Arduino-bldc - The brushless DC motor driver by arduino. A brushless motor controller requires a lot of knowledge and experience the project uses Arduino UNO.
There are two types of BLDC motors: sensored and sensorless. Sensored BLDC motor uses hall effect sensors to detect rotor position where as the sensorless BLDC motor uses another technique which is BEMF (back electromotive force). This topic shows how to drive a sensored BLDC motor using an Arduino UNO board. The BLDC motor used in this project is just a PC CD-ROM motor (spindle motor).
The BLDC motor (sensored or sensorless) is a 3 phase DC motor which means it has 3 winding on the stator core. Two coils are energized at a time to create a rotating electric field. This method is fairly easy to implement, but to prevent the permanent magnet rotor from getting locked with the stator, the excitation on the stator must be sequenced in a specific manner while knowing the exact position of the rotor magnets.
To drive this motor we need a 3-phase bridge, the basic elements of it are the 6 MOSFETs. General circuit schematic diagram of the 3-phase bridge is shown below:
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The sensored BLDC motor has 3 hall effect sensors (A, B and C) to sense rotor position, these sensors are placed as shown in the following picture. The motor which I used in this project has pinout as shown below (other motors may have a different pinout).
In this motor each hall effect sensor has 4 pins: VCC (H+), GND (H-) and two outputs (some sensors come with 3 pins: VCC, GND and output).
Since I have 4-pin hall effect sensors, I added an analog comparator (I used LM339N quad comparator IC) to each one so each sensor outputs (2 outputs: + and -) are connected to the inputs (2 inputs: non-inverting and inverting) of the comparator as shown in the circuit schematic below, finally I got 3 outputs from the 3 hall effect sensors.
Each sensor outputs a digital high for 180 electrical degrees and outputs a digital low for the other 180 electrical degrees. The following figure shows the relationship between the sensors outputs and the required motor drive voltages for phases A, B and C.
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According to the hall effect sensors, the 3-phase bridge is controlled as shown in the following table:
Components Required:
- Arduino board
- Sensored brushless DC motor
- 6 x 06N03LA N-type mosfet (or equivalent) – datasheet
- 3 x IR2104S gate driver IC – datasheet
- LM339N (or LM339) quad comparator IC – datasheet
- 10k ohm (or less) potentiometer
- 3 x 10k ohm resistor
- 7 x 100 ohm resistor
- 3 x IN4148 diode
- 3 x 10uF capacitor
- 3 x 2.2uF capacitor
- 12V source
- Breadboard
- Jumper wires
Sensored brushless DC motor control with Arduino circuit:
The overall circuit diagram is shown below.
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(All grounded terminals are connected together).
In the circuit there are three IR2104S gate driver IC, each one is used to drive one high side mosfet and one low side mosfet, the switching between the high side and the low side is done according to the control lines which are: IN and SD. The figure below shows input and output timing diagram:
The 10k potentiometer is used to control the brushless DC motor speed, it is controlled using PWM technique (pwming high sides only). Any time there is one active high side mosfet and one active low side mosfet, that means always there is one active PWM pin (Arduino pin 2, 4 or 6).
The table below summarizes the active Arduino pins according to the hall effect senors states (pins: 8, 9, and 10):
Sensored brushless DC motor control with Arduino code:
In this project I implemented a simple software PWM code because I had needed an active PWM signal on pin 2, 4 or 6 (only one is active at a time), for that I used Timer2 module and I configured it with a prescaler of 1/8 which means the PWM signal frequency is about 7.8KHz ( equal to: 16MHz/(8 * 256) ) and 8-bit resolution.
The ADC module is configured to read from channel 0 only.
Arduino interrupt on change is activated for pins 8, 9 and 10 (hall effect sensors inputs) for better commutation.
PORTB are Arduino uno pins: 8 … 13.
PORTD are Arduino uno pins: 0 … 7.
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 | // Arduino sensored BLDC (brushless DC) motor control code bytemotor_speed,bldc_step,pwm_pin=2; DDRD|=0xFC;// Configure pins 2, 3, 4, 5, 6 and 7 as outputs PCICR=1;// Enable pin change interrupt for pins 8 to 13 PCMSK0=7;// Enable pin change interrupt for pins 8, 9 and 10 TCCR2A=0; TCCR2B=2;// Timer2 prescaler = 1/8 (Timer2 clock = 2MHz) // ADC module configuration ADMUX=0x60;// Configure ADC module and select channel 0 ADCSRA=0x84;// Enable ADC module with 16 division factor (ADC clock = 1MHz) bldc_step=PINB&7;// Read hall effect sensors status (PINB: read from PORTB which is arduino pins 8.13) } bldc_step=PINB&7;// Read and save hall effect sensors status (PINB: read from PORTB which is arduino pins 8.13) } voidbldc_move(){// BLDC motor move function according to hall effect sensors status case1: pwm_pin=2; case2: pwm_pin=4; case3: pwm_pin=4; case4: pwm_pin=6; case5: pwm_pin=2; case6: pwm_pin=6; default: break; } ADCSRA|=1<<ADSC;// Start conversion while(ADCSRA&0x40);// Wait for conversion complete // Software PWM while(TCNT2<motor_speed); } while(TCNT2>=motor_speed); } |
The video below shows a hardware circuit of the project:
Related project:
CD-ROM Sensored BLDC motor control with Arduino
Brushless motor has many advantages, the development of a brushless motor controller requires a lot of knowledge and experiencethe project uses Arduino UNO( atmega328) as the basis for development, the controller is characterized by:
1, support for a sensored or sensorless bldc motor
2, support for open loop and closed loop
3, software and hardware current protection
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4, serial communication
5，Voltage：12-48V
6，Current：rated 10A / max 20A
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本无刷电机驱动器采用开源硬件，经过自己的测试和验证，是学习无刷电机控制器的入门好教材特点：
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1，主控MCU采用ATMEGA328;
2，电路采用原装ST场效应管,80V110A（STP110N8F6）；额定10A/最大20A
3，原装IR作预驱；
4，采用原装DC-DC降压芯片，可在12-48V内工作；
5，具有高压大电流、低导通内阻等特点；
6，具有上电自检、欠压/过压、过流、堵转、霍尔相序检测等多重保护功能；
7，支持有感无感无刷电机驱动。
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