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August 2008 Rev 2 1/148

UM0492

User manual

STM32F103xx

permanent-magnet synchronous motor FOC software library V2.0

Introduction

This user manual describes the permanent magnet synchronous motor (PMSM) FOC

software library, a field oriented control (FOC) firmware library for 3-phase permanent-

magnet 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 surface-mounted or internal, sinewave-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.

Figure 1 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. Firmware architecture

Application layer

STM32F103xx

standard

library

Speed, flux and

torque PIDs

Speed

feedback

Current

feedback

FOC drive

SVPWM

User

interface

STM32F103xx motor control library

STM32F103xx peripherals

ai14812

www.st.com

Contents UM0492

2/148

Contents

1 Getting started with tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.1 Working environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2 Software tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.3 Library source code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3.1 Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3.2 File structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.4 Customizing the workspace for your STM32F103xx derivative . . . . . . . . 12

2 Introduction to the sensorless FOC of PM motors . . . . . . . . . . . . . . . 13

2.1 Introduction to the PM synchronous motor FOC drive . . . . . . . . . . . . . . . 13

2.1.1 PM motor structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.1.2 PMSM fundamental equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.1.3 SM-PMSM field-oriented control (FOC) . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.1.4 IPMSM maximum torque per ampere (MTPA) control . . . . . . . . . . . . . . 18

2.1.5 Feed-forward current regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.2 Introduction to sensorless rotor position / speed feedback . . . . . . . . . . . 21

2.3 Introduction to flux-weakening control . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3 Running the demo program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.1 Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.2 Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.3 Currents and speed regulator tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3.4 Flux-weakening PI controller tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.5 Observer and PLL gain tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.6 DAC functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.7 Power stage feedbacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3.8 Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3.8.1 Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3.8.2 Overheating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.8.3 Bus overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.8.4 Bus undervoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.8.5 Startup failed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.8.6 Error on speed fdbck . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

UM0492 Contents

3/148

3.9 Setting up the system when in single-shunt topology and

using the MB459B power board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.10 Setting up the system when using ICSs . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.10.1 Selecting PHASE_A_ADC_CHANNEL and

PHASE_B_ADC_CHANNEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.11 Setting up the system when using an encoder . . . . . . . . . . . . . . . . . . . . . 35

3.12 Setting up the system when using Hall-effect sensors . . . . . . . . . . . . . . . 37

3.13 Progressive sensorless system development . . . . . . . . . . . . . . . . . . . . . 38

3.14 Setting up the system when using a brake resistor . . . . . . . . . . . . . . . . . 40

3.14.1 How to configure the FOC software library for brake resistor

management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.14.2 How to modify the MB459 board for brake resistor management . . . . . 41

3.15 Note on debugging tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4 Getting started with the library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.1 Library configuration file: stm32f10x_MCconf.h . . . . . . . . . . . . . . . . . 43

4.2 Drive control parameters: MC_Control_Param.h . . . . . . . . . . . . . . . . . 46

4.3 Incremental encoder parameters: MC_encoder_param.h . . . . . . . . . . . 50

4.4 Hall sensor parameters: MC_hall_prm.h . . . . . . . . . . . . . . . . . . . . . . . 52

4.5 State observer parameters: MC_State_Observer_param.h . . . . . . . . 53

4.5.1 State observer parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.5.2 Startup parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4.5.3 Statistics parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.6 Permanent-magnet synchronous motor parameters:

MC_PMSM_motor_param.h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.6.1 Basic motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.6.2 Motor parameters for sensorless FOC . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4.6.3 Additional parameters for flux weakening operation . . . . . . . . . . . . . . . 58

4.6.4 Additional parameters for IPMSM drive optimization (MTPA) . . . . . . . . 59

4.6.5 Additional parameters for feed-forward, high performance current

regulation 59

5 Library functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.1 Current reading in three shunt resistor topology and space

vector PWM generation: stm32f10x_svpwm_3shunt module . . . . . . . 61

5.1.1 List of available functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5.1.2 Space vector PWM implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Contents UM0492

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5.1.3 Current sampling in three shunt topology and general purpose A/D

conversions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5.1.4 Tuning delay parameters and sampling stator currents in three shunt

resistor topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

5.2 Current reading in single shunt resistor topology and space

vector PWM generation: stm32f10x_svpwm_1shunt module . . . . . . . 73

5.2.1 List of available functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

5.2.2 Current sampling in single-shunt topology . . . . . . . . . . . . . . . . . . . . . . . 78

5.2.3 Definition of the noise parameter and boundary zone . . . . . . . . . . . . . . 80

5.2.4 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

5.3 Isolated current sensor reading and space vector PWM

generation: stm32f10x_svpwm_ics module . . . . . . . . . . . . . . . . . . . 83

5.3.1 List of available functions and interrupt service routines . . . . . . . . . . . . 83

5.3.2 Current sampling in isolated current sensor topology and integrating

general-purpose A/D conversions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5.4 PMSM (SM-PMSM / IPMSM) field-oriented control:

MC_FOC_Drive and MC_FOC_Methods modules . . . . . . . . . . . . . . . . . . 87

5.4.1 List of available C functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.5 Reference frame transformations: MC_Clarke_Park module . . . . . . . . 95

5.5.1 List of available C functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5.5.2 Detailed explanation about reference frame transformations . . . . . . . 100

5.5.3 Circle limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5.6 Encoder feedback processing: stm32f10x_encoder module . . . . . . . 103

5.6.1 List of available functions and interrupt service routines . . . . . . . . . . . 103

5.7 Hall sensor feedback processing: stm32f10x_hall module . . . . . . . 106

5.7.1 List of available functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5.7.2 Speed measurement implementation . . . . . . . . . . . . . . . . . . . . . . . . . 110

5.7.3 Electrical angle extrapolation implementation . . . . . . . . . . . . . . . . . . . 112

5.8 Sensorless speed / position detection: MC_State_Observer

and MC_State_Observer_Interface modules . . . . . . . . . . . . . . . . 113

5.8.1 List of available C functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5.9 PID regulators: MC_PID_regulators module . . . . . . . . . . . . . . . . . . . 119

5.9.1 List of available functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

5.9.2 PID regulator theoretical background . . . . . . . . . . . . . . . . . . . . . . . . . 121

5.9.3 Regulator sampling time setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

5.9.4 Adjusting speed regulation loop Ki, Kp and Kd vs. motor frequency . . 123

5.10 General purpose time base: stm32f10x_Timebase module . . . . . . . 125

5.10.1 List of available functions and interrupt service routines . . . . . . . . . . . 125

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