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Regulador BLDC Arduino PDF
Regulador BLDC Arduino PDF
Controlador de Motor
Brushless DC para
Arduino
Fdo: Fecha:../mayo/14
Fdo: Fecha:../mayo/14
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ABIERTO (RESTRINGIDO) DE DOCUMENTACIN
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ACEPTA
Fdo.:
CONTROLADOR DE MOTOR BRUSHLESS DC PARA
ARDUINO
Autor: Martnez-Brocal Contreras, Luis.
El objetivo del proyecto es que el controlador tuviera unas caractersticas para poder
funcionar con motores de hasta 36V y 10 A. Finalmente ha resultado que la placa
admite motores de hasta 50V con corrientes de 8 A nominal y de forma dinmi ca hasta
13 A, llegando a poder manejar motores con una potencia nominal de hasta 400W.
En cuanto al desarrollo del programa de control, este realiza todas las operaciones
necesarias para el control del motor, desde manejar todas las entradas y salidas,
incluyendo la del potencimetro externo que indica el par deseado como la conmutacin
de fases. Adems este programa incluye un control PID, que se puede adaptar a todo
tipo de motores permitiendo con este una regulacin precisa del par. Adems este
programa modifica la frecuencia del microprocesador y en consecuencia la frecuencia
de conmutacin del PWM de salida para reducir el ruido y vibraciones del motor. Por
ltimo, una de las caractersticas ms importantes del programa es el uso d e
interrupciones. Estas son unas funciones del microprocesador que permite detener la
ejecucin del programa (rutina principal) de forma instantnea y pasar a una subrutina
como respuesta a una seal externa del arduino. Estas interrupciones permiten que e l
control funcione correctamente dado lo crticos que son los tiempos de ejecucin y
proceso de las diferentes operaciones del programa. Esto se debe a la velocidad a la que
giran los motores y la cantidad de clculos que requiere su conmutacin.
Con el fin de tener el producto terminado se ha llevado a cabo una descripcin del
proceso de fabricacin del prototipo y todas las pruebas que este ha tenido que pasar
hasta su manufactura. Estas pruebas se han realizado tanto en el programa EAGLE
como con el software propio del fabricante, y comprenden aspectos como pruebas
elctricas y mecnicas y de fabricacin. Todas las pruebas han sido pasadas de forma
satisfactoria.
PROJECTO SUMMARY
This project has focused on brushless dc motors, these motors have been the latest
development in dc motors and they have certain advantages over other types . These are
mainly high torque -to-weight ratio and small size , decisive for implementation in all types
of light vehicles in which most of the space is occupied by the battery cells. Also they have
other advantages which are detailed in the following document. These motors require an
electronic controller to operate. The objectives of this project are the design, development
and production of a functional controller, including the hardware and the corresponding
software. This controller will regulate and measure the engine torque by the motor. The
hardware will be a shield for arduino so the software is intended for operation in an Arduino
board. A shield is a board that plugs into the top of an Arduino board in order to increase its
functions or capacity. In this case the capacity provided by the shield is mainly a power
electronic chip with which to perform the switching of engine phases. Moreover it adds
other functions as measuring the current through the motor power or supply power to all the
components. This shield together with the developed software will allow any person with an
Arduino board ( due or mega model) the possibility of building in an easy way their own
controller brushless motors with torque control , ready and prepared for use in different
vehicles or devices as bicycles , scooters , ...
The objective of the project is that the driver had characteristics to function with motors up
to 36V and 10 A. Finally it has resulted that the board supports up to 50V motors with
nominal currents of 8 A and up to 13 A dynamically, being able to handle motors with a
nominal power of up to 400W.
For board design it has been used a software called EAGLE. This program was first
necessary to learn to use it and after that the development of the board was performed step
by step creating all the features proposed previously. It must be highlighted some
functionalities that have been developed on the board. The first is that it allows for a system
of power supply such as a battery to feed the controller, the engine and the Arduino board,
not being necessary any auxiliary power supply. This was a challenge because of the
different levels of voltage between the components to be powered. This power must be in a
range between 17 and 50 volts. Also during the design process it has been necessary to
develop several libraries for the different components in EAGLE since most of these did not
previously exist in the program.
The board is designed so that it can be controlled from an Arduino Mega board or Due. This
has been a challenge for the development of the board as the voltage reference of the due
model operates at 3.3V while the mega model operates at 5V. Finally this issue is resolved
by a set of voltage dividers. Another important feature of the board is its ability to measure
the current through the motor at all times and thereby to estimate the torque delivered by the
motor. Finally it should be noted that the board is prepared to report all types of faults that
occur and to act accordingly.
Regarding the development of the control program, it performs all the necessary operations
to take control of the motor. They are mainly driving all inputs and outputs, including the
external potentiometer for indicating the desired torque and switching the phases.
Furthermore, this program includes a PID control, which can be adapted to all kind of
motors which allows precise control of the torque. Furthermore the program changes the
frequency of the microprocessor and hence the switching frequency of the PWM output to
reduce noise and motor vibration. Finally, one of the most important features of the program
is the use of interruptions. They are some functions that allow the microprocessor to stop
program execution (main routine) instantly and move to a subroutine in response to an
external signal from the arduino. These breaks allow the control to function properly given
how critical are the execution times of the different process and program calculations. This
is because the rotating speed of the motors and the amount of computation required for its
switching.
In order to have the finished product it has been carried out a description of the
manufacturing process of the prototype and all the tests that this has had to take up until its
manufacture. These tests were performed both in the EAGLE program and in the
manufacturer's propietary software. The tests check aspects such as electrical and
mechanical properties and manufacturing details. All tests have been passed successfully.
Finally a small economic study of the manufacturing has been carried out for the controller
at prototype stage and its manufacture in bulk for commercialization. We have outlined the
different disaggregated costs and final price. Within the costs, the main parts are the
components, board manufacture and assembly of the complete product.
NDICE
Parte I: Memoria ........................................................................................ 1
Captulo 1: Introduccin ................................................................................................3
Introduccin a Arduino y a su uso como controlador de motores ...................................3
Chip de potencia Texas Instruments DRV8332 .................................................................4
Historia ..............................................................................................................................5
Aplicaciones.......................................................................................................................6
Comparacin: ventajas y desventajas ...............................................................................8
1
2
Captulo 1: Introduccin
Para este proyecto, la placa shield se va a disear para ser compatible con dos modelos de
arduino, arduino mega y arduino due. Las razones por las que se han elegido estas dos
placas son que ambas presentan muy buenas caractersticas a nivel de velocidad en el
microprocesador y por tener varias interrupciones disponibles. Adems estos dos modelos
presentan la misma forma fsica de la placa, por lo que al disear una sola placa shield, esta
sea compatible con los dos modelos a nivel de conexiones.
3
Chip de potencia Texas Instruments DRV8332
Las uniones de este chip a la placa son de tipo SMD (montaje superficial), esto significa que
sus pines no atraviesan de una cara de la placa hasta la otra.
4
Historia
Uno de los primeros e importantes desarrollos sobre el motor de corriente continua fue el
sistema de control basado en un restato con el que se controlaba la velocidad de giro del
motor. Este sistema estuvo vigente hasta mitad del siglo XX aproximadamente cuando se
desarroll controladores basados en tiristores que eran ya capaces de convertir corriente
alterna en corriente continua rectificada directamente.
Los primeros motores de corriente continua sin escobillas o tambin llamados motores
brushless dc fueron introducidos como una mquina de corriente continua con
conmutacin de estado slido, destacando como caracterstica principal el carecer de un
conmutador fsico como eran previamente las escobillas.
El problema inicial con estos nuevos motores se debi a que estos no admitan tanta
potencia como los tradicionales motores de corriente continua a pesar de la gran fiabilidad
que ofrecan los motores brushless dc. Esto cambi en los aos ochenta cuando los
materiales para imanes permanentes se hicieron totalmente disponibles y comerciales. La
combinacin de estos imanes junto con transistores de alta potencia permiti a los
motores brushless dc adelantarse a los motores dc tradicionales al poder ahora s admitir
potencias mucho mayores.
5
Aplicaciones
Los usos de este tipo de motores son muy variados comprendiendo una gran variedad de
industrias en las que se utilizan, como son las siguientes:
Electrodomsticos
Automocin
Aeronutica
Electrnica de consumo
Ingeniera biomdica
Robtica
Equipamiento industrial
6
Las caractersticas por las que destaca y que hacen de este tipo de motor una buena
opcin en aplicaciones como las previamente expuestas son las siguientes:
7
Comparacin: ventajas y desventajas
8
Captulo 2: Funcionamiento del Motor Brushless DC
Teora de funcionamiento
Los motores brushless son un tipo de motor sncrono, esto es, que tanto el campo
magntico generado por el rotor como el del estator giran a la misma frecuencia. Una de
las caractersticas que define este tipo de motor es que no existe el comnmente
denominado deslizamiento. Este tipo de motor existe en diferentes configuraciones
aunque la ms normal es la configuracin dotada de tres fases.
EMF Trapezoidal
EMF Senoidal
3. Tensiones trapezoidales inducidas en el estator
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El rotor de este tipo de motores se compone de un conjunto de imanes permanentes que
puede ser de diferentes materiales. Al principio se fabricaban en ferrita, siendo estos
baratos pero con el problema de que generaban una densidad de flujo muy baja.
Al estar estos motores conmutados de forma electrnica ya que carecen de escobillas, los
bobinados del estator han de ser alimentados de forma secuencial. Los cambios en la
secuencia de alimentacin se dan al variar la posicin del rotor, midiendo la posicin del
mismo mediante sensores de efecto hall. Segn tenga un polo u otro del imn de rotor
cercano, estos sensores darn una salida alta o baja, pudiendo determinar a partir de las
salidas de los diferentes sensores la secuencia exacta a aplicar en cada momento.
Normalmente los sensores de efecto hall se encuentran a 120 o a 60.
Secuencias de alimentacin
10
Caracterstica par-velocidad
Fuerza contraelectromotriz
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Podemos aadir que si juntamos estas caractersticas con las limitaciones de tensin y
corriente de los devanados obtendremos la caracterstica de par velocidad representada en
la grfica anterior.
Tenemos la tensin de alimentacin Ui, y la tensin inducida Um. La corriente por los
devanados es Ii resultando esta de:
Control de Par
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Control de Velocidad
Lo primero que se ve es Par_ref, esto es una seal que proviene de un dispositivo fsico
externo a la placa como puede ser un potencimetro dando lugar a una seal analgica
entre un rango determinado, esta seal determina el par que se desea que entregue el
motor en cada instante. Al ser el par resultante instantneo directamente proporcional a la
corriente medida en el motor por el sensor de corriente, se restan las seales de par
deseado (Par_ref) y I_medida, de esta resta resulta el error de par o corriente
existente. Una vez obtenido dicho error, este se introduce en un control PID que dar lugar
a un factor de servicio del PWM. Dicho PWM se genera adems para unas fases concretas
del motor. Para saber que fases debe alimentar en cada momento recibe informacin de
los sensores de efecto hall del rotor y con esto lo calcula. Una vez ya que se sabe el factor
de servicio y las fases, esta informacin se enva en forma de seal de baja potencia a un
inversor que se encuentra integrado en un chip de potencia. Este inversor realiza lo que
indiquen las seales pero ya a alta tensin, esto es, a niveles de electrnica de potencia.
Finalmente esas tensiones de potencia resultantes alimentan ya directamente al motor DC
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brushless. Este ciclo que se ha explicado se podra decir que es casi continuo en cuanto a
que es el proceso que ms veces se repite a gran velocidad. Paralelo a este proceso existe
otro proceso que se determina por unas funciones llamadas interrupciones, que permiten
para todos los procesos existentes y llevar a cabo una subrutina prioritaria. Esta subrutina
es una funcin ms y responde a un estmulo, que en este caso es el cambio de posicin del
rotor al ser indicado por uno o unos de los sensores hall. Al cambiar el valor de salida de
uno de estos se paran el resto de procesos y se actualiza la informacin del rotor, esto es,
se recalculan las fases que han de ser alimentadas. Una vez realizados los clculos, se
vuelve a la rutina principal ya explicada previamente.
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Captulo 3: Placa shield para Arduino
Objetivos
La placa se ha diseado para que sea compatible con los modelos de arduino Due y Mega.
Esta utiliza su configuracin de pines para la conexin entre la placa y el mismo arduino.
El objetivo para el que se ha realizado esta placa es para el control de motores de tipo
brushless, siendo estos motores de hasta 50V de tensin nominal y de hasta 8 A de
corriente nominal. La placa aunque puede ser utilizada para realizar control de velocidad
est pensada para realizar control de par.
15
La placa se ha diseado para conectarla a una alimentacin del motor con un voltaje desde
17V hasta 50V siendo estos valores determinados por el chip de control y componentes
respectivos a la alimentacin.
Otra caracterstica de la placa es la capacidad de medir la corriente que circula por el motor
en cada momento mediante un sensor. Esto permitir realizar el control de par ya que la
corriente es directamente proporcional al par del motor.
La placa est pensada para hacer compatible todas las entradas y salidas de alta frecuencia
que se utilizan para el control con los grandes esfuerzos tanto trmicos como de tipo
electromagntico que se derivan de la parte de electrnica de potencia.
Aunque los niveles de tensin de la entradas y salidas del arduino due y mega son
diferentes (5V - 3.3V) la placa se encuentra preparada para adaptar estos niveles de
tensin para su correcto funcionamiento.
Al alimentar la placa con la batera que alimentar el motor tambin se alimenta desde esa
misma fuente tanto el arduino como el chip de potencia.
Por la parte de potencia se tiene como conexiones por un lado un conector de dos vas
para la alimentacin del sistema completo, desde la placa y el arduino como el motor. Por
otro lado se tiene un conector de tres vas donde se conectan las tres fases del motor.
ENTRADAS SALIDAS
Sensor de corriente Analgica PMW_A Pwm
Sensor de efecto Hall #1 Digital PWM_B Pwm
Sensor de efecto Hall #2 Digital PWM_C Pwm
Sensor de efecto Hall #3 Digital RESET_A Digital
Control externo fsico Analgica RESET_B Digital
RESET_C - Digital
Por la parte de control se puede decir que comparte todos los pines del arduino, pudiendo
usarse estos como ms nos convenga a excepcin de unos cuantos seleccionados y
ocupados para conexiones de la placa para el control del chip. Estos pines son 8 de los
cuales 6 tienen caractersticas para realizar PWM. Estos 6 pines PWM se encargan de
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controlar cada fase del motor. De los 8 totales, los dos restantes se dedican al control de
faltas tanto de tipo general como por sobrecorriente.
Adems de estos 8 pines existe una entrada ms hacia el arduino desde la placa. Esta trata
la medida de la corriente de circula por el motor. Esta entrada es de tipo analgica.
Por ltima se requerir utilizar otros cuatro pines para conectar los sensores de efecto hall
del motor que son tres ms una entrada que haga de control manual externo del sistema,
como puede ser un potencimetro o similares.
17
Detalles de diseo
18
12.Pistas de control, grosor inferior
-Interferencias: por otro lado se ha intentado distanciar lo posible del resto aquellas pistas
y componentes que funcionan a altas frecuencias con el fin de evitar interferencias al igual
que se ha intentado no realizar cruces de pistas de forma totalmente perpendicular o
ngulos de 90 en giros.
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-Diseo CAD de componentes: aunque el programa EAGLE lleva incorporadas gran
variedad de libreras con el diseo tanto esquemtico como real de diferentes
componentes, en este caso de diseo al incorporar componentes muy concretos ha sido
necesario en la mayor parte de los casos crear la libreras basndose en planos de
especificaciones del fabricante de cada componente.
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17.Esquemtico del regulador de tensin
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20.Esquemtico del terminal 3 vas
Lo primero a tener en cuenta es que las tensiones de control del arduino alimentan los
pines de entrada del chip de potencia. Estas tensiones del arduino poseen un valor fijo que
puede ser de 3.3V o 5V, suya precisin depende directamente de la precisin de la
alimentacin de la placa arduino. Como la placa arduino la alimenta uno de los dos
reguladores de tensin y la precisin de este regulador (RECOM 9-72Vin -5Vout - 0.5A) a
la salida es de un +-3% mximo se toma como margen de seguridad otro 2% adicional
quedando finalmente la precisin de la tensin de salida del arduino en un 5%.
5V +- 250mV
3.3V +- 165mV
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Teniendo en cuenta que los lmites de salida de la tensin resultante debe estar entre 2V y
3.6V:
OUT-mximo = 3.6V
OUT-mnimo = 2V
Tras realizar los clculos, se llega a un resultado que ha permitido optar por unos valores
de resistencias, siendo estos los siguientes:
R1=3.3k
R2=7.15k
Se verifica que la corriente mxima que pasar por estas resistencias ser de:
Al ser la corriente demandada tan baja no habr problemas ni por cantidad de corriente ni
por prdidas.
Finalmente para escoger los componentes se ha optado por resistencias de tipo SMD 402
debido a su pequeo tamao, ya que son necesarias 12 resistencias (2 resistencias por cada
una de las 6 seales de control).
Estas resistencias, tanto R1 como R2, poseen una potencia mxima de 0.063W cada una.
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De esta forma se comprueba con no se supera este valor en ningn caso, tomndose como
mxima tensin 5.25 V.
Potencia en R1 (Imax) =
Potencia en R2 (Imax) =
Como se puede ver no se supera en ningn caso la potencias nominales de las resistencias.
-Filtro de medida de corriente: otro detalle a tener en cuenta es que a la salida del
transductor de corriente se ha colocado un filtro paso bajo con el fin de eliminar el ruido de
la seal y evitar el efecto de aliasing presente en todo sistema de conversin digital para as
mejorar en gran medida la lectura de esta entrada analgica por la placa arduino. Este filtro
es de primer orden y consta de los siguientes componentes:
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24.Filtro paso bajo a la salido del transductor
-Pines de faltas: otra caracterstica del chip de potencia es que posee dos pines de salida
cuyo fin es informar de la existencia de faltas por sobrecorriente o por sobretemperatura.
Estos pines en la placa se encuentran conectados directamente a dos pines de entrada de
tipo digital del arduino.
25.Vista de una pista junto con la pista de tierra conectada a los pines GND
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-Pines arduino disponibles: por ltimo, la denominacin de placa shield consiste en que
dicha placa aada una funcionalidad a la placa arduino pero permitindole aun funcionar
con otros fines, por esta razn en las conexiones entre pines de la placa y arduino los
conectores que se han elegido son macho-hembra con la finalidad no solo de conectar sino
tambin de mantener disponibles y accesibles los pines que no se encuentren ocupados
por el uso exclusivo de esta placa.
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Caractersticas y componentes de la placa Shield
En primer lugar se va a presentar una lista de los componentes que forman la placa:
27
28. Plano general de la placa
-Borne de potencia 2 vas: este componente es similar al anterior, con la diferencia de que
posee una conexin menos, dos en vez de tres. Este conector sirve para conectar la placa a
la alimentacin, que servir para hacer funcionar tanto el motor como la placa y el arduino.
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correcto funcionamiento. Las principales funciones de estos componentes externos es
estabilizar las seales tanto las de potencia como las de control.
30.Regulador de conmutacin
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-Transductor de corriente 15A - LEM LTS-15NP: este componente se utiliza para medir la
corriente que pasa por el motor de forma instantnea. Este posee un rango de medida de
hasta 15 A, siendo vlido ya que en este caso como mximo tendremos 13 A. Este sensor
posee una precisin de un 0.2%. Aunque presenta diferente posibles conexionados para
modificar su rango de medida, se ha escogido el rango mximo de 15 A. La tensin de
salida del sensor es 2.5V con 0 A, y una variacin de 0.625V mxima (admite ambos
sentidos de corriente), por lo que la tensin mxima de salida del sensor 3.125V, tensin
vlida para su lectura sin problemas tanto en la placa arduino mega (5V mximo) como
arduino due (3.3V mximo). La curva de respuesta del sensor es la siguiente, siendo en este
caso Ipn=15A:
32.Transductor de corriente
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Diseo PCB
Para el diseo de la placa se ha utilizado el software EAGLE que permite el diseo de placas
y diagramas de las mismas. El proceso de diseo en este programa consiste primero en
hacer lo que se denomina un esquemtico que es un diagrama de componentes en
forma de smbolos representativos (cada componente con sus respectivos pines de
entradas y salidas) y sus conexiones entre ellos de forma que el programa sabe que pines
se encuentran conectados y se puede apreciar el esquema de una forma muy visual.
Una vez realizado el diseo del esquemtico se procede al diseo de la placa tal y como va
a ser en la realidad una vez fabricada. Para esto lo primero que se define es la superficie
(dimensiones y forma) sobre la que se diseara y se colocarn los componentes y pistas.
Una vez definido esto el programa presenta agrupados el conjunto de componentes que
iremos posicionando sobre la placa tal como queramos. Posteriormente debemos dibujar
las pistas para as conectar los componentes. En este paso es donde entra la utilidad del
desarrollo previo del esquemtico ya que el programa nos va diciendo que tenemos que ir
uniendo aunque nosotros decidamos finalmente por donde irn las pistas y que forma
tendrn. Un detalle importante es que se defini para el caso de esta placa dos capas, una
superior y otra inferior, esto nos permite llevar pistas por ambas es incluso una misma pista
pasar de una capa a otra en un determinado punto si fuese necesario. Por ltimo una vez
conectados todos los componentes se crea una tierra comn a todos los componentes en
ambas capas con el fin de disminuir la cantidad de pistas y unir elctricamente los
diferentes componentes. Para esto existe una herramienta que lo que hace es rellenar la
superficie que queda con esta nueva pista. A continuacin se va mostrar diferentes
imgenes del diseo de la placa:
31
34.Vista de la placa con las pistas de la capa inferior
36.Vista de la placa con todas las pistas ocultando los planos de tierra
32
37. Vista de la placa con pistas superiores ocultando los planos de tierra
39.Vista de la placa solo con los componentes ocultando todas las pistas
33
40.Vista en detalle del chip de potencia con sus respectivos componentes requeridos (SMD)
34
Fabricacin de la placa
Para llevar a cabo la fabricacin de la placa se ha tenido que encargar a un fabricante. Para
ello es necesario exportar los ficheros del proyecto en un formato concreto desde EAGLE.
Como detalles importantes para encargar la placa al fabricante se destacan los test previos
en el programa de diseo, que permiten comprobar en primer lugar que el diseo cumpla
con el diseo desarrollado en el plano esquemtico de la placa y por la parte de la placa
que no existan conexiones errneas o cortocircuitos, que se respeten las distancias
mnimas entre pistas y entre componentes, que no se solapen pistas.
Adems de estos tests dentro de EAGLE, al encargar la placa al fabricante, este tiene su
propio software de comprobacin, que permite ver si la placa se puede fabricar y si las
conexiones estn bien efectuadas y elctricamente es correcto el diseo.
Tras realizar todos los tests se verifica que el diseo de la placa se ha realizado
correctamente. Lo que se ha verificado es que la placa puede fabricarse, que las
dimensiones demandadas de pistas y conexiones son posibles de fabricar y correctas, que
se respetan las distancias mnimas exigidas y que el diseo es coherente con el diseo
esquemtico planteado en el inicio del diseo.
35
44. ndice de cobre basado en su distribucin y densidad en capas exteriores
Como se aprecia en la imagen 33, los valores de diseo de la placa son correctos, y todos
respetan los lmites de diseo establecidos por el fabricante.
36
A continuacin se presentan unas imgenes de la placa resultante:
37
38
Captulo 4: Software de control
Objetivo
El objetivo del desarrollo de este programa para arduino es el control de par de un motor
brushless mediante la placa de potencia previamente expuesta.
Este programa permite controlar el par que entrega el motor de forma precisa y suave.
Lectura de seales externas (entradas) como son la medida de corriente que pasa
por el motor, los tres sensores de efecto Hall del motor, mando de par deseado
(control externo).
Escritura de seales (salidas) como son las tres seales PWM_X y las tres RESET_X.
Conmutacin de las fases en funcin de la posicin del rotor
Generar seales PWM en las fases con el fin de poder dar valores de par concretos.
Generar seales PWM con una frecuencia de conmutacin suficiente para el
correcto funcionamiento del motor.
Control de faltas por calentamiento o sobrecorriente.
Dar el par deseado en cada momento de la forma ms rpida y con menor error
posible.
Ser el programa lo suficientemente rpido como para conmutar las fases al mismo
tiempo que controlar el ciclo de trabajo deseado en cada instante.
39
Detalles del programa y su funcionamiento
ENTRADAS SALIDAS
Sensor de corriente Analgica PMW_A Pwm
Sensor de efecto Hall #1 Digital PWM_B Pwm
Sensor de efecto Hall #2 Digital PWM_C Pwm
Sensor de efecto Hall #3 Digital RESET_A Digital
Control externo fsico Analgica RESET_B Digital
RESET_C - Digital
-PID de mando: este control dentro del programa se encarga de generar el factor de
servicio del PWM para ajustar el valor de corriente. La seal de referencia del control
proviene de un control fsico, conectado a la placa que da el valor de par deseado dentro
de un rango. Este valor se lee en el programa y se toma como valor de consigna para el
control. Otro valor de entrada es el valor de la corriente que pasa por el motor en cada
momento, que mide el transductor de corriente. Este valor se utiliza ya que el valor de la
corriente en este tipo de motores es directamente proporcional al par entregado por el
motor. Por ltimo este control mediante estos dos valores de entrada calcula de manera
repetida de forma constante el valor de salida, esto es, el factor de servicio del PWM_X
ajustando un valor de tensin en la salida. Es importante mencionar que para que el PID
funcione correctamente hay que configurarlo asignando valores a tres parmetros que
utiliza, siendo estos parmetros los siguientes: Kp (accin proporcional), Ki (accin
integral), Kd (accin derivativa). Estos parmetros dependen de las caractersticas del
motor que se utilice.
40
-PWM: un problema de la placa arduino es que la frecuencia de PWM por defecto es
500Hz, siendo esta frecuencia insuficiente para esta aplicacin debido a la velocidad de giro
del motor. Por esta razn ha sido necesario aumentar a 20kHz la frecuencia de
conmutacin de los pines 4,6 y 13. Para variar dicha frecuencia se ha hecho uso de una
librera externa de arduino llamada PWMC.h. Esta librera permite no solo cambiar la
frecuencia a un valor deseado sino que tambin permite escoger la resolucin del valor de
ciclo de carga, lo que nos permitir dar un mando de par mucho ms exacto cuanto mayor
sea este ltimo valor.
Por un lado cuando ocurre una falta y se activa FAULT, el programa se detiene en su
ejecucin con el fin de evitar poder daar el chip.
Por otro lado OTW es monitorizado continuamente con el fin de que en caso este se
encuentre activo, reducir por seguridad el ciclo de trabajo del motor aunque el usuario este
demandando ms par. El valor de seguridad que se ha decidido establecer en caso de estar
OTW activo es un ciclo de trabajo mximo del 25%. Este valor podr modificarse en el
programa.
41
las interrupciones en el programa, se ha utilizado la librera de interrupciones propia del
entorno de desarrollo de arduino.
42
Captulo 5: Futuros desarrollos y conclusin
Dada la amplitud de este proyecto se puede afirmar que se han cumplidos los objetivos
principales establecidos a su comienzo. Por problemas de tiempo y en las pruebas en
laboratorio no ha sido finalmente posible terminarlo completamente. Concretamente todo
el diseo y desarrollo de hardware y software ha sido completamente concluido, a
excepcin de probar el funcionamiento del controlador y someterlo a ensayos y pruebas.
Este proyecto aunque haya casi concluido con sus objetivos iniciales, da lugar a gran
cantidad de posibles nuevas funciones y mejoras en el funcionamiento y diseo del
controlador. Dicho esto se expresan a continuacin varias ideas para ser desarrolladas
prximamente en otro proyecto:
43
44
Captulo 6: Bibliografa
[6. TARJ13] ICAI. Motores Brushless DC v3.5 (TCM BRUSHLESS DC), 2013
45
46
Parte II: Codigo Fuente
47
#include "pwmc1.h" //Libreria PWM
//Los tres valores que se definen son respectivamente: Kp=2, Ki=5, Kd=1
48
pwm_setup( 13, pwm_freq1, 1); // Pin 13 freq set to "pwm_freq1" on
clock A
//Set PINS
pinMode(21,INPUT); // Hall 1
pinMode(20,INPUT); // Hall 2
pinMode(19,INPUT); // Hall 3
pinMode(6,OUTPUT); // PWM_B
pinMode(13,OUTPUT); // PWM_C
pinMode(5,OUTPUT); // RESET_A
pinMode(11,OUTPUT); // RESET_B
pinMode(12,OUTPUT); // RESET_C
49
//Arduino Due : attachInterrupt(pin, function, mode)
// attachInterrupt(21,rotar, CHANGE);
// attachInterrupt(20,rotar, CHANGE);
// attachInterrupt(19,rotar, CHANGE);
// attachInterrupt(2,rotar, CHANGE);
// attachInterrupt(3,rotar, CHANGE);
// attachInterrupt(4,rotar, CHANGE);
//Fin interrupciones
//PID
Setpoint = analogRead(A10);
//--PID
void loop() {
50
//que la tensin mxima es de 3.125V
//Arduino Due:
//Setpoint = Setpoint*0.947
//Arduino Mega:
//Setpoint = Setpoint*0.625
myPID.Compute();
//actualizndose constantemente
case 5:
pwm_write_duty( 4, pwm_duty );
case 1:
pwm_write_duty( 4, pwm_duty );
case 3:
pwm_write_duty( 6, pwm_duty );
case 2:
pwm_write_duty( 6, pwm_duty );
case 6:
case 4:
51
}
error==1;
maximo_par==1;
error==0;
digitalWrite(13, LOW);
delay(1000);
void rotar() {
52
h1 = digitalRead(21);
h2 = digitalRead(20);
h3 = digitalRead(19);
switch (HallVal)
case 5:
pwm_write_duty( 4, pwm_duty );
pwm_write_duty( 6, 0 );
pwm_write_duty( 13, 0 );
digitalWrite(5, HIGH);
digitalWrite(11, HIGH);
digitalWrite(12, LOW);
break;
case 1:
pwm_write_duty( 4, pwm_duty );
pwm_write_duty( 6, 0 );
pwm_write_duty( 13, 0 );
digitalWrite(5, HIGH);
digitalWrite(11, LOW);
digitalWrite(12, HIGH);
break;
case 3:
pwm_write_duty( 4, 0 );
53
pwm_write_duty( 6, pwm_duty );
pwm_write_duty( 13, 0 );
digitalWrite(5, LOW);
digitalWrite(11, HIGH);
digitalWrite(12, HIGH);
break;
case 2:
pwm_write_duty( 4, 0 );
pwm_write_duty( 6, pwm_duty );
pwm_write_duty( 13, 0 );
digitalWrite(5, HIGH);
digitalWrite(11, HIGH);
digitalWrite(12, LOW);
break;
case 6:
pwm_write_duty( 4, 0 );
pwm_write_duty( 6, 0 );
digitalWrite(5, HIGH);
digitalWrite(11, LOW);
digitalWrite(12, HIGH);
break;
case 4:
pwm_write_duty( 4, 0 );
54
pwm_write_duty( 6, 0 );
digitalWrite(5, LOW);
digitalWrite(11, HIGH);
digitalWrite(12, HIGH);
break;
55
56
Parte III: Estudio economico del
proyecto
57
En esta parte se estudiarn los costes de fabricacin de la placa completa (incluyendo los
componentes) en las fases de prototipo y de fabricacin en serie. Adems una vez
calculados los costes en dichas situaciones, se realizar un estudio de mercado de placas
similares en cuanto a prestaciones y componentes y con ello, definir un precio de venta de
esta placa para hacerla lo ms competitiva posible en el mercado. A continuacin se
presenta la tabla de componentes con sus respectivos precios en funcin de las cantidades
que se demanden:
58
Precio a
Precio de 1 a 5 Precio Precio
Referencia Unidades partir de
Componente unidades por
1000
total 1 total 1000
por placa unidad placa [] placas []
unidades
Borne de potencia 24A
467-0366 1 1,59 1,242 1,59 1,242
320V - 3 vas
Borne de potencia 24A
467-0350 1 1,368 1,078 1,368 1,078
320V - 2 vas
Texas Instruments
738-5452 1 10,22 7,85 10,22 7,85
DRV8332
Regulador conmutacin
RECOM 9-72Vin -5Vout - 416-862 1 11,48 8,7 11,48 8,7
0.5A
Regulador conmutacin
RECOM 17-72Vin-12Vout- 416-868 1 12,14 9,2 12,14 9,2
0.5A
Transductor de corriente
499-5362 1 14,11 12,42 14,11 12,42
15A - LEM LTS-15NP
Condensador electroltico
526-1755 2 1,82 1,462 3,64 2,924
820F, +-20%, 50V
Resistencia 20k , 1% - 1 0,039 0,029 0,039 0,029
Resistencia 3.3 , 1% - 1 0,048 0,036 0,048 0,036
Condensador cermico
699-5147 1 1,096 0,996 1,096 0,996
multicapa 10nF, 5%
Resistencia SMD 1206
740-9110 1 0,015 0,012 0,015 0,012
10k 0.25W 5%
Resistencia SMD 1206 1
679-1897 1 0,044 0,034 0,044 0,034
0.25W 1%
Condensador SMD 1206
669-8515 1 0,058 0,046 0,058 0,046
100nF 25V 10%
Condensador SMD 1206
669-8467 1 0,092 0,078 0,092 0,078
470nF 16V 10%
Condensador SMD 1206
740-7593 4 0,079 0,063 0,316 0,252
1F 50V 10%
Condensador SMD 1206
669-8408 6 0,066 0,06 0,396 0,36
100nF 50V 10%
Resistencia SMD 402
701-5591 6 0,366 0,229 2,196 1,374
7.15K 0.063W 0.1%
Resistencia SMD 402 3.3K
701-4974 6 0,375 0,297 2,25 1,782
0.063W 0.1%
6 pin Female/Male header
- 7 0,5 0,5 3,5 3,5
strips
8 pin Female/Male header
- 5 0,5 0,5 2,5 2,5
strips
Total /placa 67,10 54,41
54.413,00
Total
67,10
49.*Precios de RS Componentes
59
Costes de fabricacin del prototipo
Para calcular el coste total, se deben tener en cuenta que hay que incluir en el mismo, el
coste de los componentes integrados en la placa, el coste de fabricacin de la placa y el
coste de soldadura de algunos componentes.
- Precio
1 Placa 38,21
Transporte 9,91
Impuestos (21%) 10,10
Total 58,22
En este caso los precios cambian ya que se supone que se realiza un pedido para fabricar
1000 placas. Como se ha calculado previamente en la tabla de costes de componentes,
para fabricar 1000 placas el precio es de 54,41 por cada placa.
- Precio
Precio por placa 0,93
Precio total placas 933,20
Transporte 33,02
Impuestos (21%) 202,7
Total por placa 1,17
Total 1167,92
61
62
Planos
63
64
3
2
1
RECOM
RECOM
+GND
R7_R8
GND
+
R7_R8
GND
+
R7_R8
R7_R8
R7_R8
PWM_A OUT_A
AGND BST_B
VREG NC
DESCRIPTION M3 NC
M2 GND
The DRV8312/32 are high performance, integrated M1 GND
three phase motor drivers with an advanced PWM_C GND_C
RESET_B PVDD_C
GVDD_C GVDD_C
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of
Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet.
PRODUCTION DATA information is current as of publication date. Copyright 20102013, Texas Instruments Incorporated
Products conform to specifications per the terms of the Texas
Instruments standard warranty. Production processing does not
necessarily include testing of all parameters.
DRV8312
DRV8332
SLES256C MAY 2010 REVISED OCTOBER 2013 www.ti.com
This integrated circuit can be damaged by ESD. Texas Instruments recommends that all integrated circuits be handled with
appropriate precautions. Failure to observe proper handling and installation procedures can cause damage.
ESD damage can range from subtle performance degradation to complete device failure. Precision integrated circuits may be more
susceptible to damage because very small parametric changes could cause the device not to meet its published specifications.
(1) Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings
only, and functional operation of the device at these or any other conditions beyond those indicated under Recommended Operating
Conditions is not implied. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
(2) These voltages represent the dc voltage + peak ac waveform measured at the terminal of the device in all conditions.
(1) Depending on power dissipation and heat-sinking, the DRV8312/32 can support ambient temperature in excess of 85C. Refer to the
package heat dissipation ratings table and package power deratings table.
DEVICE INFORMATION
Pin Assignment
Here are the pinouts for the DRV8312/32:
DRV8312: 44-pin TSSOP power pad down DDW package. This package contains a thermal pad that is
located on the bottom side of the device for dissipating heat through PCB.
DRV8332: 36-pin PSOP3 DKD package. This package contains a thick heat slug that is located on the top
side of the device for dissipating heat through heatsink.
DRV8312 DRV8332
DDW Package DKD Package
(Top View) (Top View)
GVDD_C 1 44 GVDD_C
GVDD_B 1 36 GVDD_A
VDD 2 43 BST_C
NC 3 42 NC OTW 2 35 BST_A
NC 4 41 PVDD_C
FAULT 3 34 PVDD_A
PWM_C 5 40 PVDD_C
OUT_C PWM_A 4 33 OUT_A
RESET_C 6 39
RESET_B 7 38 GND_C RESET_A 5 32 GND_A
M1 8 37 GND
PWM_B 6 31 GND_B
M2 9 36 GND
NC OC_ADJ 7 30 OUT_B
M3 10 35
VREG 11 34 NC GND 8 29 PVDD_B
AGND 12 33 BST_B 9 28
BST_B
AGND
GND 13 32 PVDD_B
VREG 10 27 NC
OC_ADJ 14 31 OUT_B
PWM_B 15 30 GND_B M3 11 26 NC
RESET_A 16 29 GND_A 12
M2 25 GND
PWM_A 17 28 OUT_A
PVDD_A M1 13 24 GND
FAULT 18 27
NC 19 26 PVDD_A RESET_B 14 23 GND_C
NC 20 25 NC RESET_C 15 22 OUT_C
OTW 21 24 BST_A
PWM_C 16 21 PVDD_C
GVDD_B 22 23 GVDD_A
VDD 17 20 BST_C
GVDD_C 18 19 GVDD_C
Pin Functions
PIN (1)
FUNCTION DESCRIPTION
NAME DRV8312 DRV8332
AGND 12 9 P Analog ground
BST_A 24 35 P High side bootstrap supply (BST), external capacitor to OUT_A required
BST_B 33 28 P High side bootstrap supply (BST), external capacitor to OUT_B required
BST_C 43 20 P High side bootstrap supply (BST), external capacitor to OUT_C required
GND 13, 36, 37 8 P Ground
GND_A 29 32 P Power ground for half-bridge A requires close decoupling capacitor to ground
GND_B 30 31 P Power ground for half-bridge B requires close decoupling capacitor to ground
GND_C 38 23 P Power ground for half-bridge C requires close decoupling capacitor to ground
GVDD_A 23 36 P Gate-drive voltage supply
GVDD_B 22 1 P Gate-drive voltage supply
GVDD_C 1, 44 18, 19 P Gate-drive voltage supply
M1 8 13 I Mode selection pin
M2 9 12 I Mode selection pin
M3 10 11 I Reserved mode selection pin, VREG connection is recommended
3,4,19,20,25,34,35
NC 26,27 - No connection pin. Ground connection is recommended
,42
OC_ADJ 14 7 O Analog overcurrent programming pin, requires resistor to AGND
PIN (1)
FUNCTION DESCRIPTION
NAME DRV8312 DRV8332
Overtemperature warning signal, open-drain, active-low. An internal pull-up resistor
OTW 21 2 O to VREG (3.3 V) is provided on output. Level compliance for 5-V logic can be
obtained by adding external pull-up resistor to 5 V
OUT_A 28 33 O Output, half-bridge A
OUT_B 31 30 O Output, half-bridge B
OUT_C 39 22 O Output, half-bridge C
PVDD_A 26,27 34 P Power supply input for half-bridge A requires close decoupling capacitor to ground.
PVDD_B 32 29 P Power supply input for half-bridge B requires close decoupling capacitor to gound.
PVDD_C 40,41 21 P Power supply input for half-bridge C requires close decoupling capacitor to ground.
PWM_A 17 4 I Input signal for half-bridge A
PWM_B 15 6 I Input signal for half-bridge B
PWM_C 5 16 I Input signal for half-bridge C
RESET_A 16 5 I Reset signal for half-bridge A, active-low
RESET_B 7 15 I Reset signal for half-bridge B, active-low
RESET_C 6 15 I Reset signal for half-bridge C, active-low
Fault signal, open-drain, active-low. An internal pull-up resistor to VREG (3.3 V) is
FAULT 18 3 O provided on output. Level compliance for 5-V logic can be obtained by adding
external pull-up resistor to 5 V
Power supply for digital voltage regulator requires capacitor to ground for
VDD 2 17 P
decoupling.
VREG 11 10 P Digital regulator supply filter pin requires 0.1-F capacitor to AGND.
Solder the exposed thermal pad at the bottom of the DRV8312DDW package to the
THERMAL PAD -- N/A T landing pad on the PCB. Connect the landing pad through vias to large ground
plate for better thermal dissipation.
Mount heatsink with thermal interface to the heat slug on the top of the
HEAT SLUG N/A -- T
DRV8332DKD package to improve thermal dissipation.
FAULT
Power
On
M1
Reset AGND
Protection
M2 and
I/O Logic
M3 Temp.
Sense GND
RESET_A
RESET_B Overload
Isense OC_ADJ
Protection
RESET_C
GVDD_C
BST_C
PVDD_C
PWM Gate
PWM_C Ctrl. Timing OUT_C
Rcv. Drive
GND_C
GVDD_B
BST_B
PVDD_B
PWM Gate
PWM_B Ctrl. Timing OUT_B
Rcv. Drive
GND_B
GVDD_A
BST_A
PVDD_A
PWM Gate
PWM_A Ctrl. Timing OUT_A
Rcv. Drive
GND_A
ELECTRICAL CHARACTERISTICS
TA = 25 C, PVDD = 50 V, GVDD = VDD = 12 V, fSw = 400 kHz, unless otherwise noted. All performance is in accordance
with recommended operating conditions unless otherwise specified.
PARAMETER TEST CONDITIONS MIN TYP MAX UNIT
Internal Voltage Regulator and Current Consumption
VREG Voltage regulator, only used as a reference node VDD = 12 V 2.95 3.3 3.65 V
Idle, reset mode 9 12 mA
IVDD VDD supply current
Operating, 50% duty cycle 10.5
Reset mode 1.7 2.5 mA
IGVDD_X Gate supply current per half-bridge
Operating, 50% duty cycle 8
IPVDD_X Half-bridge X (A, B, or C) idle current Reset mode 0.7 1 mA
Output Stage
MOSFET drain-to-source resistance, low side (LS) TJ = 25C, GVDD = 12 V 80 m
RDS(on)
MOSFET drain-to-source resistance, high side (HS) TJ = 25C, GVDD = 12 V 80 m
VF Diode forward voltage drop TJ = 25C - 125C, IO = 5 A 1 V
tR Output rise time Resistive load, IO = 5 A 14 nS
tF Output fall time Resistive load, IO = 5 A 14 nS
tPD_ON Propagation delay when FET is on Resistive load, IO = 5 A 38 nS
tPD_OFF Propagation delay when FET is off Resistive load, IO = 5 A 38 nS
tDT Dead time between HS and LS FETs Resistive load, IO = 5 A 5.5 nS
I/O Protection
Gate supply voltage GVDD_X undervoltage
Vuvp,G 8.5 V
protection threshold
(1)
Vuvp,hyst Hysteresis for gate supply undervoltage event 0.8 V
OTW (1) Overtemperature warning 115 125 135 C
OTWhyst (1) Hysteresis temperature to reset OTW event 25 C
OTSD (1) Overtemperature shut down 150 C
OTE- OTE-OTW overtemperature detect temperature
25 C
OTWdifferential (1) difference
Hysteresis temperature for FAULT to be released
OTSDHYST (1) 25 C
following an OTSD event
IOC Overcurrent limit protection Resistorprogrammable, nominal, ROCP = 27 k 9.7 A
Time from application of short condition to Hi-Z of
IOCT Overcurrent response time 250 ns
affected FET(s)
Static Digital Specifications
VIH High-level input voltage PWM_A, PWM_B, PWM_C, M1, M2, M3 2 3.6 V
VIH High-level input voltage RESET_A, RESET_B, RESET_C 2 3.6 V
PWM_A, PWM_B, PWM_C, M1, M2, M3,
VIL Low-level input voltage 0.8 V
RESET_A, RESET_B, RESET_C
llkg Input leakage current -100 100 A
OTW / FAULT
Internal pullup resistance, OTW to VREG, FAULT to
RINT_PU 20 26 35 k
VREG
Internal pullup resistor only 2.95 3.3 3.65
VOH High-level output voltage V
External pullup of 4.7 k to 5 V 4.5 5
VOL Low-level output voltage IO = 4 mA 0.2 0.4 V
TYPICAL CHARACTERISTICS
EFFICIENCY NORMALIZED RDS(on)
vs vs
SWITCHING FREQUENCY (DRV8332) GATE DRIVE
100 1.10
TJ = 25C
90
1.08
70 1.06
Efficiency %
60
1.04
50
1.02
40
30 1.00
Full Bridge
20 Load = 5 A
PVDD = 50 V 0.98
10 TC = 75C
0 0.96
0 50 100 150 200 250 300 350 400 450 500 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12
f Switching Frequency kHz GVDD Gate Drive V
Figure 1. Figure 2.
NORMALIZED RDS(on)
vs DRAIN TO SOURCE DIODE FORWARD
JUNCTION TEMPERATURE ON CHARACTERISTICS
1.6 6
GVDD = 12 V TJ = 25C
5
Normalized RDS(on) / (RDS(on) at 25oC)
1.4
4
1.2
I Current A
3
1.0
2
0.8
1
0.6 0
0.4 1
40 20 0 20 40 60 80 100 120 140 0 0.2 0.4 0.6 0.8 1 1.2
o
TJ Junction Temperature C V Voltage V
Figure 3. Figure 4.
60
50
40
30
20
10
0
0 10 20 30 40 50 60 70 80 90 100
Input Duty Cycle %
Figure 5.
THEORY OF OPERATION
Figure 6 illustrates cycle-by-cycle operation with high It should be noted that a properly functioning
side OC event and Figure 7 shows cycle-by-cycle overcurrent detector assumes the presence of a
operation with low side OC. Dashed lines are the proper inductor or power ferrite bead at the power-
operation waveforms when no CBC event is triggered stage output. Short-circuit protection is not
and solide lines show the waveforms when CBC guaranteed with direct short at the output pins of the
event is triggered. In CBC current limiting mode, power stage.
when low side FET OC is detected, devcie will turn
off the affected low side FET and keep the high side Overtemperature Protection
FET at the same half brdige off until next PWM cycle;
The DRV8312/32 have a two-level temperature-
when high side FET OC is detected, devcie will turn
protection system that asserts an active-low warning
off the affected high side FET and turn on the low
signal (OTW) when the device junction temperature
side FET at the half brdige until next PWM cycle.
exceeds 125C (nominal) and, if the device junction
In OC latching shut down mode, the CBC current limit temperature exceeds 150C (nominal), the device is
and error recovery circuitries are disabled and an put into thermal shutdown, resulting in all half-bridge
overcurrent condition will cause the device to outputs being set in the high-impedance (Hi-Z) state
shutdown. After shutdown, RESET_A, RESET_B, and FAULT being asserted low. OTSD is latched in
and RESET_C must be asserted to restore normal this case and RESET_A, RESET_B, and RESET_C
operation after the overcurrent condition is removed. must be asserted low to clear the latch.
For added flexibility, the OC threshold is Undervoltage Protection (UVP) and Power-On
programmable using a single external resistor Reset (POR)
connected between the OC_ADJ pin and AGND pin.
See Table 2 for information on the correlation The UVP and POR circuits of the DRV8312/32 fully
between programming-resistor value and the OC protect the device in any power-up / down and
threshold. brownout situation. While powering up, the POR
circuit resets the overcurrent circuit and ensures that
Table 2. Programming-Resistor Values and OC all circuits are fully operational when the GVDD_X
Threshold and VDD supply voltages reach 9.8 V (typical).
OC-ADJUST RESISTOR MAXIMUM CURRENT BEFORE
Although GVDD_X and VDD are independently
VALUES (k) OC OCCURS (A) monitored, a supply voltage drop below the UVP
19 (1)
13.2
threshold on any VDD or GVDD_X pin results in all
half-bridge outputs immediately being set in the high-
22 11.6 impedance (Hi-Z) state and FAULT being asserted
24 10.7 low. The device automatically resumes operation
27 9.7 when all supply voltage on the bootstrap capacitors
30 8.8 have increased above the UVP threshold.
36 7.4
DEVICE RESET
39 6.9
43 6.3 Three reset pins are provided for independent control
47 5.8
of half-bridges A, B, and C. When RESET_X is
asserted low, two power-stage FETs in half-bridges X
56 4.9
are forced into a high-impedance (Hi-Z) state.
68 4.1
A rising-edge transition on reset input allows the
82 3.4
device to resume operation after a shut-down fault.
100 2.8 That is, when half-bridge X has OC shutdown in CBC
120 2.4 mode, a low to high transition of RESET_X pin will
150 1.9 clear the fault and FAULT pin. When an OTSD or OC
200 1.4 shutdown in Latching mode occurs, all three
RESET_A, RESET_B, and RESET_C need to have a
low to high transition to clear the fault and reset
(1) Recommended to use in OC Latching Mode Only FAULT signal.
DIFFERENT OPERATIONAL MODES Figure 11 shows six steps trapezoidal scheme with
hall sensor control and Figure 12 shows six steps
The DRV8312/32 support two different modes of trapezoidal scheme with sensorless control. The hall
operation: sensor sequence in real application might be different
1. Three-phase (3PH) or three half bridges (HB) than the one we showed in Figure 11 depending on
with CBC current limit the motor used. Please check motor manufacture
2. Three-phase or three half bridges with OC datasheet for the right sequence in applications. In
latching shutdown (no CBC current limit) six step trapezoidal complementary control scheme, a
half bridge with larger than 50% duty cycle will have a
Because each half bridge has independent supply positive current and a half bridge with less than 50%
and ground pins, a shunt sensing resistor can be duty cycle will have a negative current. For normal
inserted between PVDD to PVDD_X or GND_X to operation, changing PWM duty cycle from 50% to
GND (ground plane). A high side shunt resistor 100% will adjust the current from 0 to maximum value
between PVDD and PVDD_X is recommended for with six steps control. It is recommanded to apply a
differential current sensing because a high bias minimum 50ns to 100 nS PWM pulse at each
voltage on the low side sensing could affect device switching cycle at lower side to properly charge the
operation. If low side sensing has to be used, a shunt bootstrap cap. The impact of minimum pulse at low
resistor value of 10 m or less or sense voltage 100 side FET is pretty small, e.g., the maximum duty
mV or less is recommended. cycle is 99.9% with 100ns minimum pulse on low
side. RESET_Xpin can be used to get channel X into
Figure 8 and Figure 9 show the three-phase high impedance mode. If you prefer PWM switching
application examples, and Figure 10 shows how to one channel but hold low side FET of the other
connect to DRV8312/32 with some simple logic to channel on (and third channel in Hi-Z) for 2-quadrant
accommodate conventional 6 PWM inputs control. mode, OT latching shutdown mode is recommended
We recommend using complementary control to prevent the channel with low side FET on stuck in
scheme for switching phases to prevent circulated Hi-Z during OC event in CBC mode.
energy flowing inside the phases and to make current
limiting feature active all the time. Complementary The DRV8312/32 can also be used for sinusoidal
control scheme also forces the current flowing waveform control and field oriented control. Please
through sense resistors all the time to have a better check TI website MCU motor control library for
current sensing and control of the system. control algorithms.
PVDD
Current Limit
Load
PWM_HS Current
Load PWM_HS
PWM_LS
PWM_LS
GND_X
Figure 6. Cycle-by-Cycle Operation with High Side OC (dashed line: normal operation; solid line: CBC
event)
PVDD
Current Limit
Load
PWM_HS Current
PWM_HS
Load
PWM_LS PWM_LS
Figure 7. Cycle-by-Cycle Operation with Low Side OC (dashed line: normal operation; solid line: CBC
event)
GVDD
PVDD
1 mF
330 mF DRV8332 3.3
1000 mF
1mF GVDD_B GVDD_A 10 nF
OTW BST_A
100 nF
FAULT PVDD_A
Loc
PWM_A OUT_A
Rsense_A 100nF
RESET_A GND_A
Controller Rsense_B M
PWM_B GND_B
Roc_adj Loc
(MSP430 OUT_B
OC_ADJ
C2000 or 1
Stellaris MCU) GND PVDD_B
100 nF
AGND BST_B 100nF
100 nF
VREG NC
Rsense_x 10 mW
M3 NC
or
M2 GND Vsense < 100 mV
M1 GND
Rsense_C
RESET_B GND_C
Loc
RESET_C OUT_C
PWM_C PVDD_C
100 nF
GVDD VDD BST_C 100nF
1 mF PVDD
47 mF GVDD_C GVDD_C
1mF
1mF
DRV8312
GVDD GVDD_B GVDD_A
PVDD
100 nF
1mF
330 mF OTW BST_A 3.3
1000 mF
NC NC 10 nF
NC PVDD_A
FAULT PVDD_A
Loc
PWM_A OUT_A
Rsense_A 100nF
RESET_A GND_A
Controller Rsense_B M
PWM_B GND_B
Loc
(MSP430 Roc_adj
OC_ADJ OUT_B
C2000 or 1
Stellaris MCU) GND PVDD_B
100 nF
AGND BST_B 100nF
100 nF
VREG NC
Rsense_x 10 mW
M3 NC
or
M2 GND Vsense < 100 mV
M1 GND
Rsense_C
RESET_B GND_C
Loc
RESET_C OUT_C
PWM_C PVDD_C
NC PVDD_C 100nF
PVDD
NC NC
GVDD
47 mF 1mF
VDD BST_C
100 nF
GVDD_C GVDD_C
1mF
PVDD
Controller
PWM_AH PWM_A
PWM_BH PWM_B MOTOR
PWM_CH PWM_C
OUT_A
OUT_B
RESET_A OUT_C
PWM_AL
RESET_B
PWM_BL
RESET_C
PWM_CL
GND_A
GND_B
GND_C
Figure 10. Control Signal Logic with Conventional 6 PWM Input Scheme
S1 S2 S3 S4 S5 S6 S1 S2 S3 S4 S5 S6
Hall Sensor H1
Hall Sensor H2
Hall Sensor H3
Phase Current A
Phase Current B
Phase Current C
PWM_A
PWM_B
PWM_C
RESET_A
RESET_B
RESET_C
o o
360 360
PWM= 100% PWM=75%
S1 S2 S3 S4 S5 S6 S1 S2 S3 S4 S5 S6
0V
Back EMF (Vab)
0V
Back EMF (Vbc)
0V
Back EMF (Vca)
Va
Phase A Ia
Current and Voltage 0A
0V
Phase B Vb
0A Ib
Current and Voltage
0V
Vc
Phase C Ic
Current and Voltage 0A
0V
PWM_A
PWM_B
PWM_C
RESET_A
RESET_B
RESET_C
o o
360 360
PWM= 100% PWM= 75%
APPLICATION INFORMATION
VREG Pin
The VREG pin is used for internal logic and should not be used as a voltage source for external circuitries. The
capacitor on VREG pin should be connected to AGND.
VDD Pin
The transient current in VDD pin could be significantly higher than average current through VDD pin. A low
resistive path to GVDD should be used. A 22-F to 47-F capacitor should be placed on VDD pin beside the
100-nF to 1-F decoupling capacitor to provide a constant voltage during transient.
OTW Pin
OTW reporting indicates the device approaching high junction temperature. This signal can be used with MCU to
decrease system power when OTW is low in order to prevent OT shut down at a higher temperature.
No external pull up resistor or 3.3V power supply is needed for 3.3V logic. The OTW pin has an internal pullup
resistor connecting to an internal 3.3V to reduce external component count. For 5V logic, an external pull up
resistor to 5V is needed.
FAULT Pin
The FAULT pin reports any fault condition resulting in device shut down. No external pull up resistor or 3.3V
power supply is needed for 3.3V logic. The FAULT pin has an internal pullup resistor connecting to an internal
3.3V to reduce external component count. For 5V logic, an external pull upresistor to 5V is needed.
OC_ADJ Pin
For accurate control of the overcurrent protection, the OC_ADJ pin has to be connected to AGND through an OC
adjust resistor.
Ground Plane
Because of the power level of these devices, it is recommended to use a big unbroken single ground plane for
the whole system / board. The ground plane can be easily made at bottom PCB layer. In order to minimize the
impedance and inductance of ground traces, the traces from ground pins should keep as short and wide as
possible before connected to bottom ground plane through vias. Multiple vias are suggested to reduce the
impedance of vias. Try to clear the space around the device as much as possible especially at bottom PCB side
to improve the heat spreading.
Decoupling Capacitor
High frequency decoupling capacitors (100 nF) should be placed close to PVDD_X pins and with a short ground
return path to minimize the inductance on the PCB trace.
AGND
AGND is a localized internal ground for logic signals. A 1- resistor is recommended to be connected between
GND and AGND to isolate the noise from board ground to AGND. There are other two components are
connected to this local ground: 0.1-F capacitor between VREG to AGND and Roc_adj resistor between
OC_ADJ and AGND. Capacitor for VREG should be placed close to VREG and AGND pins and connected
without vias.
R28 0603
0603
GND 619
0603 R40
30.1K GND
0603
OA2 R33
2 4 IS-IhbC
V- -IN
R21 GND 1 931
VOUT R49 0603
0.0 5 3 +2.5V
0603 R19 V+ +IN 15.4K C26
+3.3V 0603 C20 C58
33 1/8W OPA365AIDBV
0805 C24 SOT23-DBV 1000pfd/50V
220pfd/50V 0603
220pfd/50V 0603
U1 0.1ufd/16V 0603
1 44 0603
R29
GVDD
U1 619
PowerPad C30 43 GND R24 R41
0603
42 STUFF OPTION
1.0ufd/16V 10.2K 30.1K
HTSSOP44-DDW 0603 R25 0603
0603 41 GND
PVDD
GND 40 10.2K
GND C36 C37 0603
2
0.1ufd/100V 0.1ufd/100V R38 R39 C50
+ 3 0805 0805 10.0K 499
C31 C32 0603 0603 1000pfd/100V
4 0603
47ufd/16V 1.0ufd/16V GND
M 0603 OUT_C L2 GND GND
39 Orange
OUTC
30ohms/6A
GND GND 0805
5 38
Orange 29
3 S1
2
1 OUT_A L4
28 Orange
16 OUTA
30ohms/6A
21
DRV8312
DRV8332
SLES256C MAY 2010 REVISED OCTOBER 2013 www.ti.com
C37
T3
T4
T2
C33
T1
C43
C46
T1: PVDD decoupling capacitors C37, C43, and C46 should be placed very close to PVDD_X pins and ground return
path.
T2: VREG decoupling capacitor C33 should be placed very close to VREG abd AGND pins.
T3: Clear the space above and below the device as much as possible to improve the thermal spreading.
T4: Add many vias to reduce the impedance of ground path through top to bottom side. Make traces as wide as
possible for ground path such as GND_X path.
B1
B1: Do not block the heat transfer path at bottom side. Clear as much space as possible for better heat spreading.
THERMAL INFORMATION
The thermally enhanced package provided with the DRV8332 is designed to interface directly to heat sink using
a thermal interface compound in between, (e.g., Ceramique from Arctic Silver, TIMTronics 413, etc.). The heat
sink then absorbs heat from the ICs and couples it to the local air. It is also a good practice to connect the
heatsink to system ground on the PCB board to reduce the ground noise.
RJA is a system thermal resistance from junction to ambient air. As such, it is a system parameter with the
following components:
RJC (the thermal resistance from junction to case, or in this example the power pad or heat slug)
Thermal grease thermal resistance
Heat sink thermal resistance
The thermal grease thermal resistance can be calculated from the exposed power pad or heat slug area and the
thermal grease manufacturer's area thermal resistance (expressed in C-in 2/W or C-mm2/W). The approximate
exposed heat slug size is as follows:
DRV8332, 36-pin PSOP3 0.124 in2 (80 mm 2)
The thermal resistance of a thermal pad is considered higher than a thin thermal grease layer and is not
recommended. Thermal tape has an even higher thermal resistance and should not be used at all. Heat sink
thermal resistance is predicted by the heat sink vendor, modeled using a continuous flow dynamics (CFD) model,
or measured.
Thus the system RJA = RJC + thermal grease resistance + heat sink resistance.
See the TI application report, IC Package Thermal Metrics (SPRA953A), for more thermal information.
REVISION HISTORY
Changed text in the OC_ADJ Pin section From: "For accurate control of the oevercurrent protection..." To: "For
accurate control of the overcurrent protection..." ................................................................................................................ 18
Changed the description of pin M3 From: AGND connection is recommended To: VREG connection is
recommended ....................................................................................................................................................................... 4
Changed text in the Overcurrent (OC) Protection section From: "cause the device to shutdown immediately." To:
"cause the device to shutdown." ......................................................................................................................................... 12
Changed text in the Overcurrent (OC) Protection section From: "RESET_B, and / or RESET_C must be asserted."
To: "RESET_B, and RESET_C must be asserted" ............................................................................................................ 12
Changed paragraph in the DEVICE RESET "A rising-edge transition..." ........................................................................... 12
www.ti.com 2-Oct-2013
PACKAGING INFORMATION
Orderable Device Status Package Type Package Pins Package Eco Plan Lead/Ball Finish MSL Peak Temp Op Temp (C) Device Marking Samples
(1) Drawing Qty (2) (3) (4/5)
DRV8312DDW ACTIVE HTSSOP DDW 44 35 Green (RoHS CU NIPDAU Level-3-260C-168 HR -40 to 85 DRV8312
& no Sb/Br)
DRV8312DDWR ACTIVE HTSSOP DDW 44 2000 Green (RoHS CU NIPDAU Level-3-260C-168 HR -40 to 85 DRV8312
& no Sb/Br)
DRV8332DKD ACTIVE HSSOP DKD 36 29 Green (RoHS NIPDAU Level-4-260C-72 HR -40 to 85 DRV8332
& no Sb/Br)
DRV8332DKDR ACTIVE HSSOP DKD 36 500 Green (RoHS NIPDAU Level-4-260C-72 HR -40 to 85 DRV8332
& no Sb/Br)
(1)
The marketing status values are defined as follows:
ACTIVE: Product device recommended for new designs.
LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect.
NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design.
PREVIEW: Device has been announced but is not in production. Samples may or may not be available.
OBSOLETE: TI has discontinued the production of the device.
(2)
Eco Plan - The planned eco-friendly classification: Pb-Free (RoHS), Pb-Free (RoHS Exempt), or Green (RoHS & no Sb/Br) - please check http://www.ti.com/productcontent for the latest availability
information and additional product content details.
TBD: The Pb-Free/Green conversion plan has not been defined.
Pb-Free (RoHS): TI's terms "Lead-Free" or "Pb-Free" mean semiconductor products that are compatible with the current RoHS requirements for all 6 substances, including the requirement that
lead not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, TI Pb-Free products are suitable for use in specified lead-free processes.
Pb-Free (RoHS Exempt): This component has a RoHS exemption for either 1) lead-based flip-chip solder bumps used between the die and package, or 2) lead-based die adhesive used between
the die and leadframe. The component is otherwise considered Pb-Free (RoHS compatible) as defined above.
Green (RoHS & no Sb/Br): TI defines "Green" to mean Pb-Free (RoHS compatible), and free of Bromine (Br) and Antimony (Sb) based flame retardants (Br or Sb do not exceed 0.1% by weight
in homogeneous material)
(3)
MSL, Peak Temp. -- The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature.
(4)
There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device.
(5)
Multiple Device Markings will be inside parentheses. Only one Device Marking contained in parentheses and separated by a "~" will appear on a device. If a line is indented then it is a continuation
of the previous line and the two combined represent the entire Device Marking for that device.
Important Information and Disclaimer:The information provided on this page represents TI's knowledge and belief as of the date that it is provided. TI bases its knowledge and belief on information
provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. TI has taken and
Addendum-Page 1
PACKAGE OPTION ADDENDUM
www.ti.com 2-Oct-2013
continues to take reasonable steps to provide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals.
TI and TI suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release.
In no event shall TI's liability arising out of such information exceed the total purchase price of the TI part(s) at issue in this document sold by TI to Customer on an annual basis.
Addendum-Page 2
PACKAGE MATERIALS INFORMATION
www.ti.com 2-Oct-2013
Pack Materials-Page 1
PACKAGE MATERIALS INFORMATION
www.ti.com 2-Oct-2013
Pack Materials-Page 2
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Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265
Copyright 2013, Texas Instruments Incorporated
Current Transducer LTS 15-NP IPN = 15 At
For the electronic measurement of currents: DC, AC, pulsed,
mixed with galvanic isolation between the primary circuit (high power)
and the secondary circuit (electronic circuit).
16058
Features
Electrical data Closed loop (compensated) multi-
range current transducer using
IPN Primary nominal current rms 15 At the Hall effect
IPM Primary current, measuring range 0 .. 48 At Unipolar voltage supply
P Overload capability 250 At Isolated plastic case recognized
VOUT Output voltage (Analog) @ IP 2.5 (0.625IP/IPN) V according to UL 94-V0
IP = 0 2.5 1) V Compact design for PCB
G Sensitivity 41.6 mV/A mounting
NS Number of secondary turns ( 0.1 %) 2000 Incorporated measuring
RL Load resistance 2 kW resistance
R IM Internal measuring resistance ( 0.5 %) 83.33 W Extended measuring range.
TCR IM Temperature coeficient of R IM < 50 ppm/K
VC Supply voltage ( 5 %) 5 V Advantages
IC Current consumption @ VC = 5 V Typ 28+IS2)+(VOUT/RL) mA Excellent accuracy
Very good linearity
Accuracy - Dynamic performance data Very low temperature drift
Optimized response time
X Accuracy @ IPN, TA = 25C 0.2 % Wide frequency bandwidth
Accuracy with RIM @ IPN, TA = 25C 0.7 % No insertion losses
L
Linearity error < 0.1 % High immunity to external
Typ Max interference
TCVOUT Temperature coeficient of VOUT @ IP= 0 - 10C .. + 85C 65 120 ppm/K Current overload capability.
- 40C .. - 10C 65 170 ppm/K Applications
TCG Temperature coeficient of G - 40C .. + 85C 50 3) ppm/K
AC variable speed drives and
VOM Magnetic offset voltage @ IP = 0,
servo motor drives
after an overload of 3 x IPN 0.5 mV
Static converters for DC motor
5 x IPN 2.0 mV
drives
10 x IPN 2.0 mV
Battery supplied applications
tra Reaction time @ 10 % of IPN < 100 ns Uninterruptible Power Supplies
tr Response time to 90 % of IPN step < 400 ns (UPS)
di/dt di/dt accurately followed > 35 A/s Switched Mode Power Supplies
BW Frequency bandwidth (0 .. - 0.5 dB) DC .. 100 kHz (SMPS)
(- 0.5.. 1 dB) DC .. 200 kHz Power supplies for welding
applications.
General data
Application domain
TA Ambient operating temperature - 40 .. + 85 C Industrial.
TS Ambient storage temperature - 40 .. + 100 C
m Mass 10 g
Standards EN 50178: 1997
IEC 60950-1: 2001
Notes: 1) Absolute value @ TA = 25C, 2.475 < VOUT < 2.525
2)
IS = IP/NS
3)
Only due to TCRIM. Page 1/3
110218/19 LEM reserves the right to carry out modiications on its transducers, in order to improve them, without prior notice. www.lem.com
Current Transducer LTS 15-NP
Isolation characteristics
Applications examples
Safety
When operating the transducer, certain parts of the module can carry hazardous
voltage (eg. primary busbar, power supply).
Ignoring this warning can lead to injury and/or cause serious damage.
This transducer is a build-in device, whose conducting parts must be inaccessible
after installation.
A protective housing or additional shield could be used.
Main supply must be able to be disconnected.
Page 2/3
110218/19 LEM reserves the right to carry out modiications on its transducers, in order to improve them, without prior notice. www.lem.com
Dimensions LTS 15-NP (in mm)
Operation principle
110218/19 LEM reserves the right to carry out modiications on its transducers, in order to improve them, without prior notice. www.lem.com
Efficiency up to 96%, Non isolated,
Features no need for heatsinks
INNOLINE
Pin-out compatible with LM78XX Linears DC/DC-Converter
Low profile( L*W*H=11.5*8.5*17.5mm) with 3 year Warranty
High voltage input range, up to 72V
Short circuit protection, Thermal shutdown
Non standard outputs available as specials
between 3.3V~24V
Low ripple and noise
L version with 90 pins
See Innoline Application Notes for use as an
0.5 AMP
inverter (alternative to LM79xx Linear) SIP3
Single Output
Description
The R-78HBxx-Series high efficiency, high input voltage switching regulators are ideally suited to replace 78xx linear
regulators and are pin compatible. The efficiency of up to 96% means that very little energy is wasted as heat so there
is no need for any heat sinks with their additional space and mounting costs.
An input voltage range of up to 8:1is unsurpassed by any other converter and allows the full stored energy utilisation of
standard and high voltage batteries. The fully protected output is ideal for industrial applications (especially for industry
standard 24VDC bus supplies) and the L-Version with 90 pins allows direct replacement for laid-flat regulators where
component height is at a premium. Low ripple and noise figures and a short circuit input current of typically only 15mA
round off the specifications of this versatile converter series.
Typical applications include telecommunication, automotive, industrial, aerospace and battery powered applications. RoHS
2002/95/EC
6/6
+Vin +Vout
120
R-78HBxx-0.5
100
80
Output Power (%)
3.3F/100V 60
Required if Safe Operating Area
Vin>50V 40
20
0
85
-40 0 25 50 75 100
-Vin -Vout
71
Operating Temperature (C)
The converter has a built in soft start circuit. Rapidly changing the input voltage
from Vin(min) Vin(max) can bypass this circuit and damage the converter.
800
Switching Vo=24V
Vo=15V
Frequency 400 Vo=12V
Vo=9.0V
Vo=6.5V
vs 200 Vo=5.0V
Vo=3.3V
Load
Frequency (kHz)
100
50
10
10 50 100 200 300 400 500
Output Current ( mA )
Switching Frequency Vs Load ( Vin=30~72V )
Efficiency Ripple
100 Vo=24V 50
Vo=15V
Vo=12V
Vo=9V
75 Vo=6.5V
Vo=5V
Vo=3.3V
50 25 Vo=24V
Vo=6.5V
Vo=12V,15V
Efficiency (%)
Ripple (mV)
25 Vo=3.3V
Vo=9V
Vo=5V
9 20 30 40 50 60 72 9 20 30 40 50 60 72
Vin ( V ) Vin ( V )
100 Vo=15V
Vo=24V Vo=12V 60
Vo=9V
Vo=6.5V
75
Vo=5V
Vo=3.3V 40
50
Vo=6.5V
Efficiency (%)
20 Vo=12V, 15V
Ripple (mV)
25 Vo=24V
Vo=3.3V
Vo=9.0V
Vo=5.0V
R-78HB
10 50 100 200 300 400 500 10 50 100 200 300 400 500
Output Current ( A ) Output Current ( mA )
Efficiency Vs Load ( Vin=Max ) Ripple Vs Load ( Vin=Max )
20 Vo=6.5V
Ripple (mV)
25 Vo=12V, 15V
Vo=3.3V
Vo=9.0V
Vo=5.0V
10 50 100 200 300 400 500 10 50 100 200 300 400 500
Output Current ( A ) Output Current ( mA )
Efficiency Vs Load ( Vin=Min ) Ripple Vs Load ( Vin=Min )
*Note: Operation under no load will not damage these devices, however they may not meet all specifications. A minimum load of 10mA is recommended
Typical Application
Reverse Polarity
Protection
+Batt R-78HB12-0.5 +12V@100mA
+5V@850mA
R-785.0-1.0
Cstorage,
Brown Out 10uF
Protection
-Batt 0V Com
- Wide input range 18V to 72V - can be used with 24V, 48V or 60V batteries
R-78HB
3rd angle
SIP3 PIN Package projection
8.50 8.50
RECOM RECOM
R-78HB5.0-0.5 R-78HB5.0-0.5
17.5 **** ****
Pb Pb
0.51 typ. 4.10