基于富士通MCU的电机驱动方案富士通微电子（上海）有限公司 彭涛 2010.7Copyright 2010 FUJITSU SEMICONDUCTOR内容• • • •富士通应用于电机控制的MCU产品线 基于富士通MCU的电机解决方案 富士通MCU的开发工具 问与答1Copyright 2010 FUJITSU SEMICONDUCTOR富士通MCU产品线路图ARM Cortex-M3 FR 80 -32bit RISCFR 60/FR 60Lite -32bit RISCF2MC-16FX -16bit CISC-32bit16bitF2MC-8FX MB95200 Series -8bit CISC-F2MC-16LX -16bit CISCF2MC-8FX MCMB95300/400 Series MB95300/400 -8bit CISCCISC-F2MC-8FX-8bit CISC-8bitF2MC-8L-8bit CISC8 16 20 28/32 48/52 64 80 100 120 144 176管脚2Copyright 2010 FUJITSU SEMICONDUCTOR应用电机控制的富士通MCU产品系列ARM－Cortex M3 -32bitFR 60/FR 60Lite -32bit RISC正弦波，180度变频 磁场定向 无传感器 分流电阻检测 F2MC-8FX8bit CISCF2MC-16LX -16bit CISC-F2MC-8L8bitCISC-F2MC-8FX MB95330/390Series -8bit CISC方波，120度变频 Hall 传感器F2MC-8FX MB95200 Series -8bit CISC开关控制（继电器，可控硅） 单相直流调速方波（EMF）120度变频无传感器DC通用电机 DC通用电机DC无刷电机 DC无刷电机3PMSM电机 PMSM电机AC感应电机 AC感应电机Copyright 2010 FUJITSU SEMICONDUCTOR应用电机变频控制的富士通MCU推荐型号144Pin MB91470Series MB91470Series FR60 Max 80MHz FR60 Max 80MHz PKG：QFP-144 -MB91V470PKG：QFP-144 -MB91V470-MB91F479: 512KB // RAM 32KB -MB91F479: 512KB RAM 32KB -12bit A/D 8ch+10bit A/D 16ch, 3unit 100Pin-MB91F475: 256KB //RAM 16KB -MB91F475: 256KB RAM 16KB -MB91F478: 384KB //RAM 24KB -MB91F478: 384KB RAM 24KB -12bit A/D 8ch+10bit A/D 16ch, 3unit -16bit MFT 1ch: Single Motor Drive:120/180 -16bit MFT 1ch: Single Motor Drive:120/180 -Wave form generator 1ch -Wave form generator 1ch -MAC: 32bit uDSP -MAC: 32bit uDSP FM3 Series FM3 Series ARM-Cortex M3 40/80/144MHz ARM-Cortex M3 40/80/144MHz PKG：LQFP48/64/100/144 PKG：LQFP48/64/100/144-Flash 64 ~512KB //RAM 4~64KB -Flash 64 ~512KB RAM 4~64KB -12bit A/D 2/3Unit -12bit A/D 2/3Unit -16bit MFT 1/2ch: Motor Drive:120/180 -16bit MFT 1/2ch: Motor Drive:120/180 -Wave form generator :1/2ch -Wave form generator :1/2chMB91480Series MB91480Series FR60 Max 80MHz FR60 Max 80MHz PKG：QFP-100 -MB91V470PKG：QFP-100 -MB91V470--MB91F487512KB // RAM 32KB -MB91F487512KB RAM 32KB -10bit A/D 4ch+4ch+10ch, 3Unit-MB91F482256KB //RAM 16KB -MB91F482256KB RAM 16KB-10bit A/D 4ch+4ch+10ch, 3Unit -16bit MFT 2ch: Dual Motor Drive:120/180 -16bit MFT 2ch: Dual Motor Drive:120/180 -Wave form generator 2ch -Wave form generator 2ch -MAC: 32bit uDSP -MAC: 32bit uDSP64PinMB90460 Series MB90460 Series 2 FF2MC-16LXMax 16MHz MC-16LX Max 16MHz PKG：QFP-64 –MB90V460PKG：QFP-64 –MB90V460-MB90F463 128KB //RAM 2KB -MB90F463 128KB RAM 2KB -MB90F462 64KB //RAM 2KB -MB90F462 64KB RAM 2KB -MB90462 -MB90462 64KB //RAM 2KB 64KB RAM 2KB -8/10bit A/D 8ch -8/10bit A/D 8ch -16bit MFT 1ch: Support to Buffer -16bit MFT 1ch: Support to Buffer -16bit MPG 1ch -16bit MPG 1ch -Wave form generator 1ch -Wave form generator 1chMB91265 Series MB91265 Series FR60Lite Max 33MHz FR60Lite Max 33MHz PKG：QFP-64 –MB91V265PKG：QFP-64 –MB91V265--MB91F267,267 128KB //RAM 4KB -MB91F267,267 128KB RAM 4KB -MB91266, 64KB //RAM 2KB -MB91266, 64KB RAM 2KB -10bit A/D 11ch, 2unit -10bit A/D 11ch, 2unit -16bit MFT 1ch: Support to Buffer -16bit MFT 1ch: Support to Buffer -Wave form generator 1ch -Wave form generator 1ch -MAC: 16bit uDSP -MAC: 16bit uDSPMB91490Series MB91490Series FR60 Max 50/80MHz FR60 Max 50/80MHz PKG：QFP-64 –MB91V470PKG：QFP-64 –MB91V470--MB91F492256KB //RAM 4KB -MB91F492256KB RAM 4KB -10bit A/D 4ch+8ch,2Unit -10bit A/D 4ch+8ch,2Unit -16bit MFT 1ch: Single Motor Drive:120/180 -16bit MFT 1ch: Single Motor Drive:120/180 -Wave form generator 1ch -Wave form generator 1chMB95390 Series MB95330 SeriesF2MC-8FX Max 16.25MHz PKG：LQFP32,SDIP32,QFN32 -MB95F334 20KB / RAM 1008B -MB95F333 12KB / RAM 496B -MB95F332 8KB / RAM 240B -8/10bit A/D 8ch -16bit MPG 1ch -Wave form generator 1ch F2MC-8FXMax 16.25MHz PKG：LQFP32,SDIP32,QFN32 -MB95F398 60KB / RAM 2032B -MB95F396 36KB / RAM 1008B -MB95F394 20KB / RAM 496B -8/10bit A/D 12ch -16bit MPG 1ch -Wave form generator 1ch48Pin8位MCU 16位MCU 16位MCU 32位MCU 32位MCU32Pin直流无刷、永磁同步，感应马达应用4Copyright 2010 FUJITSU SEMICONDUCTOR应用于家电电机控制的产品电机控制方法 转子位置 编码器 MCU 电机电流采样 富士通 应用， 交流互感器采样FR60 FR80 洗衣机 180 度正矢量控制 交流互感器2或 FR60Lite FR60 冰箱，空调 电流估算 ， 同步电机 Shunt 弦波控制 采样 直流无刷 ， FR60Lite FR60 洗衣机 霍尔传感器 不检测 电机 120 16LX MB95F300 箱，空调 度方 ， 反向电动势 不检测 冰 16LX MB95F300 波控制 霍尔传感器 不检测 ， 洗衣机，扇 风 ， FR60Lite 采样 2-Shunt 矢量控制 无 三相 洗衣机，冰 V/F FR60 16LX 感应电机 控制 无 ， 箱，空调 8FX 8L 单相 ， 无 直流通用 风扇，吸尘 ， 无 8FX 8L 电机 器 电动工具 ，5Copyright 2010 FUJITSU SEMICONDUCTOR应用于工业电机变频控制的产品电机控制方法 (180 度）应用富士通 MCU同步电机 （直流无刷电机）矢量控制交流伺服，数控机床 （中端），缝纫机 工业变频， PLC， 泵， UPS （中高端） 工业变频， PLC， 泵， UPS（低端）FR60 ， FR80无传感器 矢量控制 感应电机 简单矢量控制 V/F控制FR60 ， FR80 FR60Lite 16LX6Copyright 2010 FUJITSU SEMICONDUCTOR应用于电机的富士通MCU性能比较ProductCPU Family Max Frequency CalculationMB95330 SeriesF MC-8FX 16.25MHz 8x8 = 16 => 5 cycles 8/8 = 8=> 22 cycles2MB95390 SeriesF MC-8FX 16.25MHz 8x8 = 16 => 5 cycles 8/8 = 8=> 22 cycles 8 - 20kB/240-1008B 28/29 GPIO N/A N/A 16 bit x 1CH 16 bit x 4CH N/A2MB90460 SeriesF MC-16LX 16MHz 16x16 = 32 => 5 cycles 16/16 = 16 => 22 cycles 64-128kB/2kB 51 GPIO N/A 16 bit x 2CH 16 bit x 1CH 16 bit x 4CH U/D free run timer Output compare x 6CH Input capture x 4CH Waveform generator2MB91260 SeriesFR60Lite 33MHz 32x32 = 64 => 5 cycles 16x16 = 32 => 3 cycles 32/32 = 32 => 36 cycles 256kB Flash/4kB RAM 37 GPIO 8/16 bit data bus 16 bit x 2CH 16 bit x 1CH 16 bit x 8CH/8 bit x 16 CH U/D free run timer x 1CH Output compare x 6CH Input capture x 4CH Waveform generator N/AMB91490 SeriesFR60 50/80MHz 32x32 = 64 => 5 cycles 16x16 = 32 => 3 cycles 32/32 = 32 => 36 cycles 256kB Flash/12kB RAM 49 GPIO 8/16 bit data bus 16 bit x 2CH 16 bit x 1CH 16 bit x 8CH/8 bit x 16 CH U/D free run timer x 1CH Output compare x 6CH Input capture x 4CH Waveform generator N/AROM/RAM I/O Port External bus PWC Timer Reload Timer PPG Timer 16 bit Multifunction Timer8 - 20kB/240-1008B 28/29 GPIO N/A N/A 16 bit x 1CH 16 bit x 4CH N/AMulti-pulse GeneratorUp count free run timer Up count free run timer Output compare x 6CH Input capture x 4CH Waveform generator Output compare x 6CH Input capture x 4CH Waveform generator 500kbps Sync x 2CH 1 unit, 8CH, 3us conversion time N/A N/A 10CH QFN/LQFP/SHDIP-48 2.7V – 5.5V1 unitUART/SIO 10 bit ADC MAC DMAC External IRQ Package Supply Voltage500kbps Sync x 2CH 1 unit, 8CH, 3us conversion time N/A N/A 10CH QFN/LQFP/SHDIP-32 2.7V – 5.5V500kbps Sync x 2CH 1 unit, 8CH, 6.2us conversion time N/A N/A 8CH QFP/LQFP/SHDIP-64 3.0V – 5.5V1Mbps Sync x 3CH 2 unit x 4CH = 8CH 1.2us conversion time 16x16+40 = 16 => 1 cycle 3CH 8CH QFP/LQFP-64 4.0V – 5.5V1Mbps Sync x 3CH 2 unit :4CH+8CH = 12CH 1.2us conversion time N/A 5CH 10CH + NMI QFP/LQFP-64 3.0 – 5.5V7Copyright 2010 FUJITSU SEMICONDUCTOR应用于电机控制MCU外设特点-8/16bit PPG 定时器排成一排、预备～跑！ H桥型DC电机控制容易了Start at same timeA0 B0 B0 PPG00 A1 B1 B1 Pch PPG01 PchPPG00PPG01A2 B2 B2 PPG10 Nch B3MPPG11 NchPPG10A3 B3PPG11数个「8/16位PPG定时器」可同时启动 在开始后同一时间改变占空比/周期8**8/16bit PPG: 仅限于有8位模式定时器x 4ch 的微处理器Copyright 2010 FUJITSU SEMICONDUCTOR应用于电机控制MCU外设特点-8/16bit 复合定时器定时器不够了、还差一个！这种时候应该使用可选择功能的「复合定时器」PWM定时器计时器复合定时器输出方波功能。