bipolar drive circuit simulation using pspice

All Rights Reserved Copyright (C) Bee Technologies Corporation 2011 1

Bipolar Stepping Motor Drive Circuit Simulation

PSpice VersionVCC

0

Vcc

12

A

/A

B/B

U1BI-POLAR_STEP_MOTRL = 10mR = 8.4

OU

I

OL

U2

GDRV

+

-

+

-

S7S

VCC

0

DIODE

D7

/BU

+

-

+

-

S8

SDIODE

D8

/BL

0

OU

I

OL

U3

GDRV

OU

I

OL

U5

GDRV

B

+

-

REF

-+

FB.

U11

HYS_I-CTRL

I_SET = {I_SET}VHYS = {VHYS}

/FB

+

-

REF

-+

FB.

U7

HYS_I-CTRL


FA

+

-

+

-

S5

S

VCC

0

DIODE

D5

BU

+

-

+

-

S6

SDIODE

D6

BL

0

PARAMETERS:

RON = 10m

+

-

+

-

S1

S

VCC

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

0

+

-

REF

-+

FB.

U13

HYS_I-CTRL


DIODE

D1

AU

+

-

+

-

S2

SDIODE

D2

AL

A

0

+

-

REF

-+

FB.

U9

HYS_I-CTRL


+

-

+

-

S3S

VCC

0

DIODE

D3

/AU

+

-

+

-

S4

SDIODE

D4

/AL

0

U8

AND

U10

AND

U12

AND

U14

AND

/FA

R1

1k

FB

CLK

0

OU

I

OL

U4

GDRV

/A

/B

U151-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

Unipolar Stepping Motor Drive Circuit

Contents

1. Concept of Simulation

2. Unipolar Stepping Motor Drive Circuit

3. Unipolar Stepping Motor

4. Switches

5. Signal Generator

6. Hysteresis-Based Current Controller

7. Unipolar Stepping Motor Drive Circuit (Example)

7.1 One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

7.2 Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

7.3 Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A

8. Drive Circuit Efficiency



Driver Unit:(e.g. Hysteresis-

Based Controller)

Parameter:

• I_SET

• HYS

Switches(e.g. FET,

Diode)

Parameter:

• Ron

Stepping

Motor

Parameter:

• L

• R

Control Unit (e.g. Microcontroller)

Sequence:

• One-Phase

• Two-Phase

• Half-Step

U?1-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?2-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?HALF-STEPPPS = 100

CLK

FA

/FA

FB

/FB

Models:

Block Diagram:

DIODED1

0

+

-

+

-

S1

SRON = 10m

VCC

Ctrl_A A

1.Concept of Simulation

U2

AND

+

-

REF

-+

FB.

U1

HYS_I-CTRL


Ctrl_AFA

A

/A

B/B

U?BI-POLAR_STEP_MOTRL = 10mR = 8.4

Signal generator Hysteresis Based Current Controller VCC

0

Vcc

12

A

/A

B/B


OU

I

OL

U2

GDRV

+

-

+

-

S7S

VCC

0

DIODE

D7

/BU

+

-

+

-

S8

SDIODE

D8

/BL

0

OU

I

OL

U3

GDRV

OU

I

OL

U5

GDRV

B

+

-

REF

-+

FB.

U11

HYS_I-CTRL


/FB

+

-

REF

-+

FB.

U7

HYS_I-CTRL


FA

+

-

+

-

S5

S

VCC

0

DIODE

D5

BU

+

-

+

-

S6

SDIODE

D6

BL

0

PARAMETERS:

RON = 10m

+

-

+

-

S1

S

VCC

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

0

+

-

REF

-+

FB.

U13

HYS_I-CTRL


DIODE

D1

AU

+

-

+

-

S2

SDIODE

D2

AL

A

0

+

-

REF

-+

FB.

U9

HYS_I-CTRL


+

-

+

-

S3S

VCC

0

DIODE

D3

/AU

+

-

+

-

S4

SDIODE

D4

/AL

0

U8

AND

U10

AND

U12

AND

U14

AND

/FA

R1

1k

FB

CLK

0

OU

I

OL

U4

GDRV

/A

/B

U151-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

2.Unipolar Stepping Motor Drive Circuit


Bipolar Stepping Motor Supply VoltageH-Bridge Switches (Driver)

3.Bipolar Stepping Motor


• The electrical equivalent circuit of each phase consists

of an inductance of the phase winding series with

resistance.

• The inductance is ideal (without saturation

characteristics and the mutual inductance between

phases)

• The motor back EMF is set as zero to simplified the

model parameters extraction.

Input the inductance and resistance values (parameter: L, R) of the stepping motor, that are usually provided by the manufacturer datasheet, to generally model the phase winding.

A

/A

B/B

U?BI-POLAR_STEP_MOTRL = 10mR = 8.4

4.Switches


• A near-ideal DIODE can be modeled by using

spice primitive model (D), which parameter:

N=0.01 RS=0.

• A near-ideal MOSFET can be modeled by using

PSpice VSWITCH that is voltage controlled

switch.

• MOSFETs are used as a H-Bridge.

The parameter RON represents Rds(on)characteristics of MOSFET, that are usually provide by the manufacturer datasheet. The value could be about 10m to 10 ohm.

OU

I

OL

U2

GDRV

OU

I

OL

U3

GDRV

+

-

+

-

S1

S0

VCC

DIODE

D1

AU

+

-

+

-

S2

S

RON = 10m

DIODE

D2

AL

0

+

-

+

-

S3S

VCC

0

DIODE

D3

/AU

+

-

+

-

S4

SDIODE

D4

/AL

0

Ctrl_A

Ctrl_/A

A

/A

5.Signal Generator

The signal generators are used as a microcontroller capable of generating step pulses

and direction signals for the driver.

There are 3 useful stepping sequences to control unipolar stepping motor


One-Phase (Wave Drive)

• Consumes the least power.

• Assures the accuracy regardless of the winding imbalance.

Two-Phase (Hi-Torque)

• Energizes 2 phases at the same time.

• Offers an improved torque-speed result and greater holding torque.U?1-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?2-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

U?HALF-STEPPPS = 100

CLK

FA

/FA

FB

/FB

Half-Step

• Doubles the stepping resolution of the motor.

• Reduces motor resonance which could cause a motor to stall at a resonant frequency.

• Please note that this sequence is 8 steps.

Input PPS (Pulse Per Second) as a clock pulse speed(frequency).

5.1 One-Phase Sequence


Time

0s 40ms 80ms

V(/FB)

0V

5.0V

SEL>>

V(FB)

0V

2.5V

5.0V

V(/FA)

0V

2.5V

5.0V

V(FA)

0V

2.5V

5.0V

V(CLK)

0V

2.5V

5.0V

ON

ON

ON

ON

Clock

Phase A

Phase /A

Phase B

Phase /B

1 Sequence

Time

0s 40ms 80ms

V(/FB)

0V

5.0V

SEL>>

V(FB)

0V

2.5V

5.0V

V(/FA)

0V

2.5V

5.0V

V(FA)

0V

2.5V

5.0V

V(CLK)

0V

2.5V

5.0V

5.2 Two-Phase Sequence


ON

ON

ON

ON

1 Sequence

Clock

Phase A

Phase /A

Phase B

Phase /BON

Time

0s 80ms 160ms

V(/FB)

0V

5.0V

SEL>>

V(FB)

0V

2.5V

5.0V

V(/FA)

0V

2.5V

5.0V

V(FA)

0V

2.5V

5.0V

V(CLK)

0V

2.0V

4.0V

5.3 Half-Step Sequence


ON

ON

ON

1 Sequence

Clock

Phase A

Phase /A

Phase B

Phase /BON

6.Hysteresis-Based Current Controller


• Controlled by the signal from the

microcontroller.

• Generate the switch (MOSFET) drive signal

by comparing the measured phase current

with their references.

Input the reference value at the I_SET (e.g. I_SET=0.5A) to set the regulated current level. The hysteresis current value is set at the VHYS (e.g. VHYS=0.1A).

U2

AND

+

-

REF

-+

FB.

U1

HYS_I-CTRL

I_SET = 0.5VHYS = 0.1

Ctrl_AFA

VCC

0

Vcc

12

A

/A

B/B


OU

I

OL

U2

GDRV

+

-

+

-

S7S

VCC

0

DIODE

D7

/BU

+

-

+

-

S8

SDIODE

D8

/BL

0

OU

I

OL

U3

GDRV

OU

I

OL

U5

GDRV

B

+

-

REF

-+

FB.

U11

HYS_I-CTRL


/FB

+

-

REF

-+

FB.

U7

HYS_I-CTRL


FA

+

-

+

-

S5

S

VCC

0

DIODE

D5

BU

+

-

+

-

S6

SDIODE

D6

0

BL

PARAMETERS:

RON = 10m

+

-

+

-

S1

S0

VCC

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

+

-

REF

-+

FB.

U13

HYS_I-CTRL


DIODE

D1

AU

+

-

+

-

S2

SDIODE

D2

AL

0

A

+

-

REF

-+

FB.

U9

HYS_I-CTRL


+

-

+

-

S3S

VCC

0

DIODE

D3

/AU

+

-

+

-

S4

SDIODE

D4

/AL

0

U8

AND

U10

AND

U12

AND

U14

AND

/FA

R1

1k

CLK

0

FB

OU

I

OL

U4

GDRV

/A

/B

U151-PHASEPPS = 100

CLK

FA

/FA

FB

/FB



*Analysis directives:

.TRAN 0 80ms 0 10u SKIPBP

.OPTIONS ITL4= 40

One-Phase Step

Sequence Generator

(100 pps)

Time

0s 20ms 40ms 60ms 80ms

1 V(/FB) 2 I(U1:/B)

0V

2.5V

5.0V1

0A

500mA2

SEL>>SEL>>

1 V(FB) 2 I(U1:B)

0V

2.5V

5.0V1

0A

500mA2

>>

1 V(/FA) 2 I(U1:/A)

0V

2.5V

5.0V1

0A

500mA2

>>

1 V(FA) 2 I(U1:A)

0V

2.5V

5.0V1

0A

500mA2

>>

V(CLK)

0V

2.5V

5.0V



Clock

Phase A Current

I_SET=0.5A

I_HYS=0.1A

Phase /A Current

Phase B Current

Phase /B Current

7.2 Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A




.OPTIONS ITL4= 40

VCC

0

Vcc

12

A

/A

B/B


OU

I

OL

U2

GDRV

+

-

+

-

S7S

VCC

0

DIODE

D7

/BU

+

-

+

-

S8

SDIODE

D8

/BL

0

OU

I

OL

U3

GDRV

OU

I

OL

U5

GDRV

B

+

-

REF

-+

FB.

U11

HYS_I-CTRL


/FB

+

-

REF

-+

FB.

U7

HYS_I-CTRL


FA

+

-

+

-

S5

S

VCC

0

DIODE

D5

BU

+

-

+

-

S6

SDIODE

D6

0

BL

PARAMETERS:

RON = 10m

+

-

+

-

S1

S0

VCC

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

+

-

REF

-+

FB.

U13

HYS_I-CTRL


DIODE

D1

AU

+

-

+

-

S2

SDIODE

D2

AL

0

A

+

-

REF

-+

FB.

U9

HYS_I-CTRL


+

-

+

-

S3S

VCC

0

DIODE

D3

/AU

+

-

+

-

S4

SDIODE

D4

/AL

0

U8

AND

U10

AND

U12

AND

U14

AND

/FA

R1

1k

CLK

0

FB

OU

I

OL

U4

GDRV

/A

/B

U152-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

One-Phase Step

Sequence Generator

(100 pps)

Time

0s 20ms 40ms 60ms 80ms

1 V(/FB) 2 I(U1:/B)

0V

2.5V

5.0V1

0A

500mA2

SEL>>SEL>>

1 V(FB) 2 I(U1:B)

0V

2.5V

5.0V1

0A

500mA2

>>

1 V(/FA) 2 I(U1:/A)

0V

2.5V

5.0V1

0A

500mA2

>>

1 V(FA) 2 I(U1:A)

0V

2.5V

5.0V1

0A

500mA2

>>

V(CLK)

0V

2.5V

5.0V



Clock

Phase A Current

I_SET=0.5A

I_HYS=0.1A

Phase /A Current

Phase B Current

Phase /B Current

VCC

0

Vcc

12

A

/A

B/B


OU

I

OL

U2

GDRV

+

-

+

-

S7S

VCC

0

DIODE

D7

U15HALF-STEPPPS = 100

CLK

FA

/FA

FB

/FB

/BU

+

-

+

-

S8

SDIODE

D8

/BL

0

OU

I

OL

U3

GDRV

OU

I

OL

U5

GDRV

B

+

-

REF

-+

FB.

U11

HYS_I-CTRL


/FB

+

-

REF

-+

FB.

U7

HYS_I-CTRL


FA

+

-

+

-

S5

S

VCC

0

DIODE

D5

BU

+

-

+

-

S6

SDIODE

D6

0

BL

PARAMETERS:

RON = 10m

+

-

+

-

S1

S0

VCC

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

+

-

REF

-+

FB.

U13

HYS_I-CTRL


DIODE

D1

AU

+

-

+

-

S2

SDIODE

D2

AL

0

A

+

-

REF

-+

FB.

U9

HYS_I-CTRL


+

-

+

-

S3S

VCC

0

DIODE

D3

/AU

+

-

+

-

S4

SDIODE

D4

/AL

0

U8

AND

U10

AND

U12

AND

U14

AND

/FA

R1

1k

CLK

0

FB

OU

I

OL

U4

GDRV

/A

/B

7.3 Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A




.OPTIONS ITL4= 40

One-Phase Step

Sequence Generator

(100 pps)

Time

0s 40ms 80ms 120ms 160ms

1 V(/FB) 2 I(U1:/B)

0V

2.5V

5.0V1

0A

500mA2

SEL>>SEL>>

1 V(FB) 2 I(U1:B)

0V

2.5V

5.0V1

0A

500mA2

>>

1 V(/FA) 2 I(U1:/A)

0V

2.5V

5.0V1

0A

500mA2

>>

1 V(FA) 2 I(U1:A)

0V

2.5V

5.0V1

0A

500mA2

>>

V(CLK)

0V

2.5V

5.0V



Clock

Phase A Current

I_SET=0.5A

I_HYS=0.1A

Phase /A Current

Phase B Current

Phase /B Current

VCC

0

Vcc

12

A

/A

B/B


OU

I

OL

U2

GDRV

+

-

+

-

S7S

VCC

0

DIODE

D7

/BU

+

-

+

-

S8

SDIODE

D8

/BL

0

OU

I

OL

U3

GDRV

OU

I

OL

U5

GDRV

B

+

-

REF

-+

FB.

U11

HYS_I-CTRL


/FB

+

-

REF

-+

FB.

U7

HYS_I-CTRL


FA

+

-

+

-

S5

S

VCC

0

DIODE

D5

BU

+

-

+

-

S6

SDIODE

D6

0

BL

PARAMETERS:

RON = 10m

+

-

+

-

S1

S0

VCC

PARAMETERS:

I_SET = 0.5

VHYS = 0.1

+

-

REF

-+

FB.

U13

HYS_I-CTRL


DIODE

D1

AU

+

-

+

-

S2

SDIODE

D2

AL

0

A

+

-

REF

-+

FB.

U9

HYS_I-CTRL


+

-

+

-

S3S

VCC

0

DIODE

D3

/AU

+

-

+

-

S4

SDIODE

D4

/AL

0

U8

AND

U10

AND

U12

AND

U14

AND

/FA

R1

1k

CLK

0

FB

OU

I

OL

U4

GDRV

/A

/B

U152-PHASEPPS = 100

CLK

FA

/FA

FB

/FB

8.Drive Circuit Efficiency (%)




.STEP PARAM RON LIST 10m, 100m, 1

.OPTIONS ITL4= 40

One-Phase Step

Sequence Generator

(100 pps)

Time

10ms 20ms 30ms 40ms 50ms 60ms 70ms 80ms

100*AVG(W(U1))/(-AVG(W(Vcc)))

85

90

95

100

8.Drive Circuit Efficiency (%)


at switches Ron = 10m, (99.7%)

at switches Ron = 100m, (99.8%)

at switches Ron = 1, (86%)

Note: Add trace 100*AVG(W(U1))/(-AVG(W(Vcc))) for the Efficiency.

Simulation Index


Simulations Folder name

1. One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A...................................

2. Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A...................................

3. Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A....................................

4. Drive Circuit Efficiency (%)...............................................................................

1-Phase

2-Phase

Half-Phase

Efficiency

Libraries :

1. ..¥bipolar_stp-motr.lib

2. ..¥diode.lib

3. ..¥hys_i-ctrl.lib

4. ..¥logicgate.lib

5. ..¥step-seq.lib

6. ..¥gdrv.lib

bipolar drive circuit simulation using pspice

Technology

clkvhy s

ctrlvhy s

step hy s

ctrlu3u10 vhy s

s diode n

diode s ol0b s6

ctrlu5 s5 u14vhy s

set ron r