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mc_control_speed(2*mci_get_ref_speed())
duty-cycle_reference
is calculated from
ref_spe ed
and
from
monitored mci_get_measured_speed()
measured_speed = (KSPEED * 4) / mci_measured_period
with mci_measured_period calculated in the Interrupt vector of
Analog Comparator 1. This interrupt uses Timer 0 to compute the
period.
? In CURRENT_LOOP :
mc_control_current(mc_get_potentiometer_value()
3.5.3 Sensorless Detection and Commutation Management
The analog comparators 0, 1 and 2 are used to detect the zero crossing of the U, V
and W phases.
The timer 1 is used to monitor the time between two consecutive zero crossings. This
time corresponds to one sector of the electrical rotation of the motor. It equals 60° of
the entire electrical period of the motor.
When a zero crossing event occurs, the timer 1 value is stored. Then this value is
divided by 2 (providing the 30° time) and loaded into the Compare A register of timer
1. Then this value is added to the half of itself to provide the 45° time and loaded into
the Compare B register of timer 1.
The timer 1 compare A event occurs 30° after the zero crossing. It activates the next
commutation state and masks the zero crossing to avoid the discharge of the
inductance (demagnetization) pulse generated at the end of a step when the active
switches are released.
Due to the inductance of the motor coils, a voltage equals to -Ldi/dt is generated, the
demagnetization is done through the diodes of the power bridge.
The timer 1 compare B event releases the zero crossing mask : enables the
comparator n interrupt according to the motor_step variable. This Timer1 interrupt
provides the demagnetization mask delay.
10
AVR172
8306B-AVR-05/10
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