Professional Documents
Culture Documents
NEUTRAL
RREF
27
SPEED 6.9V
P1
REF 2
7
137K VREF P2 BLDC
10K 3
ML4425/ML4426 MOTOR
8 HIGH SIDE P3 12V
4
GATE DRIVE
VSPEED
DIRECTION
12 COMMUTATION
N1
F/R CONTROL LOGIC 9
ML4426 LOW SIDE N2
PWM CURRENT GATE DRIVE 10
25 CONTROL N3
AND ONE SHOT 11
BRAKE POWER
BRAKE DRIVERS
CRST CEN COS ISENSE GND
17 19 26 12 1 28
PWM
1s ALIGN 2s RAMP OFF TIME 1K 0.5V THRESHOLD
ILIMIT
ML4425
0.47µF 1µF 100pF 300pF RLIMIT
RSENSE The capacitance for a given off time may be read from the
graph on P.5-113 of the datasheet, or for values larger than
The function of RSENSE is to provide a voltage proportional 30µs, the following formula may be used:
to the motor current, for current limit purposes. The
current limit one shot will trip when the voltage across the TOFF = 947.4 × COS + 5
sense resistor reaches 0.5V. In order to pick a value for
RSENSE, it is necessary to know the maximum current TOFF in microseconds, COS in microfarads.
delivered to the motor. This is a function of how much
Solving for COS:
starting torque is required, the acceptable temperature rise
in the windings, the rotational losses and the maximum
1.11× 10−6 × VMOTOR − 5 × 10−6
permissible magnetic field. If the motor is sized correctly, COS =
the maximum current will be the current necessary to start 947.4
the motor against its maximum load. This is given by the
starting torque divided by the torque constant. Choosing Now COS is in Farads.
RSENSE to give a maximum current of IMAX yields the This is the maximum value that COS should be. Higher
following equation: average torque during the current limit cycle can be
achieved by reducing this value experimentally, while
RSENSE = 0.5 monitoring the motor current carefully, to be sure that a
IMAX runaway condition does not occur. This runaway
condition occurs when the current gained during the on
IMAX is the maximum motor current. time exceeds the current lost during the off time, causing
the motor current to increase until damage occurs. For
The power dissipation is obviously IMAX squared times
most motors this will not occur, as it is usually a self
RSENSE, so the resistor should be sized appropriately. For
limiting phenomenon. For the example motor, COS comes
the example motor, RSENSE should be 0.25Ω. The power
out to 8.8nF, so a 10nF capacitor would be a safe choice.
dissipated is 1W, so choose a 2W resistor.
CVCO
ISENSE FILTER
It is important to pick the VCO capacitor so that the
The ISENSE filter consists of an RC lowpass filter in series
nominal operating speed corresponds to about 3.75V at
with the current sense signal. The purpose of this filter is
the RC pin (pin 20). In variable speed applications the
to filter out noise spikes on the current, which may cause
voltage on pin 20 should also not exceed 7V. The VCO
false triggering of the one shot circuit. It is important that
frequency is given by:
this filter not slow down the current feedback loop, or
destruction of the output stage may result. The FMAX = 0.05 × N × RPM
recommended values for this circuit are R = 1KΩ and
C = 300pF. This gives a time constant of 300ns, and will N is the number of poles.
filter out spikes of shorter duration. These values should The VCO gain is:
suffice for most applications. If excessive noise is present
on the ISENSE pin, the capacitor may be increased at the −6
expense of speed of current loop response. The filter time K VCO MIN = 2.42 × 10
constant should not exceed 600ns or it may have a CVCO
significant impact on the response speed of the one shot
current limit circuit.
Solving for C:
tS × 0.75 × µA
C=
1.5 × V
A OL = Ke × Kv × ω × Atten × gm × R × C2 × s + 1
2× π s2(C2 + R × C1× s × C2 + C1)
A/RADIAN
V/A
ROTOR
PHASE
BEMF (R × C2 × s + 1)
SAMPLER s × (C2 + R × C1 × s × C2 + C1)
RADIANS/V
2.42 × 10–6
×2×π
CVCO × s
VCO
Figure 3.
Gm = 1.25 x 10–4
+
SAMPLED ZRC
RC
PHASE
–
R
C1
C2
FOUT VCO
KVCO(HZ/V)
FVCO F
1j × 2 × E × + 2 × E × VCO
Ns Ns M
Ko × =1
2
FVCO FVCO FVCO
1j × 2 × E × Ns × C1× 1j × 2 × E × Ns + 2 × E × M × Ns
Ko The motor back EMF constant, in V/rad/S Ko = Ke × Kv × ω × Atten × gm Depends on motor and application
times the VCO gain, in Hz/V (note the unit
change and the absence of the 2 × π in the
denominator), times the angular speed of Ke is supplied by the motor manufacturer
the rotor, in rad/s times the back EMF The VCO gain is
attenuation constant, times the gm of the −6
phase detector’s transconductance K VCO MIN = 2.42 × 10
amplifier.
CVCO
The angular speed of the rotor is the
expressed in r/s. The back EMF
attenuation (Atten) is the divider
hooked between the motor and the
PH1-3 back EMF sense inputs,
(Nominally 0.5), and gm is 1.25E-4
COMPENSATION GAIN
COMPENSATION PHASE
100
0
MAGNITUDE, dB
PHASE, DEGREES
50
–50
0
–100
1 10 100 1000 1 × 104
1 10 100 1000 1 × 104
FREQUENCY, Hz
FREQUENCY, Hz
loop closes the motor inertia is large, the rotor may not be able to
follow the VCO during ramp up. In these cases, it is
0 necessary to add a capacitor from pin 21 to ground. This
capacitor is switched in during ramp only, and allows the
rate of acceleration during ramp up to be lowered. An
–50 approximate starting point for this capacitor is given by
the following equation:
−6
–100 CRAMP = J × 0.5 × 10 × Kv × 2 × π − (C1+ C2)
1 10 100 1000 1 × 104 IMAX × Kt 3×N
FREQUENCY, Hz Where J is the inertia of the motor plus load, Kv is the
VCO gain, N is the number of poles, IMAX is the maximum
motor current, Kt is the torque constant, and C1 and C2
OPEN LOOP PHASE
–120 are the loop filter components on pin 20. Normally, the
result of the preceding equation will be a negative
–130 number, meaning that no ramp capacitor is necessary. If
the result of this equation is greater than zero, then the
ramp capacitor should be included.
–140
PHASE, DEGREES
COSC
–150
This capacitor sets the PWM ramp oscillator frequency.
This is the PWM “switching frequency”. If this value is too
–160
low, <20KHz, then magnetostriction effects in the motor
may cause audible noise. If this frequency is too high,
–170 >30KHz, then the switching losses in the output drivers
may become a problem. 25KHz should be a good
–180 compromise for this value, which can be obtained by
1 10 100 1000 1 × 104 using a 1nF capacitor.
FREQUENCY, Hz
RVCO AND RREF
RVCO should be 80K and RREF should be 137K for normal
As expected, the open loop gain at the center frequency
operation.
crosses 0dB when the phase peaks, giving a bandwidth of
approximately 180Hz and a phase margin of 55 degrees. RCPWM
The phase margin at startup and at nominal speed are also
better than 40 degrees. For variable speed applications, This pin is the output of a transconductance amplifier.
the phase margin will remain within these limits, provided A resistor and a capacitor in series with this pin and
the nominal speed is chosen to be the maximum speed, connected to ground form the speed loop compensation.
and the speed is controlled downward from there. Using The motor will have a mechanical time constant, given
this approach, the rotor speed can vary more than an approximately by:
order of magnitude and still maintain acceptable phase
margin. τm = J × Rw
2
Ke
M4 M5 M6
IRFR120 IRFR120 IRFR120
C5
R15 1K 300p
R1 1 ISENSE GND 28
1 R14 2K R20 137K
2 P1 ML4425/ RREF 27
R13 2K
3 P2 ML4426 COS 26 RUN
R12 2K C16 100pF
4 P3 BRAKE 25 S1
C11 CAP R16 50K R8 RES1
5 RCPWM PH3 24
C12 R9 RES1 SW DRDT
6 COSC PH2 23
CAP C9 1µF C17 1nF R10 RES1
7 VREF PH1 22 BRAKE
R18
SPEED CONTROL VOLTAGE
8 VSPEED CRAMP 21
20K R7 100 C7 1µF
9 N1 RCVCO 20
VB3 VB3
9 ITRIP VB3 20
PH3
25T 19
100
10 CAO HO3
0.1µF
11 CA– VS3 18
VS3
12 VSS 17
100
13 VSO LO1 16
15
100
14 LO3 LO2
100
RSENSE
C5
R15 1K 300p
1 ISENSE GND 28
R14 2K R20 137K
2 P1 ML4425/ RREF 27
R13 2K C16
3 P2 ML4426 COS 26
R12 2K 0.01µF
4 P3 BRAKE 25
MC14050 C11 CAP R16 50K R8 RES1
5 RCPWM PH3 24
www.fairchildsemi.com
2000 Fairchild Semiconductor Corporation