參數(shù)資料
型號(hào)： MC68HC708MP16
廠商： Motorola, Inc.
英文描述： 8-Bit Microcontroller Units (MCU).(8位微控制器)
中文描述： 8位微控制器單元（MCU）。（8位微控制器）
文件頁數(shù)： 39/44頁
文件大?。?/td> 342K
代理商： MC68HC708MP16
Application Note
Brushless DC Motor Controller
AN1712
MOTOROLA
39
If the rotational speed over the previous commutation interval is
assumed to be constant, then the velocity over the last commutation
interval can be defined as:
Where:
θ
= the mechanical angle spanned by the last commutation
interval
= the time between the last two hall sensor signal transitions
t
If the commutation boundaries are evenly spaced,
θ
is constant for that
particular motor, implying that the
t measurement is sufficient for
calculating velocity.
Once
t has been obtained, it is also possible to estimate the shaft
position at any time by using this equation:
Where:
(t)
θ
= estimated shaft position at time "t"
= the mechanical angle spanned by the last commutation
interval
= the time between the last two Hall sensor signal transitions
= the present time obtained from reading the free-running timer
= the captured time of the last Hall sensor signal transition
θ
tcap
= the shaft position at the time of t
cap
(assumed to be a known
value)
t
t
t
cap
Again, the assumption is made that the motor is spinning at a constant
velocity and the commutation boundaries are evenly spaced.
The equation can also be solved for t in cases where a certain action
must occur at a specified shaft position
θ
(t). This value can then be
placed in a timer channel to generate an output pulse or interrupt to the
CPU when the estimated position is reached (channel 3 is used in
Figure 21
). A useful application of this is to perform phase advancement
of the commutation boundaries. Due to the electrical time constant of the
motor windings, it takes a certain amount of time during commutation for
the field to decay in the previous winding and become established in the
ω
=
θ
t
(t) =
θ
[t – t
cap
]
t
+
θ
tcap
θ
θ
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