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License: GNU General Public License v3.0

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electronics-design electronics-projects motor-controller power-inverter brushless-dc three-phase

bldc's Issues

Polarity Issue

bldc/software/Control/pwm_output.c

Lines 107 to 111 in 72862fa

    
           TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; 
        
           TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; 
        
           /* Set Idle state to Reset for all FETs, so break can be used for neutral */ 
        
           TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; 
        
           TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

Let's give the below configuration a try and see if it gets us what we want.

TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
/* Set Idle state to Reset for all FETs, so break can be used for neutral */
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

Change to PWM mode 1

bldc/software/Control/pwm_output.c

Line 103 in b7856c2

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;

should be

TIM_OCStruct.TIM_OCMode = TIM_OCMode_PWM1;

Go back to count up mode

bldc/software/Control/pwm_output.c

Line 94 in b7856c2

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;

should be

TIM_BaseStruct.TIM_CounterMode = TIM_CounterMode_Up;

Incorrect Phase Angle Estimation

bldc/software/Control/motor_control.c

Lines 37 to 44 in d132e3d

    
           #ifdef PHASE_PREDICTION 
        
               uint16_t currentTimerCount = motorSpeedTimerOverrun ? TIM13_PERIOD : TIM13->CNT; 
        
               uint16_t estimatedPhasePrediction = (((uint32_t)currentTimerCount * 100 * 60) / motorSpeedCount) / 100; 
        
           #else 
        
               uint16_t estimatedPhasePrediction = 60; 
        
           #endif 
        
               int16_t quadratureAxisAngle = checkAngleOverflow(directAxisAngle + 60 + estimatedPhasePrediction);

The above code incorrectly drives the quadrature angle 60 degrees ahead of the direct angle when PHASE_PREDICTION is enabled. To fix this issue the below changes are recommended:

#ifdef PHASE_PREDICTION
    uint16_t currentTimerCount = motorSpeedTimerOverrun ? TIM13_PERIOD : TIM13->CNT;
    uint16_t predictedPhaseAngle = (((uint32_t)currentTimerCount * 100 * 60) / motorSpeedCount) / 100;
#else
    // half of the hall effect resolution, so that active torque region is centered around max torque point
    uint16_t predictedPhaseAngle = 30; 
#endif


    int16_t quadratureAxisAngle = checkAngleOverflow(directAxisAngle + 90 + predictedPhaseAngle);

Wrong period

bldc/software/Control/pwm_output.c

Line 86 in b7856c2

timerPeriod = (uint16_t)(((uint32_t)SystemCoreClock / 2 / PWM_FREQ_HZ) - 1);

should be

timerPeriod = (uint16_t)(((uint32_t)SystemCoreClock / PWM_FREQ_HZ) - 1);

This is to account for the fact that we are no longer doing center aligned mode.

Turn Automatic Enable off

bldc/software/Control/pwm_output.c

Line 124 in b7856c2

TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;

should be

TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;

Wrong Polarity

bldc/software/Control/pwm_output.c

Lines 107 to 108 in b7856c2

    
           TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; 
        
           TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;

should be

TIM_OCStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCStruct.TIM_OCNPolarity = TIM_OCNPolarity_High;

rampagy / bldc Goto Github PK

bldc's Issues

Polarity Issue

Change to PWM mode 1

Go back to count up mode

Incorrect Phase Angle Estimation

Wrong period

Turn Automatic Enable off

Wrong Polarity

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	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
	/* Set Idle state to Reset for all FETs, so break can be used for neutral */
	TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
	TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

	#ifdef PHASE_PREDICTION
	uint16_t currentTimerCount = motorSpeedTimerOverrun ? TIM13_PERIOD : TIM13->CNT;
	uint16_t estimatedPhasePrediction = (((uint32_t)currentTimerCount * 100 * 60) / motorSpeedCount) / 100;
	#else
	uint16_t estimatedPhasePrediction = 60;
	#endif

	int16_t quadratureAxisAngle = checkAngleOverflow(directAxisAngle + 60 + estimatedPhasePrediction);