TN0516
Technical note
Overview of the STM32F0x/F100xx/F103xx and
STM32F2xx/F30x/F4xx MCUs PMSM single/dual FOC SDK V4.0
Introduction
This technical note is an overview of the main features of the Motor Control Software
Development Kit (generically called software library) designed for and to be used with
STM32F0xx, STM32F100xx, STM32F103xx, STM32F2xx, STM32F302xB/C,
STM32F303xB/C and STM32F4xx MCUs. The library exploits a new sensorless technique
that, in conjunction with an I-PMSM motor, is able to extend the range of allowed speed to
zero. This novel sensor-less algorithm takes benefit of the motor structure in order to detect
the rotor angular position even when the motor is at low speed or still. In this note we will
refer to this technique as “High Frequency Injection”, or HFI. This new algorithm takes
benefit of the floating point unit of STM32F30x and STM32F4xx MCUs.The software library
implements the Field Oriented Control (FOC) drive of 3-phase Permanent Magnet
Synchronous Motors (PMSM), both Surface Mounted (SM-PMSM) and Internal (I-PMSM).
The PMSM FOC library can be used to quickly evaluate ST microcontrollers and complete
ST application platforms, and to save time when developing Motor Control algorithms to be
run on ST microcontrollers. It is written in C language, and implements the core Motor
Control algorithms (reference frame transformations, currents regulation, speed regulation,
space-vector modulation, energy efficiency optimizations) as well as sensor
reading/decoding algorithms (three shunts, ST-patented single DC link shunt, isolated
current sensors, incremental encoder, hall sensors) and a sensorless algorithm for rotor
position reconstruction.The library can be easily configured to make use of STM32F30x's
embedded advanced analog peripheral set (fast comparators and Programmable Gain
Amplifiers, PGA) for current sensing and protection, thus simplifying application board.
When deployed with STM32F103xx (Flash memory from 256KBytes to 1MByte),
STM32F2xx, STM32F303xB/C or STM32F4xx devices, the library allows simultaneous dual
FOC of two different motors. The library can be customized to suit user application
parameters (motor, sensors, power stage, control stage, pin-out assignment) and provides a
ready-to-use Application Programming Interface (API).
A user project has been implemented to demonstrate how to interact with the Motor Control
API. This project provides LCD and UART User Interface, thus representing a convenient
real-time fine-tuning and remote control tool. A PC Graphical User Interface (GUI), the ST
MC Workbench, allows a complete and easy customization of the PMSM FOC library. In
conjunction with the ST motor control starter kits, a PMSM motor can be made to run in a
very short time. Moreover a set of ready-to-use examples are provided together with the
library to explain the usage of the motor control API and it's most common features.
Table 1. Applicable products
Type
Microcontrollers
Applicable products
STM32F030C6/C8/K6/R8, STM32F050C6/G6/K6,
STM32F051C6/C8/K6/K8/R6/R8, STM32F100 Value line, STM32F103,
STM32F2 Series, STM32F302xB/xC, STM32F303xB/xC, STM32F4 Series
May 2014
DocID018733 Rev 4
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www.st.com
TN0516
Contents
1
Motor control library features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1
User project and interface features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2
3
MC software development kit architecture . . . . . . . . . . . . . . . . . . . . . . . 5
Documentation architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1
3.2
Where to find the information you need . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
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Motor control library features
1
Motor control library features
•
Single or simultaneous Dual PMSM FOC sensorless / sensored (Dual PMSM FOC only
when running on STM32F103xx High-Density, STM32F103xx XL-Density or
STM32F2xx or STM32F303xB/C or STM32F4xx)
Speed feedback:
–
–
–
–
–
–
–
•
–
–
–
Sensorless (High Frequency Injection HFI plus B-EMF State Observer, PLL rotor
speed/angle computation from B-EMF, only for STM32F30x or STM32F4xx)
Sensorless (B-EMF State Observer, PLL rotor speed/angle computation from
B-EMF)
Sensorless (B-EMF State Observer, CORDIC rotor angle computation from
B-EMF)
60° or 120° displaced Hall sensors decoding, rising/falling edge responsiveness
Quadrature incremental encoder
For each motor, dual simultaneous speed feedback processing
On-the-fly speed sensor switching capability
Two ICS (only when running on STM32F103xx or STM32F2xx or STM32F4xx)
Single, common DC-link shunt resistor (ST patented)
Three-shunt resistors placed on the bottom of the three inverter legs (only when
running on STM32F103xx or STM32F2xx or STM32F302xB/C or STM32F30xB/C
or STM32F4xx)
PGA (Programmable Gain Amplifiers) for current sensing: support for three-shunt
and single-shunt, internal and external gain
Comparators for over-current protection: support for three-shunt and single-shunt,
internal and external threshold
Comparators for over-voltage protection: support for motor phases short-circuiting
mode and free-wheeling mode, internal and external threshold
ADC queue of context (ST patented architecture) support
CCM (Core Coupled Memory) RAM support
Advanced Timer structures for single shunt (ST patented) support
•
Current sampling methods:
•
Embedded analog features (STM32F30x only)
–
–
–
•
FOC hardware acceleration(STM32F30x only)
–
–
–
•
•
•
Flux weakening algorithm to attain higher than rated motor speed (optional)
Feed-Forward, high performance current regulation algorithm (optional)
SVPWM generation:
–
–
Centered PWM pattern type
Adjustable PWM frequency
•
•
Torque control mode, speed control mode; on-the-fly switching capability
Brake strategies (optional):
–
–
Dissipative DC link brake resistor handling
Motor phases short-circuiting (with optional hardware over-current protection
disabling)
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Motor control library features
–
•
•
•
•
•
Motor phases free-wheeling
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When running Dual FOC, any combination of the above-mentioned speed feedback,
current sampling, control mode, optional algorithm
Optimized I-PMSM and SM-PMSM drive
Programmable speed ramps (parameters duration and final target)
Programmable torque ramps (parameters duration and final target)
Real-time fine tuning of:
–
–
–
–
PID regulators
Sensorless algorithm
Flux weakening algorithm
Start-up procedure (in case of sensorless)
Over-current
Over-voltage
Over-temperature
Speed feedback reliability error
FOC algorithm execution overrun
•
Fault conditions management:
–
–
–
–
–
•
•
Easy customization of options, pin-out assignments, CPU clock frequency through ST
MC Workbench GUI
C language code:
–
–
–
Compliant with MISRA-C 2004 rules
Conforms strictly with ISO/ANSI
Object-oriented programming architecture
1.1
User project and interface features
Two options are available:
•
•
•
•
•
•
•
FreeRTOS-based user project (for STM32F103xx and STM32F2xx only)
SysTick-timer-easy-scheduler-based user project
Full LCD plus joystick
Light LCD plus joystick
Serial communication protocol bidirectional (compatible with ST MC Workbench GUI)
Serial communication protocol fast unidirectional
Drive system variables logging/displaying via:
–
–
SPI
DAC (DAC peripheral is not present in the STM32F103xx low or medium density;
in this case, RC-filtered PWM signal option is available).
Available User Interface options (and combinations of them):
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MC software development kit architecture
2
MC software development kit architecture
Figure 1
shows the system architecture. The Motor Control SDK has a four-layers structure:
•
•
•
•
STM32Fxxx standard peripherals library and CMSIS library
Motor Control Library
Motor Control Application
Demonstration user project
Figure 1. MC software library architecture
From the bottom layer upwards:
The STM32Fxxx standard peripherals library is an independent firmware package that
contains a collection of routines, data structures and macros that cover the features of the
STM32 peripherals. Version 3.5.0 of STM32F10x standard peripheral library is included in
the MC SDK, version 1.0.0 is available for STM32F05xx, STM32F2xx and STM32F4xx,
version 1.0.1 is available for STM32F30x. The STM32Fxxx standard peripherals library is
CMSIS and MISRA-C compliant. Visit www.st.com/stm32 for complete documentation.
The Motor Control Library is a wide collection of classes that describe the functionality of
elements involved in motor control (such as speed sensors, current sensors, algorithms).
Each class has an interface, which is a list of methods applicable to objects of that class.
Figure 2
is a conceptual representation of the library.
Two distributions of the Motor Control Library are available:
•
•
Web distribution, available free of charge at www.st.com, where the Motor Control
Library is provided as a compiled .lib file.
Confidential distribution, available free of charge on demand by contacting your
nearest ST sales office or support team. Source files of classes are provided, with the
exception of ST protected IPs, which are provided as compiled object files. Source files
of protected IPs can also be provided free of charge to ST partners upon request.
Contact your nearest ST office or support team for further information.
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