Spiceを活用したモーター駆動制御シミュレーションセミナー資料

1.ACモーター駆動制御シミュレーション
1.1コンセプトキットを活用した事例
1.2シンプルモデルを活用して自分の必要なSPICEモデルを作成する
2.DCモーター駆動制御シミュレーション
3.ステッピングモーター駆動制御シミュレーション
3.1コンセプトキットを活用したユニポーラ・ステッピングモーター制御回路
3.2コンセプトキットを活用したバイポーラ・ステッピングモーター制御回路
4.モーター駆動制御関連のデバイスモデリングサービスのご案内
5.質疑応答
SPICEを活用したモーター駆動制御
シミュレーションセミナー
2013年4月19日
1Copyright (C) Bee Technologies2013

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2Copyright (C) Bee Technologies2013

Motenergy, Inc (ME0913)
Motor Electrical Parameters
• Operating Voltage Range..........................0 – 72 VMAX
• Rated Continuous Current........................140 Arms
• Peak Stalled Current.................................400 Arms
• Voltage Constant.......................................50 RPM/V
• Phase Resistance (L-L).............................0.0125 Ω
• Phase Inductance......................................105uH at 120Hz, 110uH at 1kHz
• Maximum Continuous Power Rating……..17KW at 102VDC Battery Voltage
14.3KW at 84VDC Battery Voltage
12KW at 72VDC Battery Voltage
Motor Mechanical Parameters
• Rated Speed.............................................3000 RPM
• Maximum Speed.......................................5000 RPM
• Rated Torque............................................288 Lb-in
• Torque Constant.......................................1.6 Lb-in/A
Copyright (C) Bee Technologies2013 3

• The Torque are defined by :
At 140Arms (Rated Continuous Current)
KT = 1.6 Lb-in/A
Tphe = 1.6  140 = 224Lb-in
Te = 224*3= 672Lb-in
• The Back-EMF are defined by :
At 5000 RPM (Maximum Speed)
Ephe ≈ VBAT (In an ideal motor, R and L are zero)
Ephe = 102V
KE = Ephe /ωm = 102 / 5000
KE ≈ 0.02V/RPM
Torque and Back-EMF
wTw
vTv
uTu
IKT
IKT
IKT



mEw
mEv
mEu
KE
KE
KE






phe: u, v, w
Vphe : Phase voltage applied from inverter to
motor
VAC : Operating voltage range (Maximum
voltage)
VBAT : DC Voltage applied from battery
Iphe : Phase current
Tphe : Electric torque produced by u, v, w phase
Te : Electric torque produced by motor
Ephe : Phase Back-EMF
KE : Back-EMF constant
KT : Torque constant
ωm : Angular speed of rotor
 1 Pound Inch equals 0.11 Nm
TwTvTueT 
(1)
(2)
(3)

L1
1 2
BEMF1
R1
L2
1 2
BEMF2
R2
L3
1 2
BEMF3
R3
N0
U
V
W
Phase Resistance (L-L) : 0.0125Ω
Phase Inductance : 105uH
: 110uH
Frequency Response
105uH
110uH
Fig.2 Phase-to-GroundFig. 1 Scheme of the 3-Phase Model

PARAMETERS:
KT = 1.6
KE = 0.02
LL = 105U
RLL = 0.0125
PARAMETERS:
LOAD = 140
U3
LM = {LL}
IL = {LOAD}
KT0 = {KT}
RM = {RLL*0.5}
1
2SPTQ
emf _u
0
IN+
IN-
OUT+
OUT-
EMF_V
eu
0
IN+
IN-
OUT+
OUT-
EMF_W
0
IN+
IN-
OUT+
OUT-
ELIM_V
0
lim_v
IN+
IN-
OUT+
OUT-
ESP
0
0
IN+
IN-
OUT+
OUT-
ELIM_W
lim_w
0
emf _vev
emf _u
-
+
+
-
E2
0
emf _v
emf _wew
-
+
+
-
E3
emf _w
0
n1
tu
0
tv
0
tw
N0
n2
U
n3
W
V
Vu
speedU4
AND3AMB
IN+
IN-
OUT+
OUT-
ETQ
0
mul
Vv
torque
Vw
-
+
+
-
E1
0
0
IN+
IN-
OUT+
OUT-
EMF_U
0
IN+
IN-
OUT+
OUT-
ELIM_U
0
lim_u
sp_v
sp_u
sp_u
sp_w
sp_w
sp_v
U1
LM = {LL}
IL = {LOAD}
KT0 = {KT}
RM = {RLL*0.5}
1
2SPTQ
U2
LM = {LL}
IL = {LOAD}
KT0 = {KT}
RM = {RLL*0.5}
1
2SPTQ
The 3-Phase AC Motor Equivalent Circuit
• This figure shows the equivalent circuit of AC motor model that includes the |Z|-
frequency part ,Back-EMF voltage part ,and Mechanical part.
• The Back-EMF voltage is the voltage generated across the motor's terminals as the
windings move through the motor's magnetic field.
|Z| - Frequency Back-EMF Voltage
Mechanical part
Fig. 3 Three-Phase AC Motor Equivalent Circuit

Parameters Settings
LOAD : Load current each phase of motor [Arms]
– e.g. LL = 125Arms, 140Arms, or 400Arms
LL : Phase inductance [H]
– e.g. LL = 10mH, 100mH, or 1H
RLL : Phase resistance (Phase-to-phase) [Ω]
– e.g. RLL = 10mΩ, 100mΩ, or 1Ω
KE : Back-EMF constant [V/RPM]
– e.g. KE= 0.01, 0.05, or 0.1
KT : Torque constant [Lb-in/A]
– e.g. KT= 0.1, 0.5, or 1
 1 Pound Inch equals 0.11 Nm
Model Parameters:
Fig. 4 Symbol of 3-Phase Induction Motor
• From the 3-Phase Induction Motor specification, the model is characterized by setting parameters
LL, RLL, KE, KT and LOAD.
M N0
U1
ME0913
LL = 105U
LOAD = 140
KT = 1.6
KE = 0.02
RLL = 0.0125
1
2
3
4

Simulation Circuit of 3-Phase AC Motor Model
• Fig.5 Analysis of motor operation powered by
alternating voltage variation involves using the
model of three-phase induction motor.
N0
N0
RU
RV
RW
U2
GDRV
UD
UP
VD
VP
WD
WP
RU, RV, RW: 173.75m
UP UD VDVP WP WD
V1
102V +
-
+
-
S1 D1
DMOD_01
+
-
+
-
S2 D2
DMOD_01
UP
UD
0
0
+
-
+
-
S3
M N0
U1
ME0913
LL = 105U
LOAD = 140
KT = 1.6
KE = 0.02
RLL = 0.0125
1
2
3
4
D3
DMOD_01
+
-
+
-
S4 D4
DMOD_01
VP
VD
0
0
+
-
+
-
S5 D5
DMOD_01
+
-
+
-
S6 D6
DMOD_01
WP
WD
0
0
U
0
V
W
V2
102V

Phase Current Characteristics Under Load Variation
- Simulation Results
Fig. 6 Current Characteristics under load Condition
Time
0s 500ms
I(RU)/SQRT(2)
-500A
0A
500A
Time
0s 500ms
I(RU)/SQRT(2)
-500A
0A
500A
Time
0s 500ms
I(RU)/SQRT(2)
-500A
0A
500A
Load 50Arms
Load 140Arms
Load 200Arms
 Reference of Phase U

Time
0s 500ms
V(X_U1.EU)
-200V
-100V
0V
100V
200V
Time
0s 500ms
V(X_U1.EU)
-200V
-100V
0V
100V
200V
Time
0s 500ms
V(X_U1.EU)
-200V
-100V
0V
100V
200V
Back-EMF Characteristics Under Load Condition
Fig. 7 Back-EMF Characteristics under load Condition
Load 50Arms
Load 140Arms
Load 200Arms

Time
0s 500ms
V(X_U1.tu)
0V
0.5KV
1.0KV
(446.486m,223.728)
V(X_U1.speed)
0V
1.0KV
2.0KV
3.0KV
4.0KV
SEL>>
(464.146m,3.2311K)
Speed and Torque Characteristics At 140Arms
Fig. 8 Speed and Torque Characteristics at Load=140Arms
The Load 140(Arms) is Rated Continuous Current
Tphe: Electric torque produced by each phase
RPM
Lb-in

Time
0.5s 1.0s
100*( (RMS(V(U,N0))*RMS(I(RU))) / (RMS(V(RU:1,N0))*RMS(I(RU))) )
0
50
100
(962.500m,81.941)
RMS(V(RU:1,N0))*RMS(I(RU))
0W
10KW
20KW
SEL>>
(960.616m,13.662K)
Power Output and Efficiency Characteristics At 140Arms
Fig. 9 Power Output and Efficiency Characteristics at Load=140Arms
At Load=140Arms, Power Output ≈ 13.7 [KW]
At Load=140Arms, Efficiency ≈ 82 [%]
Watt
[%]

Parameter Settings If there is no measurement data, the default value will be
used:
Rm: motor winding resistance []
Lm: motor winding inductance [H]
Data is given by D.C. motor spec-sheet:
V_norm: normal voltage [V]
mNm: normal load [mNm]
kRPM_norm: speed at normal load [kr/min]
I_norm: current at normal load [A]
Load Condition:
IL: load current [A]
Model Parameters:
D.C. Motor model and Parameters with Default Value
-
+
U1
SMPL_DC_MOTOR
Rm = 0.1
Lm = 100u
I_norm = 6.1
mNm = 19.6
V_norm = 7.2
kRPM_norm = 14.4
IL = 6.1

D.C. Motor Specification (Example)
-
+
U1
SMPL_DC_MOTOR
Rm = 0.1
Lm = 100u
I_norm = 6.1
mNm = 19.6
V_norm = 7.2
kRPM_norm = 14.4
IL = 6.1 D.C. Motor Specification
Parameters are input

00
VM
VIM
V1
V2 = {VOUT}
T2 = 0.01m
PARAMETERS:
VOUT = 10.25
Rs = 0.5
RS
{Rs}
-
+
U1
SMPL_DC_MOTOR
Rm = 0.1
Lm = 100u
I_norm = 6.1
mNm = 19.6
V_norm = 7.2
kRPM_norm = 14.4
IL = 6.1
• *Analysis directives:
• .TRAN 0 400m 0 0.1m
• .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*))
Current Sensing
Simplified D.C. Motor with
RS-540SH Spec.
Input the Supply No
Load Voltage* and
Series Resistance
Simulation Circuit and Setting
*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V). Load Condition IL=I_norm
Motor Start Up Simulation at Normal Load (1/3)

Select “All” for the Voltages
and Currents Data
Collection Options.

Time
0s 40ms 80ms 120ms 160ms 200ms 240ms 280ms 320ms 360ms 400ms
I(VIM)
0A
10A
20A
V(VM)
0V
5V
10V
SEL>>
I(X_U1.V_kRPM)
0A
10A
20A
V(X_U1.TRQ)
0V
40V
80V
D.C. Motor Current = 6.1A
D.C. Motor Voltage = 7.2V
D.C. Motor Speed = 14.4krpm
Torque Load= 19.6mNm

• *Analysis directives:
• .TRAN 0 400m 0 0.1m
• .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*))
Current Sensing
Simplified D.C. Motor with
RS-540SH Spec.
Input the Supply No
Load Voltage* and
Series Resistance
*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V). Load Condition IL=I_norm
Motor Start Up Simulation at Half of Normal Load (1/2)
00
VM
VIM
V1
V2 = {VOUT}
T2 = 0.01m
PARAMETERS:
VOUT = 10.25
Rs = 0.5
RS
{Rs}
-
+
U1
SMPL_DC_MOTOR
Rm = 0.1
Lm = 100u
I_norm = 6.1
mNm = 19.6
V_norm = 7.2
kRPM_norm = 14.4
IL = 3.05

Time
0s 40ms 80ms 120ms 160ms 200ms 240ms 280ms 320ms 360ms 400ms
I(VIM)
0A
10A
20A
V(VM)
0V
5V
10V
I(X_U1.V_kRPM)
0A
10A
20A
SEL>>
V(X_U1.TRQ)
0V
40V
80V
Motor Start Up Simulation at Half of Normal Load (2/2)
D.C. Motor Current = 3.05A
D.C. Motor Voltage = 8.725V
D.C. Motor Speed = 18.4krpm
Torque Load= 9.8mNm

-
+
U2
SMPL_DC_MOTOR
Rm = 0.576
Lm = 165u
I_norm = 2.9
mNm = 9.8
V_norm = 7.2
kRPM_norm = 14.2
IL = 0.6
NC
NC
NCA
K
VCC
VO
GND
U1
TLP350
V1
TD = 0
TF = 10n
PW = 199.99u
PER = 400u
V1 = 0
TR = 10n
V2 = 1.8
0
R1
1u
0
Vcc
15V
0
VCC
VDD
0
RG
120
0
DGT10J321_s
D3
VCC
Vdd
15V
VDD
0
D4001
D2
U3
GT10J321
Simplified D.C. Motor with RS-
380PH Spec at No load.
No load IL=0.6
Application Example (1/3)

Time
-100ms 0s 100ms 300ms 500ms 700ms 900ms
1 I(U2:1) 2 V(U2:1,U2:2)
-2A
0A
2A
4A
6A
8A
10A
12A
14A
1
-60V
-50V
-40V
-30V
-20V
-10V
0V
10V
20V
2
>>
Measurement Simulation
Motor Current (2A/Div)
Motor Voltage (10V/Div)

Time
898.0ms 898.4ms 898.8ms 899.2ms 899.6ms
1 I(U3:C) 2 V(U3:C) 3 V(U3:G)
-2A
0A
2A
4A
6A
8A
10A
12A
14A
1
>>
-30V
-20V
-10V
0V
10V
20V
30V
40V
50V
2
-60V
-50V
-40V
-30V
-20V
-10V
0V
10V
20V
3
Measurement Simulation
IGBT: VGE
IGBT: VCE
IGBT: IC
IGBT: VGE (10V/Div)
IGBT: VCE (10V/Div)
IGBT: IC (2A/Div)

Time
898.0ms 898.4ms 898.8ms 899.2ms 899.6ms
1 I(U3:C) 2 V(U3:C) 3 V(U3:G)
-2A
0A
2A
4A
6A
8A
10A
12A
14A
1
-30V
-20V
-10V
0V
10V
20V
30V
40V
50V
2
-60V
-50V
-40V
-30V
-20V
-10V
0V
10V
20V
3
>>
Winding Characteristic Parameters: Lm
-
+
U2
SMPL_DC_MOTOR
Rm = 0.576
Lm = 165u
I_norm = 2.9
mNm = 9.8
V_norm = 7.2
kRPM_norm = 14.2
IL = 0.6
Winding Characteristic: Lm
Motor Spec.
Load Condition
Lm=165u
Lm=100u
The Motor Current Waveform is changed
by the Lm values.
Lm=165u
Lm=100u

Winding Characteristic Parameters: Rm
-
+
U2
SMPL_DC_MOTOR
Rm = 0.576
Lm = 165u
I_norm = 2.9
mNm = 9.8
V_norm = 7.2
kRPM_norm = 14.2
IL = 0.6
Winding Characteristic: Rm
Motor Spec.
Load Condition
Rm=0.576
Rm=0.1
The Motor Start-up is Current changed
by the Rm values.

B
Bcom
A
/B
Acom
/A
U1
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
U8
AND
U9
AND
R1
1k
0
FB
DIODE
D1
DIODE
D2
DIODE
D3
DIODE
D4
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
B
0
PARAMETERS:
RON = 10m
0
U10
1-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
0
0
U6
AND
FA
+
-
REF
-
+
FB.
U2
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/FA
/FB
VCC
+
-
REF
-
+
FB.
U3
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
REF
-
+
FB.
U4
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/B
/A
+
-
+
-
S4
S
RON = {RON}
A
+
-
REF
-
+
FB.
U5
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
CLK
+
-
+
-
S1
S
RON = {RON}
+
-
+
-
S2
S
RON = {RON}
+
-
+
-
S3
S
RON = {RON}
VCC
VCC VCC
0
VCC
Vcc
12
VCC
VCC
U7
AND
Unipolar Stepping Motor Drive Circuit Simulation
PSpice Version

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-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
U?
2-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
U?
HALF-STEP
PPS = 100
CLK
FA
/FA
FB
/FB
B
Bcom
A
/B
Acom
/A
U?
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
Models:
Block Diagram:
DIODE
D1
0
+
-
+
-
S1
S
RON = 10m
VCC
Ctrl_A A
Concept of Simulation
U2
AND
+
-
REF
-
+
FB.
U1
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
Ctrl_A
FA

2.Unipolar Stepping Motor Drive Circuit
Signal generator Hysteresis Based Current
Controller
Switches Unipolar Stepping Motor Supply Voltage
B
Bcom
A
/B
Acom
/A
U1
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
U8
AND
U9
AND
R1
1k
0
FB
DIODE
D1
DIODE
D2
DIODE
D3
DIODE
D4
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
B
0
PARAMETERS:
RON = 10m
0
U10
1-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
0
0
U6
AND
FA
+
-
REF
-
+
FB.
U2
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/FA
/FB
VCC
+
-
REF
-
+
FB.
U3
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
REF
-
+
FB.
U4
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/B
/A
+
-
+
-
S4
S
RON = {RON}
A
+
-
REF
-
+
FB.
U5
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
CLK
+
-
+
-
S1
S
RON = {RON}
+
-
+
-
S2
S
RON = {RON}
+
-
+
-
S3
S
RON = {RON}
VCC
VCC VCC
0
VCC
Vcc
12
VCC
VCC
U7
AND

Unipolar 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.
B
Bcom
A
/B
Acom
/A
U1
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
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.

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.
DIODE
D1
0
+
-
+
-
S1
S
RON = 10m
VCC
Ctrl_A A
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.

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-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
U?
2-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
U?
HALF-STEP
PPS = 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).

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
Two-Phase Sequence
ON
ON
ON
ON
1 Sequence
Clock
Phase A
Phase /A
Phase B
Phase /B
ON

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
Half-Step Sequence
ON
ON
ON
1 Sequence
Clock
Phase A
Phase /A
Phase B
Phase /B
ON

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 = 0.5
VHYS = 0.1
Ctrl_A
FA

B
Bcom
A
/B
Acom
/A
U1
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
U8
AND
U9
AND
R1
1k
0
FB
DIODE
D1
DIODE
D2
DIODE
D3
DIODE
D4
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
B
0
PARAMETERS:
RON = 10m
0
U10
1-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
0
0
U6
AND
FA
+
-
REF
-
+
FB.
U2
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/FA
/FB
VCC
+
-
REF
-
+
FB.
U3
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
REF
-
+
FB.
U4
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/B
/A
+
-
+
-
S4
S
RON = {RON}
A
+
-
REF
-
+
FB.
U5
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
CLK
+
-
+
-
S1
S
RON = {RON}
+
-
+
-
S2
S
RON = {RON}
+
-
+
-
S3
S
RON = {RON}
VCC
VCC VCC
0
VCC
Vcc
12
VCC
VCC
U7
AND
One-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
*Analysis directives:
.TRAN 0 40ms 0 10u
One-Phase Step
Sequence
Generator (100
pps)

Time
0s 10ms 20ms 30ms 40ms
1 V(/FB) 2 -I(U1:/B)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
SEL>>SEL>>
1 V(FB) 2 -I(U1:B)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
1 V(/FA) 2 -I(U1:/A)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
1 V(FA) 2 -I(U1:A)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
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

B
Bcom
A
/B
Acom
/A
U1
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
U8
AND
U9
AND
R1
1k
0
FB
DIODE
D1
DIODE
D2
DIODE
D3
DIODE
D4
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
B
0
PARAMETERS:
RON = 10m
0
0
0
U6
AND
FA
+
-
REF
-
+
FB.
U2
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/FA
/FB
VCC
+
-
REF
-
+
FB.
U3
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
REF
-
+
FB.
U4
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/B
/A
+
-
+
-
S4
S
RON = {RON}
A
+
-
REF
-
+
FB.
U5
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
CLK
+
-
+
-
S1
S
RON = {RON}
+
-
+
-
S2
S
RON = {RON}
+
-
+
-
S3
S
RON = {RON}
VCC
VCC VCC
0
VCC
Vcc
12
VCC
VCC
U7
AND
U10
2-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
Two-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
.TRAN 0 40ms 0 10u SKIPBP
.OPTIONS ITL4= 40
Two-Phase Step
Sequence
Generator (100
pps)

Time
1 V(/FB) 2 -I(U1:/B)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
SEL>>SEL>>
1 V(FB) 2 -I(U1:B)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
1 V(/FA) 2 -I(U1:/A)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
1 V(FA) 2 -I(U1:A)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
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

B
Bcom
A
/B
Acom
/A
U1
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
U8
AND
U9
AND
R1
1k
0
FB
DIODE
D1
DIODE
D2
DIODE
D3
DIODE
D4
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
B
0
PARAMETERS:
RON = 10m
0
0
0
U6
AND
FA
+
-
REF
-
+
FB.
U2
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/FA
/FB
VCC
+
-
REF
-
+
FB.
U3
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
REF
-
+
FB.
U4
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/B
/A
+
-
+
-
S4
S
RON = {RON}
A
+
-
REF
-
+
FB.
U5
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
CLK
+
-
+
-
S1
S
RON = {RON}
+
-
+
-
S2
S
RON = {RON}
+
-
+
-
S3
S
RON = {RON}
VCC
VCC VCC
0
VCC
Vcc
12
VCC
VCC
U7
AND
U10
HALF-STEP
PPS = 100
CLK
FA
/FA
FB
/FB
Half-Phase Sequence Drive, IPHASE=0.5A, IRIPPLE=0.1A
.OPTIONS ITL4= 40
Half-Phase Step
Sequence
Generator (100
pps)

Time
0s 10ms 20ms 30ms 40ms 50ms 60ms 70ms 80ms
1 V(/FB) 2 -I(U1:/B)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
SEL>>SEL>>
1 V(FB) 2 -I(U1:B)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
1 V(/FA) 2 -I(U1:/A)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
1 V(FA) 2 -I(U1:A)
0V
2.5V
5.0V
1
0A
0.5A
1.0A
2
>>
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

B
Bcom
A
/B
Acom
/A
U1
UNI-POLAR_STEP_MOTR
L = 2.5M
R = 4.2
U8
AND
U9
AND
R1
1k
0
FB
DIODE
D1
DIODE
D2
DIODE
D3
DIODE
D4
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
B
0
PARAMETERS:
RON = 10m
0
U10
1-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
0
0
U6
AND
FA
+
-
REF
-
+
FB.
U2
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/FA
/FB
VCC
+
-
REF
-
+
FB.
U3
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
REF
-
+
FB.
U4
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
/B
/A
+
-
+
-
S4
S
RON = {RON}
A
+
-
REF
-
+
FB.
U5
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
CLK
+
-
+
-
S1
S
RON = {RON}
+
-
+
-
S2
S
RON = {RON}
+
-
+
-
S3
S
RON = {RON}
VCC
VCC VCC
0
VCC
Vcc
12
VCC
VCC
U7
AND
W
W
Drive Circuit Efficiency (%)
.TRAN 0 40ms 0ms 10u SKIPBP
.STEP PARAM RON LIST 10m, 100m, 1
.OPTIONS ITL4= 40
Half-Phase Step
Sequence
Generator (100
pps)

Time
10ms 15ms 20ms 25ms 30ms 35ms 40ms
100* AVG(W(U1))/(-AVG(W(Vcc)))
94
96
98
100
at switches Ron = 10m, (99.6%)
at switches Ron = 1, (95.9%)
Note: Add trace 100*AVG(W(U1))/(-AVG(W(Vcc))) for the Efficiency.

Bipolar Stepping Motor Drive Circuit Simulation
PSpice Version
VCC
0
Vcc
12
A
/A
B/B
U1
BI-POLAR_STEP_MOTR
L = 10m
R = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7
S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
S
DIODE
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
I_SET = {I_SET}
VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
S
DIODE
D6
BL
0
PARAMETERS:
RON = 10m
+
-
+
-
S1
S
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
0
+
-
REF
-
+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
S
DIODE
D2
AL
A
0
+
-
REF
-
+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
+
-
S3
S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
S
DIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
FB
CLK
0
OU
I
OL
U4
GDRV
/A
/B
U15
1-PHASE
PPS = 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. 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
6. 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-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
U?
2-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
U?
HALF-STEP
PPS = 100
CLK
FA
/FA
FB
/FB
Models:
Block Diagram:
DIODE
D1
0
+
-
+
-
S1
S
RON = 10m
VCC
Ctrl_A A
Concept of Simulation
U2
AND
+
-
REF
-
+
FB.
U1
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
Ctrl_A
FA
A
/A
B/B
U?
BI-POLAR_STEP_MOTR
L = 10m
R = 8.4

Signal generator Hysteresis Based
Current Controller VCC
0
Vcc
12
A
/A
B/B
U1
BI-POLAR_STEP_MOTR
L = 10m
R = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7
S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
S
DIODE
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
I_SET = {I_SET}
VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
S
DIODE
D6
BL
0
PARAMETERS:
RON = 10m
+
-
+
-
S1
S
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
0
+
-
REF
-
+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
S
DIODE
D2
AL
A
0
+
-
REF
-
+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
+
-
S3
S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
S
DIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
FB
CLK
0
OU
I
OL
U4
GDRV
/A
/B
U15
1-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
Bipolar Stepping Motor Drive Circuit
Bipolar Stepping Motor Supply VoltageH-Bridge Switches (Driver)

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_MOTR
L = 10m
R = 8.4

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
S
0
VCC
DIODE
D1
AU
+
-
+
-
S2
S
RON = 10m
DIODE
D2
AL
0
+
-
+
-
S3
S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
S
DIODE
D4
/AL
0
Ctrl_A
Ctrl_/A
A
/A

VCC
0
Vcc
12
A
/A
B/B
U1
BI-POLAR_STEP_MOTR
L = 10m
R = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7
S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
S
DIODE
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
I_SET = {I_SET}
VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
S
DIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S
0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-
+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
S
DIODE
D2
AL
0
A
+
-
REF
-
+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
+
-
S3
S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
S
DIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
U15
1-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
.OPTIONS ITL4= 40
One-Phase Step
Sequence Generator
(100 pps)

Time
1 V(/FB) 2 I(U1:/B)
0V
2.5V
5.0V
1
0A
500mA2
SEL>>SEL>>
1 V(FB) 2 I(U1:B)
0V
2.5V
5.0V
1
0A
500mA2
>>
1 V(/FA) 2 I(U1:/A)
0V
2.5V
5.0V
1
0A
500mA2
>>
1 V(FA) 2 I(U1:A)
0V
2.5V
5.0V
1
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

.OPTIONS ITL4= 40
VCC
0
Vcc
12
A
/A
B/B
U1
BI-POLAR_STEP_MOTR
L = 10m
R = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7
S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
S
DIODE
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
I_SET = {I_SET}
VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
S
DIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S
0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-
+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
S
DIODE
D2
AL
0
A
+
-
REF
-
+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
+
-
S3
S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
S
DIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
U15
2-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
One-Phase Step
Sequence Generator
(100 pps)

Time
1 V(/FB) 2 I(U1:/B)
0V
2.5V
5.0V
1
0A
500mA2
SEL>>SEL>>
1 V(FB) 2 I(U1:B)
0V
2.5V
5.0V
1
0A
500mA2
>>
1 V(/FA) 2 I(U1:/A)
0V
2.5V
5.0V
1
0A
500mA2
>>
1 V(FA) 2 I(U1:A)
0V
2.5V
5.0V
1
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
U1
BI-POLAR_STEP_MOTR
L = 10m
R = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7
S
VCC
0
DIODE
D7
U15
HALF-STEP
PPS = 100
CLK
FA
/FA
FB
/FB
/BU
+
-
+
-
S8
S
DIODE
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
I_SET = {I_SET}
VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
S
DIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S
0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-
+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
S
DIODE
D2
AL
0
A
+
-
REF
-
+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
+
-
S3
S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
S
DIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
.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
5.0V
1
0A
500mA2
SEL>>SEL>>
1 V(FB) 2 I(U1:B)
0V
2.5V
5.0V
1
0A
500mA2
>>
1 V(/FA) 2 I(U1:/A)
0V
2.5V
5.0V
1
0A
500mA2
>>
1 V(FA) 2 I(U1:A)
0V
2.5V
5.0V
1
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
U1
BI-POLAR_STEP_MOTR
L = 10m
R = 8.4
OU
I
OL
U2
GDRV
+
-
+
-
S7
S
VCC
0
DIODE
D7
/BU
+
-
+
-
S8
S
DIODE
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
I_SET = {I_SET}
VHYS = {VHYS}
FA
+
-
+
-
S5
S
VCC
0
DIODE
D5
BU
+
-
+
-
S6
S
DIODE
D6
0
BL
PARAMETERS:
RON = 10m
+
-
+
-
S1
S
0
VCC
PARAMETERS:
I_SET = 0.5
VHYS = 0.1
+
-
REF
-
+
FB.
U13
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
DIODE
D1
AU
+
-
+
-
S2
S
DIODE
D2
AL
0
A
+
-
REF
-
+
FB.
U9
HYS_I-CTRL
I_SET = {I_SET}
VHYS = {VHYS}
+
-
+
-
S3
S
VCC
0
DIODE
D3
/AU
+
-
+
-
S4
S
DIODE
D4
/AL
0
U8
AND
U10
AND
U12
AND
U14
AND
/FA
R1
1k
CLK
0
FB
OU
I
OL
U4
GDRV
/A
/B
U15
2-PHASE
PPS = 100
CLK
FA
/FA
FB
/FB
.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
at switches Ron = 1, (86%)
Note: Add trace 100*AVG(W(U1))/(-AVG(W(Vcc))) for the Efficiency.

4.モーター駆動制御関連のデバイスモデリングサービスのご案内
http://ow.ly/kbfi2
http://ow.ly/kbftS
http://ow.ly/kbfCy

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