Table Of ContentFreescale Semiconductor, Inc.
3-phase BLDC
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ADC Zero Crossing
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Detection
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a DRM026/D
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MOTOROLA.COM/SEMICONDUCTORS
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For More Information On This Product,
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Freescale Semiconductor, Inc.
3-phase BLDC Motor
Control with Sensorless
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DRM026 — Rev 0 Designer Reference Manual
MOTOROLA 3
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Freescale Semiconductor, Inc.
Revision history
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documents on the World Wide Web will be the most current. Your printed
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The following revision history table summarizes changes contained in
this document. For your convenience, the page number designators
have been linked to the appropriate location.
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Designer Reference Manual DRM026 — Rev 0
4 MOTOROLA
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Designer Reference Manual — 3-ph BLDC with Sensorless ADC ZC Detection
List of Sections
Section 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . .15
Section 2. System Description. . . . . . . . . . . . . . . . . . . . .17
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. Section 3. BLDC Motor Control . . . . . . . . . . . . . . . . . . . .23
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n Section 4. Hardware Design. . . . . . . . . . . . . . . . . . . . . . .57
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, Section 5. Software Design . . . . . . . . . . . . . . . . . . . . . . .79
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t Section 6. Software Algorithms. . . . . . . . . . . . . . . . . . .103
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Section 7. Customization Guide . . . . . . . . . . . . . . . . . .157
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Section 8. Application Setup . . . . . . . . . . . . . . . . . . . . .169
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Appendix A. References. . . . . . . . . . . . . . . . . . . . . . . . .185
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e Appendix B. Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . .187
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DRM026 — Rev 0 Designer Reference Manual
MOTOROLA 5
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List of Sections
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Designer Reference Manual DRM026 — Rev 0
6 MOTOROLA
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Freescale Semiconductor, Inc.
Designer Reference Manual — 3-ph BLDC with Sensorless ADC ZC Detection
Table of Contents
Section 1. Introduction
1.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
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. 1.2 Application Functionality. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
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2.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
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2.2 System Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
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3.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
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e 3.2 Brushless DC Motor Control Theory. . . . . . . . . . . . . . . . . . . . .23
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a 3.3 Control Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
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4.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
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4.2 System Configuration and Documentation. . . . . . . . . . . . . . . .57
4.3 All HW Sets Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
4.4 Low-Voltage Evaluation Motor Hardware Set Components. . .68
4.5 Low-Voltage Hardware Set Components. . . . . . . . . . . . . . . . .70
4.6 High-Voltage Hardware Set Components. . . . . . . . . . . . . . . . .73
DRM026 — Rev 0 Designer Reference Manual
MOTOROLA 7
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Table of Contents
Section 5. Software Design
5.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
5.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
5.3 Main SW Flow Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
5.4 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
5.5 State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
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6.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
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6.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
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6.3 BLDC Motor Commutation with Zero Crossing Sensing. . . . .103
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Section 7. Customization Guide
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7.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
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7.2 Application Suitability Guide. . . . . . . . . . . . . . . . . . . . . . . . . .157
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7.3 Setting of SW Parameters for Customer Motor . . . . . . . . . . .159
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8.4 Application Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170
8.5 Application Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
8.6 Application Set-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
8.7 Projects Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .180
8.8 Application Build & Execute . . . . . . . . . . . . . . . . . . . . . . . . . .182
Appendix A. References
Designer Reference Manual DRM026 — Rev 0
8 MOTOROLA
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Appendix B. Glossary
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DRM026 — Rev 0 Designer Reference Manual
MOTOROLA 9
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Table of Contents
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Designer Reference Manual DRM026 — Rev 0
10 MOTOROLA
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Description:Detection. ADC Zero Crossing. Back-EMF. Manual. Designer Reference MOTOROLA. To provide the most up-to-date information, the revision of our.
