ADMC200 データシートの表示（PDF） - Analog Devices

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ADMC200

Motion Coprocessor

Analog Devices 

ADMC200

desired on-time and their values would be calculated as a ratio

of the PWMTM register value. Note: Desired Pulse Density =

(PWMCHx register)/( PWMTM register).

The beginning of each PWM cycle is marked by the PWMSYNC

signal. New values of PWMCHA, PWMCHB and PWMCHC

must all be loaded into their respective registers at least four sys-

tem clock cycles before the beginning of a new PWM cycle. All

three registers must be updated for any of them to take effect.

New PWM on/off times are calculated during these four clock

cycles and therefore the PWMCHA, PWMCHB and PWMCHC

registers must be loaded before this time. If this timing require-

ment is not met, then the PWM outputs may be invalid during

the next PWM cycle.

PWM Example

The following example uses a system clock speed of 10 MHz.

The desired PWM master switching frequency is 8 kHz and the

desired on-time for the timers A, B and C are 25%, 50% and

10% respectively. The values for the PWMCHA, PWMCHB,

and PWMCHC registers must be calculated as ratios of the

PWMTM register (1250 in this example). To achieve these

duty cycles, load the PWMCHA register with 313 (1250 ×

0.25), PWMCHB with 625 (1250 × 0.5) and PWMCHC with

125 (1250 × 0.1).

Programmable Deadtime

With perfectly complemented PWM drive signals and nonideal

switching characteristics of the power devices, both transistors

in a particular leg might be switched on at the same time, result-

ing in either a power supply trip, inverter trip or device destruc-

tion. In order to prevent this, a delay must be introduced

between the complemented signal edges. For example, the ris-

ing edge of AP occurs before the falling edge of A, and the fall-

ing edge of the complemented A occurs after the rising edge of

A. This capability is known as programmable deadtime.

The ADMC200 programmable deadtime value is loaded into

the 7-bit PWMDT register, in which the LSB is set to zero in-

ternally, which means the deadtime value is always divisible by

two. With a 10 MHz system clock, the 0–126 range of values in

PWMDT yield a range of deadtime values from 0 µs to 12.6 µs

in 200 ns steps. Figure 6 shows PWM timer A with a program-

mable deadtime of PWMDT.

PWMTM

full off (0%) and its prime to full on (100%). This is valid for

A, AP, B, BP, C and CP. This feature would be used in an en-

vironment where the inverter’s power transistors have a mini-

mum switching time. If the user-specified duty cycle would

result in a pulse duration shorter than the minimum switching

time of the transistors, then pulse deletion should be used to

prevent this occurrence. With a 10 MHz system clock, the 0–

127 range of values in PWMPD yield a range of deadtime values

from 0 µs to 12.7 µs in 100 ns steps.

External PWM Shutdown

There is an external input pin (STOP) to the PWM timers that

will disable all six outputs when it goes HIGH. When the STOP

pin goes HIGH, the PWM timer outputs will all go HIGH

within one system clock cycle. When the STOP pin goes

LOW, the PWM timer outputs are re-enabled within one system

clock cycle. If external PWM shutdown isn’t required, tie the

STOP pin LOW.

VECTOR TRANSFORMATION BLOCK OVERVIEW

The Vector Transformation Block performs both Park and

Clarke coordinate transformations to control a three-phase

motor (Permanent Magnet Synchronous Motor or Induction

Motor) via independent control of the decoupled rotor torque

and flux currents. The Park and Clarke transformations combine

to convert three-phase stator current signals into two orthogonal

rotor referenced current signals Id and Iq. Id represents the flux

or magnetic field current and Iq represents the torque generat-

ing current. The Id and Iq current signals are used by the

processor’s motor torque control algorithm to calculate the

required direct Vd and quadrature Vq voltage components for the

motor. The forward Park and Clarke transformations are used

to convert the Vd and Vq voltage signals in the rotor reference

frame to three phase voltage signals (U, V, W) in the stator

reference frame. These are then scaled by the processor and

written to the ADMC200’s PWM registers in order to drive the

inverter. The figures below illustrate the Clarke and Park Trans-

formations respectively.

Iw

Iy

120°

120°

Iu

120°

Iv

Ix

PWMCHA - PWMDT

A

Three-Phase

Stator Currents

Equivalent

Two-Phase Currents

Figure 7. Reverse Clarke Transformation

AP

PWMCHA + PWMDT

Figure 6. Programmable Deadtime Example

Pulse Deletion

The pulse deletion feature prevents a pulse from being gener-

ated when the user-specified duty cycle results in a pulse dura-

tion shorter than the user-specified deletion value. The pulse

deletion value is loaded into the 7-bit register PWMPD. When

the user-specified on-time for a channel would result in a calcu-

lated pulsewidth less than the value specified in the PWMPD

register, then the PWM outputs for that channel would be set to

Iy

ρ

Iq

90° ROTOR

REFERENCE

FRAME AXIS

Ix

Rotating

Reference Frame

Id

Stationary

Reference Frame

Figure 8. Reverse Park Transformation

REV. B

–7–

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