unipolar drive circuit simulation using pspice

20
All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 1 B Bcom A /B Acom /A U1 UNI-POLAR_STEP_MOTR L = 2.5M R = 4.2 U8 AND U9 AND R1 1k 0 FB DIODE D1 DIODE D2 DIODE D3 DIODE D4 PARAMETERS: I_SET = 0.5 VHYS = 0.1 B 0 PARAMETERS: RON = 10m 0 U10 1-PHASE PPS = 100 CLK FA /FA FB /FB 0 0 U6 AND FA + - REF - + FB. U2 HYS_I-CTRL I_SET = {I_SET} VHYS = {VHYS} /FA /FB VCC + - REF - + FB. U3 HYS_I-CTRL I_SET = {I_SET} VHYS = {VHYS} + - REF - + FB. U4 HYS_I-CTRL I_SET = {I_SET} VHYS = {VHYS} /B /A + - + - S4 S RON = {RON} A + - REF - + FB. U5 HYS_I-CTRL I_SET = {I_SET} VHYS = {VHYS} CLK + - + - S1 S RON = {RON} + - + - S2 S RON = {RON} + - + - S3 S RON = {RON} VCC VCC VCC 0 VCC Vcc 12 VCC VCC U7 AND Unipolar Stepping Motor Drive Circuit Simulation PSpice Version

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Bee Technologies provide Concept Kit of Unipolar Drive Circuit Simulation using PSpice.

TRANSCRIPT

Page 1: Unipolar Drive Circuit Simulation using PSpice

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 1

B

Bcom

A

/B

Acom

/A

U1UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

U8

AND

U9

AND

R1

1k

0

FB

DIODED1

DIODED2

DIODED3

DIODED4

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

B

0

PARAMETERS:

RON = 10m

0

U101-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

0

0

U6

AND

FA

+

-

REF

-+

FB.

U2

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/FA

/FB

VCC

+

-

REF

-+

FB.

U3

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

+

-

REF

-+

FB.

U4

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/B

/A

+

-

+

-

S4

SRON = {RON}

A

+

-

REF

-+

FB.

U5

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

CLK

+

-

+

-

S1

SRON = {RON}

+

-

+

-

S2

SRON = {RON}

+

-

+

-

S3

SRON = {RON}

VCC

VCC VCC

0

VCC

Vcc

12

VCC

VCC

U7

AND

Unipolar Stepping Motor Drive Circuit Simulation

PSpice Version

Page 2: Unipolar Drive Circuit Simulation using PSpice

Unipolar Stepping Motor Drive Circuit

Contents

1. Concept of Simulation

2. Unipolar Stepping Motor Drive Circuit

3. Unipolar Stepping Motor

4. Switches

5. Signal Generator

6. Hysteresis-Based Current Controller

7. Unipolar Stepping Motor Drive Circuit (Example)

7.1 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

7.2 Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

7.3 Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

8. Drive Circuit Efficiency

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 2

Page 3: Unipolar Drive Circuit Simulation using PSpice

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 3

Driver Unit:(e.g. Hysteresis-

Based Controller)

Parameter:

• I_SET

• HYS

Switches(e.g. FET,

Diode)

Parameter:

• Ron

Stepping

Motor

Parameter:

• L

• R

Control Unit (e.g. Microcontroller)

Sequence:

• One-Phase

• Two-Phase

• Half-Step

U?1-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?2-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?HALF-STEPPPS = 100

CLK

FA

/FA

FB

/FB

B

Bcom

A

/B

Acom

/A

U?UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

Models:

Block Diagram:

DIODED1

0

+

-

+

-

S1

SRON = 10m

VCC

Ctrl_A A

1.Concept of Simulation

U2

AND

+

-

REF

-+

FB.

U1

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

Ctrl_AFA

Page 4: Unipolar Drive Circuit Simulation using PSpice

2.Unipolar Stepping Motor Drive Circuit

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 4

Signal generator Hysteresis Based Current

Controller

Switches Unipolar Stepping Motor Supply Voltage

B

Bcom

A

/B

Acom

/A

U1UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

U8

AND

U9

AND

R1

1k

0

FB

DIODED1

DIODED2

DIODED3

DIODED4

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

B

0

PARAMETERS:

RON = 10m

0

U101-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

0

0

U6

AND

FA

+

-

REF

-+

FB.

U2

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/FA

/FB

VCC

+

-

REF

-+

FB.

U3

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

+

-

REF

-+

FB.

U4

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/B

/A

+

-

+

-

S4

SRON = {RON}

A

+

-

REF

-+

FB.

U5

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

CLK

+

-

+

-

S1

SRON = {RON}

+

-

+

-

S2

SRON = {RON}

+

-

+

-

S3

SRON = {RON}

VCC

VCC VCC

0

VCC

Vcc

12

VCC

VCC

U7

AND

Page 5: Unipolar Drive Circuit Simulation using PSpice

3.Unipolar Stepping Motor

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 5

• The electrical equivalent circuit of each phase consists

of an inductance of the phase winding series with

resistance.

• The inductance is ideal (without saturation

characteristics and the mutual inductance between

phases)

• The motor back EMF is set as zero to simplified the

model parameters extraction.

B

Bcom

A

/B

Acom

/A

U1UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

Input the inductance and resistance values (parameter: L, R) of the stepping motor, that are usually provided by the manufacturer datasheet, to generally model the phase winding.

Page 6: Unipolar Drive Circuit Simulation using PSpice

4.Switches

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 6

• A near-ideal DIODE can be modeled by using spice

primitive model (D), which parameter: N=0.01

RS=0.

• A near-ideal MOSFET can be modeled by using

PSpice VSWITCH that is voltage controlled switch.

DIODED1

0

+

-

+

-

S1

SRON = 10m

VCC

Ctrl_A A

The parameter RON represents Rds(on) characteristics of MOSFET, that are usually provide by the manufacturer datasheet. The value could be about 10m to 10 ohm.

Page 7: Unipolar Drive Circuit Simulation using PSpice

5.Signal Generator

The signal generators are used as a microcontroller capable of generating step pulses

and direction signals for the driver.

There are 3 useful stepping sequences to control unipolar stepping motor

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 7

One-Phase (Wave Drive)

• Consumes the least power.

• Assures the accuracy regardless of the winding imbalance.

Two-Phase (Hi-Torque)

• Energizes 2 phases at the same time.

• Offers an improved torque-speed result and greater holding torque.U?1-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?2-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?HALF-STEPPPS = 100

CLK

FA

/FA

FB

/FB

Half-Step

• Doubles the stepping resolution of the motor.

• Reduces motor resonance which could cause a motor to stall at a resonant frequency.

• Please note that this sequence is 8 steps.

Input PPS (Pulse Per Second) as a clock pulse speed(frequency).

Page 8: Unipolar Drive Circuit Simulation using PSpice

5.1 One-Phase Sequence

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 8

Time

0s 40ms 80ms

V(/FB)

0V

5.0V

SEL>>

V(FB)

0V

2.5V

5.0V

V(/FA)

0V

2.5V

5.0V

V(FA)

0V

2.5V

5.0V

V(CLK)

0V

2.5V

5.0V

ON

ON

ON

ON

Clock

Phase A

Phase /A

Phase B

Phase /B

1 Sequence

Page 9: Unipolar Drive Circuit Simulation using PSpice

Time

0s 40ms 80ms

V(/FB)

0V

5.0V

SEL>>

V(FB)

0V

2.5V

5.0V

V(/FA)

0V

2.5V

5.0V

V(FA)

0V

2.5V

5.0V

V(CLK)

0V

2.5V

5.0V

5.2 Two-Phase Sequence

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 9

ON

ON

ON

ON

1 Sequence

Clock

Phase A

Phase /A

Phase B

Phase /BON

Page 10: Unipolar Drive Circuit Simulation using PSpice

Time

0s 80ms 160ms

V(/FB)

0V

5.0V

SEL>>

V(FB)

0V

2.5V

5.0V

V(/FA)

0V

2.5V

5.0V

V(FA)

0V

2.5V

5.0V

V(CLK)

0V

2.0V

4.0V

5.3 Half-Step Sequence

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 10

ON

ON

ON

1 Sequence

Clock

Phase A

Phase /A

Phase B

Phase /BON

Page 11: Unipolar Drive Circuit Simulation using PSpice

6.Hysteresis-Based Current Controller

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 11

• Controlled by the signal from the

microcontroller.

• Generate the switch (MOSFET) drive signal

by comparing the measured phase current

with their references.

Input the reference value at the I_SET (e.g. I_SET=0.5A) to set the regulated current level. The hysteresis current value is set at the VHYS (e.g. VHYS=0.1A).

U2

AND

+

-

REF

-+

FB.

U1

HYS_I-CTRL

I_SET = 0.5VHYS = 0.1

Ctrl_AFA

Page 12: Unipolar Drive Circuit Simulation using PSpice

B

Bcom

A

/B

Acom

/A

U1UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

U8

AND

U9

AND

R1

1k

0

FB

DIODED1

DIODED2

DIODED3

DIODED4

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

B

0

PARAMETERS:

RON = 10m

0

U101-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

0

0

U6

AND

FA

+

-

REF

-+

FB.

U2

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/FA

/FB

VCC

+

-

REF

-+

FB.

U3

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

+

-

REF

-+

FB.

U4

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/B

/A

+

-

+

-

S4

SRON = {RON}

A

+

-

REF

-+

FB.

U5

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

CLK

+

-

+

-

S1

SRON = {RON}

+

-

+

-

S2

SRON = {RON}

+

-

+

-

S3

SRON = {RON}

VCC

VCC VCC

0

VCC

Vcc

12

VCC

VCC

U7

AND

7.1 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 12

*Analysis directives:

.TRAN 0 40ms 0 10u

One-Phase

Step Sequence

Generator (100

pps)

Page 13: Unipolar Drive Circuit Simulation using PSpice

Time

0s 10ms 20ms 30ms 40ms

1 V(/FB) 2 -I(U1:/B)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

SEL>>SEL>>

1 V(FB) 2 -I(U1:B)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

1 V(/FA) 2 -I(U1:/A)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

1 V(FA) 2 -I(U1:A)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

V(CLK)

0V

2.5V

5.0V

7.1 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 13

Clock

Phase A Current

I_SET=0.5A

I_HYS=0.1A

Phase /A Current

Phase B Current

Phase /B Current

Page 14: Unipolar Drive Circuit Simulation using PSpice

B

Bcom

A

/B

Acom

/A

U1UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

U8

AND

U9

AND

R1

1k

0

FB

DIODED1

DIODED2

DIODED3

DIODED4

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

B

0

PARAMETERS:

RON = 10m

0

0

0

U6

AND

FA

+

-

REF

-+

FB.

U2

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/FA

/FB

VCC

+

-

REF

-+

FB.

U3

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

+

-

REF

-+

FB.

U4

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/B

/A

+

-

+

-

S4

SRON = {RON}

A

+

-

REF

-+

FB.

U5

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

CLK

+

-

+

-

S1

SRON = {RON}

+

-

+

-

S2

SRON = {RON}

+

-

+

-

S3

SRON = {RON}

VCC

VCC VCC

0

VCC

Vcc

12

VCC

VCC

U7

AND

U102-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

7.2 Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 14

*Analysis directives:

.TRAN 0 40ms 0 10u SKIPBP

.OPTIONS ITL4= 40

Two-Phase

Step Sequence

Generator (100

pps)

Page 15: Unipolar Drive Circuit Simulation using PSpice

Time

0s 10ms 20ms 30ms 40ms

1 V(/FB) 2 -I(U1:/B)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

SEL>>SEL>>

1 V(FB) 2 -I(U1:B)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

1 V(/FA) 2 -I(U1:/A)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

1 V(FA) 2 -I(U1:A)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

V(CLK)

0V

2.5V

5.0V

7.2 Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 15

Clock

Phase A Current

I_SET=0.5A

I_HYS=0.1A

Phase /A Current

Phase B Current

Phase /B Current

Page 16: Unipolar Drive Circuit Simulation using PSpice

B

Bcom

A

/B

Acom

/A

U1UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

U8

AND

U9

AND

R1

1k

0

FB

DIODED1

DIODED2

DIODED3

DIODED4

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

B

0

PARAMETERS:

RON = 10m

0

0

0

U6

AND

FA

+

-

REF

-+

FB.

U2

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/FA

/FB

VCC

+

-

REF

-+

FB.

U3

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

+

-

REF

-+

FB.

U4

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/B

/A

+

-

+

-

S4

SRON = {RON}

A

+

-

REF

-+

FB.

U5

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

CLK

+

-

+

-

S1

SRON = {RON}

+

-

+

-

S2

SRON = {RON}

+

-

+

-

S3

SRON = {RON}

VCC

VCC VCC

0

VCC

Vcc

12

VCC

VCC

U7

AND

U10HALF-STEPPPS = 100

CLK

FA

/FA

FB

/FB

7.3 Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 16

*Analysis directives:

.TRAN 0 80ms 0 10u SKIPBP

.OPTIONS ITL4= 40

Half-Phase

Step Sequence

Generator (100

pps)

Page 17: Unipolar Drive Circuit Simulation using PSpice

Time

0s 10ms 20ms 30ms 40ms 50ms 60ms 70ms 80ms

1 V(/FB) 2 -I(U1:/B)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

SEL>>SEL>>

1 V(FB) 2 -I(U1:B)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

1 V(/FA) 2 -I(U1:/A)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

1 V(FA) 2 -I(U1:A)

0V

2.5V

5.0V1

0A

0.5A

1.0A2

>>

V(CLK)

0V

2.5V

5.0V

7.3 Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 17

Clock

Phase A Current

I_SET=0.5A

I_HYS=0.1A

Phase /A Current

Phase B Current

Phase /B Current

Page 18: Unipolar Drive Circuit Simulation using PSpice

B

Bcom

A

/B

Acom

/A

U1UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2

U8

AND

U9

AND

R1

1k

0

FB

DIODED1

DIODED2

DIODED3

DIODED4

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

B

0

PARAMETERS:

RON = 10m

0

U101-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

0

0

U6

AND

FA

+

-

REF

-+

FB.

U2

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/FA

/FB

VCC

+

-

REF

-+

FB.

U3

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

+

-

REF

-+

FB.

U4

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/B

/A

+

-

+

-

S4

SRON = {RON}

A

+

-

REF

-+

FB.

U5

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

CLK

+

-

+

-

S1

SRON = {RON}

+

-

+

-

S2

SRON = {RON}

+

-

+

-

S3

SRON = {RON}

VCC

VCC VCC

0

VCC

Vcc

12

VCC

VCC

U7

AND

W

W

8.Drive Circuit Efficiency (%)

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 18

*Analysis directives:

.TRAN 0 40ms 0ms 10u SKIPBP

.STEP PARAM RON LIST 10m, 100m, 1

.OPTIONS ITL4= 40

Half-Phase

Step Sequence

Generator (100

pps)

Page 19: Unipolar Drive Circuit Simulation using PSpice

Time

10ms 15ms 20ms 25ms 30ms 35ms 40ms

100* AVG(W(U1))/(-AVG(W(Vcc)))

94

96

98

100

8.Drive Circuit Efficiency (%)

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 19

at switches Ron = 10m, (99.6%)

at switches Ron = 100m, (99.3%)

at switches Ron = 1, (95.9%)

Note: Add trace 100*AVG(W(U1))/(-AVG(W(Vcc))) for the Efficiency.

Page 20: Unipolar Drive Circuit Simulation using PSpice

Simulation Index

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 20

Simulations Folder name

1. One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A...................................

2. Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A...................................

3. Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A....................................

4. Drive Circuit Efficiency (%)...............................................................................

1-Phase

2-Phase

Half-Phase

Efficiency

Libraries :

1. ..¥unipolar_stp-motr.lib

2. ..¥diode.lib

3. ..¥hys_i-ctrl.lib

4. ..¥logicgate.lib

5. ..¥step-seq.lib