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3-Phase Motor Control (PMD Mode)

Function explanation : [Timer mode] [IGBT mode] [PMD mode]

Simulation : [Clock period (Timer mode)] [PPG output (IGBT mode)] [3-phase motor control (PMD mode)]

Simulates when 16-bit multi-purpose timer is used in PMD mode and rectangular-wave drive of the motor is performed. 
Click the "Operate by one step" or "Start continuous operation" button. The value to be set for PMD output control register and PMD output at that time are displayed and rotation of the connected motor is simulated.

Register setting : MTPDxMDOUT(PMD output control register)


PMD output

U outputX outputV output Y outputW outputZ output

Operation overview

  • If "PWM" or "H" is output to the U-, V- and W-phase output, the coil connected to it will becomes the N pole (red).
  • If "H" is output to the X-, Y- and Z-phase output, the coil connected to it becomes S pole (blue).
  • When the rotation angle is 30 degrees, outputting a PWM to U-phase output and H signal to Y-phase output makes U-phase become N pole (red) and rebinds N pole of the rotor. V phase becomes S pole (blue), and then the rotor is rotated by attracting N pole (red) of the rotor.
  • Outputs are switched at the timing when the encoder circuit reads the signal from the position sensor (Hall sensor) located in the yellow mark in the figure and encoder interrupt is generated.

Setting other register

Register Bit Function Setting
(PMD control register)
PWMCK Specifies PWM cycle extension mode 0:Normal cycle
SYNTMD Sets port output of U-, V- and W-phases 0
DTYMD DUTY mode 0:U-phase in common
INTPRD PWM interrupt cycle 01:Every PWM 1 cycle
PWMMD PWM carrier wave 0:sawtooth
(PWM cycle register)
MDPRD PWM cycles (ex.)4000:PWM period 20kHz@12.5ns
(PWM compare U register)
CMPU PWM pulse width Speed of the motor rotation changes according to the value (the value should be set lower than PWM cycle).
(PMD output setting register)
POLH Polarity of upper phase output port 1:High active
POLL Polarity of lower phase output port 1:High active
PSYNCS timing when port outputs of U-, V- and W-phase output setting is reflected 00:Reflects when write
(PMD enable register)
PWMEN Controls waveform generation to enable/disable 1:Enabled

Sine wave drive of the motor

In this simulation, if the number of rotations of the motor is constant, PWM output is also constant as the fixed rectangular-wave drive. If PWM is changed 1 pulse at a time as shown in the figure below, the motor actuator serves as a pseudo-sine-wave drive.

Sine wave drive of the motor

In PMD mode of the 16-bit multi-timer, a motor can be sine-wave driven by the following procedure.

  • Set "3-phase independent" by setting MTPDxMDCR<DTYMD>(DUTY mode selection); set different PWM values to U-, V-, and W-phase.
  • Set "Triangle wave" to MTPDxMDCR<PWMMD>(PWM carrier waveform specification).
  • For the reference values such as the speed indication value, the U-phase output value is determined by using the sine-wave conversion table.
  • Set the U-phase output value to the MTPDxCMPU<CMPU>. The V-phase is considered as a value in which phase is shifted by 120-degrees from the U-phase value. Set the V-phase value to the MTPDxCMPW<CMPW>. The W-phase is considered as a value in which a phase is shifted by 240-degrees from the U-phase value.
  • When PWM interrupt is generated for each PWM cycle, change the value for the angle rotated in PWM cycle to update CMPU, CMPV, and CMPWre updated at that time.
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