Overview of the STM32F103xx ACIM and PMSM motor control software libraries release 2.0
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1 TN0063 Technical note Overview of the STM32F103xx ACIM and PMSM motor control software libraries release 2.0 Introduction The purpose of this technical note is to provide an overview of the main features and performance metrics of the STM32F103xx motor control firmware libraries release 2.0. For the complete documentation, please refer to the two following user manuals: UM0483: STM32F103xx AC induction motor IFOC software library V2.0 UM0492: STM32F103xx permanent-magnet synchronous motor FOC software library V2.0 These documents are available for free upon request to your nearest STMicroelectronics sales office or distributor. For a complete list of ST offices and distributors, refer to the ST website New features in this motor control firmware library package release 2.0 patented single, common DC link shunt-resistor current-sampling method optimized IPMSM (internal permanent-magnet synchronous motor) maximum-torqueper-ampere strategy redesigned closed-loop flux weakening algorithm for PMSMs optional rotor prepositioning before each motor startup in the PMSM sensorless mode optional feed-forward current regulation for PMSM more robust hall-sensor module for PMSM redesigned PID regulation module maximum-modulation-index configuration tool for the single-shunt and three-shunt current-sampling methods supports all members of the STM32F103xx performance line family workspaces for IAR EWARM 5.20, KEIL RVMDK 3.22, Green Hills MULTI 5.03 Companion parameter file generation tool for PMSM (FOCGUI) September 2008 Rev 3 1/7
2 Presentation of the STM32F103xx AC induction motor IFOC software library V2.0 TN Presentation of the STM32F103xx AC induction motor IFOC software library V2.0 The UM0483 user manual describes the AC induction motor IFOC software library, an indirect field oriented control (IFOC) firmware library for 3-phase induction motors developed for the STM32F103xx microcontrollers. These 32-bit, ARM Cortex -M3 cored ST microcontrollers (STM32F103xx) come with a set of peripherals which makes it suitable for performing both permanent magnet and AC induction motors FOC. In particular, this manual describes the STM32F103xx software library developed to control AC induction motors equipped with an encoder or tachogenerator, in both torque and speed control modes. The control of a permanent magnet (PM) motor in sinewave mode with encoder/hall sensors or sensorless is described in the UM0492 user manual. The AC IM IFOC software library is made of several C modules and is fitted out with IAR EWARM 5.20, KEIL RealView MDK 3.22a and Green Hills MULTI 5.03 workspaces. It is used to quickly evaluate both the MCU and the available tools. In addition, when used together with the STM32F103xx motor control starter kit (STM3210B-MCKIT) and an AC induction motor, a motor can be made to run in a very short time. It also eliminates the need for time-consuming development of IFOC and speed regulation algorithms by providing ready-to-use functions that let the user concentrate on the application layer. A prerequisite for using this library is basic knowledge of C programming, AC motor drives and power inverter hardware. In-depth know-how of STM32F103xx functions is only required for customizing existing modules and for adding new ones for a complete application development. Figure 2 shows the architecture of the firmware. It uses the STM32F103xx standard library extensively but it also acts directly on hardware peripherals when optimizations in terms of execution speed or code size are required. Figure 1. ACIM firmware architecture Application layer STM32F103xx standard library Speed, flux and torque PIDs Speed Current IFOC drive SVPWM STM32F103xx motor control library User interface STM32F103xx peripherals ai /7
3 TN0063 Presentation of the STM32F103xx AC induction motor IFOC software library V2.0 AC IM IFOC software library V2.0 features (CPU running at 72 MHz) Note: Supported speed : Tachogenerator Quadrature incremental encoder Current sampling method: 2 isolated current sensors (ICS) 3 shunt resistors placed on the bottom of the three inverter legs single, common DC link shunt resistor DAC functionality for tracing the most important software variables Current regulation for torque and flux control: PID sampling frequency adjustable up to the PWM frequency Speed control mode for speed regulation Torque control mode for torque regulation Field weakening 16-bit space vector PWM generation frequencies: PWM frequency can be easily adjusted Centered PWM pattern type 11 bits resolution at 17.6 khz Free C source code and spreadsheet for look-up table generation CPU load below 21% (IFOC algorithm refresh frequency 10 khz) Code size 11.5 KB (three shunt resistors for current reading, tachogenerator for speed ) KB for LCD/joystick management These figures are for information only; this software library may be subject to changes depending on the final application and peripheral resources. Note that it was built using robustness-oriented structures, thus preventing the speed or code size from being fully optimized. Related documents Available on STM32F103xx datasheet ARM -based 32-bit MCU STM32F101xx and STM32F103xx, firmware library user manual STM32F103xx Flash programming manual Available on Cortex-M3 Technical Reference Manual 3/7
4 Presentation of the STM32F103xx permanent-magnet synchronous motor FOC software library 2 Presentation of the STM32F103xx permanent-magnet synchronous motor FOC software library V2.0 The UM0492 user manual describes the permanent magnet synchronous motor (PMSM) FOC software library, a field oriented control (FOC) firmware library for 3-phase permanentmagnet motors developed for the STM32F103xx microcontrollers. These 32-bit, ARM Cortex -M3 cored ST microcontrollers (STM32F103xx) come with a set of peripherals that makes it suitable for performing both permanent-magnet and AC induction motor FOC. In particular, this manual describes the STM32F103xx software library developed to control sine-wave driven permanent-magnet motors in both torque and speed control mode. These motors may be equipped with an encoder, with three Hall sensors or they may be sensorless. The control of an AC induction motor equipped with encoder or tacho generator is described in the UM0483 user manual. The PMSM FOC library is made of several C modules, and is fitted out with IAR EWARM 5.20, KEIL RealView MDK 3.22a and Green Hills MULTI 5.03 workspaces. It is used to quickly evaluate both the MCU and the available tools. In addition, when used together with the STM32F103xx motor control starter kit (STM3210B-MCKIT) and PM motor, a motor can be made to run in a very short time. It also eliminates the need for time-consuming development of FOC and speed regulation algorithms by providing ready-to-use functions that let the user concentrate on the application layer. Moreover, it is possible to get rid of any speed sensor thanks to the sensorless algorithm for rotor position reconstruction. A prerequisite for using this library is basic knowledge of C programming, PM motor drives and power inverter hardware. In-depth know-how of STM32F103xx functions is only required for customizing existing modules and for adding new ones for a complete application development. Users are assisted in customizing their PMSM application firmware by a parameter file generation tool (FOCGUI) which, starting from the system parameters, automatically generates all that is needed by the motor control firmware library to quickly run the motor, saving time and easing the development phase. This tool can be downloaded from: Figure 2 shows the architecture of the firmware. It uses the STM32F103xx standard library extensively but it also acts directly on hardware peripherals when optimizations in terms of execution speed or code size are required. Figure 2. PMSM firmware architecture Application layer STM32F103xx standard library Speed, flux and torque PIDs Speed Current FOC drive SVPWM STM32F103xx motor control library User interface STM32F103xx peripherals ai /7
5 TN0063 Presentation of the STM32F103xx permanent-magnet synchronous motor FOC software PMSM FOC software library V2.0 features (CPU running at 72 MHz) Supported speed s: Sensorless 60 or 120 displaced Hall sensors Quadrature incremental encoder Current-sampling method: 2 isolated current sensors (ICS) single, common DC link shunt resistor 3 shunt resistors placed on the bottom of the three inverter lags optimized IPMSM & SM-PMSM drive field weakening feed-forward, high-performance current regulation DAC functionality for tracing the most important software variables Brake resistor management Speed control mode for speed regulation Torque control mode for torque regulation 16-bit space vector PWM frequency can be easily adjusted Centered PWM pattern type 11-bit resolution at 17.6 khz Rules for the a priori determination of all the parameters necessary for firmware customization CPU load below 22% in the 3-shunt/sensorless configuration (10 khz FOC sampling rate) Code size in 3-shunt/sensorless configuration is about 12.5 Kbytes plus 11.5 Kbytes for LCD/joystick management 5/7
6 Revision history TN Revision history Table 1. Document revision history Date Revision Changes 31-Jan Initial release. 04-Sep Motor control firmware library package upgraded (release 2.0). New features in this motor control firmware library package release 2.0 added. AC IM IFOC software library V2.0 features (CPU running at 72 MHz) updated to UM0483 rev. 2. PMSM FOC software library V2.0 features (CPU running at 72 MHz) updated to UM0492 rev Sep Library release number corrected in Section 2. 6/7
7 TN0063 Please Read Carefully: Information in this document is provided solely in connection with ST products. STMicroelectronics NV and its subsidiaries ( ST ) reserve the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice. All ST products are sold pursuant to ST s terms and conditions of sale. Purchasers are solely responsible for the choice, selection and use of the ST products and services described herein, and ST assumes no liability whatsoever relating to the choice, selection or use of the ST products and services described herein. No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under this document. If any part of this document refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein. UNLESS OTHERWISE SET FORTH IN ST S TERMS AND CONDITIONS OF SALE ST DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND/OR SALE OF ST PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE (AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION), OR INFRINGEMENT OF ANY PATENT, COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT. UNLESS EXPRESSLY APPROVED IN WRITING BY AN AUTHORIZED ST REPRESENTATIVE, ST PRODUCTS ARE NOT RECOMMENDED, AUTHORIZED OR WARRANTED FOR USE IN MILITARY, AIR CRAFT, SPACE, LIFE SAVING, OR LIFE SUSTAINING APPLICATIONS, NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY, DEATH, OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE. ST PRODUCTS WHICH ARE NOT SPECIFIED AS "AUTOMOTIVE GRADE" MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER S OWN RISK. Resale of ST products with provisions different from the statements and/or technical features set forth in this document shall immediately void any warranty granted by ST for the ST product or service described herein and shall not create or extend in any manner whatsoever, any liability of ST. ST and the ST logo are trademarks or registered trademarks of ST in various countries. Information in this document supersedes and replaces all information previously supplied. The ST logo is a registered trademark of STMicroelectronics. All other names are the property of their respective owners STMicroelectronics - All rights reserved STMicroelectronics group of companies Australia - Belgium - Brazil - Canada - China - Czech Republic - Finland - France - Germany - Hong Kong - India - Israel - Italy - Japan - Malaysia - Malta - Morocco - Singapore - Spain - Sweden - Switzerland - United Kingdom - United States of America 7/7
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High voltage fast-switching NPN Power transistor General features State-of-the-art technology: Diffused collector Enhanced generation EHVS1 More stable performances versus operating temperature variation
STX13005G-AP. High voltage fast-switching NPN power transistor. Features. Applications. Description
STX13005 High voltage fast-switching NPN power transistor Features High voltage capability Low spread of dynamic parameters Minimum lot-to-lot spread for reliable operation Very high switching speed Applications
Obsolete Product(s) - Obsolete Product(s)
2 W mono amplifier Features 2 W output power into 8 Ω at 12 V, THD = 10% Internally fixed gain of 32 db No feedback capacitor No boucherot cell Thermal protection AC short-circuit protection SVR capacitor
LS1240. Electronic two-tone ringer. Features. Description. Pin connection (top view)
Electronic two-tone ringer Features Low current consumption, in order to allow the parallel operation of 4 devices Integrated rectifier bridge with zener diodes to protect against over voltages little
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TIP33C Complementary power transistors Features. Low collector-emitter saturation voltage Complementary NPN - PNP transistors Applications General purpose Description The devices are manufactured in epitaxial-base
MD2009DFX. High voltage NPN power transistor for CRT TV. Features. Application. Description
High voltage NPN power transistor for CRT TV Features State-of-the-art technology: diffused collector enhanced generation Stable performance versus operating temperature variation Low base drive requirement
CPL-WB-02D3. Wide-band, directional coupler with integrated 50 ohm loaded isolated port. Features. Applications. Description.
CPL-WB-02D3 Wide-band, directional coupler with integrated 50 ohm loaded isolated port Datasheet production data Features 50 Ω nominal input / output impedance Wide operating frequency range (2400 MHz
STEVAL-CCA011V1. Filter-free stereo 2x2.5 W Class-D audio power amplifier demonstration board based on the TS2012FC. Features.
Filter-free stereo x.5 W Class-D audio power amplifier demonstration board based on the TS0FC Data brief Features Operating range from V CC =.5 V to 5.5 V Dedicated standby mode active low for each channel
Obsolete Product(s) - Obsolete Product(s)
6 V power Schottky silicon carbide diode Features No or negligible reverse recovery Switching behavior independent of temperature Particularly suitable in PFC boost diode function Description The SiC diode
Obsolete Product(s) - Obsolete Product(s)
Features STEVAL-ISVV W dual stage DC-AC converter demonstration board based on the STPNF Nominal input voltage: V Output voltage: Vrms, Hz Output power: kw Efficiency: % Switching frequency: khz (DC-DC);
KF25B, KF33B KF50B, KF80B
KF25B, KF33B KF50B, KF80B Very low drop voltage regulators with inhibit Datasheet production data Features Very low dropout voltage (0.4 V) Very low quiescent current (typ. 50 µa in OFF mode, 500 µa in
High voltage NPN Power transistor for standard definition CRT display. R BE =60Ω typ. Order code Marking Package Packing
High voltage NPN Power transistor for standard definition CRT display Features State-of-the-art technology: Diffused collector enhanced generation Stable performance versus operating temperature variation
1. Drain 2. Gate. Order code Marking Package Packaging. STAC4932F STAC4932F STAC244F Plastic tray. September 2010 Doc ID Rev 3 1/12
RF power transistors HF/VHF/UHF N-channel MOSFETs Preliminary data Features Excellent thermal stability Common source push-pull configuration P OUT = 1000 W min. (1200 W typ.) with 26 db gain @ 123 MHz
Part numbers Order codes Packages Temperature range. LM137 LM137K TO-3-55 C to 150 C LM337 LM337K TO-3 0 C to 125 C LM337 LM337SP TO C to 125 C
LM137 LM337 Three-terminal adjustable negative voltage regulators Features Output voltage adjustable down to V REF 1.5 A guaranteed output current 0.3%/V typical load regulation 0.01%/V typical line regulation
Obsolete Product(s) - Obsolete Product(s) Obsolete Product(s) - Obsolete Product(s)
5 A low dropout fast response positive voltage regulator adjustable Features Typical dropout 1.2 V Fast transient response Three terminal adjustable Guaranteed output current up to 5 A Output tolerance
Part Number Marking Package Packing. STC03DE220HV C03DE220HV TO247-4L HV Tube. November 2006 Rev 1 1/8
Hybrid emitter switched bipolar transistor ESBT 2200V - 3A - 0.33 W Preliminary Data General features Table 1. General features V CS(ON) I C R CS(ON) 1V 3A 0.33Ω Low equivalent on resistance Very fast-switch,
STC04IE170HV. Monolithic emitter switched bipolar transistor ESBT 1700 V - 4 A Ω. Features. Application. Description
Monolithic emitter switched bipolar transistor ESBT 1700 V - 4 A - 0.17 Ω Features V CS(ON) I C R CS(ON) 0.7 V 4 A 0.17 Ω High voltage / high current cascode configuration Low equivalent ON resistance
STPSC V power Schottky silicon carbide diode. Features. Description
600 V power Schottky silicon carbide diode Features No or negligible reverse recovery Switching behavior independent of temperature Particularly suitable in PFC boost diode function Description The SiC
Order codes Marking Package Packaging
STX13003 High voltage fast-switching NPN power transistor Features High voltage capability Very high switching speed Applications Compact fluorescent lamps (CFLs) SMPS for battery charger Description The