电机驱动方案

基于富士通MCU的电机驱动方案
富士通微电子（上海）有限公司 彭涛 2010.7
Copyright 2010 FUJITSU SEMICONDUCTOR

内容
? ? ? ?
富士通应用于电机控制的MCU产品线 基于富士通MCU的电机解决方案 富士通MCU的开发工具 问与答
1
Copyright 2010 FUJITSU SEMICONDUCTOR

富士通MCU产品线路图
ARM Cortex-M3 FR 80 -32bit RISC-
32bit
FR 60/FR 60Lite -32bit RISCF2MC-16FX -16bit CISC-
16bit
F2MC-8FX MB95200 Series -8bit CISCF2MC-8FX MB95300/400 Series -8bit CISC-
F2MC-16LX -16bit CISC-
F2MC-8FX-8bit CISC-
8bit
F2MC-8L-8bit CISC8 16 20 28/32 48/52 64 80 100 120 144 176
管脚
2
Copyright 2010 FUJITSU SEMICONDUCTOR

应用电机控制的富士通MCU产品系列
ARM－Cortex M3
-32bit
FR 60/FR 60Lite -32bit RISC正弦波， 度变频 正弦波，180度变频 磁场定向 无传感器 分流电阻检测 F2MC-8FX8bit CISCF2MC-16LX -16bit CISC-
F2MC-8L8bitCISC-
F2MC-8FX MB95330/390Series -8bit CISC方波， 度变频 方波，120度变频 Hall 传感器
F2MC-8FX MB95200 Series -8bit CISC开关控制（继电器， 开关控制（继电器，可控 硅） 单相直流调速
方波（ 方波（EMF）120度变频无传感器 度变频无传感器
DC无刷电机 无刷电机
3
PMSM电机 电机
AC感应电机 感应电机
Copyright 2010 FUJITSU SEMICONDUCTOR
DC通用电机 通用电机

应用电机变频控制的富士通MCU推荐型号
MB91470Series 144Pin FR60 Max 80MHz -MB91V470FR60 Max 80MHz PKG：QFP-144 ： PKG：QFP-144 ：
-MB91F475: 256KB / RAM 16KB -MB91F475: 256KB / RAM 16KB -MB91F478: 384KB / RAM 24KB -MB91F478: 384KB / RAM 24KB -MB91F479: 512KB / RAM 32KB -MB91F479: 512KB / RAM 32KB MB91480Series FR60 Max 80MHz FR60 Max 80MHz PKG：QFP-100 PKG：QFP-100
-MB91F482256KB / RAM 16KB -MB91F482256KB / RAM 16KB
ARM-Cortex M3 40/80/144MHzFM3 Series
PKG：LQFP48/64/100/144 PKG：LQFP48/64/100/144
-Flash 64 ~512KB / RAM 4~64KB -Flash 64 ~512KB / RAM 4~64KB -12bit A/D 2/3Unit -12bit A/D 2/3Unit -16bit MFT 1/2ch: Motor Drive:120/180 -Wave form generator :1/2ch-16bit MFT 1/2ch:
-MB91V470-
Motor Drive:120/180
-12bit A/D 8ch+10bit A/D 16ch, 3unit -12bit A/D 8ch+10bit A/D 16ch, 3unit -16bit MFT 1ch: Single Motor Drive:120/180 -Wave form generator 1ch-16bit MFT 1ch:
Single Motor Drive:120/180
-MB91F487512KB / RAM 32KB -MB91F487512KB / RAM 32KB
-10bit A/D 4ch+4ch+10ch, 3Unit -10bit A/D 4ch+4ch+10ch, 3Unit -16bit MFT 2ch: Dual Motor Drive:120/180 -Wave form generator 2ch-16bit MFT 2ch: Dual Motor Drive:120/180 -MAC: 32bit uDSP -MAC: 32bit uDSP
100Pin
-Wave form generator 1ch -MAC: 32bit uDSP -MAC: 32bit uDSP
64Pin
MB91265 Series
MB91490Series
FR60Lite Max 33MHzFR60Lite Max 33MHz FR60 Max 50/80MHz FR60 Max 50/80MHz PKGPKG：：QFP-64 ： MB91V470QFP-64 ––MB91V265-MB91V265PKG：QFP-64 ： –

- -1080：QFP-64 108 -MB91F492256KB / RAM 0PK 4KBMB91V470G
–
-MB91F267,267 128KB / RAM 4KB -MB91F267,267 128KB / RAM 4KB -MB91266, -MB91266, 64KB / RAM 2KB 64KB / RAM 2KB
-10bit A/D 4ch+8ch,2Unit -16bit MFT 1ch: Single Motor Drive:120/180
MB90460 Series F MC-16LX Max 16MHz F PKG 2MC-16LX Max 16MHz QFP-64 –MB90V460-640：– ：
-MB90F463 128KB / RAM 2KBMB90V460-MB90F462 64KB / RAM 2KB
-10bit A/D 11ch, 2unit -10bit A/D 11ch, 2unit -16bit MFT 1ch: Support to Buffer -16bit MFT 1ch: Support to Buffer -Wave form generator 1ch -Wave form generator 1ch -MAC: 16bit uDSP -MAC: 16bit uDSP
-Wave form generator 1ch-16bit MFT 1ch: -Wave form generator 1ch
Single Motor Drive:120/180
48Pin
-MB90F462 64KB / RAM 2KB -MB90462 64KB / RAM 2KB -MB90462 64KB / RAM 2KB -8/10bit A/D 8ch -8/10bit A/D 8ch -16bit MFT 1ch: Support to Buffer -16bit MFT 1ch: Support to Buffer -16bit MPG 1ch -16bit MPG 1ch -Wave form generator 1ch -Wave form generator 1ch
MB95390 Series F2MC-8FXMax 16.25MHz
PKG：LQFP32,SDIP32,QFN32 ：
MB95330 Series F2MC-8FX Max 16.25MHz PKG：LQFP32,SDIP32,QFN32 ： -MB95F334 20KB / RAM 1008B -MB95F333 12KB / RAM 496B -MB95F332 8KB / RAM 240B -8/10bit A/D 8ch -16bit MPG 1ch -Wave form generator 1ch -MB95F398 60KB / RAM 2032B
-MB95F396 36KB / RAM 1008B
-MB95F394 20KB / RAM 496B -8/10bit A/D 12ch -16bit MPG 1ch -Wave form generator 1ch
8位MCU 位 16位位MCU 位 32位位MCU 位
32Pin
直流无刷、永磁同步， 直流无刷、永磁同步，感应马达应用
4
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于家电电机控制的产 品
富士通MCU 电机电流采样 富士通 电机控制方法 转子位置 编码器 180度正矢量控制 电流估算交流互感器或 2同步电机 弦波控制 Shunt采样 直流无刷 霍尔传感器 不检测 电机 反向电动势 不检测 120度方 霍尔传感器 不检测 波控制 矢量控制 感应电机三相 V/F控制 单相 直流通用 电机 无 FR60LiteFR60 冰箱，空调 FR60LiteFR60 洗衣机 16LX MB95F300冰箱，空调 16LX MB95F300洗衣机，风扇 交流互感器采样FR60 FR80 应用 洗衣机
2-Shunt采样 FR60Lite 无 FR60 16LX 洗衣机，冰 箱，空调 无 8FX，8L 风扇，吸尘 无 8FX，8L 器，电动工具

Copyright 2010 FUJITSU SEMICONDUCTOR

应用于工业电机变频控制的产品
电机
控制方法 (180 度）
应用
富士通 MCU
同步电机 （直流无刷电机）
矢量控制 无传感器 矢量控制
交流伺服，数控机床 （中端），缝纫机
FR60 ，FR80
感应电机 简单矢量控制 V/F 控制
工业变频， PLC ， FR60 ，FR80 泵， UPS （中高 端） FR60Lite 工业变频， PLC ， 16LX 泵， UPS （低端）
Copyright 2010 FUJITSU SEMICONDUCTOR
6

应用于电机的富士通MCU性能比较
Product
CPU Family Max Frequency Calculation
MB95330 Series
F MC-8FX 16.25MHz
8x8 = 16 => 5 cycles 8/8 = 8=> 22 cycles
2
MB95390 Series
F MC-8FX 16.25MHz
8x8 = 16 => 5 cycles 8/8 = 8=> 22 cycles
2
MB90460 Series
F MC-16LX 16MHz
16x16 = 32 => 5 cycles
2
MB91260 Series
FR60Lite 33MHz
32x32 = 64 => 5 cycles 16x16 = 32 => 3 cycles 32/32 = 32 => 36 cycles 256kB Flash/4kB RAM
MB91490 Series
FR60 50/80MHz
32x32 = 64 => 5 cycles 16x16 = 32 => 3 cycles 32/32 = 32 => 36 cycles 256kB Flash/12kB RAM
16/16 = 16 => 22 cycles 64-128kB/2kB 51 GPIO N/A 16 bit x 2CH 16 bit x 1CH 16 bit x 4CH U/D free run timer
Output compare x 6CH
ROM/RAM I/O Port External bus PWC Timer Reload Timer PPG Timer 16 bit Multifunction Timer
8 - 20kB/240-1008B 28/29 GPIO N/A N/A 16 bit x 1CH 16 bit x 4CH N/A
8 - 20kB/240-1008B 28/29 GPIO N/A N/A 16 bit x 1CH 16 bit x 4CH N/A
37 GPIO 8/16 bit data bus 16 bit x 2CH 16 bit x 1CH
16 bit x 8CH/8 bit x 16
49 GPIO 8/16 bit data bus 16 bit x 2CH 16 bit x 1CH
16 bit x 8CH/8 bit x 16 CH
CH
U/D free run timer x 1CH
U/D free run timer x 1CH Output compare x 6CH Input capture x 4CH Waveform generator N/A
Output compare x 6CH Input capture x 4CH Waveform generator N/A
Input capture x 4CH Waveform generator Multi-pulse Generator
Up count free run timer Output compare x 6CH Up count free run timer Output compare x 6CH
1 unit
Input capture x 4CH Waveform generator UART/SIO 10 bit ADC MAC DMAC External IRQ Package Supply Voltage
500kbps Sync x 2CH
Input capture x 4CH Waveform generator
500kbps Sync x 2CH 500kbps Sync x 2CH 1Mbps Sync x 3CH 1Mbps Sync x 3CH
1 unit, 8CH, 3us conversion time N/A N/A 10CH 2.7V – 5.5V
1 unit, 8CH, 3us conversion time N/A N/A 10CH 2.7V – 5.5V
1 unit, 8CH, 6.2us conversion time N/A N/A 8CH QFP/LQFP/SHDIP-64 3.0V – 5.5V
2 unit x 4CH = 8CH 1.2us conversion time
16x16+40 = 16 => 1
2 unit :4CH+8CH = 12CH 1.2us conversion time N/A 5CH 10CH + NMI QFP/LQFP-64 3.0 – 5.5V
cycle 3CH 8CH QFP/LQFP-64 4.0V – 5.5V
QFN/LQFP/SHDIP-32 QFN/LQFP/SHDIP-48
7
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点-8/16bit PPG
定时器
排成一排、预备～跑！ H桥型DC电机控制容易了
Start at same time
A0 B0 B0 PPG00 A1 B1 B1 Pch PPG01 Pch
PPG00
PPG01
PPG10 A2 B2 B2 Nch B3
M
PPG11 Nch
PPG10
A3 B3
PPG11
数个「 定时器」 数个「8/16位PPG定时器」可同时启动 位 定时器 在开始后同一时间改变占空比/周期 在开始后同一时间改变占空比 周期
8
**8/16bit PPG: 仅限于有8位模式定时器x 4ch 的微处理器
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点-8/16bit
复合定时器
定时器不够了、还差一个！
这种时候应该使用可选择功能的「复合定时器」
PWM定时器
计时器
复合定时器
输出方波功能。可选择8/16位。 方波的周期和L幅的长度 固定方波的周期、 可设定方波的周期和 幅的长度 方波的周期和 幅的长度、或固定方波的周期、 固定方波的周期 设定H幅的长度 幅的长度。 幅的长度 一定期间内计数功能。可选择8/16位。 也可根据计数输出方波。 ?固定周期、连续计数的「自由运行模式 自由运行模式」 自由运行模式 ?设定周期、连续计数的「连续模式 连续模式」 连续模式 单发模式」 ?设定周期、1次计数的「单发模式 单发模式 有以上3种模式。
PWC定时器
可通过检测外部输入脉冲的上升和下降测定 H幅/L幅、周期。可选择8/16位。 幅 幅 周期。
可通过检测外部输入脉冲的上升和下降测 定
H幅/L幅、周期。可选择8/16位 幅 周期。
输入 捕捉
。
9
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点－ MPG
Function overview
16bit reload timer timing
or
Waveform Sequencer PPG
Position detection through SN0,1,2
PPG pulse OPT5 OPT4 Output control 16bit timer
CL
Up Vp Wp Un Vn Wn
No.0 No.4 No.5 No.2 No.1 No.3
16bit reload timer To generate the interrupt to report accurate speed information DTTI SNI0 Position detection signal SNI2 SNI1 Digital Noise filter Edge Detection
OPT3 OPT2 OPT1 OPT0
Software select Data Buffer B Data Buffer B Data Buffer 0 Data Buffer 0 to B
Next buffer selection
OPT5 POT4 OPT3
Hardware output
Next OPT pin output selection
OPT2 OPT1 OPT0
Data buffer 0 Data buffer 1 Data buffer 2 Data buffer 3 Data buffer 4 Data buffer 5
Data buffer 4 Data buffer 3 Data buffer 1 Data buffer 0 Data buffer 5 Data buffer 2
H L L L PPG L
L L PPG L L H
L H L PPG L L
L PPG H L L L
PPG L L H L L
L L L L H PPG
10
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点－多功能定时器
多功能定时器
16位自由运行定时器 输入捕获（链接到自由运行 定时器） 输出比较（链接到自由运行 定时器） A/D启动比较（链接到自由运 行定时器） 波形发生器
? 其波形由输出比较输出，16位 PPG定时器，死区时间定时器 产生
11
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点－
Buffer register
Multi function timer (MFT) has buffer on output compare registerand compare clear register (for carrier cycle setting). The value is transferred from each buffer to register when,,,,
Carrier peak is detected. Carrier bottom is detected.
As shown following figure, the setting for next carrier can be done during the temporary executing carrier, so that synchronous control can be available at each carrier cycle.
Setting up output compare Setting up compare clear Setting up AD converter (MB91260B and MB91265 don’t have internal buffer for A/D start register)
Carrier peak Carrier bottom
7FFFH 5FFFH 0FFFH 0000H
Compare clear register
Compare clear buffer register Output compare register Output compare buffer register 0FFF 0FFF
H H
７FFF
H
７FFF 5FFF 5FFF
H
H
７FFF ７FFF
H
H
７FFF 0FFF
H
H
７FFF 5FFF
H
H
5FFF 5FFF
H
H
5FFF 0FFF
H
5FFF
H H
H
H
5FFF
H
0FFF 0FFF
H
H
H
0FFF
5FFF
0FFF
H
1 Set up 2
2 Set up 3
3 Set up 4
4 Set up 5
5
12
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点-死区时间设置
It is able to generate 16bit x 3ch dead time. 1ch dead timer is also possible to set for 3phase dead time. It is able to set upper/lower dead time, individually.(3phase issame) Dead time is adding as following.(The base is rising/falling edge of RTx)
Upper arm:adding dead time from detecting rising edge. Lower arm:adding dead time from detecting falling edge.
Dead time set Dead time timer operation
RTxSignal Upper Arm Signal
Lower Arm Signal
Dead Time 13
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点- Start up A/D converter
Compare clear register Compare clear buffer
: A/D start setting One side masking is available for A/D start control.
A/D start buffer OCUxregister OCUxbuffer A/D start register (rising) A/D start buffer A/D start register (falling)
RTxsignal (base signal) RTOxsignal (upper) Dead time RTOxsignal (lower) Dead time A/D start signal Updating buffer during rising) A/D start signal Updating buffer during falling 14 Masking start trigger at rising to falling Enable the both output OR circuit and start A/D Masking start trigger at falling to rising
Copyright 2010 FUJITSU SEMICONDUCTOR

应用于电机控制MCU外设特点- DTTI operation for safety
DTTI; the function to control enable or disable of motor output at each port.
Hardware and software control of port output is available. High/Low/High impedance is available as output level or status.
RTO0
RTO1
RTO2
RTO3
RTO4
RTO5
Output value setting register
UUVVWW Selecto r
Software trigger DTTI enable/disable
RTOxport Output signal
OR
Only Software control is available
Motor control signal (RTOx)
15
Copyright 2010 FUJITSU SEMICONDUCTOR

基于富士通MCU的电机变频控制方案
Low cost, low noise high
performance DC inverter A/C, MB91260, MB91470,MB91492 BLDC/PMSM
More features adding in
Motor
DC Inverter type, low noice
180 Degree Conduction 180 Degree Conduction Shunts Sensorless
Porting toFujitsu Porting toFujitsu
ARM-CM3 product ARM-CM3 product
washing machine,
MB91260, MB91470
180 Degree Conduction 180 Degree Conduction Hall sensors
BLDC
Motor
120 Degree Conduction 120 Degree Conduction Sensorless
TraditionalDC inverter type A/C, MB90560, MB90460
120 Degree Conduction 120 Degree Conduction Outdoor unit cooling fan, Hall sensors
MB90560, MB90460
AC Induction Motor Space Vector Space Vector
PWM AC inverter type A/C, MB89855, MB90560/460
1998
2009
2010
16
Copyright 2010 FUJITSU SEMICONDUCTOR

基于富士通8bit MCU的电机解决方案
MB95F330/390 –BLDC motor control solution (120 degree DC Inverter )
Multi-pulse Generator PPG1 16-bit PPG F2MC-8FX MB95F330/390
U
V
W
16-bit reload timer (Up)OPT0 (Un)OPT1 (Vp)OPT2 (Vn)OPT3 (Wp)OPT4 (Wn)OPT5 DTTI1
Phase voltage and reference levl
IGBT/IPM
Waveform sequencer
SNI0~2 Main Power Supply & IPM Power Supply
PD0
Position Resolver
PD1 PD2
17
Copyright 2010 FUJITSU SEMICONDUCTOR