ステッピングモーター回路シミュレーション事例
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This document summarizes a simulation of the application circuit for the TB62206FG stepping motor driver IC. The simulation models the key features and components of the IC, including the input logic, oscillator, current level setting, mixed decay control, charge pump unit, H-bridge output, and protection unit. It simulates the phase current at a chopping frequency of 100kHz to predict motor current ripple.
ステッピングモーター回路シミュレーション事例
- 1. ステッピングモーター TB62206FGのアプリケーショ ン シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013 2013年7月24日 株式会社ビー・テクノロジー http://www.beetech.info/
- 2. モータ・ドライバICのアプリケーション回路シミュレーション RSB 7.5ohm L2 1.562mH IC = -0.5A 1 2 V5 0s 10ns 0V 5V 0 V_REFB DC = 1.25 Cv ref B 1uF 0 0 0 V_REFA DC = 1.25 Cv ref a 1uF L1 1.562mH IC = 0A 12 RSA 7.5ohm 0 RRSA0.5 RRSB0.5 0 VM 24Vdc CVM 100uF 00 0 0 VD 5Vdc C1 10uF 0 0 Rosc 3.6k Cosc 560pF 0 0 U1 TB62206FG CCP1 = 0.22UF CCP2 = 0.022UF COSC = 560PF VM = 24 RNFA = 100mV RNFB = 100mV ROSC = 3.6K FIN CR VDD VREF_A VREF_B RS_B RS_A VM CCP_C CCP_B CCP_A STANDBY OUT_A1 PHASE_A PHASE_B OUT_A OUT_B ENABLE_A ENABLE_B OUT_B1 TORQUE Cccp_1 0.22uF Cccp_2 0.022uF V I V_PHASE_A TD = 0 TF = {tf phase} PW = {pwphase} PER = {tphase} V1 = 0 TR = {trphase} V2 = 5V V_PHASE_B TD = {tphase/4} TF = {tf phase} PW = {pwphase} PER = {tphase} V1 = 5V TR = {trphase} V2 = 0 TB62206FG(東芝セミコンダクター社) Phase current is simulated at fchop=100kHz to predict motor current ripple. ステッピングモータ キー・デバイス(IC) TB62206FG All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 3. モータ・ドライバICのアプリケーション回路シミュレーション TB62206F/FG BiCD PWM 2-Phase Bipolar Stepping Motor Driver All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 4. Device Feature: • Input logic to drive Bipolar Step Motor • Internal OSC • Current Level Set • Mixed Decay Control • Charge Pump Unit • H-Bridge Output • Protection Unit モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 5. Model is include: Input logic to drive Bipolar Step Motor Internal OSC Current Level Set Mixed Decay Control Charge Pump Unit H-Bridge Output Protection Unit (Over Current Protection ERNFA IF( V(PHASE_A)>0.75, V(IMX_A)-100m, -V(IMX_A)) EVALUE OUT+ OUT- IN+ IN- RRNFA10 RNFAILVA4 CRFA 100p IC = 0 0 Output Control (Mixed Decay Control) MDA1 RMDA1 1MEG 0 U19 XOR 1 2 3 PHASE_A U20 INV 1 2NMDC OSC MDA U17 XOR 1 2 3 MDA PHASE_A U18 INV 1 2 Q B Q A U11 JKFFR J 1 CLK 2 K 3 R 4 Q 5 Q 6 + - + - S_UA1 S VOFF = 2.5V VON = 10V U12 JKFFR J 1 CLK 2 K 3 R 4 Q 5 Q 6 V2 AC = TRAN = DC = 5 + - + - S_LA1 S VOFF = 2.5V VON = 10V 0 NMDC3 0 U16 TFFR CLK 2 R 3 T 1 Q 4 Q 5 RGA1 10k OA1 NMDC4 OA2 NMDC1 RGA3 10k EMDA2 IF( V(PHASE_A)>0.75 & V(RST_A)<0.75, 3.5, V(MDA1) ) EVALUE OUT+ OUT- IN+ IN- U13 INV 1 2 MDCA2 NMDC6 0 EGUA1 IF( V(CTRLA1)<0.75 & V(MDA4)<0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- GU1_A NMDC2 RMDA2 10 MDA2 0 NMDC5 0 RMDA 1k EGLA1 IF( V(CTRLA1)<0.75 & V(MDA4)<0.75 ,0,V(Ccp_A) ) EVALUE OUT+ OUT- IN+ IN- CMDA2 100p IC = 0 GL1_A 0 CTRLA HI RSTCA 0 VLA EMDA3 IF( V(PHASE_A)<0.75 & V(RST_A)<0.75, 0, V(MDA1) ) EVALUE OUT+ OUT- IN+ IN- OUT_A VM MDCA3 0 GND RMDA3 10 MDA3 + - + - S_UA2 S VOFF = 2.5V VON = 10V CMDA3 100p IC = 0 + - + - S_LA2 S VOFF = 2.5V VON = 10V EMDA4 IF( V(PHASE_A)>0.75, V(MDA2), V(MDA3) ) EVALUE OUT+ OUT- IN+ IN- OA3 MDCA4 0 0 OA4 RGA2 10k RMDA4 10 MDA4 RGA4 10k CMDA4 100p IC = 0 EGUA2 IF( V(CTRLA1)>0.75 & V(MDA4)>0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- GU2_A 0 0 EGLA2 IF( V(CTRLA1)>0.75 & V(MDA4)>0.75 ,0,V(Ccp_A) ) EVALUE OUT+ OUT- IN+ IN- GL2_A 0 GND OA5 OUT_A1 VM CR VOSC TD = 1.25ns TF = 10n PW = {3*tosc/4} PER = {tosc} V1 = 0 TR = 10n V2 = 5 0 0 OSC R8 1MEG V1 TD = 0 TF = {tosc/4} PW = 10n PER = {tosc} V1 = 1.9V TR = {3*tosc/4} V2 = 3.1V PARAMETERS: tosc = {0.523*(Cosc*Rosc+600*Cosc)} GND Vchop TD = 1.25ns TF = 10n PW = {5*tosc} PER = {tosc*8} V1 = 0.5 TR = 10n V2 = 5 0 f chop 0 R_chop 1MEG + - + - S_UB1 S VOFF = 2.5V VON = 10V + - + - S_LB1 S VOFF = 2.5V VON = 10V 0 RGB110k OB1 OB2 RGB310k EGUB1 IF( V(CTRLB1)<0.75 & V(MDB4)<0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- 0 GU1_B 0 EGLB1 IF( V(CTRLB1)<0.75 & V(MDB4)<0.75 ,0,V(Ccp_A) ) EVALUE OUT+ OUT- IN+ IN- GL1_B ECcp_A1 V(Cp_ON)+V(VM)-2 EVALUE OUT+ OUT- IN+ IN- 0 VLB ENFA IF( V(PHASE_A)>0.75, V(IMX_A), -V(IMX_A)+100m) EVALUE OUT+ OUT- IN+ IN- VM GND + - + - S_UB2 S VOFF = 2.5V VON = 10V ECcp_A IF( V(STANDBY)>0.75, V(Q_Ccp_A), 0) EVALUE OUT+ OUT- IN+ IN- 0 ILVA3 RNFA10 QP2 R6125 NFA CNFA 100p IC = 0 + - + - S_LB2 S VOFF = 2.5V VON = 10V QP3 0 Ccp_A OB3 0 ERST_A IF( V(ENABLE_A)<0.75 | V(STANDBY)<0.75 | V(ISDA)>0.75, 0, 5 ) EVALUE OUT+ OUT- IN+ IN- PARAMETERS: VM = 24V 0 OB4 QP1 RGB210k Chopper OSC Rcp_on 100 ILVA1 RGB410k RRST_A10 Cp_ON RST_A Ccp_on 0.22uF IC = 0 EGUB2 IF( V(CTRLB1)>0.75 & V(MDB4)>0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- ECcp_B IF( V(STANDBY)>0.75 ,V(VM)-2+V(VCcp_C)/2.5 ,V(VM)-0.7) EVALUE OUT+ OUT- IN+ IN- CRST_A 100p IC = 0 G_RsA I(VLA) GVALUE OUT+ OUT- IN+ IN- 0 0 GU2_B 0 ECcp_C IF( V(STANDBY)>0.75 ,V(VCcp_C), V(VM)-0.7 ) EVALUE OUT+ OUT- IN+ IN- EGLB2 IF( V(CTRLB1)>0.75 & V(MDB4)>0.75 ,0,V(Ccp_A) ) EVALUE OUT+ OUT- IN+ IN- RS_A GND 0 GL2_B QP4 RCcp_C 50 E_VL1_A I(VLA) EVALUE OUT+ OUT- IN+ IN- 0 0 0 IFBA1 ILA R_VLA10 V_Q4 GND OB5 R5 100k VM 0 C_VLA 100p VDD RDD1 2.5k EChrg IF(I(V_Q4)>10m, 3.5, 0) EVALUE OUT+ OUT- IN+ IN- E_EA_A LIMIT(1E5*V(ILA,TRGA),5,0) EVALUE OUT+ OUT- IN+ IN- GND Q_Ccp_A 0 CTRLAIFBA4 PARAMETERS: CP_PW = {800*Ccp2} CP_PER = {18.5u+1800*Ccp2} CP_V2 = {250E6*Ccp2} Protection Unit (ISD) 0 CTRLA1 REAA10 Ecp_on IF(V(STANDBY)>0.75, 6.5, 0) EVALUE OUT+ OUT- IN+ IN- E_ABILA IF(I(VLA)>0,I(VLA),-I(VLA)) EVALUE OUT+ OUT- IN+ IN- CEAA 100p IC = 0 0 ISDA1 R_ABILA 10 ETRGA IF(V(CTRLA1)>1,V(RNFA1),V(NFA1)) EVALUE OUT+ OUT- IN+ IN- Ccp_C Ccp_B OUT_B VcpTD = 0 TF = 10N PW = {CP_PW} PER = {CP_PER} V1 = {VM-1.4} TR = 10N V2 = {CP_V2} 0 IFBA3 RTRGA10 C_ABILA 100p VCcp_C TRGA E_ISDA IF( V(AB_ILA)>V(ISDA_REF) , 5, 0) EVALUE OUT+ OUT- IN+ IN- 0 RV_C 100k CTRGA 100p IC = 0 00 ISDA3 ISDA ERS_A ((V(VM)-V(RS_A))/V(ILA)) EVALUE OUT+ OUT- IN+ IN- RISDA 10 IFBA2 CISDA 100p IC = 0 0 RRS_A10 EISDA_REF IF(V(ISDA)<1 | V(STANDBY)<0.75,1.8,-0.1) EVALUE OUT+ OUT- IN+ IN- RS_A1 CRS_A 100P ISDA2 0 RISDA_REF10 VM Current Feedback ( A ) ISDA_REF CISDA_REF 100p IC = 0 0 AB_ILA OUT_B1 CTRLA PHASE_A f chop U27 AND2 1 2 3 U28 AND2 1 2 3 U29 AND2 1 2 3 U30 OR3 1 24 3 CEAA1 30p IC = 0 U31 INV 1 2 0 R10 100 U32 INV 12 Charge Pump Unit Input Logic PHASE_A ENABLE_A PHASE_B ENABLE_B RPD_EA RPD_EB RPD_PA RPD_PB GND RPU_EA VM VM RPU_EB VM RPU_PA RPU_PB VM RPD_STB VM RPU_STB STANDBY R_PIN1 1MEG GND TORQUE 0 ETQ IF( V(TORQUE)>0.75, 1, 0.71) EVALUE OUT+ OUT- IN+ IN- RTQ 100 CTQ 100P TQILVA7 R_REFA 1MEG Vref _A GND EIMX_A 0.2*V(Vref _A)*V(TQ)/V(RS_A1) EVALUE OUT+ OUT- IN+ IN- 0 ILVA2 RIMX_A10 IMX_A CIMX_A 100P Current Level Set ENFA1 IF( V(RST_A)<0.75 , 0, V(NFA) ) EVALUE OUT+ OUT- IN+ IN- 0 ILVA5 RNFA110 NFA1 CNFA1 100p IC = 0 ERNFA1 IF( V(RST_A)<0.75, 0, V(RNFA) ) EVALUE OUT+ OUT- IN+ IN- RRNFA110 RNFA1ILVA6 CRFA1 100p IC = 0 0 Behavioral Logic Model モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 6. Model is include: Diode Snap Curren MOSFET Shoot- through Current V1 0Vdc MUA1 MU MLA1 ML RGA1 DLA1 DLA1 RGA3 2k GL1_A EGLA1 IF( V(OA1)<2, 29,1 ) EVALUE OUT+ OUT- IN+ IN- 0 VS_MUA1 VA_DUA1 VD_MLA1 VK_DLA1 DUA1 DFWU OUT_A OA2 OA1 OA1 VM EGUA1 IF( V(CTRLA1)<0.75 & V(MDA4)<0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- OUT_A1 OUT_A 0 OA1 GND MUA2 MU MLA2 ML RGA2 DLA2 DFWL RGA4 2k GL1_A EGLA2 IF( V(OA1)<2, 29,1 ) EVALUE OUT+ OUT- IN+ IN- 0 VS_MUA2 VA_DUA2 VD_MLA2 VK_DLA2 DUA2 DFWU OUT_A OA2 VM EGUA2 IF( V(CTRLA1)<0.75 & V(MDA4)<0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- 0 GND OA1 V2 0Vdc MUB1 MU MLB1 ML RGB1 DLB1 DLA1 RGB3 2k GL1_A EGLB1 IF( V(OA1)<2, 29,1 ) EVALUE OUT+ OUT- IN+ IN- 0 VS_MUB1VA_DUB1 VD_MLB1VK_DLB1 DUB3 DFWU OA1 OUT_A VM OA2 EGUB1 IF( V(CTRLB1)<0.75 & V(MDB4)<0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- OUT_A OUT_A1 0 GND MUB2 MU MLB2 ML RGB2 DLB2 DFWL RGB4 2k GL1_A EGLB2 IF( V(OA1)<2, 29,1 ) EVALUE OUT+ OUT- IN+ IN- 0 VS_MUB2VA_DUB2 VD_MLB2VK_DLB2 DUB2 DFWU OUT_A OA1 VM OA2 EGUB2 IF( V(CTRLA1)<0.75 & V(MDA4)<0.75 ,V(Ccp_A),0 ) EVALUE OUT+ OUT- IN+ IN- 0 GND モータ・ドライバICのアプリケーション回路シミュレーション H-Bridge Outputをビヘイビアモデルから素子モデル化 All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 7. Datasheet Diagram Simulation Result Time 400us 402us 404us 406us 408us 410us 412us 414us 416us 418us 420us I(VLA) 450mA 500mA 550mA V(OSC) SEL>> MIXED DECAY MODE Waveform (current waveform) モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 8. Time 2.0ms 4.0ms0.1ms 1 I(U1:OUT_A1) 2 V(U1:PHASE_A) 3 V(V_PHASE_B:+) -1.0A -0.5A 0A 0.5A 1.0A 1.5A 2.0A 2.5A 3.0A 1 2 -20V 0V 20V 3 >> Input Control Signal Phase (A) Input Control Signal Phase (B) Motor Phase Current Current Ripple Phase Input vs. Phase Output Current ( 250Hz Phase Frequency ) モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 9. Motor Phase Current (Ripple) Output V(A) Output V(A) Time 210us 211us 212us 213us 214us 215us 216us 217us 218us 219us 1 V(X_U1.IOUT_A1) 2 V(U1:OUT_A1) V(U1:OUT_A) -100mV 0V 100mV 200mV 300mV 400mV 500mV 600mV 700mV 1 >> -10V 0V 10V 20V 30V 40V 50V 60V 70V 2 MIXED DECAY MODE Current Waveform モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 10. Ccp1 Pin Voltage STANDBY Input Signal Time 0s 0.1ms 0.2ms 0.3ms 0.4ms 0.5ms 0.6ms 0.7ms 0.8ms 0.9ms V(Ccp_A) V(STANDBY) 0V 5V 10V 15V 20V 25V 30V 35V 40V Charge Pump Rise Time モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 11. Time 1 I(U1:OUT_A1) 2 I(U1:OUT_B1) -2.00A -1.00A 0A 0.75A 1 SEL>> 0A 1.00A 2.00A -0.75A 2 SEL>> 1 V(U1:ENABLE_A) 2 V(U1:ENABLE_B) -10V -5V 0V 5V 1 >> 0V 5V 10V 15V 2 1 V(U1:PHASE_A) 2 V(U1:PHASE_B) -10V -5V 0V 5V 1 >> 0V 5V 10V 15V 2 Simulation Explore Rate of Current Change Simulation Result Half Step Control Signal モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 12. 0 0.002 0.004 0.006 0.008 0.01 0.012 1.E+02 1.E+03 1.E+04 1.E+05 Frequency(Hz) Ls(H) Ls Phase Inductance (Ls) is selected at phase frequency 100kHz Ls = 2.315mH Phase Inductnace (Ls) vs. Frequency (ステッピング・モーター) モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 13. Motor coil is modeled from an inductor series with resistor. Model parameters are extracted to fit characteristics around chopping frequency (100kHz).Ls=2.315mH, Rs=8.7ohm Phase Inductor model (100k-1MHz) モータ・ドライバICのアプリケーション回路シミュレーション Agilent 4294A All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 14. Measured result show the ripple current Ripple Current Magnitude Output V(A) Motor Phase Current Output V(A) Snap Current Measured result: Mixed Decay Mode ripple current モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013
- 15. The result show how model simulate Ripple Current Magnitude at fchop is approximately 100kHz. Ripple Current Magnitude Time 210us 211us 212us 213us 214us 215us 216us 217us 218us 219us 1 V(X_U1.IOUT_A1) 2 V(U1:OUT_A1) V(U1:OUT_A) -100mV 0V 100mV 200mV 300mV 400mV 500mV 600mV 700mV 1 >> -10V 0V 10V 20V 30V 40V 50V 60V 70V 2 Motor Phase Current: V X_U1 IOUT_A1 Output V(A): V(U1:OUT_A1) Output V(A): V U1 OUT_A Snap Current Simulated result: (the chopping frequency is approximately 100kHz) モータ・ドライバICのアプリケーション回路シミュレーション All Rights Reserved copyright (C) Bee Technologies Inc. 2013