Device Modeling of Motor Drive IC using SPICE

1. モータ・ドライブICの
デバイスモデリング
2020年4月15日
ビー・テクノロジー
1

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
2

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
3

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
4

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
5

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
6

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
7

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
8

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
9

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
10

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
11

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
12

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
13

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
14

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
15