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AN4144 Datasheet(PDF) 2 Page - STMicroelectronics

Part # AN4144
Description  Voltage mode control operation and parameter optimization
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Manufacturer  STMICROELECTRONICS [STMicroelectronics]
Direct Link  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN4144 Datasheet(HTML) 2 Page - STMicroelectronics

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Contents
AN4144
2/28
DocID023491 Rev 3
Contents
1
Voltage mode driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1
Basic principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2
Back EMF compensation algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3
Motor supply voltage compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.4
Compensation of thermal drift of the phase resistance . . . . . . . . . . . . . . 12
2
Tuning of the BEMF compensation parameters . . . . . . . . . . . . . . . . . . 13
2.1
Collecting the application characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2
First dimensioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.1
Holding, acceleration, deceleration and running currents . . . . . . . . . . . 15
2.2.2
Compensation register values out of range . . . . . . . . . . . . . . . . . . . . . . 16
2.3
Fine tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3.1
Step 1: verify the phase current during the speed sweep . . . . . . . . . . . 17
2.3.2
Step 2: adjust the starting amplitude (KVAL) . . . . . . . . . . . . . . . . . . . . . . 18
2.3.3
Step 3: adjust the intersect speed value . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3.4
Step 4: adjust the starting and final slopes . . . . . . . . . . . . . . . . . . . . . . 19
2.3.5
Step 5: final check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3
Supply voltage compensation guidelines . . . . . . . . . . . . . . . . . . . . . . . 22
4
Thermal drift compensation guidelines . . . . . . . . . . . . . . . . . . . . . . . . 23
5
Stepper motor resonances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.1
The effects of the resonances on Voltage mode driving . . . . . . . . . . . . . 25
5.2
Facing resonances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.2.1
Damping resonances using the mechanical load . . . . . . . . . . . . . . . . . 26
5.2.2
Reducing motor current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.2.3
Skipping the resonance points increasing the acceleration . . . . . . . . . . 26
6
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27


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