AN3165

STM32 dual motor field-oriented control

Doc ID 17180 Rev 1

13/31

3

STM32 dual motor field-oriented control

3.1

Overview

The firmware running on the STEVAL-IHM022V1 demonstration board performs dual motor

control operations in simultaneous mode. Up to two motors can be driven in field-oriented

control (FOC), single shunt resistor and in sensorless mode.

To begin with, the dual motor control firmware uses the FOC routines of the STM32 PMSM

library version. 2.0 firmware package and, hence, shares the same principles as when the

motor drive is configured with user parameters.

The software architecture has been extended to treat each motor as an independent

instance, splitting the controls for each one in a completely independent manner.

To emphasize this concept, an embedded UI (LCD TFT 320 x 240 display and 5-position

joystick) allows the user to adjust the motor control parameters in real time during the

motors’ operation.

The following figure shows a typical connection scheme between the STEVAL-IHM022V1

board and two inverter stage boards for performing simultaneous two-motor FOC control.

Note:

Figure 5.

STM32 dual FOC MC topology

3.2

Dual field-oriented control motor driver strategy

Figure 6

shows the block diagram of the dual motor FOC mechanism.

The phase currents of the main and sub motor are sampled during each FOC cycle. The

strategy adopted for the current sampling and execution of the FOC algorithm is to dedicate

one PWM period to each motor, halving in this way the execution rate of the FOC with

respect to single motor driving.

a.

See Chapter 5: References.