ATAVRMC300 Atmel, ATAVRMC300 Datasheet - Page 6

• Manufacturer Part Number: ATAVRMC300
• Description: BOARD EVAL LV MOTOR CONTROL PWR
• Manufacturer: Atmel
• Series: AVR®r

Specifications of ATAVRMC300

• Main Purpose: Power Management, Motor Control
• Embedded: Yes, MCU, 8-Bit
• Utilized Ic / Part: ATmega32M1
• Primary Attributes: 3-Ph BLDC, Brushed DC, Stepper Motor Driver Board, 40V, 6A
• Secondary Attributes: Requires ATAVRMC301, ATAVRMC303, or ATAVRMC310
• Processor To Be Evaluated: ATmega32M1
• Data Bus Width: 8 bit
• Interface Type: RS-232, USB
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

2.5
3. ATmega32M1 microcontroller
6
PID Regulation
AVR194
reference_speed
After this brief theoretical presentation of Brushless DC Motor Control, the practical implementa-
tion will be introduced with the help of an example. The next part of this application note will deal
with the hardware and the software implementation based on the starter kit ATAVRMC300 &
ATAVRMC310 running with the Atmel ATmega32M1 microcontroller .
The software includes the control of the speed through a PID corrector. Such a corrector is com-
posed of three main coefficients : KP, KI, and KD.
KP is the proportional gain coefficient, KI is the integral gain coefficient and KD is the derivative
gain coefficient. The error between the desired speed and the real speed (called error in the
ure
to the motor to get the right speed
Figure 2-1.
The KP coefficient determines the motor response time, the KI coefficient is used to cancel the
static error and the KD is used in particular for position regulation (refer to regulation loop in the
software description for tuning of the coefficients).
The ATmega32M1 has been developed to provide an integrated solution for advanced motor
control applications with CAN and LIN connectivity.
Based on the high performance AVR 8-bit RISC architecture, the ATmega32M1 integrates all of
the basic peripherals necessary to satisfy the needs of complex algorithms. It integrates analog
blocks like 10-bit ADC, with differential amplifiers and programmable gain options. Analog com-
parators with selectable comparison levels, and interrupts on pin change I/Os. The
microcontrollers provide all necessary resources to control BLDC motors in their system
environments.
2-1) is multiplied by each gain. Then, the sum of the three terms gives the command to apply
+
PID diagram
error t ( )
-
command t ( )
error
=
reference_speed t ( ) measured_speed t ( )
=
(Figure
KP
×
PID corrector
measured_speed
eror t ( )
2-1).
∫
t d
d
KP
KI
KD
–
+
KI error t ( ) t ( )
∫
+
+
d
+
+
KD
command
t d
d
error t ( )
BLDC Motor
Power Stage
8138A–AVR–04/08
+
Fig-