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M68HC08 Microcontrollers DRM028/D Rev. 0, 03/2003 Sensorless BLDC Motor Control Using the MC68HC908MR32 Manual Designer Reference MOTOROLA.COM/SEMICONDUCTORS For More Information On This Product, Go to: Freescale Semiconductor, Inc. Freescale Semiconductor, I nc. For More Information On This Product, Go to: Freescale Semiconductor, Inc. Freescale Semiconductor, I nc. Sensorless BLDC Motor Control Using the MC68HC908MR32 Designer Reference Manual — Rev 0 by: Libor Prokop Motorola Czech System Laboratories Roznov pod Radhostem, Czech Republic DRM028 — Rev 0 Designer Reference Manual MOTOROLA For More Information On This Product, Go to: Freescale Semiconductor, Inc. Revision history To provide the most up-to-date information, the revision of our documents on the World Wide Web will be the most current. Your printed copy may be an earlier revision. To verify you have the latest information available, refer to: 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. Revision history Date Revision Level Description Page Number(s) February, 2003 1 Initial release N/A Freescale Semiconductor, I nc. Designer Reference Manual DRM028 — Rev 0 4 MOTOROLA For More Information On This Product, Go to: Freescale Semiconductor, Inc. Designer Reference Manual — Sensorless BLDC Motor Control Freescale Semiconductor, I nc. List of Sections Section 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . .13 Section 2. System Description. . . . . . . . . . . . . . . . . . . . .15 Section 3. BLDC Motor Control. . . . . . . . . . . . . . . . . . . .23 Section 4. Hardware Design. . . . . . . . . . . . . . . . . . . . . . .57 Section 5. Software Design . . . . . . . . . . . . . . . . . . . . . . .75 Section 6. User Guide. . . . . . . . . . . . . . . . . . . . . . . . . . .109 Appendix A. References. . . . . . . . . . . . . . . . . . . . . . . . .161 Appendix B. Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . .163 DRM028 — Rev 0 Designer Reference Manual MOTOROLA For More Information On This Product, Go to: Freescale Semiconductor, Inc. List of Sections Freescale Semiconductor, I nc. Designer Reference Manual DRM028 — Rev 0 6 MOTOROLA For More Information On This Product, Go to: Freescale Semiconductor, Inc. Designer Reference Manual — Sensorless BLDC Motor Control Freescale Semiconductor, I nc. Table of Contents Section 1. Introduction 1.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 1.2 Application Functionality. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 1.3 Benefits of the Solution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 Section 2. System Description 2.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 2.2 System Concept. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 2.3 System Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Section 3. BLDC Motor Control 3.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 3.2 Brushless DC Motor Control Theory. . . . . . . . . . . . . . . . . . . . .23 3.3 Used Control Technique. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38 3.4 Application Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50 Section 4. Hardware Design 4.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57 4.2 System Configuration and Documentation. . . . . . . . . . . . . . . .57 4.3 All HW Sets Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . .64 4.4 High-Voltage Hardware Set Components. . . . . . . . . . . . . . . . .66 4.5 Low-Voltage Evaluation Motor Hardware Set Components . . .70 4.6 Low-Voltage Hardware Set Components. . . . . . . . . . . . . . . . .72 DRM028 — Rev 0 Designer Reference Manual MOTOROLA For More Information On This Product, Go to: Freescale Semiconductor, Inc. Table of Contents Freescale Semiconductor, I nc. Section 5. Software Design 5.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 5.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 5.3 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 5.4 Main Software Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83 5.5 State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89 5.6 Implementation Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103 Section 6. User Guide 6.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . ...