Copyright (C) Bee Technologies Inc. 2011 1
SPICEの活用方法
株式会社ビー・テクノロジーhttp://www.bee-tech.com/[email protected]
2011年1月28日(金曜日)
1.PWM Buck Converter Average Model←[DEMO]
フィードバック制御におけるアベレージモデルを活用した位相余裕度のシミュレーションの活用方法を解説していきます。
2.ステッピングモータのコンセプトキット[事例紹介]
2.1 ユニポーラ・ステッピングモーター制御回路2.2 バイポーラ・ステッピングモーター制御回路
「コンセプトキット」でパラメータベース・シミュレーション
コンセプトキットの位置付け
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コンセプトキットとは
Copyright (C) Bee Technologies Inc. 2011 3
製品 価格(円) PSpice版 LTspice版
ユニポーラステッピングモータ制御回路 42,000 2011年2月初旬 2011年2月中旬
バイポーラステッピングモータ制御回路 42,000 2011年2月初旬 2011年2月中旬
アベレージモデルの降圧コンバータ 84,000 2011年2月中旬 2011年2月下旬
過渡解析モデルの降圧コンバータ 未定 2011年2月中旬 2011年2月下旬
デザインキット
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要望が多いインバータ回路方式を中心に20種類の新製品を開発中。
製品 分野
FCC回路 電源回路
RCC回路 電源回路
低損失リニアレギュレータ 電源回路
高精度リニアレギュレータ 電源回路
D級アンプ アンプ回路
擬似共振電源回路 電源回路
マイクロコントローラ 電源回路
ステッピングモータドライブ回路 モーター制御回路
PWM ICによる電源回路 電源回路
バッテリー回路(リチウムイオン電池) バッテリーアプリケーション回路
バッテリー回路(ニッケル水素電池) バッテリーアプリケーション回路
バッテリー回路(鉛蓄電池) バッテリーアプリケーション回路
DCDCコンバータ 電源回路
DCモータ制御回路 モーター制御回路
Concept Kit:PWM Buck Converter
Average Model
Copyright (C) Bee Technologies Inc. 2011 5
Power Switches Filter & LoadPWM Controller (Voltage Mode Control)
VREF
+-
VOUT
REF
PWM
1/Vp
-
+
U?PWM_CTRL
VP = 2.5VREF = 1.23
D
U?BUCK_SW
L1 2
C
Rload
Vo
ESR
Contents
• Concept of Simulation
• Buck Converter Circuit
• Averaged Buck Switch Model
• Buck Regulator Design Workflow
1. Setting PWM Controller’s Parameters.
2. Programming Output Voltage: Rupper, Rlower
3. Inductor Selection: L
4. Capacitor Selection: C, ESR
5. Stabilizing the Converter (Example)
• Load Transient Response Simulation (Example)
Appendix
A. Type 2 Compensation Calculation using Excel
B. Feedback Loop Compensators
C. Simulation Index
Copyright (C) Bee Technologies Inc. 2011 6
Copyright (C) Bee Technologies Inc. 2011 7
Power Switches
Averaged Buck
Switch Model
Filter & Load
Parameter:
• L
• C
• ESR
• Rload
PWM Controller (Voltage Mode
Control)
Parameter:
• VP
• VREF
Models:
Block Diagram:
Concept of Simulation
VREF
+-
VOUT
D
U?BUCK_SW
REF
PWM
1/Vp
-
+
U?PWM_CTRL
VP = 2.5VREF = 1.23
L1 2
C
Rload
Vo
ESR
L1 2
C
Rload
0
Comp
C2
R2 C1
FB
Type 2 Compensator
Rupper
Rlower
0
d
Vin
D
U2BUCK_SW
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
Vo
ESR
Buck Converter Circuit
Copyright (C) Bee Technologies Inc. 2011 8
Filter & Load
PWM Controller
Power Switches
Averaged Buck Switch Model
• The Averaged Buck Switch Model represents relation between input and output
of the switch that is controlled by duty cycle – d (value between 0 and 1).
• Transfer function of the model is
vout = d vin
• The current flow into the switch is
iin = d iout
Copyright (C) Bee Technologies Inc. 2011 9
D
U2BUCK_SW
vin
+
-
vout
+
-
D
iin iout
Buck Regulator Design Workflow
Copyright (C) Bee Technologies Inc. 2011 10
Setting PWM Controller’s Parameters: VREF, VP1
Setting Output Voltage: Rupper, Rlower2
Inductor Selection: L3
Capacitor Selection: C, ESR4
Stabilizing the Converter: R2, C1, C2
• Step1: Open the loop with LoL=1kH and CoL=1kF then inject an AC signal to generate Bode plot. (always default)
• Step2: Set C1=1kF, C2=1fF, (always keep the default value) and R2= calculated value (Rupper//Rlower) as the initial values.
• Step3: Select a crossover frequency (about 10kHz or fc < fosc/4). Then complete the table.
• Step4: Read the Gain and Phase value at the crossover frequency (10kHz) from the Bode plot, Then put the values to the table
• Step5: Select the phase margin at the fc ( > 45 ). Then change the K value until it gives the satisfied phase margin, for this example K=6 is chosen for Phase margin = 46.
• Remark: If K-factor fail to gives the satisfied phase margin, Increase the output capacitor C then try Step1 to Step5 again.
Load Transient Response Simulation
5
6
Buck Regulator Design Workflow
Copyright (C) Bee Technologies Inc. 2011 11
1
2
3
4
5
L1 2
C
Rload
0
Comp
C2
R2 C1
FB
Type 2 Compensator
Rupper
Rlower
0
d
Vin
D
U2BUCK_SW
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
Vo
ESR
• VREF, feedback reference voltage, value
is given by the datasheet
• VP = (Error Amp. Gain vFB ) / d
• vFB = vFBH – vFBL
• d = dMAX – dMIN
• Error Amp. Gain is 100 (approximated)
where
VP is the sawtooth peak voltage.
vFBH is maximum FB voltage where d = 0
vFBL is minimum FB voltage where d =1(100%)
dMAX is maximum duty cycle, e.g. d = 0(0%)
dMIN is minimum duty cycle, e.g. d =1(100%)
Setting PWM Controller’s Parameters
Copyright (C) Bee Technologies Inc. 2011 12
REF
PWM
1/Vp
-
+
U?PWM_CTRL
VP = 2.5VREF = 1.23
vcomp
d
Error Amp.
FB
The PWM block is used to transfer the error voltage
(between FB and REF) to be the duty cycle.
If vFBH and vFBL are not provided, the default value, VP=2.5 could be used.
1
Time
V(PWM)
V(osc) V(comp)
0V
2.0V
3.0V
SEL>> VP
Duty cycle (d) is a value from 0 to 1
from
VP = (Error Amp. Gain vFB )/d
•Error Amp. Gain = 100 (approximated)
• from the graph on the left, vFB = 25mV
(15m - (-10m))
•d = 1 – 0 = 1
VP ≈ ( 100 25mV )/1
≈ 2.5V
Copyright (C) Bee Technologies Inc. 2011 13
If the VP ( sawtooth signal amplitude ) does not informed by the datasheet,
It can be approximated from the characteristics below.
LM2575: Feedback Voltage vs. Duty Cycle
Setting PWM Controller’s Parameters (Example)
vFB =
25mV
d = 1 (100%)
dMIN dMAX
vFBH
vFBL
1
If vFBH and vFBL are not provided, the default value, VP=2.5 could be used.
• Use the following formula to select the resistor values.
• Rlower can be between 1k and 5k.
Example
Given: VOUT = 5V
VREF = 1.23
Rlower = 1k
then: Rupper = 3.065k
Comp
C2
R2 C1
Type 2 Compensator
FB
Rupper
Rlower
0
d
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
Error Amp.
Vo
Setting Output Voltage: Rupper, Rlower
Copyright (C) Bee Technologies Inc. 2011 14
lower
upperREFOUT
R
RVV 1
2
Inductor Selection: L
Copyright (C) Bee Technologies Inc. 2011 15
Inductor Value
• The output inductor value is selected to set the
converter to work in CCM (Continuous Current
Mode) or DCM (Discontinuous Current Mode).
• Calculated by
Where
• LCCM is the inductor that make the converter to work in CCM.
• VI,max is input maximum voltage
• RL,min is load resistance at the minimum output current ( IOUT,min )
• fosc is switching frequency
L1 2
C
Rload
Vo
ESR
max,
min,max,
2 Iosc
LOUTICCM
Vf
RVVL
3
Inductor Selection: L (Example)
Copyright (C) Bee Technologies Inc. 2011 16
Inductor Value
from
Given:
• VI,max = 40V, VOUT = 5V
• IOUT,min = 0.2A
• RL,min = (VOUT / IOUT,min ) = 25
• fosc = 52kHz
Then:
• LCCM 210(uH),
• L = 330(uH) is selected
L1 2
C
Rload
Vo
ESR
max,
min,max,
2 Iosc
LOUTICCM
Vf
RVVL
3
Capacitor Selection: C, ESR
Copyright (C) Bee Technologies Inc. 2011 17
Capacitor Value
• The minimum allowable output capacitor value should
be determined by
Where
• VI, max is the maximum input voltage.
• L (H) is the inductance calculated from previous step ( ).
• In addition, the output ripple voltage due to the capacitor ESR must be considered as
the following equation.
L1 2
C
Rload
Vo
ESR
F)H(
785,7max,
LV
VC
OUT
I
RIPPLEL
RIPPLEO
I
VESR
,
,
4
3
Capacitor Selection: C, ESR (Example)
Copyright (C) Bee Technologies Inc. 2011 18
Capacitor Value
From
and
Given:
• VI, max = 40 V
• VOUT = 5 V
• L (H) = 330
Then:
• C 188 (F)
In addition:
• ESR 100m
L1 2
C
Rload
Vo
ESR
RIPPLEL
RIPPLEO
I
VESR
,
,
4
F)H(
785,7max,
LV
VC
OUT
I
• Loop gain for this configuration is
L1 2
Rload
C
0
Comp
C2
R2 C1
Type 2 Compensator
FB
Rupper
3.066k
Rlower
1.0k
0
d
Vin
12Vdc
D
U2BUCK_SW
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
Vo
ESR
• The purpose of the compensator G(s) is to tailor the converter loop gain
(frequency response) to make it stable when operated in closed-loop
conditions.
Copyright (C) Bee Technologies Inc. 2011 19
PWMGsGsHsT )()()(GPWM
G(s)
H(s)
Stabilizing the Converter5
Stabilizing the Converter (Example)
Copyright (C) Bee Technologies Inc. 2011 20
Specification:
VOUT = 5V
VIN = 7 ~ 40V
ILOAD = 0.2 ~ 1A
PWM Controller:
VREF = 1.23V
VP = 2.5V
fOSC = 52kHz
Rlower = 1k,
Rupper = 3.1k,
L = 330uH,
C = 330uF (ESR = 100m)
Task:
• to find out the element of the
Type 2 compensator ( R2, C1,
and C2 )
L330uH
1 2
C330uF
Rload5
0
0
COL1kF
LOL
1kH
C2
R2 C1
FB
Rupper
3.1k
Type 2 Compensator
Rlower
1.0k
0
d
V31Vac
0Vdc
Vin
12Vdc
D
U2BUCK_SW
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
Vo
ESR100m
G(s)
e.g. Given values from National Semiconductor Corp. IC: LM2575
5
1
3
4
2
L330uH
1 2
C330uF
Rload5
0
0
COL1kF
LOL
1kH
R20.756k
FB
Rupper
3.1k
Type 2 Compensator
Rlower
1k
0
d
V31Vac
0Vdc
Vin
12Vdc
D
U2BUCK_SW
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
Vo
ESR100m
C21f
C11k
Copyright (C) Bee Technologies Inc. 2011 21
Step2 Set C1=1kF, C2=1fF, and R2=calculated value (Rupper//Rlower) as the initial values.
Step1 Open the loop with LoL=1kH and CoL=1kF then inject an AC signal to generate Bode plot.
The element of the Type 2 compensator ( R2, C1, and C2 ), that stabilize the converter, can
be extracted by using Type 2 Compensator Calculator (Excel sheet) and open-loop
simulation with the Average Switch Models (ac models).
Stabilizing the Converter (Example)5
C1=1kF is AC shorted, and C2 1fF is AC opened (or
Error-Amp without compensator).
Stabilizing the Converter (Example)
Type 2 Compensator Calculator
Switching frequency, fosc : 52.00 kHzCross-over frequency, fc(<fosc/4) : 10.00 kHzRupper : 3.1 kOhmRlower : 1 kOhmR2 (Rupper//Rlower) : 0.756 kOhm (automatically calculated)
PWMVref : 1.230 VVp (Approximate) : 2.5 V
Copyright (C) Bee Technologies Inc. 2011 22
Step3 Select a crossover frequency (about 10kHz or fc < fosc/4 ), for this example, 10kHz is selected. Then complete the table.
Calculated value of the Rupper//Rlower
values from 2
values from 1
5
Parameter extracted from simulationSet: R2=R1, C1=1k, C2=1fGain (PWM) at foc ( - or + ) : -44.211Phase (PWM) at foc : 65.068
Copyright (C) Bee Technologies Inc. 2011 23
Frequency
100Hz 1.0KHz 10KHz 100KHz
P(v(d))
0d
90d
180d
SEL>>
(10.000K,65.068)
DB(v(d))
-80
-40
0
40
80
(10.000K,-44.211)
Step4 Read the Gain and Phase value at the crossover frequency (10kHz) from the Bode plot, Then put the values to the table.
Stabilizing the Converter (Example)
Tip: To bring cursor to the fc = 10kHz type “ sfxv(10k) ” in Search Command.
Cursor Search
Gain: T(s) = H(s)GPWM
Phase at fc
5
K-factor (Choose K and from the table)K 6 -199 (automatically calculated)
Phase margin : 46 (automatically calculated)
R2 : 122.780 kOhm (automatically calculated)C1 : 0.778 nF (automatically calculated)C2 : 21.600 pF (automatically calculated)
Stabilizing the Converter (Example)
Copyright (C) Bee Technologies Inc. 2011 24
Step5 Select the phase margin at fc(> 45 ). Then change the K value (start from K=2) until it gives the satisfied phase margin, for this example K=6 is chosen for Phase margin = 46.
As the result; R2, C1, and C2 are calculated.
K Factor enable the circuit designer to choose a loop cross-over frequency and phase margin, and then determine the necessary component values to achieve these results. A very big K value (e.g. K > 100) acts like no compensator (C1 is shorted and C2 is opened).
5
Remark: If K-factor fail to gives the satisfied phase margin, Increase the output capacitor C then try Step1 to Step5 again.
R2122.780k
Type 2 Compensator
C221.6p
C10.778n
L330uH
1 2
C330uF
Rload5
0
0
COL1kF
LOL
1kH
FB
Rupper
3.1k
Rlower
1k
0
d
V31Vac
0Vdc
Vin
12Vdc
D
U2BUCK_SW
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
Vo
ESR100m
Stabilizing the Converter (Example)
Copyright (C) Bee Technologies Inc. 2011 25
The element of the Type 2 compensator ( R2, C1, and C2 ) extraction can be completed by Type 2
Compensator Calculator (Excel sheet) with the converter average models (ac models) and open-loop
simulation.
The calculated values of the type 2 elements are, R2=122.780k, C1=0.778nF, and C2=21.6pF.
*Analysis directives:
.AC DEC 100 0.1 10MEG
5
Frequency
100Hz 1.0KHz 10KHz 100KHz
P(v(d))
0d
90d
180d
(9.778K,45.930)
DB(v(d))
-40
0
40
80
-100
SEL>>
(9.778K,0.000)
• Phase margin = 45.930 at the cross-over frequency - fc = 9.778kHz.
Copyright (C) Bee Technologies Inc. 2011 26
Stabilizing the Converter (Example)
Tip: To bring cursor to the cross-over point (gain = 0dB) type “ sfle(0) ” in Search Command.
Cursor Search
Gain: T(s) = H(s) G(s)GPWM
Phase at fc
5
Gain and Phase responses after stabilizing
Load Transient Response Simulation (Example)
Copyright (C) Bee Technologies Inc. 2011 27
R2122.780k
C221.6p
Type 2 Compensator
C10.778n
Load
Vo
I1
TD = 10mTF = 25u
PW = 0.43mPER = 1
I1 = 0I2 = 0.8
TR = 20u
Rload25
0
FB
Rupper
3.1k
Rlower
1k
0
d
Vin
20Vdc
D
U2BUCK_SW
REF
PWM
1/Vp
-
+
U3PWM_CTRL
VP = 2.5VREF = 1.23
L330uH
1 2
C330uF
ESR100m
The converter, that have been stabilized, are connected with step-load to perform load transient
response simulation.
5V/2.5 = 0.2A step to 0.2+0.8=1.0A load
*Analysis directives:
.TRAN 0 20ms 0 1u
Simulation Measurement
Copyright (C) Bee Technologies Inc. 2011 28
Output Voltage Change
Load Current
• The simulation results are compared with the measurement data (National
Semiconductor Corp. IC LM2575 datasheet).
Time
9.9ms 10.1ms 10.3ms 10.5ms 10.7ms 10.9ms
1 V(vo) 2 I(load)
4.4V
4.5V
4.6V
4.7V
4.8V
4.9V
5.0V
5.1V
5.2V1
0A
0.5A
1.0A
1.5A
2.0A
2.5A
3.0A
3.5A
4.0A2
>>
Load Transient Response Simulation (Example)
A. Type 2 Compensation Calculation using Excel
Switching frequency, fosc : 52.00 kHz Given spec, datasheetCross-over frequency, fc (<fosc/4) : 10.00 kHz Input the chosen value ( about 10kHz or < fosc/4 )Rupper : 3.1 kOhm Given spec, datasheet, or calculated Rlower : 1 kOhm Given spec, datasheet, or value: 1k-10k OhmR2 (Rupper//Rlower) : 0.756 kOhm (automatically calculated)
PWMVref : 1.230 V Given spec, datasheetVp (Approximate) : 2.5 V Given spec, or calculated, (or leave default 2.5V)
Parameter extracted from simulationSet: R2=R2, C1=1k, C2=1fGain (PWM) at foc ( - or + ): -44.211 dB Read from simulation resultPhase (PWM) at foc : 65.068 Read from simulation result
K-factor (Choos K and from the table)K 6 Input the chosen value (start from k=2)
-199 (automatically calculated)
Phase margin : 46 (automatically calculated) Target value > 45
R2 : 122.780 kOhm (automatically calculated)C1 : 0.778 nF (automatically calculated)C2 : 21.60 pF (automatically calculated)
Copyright (C) Bee Technologies Inc. 2011 29
Copyright (C) Bee Technologies Inc. 2011 30
B. Feedback Loop Compensators
Type 1 Compensator
C1
VOUT
FB
Rupper
Rlower
0
d
REF
PWM
1/Vp
-
+
PWM_CTRL
Type1 Compensator Type2 Compensator Type2a Compensator
Type2b Compensator Type3 Compensator
Type2b Compensator
C1
VOUT
FB
Rupper
Rlower
0
d
REF
PWM
1/Vp
-
+
PWM_CTRL
R2
Type2a Compensator
C1
VOUT
FB
Rupper
Rlower
0
d
REF
PWM
1/Vp
-
+
PWM_CTRL
R2
Type3 Compensator
C1
FB
Rupper
Rlower
0
d
REF
PWM
1/Vp
-
+
PWM_CTRL
C2
R2
C3
R3
VOUT
Type2 Compensator
C1
FB
Rupper
Rlower
0
d
REF
PWM
1/Vp
-
+
PWM_CTRL
C2
R2
VOUT
Copyright (C) Bee Technologies Inc. 2011 31
Simulations Folder name
1. Stabilizing the Converter....................................................
2. Load Transient Response..................................................
ac
stepload
Libraries :
1. ..¥bucksw.lib
2. ..¥pwm_ctr.lib
Tool :
• Type 2 Compensator Calculator (Excel sheet)
C. Simulation Index
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
Copyright (C) Bee Technologies Inc. 2011 32
Copyright (C) Bee Technologies Inc. 2011 33
Unipolar Stepping Motor
Drive Circuit
B
Bcom
A
/B
Acom
/A
U?UNI-POLAR_STEP_MOTRL = 2.5MR = 4.2
Copyright (C) Bee Technologies Inc. 2011 34
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
2.Unipolar Stepping Motor Drive Circuit
Copyright (C) Bee Technologies Inc. 2011 35
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
3.Unipolar Stepping Motor
Copyright (C) Bee Technologies Inc. 2011 36
• 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.
4.Switches
Copyright (C) Bee Technologies Inc. 2011 37
• 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.
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
Copyright (C) Bee Technologies Inc. 2011 38
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).
5.1 One-Phase Sequence
Copyright (C) Bee Technologies Inc. 2011 39
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
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
Copyright (C) Bee Technologies Inc. 2011 40
ON
ON
ON
ON
1 Sequence
Clock
Phase A
Phase /A
Phase B
Phase /BON
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
Copyright (C) Bee Technologies Inc. 2011 41
ON
ON
ON
1 Sequence
Clock
Phase A
Phase /A
Phase B
Phase /BON
6.Hysteresis-Based Current Controller
Copyright (C) Bee Technologies Inc. 2011 42
• 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
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
Copyright (C) Bee Technologies Inc. 2011 43
*Analysis directives:
.TRAN 0 40ms 0 10u
One-Phase
Step Sequence
Generator (100
pps)
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
Copyright (C) Bee Technologies Inc. 2011 44
Clock
Phase A Current
I_SET=0.5A
I_HYS=0.1A
Phase /A Current
Phase B Current
Phase /B Current
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
Copyright (C) Bee Technologies Inc. 2011 45
*Analysis directives:
.TRAN 0 40ms 0 10u SKIPBP
.OPTIONS ITL4= 40
Two-Phase
Step Sequence
Generator (100
pps)
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
Copyright (C) Bee Technologies Inc. 2011 46
Clock
Phase A Current
I_SET=0.5A
I_HYS=0.1A
Phase /A Current
Phase B Current
Phase /B Current
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
Copyright (C) Bee Technologies Inc. 2011 47
*Analysis directives:
.TRAN 0 80ms 0 10u SKIPBP
.OPTIONS ITL4= 40
Half-Phase
Step Sequence
Generator (100
pps)
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
Copyright (C) Bee Technologies Inc. 2011 48
Clock
Phase A Current
I_SET=0.5A
I_HYS=0.1A
Phase /A Current
Phase B Current
Phase /B Current
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 (%)
Copyright (C) Bee Technologies Inc. 2011 49
*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)
Time
10ms 15ms 20ms 25ms 30ms 35ms 40ms
100* AVG(W(U1))/(-AVG(W(Vcc)))
94
96
98
100
8.Drive Circuit Efficiency (%)
Copyright (C) Bee Technologies Inc. 2011 50
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.
Copyright (C) Bee Technologies Inc. 2011 51
Bipolar Stepping Motor
Drive Circuit
A
/A
B/B
U?BI-POLAR_STEP_MOTRL = 10mR = 8.4
Bipolar 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
Copyright (C) Bee Technologies Inc. 2011 52
Copyright (C) Bee Technologies Inc. 2011 53
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
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
A
/A
B/B
U?BI-POLAR_STEP_MOTRL = 10mR = 8.4
Signal generator Hysteresis Based Current Controller VCC
0
Vcc
12
A
/A
B/B
U1BI-POLAR_STEP_MOTRL = 10mR = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
SDIODE
D8
/BL
0
OU
I
OL
U3
GDRV
OU
I
OL
U5
GDRV
B
+
-
REF
-+
FB.
U11
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
/FB
+
-
REF
-+
FB.
U7
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
SDIODE
D6
BL
0
PARAMETERS:
RON = 10m
+
-
+
-
S1
S
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
0
+
-
REF
-+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
SDIODE
D2
AL
A
0
+
-
REF
-+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
+
-
+
-
S3S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
SDIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
FB
CLK
0
OU
I
OL
U4
GDRV
/A
/B
U151-PHASEPPS = 100
CLK
FA
/FA
FB
/FB
2.Unipolar Stepping Motor Drive Circuit
Copyright (C) Bee Technologies Inc. 2011 54
Bipolar Stepping Motor Supply VoltageH-Bridge Switches (Driver)
3.Bipolar Stepping Motor
Copyright (C) Bee Technologies Inc. 2011 55
• 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.
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.
A
/A
B/B
U?BI-POLAR_STEP_MOTRL = 10mR = 8.4
4.Switches
Copyright (C) Bee Technologies Inc. 2011 56
• 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.
• MOSFETs are used as a H-Bridge.
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.
OU
I
OL
U2
GDRV
OU
I
OL
U3
GDRV
+
-
+
-
S1
S0
VCC
DIODE
D1
AU
+
-
+
-
S2
S
RON = 10m
DIODE
D2
AL
0
+
-
+
-
S3S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
SDIODE
D4
/AL
0
Ctrl_A
Ctrl_/A
A
/A
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
Copyright (C) Bee Technologies Inc. 2011 57
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).
5.1 One-Phase Sequence
Copyright (C) Bee Technologies Inc. 2011 58
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
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
Copyright (C) Bee Technologies Inc. 2011 59
ON
ON
ON
ON
1 Sequence
Clock
Phase A
Phase /A
Phase B
Phase /BON
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
Copyright (C) Bee Technologies Inc. 2011 60
ON
ON
ON
1 Sequence
Clock
Phase A
Phase /A
Phase B
Phase /BON
6.Hysteresis-Based Current Controller
Copyright (C) Bee Technologies Inc. 2011 61
• 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
VCC
0
Vcc
12
A
/A
B/B
U1BI-POLAR_STEP_MOTRL = 10mR = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
SDIODE
D8
/BL
0
OU
I
OL
U3
GDRV
OU
I
OL
U5
GDRV
B
+
-
REF
-+
FB.
U11
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
/FB
+
-
REF
-+
FB.
U7
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
SDIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
SDIODE
D2
AL
0
A
+
-
REF
-+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
+
-
+
-
S3S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
SDIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
U151-PHASEPPS = 100
CLK
FA
/FA
FB
/FB
7.1 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
Copyright (C) Bee Technologies Inc. 2011 62
*Analysis directives:
.TRAN 0 80ms 0 10u SKIPBP
.OPTIONS ITL4= 40
One-Phase Step
Sequence Generator
(100 pps)
Time
0s 20ms 40ms 60ms 80ms
1 V(/FB) 2 I(U1:/B)
0V
2.5V
5.0V1
0A
500mA2
SEL>>SEL>>
1 V(FB) 2 I(U1:B)
0V
2.5V
5.0V1
0A
500mA2
>>
1 V(/FA) 2 I(U1:/A)
0V
2.5V
5.0V1
0A
500mA2
>>
1 V(FA) 2 I(U1:A)
0V
2.5V
5.0V1
0A
500mA2
>>
V(CLK)
0V
2.5V
5.0V
7.1 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
Copyright (C) Bee Technologies Inc. 2011 63
Clock
Phase A Current
I_SET=0.5A
I_HYS=0.1A
Phase /A Current
Phase B Current
Phase /B Current
7.2 Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
Copyright (C) Bee Technologies Inc. 2011 64
*Analysis directives:
.TRAN 0 80ms 0 10u SKIPBP
.OPTIONS ITL4= 40
VCC
0
Vcc
12
A
/A
B/B
U1BI-POLAR_STEP_MOTRL = 10mR = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
SDIODE
D8
/BL
0
OU
I
OL
U3
GDRV
OU
I
OL
U5
GDRV
B
+
-
REF
-+
FB.
U11
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
/FB
+
-
REF
-+
FB.
U7
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
SDIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
SDIODE
D2
AL
0
A
+
-
REF
-+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
+
-
+
-
S3S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
SDIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
U152-PHASEPPS = 100
CLK
FA
/FA
FB
/FB
One-Phase Step
Sequence Generator
(100 pps)
Time
0s 20ms 40ms 60ms 80ms
1 V(/FB) 2 I(U1:/B)
0V
2.5V
5.0V1
0A
500mA2
SEL>>SEL>>
1 V(FB) 2 I(U1:B)
0V
2.5V
5.0V1
0A
500mA2
>>
1 V(/FA) 2 I(U1:/A)
0V
2.5V
5.0V1
0A
500mA2
>>
1 V(FA) 2 I(U1:A)
0V
2.5V
5.0V1
0A
500mA2
>>
V(CLK)
0V
2.5V
5.0V
7.2 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
Copyright (C) Bee Technologies Inc. 2011 65
Clock
Phase A Current
I_SET=0.5A
I_HYS=0.1A
Phase /A Current
Phase B Current
Phase /B Current
VCC
0
Vcc
12
A
/A
B/B
U1BI-POLAR_STEP_MOTRL = 10mR = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7S
VCC
0
DIODE
D7
U15HALF-STEPPPS = 100
CLK
FA
/FA
FB
/FB
/BU
+
-
+
-
S8
SDIODE
D8
/BL
0
OU
I
OL
U3
GDRV
OU
I
OL
U5
GDRV
B
+
-
REF
-+
FB.
U11
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
/FB
+
-
REF
-+
FB.
U7
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
SDIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
SDIODE
D2
AL
0
A
+
-
REF
-+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
+
-
+
-
S3S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
SDIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
7.3 Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
Copyright (C) Bee Technologies Inc. 2011 66
*Analysis directives:
.TRAN 0 160ms 0 10u SKIPBP
.OPTIONS ITL4= 40
One-Phase Step
Sequence Generator
(100 pps)
Time
0s 40ms 80ms 120ms 160ms
1 V(/FB) 2 I(U1:/B)
0V
2.5V
5.0V1
0A
500mA2
SEL>>SEL>>
1 V(FB) 2 I(U1:B)
0V
2.5V
5.0V1
0A
500mA2
>>
1 V(/FA) 2 I(U1:/A)
0V
2.5V
5.0V1
0A
500mA2
>>
1 V(FA) 2 I(U1:A)
0V
2.5V
5.0V1
0A
500mA2
>>
V(CLK)
0V
2.5V
5.0V
7.3 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
Copyright (C) Bee Technologies Inc. 2011 67
Clock
Phase A Current
I_SET=0.5A
I_HYS=0.1A
Phase /A Current
Phase B Current
Phase /B Current
VCC
0
Vcc
12
A
/A
B/B
U1BI-POLAR_STEP_MOTRL = 10mR = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
SDIODE
D8
/BL
0
OU
I
OL
U3
GDRV
OU
I
OL
U5
GDRV
B
+
-
REF
-+
FB.
U11
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
/FB
+
-
REF
-+
FB.
U7
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
SDIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
SDIODE
D2
AL
0
A
+
-
REF
-+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}VHYS = {VHYS}
+
-
+
-
S3S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
SDIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
U152-PHASEPPS = 100
CLK
FA
/FA
FB
/FB
8.Drive Circuit Efficiency (%)
Copyright (C) Bee Technologies Inc. 2011 68
*Analysis directives:
.TRAN 0 80ms 0 10u SKIPBP
.STEP PARAM RON LIST 10m, 100m, 1
.OPTIONS ITL4= 40
One-Phase Step
Sequence Generator
(100 pps)
Time
10ms 20ms 30ms 40ms 50ms 60ms 70ms 80ms
100*AVG(W(U1))/(-AVG(W(Vcc)))
85
90
95
100
8.Drive Circuit Efficiency (%)
Copyright (C) Bee Technologies Inc. 2011 69
at switches Ron = 10m, (99.7%)
at switches Ron = 100m, (99.8%)
at switches Ron = 1, (86%)
Note: Add trace 100*AVG(W(U1))/(-AVG(W(Vcc))) for the Efficiency.
Bee Technologies Group
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【本社】株式会社ビー・テクノロジー〒105-0012 東京都港区芝大門二丁目2番7号 7セントラルビル4階代表電話: 03-5401-3851設立日:2002年9月10日資本金:8,830万円【子会社】Bee Technologies Corporation (アメリカ)Siam Bee Technologies Co.,Ltd. (タイランド)
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70Copyright (C) Bee Technologies Inc. 2011