
• 400/650 mA source/sink
• Undervoltage lockout
• Integrated bootstrap diode
• Single input controls high and low side FETs
• Adjustable dead time

H.V.
V
CC
V
BOOT
BOOTSTRAP DRIVER
UV
HVG
C
BOOT
DETECTION
DRIVER
HVG
R
S
OUT
LOGIC
IN
LOAD
LEVEL
V
V
CC
CC
SHIFTER
LVG
DEAD
Idt
TIME
LSG
DT/SD
GND
DRIVER
Vthi
D97IN518A
32
DC Motor Drive
33
Permanent Magnet DC Motor
Stator Magnet

The rotor includes a winding fed by DC voltage
through
carbon brushes
The stator has two or more permanent magnets
s
Speed is proportional to the supply voltage
Torque is a function of motor current
Commutator
Direction of rotation is reversed by reversing
rotor current
(through an H-Bridge configuration)
Voltage 6 to 320Vdc
Power up to 20,000W
N
Brush
Speed 0 to 20,000 RPM
Major applications
Cordless tools
Toys
Automotive body functions
Industrial drives robotics
Factory automation
34
DC Motor DriveHigh Power
Power supply VIPer
Half Bridge Driver IC
MCU
Interface
MOS or IGBT
L6384/5/6/7 TD340
ST7
Feedback
35
DC Motor Drive Integrated IC Solution
Power supply
MCU
Interface
ST7 Family
L298 (Dual)
L6205 (Dual)
RS232
L6201,02,03
L6206 (Dual)
Transceiver
L6204 (Dual)
L6207 (Dual)
ST75185
L9925 (Dual)
- New -
ST232
L9997ND
36
TD340 - Full H-Bridge Driver For DC Motor Control
37
Many more DC Motor Drivers ...
38
BLDC Motor Drive
39
BLDC Motor Drive Integrated IC Solution
3-phase inverter stage
DC
Motor
AC
MCU
Power supply
Interface
L6235
feedback
ST7 Family
40
L6235 Fully Integrated 3-Phase Brushless Motor
Driver
VSA
DIAG

OCD

VSB
3 PHASE BRIDGE
OUT1
THERMAL
OUT2

PROTECTION
OUT3
EN
Phase Sequence Generator
FWD / REV
GATE
SENSEA
BRAKE
LOGIC
SENSEB
H3
H2


H1

PWM CURRENT REGULATOR
RCOFF
TACHO
TACHO Monostable
Vboot

VBOOT
CHARGE PUMP
VCP

RCPULSE
VREF
41
BLDC Motor DriveHigh Power Solution
3-phase inverter stage
DC
Motor
AC
Half Bridge Driver ICs
MCU
Power supply
Interface
MOS or IGBT
feedback
ST7 Family
L6385/86/87
42
PractiSPIN Architecture

• One dedicated board for each device
• A common control board based on ST72264
• Windows Graphical User Interface

43
Stepper Motor Constant Speed Mode
44
Simple run profile
Motor Current
0
Accelerate
Decelerate
Constant Speed
Hold
Speed
0
No. Steps
45
DC Motor fun screen
46
PractiSPIN System Availability