HA13609ANT Datasheet, PDF (15/31 Pages) Hitachi Semiconductor – Three-Phase Brushless Motor Driver

HA13609ANT
2. Use the following formulas as a guideline for setting the integration constant (@MD9 = 1). To
minimize rotation deviation, set R1 to a relatively small value.
ωo ≤
2π
20
· f_MR · D1
[rad/s]
R1 = ^{9.55 · VR1 · KT · R2} · A
[Ω]
4 · J · ωo · No
However, R1 must be in the range 1.5kΩ ≤ R1 ≤ 15kΩ.
C1 = 1 / (√10 · ωo · R2)
[F]
C2 = 10 · C1
[F]
Here, No : Rotation speed
[min^–1]
f_MR : MR frequency
[Hz]
D1 : Divider determined by D1 select
V_R1 : Charge pump bias voltage 1.16
K_T : Motor torque constant
J
: Motor moment of inertia
[V]
[N·m/A]
[kg·m²]
A : PWM comparator current gain
[A/V]
Voltage feedback method: A = ^{2Vps – 0.83VE – Vsat}
Rm · Vosc
Current feedback method: A = ^GB
R_NF
V_PS
V_E
Vsat
: Power system power-supply voltage [V]
: Motor back EMF
[V_P-P/T·T]
: External transistor saturation voltage [V] (See the electrical characteristics)
Rm : Motor coil resistance
[Ω/T·T]
Vosc : PWM amplitude voltage
[V_P-P] (See the electrical characteristics)
G_B : Buffer amplifier gain
[V/V] (See the electrical characteristics)
3. Use the following formulas as guidelines for setting the integrator filter:
First determine the angular frequency of ω_P for DIS OUT and PLL OUT.
ω_P = 2π · f_MR · D1 [rad/s]
Determine the angular frequency of ω_M for Motor.
ω_M
≈
9.55
No
·
1
J
K_T ·
Vref
R_NF
– T_L
[rad/s]
Determine the ωo.
ωo = √ω_P · ω_M [rad/s]
Determine the integrator’s DC gain G_(E).
G_(E) =
J · ωo
9.55 · K_T · A
·
1
Z
60
·
D1
·
2π
·
Kø
ωo
·
PLL
SEL
Here, Kø : PLL gain = 0.28
[V/rad/s]
T_L : Rated load torque
PLL SEL : PLL output ratio
[N·m]
Vref : Current limiter reference voltage [V]
Z : MR pulse per round
[P/R]
15