ST7MC系列MCU 控制BLDC资料汇总（更新120度和180度驱动的差异）

endlesswind 提问时间：2008-9-3 15:01 /

真正的技术问题，在ST MCU论坛上还是太少了。不知道是用的人太少，还是ST推广不够......？（怎么觉得好像是骂在自己啊？首先申明我不是ST的）以前在其它网站上曾经有整理贴出来过，既然这里有人问道ST7MC系列，顺手将这些资料转来这里，部分内容稍有删除。

最近发现突然出现很多人问起如何使用MCU来控制马达，由于工作的原因，一直有在接触ST7MC和dsPIC30F的BLDC变频控制，手上到是有一些这样的资料，分别是ST7MC系列、TI TMS320LF2xxx系列、Microchip PIC18和dsPIC系列、Freescale MC68H和MC56F800系列的马达控制资料。里面有设计简单的马达控制应用，也有用了PI算法的，也有使用空间矢量算法的。我干脆分帖将这些资料列出来。大家一个方便，有需要的自己找自己所需吧。我本人使用过ST7MC、diPIC30F4011、TMS320LF2407、MC56F8156，不过只有ST7MC是现在用的最多的，后面的两个型号很久以前读书时毕业设计用来做UPS并机的，现在都差不多忘光了，只是还留下点资料，也一并整理出来给大家参考，免得需要的时候满大街找，不知到哪有。资料我可不负责更新啊。
相信大家只要了解电机特性，明白控制理论，用什么单片机都应该是一样的。资料都是英文的，请不要向我要中文的资料，如果我有中文的话，我会尽量提供。PDF格式为应用笔记，ZIP或RAR为参考代码。适当的地方我会加一点中文概述，方便大家。

一、ST7MC部分
ST单片机首页
http://mcu.st.com/mcu/
这里你可以找到所有ST官方的单片机的资料，包括数据手册、用户手册、应用笔记、参考代码、开发环境
ST7MC的官方网页页面：
http://mcu.st.com/mcu/inchtml.php?fdir=pages&fnam=st7mc
ST7MC的官方应用笔记页面：
http://mcu.st.com/mcu/modules.php?name=mcu&file=familiesdocs&FAM=30#Application%20Note
里面有提及ST92141的，这个型号ST已经不建议在新的设计中使用了，使用ST7MC来替代。

1、ST7MC Three-Phase AC Induction Motor Ccontrol Software Library
http://www.st.com/stonline/books/pdf/docs/10266.pdf
http://www.st.com/stonline/products/support/micro/files/an1904.zip

2、ST7MC Three-Phase BLDC Motor Control Software Library
http://www.st.com/stonline/books/pdf/docs/10267.pdf
http://www.st.com/stonline/products/support/micro/files/an1905.zip
这个库使用的是三次谐波，PI算法实现电流环或电压环的闭环控制。
3、ST7MC PMAC Sine Wave Motor Control Software Library
http://www.st.com/stonline/books/pdf/docs/10404.pdf
http://mcu.st.com/mcdfiles/1103128212.zip

4、PFC for ST7MC Starter Kit
http://www.st.com/stonline/books/pdf/docs/10426.pdf

5、PWM Management for 3-Phase BLDC Motor Drives using the ST7FMC
http://www.st.com/stonline/books/pdf/docs/10691.pdf

6、Back EMF detection during PWM on time by ST7MC
http://www.st.com/stonline/books/pdf/docs/10775.pdf

7、Space Vector Modulation using 8-Bit ST7FMC Microcontroller and AK-ST7FMC Starter Kit
http://www.st.com/stonline/books/pdf/docs/11367.pdf
用ST7MC实现空间矢量算法，有详细的思路说明，具体的参考代码没有找到

8、ST7MC1 ST7MC2 datasheet
http://www.st.com/stonline/books/pdf/docs/9721.pdf

9、BLDC Sensor Motor Stand Alone library rev 2.0
http://www.st.com/stonline/products/support/micro/files/an1905_3ph_sr_rn.pdf
http://www.st.com/stonline/products/support/micro/files/an1905_3ph_sr.zip

10、BLDC Sensorless Motor Stand Alone Library rev 2.1
http://www.st.com/stonline/products/support/micro/files/an1905_3ph_sl_rn.pdf
http://www.st.com/stonline/products/support/micro/files/an1905_3ph_sl.zip

11、ST7MC Three-phase AC Induction Motor Control Library Rev 2.0
http://www.st.com/stonline/products/support/micro/files/an1904_rn.pdf
http://www.st.com/stonline/products/support/micro/files/an1904_sw.zip

12、ST7MC-KIT/BLDC Starter kit Software Suite.
(includes comprehensive PC Graphical User Interface and C Software libraries for standalone operation of the starter kit)
http://mcu.st.com/mcdfiles/1131027818.exe
这个GUI可以看到调试的时候需要配置那些参数。

13、ST有一些内部培训的材料，下列的资料仅用于技术交流，请勿用于商业用途。如需商业用途，请删除下述这些资料，然后自行与ST联系获取你的需要。希望下载者注意！
AC Induction Motor
1)、AC Induction Motor Advanced.pdf
2)、AC Induction Motor Basics.pdf
3)、AC Motor Control Library Overview.pdf
4)、Use of GUI and stand-alone software.pdf
5)、Working with the AC Motor Control Software Library.pdf
6)、Hands-on session exercises.pdf
7)、AC induction motor MTC peripheral exercise.pdf
8)、AC induction motor MTC peripheral,features and associated registers.pdf
9)、Sinewave generation technique.pdf
10)、Sinewave generation technique(Solution).pdf

BLDC Motor
1)、BLDC Motor basics.pdf
2)、ST7FMC2x BLDC Motor Peripheral.pdf
3)、ST7FMC2x Microcontroller.pdf
4)、BLDC START & DRIVE.pdf
5)、BLDC Flowchart.pdf
6)、Starter Kit & GUI.pdf
7)、BLDC MOTOR BASIC.pdf
8)、BLDC motor MTC peripheral exercise.pdf

14、ST7 Flash STICK User Manual
http://www.st.com/stonline/books/pdf/docs/9133.pdf
ST7-STICK manufacturing files
http://mcu.st.com/mdtfiles/1038906884.zip
这是ST7 Stick的PCB gerber和电路原理图文档。这个工具是ST7的并口版编程器，支持目前大多数的ST7系列MCU编程。如果你手上有ST7MC，只要有快这样的板子，你就可以开始开发了。这是官方的资料，既然放出来了，应该是可以自己拿来做的。

15、电机控制.pdf
电机控制的概念，工作原理，拓扑 L62xx系列设计参考资料、注意事项，如果需要使用ST的分立马达驱动模块，这是一份非常有用的资料。

二、Ti DSP TMS320LF2xxx部分
Application Software C2000 Apps Software from Texas Instruments
http://focus.ti.com/dsp/docs/dspsupporttoolssoftwareaut.tsp?sectionId=3&tabId=475&familyId=110&toolTypeId=32
里面有几种常见的电机驱动参考代码，DSP的，含F24系列、F28系列。

三、Microchip部分

四、Freescale部分
Freescale有一款DSP，和目前Microchip的dsPIC结构类似，也是MCU＋DSP模式，他们是MC56F83xx/DSP56xxx系列。这一款DSP用于马达驱动、变频控制是一个不错的选择。建议大家看了资料以后，需要了解的只是看懂驱动的原理不要太过分沉迷与器件，比如对照C语言的源文件理解空间矢量。个人感觉其实用什么MCU或DSP驱动都是一样，只要资源可以满足要求都是可以使用的。Freescale的资料其实蛮多的，我这里只提供Reference Designs的列表，需要了解的只要下载Reference Manuals基本上就可以了解个大概。我仅列出与马达控制、变频驱动相关的资料列表（凡是有列出内容，但没有详细下载地址的可与我联系grant_jx@163.com,，也可以到Freescale的网站上注册ID后再下载）：

1、RD56F801XACIM
Design of an ACIM Vector Control Drive using the 56F801X
1)、Reference Manuals：
https://www.freescale.co
m/files/dsp/doc/ref_manual/DRM075.pdf

2、RD56F801XBLDCHS
3-Phase BLDC Motor Control with Hall Sensor Using 56F801X Digital Signal Controllers
1)、Users Guides：
https://www.freescale.co
m/files/dsp/doc/user_guide/56F8013BLDCUG.pdf
2)、Application Notes
https://www.freescale.co
m/files/product/doc/AN1916.pdf
3)、Reports or Presentations
https://www.freescale.co
m/files/ftf_2005/doc/reports_presentations/ZMC308_ELEVICH.pdf
4)、Code Examples
Code Examples.zip

3、RD56F801XPMSMBLDC
PMSM and BLDC Sensorless Motor Control using the 56F801X
1)、Reference Manuals：
https://www.freescale.co
m/files/dsp/doc/ref_manual/DRM077.pdf
2)、Reports or Presentations
https://www.freescale.co
m/files/ftf_2005/doc/reports_presentations/ZMC313_HUTCHINGS.pdf

4、RD56F8300OUPS
Online UPS using a 56F83xx Device
1)、Reference Manuals：
http://www.
2)、Schematics
OrCAD Schematic Capture design file for the 56F8300 UPS Control Board
https://www.freescale.co
m/files/soft_dev_tools/hardware_tools/schematics/56F8300UPSCBOSCH.zip
OrCAD Schematic Capture design file for the 56F8300 UPS Power Board
https://www.freescale.co
m/files/soft_dev_tools/hardware_tools/schematics/56F8300UPSPBOSCH.zip

5、RD56F8300SMPS
Digital AC/DC Switched-Mode Power Supply using a 56F8300 Digital Signal Controllers
1)、Reference Manuals：
http://www.
2)、Application Notes
https://www.freescale.co
m/files/dsp/doc/app_note/AN3115.pdf
3)、Training Reference Material
https://www.freescale.co
m/files/dsp/doc/train_ref_material/56F8300SMPSMM.zip

6、RDDSCSENSORLESSBLDC
3-Phase Brushless DC Motor Sensorless Control using 56F801X
1)、Reference Manuals：
https://www.freescale.co
m/files/dsp/doc/ref_manual/DRM070.pdf
2)、Application Software
http://www.

7、RDDSP56F8ACIMVHD
3-Phase ACIM Volt per Hertz Motor Control Using 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM021.pdf

8、RDDSP56F8ACVCD
3-Phase AC Induction Motor Vector Control Using 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM023.pdf
2)、Application Software
http://www.

9、RDDSP56F8BLDCAZC
3-Phase BLDC Motor Control with Sensorless Back-EMF ADC Zero Crossing Detection Using 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM026.pdf
2)、Application Software
http://www.

10、RDDSP56F8BLDCE
3-Phase BLDC Motor Control with Encoder using 56F80X or 56F8300 Digital Signal Controllers
1)、Application Notes ：
https://www.freescale.co
m/files/dsp/doc/app_note/AN1961.pdf

11、RDDSP56F8BLDCHS
3-Phase BLDC Motor Control with Hall Sensor Using 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM025.pdf
2)、Application Software
http://www.

12、RDDSP56F8BLDCZC
3-Phase Sensorless BLDC Motor Control with Back-EMF Zero Crossing Detection using 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM027.pdf
2)、Application Software
http://www.

13、RDDSP56F8PMSDE
3-Phase PM Synchronous Motor Control with Quadrature Encoder Using 56F80X Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM029.pdf
2)、Application Software
http://www.

14、RDDSP56F8SMTVC
3-Phase PM Synchronous Motor Torque Vector Control Using 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM018.pdf
2)、Application Software
Software Files for 3-Phase PM Synchronous Motor Torque Vector Control Using 56F805
http://www.
Software Files for 3-Phase PM Synchronous Motor Torque Vector Control Using 56F8300
http://www.

15、RDDSP56F8SRDE
3-Phase Switched Reluctance Motor Control with Encoder Using 56F80X Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM031.pdf
2)、Application Software
http://www.

16、RDDSP56F8SRDHS
3-Phase SR Motor Control with Hall Sensor Reference Design for 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM032.pdf
2)、Application Software
http://www.

17、RDDSP56F8SRDS
3-Phase SR Motor Sensorless Control Reference Design using 56F80X or 56F8300 Digital Signal Controllers
1)、Reference Manuals：
https://www.freescale.co
m/files/microcontrollers/doc/ref_manual/DRM030.pdf
2)、Application Software
http://www.

五、Atmel AT90PWMx
就是资料太少，看上起在低成本的竞争上性能与配置蛮有优势的，就是不知道价格如何？
AT90PWM2/3 DataSheet
http://www.atmel.com/dyn/resources/prod_documents/doc4317.pdf

Code example for AT90PWM3 - PSC1 in 1 ramp mode Code example in C language for IAR compiler
http://www.atmel.com/dyn/resources/prod_documents/at90pwm3_psc1_one_ramp.zip
Code example for AT90PWM3 - PSC1 in 1 ramp mode Code example in Assembly language for AVR Studio
http://www.atmel.com/dyn/resources/prod_documents/at90pwm3_psc1_one_ramp_ass.zip

Code example for AT90PWM3 - PSC1 in 2 ramps mode Code example in C language for IAR compiler
http://www.atmel.com/dyn/resources/prod_documents/at90pwm3_psc1_two_ramp.zip

Code example for AT90PWM3 - PSC1 in 4 ramps mode Code example in C language for IAR compiler
http://www.atmel.com/dyn/resources/prod_documents/at90pwm3_psc1_two_ramp.zip

Code example for AT90PWM3 - PSC1 in centered aligned ramp mode Code example in C language for IAR compiler
http://www.atmel.com/dyn/resources/prod_documents/at90pwm3_psc1_centered.zip

ATAVRMC100 - BLDC Motor Control Hardware User Guide
http://www.atmel.com/dyn/resources/prod_documents/doc7551.pdf

AVR440: Sensorless Control of Two-Phase Brushless DC Motor
http://www.atmel.com/dyn/resources/prod_documents/doc8007.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR440.zip

AVR441: Intelligent BLDC Fan Controller with Temperature Sensor and Serial Interface
http://www.atmel.com/dyn/resources/prod_documents/doc8004.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR441.zip

AVR442: BLDC Fan Motor Control with ATtiny13
http://www.atmel.com/dyn/resources/prod_documents/doc8005.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR442.zip

AVR443: Sensor-based control of three phase Brushless DC motor
http://www.atmel.com/dyn/resources/prod_documents/doc2596.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR443.zip

AVR444: Sensorless control of 3-phase brushless DC motors
http://www.atmel.com/dyn/resources/prod_documents/doc8012.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR444.zip

AVR448: Control of High Voltage Three-phase BLDC Motor
http://www.atmel.com/dyn/resources/prod_documents/doc2592.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR448.zip

AVR492: Brushless DC Motor control using AT90PWM3
http://www.atmel.com/dyn/resources/prod_documents/doc7518.pdf
http://www.atmel.com/dyn/resources/prod_documents/avr492.zip

AVR494: AC Induction Motor Control Using the constant V/f Principle and a Natural PWM Algorithm
http://www.atmel.com/dyn/resources/prod_documents/doc7545.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR494_AVR495.zip

AVR495: AC Induction Motor Control Using the Constant V/f Principle and a Space-vector PWM Algorithm
http://www.atmel.com/dyn/resources/prod_documents/doc7546.pdf
http://www.atmel.com/dyn/resources/prod_documents/AVR494_AVR495.zip

出处：grant_jx